66 lines
1.4 KiB
C++
66 lines
1.4 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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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, 0);
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chassis.set_joystick_drivescale(1.0);
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chassis.set_joystick_turnscale(0.75);
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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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});
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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_HOLD);
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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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while (true) {
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chassis.arcade_standard(ary::SINGLE, ary::DEFAULT); // Flipped single arcade
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pros::delay(ary::util::DELAY_TIME);
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}
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} |