get committed loser

.vscode/vex_project_settings.json

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

src/competition/autonomous.cpp

@@ -2,6 +2,7 @@
 #include "robot-config.h"
 
 void just_auto();
+void elim_auto();
 void jideways_skills();
 void autonomous() {
   while (imu.isCalibrating()) {
@@ -198,8 +199,7 @@ void just_auto() {
 
     // 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.TurnToPointCmd(122.5,16.52,vex::fwd, 0.5),
     drive_sys.DriveToPointCmd({122.5, 16.52},vex::fwd, 0.5),
 
@@ -229,6 +229,104 @@ void just_auto() {
     drive_sys.DriveForwardCmd(8.0, vex::fwd, 0.25)->withTimeout(4.0),
     new DelayCommand(500),
     intake_cmd(0),
+    // new DebugCommand(),
+  };
+    cc.run();
+  // clang-format on
+}
+void elim_auto() {
+  // clang-format off
+  CommandController cc{
+    odom.SetPositionCmd({.x = 40, .y = 7, .rot = 90}),     
+    drive_sys.DriveToPointCmd({40, 35}, vex::fwd, 0.75),
+    // // pick up first
+    // drive_sys.TurnToPointCmd(59.5, 51.7, vex::fwd, 0.75),
+    // intake_cmd(),
+    // drive_sys.DriveToPointCmd({58.5, 51.7}, vex::fwd, 0.5), 
+    // drive_sys.DriveToPointCmd({38.5, 35.5}, vex::reverse, 0.75),
+    // stop_intake(),
+    // drive_sys.TurnToPointCmd(37.9, 19.5, vex::fwd, 0.65),
+    // drive_sys.DriveToPointCmd({37.9, 19.5}, vex::fwd, 0.75), 
+
+    // // Drop First
+    // drive_sys.TurnToHeadingCmd(340, 0.5),
+    // outtake_cmd(),
+    // new DelayCommand(600),
+    // stop_intake(),
+    // drive_sys.TurnToHeadingCmd(-90, 0.5),
+    // drive_sys.DriveToPointCmd({39.7, 34.5}, vex::reverse, 0.5),
+
+    // pick up second
+    drive_sys.TurnToPointCmd(47.2, 54.7, vex::fwd, 0.65),
+    intake_cmd(12.0),
+    drive_sys.DriveToPointCmd({47.63, 54.5}, vex::fwd, 0.5), 
+    drive_sys.DriveToPointCmd({37.7, 34.5}, vex::reverse, 0.75),
+    stop_intake(),
+    drive_sys.TurnToPointCmd(37.5, 20.0, vex::fwd, 0.65),
+    drive_sys.DriveToPointCmd({37.5, 20.0}, vex::fwd, 0.75),
+
+    // Drop Second
+    drive_sys.TurnToHeadingCmd(340, 0.65),
+    outtake_cmd(),
+    new DelayCommand(600),
+    stop_intake(),
+
+
+    // get close to wall
+    drive_sys.TurnToHeadingCmd(240, 0.65),
+    drive_sys.DriveToPointCmd({33.5,12.5}, vex::fwd,0.25),
+
+    // turn and back up to bar
+    drive_sys.TurnToPointCmd(22.0,16.0, vex::reverse,0.65),
+    drive_sys.DriveToPointCmd({22,16.0},vex::reverse,0.15),
+    new RepeatUntil({
+        toggle_wing_r(), // out
+        new DelayCommand(400),
+        toggle_wing_r(), // in
+        new DelayCommand(800),
+    }, (new IfTimePassed(35))->Or(new TimesTestedCondition(10))),
+
+    // pushing
+    outtake_cmd(),
+    drive_sys.DriveToPointCmd({37, 8.5},vex::fwd,0.5),
+    drive_sys.TurnToHeadingCmd(-10, 0.5),
+
+  // stop things circa half court
+    new Async(new FunctionCommand([](){
+      if (odom.get_position().x > 69){
+        left_wing.set(true);
+        outtake(0);
+        return true;
+      }
+      return false;
+    })),
+
+    // across half court
+    drive_sys.DriveToPointCmd({108, 7},vex::fwd, 0.75),
+
+    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(25, vex::reverse, 1.0)->withTimeout(1.0),
+    drive_sys.DriveForwardCmd(25, vex::fwd, 1.0)->withTimeout(1.0),
+
+    drive_sys.TurnToHeadingCmd(247, 0.65),
+    drive_sys.DriveForwardCmd(30, vex::reverse, 1.0)->withTimeout(1.0),
+    drive_sys.DriveForwardCmd(20, vex::fwd, 1.0)->withTimeout(1.0),
+
+    drive_sys.TurnToHeadingCmd(227, 0.65),
+    drive_sys.DriveForwardCmd(24, vex::reverse, 1.0)->withTimeout(1.0),
+    drive_sys.DriveForwardCmd(34, vex::fwd, 1.0)->withTimeout(1.0),
+
+  new RepeatUntil(InOrder{
+    drive_sys.DriveForwardCmd(24, vex::reverse, 1.0)->withTimeout(1.0),
+    drive_sys.DriveForwardCmd(24, vex::fwd, 1.0)->withTimeout(1.0),
+}, new FunctionCondition([](){return false;})),    
+
     // new DebugCommand(),
   };
     cc.run();

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);
@@ -78,8 +78,8 @@ void opcontrol() {
     // drive
     if (do_drive) {
       if (tank) {
-        double left = (double)con.Axis3.position() / 100.0;
-        double right = (double)con.Axis2.position() / 100.0;
+        double left = (double)con.Axis4.position() / 100.0;
+        double right = (double)con.Axis3.position() / 100.0;
         drive_sys.drive_tank(left, right, 1, brake_type);
       } else {
         double forward = (double)con.Axis3.position() / 100.0;