autonomous.apple

//Written in AppleScript

automode 0 //one tote fun tote
	lift to 1
	wait until level reached
	switch forward Harvester
	harvest at -0.5; for 0.5
	lift to 4
	wait until off ground
	drive to 138,0,0; at 0.5 //slide to the right
	switch reverse Harvester
	lift to 1
	reset gyro 90
end

automode 1 //knockdown
	sanic at -0.02,0,0; for 0.2
	drive at -0.8,0,0; until distance=80
	sanic at 1,0,0; for 0.3
	reset gyro -90
end

automode 2 //failed three tote
	switch reverse Harvester
	lift to 4
	wait for 2
	group 2
		drive at 0,0.25,0
		harvest at -0.7; until distance=65
	switch forward Harvester
	group 2
		drive at 0,0.25,0
		harvest at -0.7; for 0.5
	lift to 1
	group 2
		drive at 0,0.1,0
		harvest at -0.5; for 1
	drive at 0,0.12,0; until level reached
	switch reverse Harvester
	lift to 4
	drive at 0,0.12,0; for 0.5
	group 2
		drive at 0,0.25,0
		harvest at -0.7; until distance=140
	switch forward Harvester
	group 2
		drive at 0,0.25,0
		harvest at -0.65; for 1
	drive at 0,0,0; for 0.1
	lift to 1
	wait until level reached
	switch reverse Harvester
	//lift to 2
	//wait until level reached
	reset encoders
	drive at 0.7,0,0; until distance=60
	lift to 1
	//wait until level reached
	switch forward Harvester
	group 2
		harvest at 1; for 1
		drive at 0,-0.75,0
	switch reverse Harvester
	drive at 0,0,0; for 0.1
	harvest at 0; for 0.1
end

automode 3 //push RC
	reset encoders
	lift to 1
	drive to 168,0,0; at 0.55 //move forward
	reset gyro 90
end

automode 4 //move (from landfill side)
	lift to 0
	drive to 0,58,0; at 0.45
	reset gyro 180 //ayy lmao
end

automode 5 //drive forward
	lift to 0
	drive to 0,144,0; at 0.3 //should be 72
end

automode 6 //Operation Binstorm (OLD)
	reset gyro
	lift to 0
	drive at -0.05,0,0; for 0.1
	drive at -0.9,0,0; for 0.45
	switch forward Hooks
	drive at -0.2,0,0; for 0.5 //shorten at some point
	reset encoders
	drive at 0.7,0,0; until distance=85
	drive at -0.5,0,0; for 0.25
	//drive to 100,0,0; at 0.7
	switch reverse Hooks
	reset gyro -90
end

automode 7 //Two-Can Toucan
	reset gyro
	sanic at -1,0,0; for 0.25
	switch forward Hooks
	sanic at -1,0,0; for 0.3 
	wait for 0.25
	reset encoders
	drive at 1,0,0; until distance=82 
	drive at -1,0,0; for 0.35
	switch reverse Hooks
	reset gyro -90
end


automode 8 //Two-Can Toucan v2
	reset gyro
	sanic at -1,0,0; for 0.12
	switch forward Hooks
	sanic at -1,0,0; for 0.3 
	wait for 0.2
	reset encoders
	drive at 1,0,0; until distance=82 
	drive at -1,0,0; for 0.35
	switch reverse Hooks
	reset gyro -90
end

automode 9 //align wheels
	sanic at -0.05,0,0; for 2
end

automode 10 //do nothing
	lift to 0
	reset gyro -90
end

automode 11 //secure tote
	lift to 1
	wait until level reached
	switch forward Harvester
	harvest at -0.5; for 0.5
	switch reverse Harvester
	lift to 4
	wait until level reached
	reset gyro 90
end

automode 12 //trololo left
	drive at 0.5,0,0; for 0.65
	drive at 0,-0.02,0; for 0.3
	drive at 0,-0.6,0; until distance=160
	drive at 0,1,0; for 0.32
	reset gyro -90
end

automode 13 //trololo right
	drive at 0.5,0,0; for 0.65
	drive at 0,0.02,0; for 0.3
	drive at 0,0.6,0; until distance=160
	drive at 0,-1,0; for 0.32
	reset gyro -90
end

//nonsense
	lift to 1
	wait for 0.1
	wait until level reached
	lift to 4
	wait for 0.1
	wait until level reached
	switch reverse Harvester
	group 2
		drive to 0,67,0; at 0.4
		harvest at -0.5
	switch forward Harvester
	harvest at -0.5; for 1
	lift to 1
	wait for 0.1
	wait until level reached
	lift to 2
	wait for 0.1
	wait until level reached