void RampKickstand() {
servo[kickstand] = 255;
StartTask(init);
turnUltra(0, 0);
turnUltra(1, 0);
releaseTube();
SixtyCM();
turnUltra(0, 0);
pause(0.3);
tillSense(200, 90, true, 90, rearUS);
pause(0.1);
turnWithGyro(-50, 120);
pause(0.1);
releaseTube();
pause(0.2);
turnWithGyro(-50, 60);
grabTube();
move(-50);
pause(1);
move(0);
pause(0.5);
Kickstand();
//moveDistance(100, 5);
//servo[lift1] = WINCHSTOP;
//servo[lift2] = WINCHSTOP;
}
void placeTube(int possision)
{
if(possision == 1)
{
gyroTurn(70,50,dRight);
travelDistance(1);
captureTube();
}
else if(possision == 2)
{
gyroTurn(70, 50, dRight);
travelDistance(2);
captureTube();
}
else if(possision == 3)
{
gyroTurn(70, 45, dRight);
travelDistance(1);
captureTube();
}
else
{
}
releaseTube();
}