Exemplo n.º 1
0
void AutonHangingPush(TeamColor color)
{
  // Set the intake in to flip it out and get ready to intake the two buckies
  IntakeSetPower(kIntakeInPower);

  // Drive forward to pick up the two buckies
  DriveMoveTicks(kStartToWall);
  wait1Msec(500);


  // Stop intaking
  IntakeSetPower(0);

  // Turn into position to push a big ball over the bump and knock the three buckies off the bump
  AutonTurn(kHangingLargeBall, color);

  // Push the large ball over the bump and the three buckies with it
  DriveMoveTicks(kWallToLargeBall, 1.0);
}
Exemplo n.º 2
0
void MecanumDrive::TurnToAngle(Joystick *drivePad){
	float Speed = 0;
	if(drivePad->GetRawButton(3)){
		if(mecanumGyro->GetAngle() < 285){
			Speed = -turnOutput->ComputeNextMotorSpeedCommand(mecanumGyro->GetAngle(), 285);
		}
		else if(mecanumGyro->GetAngle() > 285){
			Speed = turnOutput->ComputeNextMotorSpeedCommand(mecanumGyro->GetAngle(), 285);
		}
	}
	else if(drivePad->GetRawButton(4)){
		if(mecanumGyro->GetAngle() > -15){
			Speed = turnOutput->ComputeNextMotorSpeedCommand(mecanumGyro->GetAngle(), -15);
		}
		else if(mecanumGyro->GetAngle() < -15){
			Speed = -turnOutput->ComputeNextMotorSpeedCommand(mecanumGyro->GetAngle(), -15);
		}
	}
	AutonTurn(Speed / 1.5);
}