That-One-Nerd/ary-over-under
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

finish implementing base for scrim bot

Browse Source 
horrible code yet again, implement everyting
This commit is contained in:
ary 2023-09-09 13:37:14 -04:00
parent f027da53a2
commit 4c7f4e6943
1 changed files with 52 additions and 79 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

125
RELENTLESS-Lite/src/main.cpp
View File

@ -1,93 +1,66 @@
#include "main.h"
#include "globals.hpp"
#include "autons.hpp"
#include "superstructure.hpp"
#include "arylib/autonselector.hpp"
/**
* A callback function for LLEMU's center button.
*
* 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);
}
}
using namespace superstruct;
using namespace globals;
/**
* 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();
pros::lcd::set_text(1, "Hello PROS User!");
ary::print_ez_template();
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() {}
/**
* Runs the user autonomous 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 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
* will be stopped. Re-enabling the robot will restart the task, not re-start it
* from where it left off.
*/
void autonomous() {}
// fms / comp switch disable
void disabled() {
// . . .
}
// run after init if comp control
void competition_initialize() {
// . . .
}
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);
pros::Motor left_mtr(1);
pros::Motor right_mtr(2);
chassis.set_drive_brake(MOTOR_BRAKE_COAST);
while (true) {
pros::lcd::print(0, "%d %d %d", (pros::lcd::read_buttons() & LCD_BTN_LEFT) >> 2,
(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);
chassis.arcade_standard(ary::SINGLE, ary::DEFAULT); // Flipped single arcade
left_mtr = left;
right_mtr = right;
pros::delay(20);
pros::delay(ary::util::DELAY_TIME);
}
}