pushing a lil more

.vscode/settings.json

@@ -1,5 +1,8 @@
 {
 	"C_Cpp.default.systemIncludePath": [
 		"${config:vexrobotics.vexcode.Cpp.Sdk.Home}/V5/V5_20220726_10_00_00/vexv5/gcc/include/sys"
-	]
+	],
+	"files.associations": {
+		"new": "cpp"
+	}
 }

.vscode/vex_project_settings.json

@@ -9,7 +9,7 @@
 		"creationDate": "10/5/2023, 8:40:34 PM",
 		"platform": "V5",
 		"language": "cpp",
-		"slot": 2,
+		"slot": 1,
 		"sdkVersion": "V5_20220726_10_00_00",
 		"cpp": {
 			"includePath": [],

src/competition/autonomous.cpp

@@ -8,7 +8,7 @@ void autonomous() {
   while (imu.isCalibrating()) {
     vexDelay(1);
   }
-  just_auto();
+  jideways_skills();
 }
 AutoCommand *intake_cmd(double amt = 8.0) {
   return new FunctionCommand([=]() {
@@ -75,14 +75,19 @@ void jideways_skills() {
         new DelayCommand(400),
         toggle_wing_r(), // in
         new DelayCommand(800),
-    }, (new IfTimePassed(35))->Or(new TimesTestedCondition(22))),
+    }, (new IfTimePassed(35))->Or(new TimesTestedCondition(2))),
         // pushing
     outtake_cmd(),
-    drive_sys.DriveToPointCmd({37, 6.0},vex::fwd,0.5),
-    drive_sys.TurnToHeadingCmd(-20, 0.5),
+    drive_sys.DriveToPointCmd({37, 6.0},vex::fwd,0.5)->withTimeout(2.0),
+    drive_sys.TurnToHeadingCmd(0, 0.5)->withTimeout(2.0),
+    toggle_wing_l(),
 
   // stop things circa half court
     new Async(new FunctionCommand([](){
+      if (odom.get_position().x > 46){
+        left_wing.set(false);
+        return false;
+      }
       if (odom.get_position().x > 69){
         left_wing.set(true);
         outtake(0);
@@ -92,19 +97,21 @@ void jideways_skills() {
     })),
 
     // across half court
-    drive_sys.DriveToPointCmd({108, 7},vex::fwd, 0.75),
-    // drive_sys.TurnToHeadingCmd(29, 0.5),
-    // drive_sys.DriveForwardCmd(-2, vex::fwd),
+    drive_sys.DriveToPointCmd({96, 7},vex::fwd, 0.75),
+
+    toggle_wing_l(),
+
     drive_sys.TurnToPointCmd(122.5,16.52,vex::fwd, 0.5),
     drive_sys.DriveToPointCmd({122.5, 16.52},vex::fwd, 0.5),
 
-    toggle_wing_l(),
     drive_sys.TurnDegreesCmd(-180)->withTimeout(0.35), // start spinning the right way
 
     drive_sys.TurnToPointCmd(132.5,36.2, vex::reverse, 0.5),
     drive_sys.DriveForwardCmd(20, vex::reverse, 1.0)->withTimeout(1.0),
     drive_sys.DriveForwardCmd(20, vex::fwd, 1.0)->withTimeout(1.0),
 
+
+
     drive_sys.TurnToHeadingCmd(247, 0.65),
     drive_sys.DriveForwardCmd(28, vex::reverse, 1.0)->withTimeout(1.0),
     drive_sys.DriveForwardCmd(20, vex::fwd, 1.0)->withTimeout(1.0),

src/competition/opcontrol.cpp

@@ -26,7 +26,7 @@ const vex::controller::button &climb_wing_button = con.ButtonUp;
 
 const double fold_out_time = 0.25;
 void opcontrol() {
-
+  autonomous();
   // odom.set_position({.x = 40, .y = 12, .rot = 90});
   while (imu.isCalibrating()) {
     vexDelay(1);