1516X Push Back 1.0
1516X's robot code for the 2025-2026 VEX Robotics Competition
Loading...
Searching...
No Matches
autonRoutines.cpp
Go to the documentation of this file.
1#include "IntakeAntiJam.h"
2#include "globals.h"
3#include "auton/autonFunctions.h"
4#include "lemlib/chassis/chassis.hpp"
5#include "ltv.h"
6#include "pros/rtos.hpp"
7#include "velocityController.h"
8#include "paths.h"
9#include "distanceReset.h"
10#include "colorSort.h"
11#include "crossBarrierDetection.h"
12#include <map>
13#include <sys/types.h>
14
15/*
16
17Straight:
18KV = 5.83366315659
191.14915679465
200.277890461166
2111.8794542097
2259.3640060487
23
24Turn:
256.69921571762
261.01377617649
270.956265367397
2814.8634454339
29101.977995601
30
31*/
32
33const int longgoal_delay = 1100;
34const int midgoal_delay = 1000;
35const int matchload_delay = 500;
36const int mid_triball_delay = 500;
37const int longgoal_offset = 6;
38const int midgoal_offset = 11.7;
39const int matchload_offset = 11.9;
40const int triball_delay = 500;
41const int dual_ball_delay = 500;
42
43const VelocityControllerConfig config{
445.09498070723,
450.23396112183,
461.22496514644,
470.964796393603,
480.522291806997,
4910.933332351,
5044.6788428062,
51};
52
53LTVPathFollower ltv(config);
54
55
56
57void precompute_auton_paths(std::string path_name) {
58 std::map<std::string, std::vector<std::string>> pathMap =
59 {
60 {"Skills", {"skills_1", "skills_2", "skills_3", "skills_4", "parkingzone_curve"}},
61 {"Right 7 Split", {"awp_1"}},
62 {"Right 7", {"right_7_1"}},
63 {"AWP", {"awp_2"}},
64 };
65 for (const auto& [key, value] : pathMap) {
66 {
67 if(path_name == key)
68 {
69 ltv.precompute_paths(pathMap[key]);
70 return;
71 }
72 }
73}
74
75
76}
77
78void test_auton()
79{
80}
81
82void left_rush()
83{
84 descore.extend();
85 chassis.setPose(-51.6, 16.5, 90);
86 chassis.moveToPoint(-26.5, 21.8, 2000, {.minSpeed = 30, .earlyExitRange = 5});
87 chassis.waitUntil(3);
88 intake();
89 chassis.waitUntil(10);
90 matchload_state(true);
91 chassis.waitUntilDone();
92 chassis.turnToPoint(-26.3, 36, 1500, {.forwards = false, .minSpeed = 45, .earlyExitRange = 30});
93 chassis.moveToPose(-26.3, 36, 160, 1000, {.forwards = false, .minSpeed = 85, .earlyExitRange = 10});
94 chassis.swingToHeading(270, lemlib::DriveSide::LEFT, 1500, {.minSpeed = 127, .earlyExitRange = 30});
95 chassis.turnToHeading(270, 1000, {.minSpeed = 127}, false);
96 chassis.tank(-1.3, 0, config, 150);
97 score_longgoal_auton(12000, allianceColor, 1000);
98 matchload_state(false);
99 distanceReset(true, true, 2.5);
100 chassis.moveToPose(-37, 39, 240, 1500, {.minSpeed = 60, .earlyExitRange = 9});
101 chassis.turnToPoint(-2.5, 38, 1000, {.forwards = false, .minSpeed = 45, .earlyExitRange = 35});
102 distanceReset(true);
103 chassis.moveToPose(-2.5, 38, 270, 1500, {.forwards = false, .minSpeed = 20});
104 chassis.waitUntil(5.5);
105 descore.retract();
106 chassis.waitUntilDone();
107 chassis.tank(0, 0, config, 1000);
108}
109
110
111void right_auton_split()
112{
113 const float matchload_delay = 380;
114
115 chassis.setPose(-49.7, -14, 180);
116 ltv.followPath(awp_1, {.q_x = 155, .q_y = 450, .q_theta = 140});
117 intake();
118 ltv.waitUntil(5);
119 matchload_state(true);
120 ltv.waitUntilDone();
