b615a1ce1c
- update motor ports for practice chassis - configure chassis to move from 360 rpm -> 450 rpm on 2.75
92 lines
2.3 KiB
C++
92 lines
2.3 KiB
C++
#include "main.h"
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#include "globals.hpp"
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#include "autons.hpp"
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#include "superstructure.hpp"
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#include "arylib/autonselector.hpp"
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using namespace superstruct;
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using namespace globals;
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void initialize() {
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ary::print_ez_template();
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pros::delay(500); // legacy ports configure
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/*
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When the robot first starts up we want to do a couple things:
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- Adjust the drivetrain curve bottons so it does not interfere with any of the driver controls.
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- Enable the joystick curve
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- Enable active break on the drive
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- Active break is a P controller applied to the drivetrain in order to help it maintain it's position, resisting external forces.
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-
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*/
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chassis.set_curve_buttons(pros::E_CONTROLLER_DIGITAL_LEFT, pros::E_CONTROLLER_DIGITAL_RIGHT);
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chassis.toggle_modify_curve_with_controller(true);
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chassis.set_active_brake(0.1);
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chassis.set_curve_default(0.5, 0.5);
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chassis.set_joystick_drivescale(1.0);
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chassis.set_joystick_turnscale(1.0);
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default_constants();
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exit_condition_defaults();
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ary::autonselector::auton_selector.add_autons({
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Auton("Test Auton\n\nTesting Autonomous on field", test_auton),
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Auton("Test Auton - The Sequel\n\nyo mama", test_second) // TODO: Change this before putting this in the notebook LOL
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});
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chassis.set_drive_brake(MOTOR_BRAKE_COAST);
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//handle pto and stuff
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//chassis.pto_add();
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chassis.initialize();
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ary::autonselector::initialize();
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}
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// fms / comp switch disable
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void disabled() {
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// . . .
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}
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// run after init if comp control
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void competition_initialize() {
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// . . .
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}
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void autonomous() {
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chassis.reset_pid_targets();
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chassis.reset_gyro();
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chassis.reset_drive_sensor();
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chassis.set_drive_brake(MOTOR_BRAKE_COAST);
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default_constants();
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ary::autonselector::auton_selector.call_selected_auton();
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}
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void opcontrol() {
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chassis.set_drive_brake(MOTOR_BRAKE_COAST);
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chassis.set_active_brake(0);
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while (true) {
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//chassis.arcade_standard(ary::SdPLIT, ary::DEFAULT);
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//chassis.arcade_standard(ary::SPLIT, ary::DEFAULT);
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chassis.tank();
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// if (globals::master.get_digital(DIGITAL_R1)) {
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// cata_left.move_voltage(12000);
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// cata_right.move_voltage(-12000);
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// } else {
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// cata_left.move_voltage(0);
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// cata_right.move_voltage(0);
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// }
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pros::delay(ary::util::DELAY_TIME);
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}
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} |