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Trainlover08

Recorder for nationals

Trainlover08
Feb 20th, 2024 (edited)
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  1. #pragma region VEXcode Generated Robot Configuration
  2. // Make sure all required headers are included.
  3. #include <stdio.h>
  4. #include <stdlib.h>
  5. #include <stdbool.h>
  6. #include <math.h>
  7. #include <string.h>
  8.  
  9.  
  10. #include "vex.h"
  11.  
  12. using namespace vex;
  13.  
  14. // Brain should be defined by default
  15. brain Brain;
  16.  
  17.  
  18. // START V5 MACROS
  19. #define waitUntil(condition) \
  20. do { \
  21. wait(5, msec); \
  22. } while (!(condition))
  23.  
  24. #define repeat(iterations) \
  25. for (int iterator = 0; iterator < iterations; iterator++)
  26. // END V5 MACROS
  27.  
  28.  
  29. // Robot configuration code.
  30. motor Left1MotorA = motor(PORT4, ratio6_1, false);
  31. motor Left1MotorB = motor(PORT5, ratio6_1, false);
  32. motor_group Left1 = motor_group(Left1MotorA, Left1MotorB);
  33.  
  34. motor Left2 = motor(PORT21, ratio6_1, false);
  35.  
  36. motor Right1MotorA = motor(PORT11, ratio6_1, true);
  37. motor Right1MotorB = motor(PORT14, ratio6_1, true);
  38. motor_group Right1 = motor_group(Right1MotorA, Right1MotorB);
  39.  
  40. motor Right2 = motor(PORT15, ratio6_1, true);
  41.  
  42. motor Intake = motor(PORT10, ratio6_1, false);
  43.  
  44. digital_out Wings = digital_out(Brain.ThreeWirePort.G);
  45. digital_out Intakepnumatic = digital_out(Brain.ThreeWirePort.F);
  46. controller Controller1 = controller(primary);
  47. motor Cata = motor(PORT17, ratio36_1, true);
  48.  
  49. pot Pot = pot(Brain.ThreeWirePort.B);
  50. distance Distance1 = distance(PORT19);
  51.  
  52.  
  53.  
  54. // Helper to make playing sounds from the V5 in VEXcode easier and
  55. // keeps the code cleaner by making it clear what is happening.
  56. void playVexcodeSound(const char *soundName) {
  57. printf("VEXPlaySound:%s\n", soundName);
  58. wait(5, msec);
  59. }
  60.  
  61.  
  62.  
  63. // define variable for remote controller enable/disable
  64. bool RemoteControlCodeEnabled = true;
  65.  
  66. #pragma endregion VEXcode Generated Robot Configuration
  67.  
  68. // Include the V5 Library
  69. #include "vex.h"
  70.  
  71. // Allows for easier use of the VEX Library
  72. using namespace vex;
  73.  
  74. competition Competition;
  75.  
  76. float myVariable;
  77.  
  78. // "when started" hat block
  79. int whenStarted1() {
  80. Left1.setMaxTorque(40.0, percent);
  81. Left2.setMaxTorque(40.0, percent);
  82. Right1.setMaxTorque(40.0, percent);
  83. Right2.setMaxTorque(40.0, percent);
  84. Intake.setVelocity(100.0, percent);
  85. Intake.spin(forward);
  86. Intake.spinFor(forward, 3, turns);
  87. Cata.setStopping(hold);
  88. Cata.setVelocity(100.0, percent);
  89. Cata.setMaxTorque(100.0, percent);
  90. return 0;
  91. }
  92.  
  93. //thread to only control printing output values
  94. float L1 = 0.0;
  95. float L2 = 0.0;
  96. float L3 = 0.0;
  97. float R1 = 0.0;
  98. float R2 = 0.0;
  99. float R3 = 0.0;
  100. float cata = 0.0;
  101. float intake = 0.0;
  102. int ondriver_drivercontrol_1(){
  103. while(true){
  104. L1 = Left1MotorA.velocity(rpm);
  105. L2 = Left1MotorB.velocity(rpm);
  106. L3 = Left2.velocity(rpm);
  107. R1 = Right1MotorA.velocity(rpm);
  108. R2 = Right1MotorB.velocity(rpm);
  109. R3 = Right2.velocity(rpm);
  110. cata = Cata.velocity(rpm);
  111. intake = Intake.velocity(rpm);
  112. printf("%f,\t%f,\t%f,\t%f,\t%f,\t%f,\t%f,\t%f,\n",L1,L2,L3,R1,R2,R3,cata,intake);
  113. wait(10, msec);
  114. }
  115. return 0;
  116. }
  117.  
  118. //thread for cata, wings, and intake
  119. int ondriver_drivercontrol_2(){
  120. while(true){
  121. if(Controller1.ButtonR1.pressing()){
  122. Intake.setVelocity(100.0, percent);
  123. Intake.spin(forward);
  124. wait(100, msec);
  125. } else if(Controller1.ButtonR2.pressing()){
  126. Intake.setVelocity(-100.0, percent);
  127. Intake.spin(forward);
  128. wait(100, msec);
  129. } else {
  130. Intake.stop();
  131. wait(100, msec);
  132. }
  133. if(Controller1.ButtonL1.pressing()){
  134. Wings.set(true);
  135. } else {
  136. Wings.set(false);
  137. }
  138. if(Pot.angle(percent) > 64 && Pot.angle(percent) < 68){
  139. if(Controller1.ButtonA.pressing() || Distance1.objectDistance(inches) < 1){
  140. Cata.setVelocity(100, percent);
  141. Cata.spinFor(forward, 60, degrees);
  142. Controller1.rumble(rumbleShort);
  143. } else {
  144. Cata.stop();
  145. }
  146. } else {
  147. Cata.spin(forward);
  148. if(Pot.angle(percent) > 55 && Pot.angle(percent) < 60){
  149. Cata.setVelocity(50, percent);
  150. } else if(Pot.angle(percent) > 60 && Pot.angle(percent) < 64){
  151. Cata.setVelocity(25, percent);
  152. } else {
  153. Cata.setVelocity(100, percent);
  154. }
  155. }
  156. wait(5, msec);
  157. }
  158. return 0;
  159. }
  160.  
