From 833d14aee5d24ae5c2761f916e8cf866e456dd6b Mon Sep 17 00:00:00 2001 From: ary Date: Fri, 12 Jan 2024 18:24:38 -0500 Subject: [PATCH] globals and driver control w/ lem --- PROJECT-FUZZY-WUZZY/include/globals.hpp | 13 ++++++++++++- PROJECT-FUZZY-WUZZY/src/globals.cpp | 16 ++++++++-------- PROJECT-FUZZY-WUZZY/src/main.cpp | 4 ++++ 3 files changed, 24 insertions(+), 9 deletions(-) diff --git a/PROJECT-FUZZY-WUZZY/include/globals.hpp b/PROJECT-FUZZY-WUZZY/include/globals.hpp index 09c757b..9d87924 100644 --- a/PROJECT-FUZZY-WUZZY/include/globals.hpp +++ b/PROJECT-FUZZY-WUZZY/include/globals.hpp @@ -1,12 +1,23 @@ #pragma once -// CONSTANTS DEFINITIONS +/* Ports */ +#define PORT_LF 11 +#define PORT_LM 13 +#define PORT_LB 12 +#define PORT_RF 1 +#define PORT_RM 4 +#define PORT_RB 3 + +/* Chassis constants*/ #define HORIZONTAL_TW_OFFSET 1.0 #define VERTICAL_TW_OFFSET 1.0 #define CHASSIS_TRACK_WIDTH 12.5 #define CHASSIS_RPM 450 #define CHASE_POWER 2 +/* Drive constants */ +#define DRIVE_GAIN 1.0 + #include "main.h" namespace globals { diff --git a/PROJECT-FUZZY-WUZZY/src/globals.cpp b/PROJECT-FUZZY-WUZZY/src/globals.cpp index 719237a..17e6a11 100644 --- a/PROJECT-FUZZY-WUZZY/src/globals.cpp +++ b/PROJECT-FUZZY-WUZZY/src/globals.cpp @@ -6,15 +6,15 @@ using namespace lemlib; namespace globals { pros::Controller master(pros::E_CONTROLLER_MASTER); - pros::Motor left_front(1, pros::E_MOTOR_GEARSET_06, false); - pros::Motor left_middle(2, pros::E_MOTOR_GEARSET_06, false); - pros::Motor left_back(3, pros::E_MOTOR_GEARSET_06, false); - pros::Motor right_front(4, pros::E_MOTOR_GEARSET_06, false); - pros::Motor right_middle(5, pros::E_MOTOR_GEARSET_06, false); - pros::Motor right_back(6, pros::E_MOTOR_GEARSET_06, false); + pros::Motor motor_LF(PORT_LF, pros::E_MOTOR_GEARSET_06, true); + pros::Motor motor_LM(PORT_LM, pros::E_MOTOR_GEARSET_06, true); + pros::Motor motor_LB(PORT_LB, pros::E_MOTOR_GEARSET_06, true); + pros::Motor motor_RF(PORT_RF, pros::E_MOTOR_GEARSET_06, false); + pros::Motor motor_RM(PORT_RM, pros::E_MOTOR_GEARSET_06, false); + pros::Motor motor_RB(PORT_RB, pros::E_MOTOR_GEARSET_06, false); - pros::Motor_Group left_drive({ left_front, left_middle, left_back }); - pros::Motor_Group right_drive({ right_front, right_middle, right_back }); + pros::Motor_Group left_drive({ motor_LF, motor_LM, motor_LB }); + pros::Motor_Group right_drive({ motor_RF, motor_RM, motor_RB }); pros::Imu imu(7); diff --git a/PROJECT-FUZZY-WUZZY/src/main.cpp b/PROJECT-FUZZY-WUZZY/src/main.cpp index 4b07a0c..2801edf 100644 --- a/PROJECT-FUZZY-WUZZY/src/main.cpp +++ b/PROJECT-FUZZY-WUZZY/src/main.cpp @@ -28,6 +28,10 @@ void autonomous() {} void opcontrol() { while (true) { + int leftY = globals::master.get_analog(pros::E_CONTROLLER_ANALOG_LEFT_Y); + int rightY = globals::master.get_analog(pros::E_CONTROLLER_ANALOG_RIGHT_Y); + + globals::chassis.tank(leftY, rightY, DRIVE_GAIN); pros::delay(20); } }