52 lines
1.2 KiB
C++
52 lines
1.2 KiB
C++
#pragma once
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/* Ports */
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#define PORT_LF 11
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#define PORT_LM 13
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#define PORT_LB 12
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#define PORT_RF 1
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#define PORT_RM 4
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#define PORT_RB 3
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/* Chassis constants*/
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#define HORIZONTAL_TW_OFFSET 1.0
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#define VERTICAL_TW_OFFSET 1.0
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#define CHASSIS_TRACK_WIDTH 12.5
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#define CHASSIS_RPM 450
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#define CHASE_POWER 2
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/* Drive constants */
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#define DRIVE_GAIN 1.0
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#include "main.h"
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namespace globals {
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extern pros::Controller master;
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extern pros::Motor left_front;
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extern pros::Motor left_middle;
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extern pros::Motor left_back;
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extern pros::Motor right_front;
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extern pros::Motor right_middle;
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extern pros::Motor right_back;
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extern pros::Motor_Group left_drive;
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extern pros::Motor_Group right_drive;
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extern pros::Imu imu;
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// ODOM. SENSORS
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extern pros::Rotation horizontal_tw_enc;
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extern pros::Rotation vertical_tw_enc;
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// LEM IMPL.
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extern lemlib::TrackingWheel horizontal_tw;
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extern lemlib::TrackingWheel vertical_tw;
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extern lemlib::Drivetrain drivetrain;
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extern lemlib::ControllerSettings lateral_controller;
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extern lemlib::ControllerSettings angular_controller;
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extern lemlib::OdomSensors odom_sensors;
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extern lemlib::Chassis chassis;
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} |