  161. //main drive thread; handles all the basic drve computation
  162. int ondriver_drivercontrol_0() {
  163. while (true) {
  164. Left1.spin(forward);
  165. Left2.spin(forward);
  166. Right1.spin(forward);
  167. Right2.spin(forward);
  168. if ((5.0 > Controller1.Axis3.position() && Controller1.Axis3.position() > -5.0) && (5.0 > Controller1.Axis1.position() && Controller1.Axis1.position() > -5.0)) {
  169. Left1.setVelocity(0.0, percent);
  170. Left2.setVelocity(0.0, percent);
  171. Right1.setVelocity(0.0, percent);
  172. Right2.setVelocity(0.0, percent);
  173. } else {
  174. Left1.setVelocity(((Controller1.Axis3.position() + (Controller1.Axis1.position()*.75))/4), percent);
  175. Left2.setVelocity(((Controller1.Axis3.position() + (Controller1.Axis1.position()*.75))/4), percent);
  176. Right1.setVelocity(((Controller1.Axis3.position() - (Controller1.Axis1.position()*.75))/4), percent);
  177. Right2.setVelocity(((Controller1.Axis3.position() - (Controller1.Axis1.position()*.75))/4), percent);
  178. }
  179. wait(5, msec);
  180. }
  181. return 0;
  182. }
  183.  
  184.  
  185. //Auton portion begins
  186.  
  187. //global list for threads to pull numbers from
  188. float values[] = {0.000000, 0.000000, 0.000000, -0.000000, -0.000000, -0.000000, -0.000000, 0.000000,
  189. 0.000000, 0.000000, 0.000000, -0.000000, -0.000000, -0.000000, -0.000000, 0.000000,
  190. 0.000000, 0.000000, 0.000000, -0.000000, -0.000000, -0.000000, -0.000000, 0.000000,
  191. 0.000000, 0.000000, 0.000000, -0.000000, -0.000000, -0.000000, -0.000000, 0.000000,
  192. 0.000000, 0.000000, 0.000000, -0.000000, -0.000000, -0.000000, -0.000000, 0.000000,
  193. 0.000000, 0.000000, 0.000000, -0.000000, -0.000000, -0.000000, -0.000000, 0.000000,
  194. 0.000000, 0.000000, 0.000000, -0.000000, -0.000000, -0.000000, -0.000000, 0.000000,
  195. 0.000000, 0.000000, 0.000000, -0.000000, -0.000000, -0.000000, -0.000000, 77.599998,
  196. 0.000000, 0.000000, 0.000000, -0.000000, -0.000000, -0.000000, -0.000000, 131.199997,
  197. 0.000000, 0.000000, 0.000000, -0.000000, -0.000000, -0.000000, -0.000000, 172.399994,
  198. 0.000000, 0.000000, 0.000000, -0.000000, -0.000000, -0.000000, -0.000000, 172.399994,
  199. 0.000000, 0.000000, 0.000000, -0.000000, -0.000000, -0.000000, -0.000000, 227.399994,
  200. 0.000000, 0.000000, 0.000000, -0.000000, -0.000000, -0.000000, -0.000000, 189.199997,
  201. 0.000000, 0.000000, 0.000000, -0.000000, -0.000000, -0.000000, -0.000000, 158.399994,
  202. 0.000000, 8.800000, 0.000000, 10.200000, 568.000000, -0.000000, -0.000000, 118.599998,
  203. 27.600000, 8.800000, 0.000000, 10.200000, 31.400000, 30.600000, -0.000000, 88.000000,
  204. 23.400000, 10.400000, 0.000000, 10.000000, 31.400000, 25.000000, -0.000000, 62.000000,
  205. 25.600000, 15.200000, 0.000000, 11.800000, 21.200001, 25.000000, -0.000000, 62.000000,
  206. 24.600000, 20.400000, 0.000000, 12.200000, 19.000000, 25.000000, -0.000000, 62.000000,
  207. 25.799999, 20.400000, 0.000000, 12.200000, 19.000000, 33.599998, -0.000000, 62.000000,
  208. 25.799999, 19.200001, 0.000000, 13.400000, 12.200000, 33.599998, -0.000000, 62.000000,
  209. 18.000000, 18.200001, 0.000000, 17.600000, 14.600000, 27.600000, -0.000000, 63.000000,
  210. 17.600000, 16.799999, 0.000000, 26.200001, 33.400002, 43.799999, -0.000000, 63.000000,
  211. 27.400000, 22.400000, 0.000000, 34.200001, 40.000000, 47.400002, -0.000000, 63.000000,
  212. 30.200001, 33.599998, 0.000000, 31.200001, 31.600000, 35.400002, -0.000000, 52.000000,
  213. 33.000000, 35.599998, 0.000000, 33.200001, 29.799999, 27.000000, -0.000000, 52.000000,
  214. 33.000000, 35.599998, 0.000000, 33.200001, 29.799999, 27.000000, -0.000000, 52.000000,
  215. 32.400002, 32.000000, 0.000000, 41.400002, 42.400002, 34.400002, -0.000000, 52.000000,
  216. 42.200001, 43.000000, 0.000000, 46.200001, 46.400002, 47.799999, -0.000000, 60.799999,
  217. 42.799999, 42.799999, 0.000000, 52.799999, 50.599998, 50.400002, -0.000000, 60.799999,
  218. 42.799999, 42.799999, 0.000000, 52.799999, 50.599998, 50.400002, -0.000000, 60.799999,
  219. 50.000000, 56.400002, 0.000000, 54.799999, 55.599998, 51.799999, -0.000000, 0.000000,
  220. 58.400002, 54.400002, 0.000000, 59.799999, 58.400002, 56.799999, -0.000000, 0.000000,
  221. 60.000000, 57.200001, 0.000000, 59.400002, 65.599998, 68.400002, -0.000000, 0.000000,
