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update chassis motors/imu

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ary 2023-12-12 08:06:47 -05:00
parent d404d7339f
commit 35cd4e24c4
2 changed files with 26 additions and 22 deletions
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13
CLOUDS/include/globals.hpp
View File

@ -10,7 +10,8 @@
#define DRIVE_RATIO 0.75 #define DRIVE_RATIO 0.75
#define DRIVE_RPM 450 #define DRIVE_RPM 450
namespace globals { namespace globals
{
extern pros::Controller master; extern pros::Controller master;
extern pros::Motor motor_tlf; extern pros::Motor motor_tlf;
@ -31,17 +32,19 @@ namespace globals {
extern pros::ADIDigitalOut pto_piston; extern pros::ADIDigitalOut pto_piston;
extern pros::ADIDigitalOut left_wing_piston; extern pros::ADIDigitalOut left_wing_piston;
extern pros::ADIDigitalOut right_wing_piston; extern pros::ADIDigitalOut right_wing_piston;
extern pros::ADIDigitalOut climb_piston; extern pros::ADIDigitalOut climb_piston_one;
extern pros::ADIDigitalOut climb_piston_two;
extern Wings wings; extern Wings wings;
extern Timer timer; extern Timer timer;
extern Drive chassis; extern Drive chassis;
extern pros::Motor& intake_mtr; extern pros::Motor &intake_mtr;
extern pros::Motor& cata_mtr; extern pros::Motor &cata_mtr;
enum e_controlsch { enum e_controlsch
{
RENU, RENU,
RIA, RIA,
CHRIS CHRIS

31
CLOUDS/src/globals.cpp
View File

@ -17,32 +17,33 @@ namespace globals {
{-16, 1, 4, -3}, -> right {-16, 1, 4, -3}, -> right
*/ */
pros::Motor motor_tlf(14, MOTOR_GEARSET_06, false); pros::Motor motor_tlf(8, MOTOR_GEARSET_06, false);
pros::Motor motor_blb(9, MOTOR_GEARSET_06, true); pros::Motor motor_blb(12, MOTOR_GEARSET_06, true);
pros::Motor motor_blf(2, MOTOR_GEARSET_06, true); pros::Motor motor_blf(19, MOTOR_GEARSET_06, true);
pros::Motor motor_tlb(7, MOTOR_GEARSET_06, false); pros::Motor motor_tlb(15, MOTOR_GEARSET_06, false);
pros::Motor motor_trf(15, MOTOR_GEARSET_06, true); pros::Motor motor_trf(7, MOTOR_GEARSET_06, true);
pros::Motor motor_trb(6, MOTOR_GEARSET_06, true); pros::Motor motor_trb(16, MOTOR_GEARSET_06, true);
pros::Motor motor_brf(12, MOTOR_GEARSET_06, false); pros::Motor motor_brf(9, MOTOR_GEARSET_06, false);
pros::Motor motor_brb(5, MOTOR_GEARSET_06, false); pros::Motor motor_brb(17, MOTOR_GEARSET_06, false);
pros::Imu inertial_sensor(11); pros::Imu inertial_sensor(10);
pros::Motor_Group left_drive({ motor_tlf, motor_tlb, motor_blf, motor_blb }); pros::Motor_Group left_drive({ motor_tlf, motor_tlb, motor_blf, motor_blb });
pros::Motor_Group right_drive({ motor_trf, motor_trb, motor_brf, motor_brb }); pros::Motor_Group right_drive({ motor_trf, motor_trb, motor_brf, motor_brb });
/* PNEUMATICS */ /* PNEUMATICS */
pros::ADIDigitalOut pto_piston('A'); pros::ADIDigitalOut pto_piston('H');
pros::ADIDigitalOut left_wing_piston('E'); pros::ADIDigitalOut left_wing_piston('A');
pros::ADIDigitalOut right_wing_piston('F'); pros::ADIDigitalOut right_wing_piston('B');
pros::ADIDigitalOut climb_piston('B'); pros::ADIDigitalOut climb_piston_one('C');
pros::ADIDigitalOut climb_piston_two('D');
Wings wings; Wings wings;
Timer timer; Timer timer;
Drive chassis( Drive chassis(
{14, -9, -2, 7}, { 8, -12, -19, 15 },
{-15, 12, 5, -6}, { -7, 9, 17, -16 },
18, 18,
WHEEL_SIZE, WHEEL_SIZE,
600, 600,