121 chassis.tank(0.65, 0, config, 550);
122 distanceReset(true);
123 chassis.moveToPose(-28, -48, 270, 1500, {.forwards = false, .minSpeed = 60, .earlyExitRange = 5}, false);
124 score_longgoal_auton(600, allianceColor,1000);
125 distanceReset(true);
126 matchload_state(false);
127 chassis.turnToPoint(-27.5, -22, 900, {}, false);
128 intake();
129 chassis.moveToPoint(-24, -22, 2000, {.minSpeed = 55, .earlyExitRange = 8});
130 chassis.waitUntil(11);
131 matchload_state(true);
132 chassis.waitUntilDone();
133 matchload_state(false);
134 chassis.moveToPose(-16, -12.2, 43, 1300, {.lead = 0.3}, false);
135 matchload_state(false);
136 intake();
137 chassis.waitUntil(7.5);
138 matchload_state(true);
139 chassis.waitUntil(12);
140 matchload_state(false);
141 chassis.waitUntilDone();
142 outtake();
143 pros::delay(1500);
144 intake_stop();
145 chassis.moveToPoint(-39, -35, 2000, {.forwards = false}, false);
146 chassis.turnToPoint(-14, -37, 2000, {.minSpeed = 45, .earlyExitRange = 30}, false);
147 distanceReset(true, true, 7);
148 chassis.moveToPose(-11.5, -37, 90,2000, {.lead = 0.2, .minSpeed = 20});
149 chassis.waitUntil(5.5);
150 descore.retract();
151 chassis.waitUntilDone();
152 chassis.turnToHeading(60, 2000, {.minSpeed = 35}, false);
153
154}
155
156void right_rush()
157{
158 descore.extend();
159 chassis.setPose(-51.6, -16.5, 90);
160 chassis.moveToPoint(-26.5, -21.8, 2000, {.minSpeed = 30, .earlyExitRange = 5});
161 chassis.waitUntil(3);
162 intake();
163 chassis.waitUntil(10);
164 matchload_state(true);
165 chassis.waitUntilDone();
166 chassis.turnToPoint(-27.5, -38, 1500, {.forwards = false, .minSpeed = 30, .earlyExitRange = 5});
167 chassis.moveToPose(-27.5, -38, 25, 1000, {.forwards = false, .minSpeed = 70, .earlyExitRange = 8});
168 chassis.swingToHeading(270, lemlib::DriveSide::RIGHT, 1500, {.minSpeed = 127, .earlyExitRange = 30});
169 chassis.turnToHeading(265, 1000, {.minSpeed = 127}, false);
170 score_longgoal_auton(600, allianceColor, 1000);
171 distanceReset(true);
172 matchload_state(false);
173 chassis.moveToPose(-46, -59.5, 260, 1000, {.minSpeed = 60, .earlyExitRange = 7});
174 chassis.moveToPoseRamsete(-4.5, -58.5, 270, 2000, config, {.forwards = false});
175 chassis.waitUntil(4);
176 descore.retract();
177}
178
179void right_7_wing()
180{
181 chassis.setPose(-47, -16.5, 90);
182 ltv.followPath(right_7_1, {.q_x = 6.5, .q_y = 100, .q_theta = 100, .r_ang = 0.25, .r_vel = 1});
183 intake();
184 ltv.waitUntil(18);
185 matchload_state(true);
186 ltv.waitUntilDone();
187 chassis.tank(0.55, 0, config, 450);
188 distanceReset(true);
189 chassis.moveToPoint(-26, -47.5, 2000, {.forwards = false, .minSpeed = 60}, false);
190 score_longgoal_auton(600, allianceColor,1500);
191 distanceReset(true);
192 matchload_state(false);
193 chassis.moveToPose(-34, -60, 240, 1000, {.minSpeed = 60, .earlyExitRange = 9});
194 chassis.turnToPoint(-3, -58, 2000, {.forwards = false, .minSpeed = 50, .earlyExitRange = 30});
195 distanceReset(true, true, 3.5);
196 chassis.moveToPoint(-1.2, -58, 2000, {.forwards = false, .minSpeed = 40});
197 chassis.waitUntil(4);
198 descore.retract();
199 chassis.waitUntilDone();
200 chassis.tank(0,0, config, 1000);
201}
202
203void right_7_hood()
204{
205 chassis.setPose(-47, -16.5, 90);
