From ca9d11830975b6b2cb05920e5d266389203889a8 Mon Sep 17 00:00:00 2001
From: Ty <ty@blahaj.land>
Date: Fri, 10 Nov 2023 17:23:44 -0700
Subject: [PATCH] changes question mark emoji

---
 main.c | 80 ++++++++++++++++++++++++++++++++++++----------------------
 1 file changed, 50 insertions(+), 30 deletions(-)

diff --git a/main.c b/main.c
index a9ab7bb..54662a1 100644
--- a/main.c
+++ b/main.c
@@ -1,4 +1,4 @@
-#pragma config(Motor, port2, leftMotor, tmotorServoContinuousRotation, openLoop)
+#pragma config(Motor, port2, leftMotor, tmotorServoContinuousRotation, openLoop, reversed)
 #pragma config(Motor, port3, rightMotor, tmotorServoContinuousRotation, openLoop, reversed)
 #pragma config(UART_Usage, UART1, uartUserControl, baudRate1200, IOPins, None, None)
 #pragma config(Motor, port9, armMotor, tmotorServoContinuousRotation, openLoop, reversed)
@@ -65,7 +65,7 @@ enum AutonomousState {
 	LeftOuter,
 	RightInner,
 	RightOuter
-}
+};
 
 int recvdCodes = 0;
 AutonomousState autonomousState = Disabled;
@@ -87,7 +87,7 @@ task main() {
 
 	while (true) {
 		// Toggle autonomous mode
-		if (vexRT[Btn8U]) {
+		if (vexRT[Btn8R]) {
 			clearTimer(T1);
 			autonomousState = RightOuter;
 		} else if (vexRT[Btn8L]) {
@@ -96,7 +96,7 @@ task main() {
 		} else if (vexRT[Btn7R]) {
 			clearTimer(T1);
 			autonomousState = LeftInner;
-		} else if (vexRT[Btn7U]) {
+		} else if (vexRT[Btn7L]) {
 			clearTimer(T1);
 			autonomousState = LeftOuter;
 		} else if (vexRT[Btn8D]) {
@@ -107,39 +107,59 @@ task main() {
 		if (autonomousState == RightInner) {
 			// ANCHOR Right inner
 			if (time1[T1] >= 1000 && floorColor == Black) {
-				motor[leftMotor] = 50;
-				motor[rightMotor] = 25;
-			} else if (time1[T1] < 1000 && floorColor == Black) {
-				motor[leftMotor] = 45;
-				motor[rightMotor] = 30;
-			} else if (floorColor == White) {
-				motor[leftMotor] = -40;
+				motor[leftMotor] = 65;
 				motor[rightMotor] = 40;
+			} else if (time1[T1] < 1000 && floorColor == Black) {
+				motor[leftMotor] = 50;
+				motor[rightMotor] = 35;
+			} else if (floorColor == White) {
+				motor[leftMotor] = -45;
+				motor[rightMotor] = 45;
 			}
 		} else if (autonomousState == RightOuter) {
-			// TODO Right outer
+			// ANCHOR Right outer
+			if (time1[T1] >= 1000 && floorColor == Black) {
+				motor[leftMotor] = 30;
+				motor[rightMotor] = 65;
+			} else if (time1[T1] < 1000 && floorColor == Black) {
+				motor[leftMotor] = 40;
+				motor[rightMotor] = 65;
+			} else if (floorColor == White) {
+				motor[leftMotor] = 45;
+				motor[rightMotor] = -45;
+			}
 		} else if (autonomousState == LeftInner) {
 			// ANCHOR Left inner
 			if (time1[T1] >= 1000 && floorColor == Black) {
-				motor[leftMotor] = 25;
-				motor[rightMotor] = 50;
-			} else if (time1[T1] < 1000 && floorColor == Black) {
-				motor[leftMotor] = 30;
-				motor[rightMotor] = 45;
-			} else if (floorColor == White) {
+				motor[rightMotor] = 65;
 				motor[leftMotor] = 40;
-				motor[rightMotor] = -40;
+			} else if (time1[T1] < 1000 && floorColor == Black) {
+				motor[rightMotor] = 50;
+				motor[leftMotor] = 35;
+			} else if (floorColor == White) {
+				motor[rightMotor] = -45;
+				motor[leftMotor] = 45;
 			}
 		} else if (autonomousState == LeftOuter) {
-			// TODO Left outer
-		} 
+			// ANCHOR Left outer
+			if (time1[T1] >= 1000 && floorColor == Black) {
+				motor[rightMotor] = 30;
+				motor[leftMotor] = 65;
+			} else if (time1[T1] < 1000 && floorColor == Black) {
+				motor[rightMotor] = 40;
+				motor[leftMotor] = 65;
+			} else if (floorColor == White) {
+				motor[rightMotor] = 45;
+				motor[leftMotor] = -45;
+			}
+		}
 		// !SECTION IR motor control
 		// SECTION Drive control
 		else {
 			// Store joystick axises in variables to allow modification
-			int verticalAxis = vexRT[Ch3];
-			int horizontalAxis = vexRT[Ch4];
-			int armAxis = vexRT[Ch2];
+			float verticalAxis = vexRT[Ch3];
+			float horizontalAxis = vexRT[Ch4];
+			float armAxis = vexRT[Ch2];
 
 			// Check if the joystick is pushed enough, if it isn't a significant value,
 			// then act as if it was never pushed at all, by setting the value to 0
@@ -152,10 +172,10 @@ task main() {
 			// precision for specific tasks
 			// ANCHOR Slow/fast mode
 			if (vexRT[Btn6U]) {
-				verticalAxis = verticalAxis / 2;
-				horizontalAxis = horizontalAxis / 2;
+				verticalAxis = verticalAxis * 0.70;
+				horizontalAxis = horizontalAxis * 0.70;
 				if (armAxis > 0) { // If putting arm up
-					armAxis = armAxis * 0.95;
+					armAxis = armAxis / 3;
 				} else {
 					armAxis = armAxis / 4;
 				}
@@ -178,14 +198,14 @@ task main() {
 		}
 		// !SECTION Drive control
 
-		sleep(3);
+		sleep(1);
 	}
 }
 
 task sendTask() {
 	while (true) {
 		sendChar(UART1, 17);
-		sleep(100);
+		sleep(25);
 	}
 }
 
@@ -222,4 +242,4 @@ task recvTask()
 		sleep(20); // Free up cycle time, so other tasks are able to run consistently
 	}
 }
-// !SECTION Function/task definitions
\ No newline at end of file
+// !SECTION Function/task definitions