That-One-Nerd/ary-over-under
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clean code up

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ary 2023-10-10 08:36:12 -04:00
parent 098088c1eb
commit 8a00af52a2
5 changed files with 24 additions and 15 deletions
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2
RELENTLESS/include/ary-lib/drive/drive.hpp
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@ -213,7 +213,7 @@ class Drive {
* Sets the chassis to controller joysticks using tank control. Run is usercontrol. * Sets the chassis to controller joysticks using tank control. Run is usercontrol.
* This passes the controller through the curve functions, but is disabled by default. Use toggle_controller_curve_modifier() to enable it. * This passes the controller through the curve functions, but is disabled by default. Use toggle_controller_curve_modifier() to enable it.
*/ */
void tank(); void tank_control();
/** /**
* Sets the chassis to controller joysticks using standard arcade control. Run is usercontrol. * Sets the chassis to controller joysticks using standard arcade control. Run is usercontrol.

2
RELENTLESS/include/superstructure.hpp
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@ -9,6 +9,7 @@
namespace superstruct { namespace superstruct {
//configs //configs
void chassisInit(); void chassisInit();
void opControlInit();
void configureExitConditions(); void configureExitConditions();
void configureConstants(); void configureConstants();
void autonomousResets(); void autonomousResets();
@ -37,5 +38,6 @@ namespace superstruct {
void togglePto(); void togglePto();
void runCata(); void runCata();
void cataControl(); void cataControl();
void wingsControl();
} }

2
RELENTLESS/src/ary-lib/drive/user_input.cpp
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@ -166,7 +166,7 @@ void Drive::joy_thresh_opcontrol(int l_stick, int r_stick) {
} }
// Tank control // Tank control
void Drive::tank() { void Drive::tank_control() {
is_tank = true; is_tank = true;
reset_drive_sensors_opcontrol(); reset_drive_sensors_opcontrol();

16
RELENTLESS/src/main.cpp
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@ -93,22 +93,12 @@ void autonomous() {
* task, not resume it from where it left off. * task, not resume it from where it left off.
*/ */
void opcontrol() { void opcontrol() {
motorsCoast(); opControlInit();
disableActiveBrake();
while (true) { while (true) {
chassis.tank(); chassis.tank_control();
superstruct::cataControl(); superstruct::cataControl();
superstruct::wingsControl();
if (globals::master.get_digital_new_press(DIGITAL_L2)) {
left_wing_piston.set_value(1);
right_wing_piston.set_value(1);
}
if (globals::master.get_digital_new_press(DIGITAL_L1)) {
left_wing_piston.set_value(0);
right_wing_piston.set_value(0);
}
pros::delay(ary::util::DELAY_TIME); pros::delay(ary::util::DELAY_TIME);
} }

17
RELENTLESS/src/superstructure.cpp
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@ -29,6 +29,11 @@ namespace superstruct {
chassis.set_joystick_turnscale(1.0); chassis.set_joystick_turnscale(1.0);
} }
void opControlInit() {
motorsCoast();
disableActiveBrake();
}
void configureExitConditions() { void configureExitConditions() {
chassis.set_exit_condition(chassis.turn_exit, 100, 3, 500, 7, 500, 500); chassis.set_exit_condition(chassis.turn_exit, 100, 3, 500, 7, 500, 500);
chassis.set_exit_condition(chassis.swing_exit, 100, 3, 500, 7, 500, 500); chassis.set_exit_condition(chassis.swing_exit, 100, 3, 500, 7, 500, 500);
@ -157,4 +162,16 @@ namespace superstruct {
runCata(0); runCata(0);
} }
} }
void wingsControl() {
if (globals::master.get_digital_new_press(DIGITAL_L2)) {
left_wing_piston.set_value(1);
right_wing_piston.set_value(1);
}
if (globals::master.get_digital_new_press(DIGITAL_L1)) {
left_wing_piston.set_value(0);
right_wing_piston.set_value(0);
}
}
} }