main.cpp File Reference

#include "main.h"
#include "globals.h"
#include "liblvgl/core/lv_obj_pos.h"
#include "pros/misc.h"
#include "auton/autonRoutines.h"
#include "auton/autonFunctions.h"
#include "robodash/views/selector.hpp"
#include "distanceReset.h"
#include "colorSort.h"
#include "warnings.h"
#include <string>
#include "MCL.h"
#include "visionAlignment.h"
#include "ramsete.h"

Go to the source code of this file.

Functions
void	alliance_btn_event_handler (lv_event_t *e)
void	create_alliance_selector ()
rd::Selector	selector ({ {"Right", right_auton}, {"Left", left_auton}, {"Carry", carry_auton}, {"Elim", elim_auton}, {"AWP", awp_auton}, {"Skills", skills_auton} })
void	initialize ()
void	disabled ()
void	competition_initialize ()
void	autonomous ()
void	opcontrol ()

Variables
rd::Console	console

Function Documentation

alliance_btn_event_handler()

void alliance_btn_event_handler

(

lv_event_t *

e

)

Definition at line 16 of file main.cpp.

                                                {
    lv_event_code_t code = lv_event_get_code(e);
    lv_obj_t * btn = lv_event_get_target(e);
    lv_obj_t * label = lv_obj_get_child(btn, 0);
 
    if(code == LV_EVENT_CLICKED) {
        if(allianceColor == RED) {
            allianceColor = Color::BLUE;
            lv_obj_set_style_bg_color(btn, lv_palette_main(LV_PALETTE_BLUE), 0);
            lv_label_set_text(label, "BLUE");
        } else {
            allianceColor = Color::RED;
            lv_obj_set_style_bg_color(btn, lv_palette_main(LV_PALETTE_RED), 0);
            lv_label_set_text(label, "RED");
        }
 
        
        std::cout << "Alliance switched to: " << (allianceColor == Color::RED ? "Red" : "Blue") << std::endl;
    }
}

References allianceColor.

Referenced by create_alliance_selector().

autonomous()

void autonomous

(

)

Definition at line 115 of file main.cpp.

                  {
    //selector.run_auton();
    //skills_auton();
    //awp_auton();
    elim_auton();
}

References elim_auton().

competition_initialize()

void competition_initialize

(

)

Definition at line 112 of file main.cpp.

                              {
}

create_alliance_selector()

void create_alliance_selector

(

)

Definition at line 37 of file main.cpp.

                                {
    lv_obj_t * btn = lv_btn_create(lv_layer_top());
    lv_obj_align(btn, LV_ALIGN_BOTTOM_RIGHT, -10, -10);
    lv_obj_set_size(btn, 80, 40);
    lv_obj_set_style_bg_color(btn, lv_palette_main(LV_PALETTE_RED), 0);
    lv_obj_t * label = lv_label_create(btn);
    lv_label_set_text(label, "RED");
    lv_obj_center(label);
    lv_obj_add_event_cb(btn, alliance_btn_event_handler, LV_EVENT_ALL, NULL);
}

References alliance_btn_event_handler().

Referenced by initialize().

disabled()

void disabled

(

)

Definition at line 108 of file main.cpp.

                {
    selector.focus();
}

References selector().

initialize()

void initialize

(

)

Definition at line 60 of file main.cpp.

                  {
    chassis.calibrate();
    temp_warning();
    motor_disconnect_warning();
    distance_sensor_disconnect_warning();
    color_sensor.set_led_pwm(100);
    /*
   chassis.setPose(-63.5, -18.5, 180);
   MCL::StartMCL(-63.5, -18.5, 180);
   pros::Task mclTask(MCL::MonteCarlo);
    */
 
    /*
    chassis.setPose(-48.5, -54.56, 270);
    console.focus();
    
    */
    calibrate_vision();
    create_alliance_selector();
    selector.focus();
    pros::Task screen_task([&]() {
        lemlib::Pose pose{0,0,0};
        while (true) {
            console.clear();
            pose = chassis.getPose();
 
 
            //distancePose dpose = distanceReset(false);
            console.printf("X: %f\n", pose.x);
            console.printf("Y: %f\n", pose.y);
            console.printf("Theta: %f\n", pose.theta);
            
