add old, slow left and right autonomous modes

FRC-1123 · Apr 6, 2017 · ec17ea2 · ec17ea2
1 parent ae8adb7
commit ec17ea2
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Showing 2 changed files with 27 additions and 1 deletion.
diff --git a/robot/commands/autonomous.py b/robot/commands/autonomous.py
@@ -103,6 +103,32 @@ def __init__(self, mode):
                 self.addSequential(ControlGearMech(False))
             self.addSequential(SetSpeed(-0.1, 1.0))
 
+            self.addSequential(SetSpeed(-0.3, 0.5))
+            self.addSequential(Rotate(20))
+            self.addSequential(SetSpeed(0.3, 1.0))
+        elif mode == "oldleft":
+            self.addSequential(SetSpeed(0.2, 0.5))
+            self.addSequential(Rotate(-30))
+            self.addSequential(SetSpeed(0.2, 1.2))
+            self.addSequential(Rotate(40))
+            self.addSequential(DriveToRod(timeout=3.5))
+            if not switches.gear_mech_switch.get():
+                self.addSequential(ControlGearMech(False))
+            self.addSequential(SetSpeed(-0.1, 1.0))
+
+            self.addSequential(SetSpeed(-0.3, 0.5))
+            self.addSequential(Rotate(-20))
+            self.addSequential(SetSpeed(0.3, 1.0))
+        elif mode == "oldright":
+            self.addSequential(SetSpeed(0.2, 0.5))
+            self.addSequential(Rotate(30))
+            self.addSequential(SetSpeed(0.2, 1.2))
+            self.addSequential(Rotate(-40))
+            self.addSequential(DriveToRod(timeout=3.5))
+            if not switches.gear_mech_switch.get():
+                self.addSequential(ControlGearMech(False))
+            self.addSequential(SetSpeed(-0.1, 1.0))
+
             self.addSequential(SetSpeed(-0.3, 0.5))
             self.addSequential(Rotate(20))
             self.addSequential(SetSpeed(0.3, 1.0))

diff --git a/robot/robot.py b/robot/robot.py
@@ -26,7 +26,7 @@ def robotInit(self):
 
         # set autonomous modes
         self.sd.putStringArray("autonomous/options",
-                               ["left", "center", "right", "boilerleft", "boilerright", "angledleft", "angledright", "borkleft", "borkright"])
+                               ["left", "center", "right", "boilerleft", "boilerright", "angledleft", "angledright", "borkleft", "borkright", "oldleft", "oldright"])
         self.sd.putString("autonomous/selected", "left")
         self.sd.putBoolean("isautonomous", False)