task main()
{
setupGyro();
resetAll(); //Stop all motors and reset all sensors
//1.Preload
//Pick up First Buckyball
intake(127, 200);
//Rotate 90 degrees
spin(900, 5);
wait1Msec(500);
//Dump buckyball
intake(-127, 1000); //Spin intake for 1 second
wait1Msec(500);
//2. Corner Buckys
//Turn around to collect other buckyballs
clearGyro();
spin(1800,5);
wait1Msec(500);
//Move toward buckys
clearDriveEncoders();
motor[intakeMotor] = 127;
sonicMove(80, 15); //Move to 15cm away from buckyball using sonar
motor[intakeMotor] = 0;
//3. Deposit Buckys in goal
resetAll();
//Turn around 180 degrees
spin(1800, 5);
wait1Msec(500);
//Drive to other side
clearDriveEncoders();
drive(100);
wait1Msec(7000); //Time based driving at the beginning to get over bump
clearDriveEncoders();
sonicMove(100, 30); //Ultra-sonic takes over
//Turn to face tube
clearGyro();
spin(3150, 2);
wait1Msec(500);
//Drive to tube
sonicMove(50, 15);
}
void resetAll(){ //Stops all motors and resets all sensors
drive(0);
intake(0,0);
arm(0,0);
slide(0,0);
wait1Msec(400);
clearDriveEncoders();
clearSlideEncoder();
SensorValue[in6] = 0;
}
void pre_auton()
{
bStopTasksBetweenModes = true; // Tasks stop when we need them to. Not doing this can be dangerous.
bLCDBacklight = true; // Turn our LCD backlight on
//Reset the motor encoders
clearDriveEncoders();
//Setup song
processSong();
// Never passing if statement. Lets us get rid of compile warnings so we can focus on the ones we need to see.
if (false) {
UserControlCodePlaceholderForTesting();
AutonomousCodePlaceholderForTesting();
sensorsErrorEscape(); // Get rid of unused methods for the sensor lib
// Feel free to add currently un-used methods/tasks here if you're sure they are meant to not be used.
}
}
