That-One-Nerd/ary-over-under
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

more fixes and stuff

Browse Source
This commit is contained in:
ary 2023-12-02 00:02:44 -05:00
parent 780ecedcdf
commit 08bdcc9ba6
4 changed files with 11 additions and 10 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
CLOUDS/include/superstructure.hpp
View File

@ -49,7 +49,7 @@ namespace superstruct {
/* Structure */
void togglePto(bool toggle);
void runCata(double inpt);
void runAntiBlock(double inpt);
void runIntake(double inpt);
void subsysControl(pros::controller_digital_e_t ptoToggleButton, pros::controller_digital_e_t cataRunButton, pros::controller_digital_e_t intakeButton, pros::controller_digital_e_t outtakeButton);
void wingsControl(pros::controller_digital_e_t wingControlButton);

5
CLOUDS/src/autons.cpp
View File

@ -11,10 +11,11 @@ using namespace superstruct;
*/
void near_side() {
// Score the triball preload
togglePto(true);
// INTAKE PLACEHOLDER -> IN
runIntake(-12000);
driveSync(90, true);
turnSync(90);
turnSync(90);
// INTAKE PLACERHOLDER -> OUT
pros::delay(125);

4
CLOUDS/src/globals.cpp
View File

@ -19,7 +19,7 @@ namespace globals {
pros::Motor motor_tlf(14, MOTOR_GEARSET_06, false);
pros::Motor motor_blb(9, MOTOR_GEARSET_06, true);
pros::Motor motor_blf(3, MOTOR_GEARSET_06, true);
pros::Motor motor_blf(2, MOTOR_GEARSET_06, true);
pros::Motor motor_tlb(7, MOTOR_GEARSET_06, false);
pros::Motor motor_trf(15, MOTOR_GEARSET_06, true);
pros::Motor motor_trb(6, MOTOR_GEARSET_06, true);
@ -41,7 +41,7 @@ namespace globals {
Timer timer;
Drive chassis(
{14, -9, -3, 7},
{14, -9, -2, 7},
{-15, 12, 5, -6},
18,
WHEEL_SIZE,

10
CLOUDS/src/superstructure.cpp
View File

@ -3,7 +3,7 @@
using namespace ary;
using namespace globals;
bool ptoEnabled = true;
bool ptoEnabled = false;
bool wingsOpen = false;
/*
@ -157,15 +157,15 @@ namespace superstruct {
void runCata(double inpt) {
if (!ptoEnabled) return;
cata_mtr = inpt;
cata_mtr.move_voltage(inpt);
}
void runIntake(double inpt) {
if (!ptoEnabled) return;
intake_mtr = inpt;
intake_mtr.move_voltage(inpt);
}
int lock = 1;
int lock = 0;
void subsysControl(pros::controller_digital_e_t ptoToggleButton, pros::controller_digital_e_t cataRunButton, pros::controller_digital_e_t intakeButton, pros::controller_digital_e_t outtakeButton) {
if (globals::master.get_digital(ptoToggleButton) && lock == 0) { // If the PTO button has been pressed and the PTO is not engaged
togglePto(!ptoEnabled); // Toggle the PTO so that cataput is useable
@ -185,7 +185,7 @@ namespace superstruct {
} else if (globals::master.get_digital(outtakeButton)) {
runIntake(12000);
} else {
runIntake(-25);
runIntake(0);
}
}