Merge branch 'worldBotChanges'

Area-53-Robotics · Apr 7, 2024 · 7652060 · 7652060
2 parents b0f8135 + 72047d7
commit 7652060
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Showing 5 changed files with 297 additions and 16 deletions.
diff --git a/include/globals.hpp b/include/globals.hpp
@@ -57,6 +57,10 @@ inline lib::Flywheel flywheel(flywheel_motor, flywheel_led);
 inline auto flaps_piston = std::make_shared<pros::ADIDigitalOut>('C');
 inline lib::Flaps flaps(flaps_piston);
 
+//PTO
+inline pros::ADIAnalogOut ptoPiston('A');
+inline pros::ADIAnalogOut ptoPistonTwo('B');
+
 // Hang
 inline auto extra_piston = std::make_shared<pros::ADIDigitalOut>('E');
 inline auto hang_piston = std::make_shared<pros::ADIDigitalOut>('D');
@@ -68,12 +72,12 @@ inline lib::Intake intake(intake_motor);
 
 // Drivetrain
 // drive motors
-inline pros::Motor lF(17, pros::E_MOTOR_GEAR_BLUE); // left front motor. port 12, reversed
-inline pros::Motor lM(18, pros::E_MOTOR_GEARSET_06); // left middle motor. port 11, reversed
-inline pros::Motor lB(19, pros::E_MOTOR_GEARSET_06); // left back motor. port 1, reversed
-inline pros::Motor rF(-12, pros::E_MOTOR_GEARSET_06); // right front motor. port 2
-inline pros::Motor rM(-13, pros::E_MOTOR_GEARSET_06); // right middle motor. port 11
-inline pros::Motor rB(-14, pros::E_MOTOR_GEARSET_06); // right back motor. port 13
+inline pros::Motor lF(8, pros::E_MOTOR_GEAR_BLUE); // left front motor. port 12, 
+inline pros::Motor lM(9, pros::E_MOTOR_GEARSET_06); // left middle motor. port 11, 
+inline pros::Motor lB(10, pros::E_MOTOR_GEARSET_06); // left back motor. port 1, 
+inline pros::Motor rF(-18, pros::E_MOTOR_GEARSET_06); // right front motor. port 2 reversed
+inline pros::Motor rM(-19, pros::E_MOTOR_GEARSET_06); // right middle motor. port 11 reversed
+inline pros::Motor rB(-20, pros::E_MOTOR_GEARSET_06); // right back motor. port 13 reversed
 
 // motor groups
 inline pros::MotorGroup left_motors({lF, lM, lB}); // left motor group
@@ -92,8 +96,8 @@ inline lemlib::Drivetrain drivetrain{
     8               // chase power
 };
 
-inline pros::ADIEncoder left_enc('A', 'B', false);
-inline pros::ADIEncoder back_enc('G', 'H', false);
+//inline pros::ADIEncoder left_enc('A', 'B', false);
+//inline pros::ADIEncoder back_enc('G', 'H', false);
 
 //inline lemlib::TrackingWheel left_tracking_wheel(&left_enc, 2.75, 3);
 //inline lemlib::TrackingWheel back_tracking_wheel(&back_enc, 2.75, -4);

diff --git a/src/misc.cpp b/src/misc.cpp
@@ -31,6 +31,7 @@ void initialize() {
   intake.start_task();
   flaps.start_task();
   hang.start_task();
+  ptoPistonTwo.set_value(1);
 
 #ifdef LOGGING
   logger.start_task();

diff --git a/src/opcontrol.cpp b/src/opcontrol.cpp
@@ -42,12 +42,10 @@ void opcontrol() {
 
     // Hang control
     if (controller.get_digital_new_press(pros::E_CONTROLLER_DIGITAL_B)) {
-      printf("workingone\n");
-      controller.rumble(".");
-      hang.toggle();
-    } else if (controller.get_digital(pros::E_CONTROLLER_DIGITAL_Y)) {
-      printf("workingtwo\n");
-      hang.set_state(lib::HangState::Boosted);
+      controller.rumble("...");
+      ptoPistonTwo.set_value(0);
+    } else {
+      ptoPiston.set_value(1);
     }
 
     // Flywheel control
@@ -80,9 +78,9 @@ void opcontrol() {
     int right = controller.get_analog(pros::E_CONTROLLER_ANALOG_RIGHT_Y);
 
     if (is_drive_reversed) {
-      chassis.tank(-right, -left, 5);
+      chassis.tank(-right, -left, 10);
     } else {
-      chassis.tank(left, right, 5);
+      chassis.tank(left, right, 10);
     }
 
     pros::delay(20);

diff --git a/static/skillspathone.txt b/static/skillspathone.txt
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