  222. 58.400002, 59.400002, 0.000000, 70.199997, 69.599998, 76.800003, -0.000000, 0.000000,
  223. 58.400002, 59.400002, 0.000000, 70.199997, 69.599998, 76.800003, -0.000000, 0.000000,
  224. 64.599998, 70.000000, 0.000000, 73.599998, 74.199997, 80.000000, -0.000000, 0.000000,
  225. 68.400002, 66.199997, 0.000000, 80.000000, 81.400002, 75.800003, -0.000000, 0.000000,
  226. 77.599998, 74.599998, 0.000000, 78.400002, 82.800003, 82.000000, -0.000000, 0.000000,
  227. 75.000000, 75.800003, 0.000000, 83.400002, 85.199997, 82.000000, -0.000000, 0.000000,
  228. 79.800003, 79.800003, 0.000000, 90.400002, 87.599998, 90.199997, -0.000000, 0.000000,
  229. 79.800003, 79.800003, 0.000000, 90.400002, 87.599998, 90.199997, -0.000000, 0.000000,
  230. 87.400002, 87.199997, 0.000000, 103.800003, 100.199997, 98.000000, -0.000000, 0.000000,
  231. 88.599998, 89.000000, 0.000000, 104.599998, 98.599998, 101.000000, -0.000000, 0.000000,
  232. 87.599998, 94.000000, 0.000000, 102.400002, 102.800003, 107.000000, -0.000000, 0.000000,
  233. 95.400002, 94.000000, 0.000000, 108.800003, 111.400002, 109.000000, -0.000000, 0.000000,
  234. 95.000000, 93.599998, 0.000000, 111.800003, 114.599998, 114.000000, -0.000000, 0.000000,
  235. 95.599998, 100.000000, 0.000000, 116.400002, 119.599998, 118.000000, -0.000000, 0.000000,
  236. 103.199997, 99.400002, 0.000000, 125.199997, 120.400002, 123.000000, -0.000000, 0.000000,
  237. 103.199997, 99.400002, 0.000000, 125.199997, 120.400002, 123.000000, -0.000000, 0.000000,
  238. 105.599998, 109.599998, 0.000000, 123.000000, 122.599998, 115.000000, -0.000000, 0.000000,
  239. 113.800003, 110.800003, 0.000000, 129.399994, 153.000000, 138.800003, -0.000000, 0.000000,
  240. 112.599998, 113.599998, 0.000000, 141.800003, 128.600006, 141.399994, -0.000000, 0.000000,
  241. 110.400002, 121.800003, 0.000000, 141.800003, 128.199997, 132.000000, -0.000000, 0.000000,
  242. 121.000000, 120.400002, 0.000000, 136.399994, 139.199997, 132.600006, -0.000000, 0.000000,
  243. 120.000000, 119.400002, 0.000000, 139.800003, 149.000000, 145.800003, -0.000000, 0.000000,
  244. 120.400002, 119.800003, 0.000000, 148.199997, 142.800003, 142.000000, -0.000000, 0.000000,
  245. 127.199997, 125.000000, 0.000000, 146.600006, 149.399994, 144.199997, -0.000000, 0.000000,
  246. 125.000000, 129.000000, 0.000000, 161.199997, 153.000000, 155.199997, -0.000000, 0.000000,
  247. 135.600006, 134.199997, 0.000000, 155.199997, 159.000000, 163.399994, -0.000000, 0.000000,
  248. 135.199997, 136.399994, 0.000000, 157.800003, 151.800003, 155.600006, -0.000000, 0.000000,
  249. 143.600006, 144.000000, 0.000000, 159.800003, 165.800003, 160.600006, -0.000000, 0.000000,
  250. 142.199997, 141.600006, 0.000000, 160.000000, 159.000000, 170.199997, -0.000000, 0.000000,
  251. 154.199997, 149.399994, 0.000000, 172.600006, 172.199997, 171.199997, -0.000000, 0.000000,
  252. 146.600006, 155.800003, 0.000000, 173.000000, 174.399994, 179.800003, -0.000000, 0.000000,
  253. 160.800003, 150.600006, 0.000000, 181.800003, 179.199997, 175.800003, -0.000000, 0.000000,
  254. 160.800003, 150.600006, 0.000000, 181.800003, 179.199997, 175.800003, -0.000000, 0.000000,
  255. 153.000000, 157.000000, 0.000000, 184.199997, 201.199997, 194.800003, -0.000000, 0.000000,
  256. 154.199997, 156.399994, 0.000000, 182.199997, 187.399994, 185.199997, -0.000000, 0.000000,
  257. 163.600006, 161.399994, 0.000000, 186.399994, 181.000000, 187.199997, -0.000000, 0.000000,
  258. 163.600006, 163.000000, 0.000000, 194.199997, 195.000000, 185.399994, -0.000000, 0.000000,
  259. 162.800003, 162.399994, 0.000000, 194.800003, 191.199997, 193.600006, -0.000000, 0.000000,
  260. 162.800003, 162.399994, 0.000000, 194.800003, 191.199997, 193.600006, -0.000000, 0.000000,
  261. 166.399994, 163.600006, 0.000000, 198.399994, 206.800003, 202.600006, -0.000000, 0.000000,
  262. 165.800003, 170.399994, 0.000000, 200.800003, 192.399994, 202.800003, -0.000000, 0.000000,
  263. 171.199997, 165.399994, 0.000000, 199.399994, 203.800003, 201.199997, -0.000000, 0.000000,
  264. 172.800003, 174.800003, 0.000000, 209.000000, 206.000000, 204.199997, -0.000000, 0.000000,
  265. 177.399994, 182.600006, 0.000000, 204.399994, 209.600006, 204.199997, -0.000000, 0.000000,
