Final code that was on the robot at competition

team-pororo · Dec 16, 2018 · 40c5e6a · 40c5e6a
1 parent bfff84a
commit 40c5e6a
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Showing 8 changed files with 12 additions and 7 deletions.
diff --git a/bin/_pros_ld_timestamp.o b/bin/_pros_ld_timestamp.o
diff --git a/bin/autonomous.cpp.o b/bin/autonomous.cpp.o
diff --git a/bin/functions.cpp.o b/bin/functions.cpp.o
diff --git a/bin/output.bin b/bin/output.bin
diff --git a/bin/output.elf b/bin/output.elf
diff --git a/include/ports.h b/include/ports.h
@@ -29,7 +29,7 @@
 
 #define INTAKE 5
 #define INTAKE_REVERSED true
-#define INTAKE_SPEED 64 // throttle the speed to prevent ball overshoot
+#define INTAKE_SPEED 96 // throttle the speed to prevent ball overshoot
 
 #define ARM 6
 

diff --git a/src/autonomous.cpp b/src/autonomous.cpp
@@ -26,7 +26,10 @@ extern pros::Controller controller;
  */
 
 void autonomous() {
-  //ok.moveDistance(12_in);
-  //ok.turnAngle(90_deg);
-  delay(10);
+  drivetrain.drive(127, 127);
+  delay(4000);
+  drivetrain.drive(0, 0);
+  while (true) {
+    delay(10);
+  }
 }
diff --git a/src/functions.cpp b/src/functions.cpp
@@ -9,9 +9,9 @@ void Intake::handle() {
 		intakeSpinning = !intakeSpinning;
 	}
 	if (controller.get_digital(REVERSE_INTAKE)) {
-		motor.move(-127);
+		motor.move(-INTAKE_SPEED);
 	} else if (intakeSpinning) {
-		motor.move(127);
+		motor.move(INTAKE_SPEED);
 	} else {
 		motor.move(0);
 	}
@@ -31,12 +31,14 @@ void Intake::spin(int direction) {
 }
 
 void Puncher::handle() {
+	motor.set_brake_mode(E_MOTOR_BRAKE_HOLD);
 	if (controller.get_digital(FORWARD_PUNCHER)) {
 		motor.move(127);
 	} else if (controller.get_digital(REVERSE_PUNCHER)) {
 		motor.move(-127);
 	} else {
-		motor.move(0);
+		//motor.move(0);
+		motor.move_absolute(motor.get_position(), 127); // hold in place
 	}
 }