task autonomous()
{
/*while (bIfiAutonomousMode)
{
getInput();
processAutonomous();
//doOutput();
}*/
/*Drive(FORWARD); //Drive
Lift(UP); //Raise Lift
wait1Msec(2000);
SingleTurnRight(127); //Wiggle Right
wait1Msec(700);
Drive(STOP);
wait1Msec(100);
SingleTurnLeft(127); //Wiggle Left
wait1Msec(900);
SingleTurnRight(127); //Wiggle Back Right
wait1Msec(200);
Drive(FORWARD); //Drive
wait1Msec(700);
SingleTurnRight(127); //Turn More Right
wait1Msec(500);
Drive(FORWARD); //Drive into goal
wait1Msec(1500);
Drive(BACKWARD); //Back up a bit
wait1Msec(500);
Drive(STOP);
Intake(OUT); //Release the Muffins!
wait1Msec(1500);
wait1Msec(1500);
Intake(OUT);
wait1Msec(1500);
Intake(STOP);*/
Lift(UP); //Raise Lift
wait1Msec(1100);
while(true)
{
Drive(FORWARD); //Drive
wait1Msec(1500);
Drive(STOP);
wait1Msec(500);
Lift(20); //Hold the cage up
wait1Msec(500);
Intake(OUT); //Release the Muffins!
wait1Msec(5000);
Intake(STOP);
Drive(BACKWARD);
wait1Msec(1800);
Drive(STOP);
//Again again!
while (nLCDButtons == 0)
{
}
wait1Msec(200);
}
}
void RedIsolationPickupAutonomous()
{
SensorValue[Gyroscope] = 0;
StartTask(KeepArmInPosition);
armPosition = minArm;
Intake(127);
Forward(45, 125, "none");
StopMoving();
Backward(127, 90, "none");
Intake(0);
StopMoving();
TurnLeftDegrees(40);
armPosition = midGoalHeight;
wait10Msec(70);
Intake(127);
Forward(100, 60, "none");
StopMoving();
armPosition = midGoalHeight - 100;
wait10Msec(50);
StopTask(KeepArmInPosition);
StopArm();
StartTask(StayInPosition);
wait10Msec(500);
Intake(0);
wait10Msec(1000);
StopTask(StayInPosition);
}
void InteractionGoalAutonomous()
{
SensorValue[Gyroscope] = 0;
StartTask(KeepArmInPosition);
Intake(127);
armPosition = maxArm;
wait10Msec(50);
Intake(0);
Forward(65, 70, "none");
StopTask(KeepArmInPosition);
}
void RedInteractionCurvyAutonomous()
{
Intake(127);
Forward(127, 40, "none");
Intake(0);
VariableMove(20, 127, 80);
SensorValue[Gyroscope] = 0;
Forward(127, 80, "none");
StopMoving();
StartTask(StayInPosition);
wait10Msec(1500);
StopTask(StayInPosition);
}
//////////////////////////////////////////////////////////////////////////////////////
// //
// Autony Mouses //
// //
//////////////////////////////////////////////////////////////////////////////////////
void InteractionInterceptionAutonomous()
{
SensorValue[Gyroscope] = 0;
Intake(127);
Backward(127, 90, "none");
StopMoving();
Intake(0);
StartTask(StayInPosition);
wait10Msec(1500);
StopTask(StayInPosition);
Backward(127, 25, "none");
StopMoving();
StartTask(StayInPosition);
wait10Msec(500);
StopTask(StayInPosition);
}
void IsolationBlockAutonomous()
{
SensorValue[Gyroscope] = 0;
StartTask(KeepArmInPosition);
armPosition = midGoalHeight;
wait10Msec(25);
Intake(127);
Forward(100, 80, "none");
StopMoving();
armPosition = midGoalHeight - 100;
wait10Msec(80);
StopTask(KeepArmInPosition);
StopArm();
StartTask(StayInPosition);
wait10Msec(500);
Intake(0);
wait10Msec(1000);
StopTask(StayInPosition);
}
task usercontrol() // main task but for driver mode.
