From 3003eb3a207cdb958fd18817a8825c2348806acd Mon Sep 17 00:00:00 2001
From: Udunen <cole.huffine@gmail.com>
Date: Fri, 12 Apr 2024 10:39:43 -0500
Subject: [PATCH] off and def auton code

---
 Ri3D 2024.v5code     |  1 -
 Ri3D_2024_off.v5code |  1 +
 src/main.cpp         | 42 +++++++++++++++++++++++++++++++++---------
 3 files changed, 34 insertions(+), 10 deletions(-)
 delete mode 100644 Ri3D 2024.v5code
 create mode 100644 Ri3D_2024_off.v5code

diff --git a/Ri3D 2024.v5code b/Ri3D 2024.v5code
deleted file mode 100644
index 04d4b56..0000000
--- a/Ri3D 2024.v5code	
+++ /dev/null
@@ -1 +0,0 @@
-{"title":"Ri3D 2024","description":"Empty V5 C++ Project","icon":"USER921x.bmp","version":"23.09.1216","sdk":"20220726_10_00_00","language":"cpp","competition":false,"files":[{"name":"include/robot-config.h","type":"File","specialType":"device_config"},{"name":"include/vex.h","type":"File","specialType":""},{"name":"include/joystick.cpp","type":"File","specialType":""},{"name":"makefile","type":"File","specialType":""},{"name":"src/main.cpp","type":"File","specialType":""},{"name":"src/robot-config.cpp","type":"File","specialType":"device_config"},{"name":"vex/mkenv.mk","type":"File","specialType":""},{"name":"vex/mkrules.mk","type":"File","specialType":""},{"name":"include","type":"Directory"},{"name":"src","type":"Directory"},{"name":"vex","type":"Directory"}],"device":{"slot":4,"uid":"276-4810","options":{}},"isExpertMode":false,"isExpertModeRC":false,"isVexFileImport":false,"robotconfig":[],"neverUpdate":null}
\ No newline at end of file
diff --git a/Ri3D_2024_off.v5code b/Ri3D_2024_off.v5code
new file mode 100644
index 0000000..b62848d
--- /dev/null
+++ b/Ri3D_2024_off.v5code
@@ -0,0 +1 @@
+{"title":"Ri3D_2024_off","description":"Empty V5 C++ Project","icon":"USER921x.bmp","version":"23.09.1216","sdk":"20220726_10_00_00","language":"cpp","competition":false,"files":[{"name":"include/robot-config.h","type":"File","specialType":"device_config"},{"name":"include/vex.h","type":"File","specialType":""},{"name":"include/joystick.cpp","type":"File","specialType":""},{"name":"makefile","type":"File","specialType":""},{"name":"src/main.cpp","type":"File","specialType":""},{"name":"src/robot-config.cpp","type":"File","specialType":"device_config"},{"name":"vex/mkenv.mk","type":"File","specialType":""},{"name":"vex/mkrules.mk","type":"File","specialType":""},{"name":"include","type":"Directory"},{"name":"src","type":"Directory"},{"name":"vex","type":"Directory"}],"device":{"slot":3,"uid":"276-4810","options":{}},"isExpertMode":false,"isExpertModeRC":false,"isVexFileImport":false,"robotconfig":[],"neverUpdate":null}
\ No newline at end of file
diff --git a/src/main.cpp b/src/main.cpp
index 2a24feb..920b871 100644
--- a/src/main.cpp
+++ b/src/main.cpp
@@ -74,14 +74,7 @@ class Drives {
 };
 
 void usercontrol(void) {
-  inertialSens.setHeading(0.0, degrees);
-  inertialSens.setRotation(0.0, degrees);
-  inertialSens.startCalibration();
-  while(inertialSens.isCalibrating()) {
-    task::sleep(10);
-  }
-  inertialSens.setHeading(0.0, degrees);
-  inertialSens.setRotation(0.0, degrees);
+  
   while(true) {
     Drives::fieldOriented();
     //zeroes inertial sensor
@@ -124,9 +117,30 @@ void usercontrol(void) {
 
 
 void auton(void) {
+  //Defensive side code below Save to slot 2
+  //Drives::robotOriented(0.0,0.0,-25);
+  //task::sleep(1500);
+  //Drives::robotOriented(0.0, 50, 0);
+ // task::sleep(2000);
+  //Drives::robotOriented(0.0, 0.0, 0);
+  //Drives::robotOriented(0.0, -50, 0.0);
+ // task::sleep(1000);
+ // Drives::robotOriented(0.0, 0.0,-25);
+ // task::sleep(1200);
+//  Drives::robotOriented(0.0, 0.0, 0);
+//Offensive side code below save to slot 3
+  Drives::robotOriented(0.0,0.0,-15);
+  task::sleep(1200);
   Drives::robotOriented(0.0, 50, 0);
-  task::sleep(4000);
+  task::sleep(2000);
   Drives::robotOriented(0.0, 0.0, 0);
+  Drives::robotOriented(0.0, -50, 0.0);
+  task::sleep(1000);
+  climb.spin(reverse);
+  Drives::robotOriented(0.0, 0.0, 0);
+  task::sleep(1000);
+  climb.stop();
+  
 }
 
 int main() {
@@ -140,6 +154,16 @@ int main() {
 
   // Initializing Robot Configuration. DO NOT REMOVE!
   vexcodeInit();
+
+  inertialSens.setHeading(0.0, degrees);
+  inertialSens.setRotation(0.0, degrees);
+  inertialSens.startCalibration();
+  while(inertialSens.isCalibrating()) {
+    task::sleep(10);
+  }
+  inertialSens.setHeading(0.0, degrees);
+  inertialSens.setRotation(0.0, degrees);
+
   Competition.autonomous(auton);
   Competition.drivercontrol(usercontrol);