task main()
{
initialize (); // In the original template this was "initializeRobot();"
waitForStart (); // Wait for the beginning of autonomous phase.
clasp_goal(true);
distanceToDrive = 72.0; //6 feet
drive_both_wheels (-motorSpeed, -motorSpeed, distanceToDrive * kInch); //drives out of parking zone to kickstand
int i = 0;
for(i = 0; i <= 1; i++){
distanceToDrive = 6.0; //6 in
drive_both_wheels (motorSpeed, motorSpeed, distanceToDrive * kInch);
distanceToDrive = 10.0 //10 in
drive_both_wheels (-motorSpeed, -motorSpeed, distanceToDrive * kInch);
}
distanceToDrive = 12.0; //12 in
drive_both_wheels(motorSpeed, motorSpeed, distanceToDrive * kInch); //backs up to angle for final try
degreesToTurn = 90.0; //90 degrees
TurnLeft(degreesToTurn * kDegrees); //turns 90 degrees
distanceToDrive = 10.0; //10 in
drive_both_wheels(motorSpeed, motorSpeed, distanceToDrive * kInch); //drives 4 in
degreesToTurn = 90.0; //90 degrees
TurnRight(degreesToTurn * kDegrees); //turns 90 degrees
distanceToDrive = 30.0; //2.5 feet
drive_both_wheels(-motorSpeed, -motorSpeed, distanceToDrive * kInch); //comes in for final try to knock down the kickstand
for(i = 0; i <= 1; i++){
distanceToDrive = 6.0; //6 in
drive_both_wheels (motorSpeed, motorSpeed, distanceToDrive * kInch);
distanceToDrive = 10.0; //10 in
drive_both_wheels (-motorSpeed, -motorSpeed, distanceToDrive * kInch);
}
//the program basically flails around to knock down the kickstand
transition(); //waits for autonomous phase to end
} // main
task main()
{
initialize (); // In the original template this was "initializeRobot();"
waitForStart (); // Wait for the beginning of autonomous phase.
//
// Raise the arm. Unless the arm is ALL the way down, this call will hang
// your robot.
//
// raise_arm ();
//
// Drive forward twelve inches.
//
drive_both_wheels (75, 75, 12 * kInch);
//
// Rotate right 90 degrees. This will cause one motor to turn in one
// direction, but the other will turn in the opposite direction.
//
TurnRight (90 * kDegrees);
//
// Drive forward twelve inches.
//
drive_both_wheels (75, 75, 12 * kInch);
//
// Rotate right 90 degrees. This will cause one motor to turn in one
// direction, but the other will turn in the opposite direction.
//
TurnRight (90 * kDegrees);
//
// Drive forward until a white line is found.
//
find_line ();
//
// Lower the arm and close the hand.
//
// lower_arm ();
move_hand (e_hand_command_close);
//
// Drive forward twelve inches.
//
drive_both_wheels (75, 75, 12 * kInch);
//
// Rotate left 90 degrees.
//
TurnLeft (90 * kDegrees);
//
// Drive forward twelve inches.
//
drive_both_wheels (75, 75, 12 * kInch);
} // main
