controller.cpp File Reference

This file contains the implementation of the controller functionalities for the robot. *. More...

#include "electronic/controller.h"
#include "globals.h"
#include "pros/misc.h"
#include <cstdint>
#include <string>

Go to the source code of this file.

Detailed Description

This file contains the implementation of the controller functionalities for the robot. *.

• * The controller functionalities include handling the main and partner controllers, switching control between them,
• and providing feedback to the driver about the state of the robot and its components.

Main Controller Controls

Based on the type of drive as well as the program orientation of the robot, the joysticks on the main controller are used:

• Left Joystick (Vertical Axis): Controls the forward and backward movement of the robot.

- Right Joystick (Horizontal Axis): Controls the left and right movement (turning) of the robot.

• R1 Button: Activates the intake motor to push out objects.
• L1 Button: Activates the intake motor to pull in objects.

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• Digital Up Button: Toggles the drivetrain orientation (forward or backward).
• Digital Down Button: Executes the autonomous routine during user control.
• Digital Right Button: Toggles the drivetrain reversal.
• Digital Left Button: Switches control between the main and partner controllers if the partner controller is connected.

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• Digital B Button: Toggles the state of the MoGo mech between grabbing and not grabbing.
• Digital Y Button: This button toggles the state of the sweeper between active or retracted.
• ***NOT IMPLEMENTED -* Digital A Button**: This button controls whether the hang is active.

- Digital X Button: This button suspends the task that runs the lady brown warning system. On continuation of the task, the current location of the motor is considered as a 0 location.

• R2 Button: Pulls the Lady Brown down to its loading zone.
• L2 Button: Lifts the Lady Brown towards the neutral wall stake.

Partner Controller Controls

• Digital Y Button: Sends a rumble pattern "..-" to the main controller.
• Digital X Button: Sends a rumble pattern ".-." to the main controller.
• Digital Up Button: Sends a rumble pattern "-.." to the main controller.
• Digital Right Button: Sends a rumble pattern "-.-" to the main controller.
• Digital R1 Button: Sends a rumble pattern "..." to the main controller to notify of only 15 seconds remaining.

Additional Functionalities

• Motor Disconnect Notification: The main controller provides haptic and visual feedback if a motor disconnects or reconnects.
  • Three short pulses indicate a motor disconnect.
  • One long pulse indicates a motor reconnect.
  • The LCD screen on the controller displays the current disconnected motors.

Definition in file controller.cpp.