Fixed a memory error that occured with

IntakeMillisecondsTask

- For whatever reason, IntakeMillisecondsTask was throwing a memory
  error every time it was used in the auton task tree. The error was
  narrowed down to being present in the clamp function, which has no
  apparent errors. To solve the problem, we created a new digital_out
  object linked to the DOUBLE_SOLENOID_PORT that we control directly
  instead of passing in a copy of pnuematicClamp. We can only blame the
  issue on VEX's faulty API.
- Also laid out the auton trajectory, all the functions are in the right
  sequence but we need to figure out the correct values to pass into the
  DriveStraightTasks and the TurnTasks
- Lastly, I slowed down the motor speeds in DriveStraightTask to ensure
  that the robot does not slip off the line and get off-course

Author: RushilGhosh

2024/prototype/intake_mechanisms/src/autonomous_task_tree.cpp

@@ -154,7 +154,7 @@ DriveStraightTask::DriveStraightTask(double desiredDistanceCentimeters,
 
 void DriveStraightTask::start() {
   startingRotations = drive.getRotations();
-  drive.drive(sign(distanceToDriveCm), 0.0);
+  drive.drive(sign(distanceToDriveCm) * 0.18, 0.0);
 }
 
 bool DriveStraightTask::done() const {
@@ -382,9 +382,19 @@ bool DriveStraightTask::done() const {
 
     void MobileGoalIntakeTask::start() {
         WaitMillisecondsTask::start();
-        mobileGoalIntakeObject.clamp(clamp_);
+        //The only reason we are redefining the clamp port here is because the
+        //VEX API doesn't like it when we use copy constructors repeatedly. This
+        //is a confusing situation that we can't explain, unfortunately, so we
+        //have no choice but to redeclare the port again.
+        vex::triport::port DOUBLE_SOLENOID_PORT = Seventeen59A.ThreeWirePort.C;
+        digital_out foo(DOUBLE_SOLENOID_PORT);
+        foo.set(true);
+        
     }
 
     bool MobileGoalIntakeTask::done() const {
-        return WaitMillisecondsTask::done();
+        
+        bool result = WaitMillisecondsTask::done();
+        
+        return result;
     }

2024/prototype/intake_mechanisms/src/main.cpp

@@ -256,12 +256,24 @@ void autonomous() {
   //auto simpleRootTask = make_shared<TurnTask>(36.56, gyro, prototype);
 
   auto rootTask = make_shared<WaitMillisecondsTask>(0);
-  auto turnTest = make_shared<TurnTask>(90, inertialSensor, prototype);
+  auto driveTask1 = make_shared<DriveStraightTask>(-20, prototype);
+  auto clampTask = make_shared<MobileGoalIntakeTask>(prototype, true);
+  auto turnTask = make_shared<TurnTask>(-45, inertialSensor, prototype);
+  auto driveTask2 = make_shared<DriveStraightTask>(10, prototype);
+  auto intakeTask = make_shared <IntakeMillisecondsTask>(prototype, 1000, 1);
+  //auto turnTest = make_shared<TurnTask>(90, inertialSensor, prototype);
   // auto DriveTask = make_shared<TestDriveTask>(2, prototype);
   // auto stopTask = make_shared<DriveStraightTask>(0, prototype);
   // addTask(rootTask, DriveTask);
   // addTask(DriveTask, stopTask);
-  addTask(rootTask, turnTest);
+  addTask(rootTask, driveTask1);
+  addTask(driveTask1, clampTask);
+  addTask(clampTask, turnTask);
+  addTask(turnTask, driveTask2);
+  addTask(turnTask, intakeTask);
+  // addTask(clampTask, turnTask);
+  // addTask(turnTask, driveTask2);
+  // addTask(driveTask2, intakeTask);
 
   // execute(fullAutonRootTask);
   execute(rootTask);