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Stuff from Competition, working #3

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Stuff from Competition, working #3

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98caa8c
"Auto re-tuning as well as changes for modern robotics sensor from re…
Nov 28, 2017
b69d244
"Pleas commit will, we have a Stable, working thing going on" - jack
Nov 29, 2017
d73347e
Actually this
Nov 29, 2017
368697a
End of today
Nov 29, 2017
595fb34
Teleop Status: end of yesterday working, Auto Status: needs testing
Nov 30, 2017
f5c6947
new numbers
Nov 30, 2017
86ce431
added safe zone auto just incase all our normal autos crap out
Nov 30, 2017
724e4b1
"moved Auto enums out of auto, changed a couple caluse and what not" …
Dec 1, 2017
7812f7e
Committng some changes after reviewing the code -Jack
Dec 1, 2017
ed59136
"mud-blood code" - will
Dec 1, 2017
13f72e0
:)))))
Dec 2, 2017
c38d487
New new servo pos
Dec 2, 2017
3d44c33
Fixed back up to not back up forward
Dec 2, 2017
b32c55c
Disabled Jewel Auto (sorry, just isn't lined up. I'm sure it works!)
Dec 2, 2017
98f02d7
Anneekah
Dec 2, 2017
9879fae
2:10
Dec 2, 2017
6a642ed
2:33
Dec 2, 2017
047ec32
2:37
Dec 2, 2017
dd89e5b
Last Gyro
Dec 4, 2017
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63 changes: 35 additions & 28 deletions TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Auto/DefaultAuto.java
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Original file line number Diff line number Diff line change
Expand Up @@ -7,7 +7,7 @@
* @Author:Will
* */

//85 pts auto
//possible 85 pts auto
public class DefaultAuto extends DefaultAutoMode {
@Override
public void init() {
Expand All @@ -17,63 +17,70 @@ public void init() {
@Override
public void loop() {
switch (state){

case 0: //grab glyph, lower arm and get pictogram
case 0:
hardware.lift.closeAll();
hardware.jewelArm.setPosition(JEWEL_ARM_DOWN_POS);
nextState(getPictogram());
nextState(pause(0.5));
break;

case 1: // raise glyph
nextState(setGlyphLiftPos(5,1));
break;
hardware.lift.closeAll();

nextState(raiseGlyph());
break;
case 2: //get jewel
nextState(getJewel());
hardware.lift.closeAll();
nextState(/*getJewel()*/true);
break;


case 3: // drive forward 24 + 2 (to get off balancing stone)
nextState(autoDrive(new XY(0,26),1));
case 3: //drive forward or backward 24 + 2(to get off balancing stone)
hardware.lift.closeAll();
switch (allianceColor){
case RED:
nextState(autoDrive(new XY(0,26),1));
break;

case BLUE:
nextState(autoDrive(new XY(0,-26),1));
break;
}
break;

case 4: //turn based on position
case 4: // turn based on color
hardware.lift.closeAll();
nextState(driveTurn());
break;

case 5: //drive forward 12
nextState(autoDrive(new XY(0,12),1));
case 5: // drive to safezone
hardware.lift.closeAll();
nextState(safeZoneDrive());
break;

case 6: //2nd turn based on position
case 6: // turn at cryptobox
hardware.lift.closeAll();
nextState(cryptoBoxTurn());
break;

case 7: // move to the correct cryptobox slot
nextState(pictogramDrive(pictogram));
break;

case 8: // drive into crypto box slot slowly
nextState(autoDrive(new XY(0,12),0.25));
case 7: //input glyph
hardware.lift.closeAll();
nextState(autoDrive(new XY(0,6),1));
break;

case 9: // lower glyph
nextState(setGlyphLiftPos(-5,1));
case 8: // lower glyph
hardware.lift.closeAll();
nextState(lowerGlyph());
break;

case 10: //release glyph
case 9: //release glyph
hardware.lift.openAll();
nextState(pause(1));
break;

case 11: // back away from glyph
case 10: //back away
nextState(autoDrive(new XY(0,-2),1));
break;

case 12: // telemetry
case 11 : //Telemetry
telemetry.addData("INFO",LSA);
break;

}
}
}
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