  266. 177.399994, 182.600006, 0.000000, 204.399994, 209.600006, 204.199997, -0.000000, 0.000000,
  267. 178.000000, 188.199997, 0.000000, 226.199997, 216.399994, 219.199997, -0.000000, 0.000000,
  268. 178.000000, 188.199997, 0.000000, 226.199997, 216.399994, 219.199997, -0.000000, 0.000000,
  269. 192.000000, 194.800003, 0.000000, 224.000000, 229.600006, 223.800003, -0.000000, 0.000000,
  270. 195.800003, 190.000000, 0.000000, 210.000000, 210.399994, 207.800003, -0.000000, 0.000000,
  271. 195.399994, 198.199997, 0.000000, 216.399994, 214.600006, 216.000000, -0.000000, 0.000000,
  272. 195.000000, 192.399994, 0.000000, 222.000000, 218.399994, 223.399994, -0.000000, 0.000000,
  273. 198.399994, 196.800003, 0.000000, 217.199997, 210.800003, 210.399994, -0.000000, 0.000000,
  274. 198.600006, 193.399994, 0.000000, 217.800003, 222.600006, 208.800003, -0.000000, 0.000000,
  275. 198.600006, 193.399994, 0.000000, 217.800003, 222.600006, 208.800003, -0.000000, 0.000000,
  276. 207.000000, 196.800003, 0.000000, 207.000000, 197.199997, 204.199997, -0.000000, 0.000000,
  277. 198.399994, 206.199997, 0.000000, 192.399994, 164.000000, 208.000000, -0.000000, 0.000000,
  278. 197.800003, 197.199997, 0.000000, 186.600006, 161.800003, 194.000000, -0.000000, 0.000000,
  279. 197.800003, 197.199997, 0.000000, 186.600006, 161.800003, 194.000000, -0.000000, 0.000000,
  280. 200.000000, 202.600006, 0.000000, 164.800003, 175.800003, 175.199997, -0.000000, 0.000000,
  281. 201.600006, 205.199997, 0.000000, 167.600006, 192.000000, 162.199997, -0.000000, 0.000000,
  282. 210.199997, 210.399994, 0.000000, 179.800003, 174.199997, 156.199997, -0.000000, 0.000000,
  283. 206.600006, 208.199997, 0.000000, 161.800003, 172.199997, 151.399994, -0.000000, 0.000000,
  284. 200.800003, 200.800003, 0.000000, 171.000000, 174.399994, 159.600006, -0.000000, 0.000000,
  285. 201.000000, 204.600006, 0.000000, 199.199997, 201.399994, 144.000000, -0.000000, 0.000000,
  286. 196.800003, 194.600006, 0.000000, 194.800003, 202.199997, 161.199997, -0.000000, 0.000000,
  287. 194.600006, 196.800003, 0.000000, 176.000000, 181.800003, 173.399994, -0.000000, 0.000000,
  288. 190.199997, 188.000000, 0.000000, 174.000000, 167.399994, 186.600006, -0.000000, 0.000000,
  289. 188.000000, 192.000000, 0.000000, 174.399994, 170.600006, 175.199997, -0.000000, 0.000000,
  290. 183.800003, 182.199997, 0.000000, 165.600006, 160.199997, 163.399994, -0.000000, 0.000000,
  291. 181.399994, 185.199997, 0.000000, 150.199997, 157.399994, 155.000000, -0.000000, 0.000000,
  292. 184.399994, 179.800003, 0.000000, 141.600006, 142.000000, 154.399994, -0.000000, 0.000000,
  293. 180.000000, 167.000000, 0.000000, 133.600006, 139.800003, 157.199997, -0.000000, 0.000000,
  294. 178.800003, 168.199997, 0.000000, 152.199997, 152.600006, 143.399994, -0.000000, 0.000000,
  295. 170.000000, 169.800003, 0.000000, 135.000000, 136.199997, 143.800003, -0.000000, 0.000000,
  296. 159.800003, 165.399994, 0.000000, 125.400002, 126.400002, 135.399994, -0.000000, 0.000000,
  297. 154.399994, 158.600006, 0.000000, 118.800003, 126.400002, 125.000000, -0.000000, 0.000000,
  298. 153.199997, 151.399994, 0.000000, 127.599998, 129.600006, 119.800003, -0.000000, 0.000000,
  299. 153.199997, 151.399994, 0.000000, 127.599998, 129.600006, 119.800003, -0.000000, 0.000000,
  300. 148.000000, 152.199997, 0.000000, 122.199997, 125.800003, 123.400002, -0.000000, 0.000000,
  301. 146.199997, 154.000000, 0.000000, 125.800003, 122.199997, 130.399994, -0.000000, 0.000000,
  302. 144.199997, 143.800003, 0.000000, 128.000000, 124.400002, 130.600006, -0.000000, 0.000000,
  303. 144.199997, 143.800003, 0.000000, 128.000000, 124.400002, 130.600006, -0.000000, 0.000000,
  304. 136.399994, 139.199997, 0.000000, 129.199997, 125.400002, 126.199997, -0.000000, 0.000000,
  305. 139.399994, 141.399994, 0.000000, 140.399994, 134.600006, 140.399994, -0.000000, 0.000000,
  306. 137.600006, 137.600006, 0.000000, 145.800003, 149.000000, 144.800003, -0.000000, 0.000000,
  307. 134.199997, 137.399994, 0.000000, 152.800003, 154.600006, 142.600006, -0.000000, 0.000000,
  308. 128.199997, 129.800003, 0.000000, 153.800003, 150.000000, 145.199997, -0.000000, 0.000000,
  309. 128.199997, 129.800003, 0.000000, 153.800003, 150.000000, 145.199997, -0.000000, 0.000000,
