From 3cba814333829daa431f663cf278315f56b47515 Mon Sep 17 00:00:00 2001
From: Clyne Sullivan <tullivan99@gmail.com>
Date: Sun, 15 Nov 2015 19:53:06 -0500
Subject: eh?

---
 src/auto.c | 33 ++++++++++++++-------------------
 1 file changed, 14 insertions(+), 19 deletions(-)

(limited to 'src/auto.c')

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();
 
 }
-- 
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