robotics is beautiful

final touches
- finish wing logic
- get respective driver controls implemented
- cry a little bit

RELENTLESS/include/globals.hpp

@@ -1,3 +1,5 @@
+#pragma once
+
 #include "main.h"
 #include "Wings.h"
 
@@ -7,6 +9,8 @@
 #define DRIVE_RATIO 0.75
 #define DRIVE_RPM 450
 
+
+
 namespace globals {
     extern pros::Controller master;
 
@@ -33,6 +37,8 @@ namespace globals {
     extern pros::ADIDigitalOut left_wing_piston;
     extern pros::ADIDigitalOut right_wing_piston;
 
+    extern pros::ADIDigitalOut intake_piston;
+
     extern Wings wings;
 
     extern lemlib::TrackingWheel vert_tracking_wheel;

RELENTLESS/include/superstructure.hpp

@@ -4,6 +4,21 @@
 #define TURN_SPEED 90
 #define SWING_SPEED 90
 
+// Renu's control preferences
+#define RENU_PTO_TOGGLE DIGITAL_R2
+#define RENU_CATA_CONTROL DIGITAL_R1
+#define RENU_INTAKE_CONTROL DIGITAL_L1
+#define RENU_LEFT_WING_CONTROL DIGITAL_LEFT
+#define RENU_RIGHT_WING_CONTROL DIGITAL_RIGHT
+#define RENU_WING_CONTROL DIGITAL_L2
+
+// Ria's control preferences
+#define RIA_PTO_TOGGLE DIGITAL_LEFT
+#define RIA_CATA_CONTROL DIGITAL_A
+#define RIA_INTAKE_CONTORL DIGITAL_R1
+#define RIA_WINGS_CONTROL DIGITAL_L1
+
+
 namespace superstruct {
     //configs
     void chassisInit();
@@ -33,9 +48,15 @@ namespace superstruct {
     void setSwingScale(double val);
 
     //- Structure methods
+    void intakeControl(pros::controller_digital_e_t intakeButton);
     void togglePto();
     void runCata();
-    void cataControl();
+    void cataControl(pros::controller_digital_e_t ptoToggleButton, pros::controller_digital_e_t cataRunButton);
     void wingsControl();
+    void wingsControlSingle(pros::controller_digital_e_t wingControlButton);
+    void wingsControlComplex(pros::controller_analog_e_t leftWingButton, pros::controller_analog_e_t rightWingButton, pros::controller_analog_e_t wingButton);
+
+    void renu_control();
+    void ria_control();
     
 }

RELENTLESS/src/globals.cpp

@@ -26,6 +26,8 @@ namespace globals {
     pros::ADIDigitalOut left_wing_piston('C');
     pros::ADIDigitalOut right_wing_piston('B');
 
+    pros::ADIDigitalOut intake_piston('D');
+
     Wings wings;
 
     lemlib::Drivetrain_t chassis_odom {

RELENTLESS/src/main.cpp

@@ -4,6 +4,8 @@
 using namespace globals;
 using namespace superstruct;
 
+e_controlsch currentuser = RENU;
+
 /**
  * A callback function for LLEMU's center button.
  *
@@ -97,8 +99,14 @@ void opcontrol() {
 
 	while (true) {	
 		chassis.tank_control();
-		superstruct::cataControl();
+
-		superstruct::wingsControl();
+		if (currentuser == RENU) {
+			renu_control();
+		} else if (currentuser = RIA) {
+			ria_control();
+		} else {
+			renu_control();
+		}
 
  		pros::delay(ary::util::DELAY_TIME);
 	}

RELENTLESS/src/superstructure.cpp

@@ -4,6 +4,8 @@ using namespace ary;
 using namespace globals;
 
 bool ptoEnabled = false;
+bool wingsOpen = false;
+bool intakeEngaged = false;
 
 double speedScale = 1.0;
 double turnScale = 1.0;
@@ -129,6 +131,17 @@ namespace superstruct {
   }
 
   // Structure methods
+  void intakeControl(pros::controller_digital_e_t intakeButton) {
+    if (globals::master.get_digital_new_press(intakeButton)) {
+      if (intakeEngaged == false) {
+        intake_piston.set_value(1);
+        intakeEngaged = true;
+      } else if (intakeEngaged == true) {
+        intake_piston.set_value(0);
+        intakeEngaged = false;
+      }
+    }
+  }
 
   void togglePto(bool toggle) {
     ptoEnabled = toggle;
@@ -148,15 +161,15 @@ namespace superstruct {
   }
 
   int lock = 0;
-  void cataControl() {
+  void cataControl(pros::controller_digital_e_t ptoToggleButton, pros::controller_digital_e_t cataRunButton) {
-    if (globals::master.get_digital(DIGITAL_LEFT) && lock == 0) {
+    if (globals::master.get_digital(ptoToggleButton) && lock == 0) {
       togglePto(!ptoEnabled);
       lock = 1;
-    } else if(!globals::master.get_digital(DIGITAL_LEFT)) {
+    } else if(!globals::master.get_digital(ptoToggleButton)) {
       lock = 0;
     }
 
-    if (globals::master.get_digital(DIGITAL_R1)) {
+    if (globals::master.get_digital(cataRunButton)) {
 			runCata(-12000);
 		} else {
 			runCata(0);
@@ -172,4 +185,30 @@ namespace superstruct {
 			wings.close();
 		}
   }
+
+  void wingsControlComplex(pros::controller_analog_e_t leftWingButton, pros::controller_analog_e_t rightWingButton, pros::controller_analog_e_t wingButton)
+ {
+
+ }
+  void wingsControlSingle(pros::controller_digital_e_t wingControlButton) {
+    if (globals::master.get_digital_new_press(wingControlButton)) {
+      if (wings.getState() == 0)
+        wings.open();
+      else if (wings.getState() == 3)
+        wings.close();
+    }
+  }
+
+  void renu_control() {
+    cataControl(RENU_PTO_TOGGLE, RENU_CATA_CONTROL);
+    wingsControl();
+    intakeControl(RENU_INTAKE_CONTROL);
+    
+  }
+  
+  void ria_control() {
+    cataControl(RIA_PTO_TOGGLE, RIA_CATA_CONTROL);
+    wingsControlSingle(RIA_WINGS_CONTROL);
+    intakeControl(RIA_INTAKE_CONTORL);
+  }
 }