55 lines
1.6 KiB
C++
55 lines
1.6 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_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::Rotation rot_vert(0);
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pros::Rotation rot_horiz(1);
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pros::ADIDigitalOut pto_piston('A');
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pros::ADIDigitalOut left_wing_piston('C');
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pros::ADIDigitalOut right_wing_piston('B');
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Wings wings;
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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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lemlib::TrackingWheel vert_tracking_wheel(&rot_vert, WHEEL_SIZE, PLACEHOLDER_TC_OFFSET, 1); // subject to change: p3 -> tracking center offset
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lemlib::TrackingWheel hroiz_tracking_wheel(&rot_horiz, WHEEL_SIZE, PLACEHOLDER_TC_OFFSET, 1);
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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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16,
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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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pros::Motor& cata_left = chassis.left_motors[3];
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pros::Motor& cata_right = chassis.right_motors[3];
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e_controlsch current_user = ;
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} |