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update comp chassis

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ary 2023-09-22 10:25:50 -04:00
parent 9a41fd5767
commit 86df220938
2 changed files with 25 additions and 15 deletions
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15
RELENTLESS/include/globals.hpp
View File

@ -3,7 +3,10 @@
#include "lemlib/api.hpp" #include "lemlib/api.hpp"
#include "ary-lib/drive/drive.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 { namespace globals {
extern pros::Controller master; extern pros::Controller master;
@ -21,9 +24,13 @@ namespace globals {
extern pros::Motor_Group right_drive; extern pros::Motor_Group right_drive;
extern lemlib::Drivetrain_t chassis_odom; extern lemlib::Drivetrain_t chassis_odom;
extern Drive chassis;
extern pros::Rotation enc_left; extern pros::Rotation rot_vert;
extern pros::Rotation enc_right; extern pros::Rotation rot_horiz;
extern pros::Rotation enc_theta; extern pros::Rotation enc_theta;
extern lemlib::TrackingWheel vert_tracking_wheel;
extern lemlib::TrackingWheel horiz_tracking_wheel;
extern Drive chassis;
} }

25
RELENTLESS/src/globals.cpp
View File

@ -14,32 +14,35 @@ namespace globals {
pros::Motor motor_brf(4, MOTOR_GEARSET_06, true); pros::Motor motor_brf(4, MOTOR_GEARSET_06, true);
pros::Motor motor_brb(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 left_drive({ motor_tlf, motor_tlb, motor_blf, motor_blb });
pros::Motor_Group right_drive({ motor_fr, motor_mr, motor_br }); 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 { lemlib::Drivetrain_t chassis_odom {
&left_drive, &left_drive,
&right_drive, &right_drive,
11.5, 11.5,
2.75, WHEEL_SIZE,
450 450
}; };
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( Drive chassis(
{-4,-4,-4,-4}, {-4,-4,-4,-4},
{1,1,1,1}, {1,1,1,1},
16, 16,
3.125, WHEEL_SIZE,
600, 600,
0.6 DRIVE_RATIO
); );
// Electronics / Pneumatics / Sensors
// pros::Rotation enc_left();
// pros::Rotation enc_right();
// pros::Rotation enc_theta();
// Misc // Misc
} }