main.cpp

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#include "main.h"
 
#include "pros/apix.h"
 
using namespace Robot;
using namespace Robot::Globals;
/*
 ____ .____________  ____________  ___
/_   ||   ____/_   |/  _____/\   \/  /
 |   ||____  \ |   /   __  \  \     /
 |   |/       \|   \  |__\  \ /     \
 |___/______  /|___|\_____  //___/\  \
            \/            \/       \_/
 
*/
 
struct RobotSubsystems {
  Robot::Autonomous autonomous;
  Robot::Drivetrain drivetrain;
  Robot::Intake intake;
  Robot::Latch latch;
} subsystem;
 
struct RobotScreen {
  Robot::selector_screen selector;
  Robot::status_screen status;
} screen;
 
void initialize() {
  if (pros::c::registry_get_plugged_type(15) == pros::c::E_DEVICE_IMU) {
    chassis.calibrate();
  }
  chassis.setPose(0, 0, 0);
 
  screen.selector.selector();
}
 
void disabled() {}
 
void competition_initialize() {}
 
void autonomous() {
  subsystem.autonomous.AutoDrive(subsystem.intake, subsystem.latch);
}
 
void opcontrol() {
  while (true) {
    if (controller.get_digital_new_press(pros::E_CONTROLLER_DIGITAL_DOWN)) {
      autonomous();
    }
    if (controller.get_digital_new_press(pros::E_CONTROLLER_DIGITAL_LEFT)) {
      std::string name = subsystem.drivetrain.toggleDrive();
      // Output the current drive mode to the controller screen
      controller.print(0, 0, name.c_str());
    }
 
    subsystem.drivetrain.run();
    subsystem.latch.run();
 
    // Intake controller, uses the X button holded down to push the elevation
    // up.
    subsystem.intake.run();
    // Intake controller, moves the left and right intakes and stops them if
    // nothing is pressed.
 
    pros::delay(10);  // Small delay to reduce CPU usage
  }
}