auto begging

NoozAbooz · Jan 31, 2025 · b28e633 · b28e633
1 parent a17796b
commit b28e633
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Showing 2 changed files with 17 additions and 13 deletions.
diff --git a/include/deviceGlobals.hpp b/include/deviceGlobals.hpp
@@ -45,9 +45,9 @@ inline lemlib::Drivetrain drivetrain(&leftDrive, // left motor group
                               2 // chase power is 2. If we had traction wheels, it would have been 8
 );
 // lateral motion controller
-inline lemlib::ControllerSettings lateralController(10, // proportional gain (kP)
+inline lemlib::ControllerSettings lateralController(6, // proportional gain (kP)
                                               0, // integral gain (kI)
-                                              10, // derivative gain (kD)
+                                              8, // derivative gain (kD)
                                               3, // anti windup
                                               1, // small error range, in inches
                                               100, // small error range timeout, in milliseconds

diff --git a/src/auton/autonomous.cpp b/src/auton/autonomous.cpp
@@ -35,18 +35,22 @@ void calibrateOdomOffsets() {
 
 
 void SIG_SAWP() {
-    chassis.moveToPoint(0, 0, 1000);
-    chassis.moveToPose(-11.922, -29.782, 10, 1200, {.forwards = false, .minSpeed = 80});
-    pros::delay(750);
+    chassis.moveToPoint(0, 0, 1250);
+    // wallStake.move_voltage(10000);
+    // pros::delay(800);
+    // wallStake.brake();
+   chassis.moveToPoint(-15.167, -28.355, 1250, {.forwards = false, .maxSpeed = 127});
+    pros::delay(850);
     clampPiston.set_value(true);
-    // chassis.moveTo(-12.737, -60.17, 5000);
-    // chassis.moveTo(0.732, -69.73, 5000);
-    // chassis.moveTo(1.925, -20.201, 5000);
-    // chassis.moveTo(-13.005, -4.77, 5000);
-    // chassis.moveTo(-26.775, 8.237, 5000);
-    // chassis.moveTo(-43.333, -2.844, 5000);
-    // chassis.moveTo(-26.943, 17.381, 5000);
-    // chassis.moveTo(-45.866, -19.014, 5000);
+    intake.move_voltage(12000);
+    chassis.moveToPoint(-12.243, -68.251, 1250);
+    // chassis.moveToPoint(0.165, -51.6, 1250);
+    // chassis.moveToPoint(-8.078, -9.727, 1250);
+    // chassis.moveToPoint(-23.904, 7.748, 1250);
+    // chassis.moveToPoint(-44.511, 0.989, 1250);
+    // chassis.moveToPoint(-47.808, -15.167, 1250);
+
+
 
 }