piston testing fr

read the title

RELENTLESS/include/globals.hpp

@@ -9,6 +9,8 @@
 #define DRIVE_RATIO 0.75
 #define DRIVE_RPM 450
 
+bool ptoEnabled;
+
 namespace globals {
     extern pros::Controller master;
 
@@ -30,6 +32,8 @@ namespace globals {
     extern pros::Rotation rot_horiz;
     extern pros::Rotation enc_theta;
 
+    extern pros::ADIAnalogOut pto_piston;
+
     extern lemlib::TrackingWheel vert_tracking_wheel;
     extern lemlib::TrackingWheel horiz_tracking_wheel;
 

RELENTLESS/include/superstructure.hpp

@@ -21,4 +21,8 @@ namespace superstruct {
     void leftSwing(double theta, double swingSpeedScale);
     void rightSwing(double theta, double swingSpeedScale);
 
+    //- Structure methods
+    void togglePto();
+    bool getPtoState();
+    
 }

RELENTLESS/src/globals.cpp

@@ -22,6 +22,7 @@ namespace globals {
     pros::Rotation rot_horiz(1);
     // pros::Rotation enc_right();
     // pros::Rotation enc_theta();
+    pros::ADIAnalogOut pto_piston(1);
 
     lemlib::Drivetrain_t chassis_odom {
         &left_drive,

RELENTLESS/src/main.cpp

@@ -1,8 +1,10 @@
 #include "main.h"
 #include "lemlib/api.hpp"
 #include "globals.hpp"
+#include "superstructure.hpp"
 
 using namespace globals;
+using namespace superstruct;
 
 /**
  * A callback function for LLEMU's center button.
@@ -88,6 +90,10 @@ void opcontrol() {
 			motor_trb.move_voltage(0);
 		}
 
+		if (globals::master.get_digital_new_press(DIGITAL_LEFT)) {
+			togglePto();
+		}
+		
 		pros::delay(20);
 	}
 }

RELENTLESS/src/superstructure.cpp

@@ -2,6 +2,8 @@
 
 using namespace ary;
 using namespace globals;
+
+bool ptoEnabled = false;
 namespace superstruct {
   void configureExitConditions() {
     chassis.set_exit_condition(chassis.turn_exit, 100, 3, 500, 7, 500, 500);
@@ -52,4 +54,15 @@ namespace superstruct {
     //chassis.set_mode(SWING);
     chassis.set_swing(RIGHT_SWING, theta, SWING_SPEED * swingSpeedScale);
   }
+
+  // Structure methods
+
+  void togglePto() {
+    int state = (ptoEnabled) ? 1 : 0;
+    pto_piston.set_value(state);
+  }
+
+  // bool getPtoState() {
+  //   return (pto_piston.get_value() == 1) ? true : false;
+  // }
 }