71 lines
1.7 KiB
C++
71 lines
1.7 KiB
C++
#include "main.h"
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using namespace globals;
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using namespace superstruct;
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e_controlsch currentuser = RENU;
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void taskMethods() {
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while (true) {
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/*
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Handle controls for whoever is driving the bot at the moment, each available user a respective set of controls
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*/
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renu_control();
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pros::delay(ary::util::DELAY_TIME);
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}
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}
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pros::Task subsystemsTask(taskMethods);
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void initialize() {
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subsystemsTask.suspend();
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ary::printScr();
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pros::delay(500); // Ports config
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/*
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Construct the chassis and it's constants
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chassisInit() -> Adjusts drive curves, active brake constants, among other things
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configureConstants() -> Sets PID constants on the chassis
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configureExitConditions() -> Sets default values for PID Exit conditions
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*/
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chassisInit();
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configureConstants();
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configureExitConditions();
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/*
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Add autonomous paths to the auto selection
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*/
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ary::autonselector::auton_selector.add_autons({
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Auton("Far side \n\nFar from alliance goal", near_side),
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Auton("Near side (far from alliance goal) \n\nCLOSE TO ALLIANCE GOAL", far_side),
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Auton("Six triball\n\nThey ain't believe in us\nBut GOD DID :speaking_head:", six_triball),
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Auton("Skills \n\ncloudabunga", skills)
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});
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superstruct::motorsCoast();
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globals::chassis.initialize();
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ary::autonselector::initialize();
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}
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void disabled() {
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subsystemsTask.suspend();
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}
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void competition_initialize() {}
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void autonomous() {
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subsystemsTask.resume();
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autonomousResets();
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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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subsystemsTask.resume();
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disableActiveBrake();
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opControlInit(); // Configure the chassis for driver control
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while (true) {
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globals::chassis.tank_control();
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}
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}
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