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AscendRobotics

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AscendData

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aDrive(100);

}

if (WallDistance.objectDistance(inches) < 54){

aDrive(100);

}

if (WallDistance.objectDistance(inches) < 54){

aDrive(100);

}

Intake.stop();

} else if (autonType == 5) {

//programming skills

//intitial setup

aDrive(-700);

driveDistance = 60;

turnPID(true);

//match loading

kickerOn = true;

turnPID(true);

speedPID = 1;

wait(24, sec);

Controller1.rumble(rumbleShort);

wait(3, sec);

//turn and drive

kickerOn = false;

aTurn(-55);

aDrive(1450);

driveDistance = -138;

turnPID(true);

turnPID(true);

aDrive(-4100); //drive under elevation bar

aTurn(25);

aDrive(-1500);

aTurn(50);

//push triballs in goal

aDriveFor(-20, 200);

aDriveFor(-50, 300);

aDriveFor(-100, 400);

wait(300, msec);

//line up for main push on right

aDrive(400);

driveDistance = -146;

turnPID(true);

turnPID(true);

aDrive(2300);

aTurn(-75);

aDrive(900);

driveDistance = -296;

turnPID(true);

turnPID(true);

//main push on right

Wings1.set(true);

Wings2.set(true);

wait(200, msec);

aDriveFor(20, 300);

aDriveFor(50, 200);

aDriveFor(100, 1000);

wait(300, msec);

Wings1.set(false);

Wings2.set(false);

//Line up for second main push (left)

driveDistance = -310;

turnPID(true);

aDrive(-1300);

driveDistance = -390;

turnPID(true);

aDrive(-1600);

driveDistance = -340;

turnPID(true);

turnPID(true);

Wings1.set(true);

Wings2.set(true);

aDriveFor(20, 300);

aDriveFor(50, 200);

aDriveFor(100, 700);

wait(300, msec);

//try and get any more, if possible; back up and spin

aDrive(-1300);

//third go

aDriveFor(20, 300);

aDriveFor(50, 200);

aDriveFor(100, 500);

wait(300, msec);

}

printController(Brain.Timer.value() - timerValue);//print time it took

auton = false;

}

int autonomousProgram() {

autonomousProgramTask();

return 0;

}

void autonomousProgramWrapper(void) {

autonTask = task(autonomousProgram);

}

void buttonBPressed() {

//prints out a bunch of useful information on the brain screen--a status check

Brain.Screen.clearScreen();

Brain.Screen.setCursor(1, 1);

Brain.Screen.print("Battery voltage: ");

Brain.Screen.print(Brain.Battery.voltage());

Brain.Screen.newLine();