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autonomous 2-rough draft.c
54 lines (43 loc) · 1.89 KB
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autonomous 2-rough draft.c
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task autonomous() // this code is for blue team-- the robot starts in the non- skyrise tile and is facing opposite of the wall
{ // most values will not be here, instead fillers (#) will be placed
int valueA = x; //power levels
int valueB = y;
if (SensorValue[Jumper2] == 0) // im guessing this is for the different autonomous?
{
MovingFoward = false; //because this will use the claw, thought it would be easier to code if i do this
{ // move foward untill you reach that cube
SensorValue[EncoderFrontRight] = 0;
while(SensorValue[EncoderFrontRight] <= # )
{
RightEdge(valueA);
}
RightEdge(0);
wait1Msec (defaultDelay);
cubeIntakeClosing = true; //not sure how this works
SensorValue[EncoderFrontRight] = 0; //move back
while(SensorValue[EncoderFrontRight] <= -# )
{
ForBack(-valueA);
}
ForBack(0);
wait1Msec (defaultDelay);
int moveUpTo = #;
int savedLeftValue = SensorValue[armPotentiometerLeft];
int savedRightValue = SensorValue[armPotentiometerRight];
while(SensorValue[armPotentiometerLeft] < savedLeftValue + moveUpTo
&& SensorValue[armPotentiometerRight] < savedRightValue + moveUpTo)
{
Lift(-#); //Lift goes up
}
Lift (0);
wait1Msec(#);
GyroRotate( # );
wait1Msec(#);
while(SensorValue[armPotentiometerLeft] < savedLeftValue + moveUpTo
&& SensorValue[armPotentiometerRight] < savedRightValue + moveUpTo)
{
Lift(#); //Lift goes up
}
Lift (0);
wait1Msec(#); // add less delay so claw releases while moving down
cubeIntakeClosing = false;