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  1102. 75.800003, 76.800003, 0.000000, 107.599998, 107.199997, 98.000000, -0.000000, -612.200012,
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  1679. 0.000000, 0.000000, 0.000000, 13.200000, 10.200000, 16.400000, -0.000000, -23.200001,
  1680. 0.000000, 0.000000, 0.000000, 13.200000, 10.200000, 16.400000, -0.000000, -23.200001,
  1681. 0.000000, 0.000000, 0.000000, 13.200000, 10.200000, 16.400000, -0.000000, -18.200001,
  1682. 0.000000, 0.000000, 0.000000, 13.200000, 10.200000, 16.400000, -0.000000, -18.200001,
  1683. 0.000000, 0.000000, 0.000000, 10.800000, 10.200000, 17.799999, -0.000000, -18.200001,
  1684. 12.800000, 24.400000, 0.000000, 10.800000, 9.800000, 17.799999, -0.000000, -18.200001,
  1685. 15.800000, 20.600000, 0.000000, 10.800000, 9.800000, 17.799999, -0.000000, -18.200001,
  1686. 20.200001, 19.799999, 0.000000, 10.800000, 9.800000, 15.800000, -0.000000, -15.400000,
  1687. 57.400002, 61.799999, 0.000000, 10.800000, 8.800000, 15.800000, -0.000000, -15.400000,
  1688. 57.400002, 61.799999, 0.000000, 10.800000, 8.800000, 15.800000, -0.000000, -15.400000,
  1689. 106.400002, 122.199997, 0.000000, 18.400000, 8.800000, 15.800000, -0.000000, -15.200000,
  1690. 94.599998, 109.599998, 0.000000, 18.400000, 7.200000, 15.800000, -0.000000, -15.200000,
  1691. 94.599998, 62.200001, 0.000000, 18.400000, 14.400000, 24.600000, -0.000000, -15.200000,
  1692. 29.799999, 32.599998, 0.000000, 13.600000, 13.800000, 28.400000, -0.000000, -10.000000,
  1693. 25.400000, 27.600000, 0.000000, 13.400000, 13.800000, 28.400000, -0.000000, -10.000000,
  1694. 34.200001, 25.400000, 0.000000, 13.800000, 15.400000, 28.400000, -0.000000, -10.000000,
  1695. 31.600000, 34.200001, 0.000000, 13.800000, 15.800000, 55.400002, -0.000000, 0.000000,
  1696. 30.000000, 36.000000, 0.000000, 12.000000, 15.800000, 52.599998, -0.000000, 0.000000,
  1697. 29.600000, 30.600000, 0.000000, 15.000000, 12.800000, 52.599998, -0.000000, 0.000000,
  1698. 33.400002, 31.000000, 0.000000, 15.200000, 14.000000, 25.400000, -0.000000, 0.000000,
  1699. 36.599998, 41.000000, 0.000000, 16.400000, 18.200001, 25.400000, -0.000000, 0.000000,
  1700. 38.400002, 37.200001, 0.000000, 18.600000, 23.400000, 18.200001, -0.000000, 0.000000,
  1701. 41.799999, 39.000000, 0.000000, 22.799999, 25.000000, 26.600000, -0.000000, 0.000000,
  1702. 44.200001, 42.599998, 0.000000, 30.600000, 32.799999, 33.400002, -0.000000, 0.000000,
  1703. 45.799999, 44.000000, 0.000000, 33.799999, 33.599998, 35.400002, -0.000000, 0.000000,
  1704. 46.400002, 49.200001, 0.000000, 34.200001, 38.400002, 36.400002, -0.000000, 0.000000,
  1705. 50.599998, 46.599998, 0.000000, 37.799999, 40.599998, 37.000000, -0.000000, 0.000000,
  1706. 49.400002, 49.000000, 0.000000, 44.000000, 46.400002, 43.000000, -0.000000, 0.000000,
  1707. 49.799999, 50.200001, 0.000000, 43.799999, 48.000000, 49.799999, -0.000000, 0.000000,
  1708. 58.400002, 52.000000, 0.000000, 52.000000, 52.200001, 46.400002, -0.000000, 0.000000,
  1709. 58.400002, 52.000000, 0.000000, 52.000000, 52.200001, 46.400002, -0.000000, 0.000000,
  1710. 61.200001, 57.200001, 0.000000, 60.599998, 62.000000, 61.400002, -0.000000, 0.000000,
  1711. 62.599998, 60.000000, 0.000000, 62.799999, 63.599998, 62.000000, -0.000000, 0.000000,
  1712. 61.799999, 64.800003, 0.000000, 63.599998, 64.800003, 65.599998, -0.000000, 0.000000,
  1713. 63.599998, 59.799999, 0.000000, 67.199997, 68.400002, 70.599998, -0.000000, 0.000000,
  1714. 63.400002, 69.000000, 0.000000, 75.800003, 77.800003, 70.800003, -0.000000, 0.000000,
  1715. 70.199997, 65.800003, 0.000000, 79.000000, 80.000000, 80.599998, -0.000000, 0.000000,
  1716. 65.800003, 74.800003, 0.000000, 77.800003, 78.800003, 82.400002, -0.000000, 0.000000,
  1717. 65.800003, 74.800003, 0.000000, 77.800003, 78.800003, 82.400002, -0.000000, 0.000000,
  1718. 80.400002, 77.000000, 0.000000, 77.800003, 81.800003, 75.000000, -0.000000, 0.000000,
  1719. 55.200001, 50.400002, 0.000000, 68.800003, 66.800003, 67.000000, -0.000000, 0.000000,
  1720. 55.200001, 50.400002, 0.000000, 68.800003, 66.800003, 67.000000, -0.000000, 0.000000,
  1721. 28.600000, 34.200001, 0.000000, 32.200001, 37.400002, 35.799999, -0.000000, 0.000000,
  1722. 20.400000, 24.600000, 0.000000, 32.200001, 31.799999, 35.799999, -0.000000, 0.000000,
