void redDevansh() // Places preload (1-2) + 2 buckies (2-4) + TURN LEFT Knocks buckies (1-6)
{
deploy();
intake(1);
wait10Msec(10);
moveStraight(1, 0, 455); //picks up
wait10Msec(50);
moveStraight(-1, 0, 475);//comes back
intake(0);
// end part 1: prepare dump
waitForButton();
lift(BUMP);
holdArm();
intake(-1);
resetValues(1200);
// end part 2: dump
waitForButton();
liftDown();
wait10Msec(100);
moveStraight(1, 0, 700);
// end part 3: prepare hit
spin(-1, 0, 200);
intake(-1);
lift(BUMP);
holdArm();
noRamp(1, 250);
resetValues(0);
// end part 4: hit
}
void redUdit()
{
deploy();
intake(true);
wait10Msec(10);
moveStraight(1, 0, 475);
wait10Msec(50);
moveStraight(-1, 0, 475);
//stopIntake();
lift(BUMP);
holdArm();
waitForButton();
intake(false);
wait10Msec(100);
waitForButton();
resetValues(0);
liftDown();
// end Devansh
waitForButton();
intake(true);
moveStraight(1, 0, (HALF_TILE));
wait10Msec(50);
pickUpBall(1);
spin(-1, 0, 200);
crossBump();
lift(BARRIER);
holdArm();
wait10Msec(30);
moveStraight(1, 0, 550);
intake(false);
// end udit
resetValues(1000);
}
void blueBrian()
{
moveStraight(1, 0, 1000); // estimate going 2 tiles, under bump perpendicular to barrier
wait10Msec(30); // stableeeeeeeeeeeeeeeee hit ball gently?
spin(-1, 0, 100); // uh... hopefully it doesn't fall out?
//wait10Msec(70); 1 sec stabilization time already incorporated in spin()
lift(HIGH); // uh..
holdArmHigh();
wait10Msec(70);
moveStraight(1, 0, 450);
wait10Msec(70);
intake(-1);
wait10Msec(10); // lol
intake(0);
moveStraight(-1, 0, 200); // lol
intake(-1); // lol
wait10Msec(20);
intake(0);
moveStraight(-1, 0, 250);
resetValues(0);
liftDown();
spin(1, 0, 100);
moveStraight(-1, 0, 1000);
waitForButton();
// end 15 pts
lift(BARRIER);
holdArm();
moveStraight(1, 0, 950);
// end 5 pts, or 20pts total
}
void redDevansh() // Places preload (1-2) + 2 buckies (2-4) + TURN LEFT Knocks buckies (1-6) + Places two Balls (2)
{
deploy();
intake(true);
wait10Msec(10);
moveStraight(1, 0, 475);
wait10Msec(50);
moveStraight(-1, 0, 475);
//stopIntake();
lift(BUMP);
holdArm();
waitForButton();
intake(false);
wait10Msec(100);
waitForButton();
resetValues(0);
liftDown();
// end Devansh
waitForButton();
intake(true);
moveStraight(1, 0, (HALF_TILE));
wait10Msec(50);
pickUpBall(1);
spin(-1, 0, 200);
crossBump();
lift(BARRIER);
holdArm();
wait10Msec(30);
moveStraight(1, 0, 550);
intake(false);
// end udit
resetValues(1000);
}
/* Psuedocode
Ramp Forward -> [Cross Barrier] -> Raise Arm HIGH -> Hold Arm HIGH -> Ramp Zero -> [Reach Goal] -> Outtake -> [Finish Outtake]
-> Stop Intake -> Ramp Forward -> Ramp Zero -> [Reach Barrier] -> Lower Arm LOW -> Ramp Backward -> [Reach Square] -> Hard Zero
Wait Until Press -> Raise Arm BARRIER -> Hold Arm BARRIER -> Ramp Forward -> Ramp Zero -> [Reach Barrier] -> Ramp Backward
-> [Reach Square] -> Hard Zero -> Wait Until Press -> Ramp Forward -> Ramp Zero -> [Reach Barrier]
*/
void Alex() // Caches preload (5) + Knocks 2 big balls (10)
{
deploy();
moveStraight(1, 0, 1550); // 1600 is just before goal...changed for some reason
lift(HIGH); // only accurate to the nearest 100... may need to adjust HIGH value
holdArm();
moveStraight(1, 0, 300); // reaches goal
//wait1Msec(1000);
intake(false);
wait1Msec(1000); // outtake
stopIntake();
moveStraight(-1, 0, 400); // move back away from goal...Apparently Safety is greater than move forward
liftDown();
moveStraight(-1, 0, 1500);
waitForButton();
lift(BARRIER);
holdArm();
intake(false);
moveStraight(1, 0, 550); // estimated guess based on 10Q's values - WORKS
wait1Msec(300);
moveStraight(-1, 0, 550);
waitForButton();
moveStraight(1, 0, 950); // A bit of trouble... Not sure if you want to spin rollers for this hit...
