globals.cpp File Reference

#include "globals.h"
#include "pros/distance.hpp"
#include "lemlib/chassis/chassis.hpp"
#include "pros/adi.hpp"
#include "pros/optical.hpp"
#include "pros/vision.hpp"
#include "colorSort.h"
#include "IntakeAntiJam.h"
#include "Chassis.h"

Go to the source code of this file.

Functions
pros::Controller	controller (pros::E_CONTROLLER_MASTER)
pros::MotorGroup	rightMotors ({17, 19, -18}, pros::MotorGears::blue)
pros::MotorGroup	leftMotors ({-12, 13, -14}, pros::MotorGears::blue)
pros::Imu	imu (16)
pros::Rotation	horizontal_tracking_sensor (-15)
pros::Rotation	vertical_tracking_sensor (9)
lemlib::ControllerSettings	lateral_controller (lateralKP, lateralKI, lateralKD, 3, 1, 50, 3, 200, 0)
lemlib::ControllerSettings	angular_controller (angularKP, angularKI, angularKD, 3, 1, 50, 3, 100, 0)
lemlib::ExpoDriveCurve	throttle_curve (10, 20, 1.012)
lemlib::ExpoDriveCurve	steer_curve (10, 20, 1)
Chassis	chassis (drivebase, lateral_controller, angular_controller, sensors, &throttle_curve, &steer_curve)
pros::Motor	intakeMotor (-1, pros::v5::MotorGears::blue)
pros::Motor	storageMotor (2, pros::v5::MotorGears::blue)
pros::Motor	outtakeMotor (3, pros::MotorGears::blue)
pros::Distance	rightDistance (6)
pros::Distance	leftDistance (5)
pros::Distance	frontDistance (8)
pros::Distance	backDistance (7)
pros::adi::Pneumatics	intake_lift ('A', false)
pros::adi::Pneumatics	hood ('B', false)
pros::adi::Pneumatics	matchloader ('C', false)
pros::adi::Pneumatics	descore ('D', true)
pros::adi::Pneumatics	mid_descore ('E', false)
pros::Optical	color_sensor (10)
pros::Vision	vision_sensor (18)
IntakeAntiJam	jamManager (intakeMotor, outtakeMotor, storageMotor, 55)

Variables
lemlib::Drivetrain drivebase &	leftMotors
const float	horizontal_offset = (-1.18588887482 -1.2351177609)/2
const float	vertical_offset = (-0.414862637269 + 0.0661399466844)/2
lemlib::TrackingWheel horizontal_tracking_wheel &	horizontal_tracking_sensor
lemlib::TrackingWheel vertical_tracking_wheel &	vertical_tracking_sensor
lemlib::OdomSensors sensors &	vertical_tracking_wheel
const float	lateralKP = 9
const float	lateralKI = 0.001
const float	lateralKD = 72
const float	angularKP = 3.07
const float	angularKI = 0.0015
const float	angularKD = 26.5
Color	allianceColor = Color::RED
bool	color_sort_enable = false
bool	midgoal_first = false
int	ramp_up_time = 0
int	low_ramp_down_time = 0
bool	antiJamEnabled = false
bool	liveReplay = false

Function Documentation

angular_controller()

lemlib::ControllerSettings angular_controller	(	angularKP	,
		angularKI	,
		angularKD	,
		3	,
		1	,
		50	,
		3	,
		100	,
		0	)

References angularKD, angularKI, and angularKP.

Referenced by chassis().

backDistance()

pros::Distance backDistance

(

7

)

Referenced by calculateGlobalPosition(), distance_sensor_disconnect_warning(), distanceReset(), distanceReset(), and MCL::MonteCarlo().

chassis()

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

References angular_controller(), lateral_controller(), steer_curve(), and throttle_curve().

Referenced by awp_auton(), calculateGlobalPosition(), carry_auton(), crossBarrier(), distanceReset(), distanceReset(), initialize(), left_auton_split(), left_rush(), MCL::MonteCarlo(), opcontrol(), relativeMotion(), right_7_hood(), right_7_wing(), right_auton_split(), right_rush(), score_longgoal_auton(), score_midgoal_auton(), and skills_auton().

color_sensor()

pros::Optical color_sensor

(

10

)

Referenced by get_color().

controller()

pros::Controller controller

(

pros::E_CONTROLLER_MASTER

)

Referenced by alignToGoal(), distance_sensor_disconnect_warning(), motor_disconnect_warning(), opcontrol(), and temp_warning().

descore()

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

Referenced by left_auton_split(), left_rush(), opcontrol(), right_7_wing(), right_auton_split(), right_rush(), and skills_auton().

frontDistance()

pros::Distance frontDistance

(

8

)

Referenced by calculateAngle(), calculateGlobalPosition(), distance_sensor_disconnect_warning(), distanceReset(), distanceReset(), MCL::MonteCarlo(), and skills_auton().

hood()

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

Referenced by intake(), intake_stop(), right_7_hood(), score_longgoal(), and score_longgoal_auton().

horizontal_tracking_sensor()

pros::Rotation horizontal_tracking_sensor

(

-

15

)

imu()

pros::Imu imu

(

16

)

Referenced by crossBarrier(), and opcontrol().

intake_lift()

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

Referenced by auton_check(), intake_stop(), outtake(), and skills_auton().

intakeMotor()

pros::Motor intakeMotor	(	-	1,
		pros::v5::MotorGears::blue	)

Referenced by init_motor_dashboard(), and jamManager().

jamManager()

IntakeAntiJam jamManager	(	intakeMotor	,
		outtakeMotor	,
		storageMotor	,
		55	)

References intakeMotor(), outtakeMotor(), and storageMotor().

