That-One-Nerd/ary-over-under
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update practice chassis

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- update motor ports for practice chassis
- configure chassis to move from 360 rpm -> 450 rpm on 2.75
This commit is contained in:
ary 2023-10-02 10:04:21 -04:00
parent f911e0975a
commit b615a1ce1c
2 changed files with 19 additions and 18 deletions
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23
RELENTLESS-Lite/src/globals.cpp
View File

@ -5,12 +5,12 @@ namespace globals {
// Chassis // Chassis
pros::Controller master(CONTROLLER_MASTER); 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_ml(17, MOTOR_GEARSET_6, true);
pros::Motor motor_bl(7, MOTOR_GEARSET_6, false); pros::Motor motor_bl(8, MOTOR_GEARSET_6, false);
pros::Motor motor_fr(11, MOTOR_GEARSET_6, false); pros::Motor motor_fr(12, MOTOR_GEARSET_6, false);
pros::Motor motor_mr(20, MOTOR_GEARSET_6, false); pros::Motor motor_mr(1, MOTOR_GEARSET_6, false);
pros::Motor motor_br(4, MOTOR_GEARSET_6, true); pros::Motor motor_br(2, MOTOR_GEARSET_6, true);
pros::Motor_Group left_drive({ motor_fl, motor_ml, motor_bl }); pros::Motor_Group left_drive({ motor_fl, motor_ml, motor_bl });
pros::Motor_Group right_drive({ motor_fr, motor_mr, motor_br }); pros::Motor_Group right_drive({ motor_fr, motor_mr, motor_br });
@ -18,6 +18,7 @@ namespace globals {
/* /*
Two seperate drivetrains, chassis Two seperate drivetrains, chassis
*/ */
lemlib::Drivetrain_t chassis_odom { lemlib::Drivetrain_t chassis_odom {
&left_drive, &left_drive,
&right_drive, &right_drive,
@ -27,16 +28,16 @@ namespace globals {
}; };
Drive chassis( Drive chassis(
{-8, -17, 7}, {-20, -17, 8},
{11, 20, -4}, {12, 1, -4},
2, 2,
3.25, 2.75,
600, 600,
0.6 0.75
); );
pros::Motor cata_left(15, MOTOR_GEAR_100, true); // pros::Motor cata_left(15, MOTOR_GEAR_100, true);
pros::Motor cata_right(13, MOTOR_GEAR_100, false); // pros::Motor cata_right(13, MOTOR_GEAR_100, false);
// Electronics / Pneumatics / Sensors // Electronics / Pneumatics / Sensors

14
RELENTLESS-Lite/src/main.cpp
View File

@ -79,13 +79,13 @@ void opcontrol() {
//chassis.arcade_standard(ary::SPLIT, ary::DEFAULT); //chassis.arcade_standard(ary::SPLIT, ary::DEFAULT);
chassis.tank(); chassis.tank();
if (globals::master.get_digital(DIGITAL_R1)) { // if (globals::master.get_digital(DIGITAL_R1)) {
cata_left.move_voltage(12000); // cata_left.move_voltage(12000);
cata_right.move_voltage(-12000); // cata_right.move_voltage(-12000);
} else { // } else {
cata_left.move_voltage(0); // cata_left.move_voltage(0);
cata_right.move_voltage(0); // cata_right.move_voltage(0);
} // }
pros::delay(ary::util::DELAY_TIME); pros::delay(ary::util::DELAY_TIME);
} }