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finalEndMSC.txt
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#BLUE good 7
testFunct(relative, t, 0, t, 0.1, startTheChain)
shooterSetRPM(relative, label-end, startTheChain, 2800)
gyroReset(relative, label-end, startTheChain, resetThatGyro)
#driveBasic(relative, label-end, startTheChain, e, -150, .5, startMovingBackward)
driveStraightGyro(relative, label-end, startTheChain, e, -150, .5, right, startMovingBackward)
#driveBasicGyro(relative, label-end, startMovingBackward, t, 3, 0, 0, right, straightenOut)
#driveBasic(relative, label-end, straightenOut, t, 1, 0, doneFirstBackward)
driveBasic(relative, label-end, startMovingBackward, t, 1, 0, doneFirstBackward)
#testFunct(relative, label-end, doneFirstBackward, t, 1, pauseDangIt)
testFunct(relative, label-end, startTheChain, t, 1, waitForRobotToMove)
armPosition(relative, label-end, waitForRobotToMove, ap, 3.04, 3.05, moveArmIntoPosition)
armBasic(relative, label-end, moveArmIntoPosition, t, 0.25, 0, stopArm)
shooterFire(relative, label-end, doneFirstBackward, t, 0.5, top, shotgun, topOne)
shooterStopFire(relative, label-end, topOne, t, 0.05, topOneStop)
shooterFire(relative, label-end, topOneStop, t, 0.5, bottom, shotgun, bottomOne)
shooterStopFire(relative, label-end, bottomOne, t, 0.05, bottomOneStop)
shooterFire(relative, label-end, bottomOneStop, t, 0.5, top, shotgun, topTwo)
shooterStopFire(relative, label-end, topTwo, t, 0.05, topTwoStop)
shooterFire(relative, label-end, topTwoStop, t, 0.5, bottom, shotgun, bottomTwo)
shooterStopFire(relative, label-end, bottomTwo, t, 0.5, bottomTwoStop)
#armBasic(relative, label-end, fireThemAll, ap, 0.66, -1, moveArmDownForDiscs)
armPosition(relative, label-end, bottomTwoStop, ap, 1.54, 1.4, moveArmDownForDiscs)
shooterSetRPM(relative, label-end, moveArmDownForDiscs, 0)
#driveBasic(relative, label-end, moveArmDownForDiscs, e, 1550, -.6, throughPyramid)
#driveBasic(relative, label-end, throughPyramid, e, 300, -.25, endThroughPyramid)
#driveBasic(relative, label-end, endThroughPyramid, t, 0.1, 0, stopDriveThroughPyramid)
#driveBasic(relative, label-end, stopDriveThroughPyramid, e, -625, .5, backUpToPyramid)
#driveBasic(relative, label-end, backUpToPyramid, t, 0.1, stopBackUpToPyramid)
#driveStraightGyro(relative, label-end, moveArmDownForDiscs, e, 1500, -.6, right, throughPyramid)
driveStraightGyro(relative, label-end, moveArmDownForDiscs, e, 1500, -.6, right, throughPyramid)
driveStraightGyro(relative, label-end, throughPyramid, e, 300, -.25, right, endThroughPyramid)
driveStraightGyro(relative, label-end, endThroughPyramid, t, 1, 0, right, stopDriveThroughPyramid)
driveStraightGyro(relative, label-end, stopDriveThroughPyramid, e, -600, .5, right, backUpToPyramid)
#driveBasicGyro(relative, label-end, backUpToPyramid, t, 1, 0, 0, right, straightenOutToo)
#driveBasic(relative, label-end, straightenOutToo, t, 0.1, 0, doneFirstBackwardToo)
driveBasic(relative, label-end, backUpToPyramid, t, 1, 0, doneFirstBackwardToo)
intakeRun(relative, label-end, moveArmDownForDiscs, label-end, stopDriveThroughPyramid, pickUp4Discs)
intakeOff(relative, label-end, guessedTheHeight, t, 0.25, shutOffIntake)
armPosition(relative, label-end, endThroughPyramid, ap, 3.4, 3.45, guessedTheHeight)
armBasic(relative, label-end, guessedTheHeight, t, 0.25, 0, doneWithArm)
shooterSetRPM(relative, label-end, stopDriveThroughPyramid, 3500)
testFunct(relative, label-end, doneFirstBackwardToo, t, 0.25, letShooterGetUpToSpeed)
shooterFire(relative, label-end, doneFirstBackwardToo, t, 0.5, top, shotgun, topOneSecond)
shooterStopFire(relative, label-end, topOneSecond, t, 0.05, topOneSecondStop)
shooterFire(relative, label-end, topOneSecondStop, t, 0.5, bottom, shotgun, bottomOneSecond)
shooterStopFire(relative, label-end, bottomOneSecond, t, 0.05, bottomOneSecondStop)
shooterFire(relative, label-end, bottomOneSecondStop, t, 0.5, top, shotgun, topTwoSecond)
shooterStopFire(relative, label-end, topTwoSecond, t, 0.05, topTwoSecondStop)
shooterFire(relative, label-end, topTwoSecondStop, t, 0.5, bottom, shotgun, bottomTwoSecond)
shooterStopFire(relative, label-end, bottomTwoSecond, t, 0.05, bottomTwoSecondStop)
shooterFire(relative, label-end, bottomTwoSecondStop, t, 0.5, top, shotgun, CleanUp)
shooterStopFire(relative, label-end, CleanUp, t, 0.05, CleanUpStop)
shooterFire(relative, label-end, CleanUpStop, t, 0.5, bottom, shotgun, CleanUpCont)
shooterStopFire(relative, label-end, CleanUpCont, t, 0.05, CleanUpContStop)
shooterFire(relative, label-end, CleanUpContStop, t, 0.5, top, shotgun, CleanUpMore)
shooterStopFire(relative, label-end, CleanUpMore, t, 0.05, CleanUpMoreStop)
armPosition(relative, label-end, CleanUpMoreStop, ap, 1.55, 1.4, endThis)
#set up a slower queueing constant in the command on the previous line ^^^
#shooterSetRPM(relative, label-end, fireThemAll, 0)
#shooterStopFire(relative, label-end, fireThemAll, t, 20)
##1.92, try 1.94 for two-point goal
#actual 1.96, try 2