206 ltv.followPath(right_7_1, {.q_x = 6.5, .q_y = 100, .q_theta = 70, .r_ang = 0.25, .r_vel = 1});
207 intake();
208 ltv.waitUntil(18);
209 matchload_state(true);
210 ltv.waitUntilDone();
211 chassis.tank(0.55, 0, config, 450);
212 distanceReset(true);
213 chassis.moveToPoint(-26, -48, 2000, {.forwards = false, .minSpeed = 60, .earlyExitRange = 5}, false);
214 score_longgoal_auton(600, allianceColor,1500);
215 distanceReset(true);
216 matchload_state(false);
217 intake_stop();
218 chassis.tank(0.65, 0, config, 250);
219 hood.retract();
220 chassis.tank(-0.82, 0, config, 200);
221}
222
223void carry_auton() {
224 chassis.setPose(0,0,0);
225 chassis.moveToPoint(0, 4, 10000);
226}
227
228void left_auton_split() {
229 const float matchload_delay = 380;
230 descore.extend();
231 chassis.setPose(-51.6, 16.5, 90);
232 chassis.moveToPoint(-26.5, 21.8, 2000, {.minSpeed = 30, .earlyExitRange = 5});
233 chassis.waitUntil(3);
234 intake();
235 chassis.waitUntil(10);
236 matchload_state(true);
237 chassis.waitUntilDone();
238 chassis.turnToPoint(-26.2, 37.5, 1500, {.forwards = false, .minSpeed = 30, .earlyExitRange = 5});
239 chassis.moveToPose(-26.2, 37.5, 150, 1000, {.forwards = false, .minSpeed = 70, .earlyExitRange = 8});
240 chassis.swingToHeading(270, lemlib::DriveSide::LEFT, 1500, {.minSpeed = 127, .earlyExitRange = 30});
241 chassis.turnToHeading(270, 1000, {.minSpeed = 127}, false);
242 chassis.tank(-1.5, 0, config, 150);
243 score_longgoal_auton(12000, allianceColor, 1000);
244 distanceReset(false, true, false, false, true);
245 distanceReset(true, true, 5.5);
246 chassis.turnToPoint(-54, 46, 2000, {.minSpeed = 35, .earlyExitRange = 30}, false);
247 chassis.moveToPoint(-54, 46, 2000, {.minSpeed = 20});
248 chassis.waitUntil(3);
249 intake();
250 chassis.waitUntilDone();
251 chassis.tank(0.85, 0, config, matchload_delay + 300);
252 distanceReset(true, false);
253 chassis.tank(-2.0, 0, config, 150);
254 chassis.moveToPose(-7,9, 314.5, 1500, {.forwards = false, .lead = 0.7, .minSpeed = 30}, false);
255 chassis.tank(-0.6, 0, config, 250);
256 score_midgoal_auton(600, allianceColor, 600);
257 chassis.tank(0.85, 0, config, 250);
258 mid_descore.extend();
259 chassis.tank(-1.2, 0, config, 450);
260 intake_stop();
261 chassis.moveToPoint(-36, 40, 2000, {});
262 matchload_state(false);
263 chassis.turnToPoint(-9, 41, 2000, {.forwards = false, .minSpeed = 30, .earlyExitRange = 6});
264 distanceReset(true, true, 5);
265 chassis.moveToPose(-9, 41, 270,2000, {.forwards = false, .lead = 0.5});
266 chassis.waitUntil(6);
267 descore.retract();
268
269}
270
271
272void awp_auton() {
273 jamManager.enable_anti_jam(false);
274 chassis.setPose(-49.7, -14, 180);
275 chassis.moveToPoint(-49.7, -45, 1500, {});
276 chassis.waitUntil(5);
277 matchload_state(true);
278 chassis.waitUntilDone();
279 chassis.turnToPoint(-69, -47, 1500, {}, false);
280 distanceReset(true);
281 intake();
282 chassis.moveToPoint(-56.5, -47, 1000, {.minSpeed = 50}, false);
283 chassis.waitUntilDone();
284 chassis.tank(0.7, 0, config, 400);
285 distanceReset(true);
286 chassis.moveToPose(-28, -48, 270, 1500, {.forwards = false, .minSpeed = 60, .earlyExitRange = 5}, false);
287 score_longgoal_auton(600, allianceColor,1000);
