auton.cpp

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#include "robot/auton.h"
#include "main.h" // IWYU pragma: export
 
using namespace Robot;
using namespace Robot::Globals;
 
Autonomous::AUTON_ROUTINE Autonomous::auton = RED_LEFT;
std::string            Autonomous::autonName;
 
ASSET(red_right_pt1_txt);
ASSET(red_right_pt2_txt);
ASSET(red_right_pt3_txt);
ASSET(red_right_pt4_txt);
ASSET(red_right_pt5_txt);
 
ASSET(red_left_pt1_txt);
ASSET(red_left_pt2_txt);
ASSET(red_left_pt3_txt);
ASSET(red_left_pt4_txt);
ASSET(red_left_pt5_txt);
 
// Red Left
void Autonomous::Auton1(Intake &intake, Latch &latch)
{
   chassis.setPose(-148.132, -58.408, 190);
   // robot backs up into wallstake and is ready to outake
   chassis.follow(red_right_pt1_txt, 15, 5000);
 
   intake.score();
   intake.toggle();
   // robot moves forward and intakes red ring on top of stack
   chassis.follow(red_right_pt2_txt, 15, 5000);
 
   // robot moves backward and stops at mobile goal. ready to latch and outake
   // ring
   chassis.follow(red_right_pt3_txt, 15, 5000);
   latch.toggle();
   intake.score();
   intake.toggle();
 
   // robot drags mobile goal and intakes bottom of ring of 2ring stack then
   // stops. ready to outake to mobile goal
   //  then unlatches mobile goal
   chassis.follow(red_right_pt4_txt, 15, 5000);
   intake.score();
   latch.toggle();
 
   // robot ends in contact with tower
   chassis.follow(red_right_pt5_txt, 15, 5000);
}
 
// Red Right
void Autonomous::Auton2(Intake &intake, Latch &latch)
{
   chassis.setPose(-146.76, 63.046, 10);
   // robot backs up into wallstake and is ready to outake
   chassis.follow(red_left_pt1_txt, 15, 5000);
   intake.score();
   intake.toggle();
 
   // robot moves and intakes ring from top of 2ring stack.
   chassis.follow(red_left_pt2_txt, 15, 5000);
   intake.toggle();
 
   // robot moves backward toward mobile goal. Ready to latch then score.
   chassis.follow(red_left_pt3_txt, 15, 5000);
   latch.toggle();
   intake.score();
 
   // robot turns around and intakes ring from bottom of 2ring stack.
   chassis.follow(red_left_pt4_txt, 15, 5000);
   intake.score();
   latch.toggle();
 
   // robot ends in contact with mobile goal
   chassis.follow(red_left_pt5_txt, 15, 5000);
}
 
// Blue left
void Autonomous::Auton3(Intake &intake, Latch &latch)
{
}
 
/*
 * @todo Flesh out this method before the competition in order to make it a full
 * solo awp autonomous. Blue right
 */
void Autonomous::Auton4(Intake &intake, Latch &latch)
{
   chassis.setBrakeMode(pros::E_MOTOR_BRAKE_BRAKE);
 
   chassis.setPose(0, 0, 0);
   // move 48" forwards
   chassis.moveToPoint(0, 72, 3500, { .maxSpeed = 110 }, true);
   chassis.turnToHeading(180, 1000, { .maxSpeed = 90 }, false);
 
   chassis.setPose(0, 0, 0);
   chassis.moveToPoint(0, 24, 1000, { .maxSpeed = 110 });
   chassis.turnToHeading(0, 1200, { .maxSpeed = 110 }, false);
}
 
void Autonomous::Auton5(Intake &intake, Latch &latch)
{
   // Autonomous routine for the Skills challenge
}
 
// Takes in two parameters: The autonomous value as well as the puncher object.
void Autonomous::AutoDrive(Intake &intake, Latch &latch)
{
   // Keep the switcher running while the controller down button has not been pressed and the time period is not
   // autonomous Compare the current auton value to run the auton routine
   switch (Autonomous::auton) {
   case RED_LEFT:
      Auton1(intake, latch);
      break;
   case RED_RIGHT:
      Auton2(intake, latch);
      break;
   case BLUE_LEFT:
      Auton3(intake, latch);
      break;
   case BLUE_RIGHT:
      Auton4(intake, latch);
      break;
   case SKILLS:
      Auton5(intake, latch);
      break;
   }
}
 
void Autonomous::AutonSwitcher(int autonNum)
{
   switch (autonNum) {
   case 1:
      Autonomous::autonName = "Red Left";
      Autonomous::auton   = RED_LEFT;
      break;
   case 2:
      Autonomous::autonName = "Red Right";
      Autonomous::auton   = RED_RIGHT;
      break;
   case -1:
      Autonomous::autonName = "Blue Left";
      Autonomous::auton   = BLUE_LEFT;
      break;
   case -2:
      Autonomous::autonName = "Blue Right";
      Autonomous::auton   = BLUE_RIGHT;
      break;
   case 0:
      Autonomous::autonName = "Skills";
      Autonomous::auton   = SKILLS;
   }
   std::cout << "Current auton: " + Autonomous::autonName << std::endl;
}