/
MAIN_MODES.ino
33 lines (28 loc) · 1.15 KB
/
MAIN_MODES.ino
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void light_track_part_2()
{
light_track_update_part2();
}
void light_track_update_part_2() {light_track_update_part2();}
void roll_to_plane()
{
if(ambient_values[face_that_is_up][0] > 0)
{
if(most_recent_traverse_result == 180 ) {cmd = "g"; demo = "nothing";}
else if(attempts_traverse > 5) {cmd = "r"; demo = "nothing";}
else if(most_recent_traverse_result == 90) {Serial.println("stillalive"); most_recent_traverse_result = move_normal("f","90 deg",6000, 24, 12,"e 10", 4000);attempts_traverse++;}
else if(most_recent_traverse_result == 0) {Serial.println("stillalive"); most_recent_traverse_result = move_normal("f","90 deg",6000, 24, 12,"e 10", 4000);attempts_traverse++;}
}
else if(ambient_values[face_that_is_up][0]) {y_counter = 8;}
}
void ready_set_jump()
{
if(ambient_values[face_that_is_up][0] > 0)
{
ros_safe_delay(1000);
move_normal("f","90 deg",6000, 24, 12,"e 10", 3500);
ros_safe_delay(600);
Serial.println("stillalive");
move_normal("f","90 deg",14000, 34, 22,"e 10", 4000);
ros_safe_delay(1200);
}
}