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The document contains a detailed sequence of commands for a robotic chassis, including movements, arm control, and intake operations. It outlines specific velocities, positions, and delays to achieve various tasks, such as moving to designated poses and handling objects. The code appears to be part of a larger program for autonomous operation in a robotics competition or similar environment.

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jamiedapro0108
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© © All Rights Reserved
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2 views

message (8)

The document contains a detailed sequence of commands for a robotic chassis, including movements, arm control, and intake operations. It outlines specific velocities, positions, and delays to achieve various tasks, such as moving to designated poses and handling objects. The code appears to be part of a larger program for autonomous operation in a robotics competition or similar environment.

Uploaded by

jamiedapro0108
Copyright
© © All Rights Reserved
Available Formats
Download as TXT, PDF, TXT or read online on Scribd
You are on page 1/ 5

int armDesired=0;

int armCurrent=0;
//skills
chassis.setPose(0,0.5,0);
intakeTop.move_velocity(200);
pros::delay(600);
intakeTop.move_velocity(0);
chassis.moveToPose( 0,12,0, 500,
{.forwards=true, .lead=0.3, .maxSpeed=100, .minSpeed=80, .earlyExitRange=0});
chassis.turnToHeading(90,600);
chassis.moveToPose( -24,14.5,90, 900,
{.forwards=false, .lead=0.1, .maxSpeed=100, .minSpeed=50, .earlyExitRange=0});
chassis.waitUntilDone();
goalclamp.set_value(true);
pros::delay(200);
intakeTop.move_velocity(200);
intakeBottom.move_velocity(200);
pros::delay(200);
startIntakeTask(200,true);
chassis.turnToHeading(0,600);
chassis.moveToPose( -28,35,0, 1000,
{.forwards=true, .lead=0.3, .maxSpeed=100, .minSpeed=60, .earlyExitRange=0});
chassis.waitUntilDone();
pros::delay(300);
chassis.turnToHeading(-90,700);
chassis.moveToPose( -45,39,-90, 1000,
{.forwards=true, .lead=0.3, .maxSpeed=100, .minSpeed=60, .earlyExitRange=0});
pros::delay(200);
chassis.turnToHeading(0,1000);
chassis.moveToPose( -49.5,100,0, 1000, {.forwards=true, .lead=0.3, .maxSpeed=80,
.minSpeed=60, .earlyExitRange=0});
chassis.waitUntilDone();
chassis.arcade(-100,0);
pros::delay(50);
chassis.arcade(0,0);
pros::delay(600);
chassis.turnToHeading(-150,1000);
chassis.waitUntilDone();
startIntakeTask(0,true);
startIntakeTask(0,false);
intakeBottom.move_velocity(200);
intakeTop.move_velocity(200);
armDesired=39;
ArmRotation.reset();
ArmRotation.set_position(3);
arm.move_velocity(-200);
pros::delay(100);
while(abs(armCurrent-armDesired)>3){
armCurrent=(3+((ArmRotation.get_angle())/100))%360;
if((armDesired-armCurrent)>0){
arm.move_voltage(-90*abs(armCurrent-armDesired)-800);
}
else if((armDesired-armCurrent)<0){
arm.move_voltage(90*abs(armCurrent-armDesired)+350);
}
}
arm.move_voltage(0);
arm.set_brake_mode(pros::E_MOTOR_BRAKE_HOLD);
arm.brake();
startIntakeTask(200,true);
chassis.moveToPose( -61.8,60,190, 1000,
{.forwards=true, .lead=0.3, .maxSpeed=80, .minSpeed=60, .earlyExitRange=0});
chassis.waitUntilDone();
chassis.moveToPose( -52,66,180, 1000, {.forwards=false, .lead=0.3, .maxSpeed=80,
.minSpeed=60, .earlyExitRange=0});
chassis.turnToHeading(-90,200);
chassis.waitUntilDone();
