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| // Init | |
| DropBall | |
| SetWedge: false | |
| RunIntake: 2 | |
| Shift: false | |
| // Move arm to intake | |
| CheckArmCalibration | |
| SetArmPosition: 6 | |
| // I can't believe it's not splines!(TM) | |
| WHILE: | |
| DriveYoloAtAngle: 2.1, 27.0, false | |
| ALSO: | |
| Wait: 0.2 | |
| RunIntake: 0 | |
| Shift: true | |
| WHILE: | |
| EncoderWait: 7.0 | |
| SetArmPosition: 3 | |
| Shift: false | |
| ALSO: | |
| DriveStraightAtAngle: 16.5, -5.0, true | |
| StopDriving | |
| // Turn towards goal | |
| Shift: false | |
| AbsolutePointTurn: -58.3 | |
| Align | |
| Shoot | |
| // Turn to prep for low bar | |
| AbsolutePointTurn: -2.3 | |
| RunIntake: 1 | |
| // Drive under low bar and move to intake position | |
| Shift: false | |
| WHILE: | |
| WaitForBall | |
| ALSO: | |
| WHILE: | |
| DriveYoloAtAngle: -13.0, -2.3, false | |
| ALSO: | |
| WHILE: | |
| EncoderWait: -10.0 | |
| ALSO: | |
| SetArmPosition: 5 | |
| SetArmPosition: 6 | |
| StopDriving | |
| Shift: true | |
| // Drive under low bar and turn | |
| WHILE: | |
| EncoderWait: 7.7 | |
| SetArmPosition: 3 | |
| Shift: false | |
| ALSO: | |
| DriveStraightAtAngle: 17.0, -5.0, true | |
| StopDriving | |
| Shift: false | |
| AbsolutePointTurn: -53.9 | |
| Align | |
| Shoot |