{
while (true)
{
startTask(Pid);
startTask(SpeedControls);
Drive();
Intake();
flyWheelRun();
Pnumatics();
}
}
void RedInteractionAntiWallBot2Autonomous()
{
SensorValue[Gyroscope] = 0;
StartTask(KeepArmInPosition);
Intake(127);
Forward(127, 20, "none");
Intake(0);
StopMoving();
armPosition = 1200;
VariableMove(127, -10, 90);
StopMoving();
turnLeft(127);
wait10Msec(20);
Forward(127, 40, "none");
StopMoving();
StartTask(StayInPosition);
wait10Msec(2000);
StopTask(StayInPosition);
StopTask(KeepArmInPosition);
}
task usercontrol()
{
motor[port1] = 0;
motor[port2] = 0;
motor[port3] = 0;
motor[port4] = 0;
motor[port5] = 0;
motor[port6] = 0;
motor[port7] = 0;
motor[port8] = 0;
motor[port9] = 0;
motor[port10] = 0;
while(true)
{
Wheels();
Intake();
FlyWheels();
}
}
task usercontrol() // main task but for driver mode.
{
while (true)
{
if (time1[T1]>200)
{
Speed();
resetTimer(T1);
SensorValue[LeftSpeed] = 0;
SensorValue[RightSpeed] = 0;
if (time1[T4]>1000)
{
Pid();
}
}
Drive();
Intake();
flyWheelRun();
Pnumatics();
SpeedControls();
SpeedControls2();
}
}
void IsolationScoringAutonomous()
{
SensorValue[Gyroscope] = 0;
StartTask(KeepArmInPosition);
armPosition = minArm;
Intake(127);
Forward(45, 135, "none");
Backward(127, 35, "none");
Intake(0);
armPosition = midGoalHeight+50;
Backward(127, 80, "none");
StopMoving();
while (SensorValue[Bump] == 0) {}
Forward(65, 60, "none");
StopMoving();
wait10Msec(20);
Intake(-127);
wait10Msec(90);
Intake(70);
Backward(35, 30, "none");
StopMoving();
Intake(-127);
wait10Msec(120);
Intake(0);
//VariableMove(-70, -20, 80);
Backward(45, 20, "none");
armPosition = minArm;
Backward(45, 20, "none");
StopMoving();
wait10Msec(200);
StopTask(KeepArmInPosition);
StopArm();
}
void ProgrammingSkillsAutonomous()
{
armPosition = SensorValue[ArmPoten];
SensorValue[Gyroscope] = 0;
StartTask(KeepArmInPosition);
// A: Pick up stack at intersection
armPosition = stackHeight;
Intake(127);
wait10Msec(40);
Forward(45, 35, "none");
// B: Forward on line to doubler, pick up doubler, stop at intersection
ForwardOnLine(45, 50, "none");
Intake(0);
ForwardOnLine(45, 100, "none");
ForwardOnLine(45, 40, "none"); ///
Intake(127);
armPosition = minArm + 20;
Forward(55, 100, "Intersection");
StopMoving();
armPosition = minArm + 100;
Backward(45, 10, "Intersection"):
Backward(45, 7, "none"):
StopMoving();
// C: Turn 90° left to face 30" goal, forward, score doubler + 5 objects in 30" goal
TurnLeftDegrees(91);
Intake(0);
armPosition = maxArm + 50;
wait10Msec(100);
Forward(50, 33.5, "none");
StopMoving();
Intake(-127);
wait10Msec(60);
Intake(-65);
wait10Msec(60);
Intake(-120);
wait10Msec(40);
Intake(-65);
wait10Msec(60);
Intake(-120);
wait10Msec(80);
// Intake(-127);
// wait10Msec(250);
Intake(0);
// D: Back up, lower arm, forward and pick up stack in front of 30" goal //start of what grace programmed
Backward(50, 50, "Intersection");
wait10Msec(5);
StopMoving();
wait10Msec(20);
armPosition = stackHeight + 20;
