From 86df2209380969c1edaaae7beb81cbaf21209a71 Mon Sep 17 00:00:00 2001
From: ary <cjansah11@gmail.com>
Date: Fri, 22 Sep 2023 10:25:50 -0400
Subject: [PATCH] update comp chassis

---
 RELENTLESS/include/globals.hpp | 15 +++++++++++----
 RELENTLESS/src/globals.cpp     | 25 ++++++++++++++-----------
 2 files changed, 25 insertions(+), 15 deletions(-)

diff --git a/RELENTLESS/include/globals.hpp b/RELENTLESS/include/globals.hpp
index 2e06192..60a0ca9 100644
--- a/RELENTLESS/include/globals.hpp
+++ b/RELENTLESS/include/globals.hpp
@@ -3,7 +3,10 @@
 #include "lemlib/api.hpp"
 #include "ary-lib/drive/drive.hpp"
 
-#define TRACK_WDITH 11.5;
+#define TRACK_WDITH 11.5
+#define PLACEHOLDER_TC_OFFSET 2.5
+#define WHEEL_SIZE 2.75
+#define DRIVE_RATIO 0.75
 
 namespace globals {
     extern pros::Controller master;
@@ -21,9 +24,13 @@ namespace globals {
     extern pros::Motor_Group right_drive;
 
     extern lemlib::Drivetrain_t chassis_odom;
-    extern Drive chassis;
 
-    extern pros::Rotation enc_left;
-    extern pros::Rotation enc_right;
+    extern pros::Rotation rot_vert;
+    extern pros::Rotation rot_horiz;
     extern pros::Rotation enc_theta;
+
+    extern lemlib::TrackingWheel vert_tracking_wheel;
+    extern lemlib::TrackingWheel horiz_tracking_wheel;
+
+    extern Drive chassis;
 }
\ No newline at end of file
diff --git a/RELENTLESS/src/globals.cpp b/RELENTLESS/src/globals.cpp
index f52b591..38b1480 100644
--- a/RELENTLESS/src/globals.cpp
+++ b/RELENTLESS/src/globals.cpp
@@ -14,32 +14,35 @@ namespace globals {
     pros::Motor motor_brf(4, MOTOR_GEARSET_06, true);
     pros::Motor motor_brb(4, MOTOR_GEARSET_06, true);
 
-    pros::Motor_Group left_drive({ motor_fl, motor_ml, motor_bl });
-    pros::Motor_Group right_drive({ motor_fr, motor_mr, motor_br });
+    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 });
+
+    // Electronics / Pneumatics / Sensors
+    pros::Rotation rot_vert(0);
+    pros::Rotation rot_horiz(1);
+    // pros::Rotation enc_right();
+    // pros::Rotation enc_theta();
 
     lemlib::Drivetrain_t chassis_odom {
         &left_drive,
         &right_drive,
         11.5,
-        2.75, 
+        WHEEL_SIZE, 
         450
     };
 
+    lemlib::TrackingWheel vert_tracking_wheel(&rot_vert, 2.75, PLACEHOLDER_TC_OFFSET, 1); // subject to change: p3 -> tracking center offset
+    lemlib::TrackingWheel hroiz_tracking_wheel(&rot_horiz, 2.75, PLACEHOLDER_TC_OFFSET, 1); 
+
     Drive chassis(
         {-4,-4,-4,-4},
         {1,1,1,1},
         16,
-        3.125,
+        WHEEL_SIZE,
         600,
-        0.6
+        DRIVE_RATIO
     ); 
 
-    
-    // Electronics / Pneumatics / Sensors
-    // pros::Rotation enc_left();
-    // pros::Rotation enc_right();
-    // pros::Rotation enc_theta();
-
     // Misc
 
 }
\ No newline at end of file