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fix some more things

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ary 2023-09-08 17:45:46 -04:00
parent ce29e23659
commit 519db2a3a3
1 changed files with 13 additions and 21 deletions
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34
RELENTLESS/src/globals.cpp
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@ -1,29 +1,21 @@
#include "globals.hpp"
namespace globals {
std::shared_ptr<okapi::Controller> controller(new Controller(ControllerId::master));
pros::Controller master(CONTROLLER_MASTER);
pros::Motor motor_fl(4, MOTOR_GEARSET_6, true);
pros::Motor motor_ml(4, MOTOR_GEARSET_6, true);
pros::Motor motor_bl(4, MOTOR_GEARSET_6, true);
pros::Motor motor_fr(4, MOTOR_GEARSET_6, false);
pros::Motor motor_mr(4, MOTOR_GEARSET_6, false);
pros::Motor motor_br(4, MOTOR_GEARSET_6, false);
pros::Motor_Group left_drive({ motor_fl, motor_ml, motor_bl });
pros::Motor_Group right_drive({ motor_fr, motor_mr, motor_br });
// Chassis
okapi::Motor motor_fl(1, false, AbstractMotor::gearset::blue, AbstractMotor::encoderUnits::degrees);
okapi::Motor motor_ml(2, false, AbstractMotor::gearset::blue, AbstractMotor::encoderUnits::degrees);
okapi::Motor motor_bl(3, false, AbstractMotor::gearset::blue, AbstractMotor::encoderUnits::degrees);
okapi::Motor motor_fr(4, true, AbstractMotor::gearset::blue, AbstractMotor::encoderUnits::degrees);
okapi::Motor motor_mr(5, true, AbstractMotor::gearset::blue, AbstractMotor::encoderUnits::degrees);
okapi::Motor motor_br(6, true, AbstractMotor::gearset::blue, AbstractMotor::encoderUnits::degrees);
std::shared_ptr<okapi::MotorGroup> left_drive(new MotorGroup({motor_fl, motor_ml, motor_bl}));
std::shared_ptr<okapi::MotorGroup> right_drive(new MotorGroup({motor_fr, motor_mr, motor_br}));
std::shared_ptr<okapi::ChassisController> chassis =
ChassisControllerBuilder()
.withMotors(left_drive, right_drive)
.withDimensions({AbstractMotor::gearset::blue, 1.5}, {{3.25_in, 28_cm}, 300 * 1.5})
.withGains(
{0.45, 0, 5},
{11, 0, 20},
{0.001, 0, 0.0001}
)
.build();
// Electronics / Pneumatics / Sensors