54 lines
1.7 KiB
C++
54 lines
1.7 KiB
C++
#include "globals.hpp"
|
|
|
|
using namespace ary;
|
|
namespace globals {
|
|
// Chassis
|
|
pros::Controller master(CONTROLLER_MASTER);
|
|
|
|
pros::Motor motor_tlf(4, MOTOR_GEARSET_06, true);
|
|
pros::Motor motor_tlb(4, MOTOR_GEARSET_06, true);
|
|
pros::Motor motor_blf(4, MOTOR_GEARSET_06, true);
|
|
pros::Motor motor_blb(5, MOTOR_GEARSET_06, true);
|
|
pros::Motor motor_trf(4, MOTOR_GEARSET_06, true);
|
|
pros::Motor motor_trb(3, MOTOR_GEARSET_06, true);
|
|
pros::Motor motor_brf(4, MOTOR_GEARSET_06, true);
|
|
pros::Motor motor_brb(4, MOTOR_GEARSET_06, true);
|
|
|
|
pros::Motor_Group left_drive({ motor_tlf, motor_tlb, motor_blf, motor_blb });
|
|
pros::Motor_Group right_drive({ motor_trf, motor_trb, motor_brf, motor_brb });
|
|
|
|
// Electronics / Pneumatics / Sensors
|
|
pros::Rotation rot_vert(0);
|
|
pros::Rotation rot_horiz(1);
|
|
|
|
pros::ADIDigitalOut pto_piston('A');
|
|
|
|
// pros::ADIDigitalOut left_wing_piston(2);
|
|
// pros::ADIDigitalOut right_wing_piston(3);
|
|
|
|
pros::ADIPort left_wing_piston('B', pros::E_ADI_DIGITAL_OUT);
|
|
pros::ADIPort right_wing_piston('C', pros::E_ADI_DIGITAL_OUT);
|
|
|
|
lemlib::Drivetrain_t chassis_odom {
|
|
&left_drive,
|
|
&right_drive,
|
|
TRACK_WIDTH,
|
|
WHEEL_SIZE,
|
|
DRIVE_RPM
|
|
};
|
|
|
|
lemlib::TrackingWheel vert_tracking_wheel(&rot_vert, WHEEL_SIZE, PLACEHOLDER_TC_OFFSET, 1); // subject to change: p3 -> tracking center offset
|
|
lemlib::TrackingWheel hroiz_tracking_wheel(&rot_horiz, WHEEL_SIZE, PLACEHOLDER_TC_OFFSET, 1);
|
|
|
|
Drive chassis(
|
|
{-4,-4,-4,-5},
|
|
{1,1,1,3},
|
|
16,
|
|
WHEEL_SIZE,
|
|
600,
|
|
DRIVE_RATIO
|
|
);
|
|
|
|
pros::Motor& cata_left = chassis.left_motors[3];
|
|
pros::Motor& cata_right = chassis.right_motors[3];
|
|
} |