public void Run() { //// Place the gear. //AutoFunctions.Drive(1.6418); // Drive forward 1.6418 meters. //AutoFunctions.TurnToAngle(-30); // Turn to -30 degrees. //AutoFunctions.Drive(0.96); // Drive forward 0.96 meters to align at gear peg. //AutoFunctions.PlaceGear(); // Place the gear. This might incorporate vision. Currently does not. //// Drive to the boiler and shoot. //AutoFunctions.Drive(-0.96); // Drive 0.96 meters backwards away from gear peg. //AutoFunctions.TurnToAngle(0); // Turn to 0 degrees. //AutoFunctions.Drive(-0.7); // Drive backwards -0.7 meters to clear airship for driving. //AutoFunctions.TurnToAngle(133.74); // Turn to 133.74 degrees. //AutoFunctions.Drive(6.5); // Drive 6.5 meters forward to the boiler. NEEDS CLARIFICATION FROM LOGAN. //AutoFunctions.ShootFuel(); // Shoot fuel. This might incorporate vision. Currently does not. //// Drive to a hopper. //AutoFunctions.Drive(-2.1); // Back out of the boiler by driving back 2.1 meters. //AutoFunctions.TurnToAngle(33.03); // Turn to 33.03 degrees. //AutoFunctions.Drive(1.5); // Drive forward 1.5 meteres to the hopper. //AutoFunctions.TurnToAngle(90); // Turn to 90 degrees, which is perpendicular to the perimeter. //AutoFunctions.Drive(1.275); // Drive forward 1.275 meters to the hopper. AutoFunctions.Drive(2.8); Stopwatch stop = new Stopwatch(); stop.Start(); while (AutoFunctions.OnTarget() || stop.ElapsedMilliseconds < 8000) { SmartDashboard.PutBoolean("In loop?", true); SmartDashboard.PutNumber("Left Position", RobotMap.Left1.GetEncoderPosition()); SmartDashboard.PutNumber("Right Position", RobotMap.Right1.GetEncoderPosition()); } SmartDashboard.PutBoolean("In loop?", false); RobotMap.GearSlot.Set(true); AutoFunctions.DriveFast(0.35); Stopwatch sw = new Stopwatch(); sw.Start(); while (sw.ElapsedMilliseconds < 5000) { ; } AutoFunctions.Drive(-1.75); while (AutoFunctions.OnTarget()) { SmartDashboard.PutBoolean("In loop?", true); SmartDashboard.PutNumber("Left Position", RobotMap.Left1.GetEncoderPosition()); SmartDashboard.PutNumber("Right Position", RobotMap.Right1.GetEncoderPosition()); } SmartDashboard.PutBoolean("In loop?", false); AutoFunctions.TurnToAngle(160); }
public void Run() { //AutoFunctions.DriveStraight(5000); //RobotMap.GearSlot.Set(true); // Place the gear. //AutoFunctions.Drive(0.52); // Drive forward 0.52 meters. //AutoFunctions.TurnToAngle(-32.70); // Turn to 60.25 degrees. //AutoFunctions.Drive(0.72); // Drive forward 0.72 meters. //AutoFunctions.TurnToAngle(0); // Turn to 0 degrees. //AutoFunctions.Drive(1.00); // Drive forward one meter to place the gear. //AutoFunctions.PlaceGear(); // Place the gear. AutoFunctions.Drive(2.08); Stopwatch sw = new Stopwatch(); while (AutoFunctions.OnTarget() || sw.ElapsedMilliseconds < 5000) { SmartDashboard.PutBoolean("In loop?", true); SmartDashboard.PutNumber("Left Position", RobotMap.Left1.GetEncoderPosition()); SmartDashboard.PutNumber("Right Position", RobotMap.Right1.GetEncoderPosition()); } SmartDashboard.PutBoolean("In loop?", false); RobotMap.GearSlot.Set(true); sw.Start(); while (sw.ElapsedMilliseconds < 5000) { ; } AutoFunctions.Drive(-1.75); while (AutoFunctions.OnTarget()) { SmartDashboard.PutBoolean("In loop?", true); SmartDashboard.PutNumber("Left Position", RobotMap.Left1.GetEncoderPosition()); SmartDashboard.PutNumber("Right Position", RobotMap.Right1.GetEncoderPosition()); } SmartDashboard.PutBoolean("In loop?", false); AutoFunctions.TurnToAngle(90); AutoFunctions.Drive(3); while (AutoFunctions.OnTarget()) { SmartDashboard.PutBoolean("In loop?", true); SmartDashboard.PutNumber("Left Position", RobotMap.Left1.GetEncoderPosition()); SmartDashboard.PutNumber("Right Position", RobotMap.Right1.GetEncoderPosition()); } SmartDashboard.PutBoolean("In loop?", false); }