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reimplement and clean globals

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ary 2023-12-01 09:43:31 -05:00
parent ce392d2db3
commit f9dc19260f
2 changed files with 103 additions and 0 deletions
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49
CLOUDS/include/globals.hpp Normal file
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#pragma once
#include "main.h"
#include "Wings.h"
#include "Timer.h"
#define TRACK_WIDTH 11.5
#define PLACEHOLDER_TC_OFFSET 2.5
#define WHEEL_SIZE 2.75
#define DRIVE_RATIO 0.75
#define DRIVE_RPM 450
namespace globals {
extern pros::Controller master;
extern pros::Motor motor_tlf;
extern pros::Motor motor_tlb;
extern pros::Motor motor_blf;
extern pros::Motor motor_blb;
extern pros::Motor motor_trf;
extern pros::Motor motor_trb;
extern pros::Motor motor_brf;
extern pros::Motor motor_brb;
extern pros::Imu inertial_sensor;
extern pros::Motor_Group left_drive;
extern pros::Motor_Group right_drive;
/* PNEUMATICS */
extern pros::ADIDigitalOut pto_piston;
extern pros::ADIDigitalOut left_wing_piston;
extern pros::ADIDigitalOut right_wing_piston;
extern pros::ADIDigitalOut climb_piston;
extern Wings wings;
extern Timer timer;
extern Drive chassis;
extern pros::Motor& intake_mtr;
extern pros::Motor& cata_mtr;
enum e_controlsch {
RENU,
RIA,
CHRIS
};
}

54
CLOUDS/src/globals.cpp Normal file
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/*
globals.cpp
Contains all devices and electronics used for the robot
Holds other mechanicsm classes.
*/
#include "globals.hpp"
using namespace ary;
namespace globals {
// Chassis
pros::Controller master(CONTROLLER_MASTER);
/*
{-2, -6, 12, 5}, -> left
{-16, 1, 4, -3}, -> right
*/
pros::Motor motor_tlf(14, MOTOR_GEARSET_06, false);
pros::Motor motor_blb(9, MOTOR_GEARSET_06, true);
pros::Motor motor_blf(3, MOTOR_GEARSET_06, true);
pros::Motor motor_tlb(7, MOTOR_GEARSET_06, false);
pros::Motor motor_trf(15, MOTOR_GEARSET_06, true);
pros::Motor motor_trb(6, MOTOR_GEARSET_06, true);
pros::Motor motor_brf(12, MOTOR_GEARSET_06, false);
pros::Motor motor_brb(5, MOTOR_GEARSET_06, false);
pros::Imu inertial_sensor(11);
pros::Motor_Group left_drive({ motor_tlf, motor_tlb, motor_blf, motor_blb });
pros::Motor_Group right_drive({ motor_trf, motor_trb, motor_brf, motor_brb });
/* PNEUMATICS */
pros::ADIDigitalOut pto_piston('A');
pros::ADIDigitalOut left_wing_piston('E');
pros::ADIDigitalOut right_wing_piston('F');
pros::ADIDigitalOut climb_piston('B');
Wings wings;
Timer timer;
Drive chassis(
{14, -9, -3, 7},
{-15, 12, 5, -6},
18,
WHEEL_SIZE,
600,
DRIVE_RATIO
);
pros::Motor& intake_mtr = chassis.left_motors[3];
pros::Motor& cata_mtr = chassis.right_motors[3];
}