wait10Msec(90);
Intake(127);
Forward(35, 28, "none"):
StopMoving();
// E: Back up, turn 90° right to face 11.5" goal, score 11.5" goal
Backward(35, 40, "Intersection");
Backward(35, 8, "none");
StopMoving();
TurnRightDegrees(90);
Intake(0);
armPosition = lowGoalHeight;
wait10Msec(20);
Forward(35, 16, "none");
StopMoving();
wait10Msec(10);
Intake(-85);
wait10Msec(50);
Intake(-0);
wait10Msec(20);
Intake(-85);
wait10Msec(70);
Intake(0);
// F: Back up to intersection, turn 90° right, forward a lot, pick up stack, score stack on 11.5" goal
Backward(85, 30, "none");
armPosition = stackHeight;
// Backward(85, 50, "none");
// Backward(65, 35, "none");
// Backward(45, 40, "none");
Backward(85, 120, "none");
Backward(35, 70, "Intersection");
wait10Msec(1);
StopMoving();
TurnRightDegrees(90);
ForwardOnLine(35, 20, "none");
ForwardOnLine(45, 80, "none");
Intake(127);
ForwardOnLine(45, 53, "none");
// armPosition = stackHeight;////
Forward(45, 40, "Intersection");
StopMoving();
armPosition = lowGoalHeight + 40;
wait10Msec(40);
Forward(45, 25, "none");
StopMoving();
Intake(-100);
wait10Msec(55);
Intake(-0);
wait10Msec(20);
Intake(-85);
wait10Msec(55);
Intake(0);
// G: Back up, pick up stack in front of 11.5" goal, back up to intersection, turn 90° left
Backward(55, 28, "none");
StopMoving();
armPosition = stackHeight + 20;
Intake(127);
Forward(45, 40, "none");
StopMoving();
Backward(55, 60, "Intersection");
Backward(45, 5, "none");
StopMoving();
TurnLeftDegrees(90);
Backward(85, 40, "none");
StopMoving();
Intake(0);
//======================================== PART 2 ===============================================================
while (SensorValue[Bump] == 0) {}
// A2: Go forward
SensorValue[Gyroscope] = 0;
Forward(50, 30, "none");
// B2: Forward on line to doubler, pick up doubler, stop at intersection
ForwardOnLine(45, 130, "none");
// ForwardOnLine(45, 20, "none");///
Intake(127);
armPosition = minArm + 40;
Forward(55, 100, "Intersection");
StopMoving();
armPosition = minArm + 120;
Backward(45, 10, "Intersection"):
Backward(45, 5, "none"):
StopMoving();
// C2: Turn 90° right to face 30" goal, forward, score doubler + 5 objects in 30" goal
Intake(0);
TurnRightDegrees(91);
// Intake(0);
StartTask(KeepArmInPosition);
armPosition = maxArm + 50;
wait10Msec(90);
Forward(40, 40.5, "none");
StopMoving();
Intake(-100);
wait10Msec(60);
Intake(-55);
wait10Msec(90);
Intake(-100);
wait10Msec(50);
Intake(-55);
wait10Msec(60);
Intake(0);
// D2: Back up, lower arm, forward and pick up stack in front of 30" goal
Backward(55, 50, "Intersection");
StopMoving();
wait10Msec(20);
armPosition = stackHeight;
wait10Msec(100);
Intake(127);
Forward(45, 22, "none"):
StopMoving();
// E2: Back up, turn 180° left to face 20" goal, forward and pick up 2 objects
Backward(55, 50, "Intersection");
StopMoving();
TurnLeftDegrees(186);
Intake(0);
armPosition = stackHeight + 180;
wait10Msec(10);
Intake(127);
Forward(55, 14, "none");
StopMoving();
