eh?

1 files changed, 14 insertions, 19 deletions

diff --git a/src/auto.c b/src/auto.c
index 33204f9..3c8f2ef 100644
--- a/src/auto.c
+++ b/src/auto.c
@@ -1,6 +1,6 @@
 #include <main.h>

 

-#define TARGET_RPM 1970

+#define TARGET_SPEED 65

 

 static unsigned int time;

 

@@ -10,37 +10,32 @@ void autoDelay(unsigned int ms){
 }

 

 void autonomous(){

-	static int    trpm;

-	static double rpm;

-	static char cs;

+	static char speed = 0;

 

 	time = 15000;

-	cs = rpm = trpm = 0;

 

 	do{

 

-		cs+=cs<100?10:0;

+		speed+=10;

 

-		motorSet(CANNON1,cs);

-		motorSet(CANNON2,cs);

-		motorSet(CANNON3,cs);

-		motorSet(CANNON4,cs);

+		motorSet(CANNON1,speed);

+		motorSet(CANNON2,speed);

+		motorSet(CANNON3,speed);

+		motorSet(CANNON4,speed);

 

-		autoDelay(800);

+		autoDelay(200);

 

-		imeGetVelocity(ICANNON3,&trpm);

-		rpm=abs(trpm)/24.5L;

-		rpm*=25.0L;

+	}while(speed<TARGET_SPEED);

 

-	}while(rpm<TARGET_RPM);

+	autoDelay(800);

 

-	motorSet(LIFT1,127);

-	motorSet(LIFT2,127);

+	motorSet(LIFT1 ,127);

+	motorSet(LIFT2 ,127);

+	motorSet(INTAKE,127);

 

+	//while(1);

 	delay(time);

 

-	// Stop										4000ms remaining

-

 	motorStopAll();

 

 }