wings, debugging, and depression

RELENTLESS/include/globals.hpp

@@ -3,14 +3,12 @@
 #include "lemlib/api.hpp"
 #include "ary-lib/drive/drive.hpp"
 
-#define TRACK_WDITH 11.5
+#define TRACK_WIDTH 11.5
 #define PLACEHOLDER_TC_OFFSET 2.5
 #define WHEEL_SIZE 2.75
 #define DRIVE_RATIO 0.75
 #define DRIVE_RPM 450
 
-bool ptoEnabled;
-
 namespace globals {
     extern pros::Controller master;
 
@@ -32,7 +30,10 @@ namespace globals {
     extern pros::Rotation rot_horiz;
     extern pros::Rotation enc_theta;
 
-    extern pros::ADIAnalogOut pto_piston;
+    extern pros::ADIDigitalOut pto_piston;
+
+    extern pros::ADIPort left_wing_piston;
+    extern pros::ADIPort right_wing_piston;
 
     extern lemlib::TrackingWheel vert_tracking_wheel;
     extern lemlib::TrackingWheel horiz_tracking_wheel;

RELENTLESS/include/superstructure.hpp

@@ -24,6 +24,6 @@ namespace superstruct {
     //- Structure methods
     void togglePto();
     void runCata();
-    void controlCata();
+    void cataControl();
     
 }

RELENTLESS/include/wings.h

@@ -8,8 +8,10 @@ class Wings {
         Wings();
         void open();
         void close();
+        void toggleLeft(int value);
+        void toggleRight(int value);
         void openFor(double duration);
-        bool getState();
+        std::uint8_t getState();
     
     private:
         std::uint8_t wingsopen;

RELENTLESS/src/ary-lib/drive/user_input.cpp

@@ -5,6 +5,14 @@ double JOYSTICK_TURN_SCALE = 1;
 
 double cata_active_brake_kp = 0.1;
 
+void Drive::save_l_curve_sd() {
+  return;
+}
+
+void Drive::save_r_curve_sd() {
+  return;
+}
+
 // Set curve defaults
 void Drive::set_curve_default(double left, double right) {
   left_curve_scale = left;

RELENTLESS/src/globals.cpp

@@ -20,9 +20,14 @@ namespace globals {
     // Electronics / Pneumatics / Sensors
     pros::Rotation rot_vert(0);
     pros::Rotation rot_horiz(1);
-    // pros::Rotation enc_right();
+
-    // pros::Rotation enc_theta();
+    pros::ADIDigitalOut pto_piston('A');
-    pros::ADIAnalogOut pto_piston('A');
+
+    // pros::ADIDigitalOut left_wing_piston(2);
+    // pros::ADIDigitalOut right_wing_piston(3);
+
+    pros::ADIPort left_wing_piston('B', pros::E_ADI_DIGITAL_OUT);
+    pros::ADIPort right_wing_piston('C', pros::E_ADI_DIGITAL_OUT);
 
     lemlib::Drivetrain_t chassis_odom {
         &left_drive,

RELENTLESS/src/main.cpp

@@ -82,7 +82,7 @@ void autonomous() {}
 void opcontrol() {
 	while (true) {	
 		chassis.tank();
-		superstruct::controlCata();
+		superstruct::cataControl();
 		pros::delay(20);
 	}
 }

RELENTLESS/src/wings.cpp

@@ -0,0 +1,51 @@
+#include "main.h"
+#include "globals.hpp"
+#include "superstructure.hpp"
+#include "wings.h"
+
+using namespace globals;
+
+Wings::Wings() {
+    close();
+    wingsopen = 0;
+};
+
+void Wings::open() {
+    left_wing_piston.set_value(1);
+    right_wing_piston.set_value(1);
+}
+
+void Wings::close() {
+    left_wing_piston.set_value(0);
+    right_wing_piston.set_value(0);
+}
+
+void Wings::toggleLeft(int value) {
+    left_wing_piston.set_value(value);   
+}
+
+void Wings::toggleRight(int value) {
+    right_wing_piston.set_value(value);
+}
+
+void Wings::openFor(double duration) {
+    open();
+    pros::delay(duration * 1000);
+    close();
+}
+
+
+/*
+    0 -> Both wings closed
+    1 -> Only right wing opened
+    2 -> Only left wing opened
+    3-> Both wings open
+*/
+std::uint8_t getState() {
+    // int stateLeft = left_wing_pisto;
+    // int stateRight = right_wing_piston.get_value();
+    return 0;
+}
+
+
+