            /*
            console.printf("D X: %f\n", dpose.x);
            console.printf("D Y: %f\n", dpose.y);
            console.printf("Using X: %d\n", dpose.using_odom_x);
            console.printf("Using Y: %d\n", dpose.using_odom_y);
            */
            
            
            //console.printf("X MCL: %f\n", MCL::X);
            //console.printf("Y MCL: %f\n", MCL::Y);
            
            pros::delay(100);
        }
    });
}

References calibrate_vision(), chassis, color_sensor(), console, create_alliance_selector(), distance_sensor_disconnect_warning(), motor_disconnect_warning(), selector(), and temp_warning().

opcontrol()

void opcontrol

(

)

Definition at line 140 of file main.cpp.

                 {
    std::cout << allianceColor << std::endl;
    bool trapDoor_commanded = false;
    while(true)
    {
        int throttle = controller.get_analog(pros::E_CONTROLLER_ANALOG_LEFT_Y);
        int steer = controller.get_analog(pros::E_CONTROLLER_ANALOG_RIGHT_X);
 
        if(controller.get_digital_new_press(pros::E_CONTROLLER_DIGITAL_L2))
        {
            midgoal_first = true;
        }
 
        if(controller.get_digital(pros::E_CONTROLLER_DIGITAL_R1))
        {
            intake();
        }
        else if(controller.get_digital(pros::E_CONTROLLER_DIGITAL_R2))
        {
            outtake();
        }
        else if(controller.get_digital(pros::E_CONTROLLER_DIGITAL_L1))
        {
            score_longgoal(12000, allianceColor);
        }
        else if(controller.get_digital(pros::E_CONTROLLER_DIGITAL_L2))
        {
            score_midgoal();
        }
        else if(controller.get_digital(pros::E_CONTROLLER_DIGITAL_UP))
        {
            intake_to_basket();
        }
        else if(controller.get_digital(pros::E_CONTROLLER_DIGITAL_DOWN))
        {
            if(descore.is_extended())
                descore.retract();
        }
        else if(controller.get_digital(pros::E_CONTROLLER_DIGITAL_UP))
        {
            throttle = 0;
            steer = 0;
            leftMotors.set_brake_mode(pros::E_MOTOR_BRAKE_HOLD);
            rightMotors.set_brake_mode(pros::E_MOTOR_BRAKE_HOLD);
            leftMotors.brake();
            rightMotors.brake();
        }
        else if(controller.get_digital_new_press(pros::E_CONTROLLER_DIGITAL_X))
        {
            if(!trapDoor_commanded)
            {
                trapDoor_commanded = true;
                trapDoor.extend();
            }
            else {
                trapDoor_commanded = false;
            }
        }
        else if(controller.get_digital_new_press(pros::E_CONTROLLER_DIGITAL_B))
        {
            matchload.toggle();
        }
        else if(controller.get_digital_new_press(pros::E_CONTROLLER_DIGITAL_RIGHT))
        {
            color_sort_enable = !color_sort_enable;
            controller.rumble(".");
        }
        else if(controller.get_digital_new_press(pros::E_CONTROLLER_DIGITAL_A))
        {
            alignToGoal(1);
        }
        else
        {
            resting_state(trapDoor_commanded);
            midgoal_first = false;
        }
 
        if(throttle < 5)
            chassis.arcade(throttle, steer, false);
        else
            chassis.curvature(throttle, steer, false);
        pros::delay(10);
    }
}

References alignToGoal(), allianceColor, chassis, color_sort_enable, controller, descore(), intake(), intake_to_basket(), leftMotors, matchload(), midgoal_first, outtake(), resting_state(), rightMotors, score_longgoal(), score_midgoal(), and trapDoor().

selector()

rd::Selector selector

(

{ {"Right", right_auton}, {"Left", left_auton}, {"Carry", carry_auton}, {"Elim", elim_auton}, {"AWP", awp_auton}, {"Skills", skills_auton} }

)

References awp_auton(), carry_auton(), elim_auton(), left_auton(), right_auton(), and skills_auton().

Referenced by disabled(), and initialize().

Variable Documentation

console

rd::Console console

Definition at line 58 of file main.cpp.

Referenced by initialize().