From: Clyne Sullivan <tullivan99@gmail.com>
Date: Tue, 15 Dec 2015 21:28:47 +0000 (-0500)
Subject: Merge branch 'master'
X-Git-Url: https://code.bitgloo.com/?a=commitdiff_plain;h=9300f1acd543d1d7cb23e08f89153ac829959def;p=abelleisle%2Fvex5106z.git

Merge branch 'master'
---

9300f1acd543d1d7cb23e08f89153ac829959def
diff --cc src/auto.c
index a5bbb5d,098412e..1be01ef
--- a/src/auto.c
+++ b/src/auto.c
@@@ -1,28 -1,42 +1,29 @@@
  #include <main.h>
+ #include <zephyr.c>
  
 -/*#define TARGET_SPEED 65
 -
 -static unsigned int time;
 -
 -void autoDelay(unsigned int ms){
 -	delay(ms);
 -	time-=ms;
 -}*/
 +#define TARGET_RPM 1700
  
  void autonomous(){
 -	/*static char speed = 0;
 +	/*static double cl,cr,ca;
 +	static char speed;
  
 -	time = 15000;
 +	speed = 30;
  
  	do{
 -
 -		speed+=10;
 -
 -		motorSet(CANNON1,speed);
 -		motorSet(CANNON2,speed);
 -		motorSet(CANNON3,speed);
 -		motorSet(CANNON4,speed);
 -
 -		autoDelay(200);
 -
 -	}while(speed<TARGET_SPEED);
 -
 -	autoDelay(800);
 -
 -	motorSet(LIFT1 ,127);
 -	motorSet(LIFT2 ,127);
 -	motorSet(INTAKE,127);
 -
 -	//while(1);
 -	delay(time);
 +		speed += 10;
 +		zMotorSet("Left cannon",-speed);
 +		zMotorSet("Right cannon",speed);
 +		delay(800);
 +		cl =  zMotorIMEGetVelocity("Left cannon")  / 16.3333125L * 9;
 +		cr = -zMotorIMEGetVelocity("Right cannon") / 16.3333125L * 9;
 +		ca = (cl + cr) / 2;
 +	}while(ca < TARGET_RPM);
 +
 +	zMotorSet("Misc",127);
 +	delay(900);
 +	zMotorSet("Misc",-127);
 +	delay(900);
 +	zMotorSet("Misc",0);
  
  	motorStopAll();*/
 -
  }