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drive-red.vex
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drive-red.vex
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./___ThIsisATemPoRaRyFiLE___.json 000666 000000 000000 0000040366 13511043203 017120 0 ustar 00 000000 000000 13511043203 13511043203 {"title":"drive-red","description":"Use this template for all competition code.","version":"0.0.1","icon":"USER000x.bmp","files":{"robot-config.h":"dXNpbmcgbmFtZXNwYWNlIHZleDsKCmJyYWluIEJyYWluID0gYnJhaW4oKTsKY29udHJvbGxlciBDb250cm9sbGVyID0gY29udHJvbGxlcigpOwoKCm1vdG9yIExlZnRGcm9udChQT1JUNSxnZWFyU2V0dGluZzo6cmF0aW8xOF8xLGZhbHNlKTsKbW90b3IgTGVmdEJhY2soUE9SVDIsZ2VhclNldHRpbmc6OnJhdGlvMThfMSxmYWxzZSk7Cm1vdG9yIFJpZ2h0RnJvbnQoUE9SVDE5LGdlYXJTZXR0aW5nOjpyYXRpbzE4XzEsdHJ1ZSk7Cm1vdG9yIFJpZ2h0QmFjayhQT1JUMTIsZ2VhclNldHRpbmc6OnJhdGlvMThfMSx0cnVlKTsKCgoKCm1vdG9yIExpZnRpbmcxKFBPUlQ0LGdlYXJTZXR0aW5nOjpyYXRpbzZfMSxmYWxzZSk7Cm1vdG9yIExpZnRpbmcyKFBPUlQxMSxnZWFyU2V0dGluZzo6cmF0aW82XzEsdHJ1ZSk7Cm1vdG9yIExpZnRpbmczKFBPUlQzLGdlYXJTZXR0aW5nOjpyYXRpbzZfMSx0cnVlKTsKCm1vdG9yIENsYW1wKFBPUlQ2LGdlYXJTZXR0aW5nOjpyYXRpbzE4XzEsZmFsc2UpOwoKYnVtcGVyIEJ1bXBlclVwID0gYnVtcGVyKEJyYWluLlRocmVlV2lyZVBvcnQuQSk7CmJ1bXBlciBCdW1wZXJEb3duID0gYnVtcGVyKEJyYWluLlRocmVlV2lyZVBvcnQuQik7Cg==","main.cpp":"#include "robot-config.h"
#include <math.h>
#include <stdlib.h>
#define s1 task::sleep(1000)
#define s2 task::sleep(2000)

using namespace vex;


/*---------------------------------------------------------------------------*/
/*                                                                           */
/*                          Drive Code - 07/07/19                            */
/*                          With Red Front Auton                             */
/*                               scored:2 tower:2                            */
/*                                             4.6.0                         */
/*                                                 by  ZJQ, LKY, LSQ         */
/*---------------------------------------------------------------------------*/


vex::competition Competition;


void pre_auton( void ) {
    
}



//methods
void forward(int x,int v){
    RightFront.startRotateFor(x,rotationUnits::deg,v,velocityUnits::pct);
    RightBack.startRotateFor(x,rotationUnits::deg,v,velocityUnits::pct);
    LeftFront.startRotateFor(x,rotationUnits::deg,v,velocityUnits::pct);
    LeftBack.startRotateFor(x,rotationUnits::deg,v,velocityUnits::pct);
}
void backward(int x,int v){
    RightFront.startRotateFor(-x,rotationUnits::deg,v,velocityUnits::pct);
    RightBack.startRotateFor(-x,rotationUnits::deg,v,velocityUnits::pct);
    LeftFront.startRotateFor(-x,rotationUnits::deg,v,velocityUnits::pct);
    LeftBack.startRotateFor(-x,rotationUnits::deg,v,velocityUnits::pct);
}
void turnRight(int x,int v){
    RightFront.startRotateFor(-x,rotationUnits::deg,v,velocityUnits::pct);
    RightBack.startRotateFor(-x,rotationUnits::deg,v,velocityUnits::pct);
    LeftFront.startRotateFor(x,rotationUnits::deg,v,velocityUnits::pct);
    LeftBack.startRotateFor(x,rotationUnits::deg,v,velocityUnits::pct);
}
void turnLeft(int x,int v){
    RightFront.startRotateFor(x,rotationUnits::deg,v,velocityUnits::pct);
    RightBack.startRotateFor(x,rotationUnits::deg,v,velocityUnits::pct);
    LeftFront.startRotateFor(-x,rotationUnits::deg,v,velocityUnits::pct);
    LeftBack.startRotateFor(-x,rotationUnits::deg,v,velocityUnits::pct);
}
void clampClose(int x,int v){
    Clamp.startRotateFor(x,rotationUnits::deg,v,velocityUnits::pct);
}
void clampOpen(int x,int v){
    Clamp.startRotateFor(-x,rotationUnits::deg,v,velocityUnits::pct);
}
void liftDown(int x,int v){
    Lifting1.startRotateFor(x,rotationUnits::deg,v,velocityUnits::pct);
    Lifting2.startRotateFor(x,rotationUnits::deg,v,velocityUnits::pct);
    Lifting3.startRotateFor(x,rotationUnits::deg,v,velocityUnits::pct);
}
void liftUp(int x,int v){
    Lifting1.startRotateFor(-x,rotationUnits::deg,v,velocityUnits::pct);
    Lifting2.startRotateFor(-x,rotationUnits::deg,v,velocityUnits::pct);
    Lifting3.startRotateFor(-x,rotationUnits::deg,v,velocityUnits::pct);
}


