autonomous.apple

//Team 2067 Autonomous Code
//Written in AppleScript

automode 0 //nothing
end

automode 1 //mobility
	drive at 0,0.45,0; for 1.5 //drive forward
end

automode 2 //one ball without vision
	drive at 0,0.45,0; for 1.75     //drive forward
	shoot                           //shoot
	switch reverse Harvester Lift   //put harvester up
	drive at 0,-1,0 for 0.5         //drive back
end

automode 3 //one ball with vision
	drive at 0,0.45,0; for 1.75             //drive forward
	switch forward Harvester Lift          //put harvester down
	run motor Harvester; at -0.5; for 0.7  //roll harvester in to retain ball
	wait until goal is hot                 //wait until goal is hot
	shoot                                  //shoot
	switch reverse Harvester Lift          //put harvester up
	drive at 0,-1,0; for 0.5               //drive back
end

automode 4 //two ball
	switch forward Harvester Lift                //drop the harvester
	run motor Harvester; at -0.4; for 0.6        //roll harvester in to retain ball
	group 2
	    drive at 0,0.52,0; for 1.6               //drive forward
	    run motor Harvester; at -0.65            //while running the harvester in
	run motor Harvester; at 0; for 0             //stop harvester
	drive at 0,-0.3,0; for 0.25                  //stop driving	              
	shoot until shooter is resetting             //shoot the ball, wait until resetting
	group 3
	    drive at 0,-0.5,0; for 0.5               //drive backward
	    run motor Harvester; at -1               //while running harvester at full speed
	    shoot continue                           //and resetting the shooter
	group 3  
	    drive at 0,0.3,0; for 0.25               //stop driving
	    run motor Harvester; at -1               //while running harvester at full speed
	    shoot continue                           //and resetting the shooter   
	group 2
	    run motor Harvester; at -1; for 0.4      //run harvester at full speed
	    shoot continue                           //while resetting the shooter
	switch reverse Harvester Lift                //put up the harvester
	group 2
	    drive at 0,0.5,0; for 0.5                //drive forward
	    run motor Harvester; at -0.7             //while running the harvester in
	run motor Harvester; at -0.5; until has ball //keep harvesting until there is a ball
	shoot                                        //shoot second ball
end