  1723. 20.400000, 24.600000, 0.000000, 15.800000, 27.200001, 35.799999, -0.000000, 0.000000,
  1724. 15.400000, 14.800000, 0.000000, 19.200001, 20.600000, 32.200001, -0.000000, 0.000000,
  1725. 61.400002, 60.599998, 0.000000, 76.000000, 17.799999, 33.200001, -0.000000, 0.000000,
  1726. 61.400002, 60.599998, 0.000000, 76.000000, 17.799999, 33.200001, -0.000000, 0.000000,
  1727. 50.400002, 72.800003, 0.000000, 66.000000, 17.000000, 32.599998, -0.000000, 0.000000,
  1728. 46.599998, 70.400002, 0.000000, 63.000000, 68.599998, 50.599998, -0.000000, 0.000000,
  1729. 46.000000, 66.000000, 0.000000, 59.400002, 68.000000, 44.200001, -0.000000, 0.000000,
  1730. 41.200001, 60.000000, 0.000000, 50.599998, 55.799999, 40.000000, -0.000000, 0.000000,
  1731. 35.200001, 56.000000, 0.000000, 41.400002, 51.200001, 37.400002, -0.000000, 0.000000,
  1732. 35.200001, 51.200001, 0.000000, 41.400002, 52.200001, 37.400002, -0.000000, 0.000000,
  1733. 32.000000, 44.799999, 0.000000, 31.600000, 48.799999, 30.799999, -0.000000, 0.000000,
  1734. 26.000000, 39.799999, 0.000000, 31.600000, 43.599998, 28.600000, -0.000000, 0.000000,
  1735. 22.600000, 35.000000, 0.000000, 22.000000, 38.400002, 22.200001, -0.000000, 0.000000,
  1736. 22.600000, 27.799999, 0.000000, 9.000000, 35.400002, 18.600000, -0.000000, 0.000000,
  1737. 22.600000, 27.799999, 0.000000, 9.000000, 30.799999, 18.600000, -0.000000, 0.000000,
  1738. 22.600000, 27.799999, 0.000000, 9.000000, 26.400000, 18.600000, -0.000000, 0.000000,
  1739. 22.600000, 27.799999, 0.000000, 5.000000, 26.400000, 19.000000, -0.000000, 0.000000,
  1740. 22.200001, 27.799999, 0.000000, 5.000000, 26.400000, 19.000000, -0.000000, 0.000000,
  1741. 22.200001, 24.600000, 0.000000, 5.000000, 25.000000, 19.000000, -0.000000, 0.000000,
  1742. 22.200001, 24.600000, 0.000000, -0.000000, 25.000000, 15.000000, -0.000000, 0.000000,
  1743. 18.600000, 24.600000, 0.000000, -0.000000, 25.000000, 15.000000, -0.000000, 0.000000,
  1744. 18.600000, 22.799999, 0.000000, -0.000000, 22.200001, 15.000000, -0.000000, 0.000000,
  1745. 18.600000, 22.799999, 0.000000, -14.800000, 22.200001, 19.600000, -0.000000, 0.000000,
  1746. 22.600000, 22.799999, 0.000000, -14.800000, 22.200001, 19.600000, -0.000000, 0.000000,
  1747. 22.600000, 18.000000, 0.000000, -14.800000, 21.400000, 19.600000, -0.000000, 0.000000,
  1748. 22.600000, 18.000000, 0.000000, -0.000000, 21.400000, -0.000000, -0.000000, 0.000000,
  1749. 0.000000, 18.000000, 0.000000, -0.000000, 21.400000, -0.000000, -0.000000, 0.000000,
  1750. 0.000000, 0.000000, 0.000000, -0.000000, -0.000000, -0.000000, -0.000000, 0.000000,
  1751. 0.000000, 0.000000, 0.000000, -0.000000, -0.000000, -0.000000, -0.000000, 0.000000,
  1752. 0.000000, 0.000000, 0.000000, -0.000000, -0.000000, -0.000000, -0.000000, 0.000000,
  1753. 0.000000, 0.000000, 0.000000, -0.000000, -0.000000, -0.000000, -0.000000, 0.000000,
  1754. 0.000000, 0.000000, 0.000000, -0.000000, -0.000000, -0.000000, -0.000000, 0.000000,
  1755. 0.000000, 0.000000, 0.000000, -0.000000, -0.000000, -0.000000, -0.000000, 0.000000,
  1756. 0.000000, 0.000000, 0.000000, -0.000000, -0.000000, -0.000000, -0.000000, 0.000000,
  1757. 0.000000, 0.000000, 0.000000, -0.000000, -0.000000, -0.000000, -0.000000, 0.000000,
  1758. 0.000000, 0.000000, 0.000000, -0.000000, -0.000000, -0.000000, -0.000000, 0.000000,
  1759. 0.000000, 0.000000, 0.000000, -0.000000, -0.000000, -0.000000, -0.000000, 0.000000,
  1760. 0.000000, 0.000000, 0.000000, -0.000000, -0.000000, -0.000000, -0.000000, 0.000000,
  1761. 0.000000, 0.000000, 0.000000, -0.000000, -0.000000, -0.000000, -0.000000, 0.000000,
  1762. 0.000000, 0.000000, 0.000000, -0.000000, -0.000000, -0.000000, -0.000000, 0.000000,
  1763. 0.000000, 0.000000, 0.000000, -0.000000, -0.000000, -0.000000, -0.000000, 0.000000,
  1764. 0.000000, 0.000000, 0.000000, -0.000000, -0.000000, -0.000000, -0.000000, 0.000000,
  1765. 0.000000, 0.000000, 0.000000, -0.000000, -0.000000, -0.000000, -0.000000, 0.000000,
  1766. 0.000000, 0.000000, 0.000000, -0.000000, -0.000000, -0.000000, -0.000000, 0.000000,
  1767. 0.000000, 0.000000, 0.000000, -0.000000, -0.000000, -0.000000, -0.000000, 0.000000,
  1768. 0.000000, 0.000000, 0.000000, -0.000000, -0.000000, -0.000000, -0.000000, 0.000000,
  1769. 0.000000, 0.000000, 0.000000, -0.000000, -0.000000, -0.000000, -0.000000, 0.000000,
