colour sort

NoozAbooz · Jan 28, 2025 · 58515fa · 58515fa
1 parent 80593e2
commit 58515fa
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Showing 3 changed files with 12 additions and 6 deletions.
diff --git a/include/deviceGlobals.hpp b/include/deviceGlobals.hpp
@@ -12,11 +12,11 @@ inline pros::Controller controller(pros::E_CONTROLLER_MASTER);
 
 // v1
 inline pros::MotorGroup leftDrive({4, -3, -5});
-inline pros::MotorGroup rightDrive({7, -10, 8});
+inline pros::MotorGroup rightDrive({-7, 10, 8});
 
 // Intake
 inline pros::MotorGroup intake({-9, -20});
-inline pros::Motor wallStake(21);
+inline pros::Motor wallStake(16);
 
 // Pneumatics
 inline pros::adi::Pneumatics clampPiston('A', false);

diff --git a/src/subsystem/colourSort.cpp b/src/subsystem/colourSort.cpp
@@ -11,15 +11,21 @@ void initializeColourSort() {
 				// eject blue rings
 				console.println("eject blue impostor");
 				intakeLock = true;
+				pros::delay(230);
 				intake.brake();
-				pros::delay(600);
+				pros::delay(168);
 				intake.move_voltage(12000);
 				intakeLock = false;
 			}
-			if (alliance == "blue" && optical.get_hue() > 15 && optical.get_hue() < 40) {
+			if (alliance == "blue" && optical.get_hue() > 15 && optical.get_hue() < 27) {
 				// eject red rings
-				intake.brake();
 				console.println("eject red impostor");
+				intakeLock = true;
+				pros::delay(230);
+				intake.brake();
+				pros::delay(168);
+				intake.move_voltage(12000);
+				intakeLock = false;
 			}
 
 			pros::delay(10);

diff --git a/src/subsystem/opcontrol.cpp b/src/subsystem/opcontrol.cpp
@@ -32,7 +32,7 @@ void refreshWallstakes() {
 void resetWallstakes() {
 	if(controller.get_digital_new_press(pros::E_CONTROLLER_DIGITAL_A)) {
 		pros::Task([] {
-			while ((wallStakeRotationSensor.get_angle() / 100) < 32) {
+			while ((wallStakeRotationSensor.get_angle() / 100) < 37.3) {
 				wallStake.move_voltage(8000);
 			}
 			controller.rumble(".");