chassis.moveToPose( -62,67.5,-91, 800, {.forwards=true, .lead=0.1, .maxSpeed=80,
.minSpeed=60, .earlyExitRange=0});
chassis.turnToHeading(-93,300);
chassis.waitUntilDone();
startIntakeTask(0,false);
intakeTop.move_velocity(200);
chassis.arcade(100,0);
pros::delay(300);
chassis.arcade(-10,0);
pros::delay(100);
chassis.arcade(0,0);
intakeTop.move_velocity(-100);
pros::delay(50);
chassis.arcade(120,0);
arm.move_velocity(-200);
pros::delay(750);
chassis.arcade(-120,0);
pros::delay(400);
chassis.arcade(100,0);
pros::delay(200);
chassis.arcade(0,0);
arm.move_velocity(0);
arm.move_velocity(200);
pros::delay(500);
armDesired=20;
while(abs(armCurrent-armDesired)>3){
armCurrent=(3+((ArmRotation.get_angle())/100))%360;
if((armDesired-armCurrent)>0){
arm.move_voltage(-90*abs(armCurrent-armDesired)-800);
}
else if((armDesired-armCurrent)<0){
arm.move_voltage(90*abs(armCurrent-armDesired)+500);
}
}
arm.move_voltage(1000);
chassis.turnToHeading(180,600);
chassis.waitUntilDone();
startIntakeTask(200,true);
chassis.moveToPose( -51,11,180, 1500,
{.forwards=true, .lead=0.1, .maxSpeed=120, .minSpeed=80, .earlyExitRange=0});
chassis.waitUntilDone();
chassis.moveToPose( -50.5,-2,180, 2000,
{.forwards=true, .lead=0.1, .maxSpeed=50, .minSpeed=40, .earlyExitRange=0});
chassis.waitUntilDone();
pros::delay(600);
chassis.moveToPose( -50,35,180, 1500,
{.forwards=false, .lead=0.3, .maxSpeed=120, .minSpeed=80, .earlyExitRange=0});
chassis.waitUntilDone();
startIntakeTask(0,false);
intakeBottom.move_velocity(200);
chassis.moveToPose( -64.5,3,180, 1000,
{.forwards=true, .lead=0.3, .maxSpeed=80, .minSpeed=60, .earlyExitRange=0});
chassis.waitUntilDone();
pros::delay(300);
chassis.turnToHeading(45,1000);
chassis.waitUntilDone();
startIntakeTask(200,true);
chassis.arcade(100,0);
pros::delay(300);
chassis.arcade(0,0);
chassis.moveToPose( -69,1,45, 300,
{.forwards=false, .lead=0.3, .maxSpeed=80, .minSpeed=60, .earlyExitRange=0});
chassis.waitUntilDone();
goalclamp.set_value(false);
startIntakeTask(200,true);
chassis.arcade(-100,0);
pros::delay(500);
chassis.arcade(0,0);
chassis.moveToPose(-40,11,90, 700,
{.forwards=true, .lead=0.3, .maxSpeed=127, .minSpeed=100, .earlyExitRange=0});
chassis.moveToPose(-10,11,90, 2000,
{.forwards=true, .lead=0.3, .maxSpeed=110, .minSpeed=90, .earlyExitRange=0});
chassis.arcade(100,0);
pros::delay(200);
chassis.arcade(0,0);
chassis.turnToHeading(-90,1000);
chassis.moveToPose(27,10,-90, 2000,
{.forwards=false, .lead=0.1, .maxSpeed=100, .minSpeed=70, .earlyExitRange=0});
chassis.waitUntilDone();
goalclamp.set_value(true);
pros::delay(200);
startIntakeTask(200,true);
chassis.moveToPose(23,35,-10,1000,
{.forwards=true,.lead=0.1, .maxSpeed=80, .minSpeed=60, .earlyExitRange=0});
chassis.waitUntilDone();
chassis.turnToHeading(90,600);
chassis.moveToPose(53,39,90,1000,
{.forwards=true, .lead=0.1, .maxSpeed=80, .minSpeed=60, .earlyExitRange=0});
chassis.turnToHeading(30,1000);
chassis.moveToPose(59,54,-0,1000,
{.forwards=true, .lead=0.1, .maxSpeed=80, .minSpeed=60, .earlyExitRange=0});
chassis.waitUntilDone();
startIntakeTask(200,true);
pros::delay(700);
chassis.turnToHeading(-90,300);
chassis.turnToHeading(-180,1000);
chassis.moveToPose(48,40,180,500,
{.forwards=true, .lead=0.1, .maxSpeed=100, .minSpeed=80, .earlyExitRange=0});
chassis.moveToPose(49,-2,170,1200,
{.forwards=true, .lead=0.1, .maxSpeed=80, .minSpeed=60, .earlyExitRange=0});
chassis.waitUntilDone();