wait1Msec(300); // outtaking pushes the ball away + needs good aiming
moveStraight(-1, 0, 950);
resetValues(100);
}
/* Psuedocode
Ramp Forward -> [Cross Barrier] -> Raise Arm HIGH -> Hold Arm HIGH -> Ramp Zero -> [Reach Goal] -> Outtake -> [Finish Outtake]
-> Stop Intake -> Ramp Forward -> Ramp Zero -> [Reach Barrier] -> Lower Arm LOW -> Ramp Backward -> [Reach Square] -> Hard Zero
Wait Until Press -> Raise Arm BARRIER -> Hold Arm BARRIER -> Ramp Forward -> Ramp Zero -> [Reach Barrier] -> Ramp Backward
-> [Reach Square] -> Hard Zero -> Wait Until Press -> Ramp Forward -> Ramp Zero -> [Reach Barrier]
*/
void Alex() // Caches preload (5) + Knocks 2 big balls (10)
{
deploy();
moveStraight(1, 0, 1600); // 1600 is just before goal
lift(HIGH); // nearest 100
holdArm();
moveStraight(1, 0, 300); // reaches goal
//wait1Msec(1000);
intake(-1);
wait1Msec(500); // outtake
intake(0);
moveStraight(-1, 0, 400); //move back away from goal...Apparently Safety is greater than move forward
liftDown();
moveStraight(-1, 0, 1500);
waitForButton();
lift(BARRIER);
holdArm();
intake(-1);
moveStraight(1, 0, 550); //estimated guess based on 10Q's values
wait1Msec(300);
moveStraight(-1, 0, 550);
waitForButton();
moveStraight(1, 0, 950);
wait1Msec(300);
moveStraight(-1, 0, 950);
resetValues(100);
}
void redUdit()
{
deploy();
intake(1);
wait10Msec(10);
moveStraight(1, 0, 475); //picks up
wait10Msec(50);
moveStraight(-1, 0, 475);//comes back
//intake(0)();
spin(1, 0, 400);
lift(BUMP);
holdArm();
waitForButton();
intake(-1);
wait10Msec(100);
resetValues(0);
liftDown(); // added
// end Devansh
waitForButton();
intake(1);
moveStraight(1, 0, (HALF_TILE));
wait10Msec(50);
pickUpBall(1);
spin(-1, 0, 200);
crossBump();
lift(BARRIER);
holdArm();
wait10Msec(30);
moveStraight(1, 0, 550);
intake(-1);
// end udit
resetValues(1000);
}
void AlexAlt() // Caches preload (5) + Knocks 2 big balls (10)
{
deploy();
moveStraight(1, 0, 1600); // maintenence and recalibrating needed
liftTime(1,300);
holdArmHigh();
moveStraight(1, 0, 650); // reaches goal
//wait1Msec(1000);
intake(-1);
wait1Msec(500); // outtake
moveStraight(-1, 0, 400); //move back away from goal...Apparently Safety is greater than move forward
liftDown();
// end score bucky
moveStraight(-1, 0, 1400); // now user readjust for first ball
waitForButton();
lift(BARRIER);
holdArm();
intake(-1);
moveStraight(1, 0, 580); //estimated guess based on 10Q's values
wait1Msec(300);
//moveStraight(-1, 0, 550);
moveStraight(-1, 0, 580);
waitForButton();
moveStraight(1, 0, 950);
wait1Msec(300);
//moveStraight(-1, 0, 950);
moveStraight(-1, 0, 950);
resetValues(100);
}
void redDevansh() // Places preload (1-2) + 2 buckies (2-4) + TURN LEFT Knocks buckies (1-6) + Places two Balls (2)
{
deploy();
intake(1);
wait10Msec(10);
moveStraight(1, 0, 150); // 200 estimated based on 10Q values
wait10Msec(50);
moveStraight(-1, 0, 150);
intake(0);
waitForButton();
lift(BUMP);
holdArm();
intake(-1);
waitForButton();
resetValues(0);
liftDown();
wait10Msec(20);
intake(1);
moveStraight(1, 0, (TILE + HALF_TILE)); // theory
wait10Msec(50); // intake ball hopefully
lift(BUMP);
