Merge branch 'master'

diff --cc src/auto.c
index a5bbb5da5fc54e89912e056bec37fa60577d2783,098412e168f5ed79eb6e231ca3dad9677e67eb09..1be01efb57de705601c42454da64f3884e0fdff3
--- 1/src/auto.c
--- 2/src/auto.c
+++ b/src/auto.c
@@@ -1,28 -1,42 +1,29 @@@
  #include <main.h>\r
+ #include <zephyr.c>\r
  \r
 -/*#define TARGET_SPEED 65\r
 -\r
 -static unsigned int time;\r
 -\r
 -void autoDelay(unsigned int ms){\r
 -      delay(ms);\r
 -      time-=ms;\r
 -}*/\r
 +#define TARGET_RPM 1700\r
  \r
  void autonomous(){\r
 -      /*static char speed = 0;\r
 +      /*static double cl,cr,ca;\r
 +      static char speed;\r
  \r
 -      time = 15000;\r
 +      speed = 30;\r
  \r
        do{\r
 -\r
 -              speed+=10;\r
 -\r
 -              motorSet(CANNON1,speed);\r
 -              motorSet(CANNON2,speed);\r
 -              motorSet(CANNON3,speed);\r
 -              motorSet(CANNON4,speed);\r
 -\r
 -              autoDelay(200);\r
 -\r
 -      }while(speed<TARGET_SPEED);\r
 -\r
 -      autoDelay(800);\r
 -\r
 -      motorSet(LIFT1 ,127);\r
 -      motorSet(LIFT2 ,127);\r
 -      motorSet(INTAKE,127);\r
 -\r
 -      //while(1);\r
 -      delay(time);\r
 +              speed += 10;\r
 +              zMotorSet("Left cannon",-speed);\r
 +              zMotorSet("Right cannon",speed);\r
 +              delay(800);\r
 +              cl =  zMotorIMEGetVelocity("Left cannon")  / 16.3333125L * 9;\r
 +              cr = -zMotorIMEGetVelocity("Right cannon") / 16.3333125L * 9;\r
 +              ca = (cl + cr) / 2;\r
 +      }while(ca < TARGET_RPM);\r
 +\r
 +      zMotorSet("Misc",127);\r
 +      delay(900);\r
 +      zMotorSet("Misc",-127);\r
 +      delay(900);\r
 +      zMotorSet("Misc",0);\r
  \r
        motorStopAll();*/\r
 -\r
  }\r

diff --cc src/zephyr.c
Simple merge