3.1 (V2 Drive)

#pragma region VEXcode Generated Robot Configuration
// Make sure all required headers are included.
#include <stdio.h>
#include <stdlib.h>
#include <stdbool.h>
#include <math.h>
#include <string.h>


#include "vex.h"

using namespace vex;

competition Competition;

// Brain should be defined by default
brain Brain;


// START V5 MACROS
#define waitUntil(condition)                                                   \
  do {                                                                         \
    wait(5, msec);                                                             \
  } while (!(condition))

#define repeat(iterations)                                                     \
  for (int iterator = 0; iterator < iterations; iterator++)
// END V5 MACROS


// Robot configuration code.
controller Controller1 = controller(primary);
distance Distance1 = distance(PORT7);
motor leftMotorA = motor(PORT4, ratio6_1, true);
motor leftMotorB = motor(PORT8, ratio6_1, true);
motor_group LeftDriveSmart = motor_group(leftMotorA, leftMotorB);
motor rightMotorA = motor(PORT2, ratio6_1, false);
motor rightMotorB = motor(PORT7, ratio6_1, false);
motor_group RightDriveSmart = motor_group(rightMotorA, rightMotorB);
drivetrain Drivetrain = drivetrain(LeftDriveSmart, RightDriveSmart, 219.44, 295, 40, mm, 1);

motor cataMotorA = motor(PORT1, ratio36_1, false);
motor cataMotorB = motor(PORT10, ratio36_1, true);
motor_group cata = motor_group(cataMotorA, cataMotorB);

//Should say that port 13 is unplugged, this is by design cause im lazy
motor MotorGroup7MotorA = motor(PORT12, ratio36_1, true);
motor MotorGroup7MotorB = motor(PORT13, ratio36_1, false);
motor_group MotorGroup7 = motor_group(MotorGroup7MotorA, MotorGroup7MotorB);

digital_out DigitalOutB = digital_out(Brain.ThreeWirePort.B);
digital_out DigitalOutD = digital_out(Brain.ThreeWirePort.D);



// define variable for remote controller enable/disable
bool RemoteControlCodeEnabled = true;
// define variables used for controlling motors based on controller inputs
bool DrivetrainLNeedsToBeStopped_Controller1 = true;
bool DrivetrainRNeedsToBeStopped_Controller1 = true;

// define a task that will handle monitoring inputs from Controller1
int rc_auto_loop_function_Controller1() {
  // process the controller input every 20 milliseconds
  // update the motors based on the input values
  while(true) {
    if(RemoteControlCodeEnabled) {

      // calculate the drivetrain motor velocities from the controller joystick axies
      // left = Axis3 + Axis1
      // right = Axis3 - Axis1
      double y = 0;
double x = Controller1.Axis3.position();

x = x * 1.28;

x = fabs(x);

if(0<=x&&x<60){
    y = pow(1.04029, x * 1.284467);
}else if(60<=x&&x<80){
    y = 0.75 * x -25;
}else if(80<=x&&x<=108){
    y = 1.0357 * x - 47.85714857;
}else if(x > 108){
    y = 63 + pow(1.232099, x - 108);
}

y = y/1.28;

if(Controller1.Axis3.position() < 0){
    y = -y;
}
double sy = 0;
double sx = Controller1.Axis1.position();

sx = sx * 1.28;

sx = fabs(sx);

if(0<=sx&&sx<60){
    sy = pow(1.04029, sx * 1.284467);
}else if(60<=sx&&sx<80){
    sy = 0.75 * sx -25;
}else if(80<=sx&&sx<=108){
    sy = 1.0357 * sx - 47.85714857;
}else if(sx > 108){
    sy = 63 + pow(1.232099, sx - 108);
}

sy = sy/1.28;

if(Controller1.Axis1.position() < 0){
    sy = -sy;
}

      int drivetrainLeftSideSpeed = y + sy;
      int drivetrainRightSideSpeed = y - sy;

      // check if the value is inside of the deadband range
      if (drivetrainLeftSideSpeed < 5 && drivetrainLeftSideSpeed > -5) {
        // check if the left motor has already been stopped
        if (DrivetrainLNeedsToBeStopped_Controller1) {
          // stop the left drive motor
          LeftDriveSmart.stop();
          // tell the code that the left motor has been stopped
          DrivetrainLNeedsToBeStopped_Controller1 = false;
        }
      } else {
        // reset the toggle so that the deadband code knows to stop the left motor nexttime the input is in the deadband range
        DrivetrainLNeedsToBeStopped_Controller1 = true;
      }
      // check if the value is inside of the deadband range
      if (drivetrainRightSideSpeed < 5 && drivetrainRightSideSpeed > -5) {
        // check if the right motor has already been stopped
        if (DrivetrainRNeedsToBeStopped_Controller1) {
          // stop the right drive motor
          RightDriveSmart.stop();
          // tell the code that the right motor has been stopped
          DrivetrainRNeedsToBeStopped_Controller1 = false;
        }
      } else {
        // reset the toggle so that the deadband code knows to stop the right motor next time the input is in the deadband range
        DrivetrainRNeedsToBeStopped_Controller1 = true;
      }

