AUTO SKILLS WROKS YAYAYAY

NoozAbooz · Dec 14, 2024 · 026abbc · 026abbc
1 parent dcf06f8
commit 026abbc
Showing 1 changed file with 34 additions and 29 deletions.
diff --git a/src/auton/autonomous.cpp b/src/auton/autonomous.cpp
@@ -228,13 +228,13 @@ void skills() {
     chassis.moveToPoint(-24.014, 37.971, 900); // Ring 1
     chassis.turnToHeading(315, 500);
     chassis.moveToPoint(-59.818, 62.586, 1200); // Ring 2
-    pros::delay(1600);
+    pros::delay(1400);
     chassis.moveToPoint(-56, 58.286, 800, {.forwards = false});
     chassis.turnToHeading(180, 500);
     chassis.moveToPoint(-47.994, 35.438, 1100, {.maxSpeed = 55}); // Ring 3
-    pros::delay(1300);
+    pros::delay(1400);
     chassis.moveToPoint(-47.927, 14.123, 1100, {.maxSpeed = 55}); // Ring 4
-    pros::delay(1300);
+    pros::delay(1400);
     chassis.moveToPoint(-47.928, -0.999, 1100, {.maxSpeed = 55}); // Ring 5
     pros::delay(1300);
     chassis.moveToPoint(-44, 11, 1000, {.forwards = false});    
@@ -251,7 +251,7 @@ void skills() {
     clampPiston.set_value(false);
     chassis.turnToHeading(270, 700);
     pros::delay(100);
-    chassis.moveToPoint(33.118, 14.924, 2200, {.forwards = false, .maxSpeed = 50}); // Mogo
+    chassis.moveToPoint(34.118, 14.924, 2200, {.forwards = false, .maxSpeed = 50}); // Mogo
     pros::delay(1500);
     clampPiston.set_value(true);
     pros::delay(500);
@@ -260,64 +260,69 @@ void skills() {
     chassis.turnToHeading(45, 500);
     chassis.moveToPoint(62.918, 62.686, 1200); // Ring 2
     pros::delay(1500);
-    chassis.moveToPoint(56, 58.286, 800, {.forwards = false});
+    chassis.moveToPoint(56, 60, 800, {.forwards = false});
     chassis.turnToHeading(180, 500);
     chassis.moveToPoint(53.524, 35.438, 1100, {.maxSpeed = 55}); // Ring 3
     pros::delay(1300);
-    chassis.moveToPoint(52.927, 14.123, 1100, {.maxSpeed = 55}); // Ring 4
+    chassis.moveToPoint(52.927, 16.123, 1100, {.maxSpeed = 55}); // Ring 4
     pros::delay(1300);
     chassis.moveToPoint(52.928, -0.999, 1100, {.maxSpeed = 55}); // Ring 5
     pros::delay(1300);
     chassis.moveToPoint(44, 11, 1000, {.forwards = false});    
-    chassis.turnToHeading(90, 800);
-    chassis.moveToPoint(61.617, 11.725, 1000); // Ring 6
+    chassis.turnToHeading(90, 600);
+    chassis.moveToPoint(62.617, 11.725, 1000); // Ring 6
     pros::delay(700);
     chassis.moveToPoint(60, 12, 1000, {.forwards = false});
     chassis.moveToPoint(69.384, -6.098, 1200, {.forwards = false});
     pros::delay(1100);
     clampPiston.set_value(false);
     pros::delay(500);
     chassis.moveToPoint(-23, 90, 2500);
-    pros::delay(2000);
+    pros::delay(2300);
     intake.move_voltage(0);
     chassis.turnToHeading(225, 600);
-    chassis.moveToPoint(5, 116, 2100, {.forwards = false, .maxSpeed = 50});
-    pros::delay(1700);
+    chassis.moveToPoint(8, 120, 2200, {.forwards = false, .maxSpeed = 50});
+    pros::delay(1900);
     clampPiston.set_value(true);
     pros::delay(500);
     intake.move_voltage(12000);
-    chassis.moveToPoint(22, 93, 1000);
+    pros::delay(800);
+    chassis.moveToPoint(22, 96, 1000);
     pros::delay(1000);
-    chassis.moveToPoint(57, 93, 2000, {.maxSpeed = 75});
+    chassis.moveToPoint(57, 96, 2000, {.maxSpeed = 75});
     pros::delay(1000);
-    chassis.turnToHeading(0, 600);
-    chassis.moveToPoint(57, 112, 800);
+    chassis.turnToHeading(0, 500);
+    chassis.moveToPoint(57, 113, 800);
     pros::delay(800);
     chassis.moveToPoint(63, 95, 1600, {.forwards = false, .maxSpeed = 50});
-    chassis.moveToPoint(69, 110, 800);
+    chassis.moveToPoint(67, 113, 800);
     pros::delay(1200);
-    chassis.moveToPoint(63, 125, 800);
+    chassis.moveToPoint(59, 130, 800);
     pros::delay(1000);
-    chassis.turnToHeading(225, 500);
+    chassis.moveToPoint(59, 120, 800, {.forwards = false});
+    chassis.turnToHeading(225, 700);
+    pros::delay(1100);
+    intake.move_voltage(0);
     chassis.moveToPoint(69, 130, 1000, {.forwards = false});
-    pros::delay(1500);
+    pros::delay(800);
     clampPiston.set_value(false);
-    pros::delay(300);
+    pros::delay(500);
+    chassis.moveToPoint(30, 120, 2000);
     chassis.turnToHeading(90, 600);
-    chassis.moveToPoint(25, 125, 1000);
-    wallStake.move_voltage(10000);
-    pros::delay(245);
-    wallStake.brake();
-    chassis.moveToPoint(-55, 109, 1000);
+    chassis.moveToPoint(25, 110, 1000, {.forwards = false});
+    chassis.moveToPoint(-25, 125, 1000, {.forwards = false});
+    chassis.moveToPoint(-64, 128, 2500, {.forwards = false, .minSpeed = 127});
     intake.move_voltage(12000);
-    pros::delay(1000);
+    chassis.moveToPoint(-59, 110, 2000);
     pros::delay(1200);
     intake.move_voltage(0);
-    chassis.moveToPoint(-3, 110, 1400);
+    chassis.moveToPoint(4.5, 110, 2400);
     chassis.turnToHeading(180, 600);
-    chassis.moveToPoint(-3, 130, 1000, {.forwards = false}); 
+    chassis.moveToPoint(4.5, 135, 2000, {.forwards = false}); 
+    pros::delay(100);
+    intake.move_voltage(12000);
     pros::delay(500);
-    wallStake.move_voltage(-10000);
+
 
     // chassis.moveToPoint(-7, 11, 2000);
     // chassis.turnToHeading(270, 700);