That-One-Nerd/ary-over-under
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cata stuff

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ary 2023-09-16 21:34:17 -04:00
parent e843d25772
commit fa61bfb069
3 changed files with 16 additions and 1 deletions
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3
RELENTLESS-Lite/include/globals.hpp
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@ -18,6 +18,9 @@ namespace globals {
extern lemlib::Drivetrain_t chassis_odom; extern lemlib::Drivetrain_t chassis_odom;
extern Drive chassis; extern Drive chassis;
extern pros::Motor cata_left;
extern pros::Motor cata_right;
extern pros::Rotation enc_left; extern pros::Rotation enc_left;
extern pros::Rotation enc_right; extern pros::Rotation enc_right;
extern pros::Rotation enc_theta; extern pros::Rotation enc_theta;

3
RELENTLESS-Lite/src/globals.cpp
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@ -35,6 +35,9 @@ namespace globals {
0.6 0.6
); );
pros::Motor cata_left(15, MOTOR_GEAR_100, true);
pros::Motor cata_right(13, MOTOR_GEAR_100, false);
// Electronics / Pneumatics / Sensors // Electronics / Pneumatics / Sensors
// pros::Rotation enc_left(); // pros::Rotation enc_left();

11
RELENTLESS-Lite/src/main.cpp
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@ -62,7 +62,16 @@ void opcontrol() {
while (true) { while (true) {
//chassis.arcade_standard(ary::SdPLIT, ary::DEFAULT); //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); pros::delay(ary::util::DELAY_TIME);
} }
} }