main.cpp File Reference

#include "main.h"
#include "globals.h"
#include "pros/misc.h"
#include "autonRoutines.h"
#include "lemlib/api.hpp"
#include "lemlib/util.hpp"

Go to the source code of this file.

Functions
void	auton2 ()
void	auton3 ()
rd::Selector	selector ({ {"Red Right", red_right}, {"Test auton 2", auton2}, {"Test auton 3", auton3}, })
void	initialize ()
void	disabled ()
void	competition_initialize ()
void	autonomous ()
void	opcontrol ()

Variables
rd::Console	console

Function Documentation

auton2()

void auton2

(

)

Definition at line 10 of file main.cpp.

{
    chassis.turnToHeading(90, 1000);
}

References chassis.

Referenced by selector().

auton3()

void auton3

(

)

Definition at line 15 of file main.cpp.

{
    chassis.moveToPoint(0, -12, 1000);
}

References chassis.

Referenced by selector().

autonomous()

void autonomous

(

)

Definition at line 52 of file main.cpp.

                  {
    selector.run_auton();
}

References selector().

competition_initialize()

void competition_initialize

(

)

Definition at line 48 of file main.cpp.

                              {
 
}

disabled()

void disabled

(

)

Definition at line 44 of file main.cpp.

                {
    selector.focus();
}

References selector().

initialize()

void initialize

(

)

Definition at line 30 of file main.cpp.

                  {
    chassis.calibrate();
    agitator.set_voltage_limit(6500);
    pros::Task screen_task([&]() {
        while (true) {
            lemlib::Pose pose = chassis.getPose();
            console.printf("X: %f\n", pose.x);
            console.printf("Y: %f\n", pose.y);
            console.printf("Theta: %f\n", pose.theta);
            pros::delay(20);
        }
    });
}

References agitator(), chassis, and console.

opcontrol()

void opcontrol

(

)

Definition at line 56 of file main.cpp.

                 {
    while(true)
    {
        double y = controller.get_analog(pros::E_CONTROLLER_ANALOG_LEFT_Y);
        double x = controller.get_analog(pros::E_CONTROLLER_ANALOG_RIGHT_X);
        chassis.curvature(y, x, false);
 
        /*
        double right = controller.get_analog(pros::E_CONTROLLER_ANALOG_RIGHT_Y);
        double left = controller.get_analog(pros::E_CONTROLLER_ANALOG_LEFT_Y);
        chassis.tank(left, right, false);
        */
 
        //R1 - outake long goal
        if(controller.get_digital(pros::E_CONTROLLER_DIGITAL_R1))
        {
            midMotor.move_voltage(-12000);
            agitator.move_voltage(-6500);
            intakeMotor.move_voltage(12000);
 
        }
        else if(controller.get_digital(pros::E_CONTROLLER_DIGITAL_R2))
        {
            //R2 - Bottom goal
            midMotor.move_voltage(12000);
            agitator.move_voltage(-6500);
            intakeMotor.move_voltage(-12000);
 
        }
        else if(controller.get_digital(pros::E_CONTROLLER_DIGITAL_L1))
        {
            //Intake
            if(midRollerHeight.is_extended())
            {
                midRollerHeight.retract();
            }
            agitator.brake();
            intakeMotor.move_voltage(12000);
            topRoller.retract();
            midMotor.move_voltage(-12000);
 
        }
        else if(controller.get_digital(pros::E_CONTROLLER_DIGITAL_L2))
        {
            agitator.move_voltage(-6500);
            intakeMotor.move_voltage(12000);
            midMotor.move_voltage(12000);
        }
        else if (controller.get_digital_new_press(pros::E_CONTROLLER_DIGITAL_LEFT))
        {   
            aligner.toggle();
        }
        else if (controller.get_digital_new_press(pros::E_CONTROLLER_DIGITAL_RIGHT))
        {   
            matchload_mech.toggle();
        }
        else if (controller.get_digital_new_press(pros::E_CONTROLLER_DIGITAL_X))
        {   
            topRoller.toggle();
        }
        else {
            intakeMotor.brake();
            agitator.brake();
            midMotor.brake();
            if(!midRollerHeight.is_extended())
            {
                midRollerHeight.extend();
            }
        }
        pros::delay(20);
    }
}

References agitator(), aligner(), chassis, controller, intakeMotor(), matchload_mech(), midMotor(), midRollerHeight(), and topRoller().

selector()

rd::Selector selector

(

{ {"Red Right", red_right}, {"Test auton 2", auton2}, {"Test auton 3", auton3}, }

)

References auton2(), auton3(), and red_right().

Referenced by autonomous(), and disabled().

Variable Documentation

console

rd::Console console

Definition at line 27 of file main.cpp.

Referenced by initialize().