59 lines
1.3 KiB
C++
59 lines
1.3 KiB
C++
#include "globals.hpp"
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using namespace ary;
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namespace globals {
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// Chassis
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pros::Controller master(CONTROLLER_MASTER);
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pros::Motor motor_fl(20, MOTOR_GEARSET_6, true);
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pros::Motor motor_ml(17, MOTOR_GEARSET_6, true);
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pros::Motor motor_bl(8, MOTOR_GEARSET_6, false);
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pros::Motor motor_fr(12, MOTOR_GEARSET_6, false);
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pros::Motor motor_mr(1, MOTOR_GEARSET_6, false);
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pros::Motor motor_br(2, MOTOR_GEARSET_6, true);
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pros::Motor_Group left_drive({ motor_fl, motor_ml, motor_bl });
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pros::Motor_Group right_drive({ motor_fr, motor_mr, motor_br });
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/*
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Two seperate drivetrains, chassis
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*/
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lemlib::Drivetrain_t chassis_odom {
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&left_drive,
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&right_drive,
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TRACK_WIDTH,
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WHEEL_SIZE,
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DRIVE_RPM
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};
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Drive chassisRight(
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{-20, -17, 8},
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{12, 1, -4},
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10,
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2.75,
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600,
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0.75
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);
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Drive chassisLeft(
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{-20, -17, 8},
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{12, 1, -4},
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10,
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2.75,
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600,
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0.75
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);
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// pros::Motor cata_left(15, MOTOR_GEAR_100, true);
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// pros::Motor cata_right(13, MOTOR_GEAR_100, false);
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// Electronics / Pneumatics / Sensors
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// pros::Rotation enc_left();
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// pros::Rotation enc_right();
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// pros::Rotation enc_theta();
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// Misc
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} |