auton.cpp

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#include "robot/auton.h"
#include "globals.h"
#include "pros/apix.h"
 
using namespace Robot;
using namespace Robot::Globals;
 
int Autonomous::auton = 1;
 
 
void Autonomous::Auton1() {
if(Autonomous::auton == 1){
   // Autonomous for Far side defensive zone.
 
   if (pros::c::registry_get_plugged_type(13) == pros::c::E_DEVICE_IMU) {
      // 36.994 -58.128 0
      chassis.setPose(36.994, -58.128, 0);
      chassis.follow("home_side_auton_path_1.txt", 2000, 15);
      chassis.follow("home_side_auton_path_2.txt", 2000, 15);
      chassis.follow("home_side_auton_path_3.txt", 2000, 15);
      chassis.follow("home_side_auton_path_4.txt", 2000, 15);
      chassis.follow("home_side_auton_path_5.txt", 2000, 15);
   }
   else {
      ;
 
   }
}
}
 
void Autonomous::Auton2() {
   if(Autonomous::auton == 2){
      // Autonomous for near side offensive zone.
 
      if (pros::c::registry_get_plugged_type(13) == pros::c::E_DEVICE_IMU) {
         // -36.851 -58.638 0
         chassis.setPose(-36.851, -58.638, 0);
         chassis.follow("far_side_auton_path_1.txt", 2000, 15);
         chassis.follow("far_side_auton_path_2.txt", 2000, 15);
         chassis.follow("far_side_auton_path_3.txt", 2000, 15);
         chassis.follow("far_side_auton_path_4.txt", 2000, 15);
      }
      else {
         ;
      }
 
   }
}
 
 
void Autonomous::Auton3(Puncher &puncher) {
    // Autonomous routine for the Skills challenge
        while (true) {
            puncher.run(Autonomous::auton);
        }
 
}
 
// Takes in two parameters: The autonomous value as well as the puncher object.
void Autonomous::AutoDrive(Puncher &puncher, bool autono = false) {
 
   // Keep the switcher running while the controller down button has not been pressed and the time period is not autonomous
   if (autono == false) {
      AutonSwitcher();
   }
 
   // Compare the current auton value to run the auton routine
    if(Autonomous::auton == 1){
        Auton1();
    }
 
    if(Autonomous::auton == 2){
        Auton2();
    }
 
    if(Autonomous::auton == 3){
        Auton3(puncher);
    }
 
}
// 
void Autonomous::AutonSwitcher() {
 
 
    if(controller.get_digital_new_press(pros::E_CONTROLLER_DIGITAL_RIGHT)) {
 
 
 
         Autonomous::auton = auton + 1;
 
         // Checks if the toggler goes out of bounds.
         if (Autonomous::auton == 4) {
            Autonomous::auton = 1;
         }
 
 
         // Set the controllet text to the current autonomous routine value
         controller.print(0, 0, "Autonomous prog: %d", Autonomous::auton);
 
   }
 
 
 
}