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ary 2024-01-05 20:04:49 -05:00
parent d420e33a0b
commit f8555626b7
2 changed files with 85 additions and 0 deletions
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24
PROJECT-FUZZY-WUZZY/include/globals.hpp
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@ -1,8 +1,17 @@
#pragma once #pragma once
// CONSTANTS DEFINITIONS
#define HORIZONTAL_TW_OFFSET 1.0
#define VERTICAL_TW_OFFSET 1.0
#define CHASSIS_TRACK_WIDTH 12.5
#define CHASSIS_RPM 450
#define CHASE_POWER 2
#include "main.h" #include "main.h"
namespace globals { namespace globals {
extern pros::Controller master;
extern pros::Motor left_front; extern pros::Motor left_front;
extern pros::Motor left_middle; extern pros::Motor left_middle;
extern pros::Motor left_back; extern pros::Motor left_back;
@ -14,4 +23,19 @@ namespace globals {
extern pros::Motor_Group right_drive; extern pros::Motor_Group right_drive;
extern pros::Imu imu; extern pros::Imu imu;
// ODOM. SENSORS
extern pros::Rotation horizontal_tw_enc;
extern pros::Rotation vertical_tw_enc;
// LEM IMPL.
extern lemlib::TrackingWheel horizontal_tw;
extern lemlib::TrackingWheel vertical_tw;
extern lemlib::Drivetrain drivetrain;
extern lemlib::ControllerSettings lateral_controller;
extern lemlib::ControllerSettings angular_controller;
extern lemlib::OdomSensors odom_sensors;
extern lemlib::Chassis chassis;
} }

61
PROJECT-FUZZY-WUZZY/src/globals.cpp
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@ -1,7 +1,11 @@
#include "main.h" #include "main.h"
#include "globals.hpp" #include "globals.hpp"
using namespace lemlib;
namespace globals { namespace globals {
pros::Controller master(pros::E_CONTROLLER_MASTER);
pros::Motor left_front(1, pros::E_MOTOR_GEARSET_06, false); pros::Motor left_front(1, pros::E_MOTOR_GEARSET_06, false);
pros::Motor left_middle(2, pros::E_MOTOR_GEARSET_06, false); pros::Motor left_middle(2, pros::E_MOTOR_GEARSET_06, false);
pros::Motor left_back(3, pros::E_MOTOR_GEARSET_06, false); pros::Motor left_back(3, pros::E_MOTOR_GEARSET_06, false);
@ -13,4 +17,61 @@ namespace globals {
pros::Motor_Group right_drive({ right_front, right_middle, right_back }); pros::Motor_Group right_drive({ right_front, right_middle, right_back });
pros::Imu imu(7); pros::Imu imu(7);
//ODOM. SENSORS
pros::Rotation horizontal_tw_enc(8, false);
pros::Rotation vertical_tw_enc(9, false);
//LEM IMPL.
TrackingWheel horizontal_tw(&horizontal_tw_enc, Omniwheel::NEW_275, HORIZONTAL_TW_OFFSET);
TrackingWheel vertical_tw(&vertical_tw_enc, Omniwheel::NEW_275, VERTICAL_TW_OFFSET);
Drivetrain drivetrain(
&left_drive,
&right_drive,
CHASSIS_TRACK_WIDTH,
Omniwheel::NEW_325,
CHASSIS_RPM,
CHASE_POWER
);
ControllerSettings lateral_controller(
10, // proportional gain (kP)
0, // integral gain (kI)
3, // derivative gain (kD)
3, // anti windup
1, // small error range, in inches
100, // small error range timeout, in milliseconds
3, // large error range, in inches
500, // large error range timeout, in milliseconds
20 // maximum acceleration (slew)
);
ControllerSettings angular_controller(
2, // proportional gain (kP)
0, // integral gain (kI)
10, // derivative gain (kD)
3, // anti windup
1, // small error range, in degrees
100, // small error range timeout, in milliseconds
3, // large error range, in degrees
500, // large error range timeout, in milliseconds
0 // maximum acceleration (slew)
);
OdomSensors odom_sensors(
&vertical_tw,
nullptr,
&horizontal_tw,
nullptr,
&imu
);
Chassis chassis(
drivetrain,
lateral_controller,
angular_controller,
odom_sensors
);
} }