That-One-Nerd/ary-over-under
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

get the drive base working for 8m /6m ????

Browse Source
This commit is contained in:
ary 2023-09-08 20:40:22 -04:00
parent 519db2a3a3
commit 94ea03c86f
5 changed files with 53 additions and 16 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

24
RELENTLESS/include/globals.hpp
View File

@ -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;
}

2
RELENTLESS/include/main.h
View File

@ -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.

3
RELENTLESS/include/superstructure.hpp
View File

@ -0,0 +1,3 @@
namespace superstruct {
}

35
RELENTLESS/src/globals.cpp
View File

@ -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

1
RELENTLESS/src/main.cpp
View File

@ -80,6 +80,7 @@ void autonomous() {}
void opcontrol() {
while (true) {
chassis.arcade_standard(ary::SPLIT, e_curve_type::DEFAULT);
pros::delay(20);