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
48 lines
1.4 KiB
C++
48 lines
1.4 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(4, MOTOR_GEARSET_06, true);
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pros::Motor motor_tlb(4, MOTOR_GEARSET_06, true);
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pros::Motor motor_blf(4, MOTOR_GEARSET_06, true);
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pros::Motor motor_blb(4, MOTOR_GEARSET_06, true);
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pros::Motor motor_trf(4, MOTOR_GEARSET_06, true);
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pros::Motor motor_trb(4, MOTOR_GEARSET_06, true);
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pros::Motor motor_brf(4, MOTOR_GEARSET_06, true);
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pros::Motor motor_brb(4, MOTOR_GEARSET_06, true);
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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::Rotation enc_right();
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// pros::Rotation enc_theta();
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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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{-4,-4,-4,-4},
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{1,1,1,1},
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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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// Misc
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} |