//clamp 450 - 90 deg
//lift  225 - 2nd cube was 100 *2.25
//      550 - 3rd cube was 200
//forward   700 - 1 pad
//turn      360 - 90 deg

void autonomous( void ) {
    
    RightFront.setStopping(vex::brakeType::coast);
    RightBack.setStopping(vex::brakeType::coast);
    LeftFront.setStopping(vex::brakeType::coast);
    LeftBack.setStopping(vex::brakeType::coast);
    Lifting1.setStopping(brakeType::hold);
    Lifting2.setStopping(brakeType::hold);
   
    
    /*
        NOTICE:
        code might look weird
        weird speed or repeated for "no reason"
        but all code has its meaning
        unless it's a typo
        but typo are very rare
        so
        DON'T DELETE ANY WEIRD CODE
        if you don't want to execute some specific lines of code
        comment it out plz
    */
    
    
    
    
    //cube 1 scored
    forward(250,50);
    task::sleep(300);
    forward(20,80);
    liftUp(200,70);
    task::sleep(400);
    liftUp(125,50);
    backward(500,50);
    //open clamp
    clampClose(450,70); 
    s1;
    liftDown(400,60);
    
    
    //cube 2
    
    
    //***********************
    turnRight(130,30);
    s1;
    forward(320,50);
    s1;
    //clamp cube 2
    forward(50,25);
    clampClose(450,90);
    s1;
    liftUp(250,30);
    backward(470,30);
    clampClose(5,2);
    task::sleep(600);
    //***********************
    turnLeft(200,30);
    s1;
    
    //put the second cube down
    clampClose(5,2);
    liftUp(310,35);
    forward(300,40);
    s1;
    //slow place the second cube
    forward(60,10);
    task::sleep(200);
    clampOpen(200,70);
    s1;
    liftUp(20,20);
    task::sleep(200);
    
    backward(420,70);
    s1;
    
    
    
    //cube 1 tower
    //**********************
    liftDown(630,60);
    turnRight(420,50);
    s1;
    
    backward(300,70);
    s1;
    forward(1200,65);
    task::sleep(1500);
    //forward(900,65);
    //s1;
    clampClose(260,70);
    s1;
    clampClose(5,2);
    backward(230,50);
    liftUp(1400,60);
    s1;
    forward(230,20);
    clampClose(5,2);
    s1;
    clampOpen(200,70);
    s1;
    
    
    
    //above mostly ok

    
    
    backward(1100,60);
    liftDown(1450,70);
    clampOpen(100,70);
    task::sleep(1500);
    
    
    //cube 2 tower
    
    turnRight(150,60);
    s1;
    forward(100,60);
    task::sleep(500);
    forward(50,30);
    clampClose(270,70);
    s1;
    clampClose(5,2);
    liftUp(1700,40);
    turnRight(150,30);
    s2;
    clampClose(5,2);
    forward(300,30);
    s1;
    clampOpen(400,70);
    s1;
    
    
    
    
}

void usercontrol( void ) {
    
  while (1) {
      
      RightFront.setMaxTorque(100,percentUnits::pct);
      RightBack.setMaxTorque(100,percentUnits::pct); 
      LeftFront.setMaxTorque(100,percentUnits::pct); 
      LeftBack.setMaxTorque(100,percentUnits::pct);
      Lifting1.setMaxTorque(100,percentUnits::pct);      
      Lifting2.setMaxTorque(100,percentUnits::pct);  
      Lifting3.setMaxTorque(100,percentUnits::pct);  
      Clamp.setMaxTorque(100,percentUnits::pct);
      
      int value1=0;
      int value3=0;
      
      if(Controller.Axis1.value()>0&&Controller.Axis1.value()<=80){
          value1=Controller.Axis1.value()/2.5;
       }
      else if(Controller.Axis1.value()>80){
          value1=pow(Controller.Axis1.value(),2)/200;
      }
      if(Controller.Axis1.value()<0&&Controller.Axis1.value()>=-80){
          value1=Controller.Axis1.value()/2.5;
      }
      else if(Controller.Axis1.value()<-80){
          value1=-pow(Controller.Axis1.value(),2)/200;
      } 
      
      //value1=Controller.Axis1.value(); 
      value3=Controller.Axis3.value(); 
      
