globals.cpp

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#include "globals.h"
#include "pros/abstract_motor.hpp"
#include "pros/motors.hpp"
 
/*
 * Although the following constants belong in their own seperate
 * files(auton.cpp, drivetriain.cpp), they are put here in order to maintain a
 * common location for all of the constants used by the program to belong in.
 * NOTE: This is the location where these variables are put into memory, but
 * they can be otherwise modified throughout the program.
 */
 
// Defines the objects that are used by the program for each of the individual
// subsystems.
 
namespace Robot {
namespace Globals {
 
pros::Controller controller(pros::E_CONTROLLER_MASTER);
pros::Motor RightFront(6, pros::v5::MotorGears::blue, pros::v5::MotorUnits::degrees);
pros::Motor LeftFront(-5, pros::v5::MotorGears::blue, pros::v5::MotorUnits::degrees);
pros::Motor LeftBack(-7, pros::v5::MotorGears::blue, pros::v5::MotorUnits::degrees);
pros::Motor RightBack(8, pros::v5::MotorGears::blue, pros::v5::MotorUnits::degrees);
pros::Motor LeftMid(2, pros::v5::MotorGears::blue, pros::v5::MotorUnits::degrees);
pros::Motor RightMid(-3, pros::v5::MotorGears::blue, pros::v5::MotorUnits::degrees);
pros::Motor IntakeMotor(-9, pros::v5::MotorGears::blue, pros::v5::MotorUnits::degrees);
pros::Motor HookMotor(4, pros::v5::MotorGears::blue, pros::v5::MotorUnits::degrees);
 
pros::adi::DigitalIn drivetrainToggleSwitch('G');
pros::adi::DigitalIn autonToggleSwitch('F');
 
pros::Optical colorSensor(4); // placeholder port number
 
pros::adi::Pneumatics LatchControl('A', false);
pros::adi::Pneumatics IntakeToggle('B', false);
 
pros::Imu inertial_sensor(15);
 
pros::MotorGroup drive_left({LeftFront.get_port(), LeftMid.get_port(), LeftBack.get_port()});
pros::MotorGroup drive_right({RightFront.get_port(), RightMid.get_port(), RightBack.get_port()});
pros::MotorGroup drive_({LeftFront.get_port(), RightFront.get_port(), LeftMid.get_port(), RightMid.get_port(),
                         LeftBack.get_port(), RightBack.get_port()});
 
// Describes the lemlib objects that are used to control the autonomous
// functions of the robot.
lemlib::Drivetrain drivetrain{
    &drive_left,  // left drivetrain motors
    &drive_right, // right drivetrain motors
    12.125,       // track width
    lemlib::Omniwheel::OLD_325,
    450, // drivetrain rpm is 450
    2    // horizontal drift is 2
};
 
lemlib::OdomSensors sensors{
    nullptr,         // vertical tracking wheel 1
    nullptr,         // vertical tracking wheel 2
    nullptr,         // horizontal tracking wheel 1
    nullptr,         // we don't have a second tracking wheel, so we set it to nullptr
    &inertial_sensor // inertial sensor
};
 
// forward/backward PID
lemlib::ControllerSettings lateral_controller{
    7.6, // kP
    0,   // KI
    8,   // kD
    3,   // Anti Windup
    1,   // smallErrorRange
    100, // smallErrorTimeout
    3,   // largeErrorRange
    500, // largeErrorTimeout
    90   // slew rate
};
 
// turning PID
lemlib::ControllerSettings angular_controller{
    4.04, // kP
    0,    // kI
    24.5, // kD
    3,    // Anti Windup
    1,    // smallErrorRange
    100,  // smallErrorTimeout
    3,    // largeErrorRange
    500,  // largeErrorTimeout
    0     // slew rate
};
 
lemlib::ExpoDriveCurve throttle_curve(3,    // joystick deadband out of 127
                                      10,   // minimum output where drivetrain will move out of 127
                                      1.019 // expo curve gain
);
 
// input curve for steer input during driver control
lemlib::ExpoDriveCurve steer_curve(4,     // joystick deadband out of 127
                                   6,     // minimum output where drivetrain will move out of 127
                                   1.0053 // expo curve gain
);
 
lemlib::Chassis chassis(drivetrain, lateral_controller, angular_controller, sensors, &throttle_curve, &steer_curve);
 
} // namespace Globals
 
} // namespace Robot