globals.cpp File Reference

#include <sstream>
#include <string>
#include "lemlib/chassis/trackingWheel.hpp"
#include "pros/colors.hpp"
#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"
#include "pros/optical.hpp"
#include "pros/vision.hpp"
#include "colorSort.h"

Go to the source code of this file.

Functions
pros::Controller	controller (pros::E_CONTROLLER_MASTER)
pros::MotorGroup	rightMotors ({8,-9, 10}, pros::MotorGears::blue)
pros::MotorGroup	leftMotors ({-1, 2,-3}, pros::MotorGears::blue)
pros::Imu	imu (19)
pros::Rotation	horizontal_tracking_sensor (20)
pros::Rotation	vertical_tracking_sensor (-16)
lemlib::ControllerSettings	lateral_controller (11, 0, 40, 3, 0.5, 50, 3, 200, 35)
lemlib::ControllerSettings	angular_controller (3, 0.0015, 24, 3, 1, 25, 3, 100, 0)
lemlib::ExpoDriveCurve	throttle_curve (5, 10, 1.01)
lemlib::ExpoDriveCurve	steer_curve (5, 10, 1.02)
lemlib::Chassis	chassis (drivebase, lateral_controller, angular_controller, sensors, &throttle_curve, &steer_curve)
pros::Motor	intakeMotor (18, pros::v5::MotorGears::blue)
pros::Motor	topMotor (7, pros::v5::MotorGears::blue)
pros::Distance	rightDistance (6)
pros::Distance	leftDistance (12)
pros::Distance	frontDistance (13)
pros::Distance	backDistance (11)
pros::adi::Pneumatics	trapDoor ('A', false)
pros::adi::Pneumatics	matchload ('B', false)
pros::adi::Pneumatics	basket ('C', false)
pros::adi::Pneumatics	descore ('D', false)
pros::Optical	color_sensor (5)
pros::Vision	vision_sensor (16)

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
Color	allianceColor = Color::RED
bool	color_sort_enable = false
bool	midgoal_first = false

Function Documentation

angular_controller()

lemlib::ControllerSettings angular_controller	(	3	,
		0.	0015,
		24	,
		3	,
		1	,
		25	,
		3	,
		100	,
		0	)

backDistance()

pros::Distance backDistance

(

11

)

Referenced by calculateGlobalPosition(), distance_sensor_disconnect_warning(), distanceReset(), and distanceReset().

basket()

pros::adi::Pneumatics basket	(	'C'	,
		false	)

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.

color_sensor()

pros::Optical color_sensor

(

5

)

Referenced by get_color(), and initialize().

controller()

pros::Controller controller

(

pros::E_CONTROLLER_MASTER

)

descore()

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

Referenced by awp_auton(), left_auton(), opcontrol(), resting_state(), and skills_auton().

frontDistance()

pros::Distance frontDistance

(

13

)

Referenced by calculateGlobalPosition(), distance_sensor_disconnect_warning(), distanceReset(), distanceReset(), and matchload_counter().

horizontal_tracking_sensor()

pros::Rotation horizontal_tracking_sensor

(

20

)

imu()

pros::Imu imu

(

19

)

intakeMotor()

pros::Motor intakeMotor	(	18	,
		pros::v5::MotorGears::blue	)

Referenced by intake(), intake_stop(), outtake(), and score_bottomgoal().

lateral_controller()

lemlib::ControllerSettings lateral_controller	(	11	,
		0	,
		40	,
		3	,
		0.	5,
		50	,
		3	,
		200	,
		35	)

leftDistance()

pros::Distance leftDistance

(

12

)

Referenced by calculateGlobalPosition(), distance_sensor_disconnect_warning(), distanceReset(), and distanceReset().

leftMotors()

pros::MotorGroup leftMotors	(	{-1, 2,-3}	,
		pros::MotorGears::blue	)

matchload()

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

Referenced by awp_auton(), matchload_state(), and opcontrol().

rightDistance()

pros::Distance rightDistance

(

6

)

Referenced by calculateGlobalPosition(), distance_sensor_disconnect_warning(), distanceReset(), and distanceReset().

rightMotors()

pros::MotorGroup rightMotors	(	{8,-9, 10}	,
		pros::MotorGears::blue	)

steer_curve()

lemlib::ExpoDriveCurve steer_curve	(	5	,
		10	,
		1.	02 )

throttle_curve()

lemlib::ExpoDriveCurve throttle_curve	(	5	,
		10	,
		1.	01 )

topMotor()

pros::Motor topMotor	(	7	,
		pros::v5::MotorGears::blue	)

Referenced by colorSortFn(), intake(), intake_stop(), intake_to_basket(), resting_state(), score_longgoal(), and score_midgoal().

trapDoor()

pros::adi::Pneumatics trapDoor	(	'A'	,
		false	)

Referenced by awp_auton(), opcontrol(), resting_state(), and score_midgoal().

vertical_tracking_sensor()

pros::Rotation vertical_tracking_sensor

(

-

16

)

vision_sensor()

pros::Vision vision_sensor

(

16

)

Referenced by alignToGoal(), and calibrate_vision().

Variable Documentation

allianceColor

Color allianceColor = Color::RED

Definition at line 93 of file globals.cpp.

Referenced by alliance_btn_event_handler(), colorSort(), colorSortFn(), opcontrol(), score_longgoal(), score_longgoal_auton(), and score_midgoal().

color_sort_enable

bool color_sort_enable = false

Definition at line 94 of file globals.cpp.

Referenced by opcontrol(), score_longgoal(), score_midgoal(), and skills_auton().

horizontal_tracking_sensor

lemlib::TrackingWheel horizontal_tracking_wheel& horizontal_tracking_sensor

Definition at line 33 of file globals.cpp.

leftMotors

lemlib::Drivetrain drivebase & leftMotors

Definition at line 20 of file globals.cpp.

Referenced by alignToGoal(), MCL::getAvgVelocity(), left_auton(), matchload_wiggle(), opcontrol(), score_longgoal_auton(), and temp_warning().

midgoal_first

bool midgoal_first = false

Definition at line 95 of file globals.cpp.

Referenced by opcontrol(), and score_midgoal().

vertical_tracking_sensor

lemlib::TrackingWheel vertical_tracking_wheel& vertical_tracking_sensor

Definition at line 34 of file globals.cpp.

vertical_tracking_wheel

lemlib::OdomSensors sensors& vertical_tracking_wheel

Definition at line 36 of file globals.cpp.