That-One-Nerd/ary-over-under
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fix xd

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ary 2023-11-18 21:07:41 -05:00
parent f6933831d3
commit 97503a8551
1 changed files with 4 additions and 5 deletions
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9
RUN-THAT-BACK/src/main.cpp
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@ -19,12 +19,11 @@ pros::MotorGroup leftMotors({lF, lM, lB}); // left motor group
pros::MotorGroup rightMotors({rF, rM, rB}); // right motor group
// Inertial Sensor on port 11
pros::Imu imu(12);
pros::Imu imu(21);
// tracking wheels
pros::Rotation horizontalEnc(4);
// horizontal tracking wheel. 2.75" diameter, 3.7" offset, back of the robot
lemlib::TrackingWheel horizontal(&horizontalEnc, lemlib::Omniwheel::NEW_275, -3.7);
//pros::Rotation horizontalEnc(4);
// horizontal tracking wheel. 2.75" diameter, 3.7" offset, back of the robot;
// drivetrain settings
lemlib::Drivetrain drivetrain(&leftMotors, // left motor group
@ -59,7 +58,7 @@ lemlib::ControllerSettings angularController(2, // proportional gain (kP)
// note that in this example we use internal motor encoders, so we don't pass vertical tracking wheels
lemlib::OdomSensors sensors(nullptr, // vertical tracking wheel 1, set to nullptr as we don't have one
nullptr, // vertical tracking wheel 2, set to nullptr as we don't have one
&horizontal, // horizontal tracking wheel 1
nullptr, // horizontal tracking wheel 1
nullptr, // horizontal tracking wheel 2, set to nullptr as we don't have a second one
&imu // inertial sensor
);