      LeftFront.spin(directionType::fwd,(value1+value3),velocityUnits::pct);
      LeftBack.spin(directionType::fwd,(value1+value3),velocityUnits::pct); 
      RightFront.spin(directionType::rev,(value1-value3),velocityUnits::pct); 
      RightBack.spin(directionType::rev,(value1-value3),velocityUnits::pct);
     
      
      if(BumperUp.pressing()){
          if(Controller.ButtonR1.pressing()){
              Lifting1.spin(directionType::fwd,200,velocityUnits::rpm);
              Lifting2.spin(directionType::fwd,200,velocityUnits::rpm);
              Lifting3.spin(directionType::fwd,200,velocityUnits::rpm);
          }
          else if(Controller.ButtonDown.pressing()){
              Lifting1.spin(directionType::fwd,100,velocityUnits::rpm);
              Lifting2.spin(directionType::fwd,100,velocityUnits::rpm);
              Lifting3.spin(directionType::fwd,100,velocityUnits::rpm);
          }
          else{
              //Lifting1.spin(directionType::rev,1,velocityUnits::rpm);
              //Lifting2.spin(directionType::rev,1,velocityUnits::rpm);
              Lifting1.stop(brakeType::hold);
              Lifting2.stop(brakeType::hold);
              Lifting3.stop(brakeType::hold);
          }
      }
      
      else if(BumperDown.pressing()){
          if(Controller.ButtonR2.pressing()){
              Lifting1.spin(directionType::rev,200,velocityUnits::rpm);
              Lifting2.spin(directionType::rev,200,velocityUnits::rpm);
              Lifting3.spin(directionType::rev,200,velocityUnits::rpm);
          }
          else if(Controller.ButtonUp.pressing()){
              Lifting1.spin(directionType::rev,100,velocityUnits::rpm);
              Lifting2.spin(directionType::rev,100,velocityUnits::rpm);
              Lifting3.spin(directionType::rev,100,velocityUnits::rpm);
          }
           else{
               //Lifting1.spin(directionType::fwd,1,velocityUnits::rpm);
               //Lifting2.spin(directionType::fwd,1,velocityUnits::rpm);
               Lifting1.stop(brakeType::hold);
               Lifting2.stop(brakeType::hold);
               Lifting3.stop(brakeType::hold);
          }
      }
      
      else{
          if(Controller.ButtonR1.pressing()){
               Lifting1.spin(directionType::fwd,200,velocityUnits::rpm);
               Lifting2.spin(directionType::fwd,200,velocityUnits::rpm);
               Lifting3.spin(directionType::fwd,200,velocityUnits::rpm);
          }
          else if(Controller.ButtonR2.pressing()){
               Lifting1.spin(directionType::rev,200,velocityUnits::rpm);
               Lifting2.spin(directionType::rev,200,velocityUnits::rpm);
               Lifting3.spin(directionType::rev,200,velocityUnits::rpm);
          }
          else if(Controller.ButtonUp.pressing()){
              Lifting1.spin(directionType::rev,100,velocityUnits::rpm);
              Lifting2.spin(directionType::rev,100,velocityUnits::rpm);
              Lifting3.spin(directionType::rev,100,velocityUnits::rpm);
          }
          else if(Controller.ButtonDown.pressing()){
              Lifting1.spin(directionType::fwd,100,velocityUnits::rpm);
              Lifting2.spin(directionType::fwd,100,velocityUnits::rpm);
              Lifting3.spin(directionType::fwd,100,velocityUnits::rpm);
          }
          else{
              //Lifting1.spin(directionType::fwd,1,velocityUnits::rpm);
              //Lifting2.spin(directionType::fwd,1,velocityUnits::rpm);
              Lifting1.stop(brakeType::hold);
              Lifting2.stop(brakeType::hold);
              Lifting3.stop(brakeType::hold);
          }
      }
      
      
      
      if(Controller.ButtonL1.pressing()){
          Clamp.spin(directionType::fwd,200,velocityUnits::rpm);
      }
      else if(Controller.ButtonL2.pressing()){
          Clamp.spin(directionType::rev,200,velocityUnits::rpm);
      }
      else{
          Clamp.stop(brakeType::hold);
      }
      
      if(Controller.ButtonY.pressing()){
          liftUp(100,80);
          clampClose(700,80);  
          backward(100,80);
          task::sleep(800);
          turnRight(50,80);
          liftDown(150,80);
          task::sleep(800);
          forward(500,80);
          task::sleep(1000);
          backward(500,80);
          task::sleep(1000);
      }
      if(Controller.ButtonX.pressing()){
          liftUp(100,80);
          clampClose(700,80);  
          backward(100,80);
          task::sleep(800);
          turnLeft(50,80);
          liftDown(150,80);
          task::sleep(800);
          forward(500,80);
          task::sleep(1000);
          backward(500,80);
          task::sleep(1000);
      }
    
      
      
    task::sleep(20); 
  }
}




int main() {
    
    //Run the pre-autonomous function. 
    pre_auton();
    
    //Set up callbacks for autonomous and driver control periods.
    Competition.autonomous( autonomous );
    Competition.drivercontrol( usercontrol );

    //Prevent main from exiting with an infinite loop.                        
    while(1) {
      vex::task::sleep(100);//Sleep the task for a short amount of time to prevent wasted resources.
    }    
       
}"},"device":{"slot":2,"type":"vexV5"},"language":{"name":"c++"},"components":[]}