      // only tell the left drive motor to spin if the values are not in the deadband range
      if (DrivetrainLNeedsToBeStopped_Controller1) {
        LeftDriveSmart.setVelocity(drivetrainLeftSideSpeed, percent);
        LeftDriveSmart.spin(forward);
      }
      // only tell the right drive motor to spin if the values are not in the deadband range
      if (DrivetrainRNeedsToBeStopped_Controller1) {
        RightDriveSmart.setVelocity(drivetrainRightSideSpeed, percent);
        RightDriveSmart.spin(forward);
      }
    }
    // wait before repeating the process
    wait(20, msec);
  }
  return 0;
}


task rc_auto_loop_task_Controller1(rc_auto_loop_function_Controller1);

#pragma endregion VEXcode Generated Robot Configuration


// Include the V5 Library
#include "vex.h"

// Allows for easier use of the VEX Library
using namespace vex;

// "when started" hat block
int whenStarted1() {
  Drivetrain.setDriveVelocity(600.0, rpm);
  Drivetrain.setTurnVelocity(100.0, percent);
  MotorGroup7.setMaxTorque(100, percent);
  MotorGroup7.setVelocity(100, percent);
  cata.setMaxTorque(100, percent);
  cata.setVelocity(100, percent);
  bool wingState = false;
  bool digitalB1 = false;
  bool digitalB2 = false;
  bool pl = false;
  bool ytoggle = false;
  float catapos = 0;
  int turng = 0;
  bool matchload = false;
  int i = 0;
  int c = 0;
  while (true) {
    cata.setStopping(hold);
    cata.stop();
    if(Controller1.ButtonR1.pressing()){
      if(Controller1.Axis3.position() < -15.0){
        MotorGroup7.spin(reverse);
      } else {
        MotorGroup7.spin(forward);
      }
    } else {
      MotorGroup7.spin(forward);
    }
    turng = floor(cata.position(turns));
    if(Controller1.ButtonDown.pressing()){
      cata.spin(reverse);
    }
    if(Controller1.ButtonUp.pressing()){
      cata.spin(forward);
    }
    if(catapos <= 60 || catapos >= 330){
      digitalB2 = false;
    } else {
      digitalB2 = true;
    }
    if(Controller1.ButtonL1.pressing()){
      wingState = !wingState;
    }
    if (Controller1.ButtonL1.pressing()){
      DigitalOutD.set(true);
      wait(150, msec);
    } else{
      DigitalOutD.set(false);
      wait(150, msec);
    }
    if(Controller1.ButtonLeft.pressing()){
      pl = !pl;
      wait(150, msec);
    }
    catapos = cata.position(degrees) - (turng * 360);
    //if(pl == true){
      //DigitalOutB.set(true);
    //} else if((digitalB1 == true || digitalB2 == true)||(digitalB1 == true & digitalB2 == true)){
        //DigitalOutB.set(true);
      //} else {
        //DigitalOutB.set(false);
      //}
     if(Controller1.ButtonY.pressing()){
         ytoggle = !ytoggle;
     }
     if(ytoggle == true){
       //DigitalOutB.set(true);
     }else{
       //DigitalOutB.set(false);
     }

  if(Controller1.ButtonA.pressing()){
      matchload = !matchload;
      wait(350, msec);
      }
  if(matchload == true){
    DigitalOutB.set(true);
    MotorGroup7.stop();
    printf("%.1f\n", (Distance1.objectDistance(inches)));
    if(i == 0){
      cata.spinFor(forward, 355, degrees);
      c = c + 355;
      ++i;
    }
    if(Distance1.objectDistance(inches) < 2.5){
      wait(25, msec);
      cata.spinFor(forward, 30, degrees);
      c = c + 30;
      if(Distance1.objectDistance(inches) > 2.5){
          c = c + 330;
          cata.setposition(c, degrees);
        }
    }
  } else{
    DigitalOutB.set(false);
    MotorGroup7.setVelocity(100, percent);
    if(i == 1){
      cata.spinFor(reverse, 355, degrees);
      c = c - 355;
    }
    i = 0;
  }

  wait(5, msec);
  }
  return 0;
}

int onauton_autonomous_0() {
  MotorGroup7.setvelocity(100, percent);
  MotorGroup7.spin(forward);
  Drivetrain.forward();
  wait(500, msec);
  Drivetrain.reverse();
  wait(75, msec);
  Drivetrain.stop();
  return 0;
}

int ondriver_drivercontrol_0() {
  whenStarted1();
  return 0;
}

void VEXcode_driver_task() {
  // Start the driver control tasks....
  vex::task drive0(ondriver_drivercontrol_0);
  while(Competition.isDriverControl() && Competition.isEnabled()) {this_thread::sleep_for(10);}
  drive0.stop();
  return;
}

void VEXcode_auton_task() {
  // Start the auton control tasks....
  vex::task auto0(onauton_autonomous_0);
  while(Competition.isAutonomous() && Competition.isEnabled()) {this_thread::sleep_for(10);}
  auto0.stop();
  return;
}


int main() {
  // post event registration

  // set default print color to black
  printf("\033[30m");

  vex::competition::bStopTasksBetweenModes = false;
  Competition.autonomous(VEXcode_auton_task);
  Competition.drivercontrol(VEXcode_driver_task);

  // wait for rotation sensor to fully initialize
  wait(30, msec);


}