globals.cpp File Reference

#include "pros/distance.hpp"
#include "pros/misc.h"
#include "lemlib/chassis/chassis.hpp"
#include "pros/adi.h"
#include "pros/adi.hpp"
#include "pros/motors.h"

Go to the source code of this file.

Functions
pros::Controller	controller (pros::E_CONTROLLER_MASTER)
pros::MotorGroup	rightMotors ({11,-12, 13})
pros::MotorGroup	leftMotors ({-1, 2,-3})
pros::IMU	imu (8)
pros::Rotation	horizontal_tracking_sensor (9)
pros::Rotation	vertical_tracking_sensor (10)
lemlib::ControllerSettings	lateral_controller (30, 0, 100, 3, 1, 100, 3, 500, 20)
lemlib::ControllerSettings	angular_controller (4, 0, 24.5, 3, 1, 100, 3, 500, 0)
lemlib::ExpoDriveCurve	throttle_curve (5, 10, 1)
lemlib::ExpoDriveCurve	steer_curve (5, 5, 1.02)
lemlib::Chassis	chassis (drivebase, lateral_controller, angular_controller, sensors, &throttle_curve, &steer_curve)
pros::Motor	intakeMotor (6)
pros::Motor	agitator (16, pros::v5::MotorGears::green)
pros::Motor	midMotor (20)
pros::Distance	right (4)
pros::Distance	left (5)
pros::Distance	front (7)
pros::Distance	back (8)
pros::adi::Pneumatics	topRoller ('B', false)
pros::adi::Pneumatics	midRollerHeight ('A', true)
pros::adi::Pneumatics	matchload_mech ('D', false)
pros::adi::Pneumatics	aligner ('C', true)

Variables
lemlib::Drivetrain drivebase &	leftMotors
lemlib::TrackingWheel horizontal_tracking_wheel &	horizontal_tracking_sensor
lemlib::TrackingWheel vertical_tracking_wheel &	vertical_tracking_sensor
lemlib::OdomSensors sensors &	vertical_tracking_wheel

Function Documentation

agitator()

pros::Motor agitator	(	16	,
		pros::v5::MotorGears::green	)

Referenced by initialize(), and opcontrol().

aligner()

pros::adi::Pneumatics aligner	(	'C'	,
		true	)

Referenced by opcontrol().

angular_controller()

lemlib::ControllerSettings angular_controller	(	4	,
		0	,
		24.	5,
		3	,
		1	,
		100	,
		3	,
		500	,
		0	)

back()

pros::Distance back

(

8

)

Referenced by distanceReset().

chassis()

lemlib::Chassis chassis	(	drivebase	,
		lateral_controller	,
		angular_controller	,
		sensors	,
		&	throttle_curve,
		&	steer_curve )

References angular_controller, lateral_controller, sensors, steer_curve, and throttle_curve.

controller()

pros::Controller controller

(

pros::E_CONTROLLER_MASTER

)

front()

pros::Distance front

(

7

)

Referenced by distanceReset().

horizontal_tracking_sensor()

pros::Rotation horizontal_tracking_sensor

(

9

)

imu()

pros::IMU imu

(

8

)

intakeMotor()

pros::Motor intakeMotor

(

6

)

Referenced by opcontrol(), and red_right().

lateral_controller()

lemlib::ControllerSettings lateral_controller	(	30	,
		0	,
		100	,
		3	,
		1	,
		100	,
		3	,
		500	,
		20	)

left()

pros::Distance left

(

5

)

Referenced by distanceReset().

leftMotors()

pros::MotorGroup leftMotors

(

{-1, 2,-3}

)

matchload_mech()

pros::adi::Pneumatics matchload_mech	(	'D'	,
		false	)

Referenced by opcontrol(), and red_right().

midMotor()

pros::Motor midMotor

(

20

)

Referenced by opcontrol().

midRollerHeight()

pros::adi::Pneumatics midRollerHeight	(	'A'	,
		true	)

Referenced by opcontrol().

right()

pros::Distance right

(

4

)

Referenced by distanceReset().

rightMotors()

pros::MotorGroup rightMotors

(

{11,-12, 13}

)

steer_curve()

lemlib::ExpoDriveCurve steer_curve	(	5	,
		5	,
		1.	02 )

throttle_curve()

lemlib::ExpoDriveCurve throttle_curve	(	5	,
		10	,
		1	)

topRoller()

pros::adi::Pneumatics topRoller	(	'B'	,
		false	)

Referenced by opcontrol().

vertical_tracking_sensor()

pros::Rotation vertical_tracking_sensor

(

10

)

Variable Documentation

horizontal_tracking_sensor

lemlib::TrackingWheel horizontal_tracking_wheel& horizontal_tracking_sensor

Definition at line 27 of file globals.cpp.

leftMotors

lemlib::Drivetrain drivebase & leftMotors

Definition at line 14 of file globals.cpp.

vertical_tracking_sensor

lemlib::TrackingWheel vertical_tracking_wheel& vertical_tracking_sensor

Definition at line 28 of file globals.cpp.

vertical_tracking_wheel

lemlib::OdomSensors sensors& vertical_tracking_wheel

Definition at line 30 of file globals.cpp.