/* 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);
}
void Scoremiddlegoal()
{ waitForButton();
starttask(CollectD);
{
drive_Enc(63,7,4);
}
stopdrivemotors();
StopTask(CollectD);
StartTask(medgoal);
{
stopTime(1.75);//wait for arm
drive_Enc(63,8,5);//drive foward
}
StopTask(medgoal);
spit(0.75);
drive_Enc(-63,4,2);
spit(0.75);
StartTask(armDown);
{
drive_Enc(-63,15,5);
}
StopTask(armDown);
waitForButton();
StartTask(CollectD);
{
drive_Enc(70,15,5);
}
StopTask(CollectD);
}
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 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 Alex2() // Knocks 2 big balls (10) then caches preload
{
deploy();
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);
waitForButton();
moveStraight(1, 0, 1420); // maintenence and recalibrating needed
lift(HIGH); // nearest 100
holdArmHigh();
moveStraight(1, 0, 500); // 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
motor[LeftArm] = motor[RightArm] = -127;
wait1Msec(800);
motor[LeftArm] = motor[RightArm] = 0;
// end score bucky
moveStraight(-1, 0, 1300); // now user readjust for first ball
}
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);
}
/* 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(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 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);
}
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 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(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);
}
void hangSide() {
motor(Intake1) =motor(Intake2) = 127;
forward(34);
wait1Msec(1500);
back(60);
basicMove(0, 0, 0);
wait1Msec(2000);
/*raiseArm(300);
outtakeT(2000);*/
motor(Intake1) = motor(Intake2) = 0;
powerArm(0);
basicMove(0, 0, 0);
raiseArm(600);
powerArm(20);
waitForButton();
outtakeT(3500);
basicMove(0, 0, 0);
powerArm(0);
basicMove(0, 0, 0);
}
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);
}
// Most basic, scores preload, knocks over big balls.
void forGreaterJustice() {
setTank();
forward(1100);
raiseArm(1200);
powerArm(10);
//back(50);
basicMove(0, 0, 0);
motor(Intake1) =motor(Intake2) = -127;
wait1Msec(800);
back(400);
motor(Intake1) =motor(Intake2) = 0;
lowerArm(10);
back(600);
basicMove(0, 0, 0);
waitForButton();
// Push over big balls
//raiseArm(650);
powerArm(0);
//stopArm();
motor[Arm1] = motor[Arm2] = 0;
forLols();
}
void RedSai() //potential 20pt auton
{
deploy();
// go for second ball knockdown
moveStraight(1, 0, 950);
wait1Msec(300);
moveStraight(-1, 0, 950);
resetValues(100);
waitForButton();
moveStraight(1,0,1500); //move forward
spin(-1,0,180); // turn towards the cache
lift(HIGH); // nearest 100
holdArmHigh();
moveStraight(1, 0, 650); // reaches goal
intake(-1);
wait1Msec(1000); // outtake
}
int main(int argc, char *argv[])
{
char c;
int status = 0;
printf("Hello World, I'm game!\n");
status = init_display();
if (status != 0)
{
printf("Error: Failed to init display\n");
return status;
}
status = init_driver();
if (status != 0)
{
printf("Error: Failed to init driver\n");
destroy_display();
return status;
}
status = setup_handler();
if (status != 0)
{
printf("Error: Failed to init signal handler\n");
destroy_display();
close(file_gamepad_driver);
return status;
}
time_handler();
/* Intializes random number generator */
srand((unsigned) time(&t));
sigset_t myset;
(void) sigemptyset(&myset);
while(1)
{
clear_LCD();
draw_game();
draw_score(p1_score, p2_score);
redraw();
waitForButton();
printf("start game\n");
while((p1_score < 5) && (p2_score < 5))
{
random_timer = (rand() % 3) + 2;
startTimer(random_timer);
waitForTimer();
random_button = (rand() % 4);
draw_button(random_button, true, RED);
redraw();
gettimeofday(&time_button_appears, NULL);
// start timer
startTimer(3);
buf = 0;
while((playerButtonPressed(random_button) == 0) && (timer_expired == false))
{
waitForButton();
}
stopTimer();
if (timer_expired == false)
{
time_elapsed = getGameTime();
draw_time(time_elapsed, BLUE);
redraw();
}
if (playerButtonPressed(random_button) == P1)
{
p1_score++;
p1_time += time_elapsed;
}
else if (playerButtonPressed(random_button) == P2)
{
p2_score++;
p2_time += time_elapsed;
}
draw_score(p1_score, p2_score);
reset_button(random_button);
redraw();
}
// draw winner
button_pressed = 0;
if (p1_score == 5)
{
winner = P1;
winner_time = p1_time;
}
else if (p2_score == 5)
{
winner = P2;
winner_time = p2_time;
}
while(button_pressed == 0)
{
startTimer(1);
winner_blink(winner, winner_time);
waitForTimer();
}
// print waiting
waitForButton();
p1_score = 0;
p1_time = 0;
p2_score = 0;
p2_time = 0;
}
}
void doChat() {
//Setup chat
_maxCharsPerRow = (display.width() / ANX_FONT_WIDTH) - 2;
_bottom = CHAT_MESSAGES_MAX - 1;
uint8_t button = 0;
uint8_t lastChatPtr = 0;
bool quit = false;
//Warn user then quit if radio is not available
if (!ANXRFAvailable()) {
statusDialog("Radio disabled");
quit = true;
}
//Warn user then quit if in airplane mode
if (ANXGetAirplane()) {
statusDialog("Badge is in\nairplane mode");
quit = true;
}
if (quit) {
waitForButton();
clearButtonState();
return;
}
while (1) {
_drawMessages();
lastChatPtr = chatBufferPtr;
//Idle handling RF and buttons
while (chatBufferPtr == lastChatPtr && button == 0) {
//Handle tasks
tick();
//Check buttons
button = getButtonState();
}
//Handle button presses in one block
//If message is null, meaning nothing was passed into doChat, then execute a normal chat entry.
