globals.cpp

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#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"
 
 
pros::Controller controller(pros::E_CONTROLLER_MASTER);
 
pros::MotorGroup rightMotors({11,-12,13});
pros::MotorGroup leftMotors({-1,2,-3});
 
lemlib::Drivetrain drivebase(
    &leftMotors, 
    &rightMotors, 
    11.5, 
    lemlib::Omniwheel::NEW_325, 
    450, 
    2);
 
pros::IMU imu(8);
 
pros::Rotation horizontal_tracking_sensor(9);
pros::Rotation vertical_tracking_sensor(10);
 
lemlib::TrackingWheel horizontal_tracking_wheel(&horizontal_tracking_sensor, 2, 6.5, 1); //Units are in inches
lemlib::TrackingWheel vertical_tracking_wheel(&vertical_tracking_sensor, 2, -0.1,1);
 
lemlib::OdomSensors sensors(&vertical_tracking_wheel, nullptr, &horizontal_tracking_wheel, nullptr, &imu);
 
// lateral PID controller
lemlib::ControllerSettings lateral_controller(30, // proportional gain (kP)
                                              0, // integral gain (kI)
                                              100, // derivative gain (kD)
                                              3, // anti windup
                                              1, // small error range, in inches
                                              100, // small error range timeout, in milliseconds
                                              3, // large error range, in inches
                                              500, // large error range timeout, in milliseconds
                                              20 // maximum acceleration (slew)
);
 
// angular PID controller
lemlib::ControllerSettings angular_controller(4, // proportional gain (kP)
                                              0, // integral gain (kI)
                                              24.5, // derivative gain (kD)
                                              3, // anti windup
                                              1, // small error range, in degrees
                                              100, // small error range timeout, in milliseconds
                                              3, // large error range, in degrees
                                              500, // large error range timeout, in milliseconds
                                              0 // maximum acceleration (slew)
);
 
lemlib::ExpoDriveCurve throttle_curve(5,    // joystick deadband out of 127
                                      10,   // minimum output where drivetrain will move out of 127
                                      1 // expo curve gain
);
 
// input curve for steer input during driver control
lemlib::ExpoDriveCurve steer_curve(5, // joystick deadband out of 127
                                  5, // minimum output where drivetrain will move out of 127
                                  1.02 // expo curve gain
);
 
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);