68 lines
1.5 KiB
C++
68 lines
1.5 KiB
C++
#pragma once
|
|
|
|
#include "main.h"
|
|
#include "Wings.h"
|
|
#include "Timer.h"
|
|
|
|
#define TRACK_WIDTH 11.5
|
|
#define PLACEHOLDER_TC_OFFSET 2.5
|
|
#define WHEEL_SIZE 2.75
|
|
#define DRIVE_RATIO 0.75
|
|
#define DRIVE_RPM 450
|
|
|
|
namespace globals {
|
|
extern pros::Controller master;
|
|
|
|
extern pros::Motor motor_tlf;
|
|
extern pros::Motor motor_tlb;
|
|
extern pros::Motor motor_blf;
|
|
extern pros::Motor motor_blb;
|
|
extern pros::Motor motor_trf;
|
|
extern pros::Motor motor_trb;
|
|
extern pros::Motor motor_brf;
|
|
extern pros::Motor motor_brb;
|
|
|
|
extern pros::Motor_Group left_drive;
|
|
extern pros::Motor_Group right_drive;
|
|
|
|
extern lemlib::Drivetrain_t dt_odom;
|
|
|
|
extern lemlib::OdomSensors_t chassis_sensors;
|
|
|
|
extern lemlib::ChassisController_t latController;
|
|
extern lemlib::ChassisController_t angController;
|
|
|
|
extern lemlib::Chassis chassis_odom;
|
|
|
|
extern pros::Rotation rot_vert;
|
|
extern pros::Rotation rot_horiz;
|
|
extern pros::Rotation enc_theta;
|
|
|
|
extern pros::ADIDigitalOut pto_piston;
|
|
|
|
extern pros::ADIDigitalOut left_wing_piston;
|
|
extern pros::ADIDigitalOut right_wing_piston;
|
|
|
|
extern pros::ADIDigitalOut intake_piston;
|
|
|
|
extern pros::ADIDigitalOut climb_piston;
|
|
|
|
extern Wings wings;
|
|
extern Timer timer;
|
|
|
|
extern lemlib::TrackingWheel vert_tracking_wheel;
|
|
extern lemlib::TrackingWheel horiz_tracking_wheel;
|
|
|
|
extern pros::Imu inertial_sensor;
|
|
|
|
extern Drive chassis;
|
|
|
|
extern pros::Motor& intake_mtr;
|
|
extern pros::Motor& cata_mtr;
|
|
|
|
enum e_controlsch {
|
|
RENU,
|
|
RIA,
|
|
CHRIS
|
|
};
|
|
} |