pros::delay(500);
startIntakeTask(0,false);
intakeBottom.move_velocity(200);
chassis.moveToPose(62,44,-160,1000,
{.forwards=false, .lead=0.3, .maxSpeed=100, .minSpeed=80, .earlyExitRange=0});
chassis.turnToHeading(160,200);
chassis.moveToPose(65,-2,0,1500,
{.forwards=true, .lead=0.2, .maxSpeed=60, .minSpeed=40, .earlyExitRange=0});
chassis.turnToHeading(-60,600);
chassis.waitUntilDone();
startIntakeTask(200,true);
pros::delay(700);
goalclamp.set_value(false);
chassis.moveToPose(74,-6,-60, 600,
{.forwards=false, .lead=0.2, .maxSpeed=90, .minSpeed=70, .earlyExitRange=0});
chassis.waitUntilDone();
startIntakeTask(0,false);
intakeTop.move_velocity(0);
intakeBottom.move_velocity(200);
chassis.moveToPose(55,58,0,3000,
{.forwards=true, .lead=0.2, .maxSpeed=127, .minSpeed=100, .earlyExitRange=0});
chassis.setBrakeMode(pros::E_MOTOR_BRAKE_HOLD);
chassis.moveToPose(53,84,-15,2000,
{.forwards=true, .lead=0.2, .maxSpeed=100, .minSpeed=80, .earlyExitRange=0});
chassis.waitUntilDone();
chassis.turnToHeading(130,1000);
chassis.moveToPose(20,106,120,800,
{.forwards=false, .lead=0.2, .maxSpeed=100, .minSpeed=80, .earlyExitRange=4});
chassis.moveToPose(-2,112,95,1000,
{.forwards=false, .lead=0.2, .maxSpeed=90, .minSpeed=80, .earlyExitRange=0});
chassis.waitUntilDone();
goalclamp.set_value(true);
pros::delay(100);
chassis.arcade(-100,0);
pros::delay(200);
chassis.arcade(0,0);
chassis.turnToHeading(-150,600);
chassis.waitUntilDone();
startIntakeTask(200,true);
chassis.moveToPose(-22,87,-146,2000,
{.forwards=true, .lead=0.2, .maxSpeed=100, .minSpeed=80, .earlyExitRange=0});
chassis.turnToHeading(-45,300);
chassis.moveToPose(-40,112,-44,2000,
{.forwards=true, .lead=0.2, .maxSpeed=100, .minSpeed=80, .earlyExitRange=0});
chassis.waitUntilDone();
pros::delay(500);
chassis.turnToHeading(105,1000);
chassis.moveToPose(0,110,100,2000,
{.forwards=true, .lead=0.2, .maxSpeed=100, .minSpeed=80, .earlyExitRange=0});
chassis.moveToPose(27,82,125,2000,
{.forwards=true, .lead=0.2, .maxSpeed=100, .minSpeed=80, .earlyExitRange=0});
chassis.waitUntilDone();
pros::delay(200);
chassis.moveToPose(49,100,45,1000,
{.forwards=true, .lead=0.2, .maxSpeed=100, .minSpeed=80, .earlyExitRange=0});
chassis.turnToHeading(11,1000);
chassis.moveToPose(55,120,10,2000,
{.forwards=true, .lead=0.2, .maxSpeed=110, .minSpeed=80, .earlyExitRange=0});
chassis.waitUntilDone();
pros::delay(300);
chassis.arcade(0,0);
doinker.set_value(true);
chassis.arcade(0,80);
pros::delay(500);
chassis.turnToHeading(-120,1000);
chassis.waitUntilDone();
chassis.arcade(65,0);
pros::delay(240);
chassis.arcade(100,0);
pros::delay(800);
goalclamp.set_value(false);
pros::delay(200);
chassis.arcade(-120,0);
pros::delay(1000);
chassis.arcade(0,0);
doinker.set_value(false);
pros::delay(200);
chassis.moveToPose(20,105,-80,2000,
{.forwards=true, .lead=0.3, .maxSpeed=100, .minSpeed=80, .earlyExitRange=0});
chassis.moveToPose(-15,130,-90,2000,
{.forwards=true, .lead=0.2, .maxSpeed=100, .minSpeed=80, .earlyExitRange=0});
chassis.turnToHeading(-90,700);
chassis.waitUntilDone();
startIntakeTask(200,true);
chassis.arcade(127,70);
pros::delay(1300);
climb.set_value(true);
chassis.moveToPose(-20,90,-45,500,
{.forwards=false, .lead=0.2, .maxSpeed=120, .minSpeed=100, .earlyExitRange=0});
chassis.turnToHeading(-45,100);
chassis.arcade(-120,0);
pros::delay(1500);
climb.set_value(false);
}

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