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// function to draw all objects found |
void drawObjects( vision &v, vex::color c, bool clearScreen ) { |
if( clearScreen ) { |
Brain.Screen.setPenColor( vex::color::black ); |
Brain.Screen.drawRectangle( screen_origin_x, screen_origin_y, screen_width, screen_height, vex::color::black ); |
} |
for(int i=0;i<v.objectCount;i++) |
drawObject( v.objects[i], c ); |
} |
void autonomousProgramTask(void) { |
auton = true; |
//wait until inertial is calibrated |
while (Inertial.isCalibrating()) { |
wait(30, msec); |
printControllerSetup(); |
Controller1.Screen.print("Calibrating Inertial"); |
} |
float timerValue = Brain.Timer.value(); |
//run the autonomous program based on the autonType variable |
//Auton 0: Testing Auton |
if (autonType == 0) { |
aTurn(90); |
} |
else if (autonType == 1) { //Auton 1: AWP (mostly) autonomous, near side, |
//start out by lowering intake and scraper |
Scraper.set(true); |
Intake.spin(reverse, 5, volt); |
//get triball out of match load zone |
aTurn(35); |
Scraper.set(false); |
driveDistance = 153; |
turnPID(true); |
Intake.stop(); |
//shove alliance triball preload into goal |
wait(100, msec); |
Intake.spin(forward, 11, volt); |
wait(70, msec); |
aDriveFor(40, 100); |
aDriveFor(80, 800); |
aDriveFor(40, 300); |
Intake.stop(); |
wait(200, msec); |
//back up and drive to the elevation bar |
aDrive(-1000); |
aTurn(-135); |
wait(100, msec); |
aDrive(1110); |
driveDistance = 45; |
turnPID(true); |
turnPID(true); |
Intake.spin(forward, 5, volt); |
//go forward the right distance, based on the distance sensor. |
aDrive(1650); |
if (WallDistance.objectDistance(inches) < 55){ |
aDrive(100); |
} |
Intake.stop(); |
} else if (autonType == 2) { //Auton 1: far side, standard one |
//collect green triball under elevation bar |
Intake.spin(reverse, 11, volt); |
wait(800, msec); |
Intake.spin(reverse, 4, volt); |
//back up to goal |
aDrive(-1870); |
aTurn(38); |
wait(100, msec); |
aDrive(-1170); |
aTurn(40); |
aDriveFor(-40, 100); |
aDriveFor(-80, 500); |
aDriveFor(-40, 100); |
wait(200, msec); |
//go forward, turn around, and push other triball into the goal |
aDrive(300); |
driveDistance = -90; |
turnPID(true); |
Intake.spin(forward, 11, volt); |
wait(200, msec); |
aDriveFor(40, 100); |
aDriveFor(80, 400); |
aDriveFor(40, 100); |
Intake.stop(); |
wait(100, msec); |
//back up, to get other triballs |
aDrive(-400); |
driveDistance = -13; |
turnPID(true); |
//get the triball NOT on the middle line |
Intake.spin(reverse, 11, volt); |
aDrive(2750); |
//go get triball near the very center of field |
aTurn(-60); |
Intake.spin(reverse, 4, volt); |
aDrive(1200); |
aTurn(-96); |
//push the three triballs into the goal |
Wings1.set(true); |
Wings2.set(true); |
wait(100, msec); |
Intake.spin(forward, 11, volt); |