Referenced by antiJamTask(), awp_auton(), intake(), intake_stop(), opcontrol(), outtake(), score_longgoal(), score_longgoal_auton(), score_midgoal(), score_midgoal_auton(), and skills_auton().

lateral_controller()

lemlib::ControllerSettings lateral_controller	(	lateralKP	,
		lateralKI	,
		lateralKD	,
		3	,
		1	,
		50	,
		3	,
		200	,
		0	)

References lateralKD, lateralKI, and lateralKP.

Referenced by chassis().

leftDistance()

pros::Distance leftDistance

(

5

)

Referenced by calculateGlobalPosition(), distance_sensor_disconnect_warning(), distanceReset(), distanceReset(), and MCL::MonteCarlo().

leftMotors()

pros::MotorGroup leftMotors	(	{-12, 13, -14}	,
		pros::MotorGears::blue	)

matchloader()

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

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

mid_descore()

pros::adi::Pneumatics mid_descore	(	'E'	,
		false	)

Referenced by left_auton_split(), and opcontrol().

outtakeMotor()

pros::Motor outtakeMotor	(	3	,
		pros::MotorGears::blue	)

Referenced by init_motor_dashboard(), jamManager(), and opcontrol().

rightDistance()

pros::Distance rightDistance

(

6

)

Referenced by calculateGlobalPosition(), distance_sensor_disconnect_warning(), distanceReset(), distanceReset(), and MCL::MonteCarlo().

rightMotors()

pros::MotorGroup rightMotors	(	{17, 19, -18}	,
		pros::MotorGears::blue	)

Referenced by alignToGoal(), crossBarrier(), init_motor_dashboard(), opcontrol(), and temp_warning().

steer_curve()

lemlib::ExpoDriveCurve steer_curve	(	10	,
		20	,
		1	)

Referenced by chassis().

storageMotor()

pros::Motor storageMotor	(	2	,
		pros::v5::MotorGears::blue	)

Referenced by init_motor_dashboard(), jamManager(), and opcontrol().

throttle_curve()

lemlib::ExpoDriveCurve throttle_curve	(	10	,
		20	,
		1.	012 )

Referenced by chassis().

vertical_tracking_sensor()

pros::Rotation vertical_tracking_sensor

(

9

)

vision_sensor()

pros::Vision vision_sensor

(

18

)

Referenced by alignToGoal(), and calibrate_vision().

Variable Documentation

allianceColor

Color allianceColor = Color::RED

Definition at line 103 of file globals.cpp.

Referenced by alliance_btn_event_handler(), awp_auton(), colorSort(), colorSortFn(), left_auton_split(), left_rush(), opcontrol(), right_7_hood(), right_7_wing(), right_auton_split(), right_rush(), score_longgoal(), score_longgoal_auton(), and score_midgoal_auton().

angularKD

const float angularKD = 26.5

Definition at line 44 of file globals.cpp.

Referenced by angular_controller().

angularKI

const float angularKI = 0.0015

Definition at line 44 of file globals.cpp.

Referenced by angular_controller().

angularKP

const float angularKP = 3.07

Definition at line 44 of file globals.cpp.

Referenced by angular_controller().

antiJamEnabled

bool antiJamEnabled = false

Definition at line 108 of file globals.cpp.

Referenced by opcontrol().

color_sort_enable

bool color_sort_enable = false

Definition at line 104 of file globals.cpp.

Referenced by skills_auton().

horizontal_offset

const float horizontal_offset = (-1.18588887482 -1.2351177609)/2

Definition at line 31 of file globals.cpp.

horizontal_tracking_sensor

lemlib::TrackingWheel horizontal_tracking_wheel& horizontal_tracking_sensor

Definition at line 38 of file globals.cpp.

lateralKD

const float lateralKD = 72

Definition at line 44 of file globals.cpp.

Referenced by lateral_controller().

lateralKI

const float lateralKI = 0.001

Definition at line 44 of file globals.cpp.

Referenced by lateral_controller().

lateralKP

const float lateralKP = 9

Definition at line 44 of file globals.cpp.

Referenced by lateral_controller().

leftMotors

lemlib::Drivetrain drivebase & leftMotors

Definition at line 17 of file globals.cpp.

Referenced by alignToGoal(), crossBarrier(), init_motor_dashboard(), opcontrol(), and temp_warning().

liveReplay

bool liveReplay = false

Definition at line 109 of file globals.cpp.

Referenced by opcontrol().

low_ramp_down_time

int low_ramp_down_time = 0

Definition at line 107 of file globals.cpp.

midgoal_first

bool midgoal_first = false

Definition at line 105 of file globals.cpp.

Referenced by opcontrol().

ramp_up_time

int ramp_up_time = 0

Definition at line 106 of file globals.cpp.

vertical_offset

const float vertical_offset = (-0.414862637269 + 0.0661399466844)/2

Definition at line 32 of file globals.cpp.

vertical_tracking_sensor

lemlib::TrackingWheel vertical_tracking_wheel& vertical_tracking_sensor

Definition at line 39 of file globals.cpp.

vertical_tracking_wheel

lemlib::OdomSensors sensors& vertical_tracking_wheel

Definition at line 41 of file globals.cpp.