before selection

7842F_Main.c

@@ -96,11 +96,13 @@
  *    \_|  |_|  \___|      \_| |_/\__,_|\__\___/
  */
 
-
+#include "Auto/AutoLEDTask.c"
 
 void pre_auton()
 {
   startTask(LCDTask);
+  startTask(autoLEDTask);
+
 
   //BNS();
 
@@ -162,7 +164,6 @@ task usercontrol()
  *    \_| |_/\__,_|\__\___/
  */
 #include "Auto/AutoSimpleFunctions.c"
-#include "Auto/AutoLEDTask.c"
 
 #include "Auto/AutoExec.h"
 
@@ -172,8 +173,7 @@ task autonomous()
 
   startTask(FlywheelPIDTask);
 
-  startTask(autoLEDTask);
-
+
   sideColors chosenSide;
   chosenSide = (SensorValue[s_sideSelector] > 2047) ? redSide : blueSide;
 

Auto/AutoExec.h

@@ -7,7 +7,7 @@
 
 void AutoExec0()
 {
-  #include "AutoExec/AutoExec0.c"
+  #include "AutoExec/AutoExecSkils.c"
 };
 void AutoExecRed1()
 {

Auto/AutoExec/AutoExecBlue1.c

@@ -22,9 +22,9 @@ AutoBaseDriveAllign(30, 800);
 AutoBaseDriveDistance(-8);
 
 
-AutoBaseTurnDegrees(-90);
+AutoBaseTurnDegrees(-91);
 
-AutoBaseDriveDistance(-10, true, false);
+AutoBaseDriveDistance(-11, true, false);
 
 waitUntil(mainFlywheelPID.Error < 30);
 wait1Msec(300);
@@ -34,10 +34,10 @@ AutoIntakeMode(intakeCollect);
 
 
 
-AutoBaseDriveDistance(33);
+AutoBaseDriveDistance(34);
 AutoIntakeMode(indexShoot);
 wait1Msec(300);
-AutoBaseDriveDistance(5);
+AutoBaseDriveDistance(4);
 AutoIntakeMode(intakeCollect);
 
 

Auto/AutoExec/AutoExecRed1.c

@@ -1,4 +1,6 @@
 
+
+
 //flywheel bit less than middle rpm - 2500
 //-38 inch w/ intake
 //38
@@ -34,15 +36,15 @@ AutoIntakeMode(intakeCollect);
 
 
 
-AutoBaseDriveDistance(33);
+AutoBaseDriveDistance(34);
 AutoIntakeMode(indexShoot);
 wait1Msec(300);
-AutoBaseDriveDistance(5);
+AutoBaseDriveDistance(4);
 AutoIntakeMode(intakeCollect);
 
 
-AutoBaseTurnDegrees(-19);
-AutoBaseDriveDistance(9);
+AutoBaseTurnDegrees(-20);
+AutoBaseDriveDistance(10);
 AutoBaseTurnDegrees(19);
 AutoBaseDriveAllign(26, 1000);
 

Auto/AutoExec/AutoExecSkils.c

@@ -0,0 +1,61 @@
+
+
+
+//flywheel bit less than middle rpm - 2500
+//-38 inch w/ intake
+//38
+//turn -90
+//-26
+//Shoot
+
+//68
+//-23
+//turn 90
+//outtake
+//-24
+
+wantedFlywheelRPM = 2500;
+
+AutoIntakeMode(intakeCollect);
+AutoBaseDriveDistance(-38);
+wait1Msec(200);
+AutoBaseDriveDistance(42);
+AutoBaseDriveAllign(30, 800);
+AutoBaseDriveDistance(-8);
+
+
+AutoBaseTurnDegrees(90);
+
+AutoBaseDriveDistance(-10, true, false);
+
+waitUntil(mainFlywheelPID.Error < 30);
+wait1Msec(300);
+AutoIntakeMode(indexShoot); //sho
+wait1Msec(300);
+AutoIntakeMode(intakeCollect);
+
+
+
+AutoBaseDriveDistance(34);
+AutoIntakeMode(indexShoot);
+wait1Msec(300);
+AutoBaseDriveDistance(4);
+AutoIntakeMode(intakeCollect);
+
+
+wantedFlywheelRPM = 0;
+AutoBaseTurnDegrees(-20);
+AutoBaseDriveDistance(10);
+AutoBaseTurnDegrees(19);
+AutoBaseDriveAllign(26, 1000);
+
+AutoBaseDriveDistance(-72);
+AutoBaseTurnDegrees(90);
+AutoBaseDriveDistance(100);
+
+
+
+
+wantedFlywheelRPM = 0;
+AutoIntakeMode(intakeOff);
+AutoBaseDriveDistance(0, false, false);

Auto/AutoLEDTask.c

@@ -36,12 +36,14 @@ task autoLEDTask()
 
 
 
-    tileColor = (SensorValue[s_tileLine] < 2000);
+    tileColor = (SensorValue[s_tileLine] < 1900);
 
     selectColor = (SensorValue[s_sideSelector] < 2047);
 
     ledOn = (tileColor != selectColor);
 
+    wait1Msec(20);
+
 
   }
 }

Shared/LCDTask.c

@@ -17,7 +17,7 @@ task LCDTask()
       case 0:
 
       displayLCDPos(0,0);
-      displayNextLCDString("     Slot 0     ");
+      displayNextLCDString("     Skills     ");
       displayLCDPos(1,0);
 
       if(SensorValue[s_sideSelector] > 2047)