  1770. 0.000000, 0.000000, 0.000000, -0.000000, -0.000000, -0.000000, -0.000000, 0.000000,
  1771. 0.000000, 0.000000, 0.000000, -0.000000, -0.000000, -0.000000, -0.000000, 0.000000,
  1772. 0.000000, 0.000000, 0.000000, -0.000000, -0.000000, -0.000000, -0.000000, 0.000000,
  1773. 0.000000, 0.000000, 0.000000, -0.000000, -0.000000, -0.000000, -0.000000, 0.000000,
  1774. 0.000000, 0.000000, 0.000000, -0.000000, -0.000000, -0.000000, -0.000000, 0.000000,
  1775. 0.000000, 0.000000, 0.000000, -0.000000, -0.000000, -0.000000, -0.000000, 0.000000,
  1776. 0.000000, 0.000000, 0.000000, -0.000000, -0.000000, -0.000000, -0.000000, 0.000000,
  1777. 0.000000, 0.000000, 0.000000, -0.000000, -0.000000, -0.000000, -0.000000, 0.000000,
  1778. 0.000000, 0.000000, 0.000000, -0.000000, -0.000000, -0.000000, -0.000000, 0.000000,
  1779. 0.000000, 0.000000, 0.000000, -0.000000, -0.000000, -0.000000, -0.000000, 0.000000,
  1780. 0.000000, 0.000000, 0.000000, -0.000000, -0.000000, -0.000000, -0.000000, 0.000000,
  1781. 0.000000, 0.000000, 0.000000, -0.000000, -0.000000, -0.000000, -0.000000, 0.000000,
  1782. 0.000000, 0.000000, 0.000000, -0.000000, -0.000000, -0.000000, -0.000000, 0.000000,
  1783. 0.000000, 0.000000, 0.000000, -0.000000, -0.000000, -0.000000, -0.000000, 0.000000,
  1784. 0.000000, 0.000000, 0.000000, -0.000000, -0.000000, -0.000000, -0.000000, 0.000000,
  1785. 0.000000, 0.000000, 0.000000, -0.000000, -0.000000, -0.000000, -0.000000, 0.000000,
  1786. 0.000000, 0.000000, 0.000000, -0.000000, -0.000000, -0.000000, -0.000000, 0.000000,
  1787. 0.000000, 0.000000, 0.000000, -0.000000, -0.000000, -0.000000, -0.000000, 0.000000,
  1788. 0.000000, 0.000000, 0.000000, -0.000000, -0.000000, -0.000000, -0.000000, 0.000000,
  1789. 0.000000, 0.000000, 0.000000, -0.000000, -0.000000, -0.000000, -0.000000, 0.000000,
  1790. 0.000000, 0.000000, 0.000000, -0.000000, -0.000000, -0.000000, -0.000000, 0.000000,
  1791. 0.000000, 0.000000, 0.000000, -0.000000, -0.000000, -0.000000, -0.000000, 0.000000,
  1792. 0.000000, 0.000000, 0.000000, -0.000000, -0.000000, -0.000000, -0.000000, 0.000000,
  1793. 0.000000, 0.000000, 0.000000, -0.000000, -0.000000, -0.000000, -0.000000, 0.000000,
  1794. 0.000000, 0.000000, 0.000000, -0.000000, -0.000000, -0.000000, -0.000000, 0.000000,
  1795. 0.000000, 0.000000, 0.000000, -0.000000, -0.000000, -0.000000, -0.000000, 0.000000,
  1796. 0.000000, 0.000000, 0.000000, -0.000000, -0.000000, -0.000000, -0.000000, 0.000000,
  1797. 0.000000, 0.000000, 0.000000, -0.000000, -0.000000, -0.000000, -0.000000, 0.000000,
  1798. 0.000000, 0.000000, 0.000000, -0.000000, -0.000000, -0.000000, -0.000000, 0.000000,
  1799. 0.000000, 0.000000, 0.000000, -0.000000, -0.000000, -0.000000, -0.000000, 0.000000,
  1800. 0.000000, 0.000000, 0.000000, -0.000000, -0.000000, -0.000000, -0.000000, 0.000000,
  1801. 0.000000, 0.000000, 0.000000, -0.000000, -0.000000, -0.000000, -0.000000, 0.000000,
  1802. 0.000000, 0.000000, 0.000000, -0.000000, -0.000000, -0.000000, -0.000000, 0.000000,
  1803. 0.000000, 0.000000, 0.000000, -0.000000, -0.000000, -0.000000, -0.000000, 0.000000,
  1804. 0.000000, 0.000000, 0.000000, -0.000000, -0.000000, -0.000000, -0.000000, 0.000000,
  1805. 0.000000, 0.000000, 0.000000, -0.000000, -0.000000, -0.000000, -0.000000, 0.000000,
  1806. 0.000000, 0.000000, 0.000000, -0.000000, -0.000000, -0.000000, -0.000000, 0.000000,
  1807. 0.000000, 0.000000, 0.000000, -0.000000, -0.000000, -0.000000, -0.000000, 0.000000,
  1808. 0.000000, 0.000000, 0.000000, -0.000000, -0.000000, -0.000000, -0.000000, 0.000000,
  1809. 0.000000, 0.000000, 0.000000, -0.000000, -0.000000, -0.000000, -0.000000, 0.000000,
  1810. 0.000000, 0.000000, 0.000000, -0.000000, -0.000000, -0.000000, -0.000000, 0.000000,
  1811. 0.000000, 0.000000, 0.000000, -0.000000, -0.000000, -0.000000, -0.000000, 0.000000,
  1812. 0.000000, 0.000000, 0.000000, -0.000000, -0.000000, -0.000000, -0.000000, 0.000000,
  1813. 0.000000, 0.000000, 0.000000, -0.000000, -0.000000, -0.000000, -0.000000, 0.000000,
  1814. 0.000000, 0.000000, 0.000000, -0.000000, -0.000000, -0.000000, -0.000000, 0.000000,
  1815. 0.000000, 0.000000, 0.000000, -0.000000, -0.000000, -0.000000, -0.000000, 0.000000,
  1816. 0.000000, 0.000000, 0.000000, -0.000000, -0.000000, -0.000000, -0.000000, 0.000000,
  1817. };
  1818.  