288 score_longgoal(600);
289 matchload_state(false);
290 chassis.turnToPoint(-24, -22, 900, {.minSpeed = 127}, false);
291 intake_stop();
292 distanceReset(false, true, false, false, true);
293 ltv.followPath(awp_2, {.q_x = 6.5, .q_y = 450, .q_theta = 190, .r_ang = 0.2, .r_vel = 1.35});
294 intake();
295 ltv.waitUntil(5);
296 matchload_state(true);
297 ltv.waitUntil(13);
298 matchload_state(false);
299 ltv.waitUntil(46.5);
300 matchload_state(true);
301 ltv.waitUntil(62.5);
302 matchload_state(false);
303 ltv.waitUntilDone();
304 distanceReset(false, false, true, false, true);
305 chassis.turnToPoint(-27.5, 48, 1200, {.forwards = false, .minSpeed = 60, .earlyExitRange = 30});
306 distanceReset(true, true, 5.5);
307 chassis.moveToPoint(-27.5, 48, 1000, {.forwards = false, .minSpeed = 60, .earlyExitRange = 7}, false);
308 matchload_state(true);
309 score_longgoal_auton(600, allianceColor, 1400);
310 distanceReset(true);
311 chassis.moveToPose(-55.5, 46.7, 270, 2000, {.lead = 0.3, .minSpeed = 40});
312 intake();
313 chassis.waitUntilDone();
314 chassis.tank(0.55, 0, config, 700);
315 distanceReset(true, true,3.5);
316 chassis.tank(-2.0, 0, config, 150);
317 chassis.moveToPoseRamsete(-12.7, 9.5, 320, 1500, config, {.forwards = false, .minSpeed = 0.7, .lead = 0.7}, false);
318 score_midgoal_auton(600, allianceColor, 5000);
319}
320
321void skills_auton() {
322
323 descore.extend();
324 color_sort_enable = false;
325 int start;
326 int var;
327 distancePose pose;
328
329 const int longgoal_delay = 2000;
330 const int midgoal_delay = 2000;
331 const int lowgoal_delay = 2000;
332 const int matchload_delay = 2000;
333 const int mid_triball_delay = 500;
334 const int longgoal_offset = 7;
335 const int midgoal_offset = 11.7;
336 const int matchload_offset = 11.4 + 0.7;
337 const int triball_delay = 500;
338 const int dual_ball_delay = 500;
339
340 //LOWGOAL
341
342 intake_lift.retract();
343 chassis.setPose(-50, 0, 270);
344 jamManager.enable_anti_jam(false);
345 intake();
346 pros::delay(700);
347 chassis.tank(1.5, 0, config, 200);
348 chassis.brake();
349 pros::delay(900);
350 chassis.tank(-0.2, 0, config, 300);
351 chassis.brake();
352 pros::delay(800);
353 chassis.tank(-1.2, 0, config, 520);
354
355 chassis.brake();
356 chassis.turnToHeading(270, 2000, {}, false);
357 chassis.setPose(-44.6, 0, chassis.getPose().theta);
358 //chassis.setPose(-44.6, 0, 270);
359 distanceReset(true, false);
360 intake();
361 chassis.moveToPoint(-40, 0, 1000, {.forwards = false, .minSpeed = 40, .earlyExitRange = 7});
362 jamManager.enable_anti_jam(true);
363 intake_stop();
364 chassis.turnToPoint(-27, -21, 1000, {.minSpeed = 40, .earlyExitRange = 10});
365 intake();
366 chassis.moveToPoint(-27, -21, 1500, {.minSpeed = 20, .earlyExitRange = 5}, false);
367 chassis.turnToPoint(-12.2, -14.6, 1000, {}, false);
368 chassis.moveToPose(-12.2, -14.6,47, 1500, {.lead = 0.35}, false);
369 chassis.tank(0.15, 0, config, 250);
370 chassis.tank(10, 10);
371 intake_lift.extend();
372 jamManager.set_velocities(-600, 0, -600);
373 pros::delay(550);
374 jamManager.set_velocities(-170, 0, -250);
375 pros::delay(600);
376 jamManager.set_velocities(-60, 600, -100);
377 pros::delay(2200);
378 intake_lift.retract();
