J2IT Autonomous Code

J2IT Autonomous Code

The following program is one of four for each position, in this case this is the blue team, exterior side.

task main()
{
  initializeRobot();

  waitForStart(); // Wait for the beginning of autonomous phase.

  ///////////////////////////////////////////////////////////
  ///////////////////////////////////////////////////////////
  ////                                                   ////
  ////    Add your robot specific autonomous code here.  ////
  ////                                                   ////
  ///////////////////////////////////////////////////////////
  ///////////////////////////////////////////////////////////

  motor[W_Left] = universal_speed - 10;
  motor[W_Right] = universal_speed;
  wait1Msec(3500);
  if (red == true)
  {
    if (exterior == true)
    {
      left_turn(1000);
    }
    else
    {
      left_turn(1500);
    }
  }
  else
  {
    if (exterior == true)
    {
      right_turn(1000);
    }
    else
    {
      right_turn(1500);
    }
  }
  straight(2000);
  if (exterior == true)
  {
    if (red == true)
    {
      //Turn Left
      left_turn(850);
    }
    else
    {
      //Turn Right
      right_turn(850);
    }
  }
  straight(6500);
  motor[W_Right] = 0;
  motor[W_Left] = 0;
}