  1819. //the 8 threads to decipher the array
  1820. int r1(){
  1821. int math = -5;
  1822. while(true){
  1823. math = math + 8;
  1824. Right1MotorA.setVelocity((values[math]*2), rpm);
  1825. wait(10, msec);
  1826. }
  1827. return 0;
  1828. }
  1829.  
  1830. int r2(){
  1831. int math = -4;
  1832. while(true){
  1833. math = math + 8;
  1834. Right1MotorB.setVelocity((values[math]), rpm);
  1835. wait(10, msec);
  1836. }
  1837. return 0;
  1838. }
  1839.  
  1840. int r3(){
  1841. int math = -3;
  1842. while(true){
  1843. math = math + 8;
  1844. Right2.setVelocity((values[math]), rpm);
  1845. wait(10, msec);
  1846. }
  1847. return 0;
  1848. }
  1849.  
  1850. int l1(){
  1851. int math = -8;
  1852. while(true){
  1853. math = math + 8;
  1854. Left1MotorA.setVelocity((values[math]), rpm);
  1855. wait(10, msec);
  1856. }
  1857. return 0;
  1858. }
  1859.  
  1860. int l2(){
  1861. int math = -7;
  1862. while(true){
  1863. math = math + 8;
  1864. Left1MotorB.setVelocity((values[math]), rpm);
  1865. wait(10, msec);
  1866. }
  1867. return 0;
  1868. }
  1869.  
  1870. int l3(){
  1871. int math = -6;
  1872. while(true){
  1873. math = math + 8;
  1874. Left2.setVelocity((values[math]), rpm);
  1875. wait(10, msec);
  1876. }
  1877. return 0;
  1878. }
  1879.  
  1880. int cataAuton(){
  1881. int math = -2;
  1882. while(true){
  1883. math = math + 8;
  1884. Cata.setVelocity((values[math]), rpm);
  1885. wait(10, msec);
  1886. }
  1887. return 0;
  1888. }
  1889.  
  1890. int intakeAuton(){
  1891. int math = -1;
  1892. while(true){
  1893. math = math + 8;
  1894. Intake.setVelocity(values[math], rpm);
  1895. wait(10, msec);
  1896. }
  1897. return 0;
  1898. }
  1899.  
  1900. // "when autonomous" hat block
  1901. int onauton_autonomous_0() {
  1902. Right1.setMaxTorque(55, percent);
  1903. Right2.setMaxTorque(55, percent);
  1904. Left1.setMaxTorque(55, percent);
  1905. Left2.setMaxTorque(55, percent);
  1906. Right1.spin(reverse);
  1907. Right2.spin(reverse);
  1908. Left1.spin(forward);
  1909. Left2.spin(forward);
  1910. Intake.setMaxTorque(100, percent);
  1911. Intake.spin(forward);
  1912. return 0;
  1913. }
  1914.  
  1915. void VEXcode_driver_task() {
  1916. // Start the driver control tasks....
  1917. vex::task drive0(ondriver_drivercontrol_0);
  1918. vex::task drive1(ondriver_drivercontrol_1);
  1919. vex::task drive2(ondriver_drivercontrol_2);
  1920. while(Competition.isDriverControl() && Competition.isEnabled()) {this_thread::sleep_for(10);}
  1921. drive0.stop();
  1922. return;
  1923. }
  1924.  
  1925. void VEXcode_auton_task() {
  1926. // Start the auton control tasks....
  1927. vex::task auto0(onauton_autonomous_0);
  1928. vex::task auto1(r1);
  1929. vex::task auto2(r2);
  1930. vex::task auto3(r3);
  1931. vex::task auto4(l1);
  1932. vex::task auto5(l2);
  1933. vex::task auto6(l3);
  1934. vex::task auto7(cataAuton);
  1935. vex::task auto8(intakeAuton);
  1936. while(Competition.isAutonomous() && Competition.isEnabled()) {this_thread::sleep_for(10);}
  1937. auto0.stop();
  1938. return;
  1939. }
  1940.  
  1941. int main() {
  1942. vex::competition::bStopTasksBetweenModes = false;
  1943. Competition.autonomous(VEXcode_auton_task);
  1944. Competition.drivercontrol(VEXcode_driver_task);
  1945.  
  1946. wait(15, msec);
  1947. // post event registration
  1948.  
  1949. // set default print color to black
  1950. printf("\033[30m");
  1951.  
  1952. // wait for rotation sensor to fully initialize
  1953. wait(30, msec);
  1954.  
  1955. whenStarted1();
  1956. }
  1957.  
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