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testing pp on practice chassis

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This commit is contained in:
ary 2023-12-01 21:17:23 -05:00
parent ef61db3009
commit 0429dd18ed
2 changed files with 10 additions and 8 deletions
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16
RUN-THAT-BACK/src/main.cpp
View File

@ -7,12 +7,12 @@
pros::Controller controller(pros::E_CONTROLLER_MASTER); pros::Controller controller(pros::E_CONTROLLER_MASTER);
// drive motors // drive motors
pros::Motor lF(-20, pros::E_MOTOR_GEARSET_06); // left front motor. port 8, reversed pros::Motor lF(-9, pros::E_MOTOR_GEARSET_06); // left front motor. port 8, reversed
pros::Motor lM(10, pros::E_MOTOR_GEARSET_06); // left middle motor. port 20, reversed pros::Motor lM(-7, pros::E_MOTOR_GEARSET_06); // left middle motor. port 20, reversed
pros::Motor lB(-9, pros::E_MOTOR_GEARSET_06); // left back motor. port 19 pros::Motor lB(8, pros::E_MOTOR_GEARSET_06); // left back motor. port 19
pros::Motor rF(12, pros::E_MOTOR_GEARSET_06); // right front motor. port 2 pros::Motor rF(-4, pros::E_MOTOR_GEARSET_06); // right front motor. port 2
pros::Motor rM(-17, pros::E_MOTOR_GEARSET_06); // right middle motor. port 11 pros::Motor rM(12, pros::E_MOTOR_GEARSET_06); // right middle motor. port 11
pros::Motor rB(-13, pros::E_MOTOR_GEARSET_06); // right back motor. port 13, reversed pros::Motor rB(2, pros::E_MOTOR_GEARSET_06); // right back motor. port 13, reversed
// motor groups // motor groups
pros::MotorGroup leftMotors({lF, lM, lB}); // left motor group pros::MotorGroup leftMotors({lF, lM, lB}); // left motor group
@ -31,7 +31,7 @@ lemlib::Drivetrain drivetrain(&leftMotors, // left motor group
10, // 10 inch track width 10, // 10 inch track width
lemlib::Omniwheel::NEW_275, // using new 3.25" omnis lemlib::Omniwheel::NEW_275, // using new 3.25" omnis
450, // drivetrain rpm is 360 450, // drivetrain rpm is 360
8 // chase power is 2. If we had traction wheels, it would have been 8 2 // chase power is 2. If we had traction wheels, it would have been 8
); );
// lateral motion controller // lateral motion controller
@ -121,8 +121,10 @@ ASSET(testingpath_txt);
* This is an example autonomous routine which demonstrates a lot of the features LemLib has to offer * This is an example autonomous routine which demonstrates a lot of the features LemLib has to offer
*/ */
void autonomous() { void autonomous() {
chassis.setPose(9.72, -59.062, 90, false);
chassis.follow(testingpath_txt, 15, 4000); chassis.follow(testingpath_txt, 15, 4000);
chassis.waitUntilDone(); chassis.waitUntilDone();
pros::lcd::print(4, "pure pursuit finished!");
// chassis.moveTo(20, 15, 90, 4000); // chassis.moveTo(20, 15, 90, 4000);

2
RUN-THAT-BACK/static/testingpath.txt
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@ -40,7 +40,7 @@
9.424, -59.655, 0 9.424, -59.655, 0
-10.542, -58.49, 0 -10.542, -58.49, 0
endData endData
127 209.9
100 100
200 200
61.449, -28.859, 72.811, -67.13, 27.065, -60.552, 9.424, -59.655 61.449, -28.859, 72.811, -67.13, 27.065, -60.552, 9.424, -59.655