holdArm();
intake(0);
spin(0, -1, RIGHT_ANGLE); // RED SIDE TURN LEFT knocks buckies hopefully
wait10Msec(30);
intake(-1); // outtake ball hopefully
wait10Msec(300);
intake(0);
spin(0, 1, RIGHT_ANGLE);
liftDown();
intake(1);
moveStraight(1, 0, (TILE + HALF_TILE)); // theory
lift(BUMP);
holdArm();
intake(0);
spin(0, -1, RIGHT_ANGLE); // RED SIDE TURN LEFT
wait10Msec(30);
intake(-1);
resetValues(10);
}
/**
*
* Kupacból kivesszük a legfelső elemet
*
*/
void pop()
{
if (!empty()) {
std::swap(v[0], v[v.size() - 1]);
v.pop_back();
if (!empty()) {
liftDown(0);
}
} else {
throw EmptyHeap();
}
}
void blueUdit()
{
deploy();
intake(1);
wait10Msec(10);
moveStraight(1, 0, 475); //picks up
wait10Msec(50);
moveStraight(-1, 0, 475);//comes back
//intake(0)();
spin(1, 0, 400);
lift(BUMP);
holdArm();
waitForButton();
intake(-1);
wait10Msec(100);
resetValues(0);
liftDown(); // added
waitForButton();
//liftDown();
// end Devansh
//waitForButton();
intake(1);
moveStraight(1, 0, (HALF_TILE));
wait10Msec(50);
pickUpBall(1);
spin(1, 0, 200);
//crossBump();
lift(BUMP);
nMotorEncoder[LeftMWheel] = 0;
if(true)
{
setRight(127);
wait10Msec(10);
setLeft(127);
}
while (abs(nMotorEncoder[LeftMWheel]) < 500)
{
setRight(127); setLeft(127);
}
setRight(0); setLeft(0);
lift(BARRIER);
holdArm();
wait10Msec(30);
moveStraight(1, 0, 550);
intake(-1);
// end udit
resetValues(1000);
}
void skills()
{
deploy();
wait10Msec(20);
intakeSlow(1);
moveStraight(1, 0, 430); //picks up
wait10Msec(50);
moveStraight(-1, 0, 430);//comes back
intake(1);
lift(BUMP - 50);
holdArm();
moveStraight(-1,0,700);//hops bump
waitForButton();
liftDown();
intake(0);
waitForButton();
moveStraight(1, 0, 1400); // maintenence and recalibrating needed
wait10Msec(30);
lift(HIGH);
holdArmHigh();
moveStraight(1, 0, 430); // reaches goal
//wait1Msec(1000);
intake(-1);
wait10Msec(150); // outtake
moveStraight(-1, 0, 400); //move back away from goal...Apparently Safety is greater than move forward
lift(LOW);
wait10Msec(50);
intake(0);
// end score bucky
moveStraight(-1, 0, 1400); // now user readjust for first ball
waitForButton();
moveStraight(1,0,600);
spin(1,0,200);
lift(BARRIER);
holdArmHigh();
moveStraight(1, 0, 475);
wait10Msec(40);
moveStraight(-1, 0, 275);
}
void liftControl() {
if (isLiftUp())
{
liftUp();
PlaySound(soundUpwardTones);
}
else if (isLiftDown())
{
liftDown();
PlaySound(soundDownwardTones);
}
else
{
liftStop();
ClearSounds();
}
}
void redUdit()
{
deploy();
wait10Msec(20);
moveStraight(1, 0, 450); //picks up
wait10Msec(50);
moveStraight(-1, 0, 450);//comes back
intake(0);
waitForButton();
moveStraight(1, 0, (610));
spin(-1,0, 240);
moveStraight(1, 0, (575));
lift(BARRIER - 300);
holdArm();
intake(-1);
wait10Msec(130);
liftDown();
intake(0);
}
Heap(const std::vector<T>& v_) : v(v_)
{
for (int i = v.size()/2 - 1; i >= 0; --i)
liftDown(i);
}
void skills()
{
Alex(); // 15 points
liftDown();
waitForButton();
wait10Msec(50);
while(SensorValue[waitingButtonRed] == 0 && SensorValue[waitingButtonBlue] == 0)
{
setRight(127); setLeft(127);
} // this works for crossing bump
resetValues(0); // I don't know why it doesn't reach here...
