globals.cpp File Reference

#include <sstream>
#include <string>
#include "lemlib/chassis/trackingWheel.hpp"
#include "pros/ai_vision.h"
#include "pros/ai_vision.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, 10, 9}, pros::MotorGears::blue)
pros::MotorGroup	leftMotors ({1,-3,-2,}, pros::MotorGears::blue)
pros::Imu	imu (5)
pros::Rotation	horizontal_tracking_sensor (13)
pros::Rotation	vertical_tracking_sensor (-12)
lemlib::ControllerSettings	lateral_controller (16.5, 0, 120, 4, 0.5, 75, 3, 200, 25)
lemlib::ControllerSettings	angular_controller (3.2, 0.0, 25, 3, 0.5, 50, 3, 75, 0)
lemlib::ExpoDriveCurve	throttle_curve (20, 10, 1.01)
lemlib::ExpoDriveCurve	steer_curve (20, 10, 1.015)
lemlib::Chassis	chassis (drivebase, lateral_controller, angular_controller, sensors, &throttle_curve, &steer_curve)
pros::Motor	intakeMotor (18, pros::v5::MotorGears::blue)
pros::Motor	topMotor (19, pros::v5::MotorGears::blue)
pros::Distance	rightDistance (20)
pros::Distance	leftDistance (15)
pros::Distance	frontDistance (14)
pros::Distance	backDistance (16)
pros::Distance	frontDistance2 (17)
pros::adi::Pneumatics	trapDoor ('A', false)
pros::adi::Pneumatics	matchload ('E', false)
pros::adi::Pneumatics	basket ('F', false)
pros::adi::Pneumatics	descore ('D', false)
pros::adi::Pneumatics	intakeFunnel ('B', true)
pros::adi::Pneumatics	scoringBand ('C', false)
pros::adi::Pneumatics	blockBlocker ('G', false)
pros::Optical	color_sensor (7)
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
int	ramp_up_time = 0
int	low_ramp_down_time = 0

Function Documentation

angular_controller()

lemlib::ControllerSettings angular_controller	(	3.	2,
		0.	0,
		25	,
		3	,
		0.	5,
		50	,
		3	,
		75	,
		0	)

backDistance()

pros::Distance backDistance

(

16

)

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

basket()

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

Referenced by opcontrol().

blockBlocker()

pros::adi::Pneumatics blockBlocker	(	'G'	,
		false	)

Referenced by opcontrol(), score_longgoal_auton(), and skills_auton().

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

(

7

)

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(), elim_auton(), left_auton(), opcontrol(), right_auton(), and skills_auton().

frontDistance()

pros::Distance frontDistance

(

14

)

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

frontDistance2()

pros::Distance frontDistance2

(

17

)

Referenced by calculateAngle().

horizontal_tracking_sensor()

pros::Rotation horizontal_tracking_sensor

(

13

)

imu()

pros::Imu imu

(

5

)

intakeFunnel()

pros::adi::Pneumatics intakeFunnel	(	'B'	,
		true	)

Referenced by intake(), opcontrol(), outtake(), and skills_auton().

intakeMotor()

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

Referenced by awp_auton(), intake(), intake_stop(), left_auton(), opcontrol(), outtake(), score_bottomgoal(), score_longgoal_auton(), and score_midgoal().

lateral_controller()

lemlib::ControllerSettings lateral_controller	(	16.	5,
		0	,
		120	,
		4	,
		0.	5,
		75	,
		3	,
		200	,
		25	)

leftDistance()

pros::Distance leftDistance

(

15

)

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

leftMotors()

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

matchload()

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

Referenced by crossBarrier(), elim_auton(), matchload_state(), opcontrol(), right_auton(), and skills_auton().

rightDistance()

pros::Distance rightDistance

(

20

)

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

rightMotors()

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

scoringBand()

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

Referenced by opcontrol(), and score_longgoal_auton().

steer_curve()

lemlib::ExpoDriveCurve steer_curve	(	20	,
		10	,
		1.	015 )

throttle_curve()

lemlib::ExpoDriveCurve throttle_curve	(	20	,
		10	,
		1.	01 )

topMotor()

pros::Motor topMotor	(	19	,
		pros::v5::MotorGears::blue	)

Referenced by awp_auton(), colorSortFn(), intake(), intake_stop(), intake_to_basket(), left_auton(), opcontrol(), outtake(), resting_state(), score_longgoal(), score_longgoal_auton(), score_midgoal(), score_midgoal_auton(), and skills_auton().

trapDoor()

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

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

vertical_tracking_sensor()

pros::Rotation vertical_tracking_sensor

(

-

12

)

vision_sensor()

pros::Vision vision_sensor

(

16

)

Referenced by alignToGoal(), and calibrate_vision().

Variable Documentation

allianceColor

Color allianceColor = Color::RED

Definition at line 96 of file globals.cpp.

Referenced by alliance_btn_event_handler(), awp_auton(), colorSort(), colorSortFn(), elim_auton(), left_auton(), opcontrol(), right_auton(), score_longgoal(), score_longgoal_auton(), score_midgoal(), and score_midgoal_auton().

color_sort_enable

bool color_sort_enable = false

Definition at line 97 of file globals.cpp.

Referenced by awp_auton(), elim_auton(), left_auton(), opcontrol(), right_auton(), score_longgoal(), score_longgoal_auton(), score_midgoal(), and skills_auton().

horizontal_tracking_sensor

lemlib::TrackingWheel horizontal_tracking_wheel& horizontal_tracking_sensor

Definition at line 35 of file globals.cpp.

leftMotors

lemlib::Drivetrain drivebase & leftMotors

Definition at line 22 of file globals.cpp.

Referenced by alignToGoal(), alignToGoal(), crossBarrier(), matchload_wiggle(), opcontrol(), score_longgoal_auton(), skills_auton(), and temp_warning().

low_ramp_down_time

int low_ramp_down_time = 0

Definition at line 100 of file globals.cpp.

Referenced by opcontrol(), and outtake().

midgoal_first

bool midgoal_first = false

Definition at line 98 of file globals.cpp.

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

ramp_up_time

int ramp_up_time = 0

Definition at line 99 of file globals.cpp.

Referenced by opcontrol(), and score_midgoal().

vertical_tracking_sensor

lemlib::TrackingWheel vertical_tracking_wheel& vertical_tracking_sensor

Definition at line 36 of file globals.cpp.

vertical_tracking_wheel

lemlib::OdomSensors sensors& vertical_tracking_wheel

Definition at line 38 of file globals.cpp.