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Auto06.c
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Auto06.c
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const int auto06[][]={
{0, 0, 0, 0, 0, 0, 0, 0, RESETAUTO}, //Reset
{GLPos, 0, HSPos, Up, 110, 110, Left, 700, TIMELIMIT}, //strafe left and drive forward
{GLPos, 0, LSPos, 0, Fwd, Fwd, 0, 600, ENCODSTRA}, //drive to pyramid
{GLPos, 0, Up, 0, 0, 0, 0, 800, TIMELIMIT}, //scoop up bags in pyramid part 1
{GLPos, 0, LSPos, 0, Rev, Rev, 0, -100, ENCODSTRA}, //back up
{GLPos, 0, LSPos, 0, Fwd, Fwd, 0, 100, ENCODSTRA}, //drive forward
{GLPos, 0, Up, 0, 0, 0, 0, 800, TIMELIMIT}, //scoop up bags in pyramid part 2
{GLPos, 0, MSPos, 0, 0, 0, 0, 150, TIMELIMIT}, //spatula down (out of the way of the lift)
{TLPos, 0, MSPos, 0, 0, 0, 0, 2100, TIMELIMIT}, //start lifting
{TLPos, 50, 0, 0, 100, 100, 0, 800, TIMELIMIT}, //Drive forward to trough
{TLPos, Fwd, 0, 0, 20, 20, 0, 1100, TIMELIMIT}, //Dump sacks in trough
{0, Fwd, 0, 0, -40, -40, 0, -300, ENCODSTRA}, //keep dumping and back up
{GLPos, 0, MSPos, 0, 0, 0, 0, 900, RELTRNGYR}, //Turn toward right wall
{GLPos, 0, LSPos, 0, Fwd, Fwd, 0, 900, ENCODSTRA}, //Drive toward right wall
{GLPos, 0, LSPos, 0, 0, 0, 0, 150, TIMELIMIT}, //Wait
{GLPos, 0, LSPos, 0, 0, 0, 0, -920, RELTRNGYR}, //Turn toward opponent's trough
{GLPos, 0, LSPos, 0, Fwd, Fwd, 0, 500, ENCODSTRA}, //Drive toward opponent's trough
{GLPos, 0, Up, Down, 0, 0, 0, 700, TIMELIMIT}, //scoop up sacks, lower descorer
{GLPos, 0, MSPos, 0, -90, -90, 0, 750, TIMELIMIT}, //back up slowly
{GLPos, 0, MSPos, 0, Fwd, Fwd, 0, 450, TIMELIMIT}, //forward to good descore position
{GLPos, 0, Up, Down, 0, 0, 0, 400, TIMELIMIT}, //spatula up, lower descorer
{0, 0, 0, 0, 0, 0, 0, 0, RESETAUTO}};//Autonomous is done
/*
Starts on Right tile pointed forward
ERRORS:
*/