// end cross bump
waitForButton();
intake(1);
wait10Msec(10);
moveStraight(1, 0, 455); //picks up
wait10Msec(50);
moveStraight(-1, 0, 475);//comes back
// end pick up 3
waitForButton();
wait10Msec(50);
while(SensorValue[waitingButtonRed] == 0 && SensorValue[waitingButtonBlue] == 0)
{
setRight(127); setLeft(127);
}
resetValues(0);
// end cross bump
waitForButton();
moveStraight(1, 0, 1400); // 1600 is just before goal
lift(HIGH); // nearest 100
holdArmHigh();
moveStraight(1, 0, 350); // reaches goal
intake(-1);
wait1Msec(500); // outtake
moveStraight(-1, 0, 400); //move back away from goal...Apparently Safety is greater than move forward
liftDown();
moveStraight(-1, 0, 1500);
resetValues(0);
// end Alex 2.0
waitForButton();
wait10Msec(50);
while(SensorValue[waitingButtonRed] == 0 && SensorValue[waitingButtonBlue] == 0)
{
setRight(127); setLeft(127);
}
setRight(0); setLeft(0);
// end cross
waitForButton();
intake(1);
wait10Msec(100);
moveStraight(1, 0, 700);
resetValues(50);
// end intake big ball
moveStraight(-1, 0, 200);
softSpin(-1, 0, 200);
intake(-1);
resetValues(1200);
// end outtake
spin(1, 0, 200);
intake(1);
moveStraight(1, 0, 900);
intake(0);
wait10Msec(30);
moveStraight(-1, 0, 200);
softSpin(-1, 0, 200);
}
bool touch()
{
{
void crossBump()
{
/*
lift(BUMP);
holdArm();
nMotorEncoder[LeftMWheel] = 0;
while(abs(nMotorEncoder[LeftMWheel]) < 300)
{
setRight(100); setLeft(100);
}
while(abs(nMotorEncoder[LeftMWheel]) < 600)
{
setRight(50); setLeft(50);
}
while(abs(nMotorEncoder[LeftMWheel]) < 800)
{
setRight(35); setLeft(35);
}
//liftDown();
setRight(0); setLeft(0);
//resetValues(0);
*/
}
/* Psuedocode
Ramp Forward -> [Cross Barrier] -> Raise Arm HIGH -> Hold Arm HIGH -> Ramp Zero -> [Reach Goal] -> Outtake -> [Finish Outtake]
-> Stop Intake -> Ramp Forward -> Ramp Zero -> [Reach Barrier] -> Lower Arm LOW -> Ramp Backward -> [Reach Square] -> Hard Zero
Wait Until Press -> Raise Arm BARRIER -> Hold Arm BARRIER -> Ramp Forward -> Ramp Zero -> [Reach Barrier] -> Ramp Backward
-> [Reach Square] -> Hard Zero -> Wait Until Press -> Ramp Forward -> Ramp Zero -> [Reach Barrier]
*/
void Alex() // Caches preload (5) + Knocks 2 big balls (10)
{
deploy();
moveStraight(1, 0, 1550); // 1600 is just before goal
lift(HIGH); // nearest 100
holdArmHigh();
moveStraight(1, 0, 300); // reaches goal
//wait1Msec(1000);
intake(-1);
wait1Msec(500); // outtake
moveStraight(-1, 0, 400); //move back away from goal...Apparently Safety is greater than move forward
liftDown();
// end score bucky
moveStraight(-1, 0, 1400); // now user readjust for first ball
waitForButton();
lift(BARRIER);
holdArm();
intake(-1);
moveStraight(1, 0, 580); //estimated guess based on 10Q's values
wait1Msec(300);
//moveStraight(-1, 0, 550);
moveStraight(-1, 0, 580);
waitForButton();
moveStraight(1, 0, 950);
wait1Msec(300);
//moveStraight(-1, 0, 950);
moveStraight(-1, 0, 950);
resetValues(100);
}
void blueDevansh() // Places preload (1-2) + 2 buckies (2-4) + TURN RIGHT Knocks buckies (1-6)
{
deploy();
intake(1);
wait10Msec(10);
moveStraight(1, 0, 455); //picks up
wait10Msec(50);
moveStraight(-1, 0, 475);//comes back
intake(0);
// end part 1: prepare dump
waitForButton();
lift(BUMP);
holdArm();
intake(-1);
resetValues(1200);
// end part 2: dump
waitForButton();
liftDown();
wait10Msec(100);
moveStraight(1, 0, 700);
// end part 3: prepare hit
spin(1, 0, 200);
intake(-1);
lift(BUMP);
holdArm();
noRamp(1, 250);
resetValues(0);
// end part 4: hit
}
