From b615a1ce1c4b158a253d2f7f646764dc82331cc5 Mon Sep 17 00:00:00 2001
From: ary <cjansah11@gmail.com>
Date: Mon, 2 Oct 2023 10:04:21 -0400
Subject: [PATCH] update practice chassis

- update motor ports for practice chassis
- configure chassis to move from 360 rpm -> 450 rpm on 2.75
---
 RELENTLESS-Lite/src/globals.cpp | 23 ++++++++++++-----------
 RELENTLESS-Lite/src/main.cpp    | 14 +++++++-------
 2 files changed, 19 insertions(+), 18 deletions(-)

diff --git a/RELENTLESS-Lite/src/globals.cpp b/RELENTLESS-Lite/src/globals.cpp
index ced4502..709a0d1 100644
--- a/RELENTLESS-Lite/src/globals.cpp
+++ b/RELENTLESS-Lite/src/globals.cpp
@@ -5,12 +5,12 @@ namespace globals {
     // Chassis
     pros::Controller master(CONTROLLER_MASTER);
 
-    pros::Motor motor_fl(8, MOTOR_GEARSET_6, true);
+    pros::Motor motor_fl(20, MOTOR_GEARSET_6, true);
     pros::Motor motor_ml(17, MOTOR_GEARSET_6, true);
-    pros::Motor motor_bl(7, MOTOR_GEARSET_6, false);
-    pros::Motor motor_fr(11, MOTOR_GEARSET_6, false);
-    pros::Motor motor_mr(20, MOTOR_GEARSET_6, false);
-    pros::Motor motor_br(4, MOTOR_GEARSET_6, true);
+    pros::Motor motor_bl(8, MOTOR_GEARSET_6, false);
+    pros::Motor motor_fr(12, MOTOR_GEARSET_6, false);
+    pros::Motor motor_mr(1, MOTOR_GEARSET_6, false);
+    pros::Motor motor_br(2, MOTOR_GEARSET_6, true);
 
     pros::Motor_Group left_drive({ motor_fl, motor_ml, motor_bl });
     pros::Motor_Group right_drive({ motor_fr, motor_mr, motor_br });
@@ -18,6 +18,7 @@ namespace globals {
     /*
         Two seperate drivetrains, chassis 
     */
+
     lemlib::Drivetrain_t chassis_odom {
         &left_drive,
         &right_drive,
@@ -27,16 +28,16 @@ namespace globals {
     };
 
     Drive chassis(
-        {-8, -17, 7},
-        {11, 20, -4},
+        {-20, -17, 8},
+        {12, 1, -4},
         2,
-        3.25,
+        2.75,
         600,
-        0.6
+        0.75
     );
 
-    pros::Motor cata_left(15, MOTOR_GEAR_100, true);
-    pros::Motor cata_right(13, MOTOR_GEAR_100, false);
+    // pros::Motor cata_left(15, MOTOR_GEAR_100, true);
+    // pros::Motor cata_right(13, MOTOR_GEAR_100, false);
 
     
     // Electronics / Pneumatics / Sensors
diff --git a/RELENTLESS-Lite/src/main.cpp b/RELENTLESS-Lite/src/main.cpp
index 7f9b5e2..158134e 100644
--- a/RELENTLESS-Lite/src/main.cpp
+++ b/RELENTLESS-Lite/src/main.cpp
@@ -79,13 +79,13 @@ void opcontrol() {
     //chassis.arcade_standard(ary::SPLIT, ary::DEFAULT);
     chassis.tank();
 
-    if  (globals::master.get_digital(DIGITAL_R1)) {
-      cata_left.move_voltage(12000);
-      cata_right.move_voltage(-12000);
-    } else {
-      cata_left.move_voltage(0);
-      cata_right.move_voltage(0);
-    }
+    // if  (globals::master.get_digital(DIGITAL_R1)) {
+    //   cata_left.move_voltage(12000);
+    //   cata_right.move_voltage(-12000);
+    // } else {
+    //   cata_left.move_voltage(0);
+    //   cata_right.move_voltage(0);
+    // }
     pros::delay(ary::util::DELAY_TIME);
   }