Sooner Competitive Robotics / Mbed 2 deprecated IEEE_14_Freescale

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Dependencies:   mbed

Fork of IEEE_14_Freescale by IEEE 2014 Mbed

Diff: main.cpp

Revision:
44:4b933e7409e7
Parent:
43:f7ef0f5f980c
Child:
45:9c520ebc38e0
--- a/main.cpp	Mon Mar 31 21:54:34 2014 +0000
+++ b/main.cpp	Tue Apr 01 02:16:35 2014 +0000
@@ -40,8 +40,8 @@
     DBGPRINT("AA\n\r",1);  // to see if robot powers up at least
     
     //test servo
-    s.toPosition(45);
-    s2.toPosition(45);
+    s.toPosition(-45);
+    s2.toPosition(60);
     s3.toPosition(45);
     s4.toPosition(45);
     
@@ -50,6 +50,8 @@
     
     //timer issue navigation test
     bot.absDriveForward(0,50);//assuming the bot stops in this function
+    
+    bot.gyro.stop();//stopping the gyro timer
     /*
     DBGPRINT("%f",bot.gyro.getZDegrees());
     bot.gyro.stop();//stopping the gyro timer
@@ -206,7 +208,25 @@
                 break;
             case 'T':
                 DBGPRINT("Finding Gap\r\n",1);
-                game.checkWaves();
+                s.toPosition(-45);
+                s2.toPosition(60);
+                wait(0.5);
+                s2.toPosition(-10);
+                wait(0.5);
+                //bot.cont.start();
+                bot.cont.resetTicks();
+                bot.cont.rampSpeed(-20,-20);
+                //s.toPosition(0);
+                //wait(.5); 
+                while(bot.cont.avgTicks()>-900){
+                    s.toPosition((-45)+((35+45)*(-bot.cont.avgTicks()))/900);
+                    wait_ms(20);
+                }
+                bot.cont.rampSpeed(0,0);
+                s.toPosition(130);
+                while(!bot.cont.stopped());
+                //bot.cont.stop();
+                //game.checkWaves();
                 break;
             case 'G':
                 DBGPRINT("Running First and Second Row\r\n",1);
@@ -216,13 +236,14 @@
                 //DBGPRINT("pfac = %f\r\n",bot.pfac);
                 break;
             case 'Y':
-                bot.cont.start();
+                /*bot.cont.start();
                 bot.cont.rampSpeed(40,40);
-                wait(2);
+                while(!bot.cont.steady());
                 bot.cont.rampSpeed(0,0);
-                wait(2);
-                bot.cont.stop();
+                while(!bot.cont.stopped());
+                bot.cont.stop();*/
                 //s.toPosition(s1pos+=5);
+                bot.alignWithRig();
                 DBGPRINT("1 pos = %d\r\n",s1pos);
                 break;
             case 'H':