drive.hpp

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#pragma once
 
#include "LightLib/lib.hpp"
 
const double WHEEL_DIAMETER = 3.3369184232; 
const double ROBOT_WIDTH = 11.4375;         
const int KEY = 267267;                     
 
enum DistanceSide {
  BACK = 0,
  RIGHT = 1,
  LEFT = 2
};
 
enum AutonMode {
  STANLEY = 0, 
  ODOM = 1,    
  PLAIN = 2,   
  BRAIN = 3,   
};
 
enum Wait { WAIT = 0,
            QUICK = 1,
            CHAIN = 2 };
 
class Coordinate {
 public:
  double x = 0;     
  double y = 0;     
  double t = 0;     
  double right = 127; 
  double left = 0;    
  light::e_angle_behavior behavior = light::cw; 
};
 
extern double angle_offset;            
extern AutonMode autonMode;            
extern std::vector<Coordinate> autonPath; 
 
double getDistance(Coordinate point1, Coordinate point2);
double getTheta(Coordinate point1, Coordinate point2, light::drive_directions direction);
double getVelocity(double voltage);
double getTimeToPoint(double distance, double velocity);
Coordinate getPoint(Coordinate startPoint, double distance);
Coordinate getPoint(Coordinate startPoint, double v_left, double v_right, double time);
std::vector<Coordinate> injectPoint(Coordinate startPoint, Coordinate endPoint, e_angle_behavior behavior, double left, double right, double theta,
                                    double lookAhead);
std::vector<Coordinate> injectPath(std::vector<Coordinate> coordList, double lookAhead);
void setPosition(double x, double y);
void setPosition(double x, double y, double t);
double getDistanceActual(DistanceSide sensor, bool use_theta, double failsafe);
void pidWait(Wait type);
void pidWaitUntil(okapi::QLength distance);
void pidWaitUntil(okapi::QAngle distance);
void pidWaitUntil(Coordinate coordinate);
void delayMillis(int millis);
void delayMillis(int millis, bool ignore);
void driveSet(double distance, int speed, bool slew);
void driveSet(double distance, int speed);
void driveSmartSet(double distance, int speed);
void turnSet(double theta, int speed, e_angle_behavior behavior);
void turnSet(double theta, int speed);
void turnSet(Coordinate point, drive_directions direction, int speed, e_angle_behavior behavior);
void turnSet(Coordinate point, drive_directions direction, int speed);
void turnSetRelative(double theta, int speed, e_angle_behavior behavior);
void turnSetRelative(double theta, int speed);
void swingSet(light::e_swing side, double theta, double main, double opp, light::e_angle_behavior behavior);
void swingSet(light::e_swing side, double theta, double main, light::e_angle_behavior behavior);
void swingSet(light::e_swing side, double theta, double main, double opp);
void swingSet(light::e_swing side, double theta, double main);
void getPath();
void getPathInjected();