globals.cpp File Reference

#include "lemlib/chassis/chassis.hpp"
#include "pros/misc.h"

Go to the source code of this file.

Functions
pros::Controller	controller (pros::E_CONTROLLER_MASTER)
pros::MotorGroup	rightMotors ({8, 9, 10})
pros::MotorGroup	leftMotors ({-1, 2, -3})
pros::IMU	imu (4)
pros::Rotation	horizontal_tracking_sensor (14)
pros::Rotation	vertical_tracking_sensor (7)
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, 35, 1.002)
lemlib::ExpoDriveCurve	steer_curve (5, 10, 1.002)
lemlib::Chassis	chassis (drivetrain, lateral_controller, angular_controller, sensors, &throttle_curve, &steer_curve)

Variables
lemlib::Drivetrain drivetrain &	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

angular_controller()

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

chassis()

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

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

controller()

pros::Controller controller

(

pros::E_CONTROLLER_MASTER

)

horizontal_tracking_sensor()

pros::Rotation horizontal_tracking_sensor

(

14

)

imu()

pros::IMU imu

(

4

)

lateral_controller()

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

leftMotors()

pros::MotorGroup leftMotors

(

{-1, 2, -3}

)

rightMotors()

pros::MotorGroup rightMotors

(

{8, 9, 10}

)

steer_curve()

lemlib::ExpoDriveCurve steer_curve	(	5	,
		10	,
		1.	002 )

throttle_curve()

lemlib::ExpoDriveCurve throttle_curve	(	5	,
		35	,
		1.	002 )

vertical_tracking_sensor()

pros::Rotation vertical_tracking_sensor

(

7

)

Variable Documentation

horizontal_tracking_sensor

lemlib::TrackingWheel horizontal_tracking_wheel& horizontal_tracking_sensor

Definition at line 16 of file globals.cpp.

leftMotors

lemlib::Drivetrain drivetrain& leftMotors

Definition at line 9 of file globals.cpp.

vertical_tracking_sensor

lemlib::TrackingWheel vertical_tracking_wheel& vertical_tracking_sensor

Definition at line 17 of file globals.cpp.

vertical_tracking_wheel

lemlib::OdomSensors sensors& vertical_tracking_wheel

Definition at line 19 of file globals.cpp.