wait10Msec(5);
armPosition = stackHeight + 300;
Backward(55, 6, "none");
armPosition = minArm + 60;
wait10Msec(5);
Forward(55, 30, "none");
Backward(55, 20, "none");
StopMoving();
//F2: Raise arm to midgoal height, score 2 and 2 on 20" goals
armPosition = midGoalHeight + 40;
wait10Msec(100);
Intake(0);
Forward(55, 13, "none");
StopMoving();
wait10Msec(10);
Intake(-95);
wait10Msec(300);
/*
wait10Msec(80);
Intake(100);
Forward(55, 27, "none");
StopMoving();
Intake(-95);
wait10Msec(160);
*/
StopTask(KeepArmInPosition);
}
task usercontrol()
{
// StartTask(KeepArmInPosition);
armPosition = SensorValue[ArmPoten];
while (true)
{
// #########################################- Arm and Intake -########################################################
// if (!armPositionTaskActive) LiftArm(127 * vexRT[Btn5U] - 127 * vexRT[Btn5D]); //Main joystick Control
// Intake(127 * vexRT[Btn6U] - 127 * vexRT[Btn6D]);
// if (!armPositionTaskActive) LiftArm(vexRT[Ch3Xmtr2]); //Partner joystick Control
// Intake(vexRT[Ch2Xmtr2]);
if (!armPositionTaskActive) LiftArm(vexRT[Ch3Xmtr2] + 127 * vexRT[Btn5U] - 127 * vexRT[Btn5D]); //Dual Control
Intake(vexRT[Ch2Xmtr2] + 127 * vexRT[Btn6U] - 127 * vexRT[Btn6D]);
// ############################################- Drive -##############################################################
motor[FrontLeft] = abs(vexRT[Ch3]+vexRT[Ch1]) > 10 ? vexRT[Ch3]+vexRT[Ch1] : 0;
motor[BackLeft] = abs(vexRT[Ch3]+vexRT[Ch1]) > 10 ? vexRT[Ch3]+vexRT[Ch1] : 0;
motor[FrontRight] = abs(-vexRT[Ch3]+vexRT[Ch1]) > 10 ? -vexRT[Ch3]+vexRT[Ch1] : 0;
motor[BackRight] = abs(-vexRT[Ch3]+vexRT[Ch1]) > 10 ? -vexRT[Ch3]+vexRT[Ch1] : 0;
// ##########################################- Arm Presets -###########################################################
if (vexRT[Btn5DXmtr2] == 1)
MoveArmToPreset(stackHeight);
if (vexRT[Btn5UXmtr2] == 1)
MoveArmToPreset(lowGoalHeight);
if (vexRT[Btn6UXmtr2] == 1)
MoveArmToPreset(midGoalHeight);
if (vexRT[Btn6DXmtr2] == 1)
MoveArmToPreset(maxArm);
if (vexRT[Btn8U] == 1)
armPosition = maxArm;
if (vexRT[Btn8L] == 1)
armPosition = midGoalHeight;
if (vexRT[Btn8R] == 1)
armPosition = lowGoalHeight;
if (vexRT[Btn8D] == 1)
armPosition = minArm;
if (abs(vexRT[Ch3Xmtr2]) > 20) // || time10(T2) > armPresetTimer)
{
StopTask(KeepArmInPosition);
armPositionTaskActive = false;
}
if (vexRT[Btn7U] == 1) ProgrammingSkillsAutonomous();
if (vexRT[Btn7D] == 1)
{
Forward(127, 40, "none");
VariableMove(127, 20, 70);
Forward(127, 120, "none");
StopMoving();
StartTask(StayInPosition);
wait10Msec(1500);
StopTask(StayInPosition);
}
if (vexRT[Btn7R] == 1) {TurnLeftDegrees(90); wait10Msec(50); }
if (vexRT[Btn8L] == 1) {TurnRightDegrees(90); wait10Msec(50); }
}
}
// First time this trading symbol occurs
SymbolMetrics( const Trade& trade ) :
SymbolMetrics()
{
m_lastTimeOccurence = trade.GetTimestamp();
Intake( trade );
}
void Intake( const std::vector< Trade >& trades )
{
for( const auto& trade : trades )
Intake( trade );
}
