95 lines
2.3 KiB
C++
95 lines
2.3 KiB
C++
/*
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globals.cpp
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Contains all devices and electronics used for the robot
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Holds other mechanicsm classes.
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*/
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#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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/*
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{-2, -6, 12, 5}, -> left
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{-16, 1, 4, -3}, -> right
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*/
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pros::Motor motor_tlf(12, MOTOR_GEARSET_06, false);
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pros::Motor motor_blb(6, MOTOR_GEARSET_06, true);
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pros::Motor motor_blf(2, MOTOR_GEARSET_06, true);
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pros::Motor motor_tlb(5, MOTOR_GEARSET_06, false);
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pros::Motor motor_trf(16, MOTOR_GEARSET_06, true);
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pros::Motor motor_trb(3, MOTOR_GEARSET_06, true);
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pros::Motor motor_brf(1, MOTOR_GEARSET_06, false);
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pros::Motor motor_brb(4, MOTOR_GEARSET_06, false);
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pros::Motor_Group left_drive({ motor_tlf, motor_tlb, motor_blf, motor_blb });
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pros::Motor_Group right_drive({ motor_trf, motor_trb, motor_brf, motor_brb });
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// Electronics / Pneumatics / Sensors
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pros::ADIDigitalOut pto_piston('A');
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pros::ADIDigitalOut left_wing_piston('E');
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pros::ADIDigitalOut right_wing_piston('F');
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pros::ADIDigitalOut intake_piston('D');
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//pros::ADIDigitalOut doinker_piston('E');
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Wings wings;
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pros::Imu inertial_sensor(18);
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lemlib::Drivetrain_t dt_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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lemlib::OdomSensors_t chassis_sensors {
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nullptr,
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nullptr,
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nullptr,
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nullptr,
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&inertial_sensor
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};
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lemlib::ChassisController_t latController {
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0.55, // kP
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5, // kD
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1, // smallErrorRange
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100, // smallErrorTimeout
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3, // largeErrorRange
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500, // largeErrorTimeout
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5 // slew rate
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};
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lemlib::ChassisController_t angController {
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6.5, // kP
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35, // kD
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1, // smallErrorRange
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100, // smallErrorTimeout
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3, // largeErrorRange
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500, // largeErrorTimeout
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40 // slew rate
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};
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Drive chassis(
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{-2, -6, 12, 5},
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{-16, 1, 4, -3},
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18,
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WHEEL_SIZE,
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600,
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DRIVE_RATIO
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);
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lemlib::Chassis chassis_odom(dt_odom, latController, angController, chassis_sensors);
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pros::Motor& cata_left = chassis.left_motors[3];
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pros::Motor& cata_right = chassis.right_motors[3];
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} |