From fa61bfb069ea50ecac4e83bb71f990ce0384152a Mon Sep 17 00:00:00 2001
From: ary <cjansah11@gmail.com>
Date: Sat, 16 Sep 2023 21:34:17 -0400
Subject: [PATCH] cata stuff

---
 RELENTLESS-Lite/include/globals.hpp |  3 +++
 RELENTLESS-Lite/src/globals.cpp     |  3 +++
 RELENTLESS-Lite/src/main.cpp        | 11 ++++++++++-
 3 files changed, 16 insertions(+), 1 deletion(-)

diff --git a/RELENTLESS-Lite/include/globals.hpp b/RELENTLESS-Lite/include/globals.hpp
index 6253e11..fe10879 100644
--- a/RELENTLESS-Lite/include/globals.hpp
+++ b/RELENTLESS-Lite/include/globals.hpp
@@ -18,6 +18,9 @@ namespace globals {
     extern lemlib::Drivetrain_t chassis_odom;
     extern Drive chassis;
 
+    extern pros::Motor cata_left;
+    extern pros::Motor cata_right;
+
     extern pros::Rotation enc_left;
     extern pros::Rotation enc_right;
     extern pros::Rotation enc_theta;
diff --git a/RELENTLESS-Lite/src/globals.cpp b/RELENTLESS-Lite/src/globals.cpp
index 42adfd6..ced4502 100644
--- a/RELENTLESS-Lite/src/globals.cpp
+++ b/RELENTLESS-Lite/src/globals.cpp
@@ -35,6 +35,9 @@ namespace globals {
         0.6
     );
 
+    pros::Motor cata_left(15, MOTOR_GEAR_100, true);
+    pros::Motor cata_right(13, MOTOR_GEAR_100, false);
+
     
     // Electronics / Pneumatics / Sensors
     // pros::Rotation enc_left();
diff --git a/RELENTLESS-Lite/src/main.cpp b/RELENTLESS-Lite/src/main.cpp
index ce061f8..d4c2d67 100644
--- a/RELENTLESS-Lite/src/main.cpp
+++ b/RELENTLESS-Lite/src/main.cpp
@@ -62,7 +62,16 @@ void opcontrol() {
 
   while (true) {
     //chassis.arcade_standard(ary::SdPLIT, ary::DEFAULT); 
-    chassis.arcade_standard(ary::SPLIT, ary::DEFAULT);
+    //chassis.arcade_standard(ary::SPLIT, ary::DEFAULT);
+    chassis.tank();
+
+    if  (globals::master.get_digital(DIGITAL_R1)) {
+      cata_left.move_voltage(12000);
+      cata_right.move_voltage(-12000);
+    } else {
+      cata_left.move_voltage(0);
+      cata_right.move_voltage(0);
+    }
     pros::delay(ary::util::DELAY_TIME);
   }
 }
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