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void Auton::test_lateral() { chassis->setPose(0, 0, 0); chassis->moveToPoint(0, 48, 5000); } void Auton::test_angular() { chassis->setPose(0, 0, 0); chassis->turnToHeading(90, 5000); } #include "globals.h" bool pistonToggle = false; bool intakeToggle = false; bool climbingToggle = false; bool rollerToggle = false; bool wallToggle = false; pros::Motor leftFrontMotor(LEFT_MOTOR_1, pros::E_MOTOR_GEAR_BLUE); pros::Motor leftBackMotor(LEFT_MOTOR_2, pros::E_MOTOR_GEAR_BLUE); pros::Motor leftMiddleMotor(LEFT_MOTOR_3, pros::E_MOTOR_GEAR_BLUE); pros::Motor rightFrontMotor(RIGHT_MOTOR_1, pros::E_MOTOR_GEAR_BLUE); pros::Motor rightMiddleMotor(RIGHT_MOTOR_3, pros::E_MOTOR_GEAR_BLUE); pros::Motor rightBackMotor(RIGHT_MOTOR_2, pros::E_MOTOR_GEAR_BLUE); pros::MotorGroup leftMotors({leftFrontMotor, leftMiddleMotor, leftBackMotor}); pros::MotorGroup rightMotors({rightFrontMotor,rightMiddleMotor, rightBackMotor}); pros::Controller master(pros::E_CONTROLLER_MASTER); lemlib::Drivetrain drivetrain { &leftMotors, &rightMotors, 12.5, // track width lemlib::Omniwheel::NEW_325, // wheel type 520, // rpm 2 //drift }; lemlib::OdomSensors sensors { nullptr, nullptr, nullptr, nullptr, nullptr }; lemlib::ControllerSettings controller( 10, // 0, 20, 3, 1, 100, 3, 500, 20 ); lemlib::ControllerSettings angular_controller(2, // proportional gain (kP) 0, // integral gain (kI) 10, // derivative gain (kD) 0, // anti windup 0, // small error range, in inches 0, // small error range timeout, in milliseconds 0, // large error range, in inches 0, // large error range timeout, in milliseconds 0 // maximum acceleration (slew) ); lemlib::Chassis chassis( drivetrain, controller, angular_controller, sensors ); #include "main.h" #include "globals.h" using namespace subsystems; void initialize() { chassis.calibrate(); chassis.setPose(0, 0, 0); selector.init(); } void disabled() {} void competition_initialize() {} void autonomous() { auton.test_lateral(); } void opcontrol() { while (true) { movement.drive(master.get_analog(pros::E_CONTROLLER_ANALOG_RIGHT_X), master.get_analog(pros::E_CONTROLLER_ANALOG_LEFT_Y)); if (master.get_digital_new_press(DIGITAL_DOWN)) { autonomous(); } clamp.run(); intake.run(); wall.run(); doinker.run(); selector.update(); pros::delay(10); } }
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