379 chassis.moveToPoint(-20.5, -20.5, 1000, {.forwards = false, .minSpeed = 45, .earlyExitRange = 5});
380 intake_stop();
381 chassis.turnToPoint(-21.3, 5.7, 2000, { .minSpeed = 45, .earlyExitRange = 50}, false);
382 distanceReset(true, false, false, false, true);
383 ltv.followPath(skills_1, {.q_x = 4, .q_y = 500, .q_theta = 160, .r_ang = 0.25, .r_vel = 1.35});
384 ltv.waitUntil(5);
385 intake();
386 ltv.waitUntil(30);
387 matchload_state(true);
388 ltv.waitUntilDone();
389 chassis.tank(50, 50);
390 pros::delay(matchload_delay);
391 chassis.brake();
392 distanceReset(true, false);
393 chassis.moveToPoint(-50, chassis.getPose().y, 1500, {.forwards = false, .minSpeed = 70, .earlyExitRange = 8});
394 chassis.moveToPose(-24,59, 270, 1500, {.forwards = false, .minSpeed = 80, .earlyExitRange = 8.5});
395 matchload_state(false);
396 chassis.waitUntilDone();
397 distanceReset(true);
398 chassis.moveToPoint(29, 58, 1500, {.forwards = false, .minSpeed = 70});
399 chassis.waitUntil(5);
400 distanceReset(false, true, false, false, true);
401 chassis.waitUntil(15);
402 distanceReset(false, true, false, false, true);
403 chassis.waitUntilDone();
404 distanceReset(true);
405 chassis.moveToPose(45, 48, 130, 1500, {.forwards = false, .minSpeed = 20});
406 chassis.turnToHeading(90, 1500, {}, false);
407 distanceReset(true);
408 chassis.moveToPoint(27.5, 48, 1500, {.forwards = false, .minSpeed = 20}, false);
409 score_longgoal_auton(600, Color::NONE, longgoal_delay);
410 distanceReset(true, false);
411 matchload_state(true);
412 intake();
413 chassis.moveToPoint(55.5, 47, 1200, {.minSpeed = 10}, false);
414 chassis.tank(0.4, 0, config, matchload_delay);
415 chassis.brake();
416 distanceReset(true);
417 chassis.turnToPoint(27.5, 48, 1500, {.forwards = false, .minSpeed = 20, .earlyExitRange = 30});
418 chassis.moveToPose(27.5, 48, 90, 1200, {.forwards = false, .minSpeed = 20});
419 chassis.waitUntil(7);
420 distanceReset(true);
421 chassis.waitUntilDone();
422 score_longgoal_auton(600, Color::NONE, longgoal_delay);
423 distanceReset(true);
424 matchload_state(false);
425 //MIDGOAL
426 intake();
427 ltv.followPath(parkingzone_curve, {.q_x = 4.5, .q_y = 550, .q_theta = 60});
428 ltv.waitUntilDone();
429
430 std::vector<std::pair<float, float>> velocityData = {
431 {0.00f, 0.137449f}, {0.02f, 0.122294f}, {0.04f, 0.117480f}, {0.06f, 0.147628f},
432 {0.08f, 0.144711f}, {0.10f, 0.139913f}, {0.12f, 0.162864f}, {0.14f, 0.190873f},
433 {0.16f, 0.203905f}, {0.18f, 0.219595f}, {0.20f, 0.240017f}, {0.22f, 0.265108f},
434 {0.24f, 0.287801f}, {0.26f, 0.312827f}, {0.28f, 0.332407f}, {0.30f, 0.355553f},
435 {0.32f, 0.383497f}, {0.34f, 0.415525f}, {0.36f, 0.441199f}, {0.38f, 0.448785f},
436 {0.40f, 0.484185f}, {0.42f, 0.522956f}, {0.44f, 0.500458f}, {0.46f, 0.539618f},
437 {0.48f, 0.584095f}, {0.50f, 0.596803f}, {0.52f, 0.592848f}, {0.54f, 0.652431f},
438 {0.56f, 0.661443f}, {0.58f, 0.679596f}, {0.60f, 0.736456f}, {0.62f, 0.815490f},
439 {0.64f, 0.898349f}, {0.66f, 0.914428f}, {0.68f, 0.945937f}, {0.70f, 1.014728f},
440 {0.72f, 1.100764f}, {0.74f, 0.987562f}, {0.76f, 0.922663f}, {0.78f, 0.891802f},
441 {0.80f, 0.892580f}, {0.82f, 0.869044f}, {0.84f, 0.939259f}, {0.86f, 0.998388f},
442 {0.88f, 1.075087f}, {0.90f, 1.002472f}, {0.92f, 0.851732f}
443 };
444
445 intake();
