ebe3c7af00
added definitions: TRACK_WIDTH WHEEL_SIZE DRIVE_RATIO PLACEHOLDER_TC_OFFSET -> placeholder value for tracking center offsets when using odometry (w/ lemlib) DRIVE_RPM added tracking wheel objects in prep for odom
37 lines
945 B
C++
37 lines
945 B
C++
#include "main.h"
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#include "okapi/api.hpp"
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#include "lemlib/api.hpp"
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#include "ary-lib/drive/drive.hpp"
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#define TRACK_WDITH 11.5
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#define PLACEHOLDER_TC_OFFSET 2.5
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#define WHEEL_SIZE 2.75
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#define DRIVE_RATIO 0.75
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#define DRIVE_RPM 450
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namespace globals {
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extern pros::Controller master;
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extern pros::Motor motor_tlf;
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extern pros::Motor motor_tlb;
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extern pros::Motor motor_blf;
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extern pros::Motor motor_blb;
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extern pros::Motor motor_trf;
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extern pros::Motor motor_trb;
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extern pros::Motor motor_brf;
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extern pros::Motor motor_brb;
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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 lemlib::Drivetrain_t chassis_odom;
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extern pros::Rotation rot_vert;
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extern pros::Rotation rot_horiz;
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extern pros::Rotation enc_theta;
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extern lemlib::TrackingWheel vert_tracking_wheel;
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extern lemlib::TrackingWheel horiz_tracking_wheel;
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extern Drive chassis;
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} |