2#include "pros/abstract_motor.hpp"
3#include "pros/misc.hpp"
4#include "pros/motors.hpp"
5#include "pros/optical.hpp"
6#include "pros/vision.h"
7#include "pros/vision.hpp"
24pros::Controller
partner(pros::E_CONTROLLER_PARTNER);
26pros::Motor
RightFront(13, pros::v5::MotorGears::blue, pros::v5::MotorUnits::degrees);
27pros::Motor
LeftFront(-19, pros::v5::MotorGears::blue, pros::v5::MotorUnits::degrees);
28pros::Motor
LeftBack(-18, pros::v5::MotorGears::blue, pros::v5::MotorUnits::degrees);
29pros::Motor
RightBack(12, pros::v5::MotorGears::blue, pros::v5::MotorUnits::degrees);
30pros::Motor
LeftMid(20, pros::v5::MotorGears::blue, pros::v5::MotorUnits::degrees);
31pros::Motor
RightMid(-11, pros::v5::MotorGears::blue, pros::v5::MotorUnits::degrees);
32pros::Motor
IntakeMotor(-9, pros::v5::MotorGears::blue, pros::v5::MotorUnits::degrees);
33pros::Motor
HookMotor(7, pros::v5::MotorGears::green, pros::v5::MotorUnits::degrees);
34pros::Motor
LadyBrownMotor(-3, pros::v5::MotorGears::green, pros::v5::MotorUnits::degrees);
51 pros::c::vision_signature_from_utility(1, -4653, -3619, -4136, 9831, 11725, 10778, 2.5, 0);
54 pros::c::vision_signature_from_utility(2, 9187, 12161, 10674, -375, 1327, 476, 2.5, 0);
56 pros::c::vision_signature_from_utility(3, -4793, -4173, -4483, 1069, 2765, 1917, 3, 0);
74 lemlib::Omniwheel::OLD_325,
80 &vertical_tracking_wheel,
82 &horizontal_tracking_wheel,
pros::MotorGroup drive_({LeftFront.get_port(), RightFront.get_port(), LeftMid.get_port(), RightMid.get_port(), LeftBack.get_port(), RightBack.get_port()})
lemlib::OdomSensors sensors
pros::adi::Pneumatics LatchControl('A', false)
lemlib::ControllerSettings lateral_controller(6.5, 0, 35, 0, 0.5, 100, 3, 500, 20)
pros::Motor LeftMid(20, pros::v5::MotorGears::blue, pros::v5::MotorUnits::degrees)
pros::Motor RightFront(13, pros::v5::MotorGears::blue, pros::v5::MotorUnits::degrees)
pros::MotorGroup drive_right({RightFront.get_port(), RightMid.get_port(), RightBack.get_port()})
lemlib::ExpoDriveCurve throttle_curve(3, 50, 0.992)
pros::Motor IntakeMotor(-9, pros::v5::MotorGears::blue, pros::v5::MotorUnits::degrees)
pros::Motor LeftFront(-19, pros::v5::MotorGears::blue, pros::v5::MotorUnits::degrees)
pros::adi::Pneumatics SweeperControl('B', false)
pros::vision_signature_s_t BLUE_DARK_SIG
lemlib::TrackingWheel horizontal_tracking_wheel & horizontal_sensor
pros::Motor HookMotor(7, pros::v5::MotorGears::green, pros::v5::MotorUnits::degrees)
lemlib::Chassis chassis(drivetrain, lateral_controller, angular_controller, sensors, &throttle_curve, &steer_curve)
pros::Motor RightMid(-11, pros::v5::MotorGears::blue, pros::v5::MotorUnits::degrees)
pros::Optical colorSensor(4)
pros::Rotation LadyBrownRotation(8)
pros::Motor LeftBack(-18, pros::v5::MotorGears::blue, pros::v5::MotorUnits::degrees)
lemlib::TrackingWheel vertical_tracking_wheel & lateral_sensor
pros::Controller controller(pros::E_CONTROLLER_MASTER)
pros::Controller partner(pros::E_CONTROLLER_PARTNER)
pros::Distance distance_sensor(10)
lemlib::ControllerSettings angular_controller(2.1, 0, 14, 0, 0.5, 100, 2, 500, 0)
pros::vision_signature_s_t BLUE_SIG
pros::vision_signature_s_t RED_SIG
lemlib::Drivetrain drivetrain
pros::Motor LadyBrownMotor(-3, pros::v5::MotorGears::green, pros::v5::MotorUnits::degrees)
pros::Motor RightBack(12, pros::v5::MotorGears::blue, pros::v5::MotorUnits::degrees)
pros::MotorGroup drive_left({LeftFront.get_port(), LeftMid.get_port(), LeftBack.get_port()})
lemlib::ExpoDriveCurve steer_curve(3, 17, 1)
pros::Imu inertial_sensor(15)