That-One-Nerd/ary-over-under
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more fixes and stuff

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ary 2023-12-02 00:02:44 -05:00
parent 780ecedcdf
commit 08bdcc9ba6
4 changed files with 11 additions and 10 deletions
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2
CLOUDS/include/superstructure.hpp
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@ -49,7 +49,7 @@ namespace superstruct {
/* Structure */ /* Structure */
void togglePto(bool toggle); void togglePto(bool toggle);
void runCata(double inpt); 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 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); void wingsControl(pros::controller_digital_e_t wingControlButton);

3
CLOUDS/src/autons.cpp
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@ -11,8 +11,9 @@ using namespace superstruct;
*/ */
void near_side() { void near_side() {
// Score the triball preload // Score the triball preload
togglePto(true);
// INTAKE PLACEHOLDER -> IN // INTAKE PLACEHOLDER -> IN
runIntake(-12000);
driveSync(90, true); driveSync(90, true);
turnSync(90); turnSync(90);

4
CLOUDS/src/globals.cpp
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@ -19,7 +19,7 @@ namespace globals {
pros::Motor motor_tlf(14, MOTOR_GEARSET_06, false); pros::Motor motor_tlf(14, MOTOR_GEARSET_06, false);
pros::Motor motor_blb(9, MOTOR_GEARSET_06, true); 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_tlb(7, MOTOR_GEARSET_06, false);
pros::Motor motor_trf(15, MOTOR_GEARSET_06, true); pros::Motor motor_trf(15, MOTOR_GEARSET_06, true);
pros::Motor motor_trb(6, MOTOR_GEARSET_06, true); pros::Motor motor_trb(6, MOTOR_GEARSET_06, true);
@ -41,7 +41,7 @@ namespace globals {
Timer timer; Timer timer;
Drive chassis( Drive chassis(
{14, -9, -3, 7}, {14, -9, -2, 7},
{-15, 12, 5, -6}, {-15, 12, 5, -6},
18, 18,
WHEEL_SIZE, WHEEL_SIZE,

10
CLOUDS/src/superstructure.cpp
View File

@ -3,7 +3,7 @@
using namespace ary; using namespace ary;
using namespace globals; using namespace globals;
bool ptoEnabled = true; bool ptoEnabled = false;
bool wingsOpen = false; bool wingsOpen = false;
/* /*
@ -157,15 +157,15 @@ namespace superstruct {
void runCata(double inpt) { void runCata(double inpt) {
if (!ptoEnabled) return; if (!ptoEnabled) return;
cata_mtr = inpt; cata_mtr.move_voltage(inpt);
} }
void runIntake(double inpt) { void runIntake(double inpt) {
if (!ptoEnabled) return; 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) { 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 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 togglePto(!ptoEnabled); // Toggle the PTO so that cataput is useable
@ -185,7 +185,7 @@ namespace superstruct {
} else if (globals::master.get_digital(outtakeButton)) { } else if (globals::master.get_digital(outtakeButton)) {
runIntake(12000); runIntake(12000);
} else { } else {
runIntake(-25); runIntake(0);
} }
} }