Pto Code Ugh

include/globals.hpp

@@ -29,25 +29,26 @@ inline lib::Logger logger;
 
 inline pros::Controller controller(pros::E_CONTROLLER_MASTER);
 
-inline sylib::Addrled led(22, -1, 20);
+inline sylib::Addrled pto_led(22, 42, 20);
 
 // Flaps
 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');
+inline pros::ADIAnalogOut pto_piston('A');
+inline pros::ADIAnalogOut pto_piston_two('B');
 
 // Intake
-inline auto intake_motor = std::make_shared<pros::Motor>(-15);
+inline auto intake_motor = std::make_shared<pros::Motor>(-12);
 inline lib::Intake intake(intake_motor);
 
 // Drivetrain
 // drive motors
 inline pros::Motor lF(1, pros::E_MOTOR_GEAR_BLUE);
 inline pros::Motor lM(2, pros::E_MOTOR_GEARSET_06);
 inline pros::Motor lB(3, pros::E_MOTOR_GEARSET_06);
+
 inline pros::Motor rF(-8, pros::E_MOTOR_GEARSET_06);
 inline pros::Motor rM(-9, pros::E_MOTOR_GEARSET_06);
 inline pros::Motor rB(-10, pros::E_MOTOR_GEARSET_06);
@@ -76,7 +77,7 @@ inline lemlib::OdomSensors sensors{
 };
 
 // linear motion controller
-inline lemlib::ControllerSettings linearController(
+inline lemlib::ControllerSettings linear_controller(
     22,    // proportional gain (kP)
     0,     // integral gain (kI)
     10,    // derivative gain (kD)
@@ -89,7 +90,7 @@ inline lemlib::ControllerSettings linearController(
 );
 
 // angular motion controller
-inline lemlib::ControllerSettings angularController(
+inline lemlib::ControllerSettings angular_controller(
     2,    // proportional gain (kP)
     0,    // integral gain (kI)
     30,   // derivative gain (kD)
@@ -102,5 +103,5 @@ inline lemlib::ControllerSettings angularController(
 );
 
 // create the chassis
-inline lemlib::Chassis chassis(drivetrain, linearController, angularController,
-                               sensors);
+inline lemlib::Chassis chassis(drivetrain, linear_controller,
+                               angular_controller, sensors);

src/misc.cpp

@@ -27,16 +27,14 @@ void initialize() {
 
   intake.start_task();
   flaps.start_task();
-  ptoPistonTwo.set_value(1);
+  pto_piston_two.set_value(1);
 
 #ifdef LOGGING
   logger.start_task();
   logger.set_rate(10);
   logger.set_state(lib::LoggerMode::FirstInFirstOut);
 #endif
 
-  led.gradient(0x8B3AFD, 0x7DFF29, 0, 0, false, true);
-  led.cycle(*led, 1);
 
   /*
 

src/opcontrol.cpp

@@ -21,8 +21,9 @@
  */
 void opcontrol() {
   printf("opcontrol started\n");
+  bool pto_enabled = true;
+  bool drive_reversed = false;
 
-  bool is_drive_reversed = false;
   while (true) {
     // Intake Control
     if (controller.get_digital(pros::E_CONTROLLER_DIGITAL_R1)) {
@@ -42,10 +43,17 @@ void opcontrol() {
 
     // Hang control
     if (controller.get_digital_new_press(pros::E_CONTROLLER_DIGITAL_B)) {
-      controller.rumble("...");
-      ptoPistonTwo.set_value(0);
+      controller.rumble(".");
+      pto_enabled = !pto_enabled;
+    }
+
+    if (pto_enabled == false) {
+
+      pto_piston_two.set_value(0);
+      pto_led.set_all(0x6AF844);
     } else {
-      ptoPiston.set_value(1);
+      pto_piston_two.set_value(1);
+      pto_led.set_all(0xFF5632);
     }
 
     /*
@@ -59,13 +67,13 @@ void opcontrol() {
     // Drivetrain control
     if (controller.get_digital_new_press(pros::E_CONTROLLER_DIGITAL_A)) {
       controller.rumble(".");
-      is_drive_reversed = !is_drive_reversed;
+      drive_reversed = !drive_reversed;
     }
 
     int left = controller.get_analog(pros::E_CONTROLLER_ANALOG_LEFT_Y);
     int right = controller.get_analog(pros::E_CONTROLLER_ANALOG_RIGHT_Y);
 
-    if (is_drive_reversed) {
+    if (drive_reversed) {
       chassis.tank(-right, -left, 10);
     } else {
       chassis.tank(left, right, 10);