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ring rush updates
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@NoozAbooz
NoozAbooz committed Feb 8, 2025
1 parent f2d131f commit 9cb39cf
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Showing 4 changed files with 66 additions and 50 deletions.
4 changes: 2 additions & 2 deletions include/deviceGlobals.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -30,8 +30,8 @@ inline pros::Imu inertial1(2);
inline pros::Imu inertial2(18);
inline pros::Rotation wallStakeRotationSensor(11);

inline pros::Rotation verticalEncoder(-13);
inline pros::Rotation horizontalEncoder(-1);
inline pros::Rotation verticalEncoder(-14);
inline pros::Rotation horizontalEncoder(1);
//hello world it is 210K secret note iykyk :D
// horizontal tracking wheel
inline lemlib::TrackingWheel vertical_tracking_wheel(&verticalEncoder, lemlib::Omniwheel::NEW_275, 0.876);
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77 changes: 43 additions & 34 deletions src/auton/autonomous.cpp
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Expand Up @@ -42,13 +42,13 @@ void SIG_SAWP() {
chassis.turnToHeading(45, 1000);

// score alliance stake
driver.alliance_stake();
pros::delay(500);
// driver.alliance_stake();
// pros::delay(500);

chassis.setPose(0, 0, 0);
chassis.moveToPoint(0, -5, 600);
// chassis.setPose(0, 0, 0);
// chassis.moveToPoint(0, -5, 600);

driver.next_state();
// driver.next_state();
chassis.turnToHeading(17, 1000); //-20

// clamp goal
Expand Down Expand Up @@ -122,58 +122,67 @@ void SIG_SAWP() {

}
void ring_rush() {
if (alliance == "red" || alliance == "na"){
chassis.moveToPoint(0, 0, 1250);
chassis.moveToPoint(-1.949, 45.851, 1250);
chassis.moveToPoint(-0.8, 46.751, 1250);
intake.move_voltage(12000);
leftDoinkerPiston.set_value(true);
pros::delay(1350);
pros::delay(1550);
intake.move_voltage(0);
chassis.moveToPoint(-1.737, 20.234, 1250, {.forwards = false, .maxSpeed = 90});
chassis.moveToPoint(-0.037, 20.234, 1250, {.forwards = false, .maxSpeed = 90});
pros::delay(860);
leftDoinkerPiston.set_value(false);
// pros::delay(850);
chassis.turnToHeading(230, 500);
chassis.moveToPoint(5.945, 16.287, 1250, {.forwards = false, .maxSpeed = 80});
chassis.moveToPoint(13.945, 28.287, 1450, {.forwards = false, .maxSpeed = 80});
pros::delay(750);
clampPiston.set_value(true);
pros::delay(830);
pros::delay(530);
intake.move_voltage(12000);
chassis.moveToPoint(-18.634, 30.051, 1250);
pros::delay(300);
chassis.moveToPoint(-21.634, 36.051, 2050);
pros::delay(400);
antiJamToggle = false;
intake.move_voltage(7000);
chassis.moveToPoint(-44.174, -14.218, 1650, {.maxSpeed= 127});
// intakeLiftPiston.set_value(true);
// intakeLiftPiston.set_value(false);
// pros::delay(700);
intake.move_voltage(12000);
chassis.moveToPoint(-35.174, 0.218, 1650, {.maxSpeed= 127});
intakeLiftPiston.set_value(true);
pros::delay(500);
intakeLiftPiston.set_value(false);
pros::delay(700);
chassis.moveToPoint(-30, 2, 1300, {.forwards = false});
chassis.moveToPoint(-44.174, -14.218, 1000, {.minSpeed= 127});
antiJamToggle = true;
chassis.moveToPoint(-36.174, 2.218, 1200, {.minSpeed= 127});
intake.move_voltage(12000);
chassis.moveToPoint(-22, 10, 1000, {.forwards = false});
pros::delay(300);
chassis.moveToPoint(-22, 10, 1500, {.forwards = false});
pros::delay(400);
chassis.moveToPoint(-36.174, 0.218, 1200, {.minSpeed= 127});
pros::delay(500);
antiJamToggle = true;
// chassis.moveToPoint(-44.174, -15.218, 1850, {.maxSpeed= 80});
// pros::delay(2000);
// chassis.moveToPoint(-22, -1, 1000, {.forwards = false});
// pros::delay(100);
chassis.moveToPoint(18.174, 0.218, 1050, {.minSpeed= 127});
pros::delay(100);
chassis.moveToPoint(21, 2, 1200, {.maxSpeed = 35});
pros::delay(900);
resetWallstakes();
chassis.moveToPoint(31, 2, 1000, {.maxSpeed = 127});
// chassis.moveToPoint(50, -3, 10000);

