main.cpp File Reference

#include "main.h"
#include "lemlib/api.hpp"
#include "lemlib/chassis/chassis.hpp"
#include "lemlib/chassis/trackingWheel.hpp"
#include "liblvgl/llemu.hpp"
#include "pros/misc.h"

Go to the source code of this file.

Functions
pros::Controller	controller (CONTROLLER_MASTER)
pros::MotorGroup	rightMotors ({-11, 2, 1})
pros::MotorGroup	leftMotors ({-16, 14,-13})
pros::IMU	imu (3)
pros::Rotation	horizontal_tracking_sensor (12)
pros::Rotation	vertical_tracking_sensor (15)
lemlib::ControllerSettings	lateral_controller (10, 0, 3, 3, 1, 100, 3, 500, 20)
lemlib::ControllerSettings	angular_controller (2, 0, 10, 3, 1, 100, 3, 500, 0)
lemlib::Chassis	chassis (drivetrain, lateral_controller, angular_controller, sensors)
void	initialize ()
void	disabled ()
void	competition_initialize ()
void	autonomous ()
void	opcontrol ()

Variables
lemlib::Drivetrain drivetrain &	leftMotors
lemlib::TrackingWheel horizontal_tracking_wheel &	horizontal_tracking_sensor
lemlib::TrackingWheel vertical_tracking_wheel &	vertical_tracking_sensor
lemlib::OdomSensors sensors &	vertical_tracking_wheel

Function Documentation

angular_controller()

lemlib::ControllerSettings angular_controller	(	2	,
		0	,
		10	,
		3	,
		1	,
		100	,
		3	,
		500	,
		0	)

Referenced by chassis().

autonomous()

void autonomous

(

)

Runs the user autonomous code. This function will be started in its own task with the default priority and stack size whenever the robot is enabled via the Field Management System or the VEX Competition Switch in the autonomous mode. Alternatively, this function may be called in initialize or opcontrol for non-competition testing purposes.

If the robot is disabled or communications is lost, the autonomous task will be stopped. Re-enabling the robot will restart the task, not re-start it from where it left off.

Definition at line 104 of file main.cpp.

{}

chassis()

lemlib::Chassis chassis	(	drivetrain	,
		lateral_controller	,
		angular_controller	,
		sensors	)

References angular_controller(), and lateral_controller().

Referenced by initialize(), and opcontrol().

competition_initialize()

void competition_initialize

(

)

Runs after initialize(), and before autonomous when connected to the Field Management System or the VEX Competition Switch. This is intended for competition-specific initialization routines, such as an autonomous selector on the LCD.

This task will exit when the robot is enabled and autonomous or opcontrol starts.

Definition at line 91 of file main.cpp.

{}

controller()

pros::Controller controller

(

CONTROLLER_MASTER

)

Referenced by opcontrol().

disabled()

void disabled

(

)

Runs while the robot is in the disabled state of Field Management System or the VEX Competition Switch, following either autonomous or opcontrol. When the robot is enabled, this task will exit.

Definition at line 80 of file main.cpp.

{}

horizontal_tracking_sensor()

pros::Rotation horizontal_tracking_sensor

(

12

)

imu()

pros::IMU imu

(

3

)

initialize()

void initialize

(

)

Runs initialization code. This occurs as soon as the program is started.

All other competition modes are blocked by initialize; it is recommended to keep execution time for this mode under a few seconds.

Definition at line 58 of file main.cpp.

                  {
    pros::lcd::initialize(); // initialize brain screen
    chassis.calibrate(); // calibrate sensors
    // print position to brain screen
    pros::Task screen_task([&]() {
        while (true) {
            // print robot location to the brain screen
            pros::lcd::print(0, "X: %f", chassis.getPose().x); // x
            pros::lcd::print(1, "Y: %f", chassis.getPose().y); // y
            pros::lcd::print(2, "Theta: %f", chassis.getPose().theta); // heading
            // delay to save resources
            pros::delay(20);
        }
    });
}

References chassis().

lateral_controller()

lemlib::ControllerSettings lateral_controller	(	10	,
		0	,
		3	,
		3	,
		1	,
		100	,
		3	,
		500	,
		20	)

Referenced by chassis().

leftMotors()

pros::MotorGroup leftMotors

(

{-16, 14,-13}

)

opcontrol()

void opcontrol

(

)

Runs the operator control code. This function will be started in its own task with the default priority and stack size whenever the robot is enabled via the Field Management System or the VEX Competition Switch in the operator control mode.

If no competition control is connected, this function will run immediately following initialize().

If the robot is disabled or communications is lost, the operator control task will be stopped. Re-enabling the robot will restart the task, not resume it from where it left off.

Definition at line 122 of file main.cpp.

                 {
    while (true)
    {
        int rightControl = controller.get_analog(pros::E_CONTROLLER_ANALOG_RIGHT_Y);
        int leftControl = controller.get_analog(pros::E_CONTROLLER_ANALOG_LEFT_Y);
 
        chassis.tank(leftControl, rightControl, false);
 
        pros::delay(20);
    }
}

References chassis(), and controller().

rightMotors()

pros::MotorGroup rightMotors

(

{-11, 2, 1}

)

vertical_tracking_sensor()

pros::Rotation vertical_tracking_sensor

(

15

)

Variable Documentation

horizontal_tracking_sensor

lemlib::TrackingWheel horizontal_tracking_wheel& horizontal_tracking_sensor

Definition at line 21 of file main.cpp.

leftMotors

lemlib::Drivetrain drivetrain& leftMotors

Definition at line 14 of file main.cpp.

vertical_tracking_sensor

lemlib::TrackingWheel vertical_tracking_wheel& vertical_tracking_sensor

Definition at line 22 of file main.cpp.

vertical_tracking_wheel

lemlib::OdomSensors sensors& vertical_tracking_wheel

Definition at line 23 of file main.cpp.