globals.cpp

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#include "lemlib/chassis/chassis.hpp"
#include "pros/misc.h"
 
pros::Controller controller(pros::E_CONTROLLER_MASTER);
 
pros::MotorGroup rightMotors({8, 9, 10});
pros::MotorGroup leftMotors({-1, 2, -3});
 
lemlib::Drivetrain drivetrain(&leftMotors, &rightMotors, 11.5, lemlib::Omniwheel::NEW_325, 450, 2);
 
pros::IMU imu(4);
 
pros::Rotation horizontal_tracking_sensor(14);
pros::Rotation vertical_tracking_sensor(7);
 
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
                                      35,   // minimum output where drivetrain will move out of 127
                                      1.002 // expo curve gain
);
 
// input curve for steer input during driver control
lemlib::ExpoDriveCurve steer_curve(5,    // joystick deadband out of 127
                                   10,   // minimum output where drivetrain will move out of 127
                                   1.002 // expo curve gain
);
 
lemlib::Chassis chassis(drivetrain, lateral_controller, angular_controller, sensors, &throttle_curve, &steer_curve);