finish implementing base for scrim bot

horrible code yet again, implement everyting

RELENTLESS-Lite/src/main.cpp

@@ -1,93 +1,66 @@
 #include "main.h"
+#include "globals.hpp"
+#include "autons.hpp"
+#include "superstructure.hpp"
+#include "arylib/autonselector.hpp"
 
-/**
+using namespace superstruct;
- * A callback function for LLEMU's center button.
+using namespace globals;
- *
- * When this callback is fired, it will toggle line 2 of the LCD text between
- * "I was pressed!" and nothing.
- */
-void on_center_button() {
-	static bool pressed = false;
-	pressed = !pressed;
-	if (pressed) {
-		pros::lcd::set_text(2, "I was pressed!");
-	} else {
-		pros::lcd::clear_line(2);
-	}
-}
 
-/**
- * Runs initialization code. This occurs as soon as the program is started.
- *
- * All other competition modes are blocked by initialize; it is recommended
- * to keep execution time for this mode under a few seconds.
- */
 void initialize() {
-	pros::lcd::initialize();
+  ary::print_ez_template();
-	pros::lcd::set_text(1, "Hello PROS User!");
   
-	pros::lcd::register_btn1_cb(on_center_button);
+  pros::delay(500); // legacy ports configure
+
+  chassis.set_curve_buttons(pros::E_CONTROLLER_DIGITAL_LEFT, pros::E_CONTROLLER_DIGITAL_RIGHT);
+  chassis.toggle_modify_curve_with_controller(true);
+  chassis.set_active_brake(0.1);
+  chassis.set_curve_default(0, 0);
+
+  chassis.set_joystick_drivescale(1.0);
+  chassis.set_joystick_turnscale(0.75);
+
+  default_constants(); 
+  exit_condition_defaults();
+
+  ary::autonselector::auton_selector.add_autons({
+    Auton("Test Auton\n\nTesting Autonomous on field", test_auton),
+  });
+
+  chassis.initialize();
+  ary::autonselector::initialize();
 }
 
-/**
- * Runs while the robot is in the disabled state of Field Management System or
- * the VEX Competition Switch, following either autonomous or opcontrol. When
- * the robot is enabled, this task will exit.
- */
-void disabled() {}
 
-/**
- * Runs after initialize(), and before autonomous when connected to the Field
- * Management System or the VEX Competition Switch. This is intended for
- * competition-specific initialization routines, such as an autonomous selector
- * on the LCD.
- *
- * This task will exit when the robot is enabled and autonomous or opcontrol
- * starts.
- */
-void competition_initialize() {}
 
-/**
+// fms / comp switch disable
- * Runs the user autonomous code. This function will be started in its own task
+void disabled() {
- * with the default priority and stack size whenever the robot is enabled via
+  // . . .
- * the Field Management System or the VEX Competition Switch in the autonomous
+}
- * mode. Alternatively, this function may be called in initialize or opcontrol
+
- * for non-competition testing purposes.
+
- *
+
- * If the robot is disabled or communications is lost, the autonomous task
+// run after init if comp control
- * will be stopped. Re-enabling the robot will restart the task, not re-start it
+void competition_initialize() {
- * from where it left off.
+  // . . .
- */
+}
-void autonomous() {}
+
+void autonomous() {
+  chassis.reset_pid_targets();
+  chassis.reset_gyro();
+  chassis.reset_drive_sensor();
+  chassis.set_drive_brake(MOTOR_BRAKE_HOLD);
+
+  ary::autonselector::auton_selector.call_selected_auton();
+}
 
-/**
- * Runs the operator control code. This function will be started in its own task
- * with the default priority and stack size whenever the robot is enabled via
- * the Field Management System or the VEX Competition Switch in the operator
- * control mode.
- *
- * If no competition control is connected, this function will run immediately
- * following initialize().
- *
- * If the robot is disabled or communications is lost, the
- * operator control task will be stopped. Re-enabling the robot will restart the
- * task, not resume it from where it left off.
- */
 void opcontrol() {
-	pros::Controller master(pros::E_CONTROLLER_MASTER);
+  chassis.set_drive_brake(MOTOR_BRAKE_COAST);
-	pros::Motor left_mtr(1);
-	pros::Motor right_mtr(2);
 
-	while (true) {
+  while (true) {
-		pros::lcd::print(0, "%d %d %d", (pros::lcd::read_buttons() & LCD_BTN_LEFT) >> 2,
+    chassis.arcade_standard(ary::SINGLE, ary::DEFAULT); // Flipped single arcade
-		                 (pros::lcd::read_buttons() & LCD_BTN_CENTER) >> 1,
-		                 (pros::lcd::read_buttons() & LCD_BTN_RIGHT) >> 0);
-		int left = master.get_analog(ANALOG_LEFT_Y);
-		int right = master.get_analog(ANALOG_RIGHT_Y);
 
-		left_mtr = left;
-		right_mtr = right;
 
-		pros::delay(20);
+    pros::delay(ary::util::DELAY_TIME);
-	}
+  }
 }