446 distanceReset(true);
447 for (const auto& [time, velocity] : velocityData) {
448 chassis.tank(velocity, 0, config, 20);
449 if(time >= 0.92)
450 {
451 break;
452 }
453 }
454 chassis.tank(1.3, 0.5, config, 600);
455 chassis.tank(0.75, 0.5, config, 650);
456 matchload_state(true);
457 while(distanceReset(false, false).y < -32 && frontDistance.get() > 150) {
458 chassis.tank(0.6, 0.5, config, 10);
459 }
460 chassis.brake();
461 chassis.setPose(62.5, -31, chassis.getPose().theta);
462 distanceReset(true, false);
463 chassis.turnToHeading(270, 2000, {}, false);
464 distanceReset(true, false);
465 chassis.turnToPoint(22, -20, 2000, {.minSpeed = 35, .earlyExitRange = 20});
466 intake();
467 chassis.moveToPoint(22, -20, 2000, {});
468 chassis.waitUntil(4.5);
469 matchload_state(false);
470 distanceReset(true);
471 chassis.waitUntilDone();
472 matchload_state(true);
473 distanceReset(true, true, 5);
474 chassis.turnToPoint(7, -7, 1200, {.forwards = false, .minSpeed = 35, .earlyExitRange = 20});
475 chassis.moveToPose(7, -7, 135, 1200, {.forwards = false, .minSpeed = 20}, false);
476 u_int32_t startTime = pros::millis();
477 while((get_color() == Color::RED || get_color() == Color::NONE) && pros::millis() - startTime < 2500) {
478 {
479 score_midgoal_auton(250, Color::NONE, 10);
480 }
481 intake_stop();
482
483 //LONGGOAL #2
484
485 chassis.moveToPoint(40, -47, 1500, {.minSpeed = 20, .earlyExitRange = 5});
486 chassis.waitUntil(10);
487 intake();
488 chassis.turnToHeading(90, 1200, {}, false);
489 distanceReset(true, false);
490 chassis.moveToPoint(54.5, -47, 1500, {.minSpeed = 20}, false);
491 chassis.waitUntilDone();
492
493 chassis.tank(0.42, 0, config, matchload_delay);
494 chassis.brake();
495 distanceReset(true);
496 chassis.moveToPoint(50, chassis.getPose().y, 1500, {.forwards = false, .minSpeed = 60, .earlyExitRange = 7});
497 chassis.moveToPose(24,-59, 270, 1500, {.forwards = false, .minSpeed = 60, .earlyExitRange = 7});
498 matchload_state(false);
499 chassis.waitUntilDone();
500 distanceReset(true);
501 chassis.moveToPoint(-29, -59, 1500, {.forwards = false, .minSpeed = 20}, false);
502 chassis.waitUntilDone();
503 distanceReset(true);
504 chassis.moveToPose(-45, -48, 130, 1500, {.forwards = false, .minSpeed = 20});
505 chassis.turnToPoint(-27.5, -48, 1500, {}, false);
506 distanceReset(true);
507 chassis.moveToPoint(-27.5, -48, 1500, {.forwards = false, .minSpeed = 20}, false);
508 chassis.tank(-0.5, 0, config, 200);
509 score_longgoal_auton(600, Color::NONE, longgoal_delay);
510 distanceReset(true, false);
511
512 //PARKING ZONE
513 matchload_state(true);
514 intake();
515 chassis.turnToHeading(270, 1200, {}, false);
516 distanceReset(true, false);
517 chassis.moveToPose(-54.5, -46.5, 270, 1200, {.minSpeed = 30}, false);
518 chassis.tank(0.44, 0, config, matchload_delay);
519 chassis.brake();
520 distanceReset(true);
521 chassis.turnToPoint(-27.5, -48, 1200, {.minSpeed = 35, .earlyExitRange = 25});
522 chassis.moveToPoint(-27.5, -48, 1200, {.forwards = false, .minSpeed = 20}, false);
523 score_longgoal_auton(600, Color::NONE, longgoal_delay);
524 matchload_state(false);
525 distanceReset(true);
526 chassis.moveToPose(-63.5, -20, 0, 2500, {}, false);
527 chassis.tank(0.7, 0, config, 500);
