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BlueAuto2.c
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BlueAuto2.c
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/*----------------------------------------------------------------------------*/
/* */
/* Module: BlueAuto2.c */
/* Author: Jefferson Maldonado */
/* Created: 2 May 2016 */
/* */
/* Copyright (c) VCAT Robotics 2016, All Rights Reserved */
/* */
/*----------------------------------------------------------------------------*/
/* */
/* Licensed under the Apache License, Version 2.0 (the "License"); */
/* you may not use this file except in compliance with the License. */
/* You may obtain a copy of the License at */
/* */
/* http://www.apache.org/licenses/LICENSE-2.0 */
/* */
/*----------------------------------------------------------------------------*/
void BlueAuto2(void)
{
///4 PRELOADS 3 PILE
/// STARTING TYLE IS FURTHERST TYLE
int YouAreGoodToCount = 0;
Transmission(1);
BallCounter = 4;
ShootingMode = 1;
IntakeShoot(6000);//SHOOT 4 PRELOADS // * FAILSAFE POINT
ShootingMode = 4;
DistanceCalculatorTurn(1);
while(DistanceCalculatorTurn(0) < 15) //*FAILSE WHAT IF WE GET OFF THE LINE ( WHAT IF ROBOT BLOCKS PATH AND WE ARE STILL ON THE LINE)
{
Move(-1, 50);
}
Break2(100,-10);
delay(200);
stage = 1;
SetRPM(2200);
DistanceCalculator(1);
while(DistanceCalculator(0) < 12) //*FAILSE WHAT IF WE GET OFF THE LINE ( WHAT IF ROBOT BLOCKS PATH AND WE ARE STILL ON THE LINE)
{
Move(2, 127);
}
clearTimer(T3);
while(SensorValue[IR1] == 1 ) //*FAILSE WHAT IF WE GET OFF THE LINE ( WHAT IF ROBOT BLOCKS PATH AND WE ARE STILL ON THE LINE)
{
IntakeOnAuto();
Move(2, 20);
if(time1[T3] > 6000)
{
FailSafeEngaged = 1;
break;
}
}
if(FailSafeEngaged == 1)Blue1Fail1();/////////////////////RED1FAIL1
IntakePower(0);
Break(100,10);
while(MoveDist(-1, 20,0) == 1) // DO WE NEED FAILSAFE HERE?
{
IntakeOnAuto();
}
while(MoveDist(35, 40,3000) == 1)//17 // DO WE NEED FAILSAFE HERE?
{
IntakeOnAuto();
if(FailSafeEngaged == 1)Blue1FailInfinite();/////////////////////RED1FAIL1
}
IntakePower(0);
while(LineStatus() == 0)
{
Move(-2, 100);
}
Break(100,-10);
while(MoveDist(3, 30,0) == 1);
delay(200);
SetRPM(2200);
while(LineStatus() == 0) //TURN UNTIL YOU SEE THE LINE
{
Move(1, 20);
}
DistanceCalculator(1);
while(LineStatus() == 1) //*FAILSE WHAT IF WE GET OFF THE LINE ( WHAT IF ROBOT BLOCKS PATH AND WE ARE STILL ON THE LINE)
{
FollowLine(40);
if(LineStatusOffset() == 1)
{
DistanceCalculator(1);
YouAreGoodToCount = 1;
}
if(DistanceCalculator(0) > 18 && YouAreGoodToCount == 1)
{
DistanceCalculator(1);
break;
}
}
if(DistanceCalculator(0) < 50 && YouAreGoodToCount == 0)Blue1FailInfinite();//**FAIL GOOD
Break(100,20);
delay(500);
IntakePower(127);///SHOT FIRST PILE
delay(3000);
ShootingMode = 3;
StopDrive();
stage = 1;
DistanceCalculator(1);
while(SensorValue[IR1] == 1 && LineStatus() == 1) //*FAILSE WHAT IF WE GET OFF THE LINE ( WHAT IF ROBOT BLOCKS PATH AND WE ARE STILL ON THE LINE)
{
FollowLine(35);
IntakeOnAuto();
}
Break(100,20);
StopDrive();
clearTimer(T3);
while(stage == 1) // WHAT IF TWO BALLS ARE STUCK FOREVER? TIMER?
