void armDownTime(int x)
{
motorSet (motor3, 127) ; // arm Down
motorSet (motor4, -127) ;
motorSet (motor7, 127) ;
motorSet (motor8, -127) ;
delay (x);
armDownTrim();
}
void armDown(int x) {
int pot = analogRead(8);
while (pot > x) {
motorSet(MOTOR3, 127); // arm down
motorSet(MOTOR4, -127);
motorSet(MOTOR7, 127);
motorSet(MOTOR8, -127);
pot = analogRead(8);
}
armDownTrim();
}
void armDownTime(int millis)
{
motorSet(ARM_MOTOR3, -MOTOR_MAX); // arm Down
motorSet(ARM_MOTOR4, -MOTOR_MAX);
motorSet(ARM_MOTOR7, -MOTOR_MAX);
motorSet(ARM_MOTOR8, -MOTOR_MAX);
delay (millis);
armDownTrim();
}
void armDown(int x)
{
int pot = analogRead (8);
while (pot > x)
{
motorSet (motor3, 127) ; // arm down
motorSet (motor4, -127) ;
motorSet (motor7, 127) ;
motorSet (motor8, -127) ;
pot = analogRead (8);
}
armDownTrim();
}
void armDownEnc(int x)
{
int counts = encoderGet(encoder);
while (abs(counts) < x)
{
motorSet (motor3, 127) ; // arm down
motorSet (motor4, -127) ;
motorSet (motor7, 127) ;
motorSet (motor8, -127) ;
counts = encoderGet(encoder);//keep getting the value
}
armDownTrim();
delay (300);
}
void armDownEnc(int x)
{
int counts = encoderGet(encoder);
while (abs(counts) < x)
{
motorSet(ARM_MOTOR1, MOTOR_MAX); // arm down
motorSet(ARM_MOTOR2, -MOTOR_MAX);
motorSet(ARM_MOTOR3, MOTOR_MAX);
motorSet(ARM_MOTOR4, -MOTOR_MAX);
counts = encoderGet(encoder);//keep getting the value
}
armDownTrim();
delay (300);
}
void kakitRed()
{
// variables
int armMin = 300;
int wallHeight = 1000;
int goalHeight = 1650;
int pot = analogRead(8);
int encoder00 = 250; // back up abit to row
int encoder0 = 950; // turn 360 degrees, knock off buckys, face line
int encoder1 = 162; // rotate towards 2 buckys
int encoder2 = 150; // drive towards buckys
int encoder3 = 400; // back up to bump
int encoder4 = 200; // back up towards bridge
int encoder5 = 360; // rotate 180 degrees to the large ball
int encoder6 = 900; // go under bridge and knock out large ball
int encoder7 = 90; // turn to goal
int encoder8 = 200; // drive to goal
int encoder9 = 75;
// begin routine
intake(300);
armDownTrim();
driveForwardDead(); //ram big balls
delay(1500);
stopDrive();
delay(500);
driveBack(encoder00); // back up to row abit
intakeDead();
turnLeft(encoder0); // turn 360 degrees
driveBackDead(); // drive back + wall align
delay(1300);
stopDrive();
delay(500);
turnRight(encoder1); // turn to two buckys
intakeDead();
followLine(300); // make sure ur straight
driveForwardSlowDead(); // drive towards buckys
delay(500);
stopDrive();
delay(600);
driveForwardDead(); //get the 2nd ball
delay(200);
stopDrive();
delay(600);
stopIntake();
driveBack(encoder3); // back up to bump
armUpDead(); // armup
delay(50);
stopArm();
stopIntake();
driveBackSlowDead(); // allign the bump
delay(300);
stopDrive();
delay(500);
driveBackDead(); // over the bump
delay(1000);
stopDrive();
delay(500);
driveForwardSlowDead(); // alighn to bump
delay(800);
stopDrive();
delay(500);
driveBackSlow(encoder4); // back up towards bridge
turnLeft(encoder5); // rotate 180 degrees to the large ball
armDown(armMin);
armDownTrim();
driveForward(encoder6); // go under the bridge + knock large ball
armUp(goalHeight);
turnRight(encoder7); // turn to goal
findLineRight();
followLine(300);
driveForwardSlowDead(); // drive to goal
delay(700);
stopDrive();
outtake(7000); // outtake 3
stopAll();
}
