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update more globals

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added definitions:

TRACK_WIDTH
WHEEL_SIZE
DRIVE_RATIO
PLACEHOLDER_TC_OFFSET -> placeholder value for tracking center offsets when using odometry (w/ lemlib)
DRIVE_RPM

added tracking wheel objects in prep for odom
This commit is contained in:
ary 2023-09-22 10:30:11 -04:00
parent 86df220938
commit ebe3c7af00
2 changed files with 5 additions and 4 deletions
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1
RELENTLESS/include/globals.hpp
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@ -7,6 +7,7 @@
#define PLACEHOLDER_TC_OFFSET 2.5 #define PLACEHOLDER_TC_OFFSET 2.5
#define WHEEL_SIZE 2.75 #define WHEEL_SIZE 2.75
#define DRIVE_RATIO 0.75 #define DRIVE_RATIO 0.75
#define DRIVE_RPM 450
namespace globals { namespace globals {
extern pros::Controller master; extern pros::Controller master;

8
RELENTLESS/src/globals.cpp
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@ -26,13 +26,13 @@ namespace globals {
lemlib::Drivetrain_t chassis_odom { lemlib::Drivetrain_t chassis_odom {
&left_drive, &left_drive,
&right_drive, &right_drive,
11.5, TRACK_WIDTH,
WHEEL_SIZE, WHEEL_SIZE,
450 DRIVE_RPM
}; };
lemlib::TrackingWheel vert_tracking_wheel(&rot_vert, 2.75, PLACEHOLDER_TC_OFFSET, 1); // subject to change: p3 -> tracking center offset lemlib::TrackingWheel vert_tracking_wheel(&rot_vert, WHEEL_SIZE, PLACEHOLDER_TC_OFFSET, 1); // subject to change: p3 -> tracking center offset
lemlib::TrackingWheel hroiz_tracking_wheel(&rot_horiz, 2.75, PLACEHOLDER_TC_OFFSET, 1); lemlib::TrackingWheel hroiz_tracking_wheel(&rot_horiz, WHEEL_SIZE, PLACEHOLDER_TC_OFFSET, 1);
Drive chassis( Drive chassis(
{-4,-4,-4,-4}, {-4,-4,-4,-4},