if (button > 0) {
//Quit on left
if (button == BUTTON_LEFT) {
clearButtonState();
return;
}
//Popup chat window on enter
if (button == BUTTON_ENTER) {
clearButtonState();
//Get a
char message[ANX_CHAT_MAX_LENGTH];
memset(message, '\0', ANX_CHAT_MAX_LENGTH); //initialize to null before using no matter wut
ANXInputWindow(message, mi_main_chat, ANX_CHAT_MAX_LENGTH);
if (strlen(message) > 0) {
ANXRFSendChat(message);
}
}
}
//cleanup
button = 0;
}
}
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);
}
void crossBump()
{
setRight(127); setLeft(127);
waitForButton();
setRight(0); setLeft(0);
}
/**
Interactively accepts input from the user
Max input size is determined by remaining cells at given start row. No scrolling.
*/
void ANXInput(char *message, uint8_t startX, uint8_t startY, uint8_t maxChars, uint8_t maxCharsPerRow) {
int messageLen = strlen(message); //Size of the message
int cursor = messageLen; //Location of cursor in the text, put cursor at end of message to continue
uint8_t row = 0; //Row of the cursor
uint8_t col = 0; //Col of the cursor
uint8_t cindex = 0; //index within input char array
int maxCols = (display.width() - startX) / ANX_FONT_WIDTH; //Max number of cols available
int maxRows = (display.height() - startY) / ANX_FONT_HEIGHT; //Max number of rows available
int maxLen = min(maxCols * maxRows, maxChars); //Maximum possible size of the message (limited by input space and buffer)
//Use the user specified chars per row if specified
if (maxCharsPerRow > 0) {
maxCols = min(maxCharsPerRow, maxCols);
}
//Print the message, if any
ANXInputMoveCursor(row, col, startX, startY);
display.print(message);
//Iteractively get input from user
while (1) {
row = cursor / maxCols;
col = cursor % maxCols;
ANXInputClearChar(row, col, startX, startY);
ANXInputDrawCursor(row, col, startX, startY);
if (message[cursor] != NULL) {
ANXInputMoveCursor(row, col, startX, startY);
display.print(message[cursor]);
}
safeDisplay();
uint8_t button = waitForButton();
if ((button & BUTTON_DOWN) > 0) {
//Move char index to the end pro-actively since unsigned won't wrap to -1
if (cindex == 0) cindex = INPUT_CHARS_COUNT;
cindex--;
if (cursor >= messageLen) {
messageLen++;
}
message[cursor] = INPUT_CHARS[cindex];
//Make sure we're not null terminating the string early
if (cursor > 0) {
if (message[cursor - 1] == '\0') message[cursor - 1] = ' ';
}
deepSleep(BUTTON_REPEAT_DELAY);
}
if ((button & BUTTON_UP) > 0) {
cindex++;
if (cindex >= INPUT_CHARS_COUNT) cindex = 0;
if (cursor >= messageLen) {
messageLen++;
}
message[cursor] = INPUT_CHARS[cindex];
//Make sure we're not null terminating the string early
if (cursor > 0) {
if (message[cursor - 1] == '\0') message[cursor - 1] = ' ';
}
deepSleep(BUTTON_REPEAT_DELAY);
}
if ((button & BUTTON_RIGHT) > 0) {
ANXInputDrawCursor(row, col, startX, startY);
//Prevent cursor from going off the deep end
if (cursor < maxLen - 1) {
cursor++;
}
if (cursor < messageLen) {
cindex = ANXIndexOf(INPUT_CHARS, message[cursor]);
} else {
messageLen++;
cindex = 0;
}
//Make sure we're not null terminating the string early
if (cursor > 0) {
if (message[cursor - 1] == '\0') message[cursor - 1] = ' ';
}
//Don't allow repeats
clearButtonState();
}
if ((button & BUTTON_LEFT) > 0) {
//Prevent cursor underun
if (cursor > 0) {
ANXInputDrawCursor(row, col, startX, startY);
cursor--;
}
if (cursor < messageLen) {
cindex = ANXIndexOf(INPUT_CHARS, message[cursor]);
} else {
messageLen++;
cindex = 0;
}
//Don't allow repeats
clearButtonState();
}
if ((button & BUTTON_ENTER) > 0) {
//Don't allow repeats
clearButtonState();
return;
}
}
}
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
}