{
if(time1[T3] > 10000)
{
break;
}
IntakeOnAuto();
}
clearTimer(T3);
while(LineStatus() == 1 && DistanceCalculator(0) < 37 )//*FAILSE WHAT IF WE GET OFF THE LINE ( WHAT IF ROBOT BLOCKS PATH AND WE ARE STILL ON THE LINE)
{
FollowLine(35);
IntakeOnAuto();
if(time1[T3] > 10000)
{
break;
}
}
MoveTime(500,127);
StopDrive();
delay(500);
IntakePower(127);///SHOT BAR SHOTS
delay(3500);
IntakePower(0);
SetRPM(2200);
stage = 1;
//////////////////////////////////////////////////////SHOT 8 COMPLETE
DistanceCalculator(1);
while(DistanceCalculator(0) < 50) //*FAILSE WHAT IF WE GET OFF THE LINE ( WHAT IF ROBOT BLOCKS PATH AND WE ARE STILL ON THE LINE)
{
Move(-2, 127);
}
Break(200,-15);
delay(200);
DistanceCalculatorTurn(1);
clearTimer(T3);
while(DistanceCalculatorTurn(0) < 62) //*FAILSE WHAT IF WE GET OFF THE LINE ( WHAT IF ROBOT BLOCKS PATH AND WE ARE STILL ON THE LINE)
{
Move(-1, 100);
if(time1[T3] > 5000)
{
FailSafeEngaged = 1;
break;
}
}
if(FailSafeEngaged == 1)Blue1FailInfinite();
Break2(100,10);
delay(300);
DistanceCalculator(1);
clearTimer(T3);
while(DistanceCalculator(0) < 24) //*FAILSE WHAT IF WE GET OFF THE LINE ( WHAT IF ROBOT BLOCKS PATH AND WE ARE STILL ON THE LINE)
{
Move(2, 127);
if(time1[T3] > 5000)
{
FailSafeEngaged = 1;
break;
}
}
if(FailSafeEngaged == 1)Blue1FailInfinite();
clearTimer(T3);
while(SensorValue[IR1] == 1 )//PILE BY THE WALL
{
IntakeOnAuto();
Move(2, 20);
if(time1[T3] > 5000)
{
FailSafeEngaged = 1;
break;
}
}
if(FailSafeEngaged == 1)Blue1FailInfinite();
IntakePower(0);
Break(100,10);
while(MoveDist(-1, 20,0) == 1) // DO WE NEED FAILSAFE HERE?
{
IntakeOnAuto();
}
while(MoveDist(19, 35,2000) == 1) // DO WE NEED FAILSAFE HERE?
{
IntakeOnAuto();
}
IntakePower(0);
///////////////////////////////////////////////////////////////////////////////////PICK UP 3RD
SetRPM(2200);
clearTimer(T3);
while(LineStatus() == 0 )
{
Move(-2, 127);
if(time1[T3] > 5000)
{
FailSafeEngaged = 1;
break;
}
}
if(FailSafeEngaged == 1)Blue1FailInfinite(); //**FAIL GOOD
Break(200,-15);
while(MoveDist(3, 40,0) == 1);
clearTimer(T3);
while(LineStatus() == 0) // TURN UNTILL IT SEES LINE (WHAT IF WE NEVER SEE LINE)
{
Move(1,22);
if(time1[T3] > 5000)
{
FailSafeEngaged = 1;
break;
}
}
if(FailSafeEngaged == 1)Blue1FailInfinite(); //**FAIL GOOD
DistanceCalculator(1);
clearTimer(T3);
while(LineStatus() == 1 && DistanceCalculator(0) < 12)//*FAILSE WHAT IF WE GET OFF THE LINE ( WHAT IF ROBOT BLOCKS PATH AND WE ARE STILL ON THE LINE)
{
FollowLine(35);
if(time1[T3] > 5000)
{
FailSafeEngaged = 1;
break;
}
}
if(FailSafeEngaged == 1)Blue1FailInfinite(); //**FAIL GOOD
Break(100,20);
StopDrive();
delay(500);
IntakePower(127);///SHOT LAST BALLS BAR SHOTS
delay(3000);
TurnDegree(-45,100,2000);
while(MoveDist(24, 40,0) == 1);
ShootingMode = 4;
KillALL();
while(1);
}