528}
529}
score_midgoal_auton
void score_midgoal_auton(int power, Color allianceColor, int time)
Definition autonFunctions.cpp:61
config
const VelocityControllerConfig config
Definition autonFunctions.cpp:11
score_longgoal
void score_longgoal(int power, Color allianceColor)
Definition autonFunctions.cpp:41
intake
void intake(int power)
Definition autonFunctions.cpp:29
matchload_state
void matchload_state(bool state)
Definition autonFunctions.cpp:94
intake_stop
void intake_stop(bool hood_state)
Definition autonFunctions.cpp:47
score_longgoal_auton
void score_longgoal_auton(int power, Color allianceColor, int time)
Definition autonFunctions.cpp:75
outtake
void outtake(int power)
Definition autonFunctions.cpp:35
right_7_hood
void right_7_hood()
Definition autonRoutines.cpp:203
right_auton_split
void right_auton_split()
Definition autonRoutines.cpp:111
left_auton_split
void left_auton_split()
Definition autonRoutines.cpp:228
carry_auton
void carry_auton()
Definition autonRoutines.cpp:223
ltv
LTVPathFollower ltv(config)
midgoal_delay
const int midgoal_delay
Definition autonRoutines.cpp:34
triball_delay
const int triball_delay
Definition autonRoutines.cpp:40
dual_ball_delay
const int dual_ball_delay
Definition autonRoutines.cpp:41
test_auton
void test_auton()
Definition autonRoutines.cpp:78
skills_auton
void skills_auton()
Definition autonRoutines.cpp:321
right_7_wing
void right_7_wing()
Definition autonRoutines.cpp:179
awp_auton
void awp_auton()
Definition autonRoutines.cpp:272
matchload_offset
const int matchload_offset
Definition autonRoutines.cpp:39
matchload_delay
const int matchload_delay
Definition autonRoutines.cpp:35
left_rush
void left_rush()
Definition autonRoutines.cpp:82
midgoal_offset
const int midgoal_offset
Definition autonRoutines.cpp:38
longgoal_offset
const int longgoal_offset
Definition autonRoutines.cpp:37
right_rush
void right_rush()
Definition autonRoutines.cpp:156
precompute_auton_paths
void precompute_auton_paths(std::string path_name)
Definition autonRoutines.cpp:57
longgoal_delay
const int longgoal_delay
Definition autonRoutines.cpp:33
mid_triball_delay
const int mid_triball_delay
Definition autonRoutines.cpp:36
get_color
Color get_color()
Definition colorSort.cpp:5
distanceReset
distancePose distanceReset(bool setPose=false, bool filter=true, float filter_range=3.5)
Definition distanceReset.cpp:187
chassis
Chassis chassis(drivebase, lateral_controller, angular_controller, sensors, &throttle_curve, &steer_curve)
jamManager
IntakeAntiJam jamManager(intakeMotor, outtakeMotor, storageMotor, 55)
intake_lift
pros::adi::Pneumatics intake_lift('A', false)
mid_descore
pros::adi::Pneumatics mid_descore('E', false)
hood
pros::adi::Pneumatics hood('B', false)
color_sort_enable
bool color_sort_enable
Definition globals.cpp:104
descore
pros::adi::Pneumatics descore('D', true)
allianceColor
Color allianceColor
Definition globals.cpp:103
frontDistance
pros::Distance frontDistance(8)
right_7_1
const std::string right_7_1
Definition paths.cpp:5
parkingzone_curve
const std::string parkingzone_curve
Definition paths.cpp:31
awp_2
const std::string awp_2
Definition paths.cpp:16
skills_1
const std::string skills_1
Definition paths.cpp:21
awp_1
const std::string awp_1
Definition paths.cpp:11