new funny shit

NoozAbooz · Jan 29, 2025 · 3eae0e5 · 3eae0e5
1 parent 58515fa
commit 3eae0e5
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Showing 3 changed files with 38 additions and 30 deletions.
diff --git a/include/deviceGlobals.hpp b/include/deviceGlobals.hpp
@@ -24,8 +24,8 @@ inline pros::adi::Pneumatics doinkerPiston('B', false);
 
 /* Declare sensors */
 inline pros::Optical optical(19);
-inline pros::Imu inertial1(17);
-inline pros::Imu inertial2(15);
+inline pros::Imu inertial1(12);
+inline pros::Imu inertial2(18);
 inline pros::Rotation wallStakeRotationSensor(11);
 
 inline pros::Rotation verticalEncoder(1);
@@ -42,18 +42,18 @@ inline lemlib::Drivetrain drivetrain(&leftDrive, // left motor group
                               13.5, // track width
                               lemlib::Omniwheel::NEW_325,
                               450, // drivetrain rpm
-                              8 // chase power is 2. If we had traction wheels, it would have been 8
+                              2 // chase power is 2. If we had traction wheels, it would have been 8
 );
 // lateral motion controller
-inline lemlib::ControllerSettings lateralController(10, // proportional gain (kP)
+inline lemlib::ControllerSettings lateralController(1.8, // proportional gain (kP)
                                               0, // integral gain (kI)
-                                              10, // derivative gain (kD)
-                                              3, // anti windup
+                                              0, // derivative gain (kD)
+                                              0, // anti windup
                                               1, // small error range, in inches
                                               100, // small error range timeout, in milliseconds
                                               3, // large error range, in inches
                                               500, // large error range timeout, in milliseconds
-                                              40 // maximum acceleration (slew)
+                                              127 // maximum acceleration (slew)
 );
 // angular motion controller
 inline lemlib::ControllerSettings angularController(4, // proportional gain (kP)

diff --git a/src/auton/autonomous.cpp b/src/auton/autonomous.cpp
@@ -13,11 +13,8 @@
  */
 
 void testPID() {
-    clampPiston.set_value(true);
-    pros::delay(1000);
-    // chassis.moveToPoint(0, 24, 5000);
-    chassis.turnToHeading(90, 1000);
-    // chassis.moveToPoint(24, 24, 5000)   
+    chassis.moveToPoint(0, 0, 1000);
+    chassis.moveToPoint(0, 24, 1000);
 }
 void testBM() {
     chassis.moveToPose(52, 6, 320, 1000, {.forwards = false});
@@ -26,28 +23,28 @@ void calibrateOdomOffsets() {
 
 }
 
-
-
-rd::Selector gui_selector({
-    // {"E 5 Ring", Five_Ring},
-    // {"Q 4 Ring + Bar", four_ring_bar},
-    // {"Q SAWP 2 Mogo", SAWP_4},
-
-    {"Skills", skills, "", 0},
-
-    { "Test PID", testPID, "", 220 },
-    { "Test BM", testBM, "", 220 },
-    { "Odom Offsets", calibrateOdomOffsets, "", 220 }
-});
-
 void autonomous() {
     //initializeColourSort();
     chassis.setPose(0, 0, 0);
     field_status = "autonomous";
     console.println("Running auton...");
     gui_selector.run_auton();
 }
+void SIG_SAWP() {
+    chassis.moveToPoint(0, 0, 1000);
+    chassis.moveToPose(-11.922, -29.782, 10, 1200, {.forwards = false, .minSpeed = 80});
+    pros::delay(750);
+    clampPiston.set_value(true);
+    // chassis.moveTo(-12.737, -60.17, 5000);
+    // chassis.moveTo(0.732, -69.73, 5000);
+    // chassis.moveTo(1.925, -20.201, 5000);
+    // chassis.moveTo(-13.005, -4.77, 5000);
+    // chassis.moveTo(-26.775, 8.237, 5000);
+    // chassis.moveTo(-43.333, -2.844, 5000);
+    // chassis.moveTo(-26.943, 17.381, 5000);
+    // chassis.moveTo(-45.866, -19.014, 5000);
 
+}
 
 /* Legacy Auton Routines */
 void four_ring_bar() {
@@ -238,3 +235,14 @@ void SAWP_4() {
     }
 }
 
+rd::Selector gui_selector({
+    // {"E 5 Ring", Five_Ring},
+    // {"Q 4 Ring + Bar", four_ring_bar},
+    // {"Q SAWP 2 Mogo", SAWP_4},
+    {"Mecha SAWP", SIG_SAWP},
+    {"Skills", skills, "", 0},
+
+    { "Test PID", testPID, "", 220 },
+    { "Test BM", testBM, "", 220 },
+    { "Odom Offsets", calibrateOdomOffsets, "", 220 }
+});
diff --git a/src/subsystem/colourSort.cpp b/src/subsystem/colourSort.cpp
@@ -11,19 +11,19 @@ void initializeColourSort() {
 				// eject blue rings
 				console.println("eject blue impostor");
 				intakeLock = true;
-				pros::delay(230);
+				pros::delay(240);
 				intake.brake();
-				pros::delay(168);
+				pros::delay(175);
 				intake.move_voltage(12000);
 				intakeLock = false;
 			}
 			if (alliance == "blue" && optical.get_hue() > 15 && optical.get_hue() < 27) {
 				// eject red rings
 				console.println("eject red impostor");
 				intakeLock = true;
-				pros::delay(230);
+				pros::delay(240);
 				intake.brake();
-				pros::delay(168);
+				pros::delay(175);
 				intake.move_voltage(12000);
 				intakeLock = false;
 			}