Datasets:
AscendRobotics
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AscendData

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wait(500, msec);
aDrive(200);
wait(500, msec);
aDrive(200);
wait(500, msec);
aDrive(200);
aTurn(-90);
aDrive(600);
aTurn(-90);
Intake.stop();
aDriveFor(-50, 1800);
aDrive(400);
aTurn(-90);
aDrive(-500);
fireIndexer();
wait(600, msec);
fireIndexer();
wait(600, msec);
fireIndexer();
wait(300, msec);
aDrive(1500);
aTurn(-45);
Wings.set(true);
wait(2000, msec);
aDrive(-100);
//aDrive(300);
/*
aTurn(45);
aDrive(300);
Wings.set(true);
wait(2000, msec);
aDrive(-100);*/
flywheelOn = false;
flywheelTargetRPM = 1800;
} else if (autonType == 6) {
flywheelOn = true;
flywheelTargetRPM = 2100;
gain = 0.000093;
wait(3000, msec);
drawMode = 0;
Intake.spin(forward, 12, volt);
wait(100, msec);
fireIndexer();
Intake.spin(reverse, 12, volt);
wait(350, msec);
fireIndexer();
tripleShooting = true;
wait(400, msec);
Intake.stop();
fireIndexer();
wait(400, msec);
//the above code is very precise
tripleShooting = false;
flywheelOn = false;
} else if (autonType == 7) {
//flip a roller
flipRoller();
Intake.stop();
//flywheelOn = false;
}
printController(Brain.Timer.value() - timerValue);//print time it took
auton = false;
}
int opticalModeLoop() {
//shoot discs if the optical sensor detects something
while (true) {
//check if it is optical sensor mode
wait(25, msec);
if (!opticalMode) continue;
//printControllerSetup();
//Controller1.Screen.print(Optical.isNearObject());
//disc detected when reflectivity is greater than 90
if (LineTracker.reflectivity() > 90) {
wait(300, msec);
//fire one disc
Indexer.spin(forward, 12, volt);
wait(130, msec);
Indexer.spin(forward, 6, volt);
wait(60, msec);
Indexer.spin(reverse, 6, volt);
wait(70, msec);
Indexer.stop();
wait(100, msec);
}
}
return 0;
}
void buttonL1Pressed() {
if (Controller1.ButtonB.pressing()){
visionTrackRed = true;
visionTrackBlue = false;
printControllerSetup();
Controller1.Screen.print("Vision Track: RED");
} else {
Intake.spin(forward, 11, volt);
}
}
void buttonL2Pressed() {
if (Controller1.ButtonB.pressing()){
visionTrackRed = false;