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 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 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 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
}
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
}