// resetWallstakes();
antiJamToggle = false;
intakeLiftPiston.set_value(true);
pros::delay(1050);
intakeLiftPiston.set_value(false);
pros::delay(1200);
chassis.moveToPoint(21.5, -18.3, 1200);
pros::delay(100);
intake.move_voltage(-500);
wallStake.move_voltage(12000);
pros::delay(900);
wallStake.brake();
// intakeLiftPiston.set_value(true);
// pros::delay(1050);
// intakeLiftPiston.set_value(false);
// pros::delay(1200);
// chassis.moveToPoint(21.5, -18.3, 1200);
// pros::delay(100);
// intake.move_voltage(-500);
// wallStake.move_voltage(12000);
// pros::delay(900);
// wallStake.brake();
// chassis.moveToPoint(-39.384, 5.946, 1250);
// chassis.moveToPoint(24.607, 3.935, 1250);

} else { // blue

}

}

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8 changes: 2 additions & 6 deletions src/init/initialize.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -19,14 +19,10 @@ void initialize() {
initializeColourSort();

optical.set_led_pwm(100); // enable led on optical sensor for accuracy
optical.set_integration_time(10); // refresh every 10ms
optical.set_integration_time(5); // refresh every 10ms
wallStake.set_brake_mode(pros::E_MOTOR_BRAKE_HOLD);
intake.get_brake_mode(pros::E_MOTOR_BRAKE_BRAKE);
intake.set_brake_mode(pros::E_MOTOR_BRAKE_BRAKE);

inertial1.set_data_rate(10);
inertial2.set_data_rate(10);
verticalEncoder.set_data_rate(10);
horizontalEncoder.set_data_rate(10);
console.println("Robot initialized");
}

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27 changes: 19 additions & 8 deletions src/subsystem/colourSort.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -7,35 +7,46 @@ bool antiJamToggle = true;
// Colour Sorter
void initializeColourSort() {
pros::Task([] {
double previousIntakeVel;
double intakeVel;
double derivative;
while (true) {
//console.printf("Hue: %d\n", optical.get_hue());
if (colourSortToggle == true && (alliance == "red" && optical.get_hue() > 100 && optical.get_hue() < 230) ||
(alliance == "blue" && optical.get_hue() > 15 && optical.get_hue() < 27)) {
if (colourSortToggle == true && (alliance == "red" && optical.get_hue() > 200 && optical.get_hue() < 230) ||
(alliance == "blue" && optical.get_hue() > 8 && optical.get_hue() < 15)) {
colourSortToggle = false;
// eject blue rings
console.println("eject impostor");
controller.rumble(".");
intakeLock = true;
pros::delay(220);
pros::delay(225);
intake.brake();
pros::delay(190);
pros::delay(210);
intake.move_voltage(12000);
intakeLock = false;
colourSortToggle = true;
}

if (controller.get_digital_new_press(pros::E_CONTROLLER_DIGITAL_LEFT)) {
colourSortToggle = !colourSortToggle;
}

// anti-jam
if (intake.get_actual_velocity() == 0 && intake.get_voltage() > 1000 && (wallStakeRotationSensor.get_angle() / 100) < 20 && antiJamToggle == true) {
intakeVel = intake.get_actual_velocity();
derivative = previousIntakeVel - intakeVel;

if (derivative < -50 && intake.get_voltage() > 6000 && ((wallStakeRotationSensor.get_angle() / 100) < 20 || (wallStakeRotationSensor.get_angle() / 100) > 365) && antiJamToggle == true) {
console.println("anti-jam triggered");
antiJamToggle = false;
intakeLock = true;
intake.move_voltage(-8000);
pros::delay(135);
pros::delay(175);
intake.move_voltage(12000);
intakeLock = false;
antiJamToggle = true;
}

pros::delay(10);
previousIntakeVel = intakeVel;
pros::delay(5);
}
});
}

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