65 lines
2.0 KiB
C++
65 lines
2.0 KiB
C++
#include "main.h"
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#define DRIVE_SPEED 120
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#define TURN_SPEED 105
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#define SWING_SPEED 90
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// R1 -> WINGS, L1 -> CATA, L2 -> PTO, R2 -> INTAKE
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// Renu's control preferences
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#define RENU_PTO_TOGGLE DIGITAL_R2
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#define RENU_CATA_CONTROL DIGITAL_R1
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#define RENU_INTAKE_CONTROL_INTAKE DIGITAL_L1
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#define RENU_INTAKE_CONTROL_OUTTAKE DIGITAL_B
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#define RENU_LEFT_WING_CONTROL DIGITAL_LEFT
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#define RENU_RIGHT_WING_CONTROL DIGITAL_RIGHT
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#define RENU_WING_CONTROL DIGITAL_L2
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#define RENU_CLIMB_CONTROL DIGITAL_A
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// Ria's control preferences
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#define RIA_PTO_TOGGLE DIGITAL_LEFT
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#define RIA_CATA_CONTROL DIGITAL_A
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#define RIA_INTAKE_CONTROL DIGITAL_R1
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#define RIA_WINGS_CONTROL DIGITAL_L1
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namespace superstruct {
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/* Configs */
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void chassisInit();
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void opControlInit();
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void configureExitConditions();
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void configureConstants();
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void autonomousResets();
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void motorsCoast();
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void motorsHold();
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void motorsBrake();
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void disableActiveBrake();
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/* Motion */
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void driveAsync(double dist, bool useHeadingCorrection);
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void driveSync(double dist, bool useHeadingCorrection);
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void driveWithMD(double dist, bool useHeadingCorrection, double waitUntilDist);
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void turnSync(double theta);
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void turnAsync(double theta);
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void leftSwing(double theta);
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void rightSwing(double theta);
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void setDriveScale(double val);
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void setTurnScale(double val);
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void setSwingScale(double val);
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/* Structure */
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void togglePto(bool toggle);
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void runCata(double inpt);
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void runAntiBlock(double inpt);
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void subsysControl(pros::controller_digital_e_t ptoToggleButton, pros::controller_digital_e_t cataRunButton, pros::controller_digital_e_t intakeButton, pros::controller_digital_e_t outtakeButton);
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void wingsControl(pros::controller_digital_e_t wingControlButton);
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void climbControl(pros::controller_digital_e_t climbButton);
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/* Controls */
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void renu_control();
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void ria_control();
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void chris_control();
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} |