That-One-Nerd/ary-over-under
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horrible code

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thisi s bad and terrible and bad code, do not use this

literally whoever wrote this does not deserve to live
This commit is contained in:
ary 2023-09-08 17:02:20 -04:00
parent a5a650ca4b
commit f6062ce58e
3 changed files with 39 additions and 13 deletions
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14
RELENTLESS/include/globals.hpp
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@ -3,5 +3,17 @@
#include "lemlib/api.hpp"
namespace globals {
extern Controller controller;
extern std::shared_ptr<okapi::Controller> controller;
extern okapi::Motor motor_fl;
extern okapi::Motor motor_ml;
extern okapi::Motor motor_bl;
extern okapi::Motor motor_fr;
extern okapi::Motor motor_mr;
extern okapi::Motor motor_br;
extern std::shared_ptr<okapi::MotorGroup> leftDrive;
extern std::shared_ptr<okapi::MotorGroup> rightDrive;
extern std::shared_ptr<okapi::ChassisController> chassis;
}

22
RELENTLESS/src/globals.cpp
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@ -1,9 +1,29 @@
#include "globals.hpp"
namespace globals {
Controller controller(ControllerId::master);
std::shared_ptr<okapi::Controller> controller(new Controller(ControllerId::master));
// Chassis
okapi::Motor motor_fl(1, false, AbstractMotor::gearset::blue, AbstractMotor::encoderUnits::degrees);
okapi::Motor motor_ml(2, false, AbstractMotor::gearset::blue, AbstractMotor::encoderUnits::degrees);
okapi::Motor motor_bl(3, false, AbstractMotor::gearset::blue, AbstractMotor::encoderUnits::degrees);
okapi::Motor motor_fr(4, true, AbstractMotor::gearset::blue, AbstractMotor::encoderUnits::degrees);
okapi::Motor motor_mr(5, true, AbstractMotor::gearset::blue, AbstractMotor::encoderUnits::degrees);
okapi::Motor motor_br(6, true, AbstractMotor::gearset::blue, AbstractMotor::encoderUnits::degrees);
std::shared_ptr<okapi::MotorGroup> left_drive(new MotorGroup({motor_fl, motor_ml, motor_bl}));
std::shared_ptr<okapi::MotorGroup> right_drive(new MotorGroup({motor_fr, motor_mr, motor_br}));
std::shared_ptr<okapi::ChassisController> chassis =
ChassisControllerBuilder()
.withMotors(left_drive, right_drive)
.withDimensions({AbstractMotor::gearset::blue, 1.5}, {{3.25_in, 28_cm}, 300 * 1.5})
.withGains(
{0.45, 0, 5},
{11, 0, 20},
{0.001, 0, 0.0001}
)
.build();
// Electronics / Pneumatics / Sensors

16
RELENTLESS/src/main.cpp
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@ -1,5 +1,8 @@
#include "main.h"
#include "lemlib/api.hpp"
#include "globals.hpp"
using namespace globals;
/**
* A callback function for LLEMU's center button.
@ -75,19 +78,10 @@ void autonomous() {}
* task, not resume it from where it left off.
*/
void opcontrol() {
pros::Controller master(pros::E_CONTROLLER_MASTER);
pros::Motor left_mtr(1);
pros::Motor right_mtr(2);
while (true) {
pros::lcd::print(0, "%d %d %d", (pros::lcd::read_buttons() & LCD_BTN_LEFT) >> 2,
(pros::lcd::read_buttons() & LCD_BTN_CENTER) >> 1,
(pros::lcd::read_buttons() & LCD_BTN_RIGHT) >> 0);
int left = master.get_analog(ANALOG_LEFT_Y);
int right = master.get_analog(ANALOG_RIGHT_Y);
left_mtr = left;
right_mtr = right;
double leftX = globals::controller->getAnalog(ControllerAnalog::leftX);
double leftY = globals::controller->getAnalog(ControllerAnalog::leftY);
pros::delay(20);
}