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AscendRobotics
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AscendData

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Intake.stop();
fireIndexer();
wait(200, msec);
aTurn(103);
aDrive(1600);
RightMotors.spin(forward);
LeftMotors.spin(forward);
RightMotors.setVelocity(20, percent);
LeftMotors.setVelocity(100, percent);
wait(600, msec);
RightMotors.stop();
LeftMotors.stop();
Intake.spin(forward, 11, volt);
wait(100, msec);
aDriveFor(20, 400);
Intake.stop();
aDriveFor(-90, 100);
/*aTurn(-160);
drawMode = 0;
wait(1700, msec);
fireIndexer();
wait(200, msec);
fireIndexer();
aDrive(-100);
aTurn(-460);
flywheelTargetRPM = 2100;
aDrive(-620);
aTurn(650);
Intake.spin(forward, 11, volt);
aDriveFor(20, 800);
Intake.stop();
aDrive(-130);
aTurn(-930);
Intake.spin(reverse, 11, volt);
speedPID = 0.6;
aDrive(1800);
speedPID = 1;
//Intake.spin(forward, 5, volt);
aTurn(610);
wait(200, msec);
Intake.spin(reverse, 11, volt);
fireIndexer();
wait(400, msec);
Intake.stop();*/
flywheelOn = false;
flywheelTargetRPM = 1800;
} else if (autonType == 3) {
//go from roller to match load station
aDrive(-400);
aTurn(-300);
aDrive(-700);
aTurn(160);
LeftMotors.spin(forward);
RightMotors.spin(forward);
for (int i = 0; i < 25; i++) {
int forward = -50;
int turn = (25 - (i * 1.0)) * -1;
//calculate proper motor powers
int left = forward * driveSpeed + turn * turnSpeed;
int right = forward * driveSpeed - turn * turnSpeed;
//set velocity of drive motors
LeftMotors.setVelocity(left, percent);
RightMotors.setVelocity(right, percent);
wait(40, msec);
}
} else if (autonType == 4) {
alignToGoal();
} else if (autonType == 5) {
//programming skills
flywheelOn = true;
wait(2000, msec);
opticalMode = true;
flywheelTargetRPM = 1800;
Intake.spin(forward);
Intake.setVelocity(100, percent);
wait(12000, msec);
Intake.stop();
opticalMode = false;
//flywheelOn = false;
aTurn(-92);
aDrive(550);
aTurn(90);
Intake.spin(reverse);
aDrive(300);
wait(500, msec);
aDrive(200);
wait(500, msec);
aDrive(200);
aDrive(-800);
aTurn(-25);
Intake.stop();
fireIndexer();
wait(600, msec);
fireIndexer();
wait(600, msec);
fireIndexer();
wait(300, msec);
aTurn(26);
Intake.spin(reverse);
aDrive(1000);