From 94ea03c86fe10374b657347304329a4fa632c1ba Mon Sep 17 00:00:00 2001
From: ary <cjansah11@gmail.com>
Date: Fri, 8 Sep 2023 20:40:22 -0400
Subject: [PATCH] get the drive base working for 8m /6m ????

---
 RELENTLESS/include/globals.hpp        | 24 ++++++++++++-----
 RELENTLESS/include/main.h             |  2 ++
 RELENTLESS/include/superstructure.hpp |  3 +++
 RELENTLESS/src/globals.cpp            | 39 ++++++++++++++++++++-------
 RELENTLESS/src/main.cpp               |  1 +
 5 files changed, 53 insertions(+), 16 deletions(-)

diff --git a/RELENTLESS/include/globals.hpp b/RELENTLESS/include/globals.hpp
index 41920a4..2e06192 100644
--- a/RELENTLESS/include/globals.hpp
+++ b/RELENTLESS/include/globals.hpp
@@ -1,19 +1,29 @@
 #include "main.h"
 #include "okapi/api.hpp"
 #include "lemlib/api.hpp"
+#include "ary-lib/drive/drive.hpp"
+
+#define TRACK_WDITH 11.5;
 
 namespace globals {
     extern pros::Controller master;
 
-    extern pros::Motor motor_fl;
-    extern pros::Motor motor_ml;
-    extern pros::Motor motor_bl;
-    extern pros::Motor motor_fr;
-    extern pros::Motor motor_mr;
-    extern pros::Motor motor_br;
+    extern pros::Motor motor_tlf;
+    extern pros::Motor motor_tlb;
+    extern pros::Motor motor_blf;
+    extern pros::Motor motor_blb;
+    extern pros::Motor motor_trf;
+    extern pros::Motor motor_trb;
+    extern pros::Motor motor_brf;
+    extern pros::Motor motor_brb;
 
     extern pros::Motor_Group left_drive;
     extern pros::Motor_Group right_drive;
 
-    extern lemlib::Drivetrain_t drivetrain;
+    extern lemlib::Drivetrain_t chassis_odom;
+    extern Drive chassis;
+
+    extern pros::Rotation enc_left;
+    extern pros::Rotation enc_right;
+    extern pros::Rotation enc_theta;
 }
\ No newline at end of file
diff --git a/RELENTLESS/include/main.h b/RELENTLESS/include/main.h
index e9cf6f3..ab86527 100644
--- a/RELENTLESS/include/main.h
+++ b/RELENTLESS/include/main.h
@@ -43,6 +43,8 @@
 #include "ary-lib/api.hpp"
 //#include "pros/api_legacy.h"
 
+#include "autons.hpp"
+
 /**
  * If you find doing pros::Motor() to be tedious and you'd prefer just to do
  * Motor, you can use the namespace with the following commented out line.
diff --git a/RELENTLESS/include/superstructure.hpp b/RELENTLESS/include/superstructure.hpp
index e69de29..eea21d0 100644
--- a/RELENTLESS/include/superstructure.hpp
+++ b/RELENTLESS/include/superstructure.hpp
@@ -0,0 +1,3 @@
+namespace superstruct {
+    
+}
\ No newline at end of file
diff --git a/RELENTLESS/src/globals.cpp b/RELENTLESS/src/globals.cpp
index 2612f7a..f52b591 100644
--- a/RELENTLESS/src/globals.cpp
+++ b/RELENTLESS/src/globals.cpp
@@ -1,23 +1,44 @@
 #include "globals.hpp"
 
+using namespace ary;
 namespace globals {
+    // Chassis
     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 motor_tlf(4, MOTOR_GEARSET_06, true);
+    pros::Motor motor_tlb(4, MOTOR_GEARSET_06, true);
+    pros::Motor motor_blf(4, MOTOR_GEARSET_06, true);
+    pros::Motor motor_blb(4, MOTOR_GEARSET_06, true);
+    pros::Motor motor_trf(4, MOTOR_GEARSET_06, true);
+    pros::Motor motor_trb(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_Group left_drive({ motor_fl, motor_ml, motor_bl });
     pros::Motor_Group right_drive({ motor_fr, motor_mr, motor_br });
 
+    lemlib::Drivetrain_t chassis_odom {
+        &left_drive,
+        &right_drive,
+        11.5,
+        2.75, 
+        450
+    };
+
+    Drive chassis(
+        {-4,-4,-4,-4},
+        {1,1,1,1},
+        16,
+        3.125,
+        600,
+        0.6
+    ); 
+
     
-
-    // Chassis
-
     // Electronics / Pneumatics / Sensors
+    // pros::Rotation enc_left();
+    // pros::Rotation enc_right();
+    // pros::Rotation enc_theta();
 
     // Misc
 
diff --git a/RELENTLESS/src/main.cpp b/RELENTLESS/src/main.cpp
index c84bc3a..0c0cce2 100644
--- a/RELENTLESS/src/main.cpp
+++ b/RELENTLESS/src/main.cpp
@@ -80,6 +80,7 @@ void autonomous() {}
 void opcontrol() {
 
 	while (true) {
+		chassis.arcade_standard(ary::SPLIT, e_curve_type::DEFAULT);
 		
 
 		pros::delay(20);