subsystems.hpp File Reference

Robot subsystem declarations: motors, sensors, and pistons. More...

#include "LightLib/lib.hpp"
#include "LightLib/util/rotational_snap.hpp"
#include "pros/motors.hpp"

Go to the source code of this file.

Functions
Motors
Syntax: inline pros::Motor name(PORT); // forward inline pros::Motor name(-PORT); // negative port = reversed inline pros::MotorGroup name({A, -B}); // group multiple motors Useful methods: name.move(speed) run at -127 … 127 name.move_voltage(mV) run at -12000 … 12000 mV name.get_temperature() degrees C (>55 = hot, >70 = thermal limit) name.get_actual_velocity() measured RPM
pros::Motor	Top (7)
pros::Motor	Bottom (17)
pros::MotorGroup	Score ({17, 7})
	Top + Bottom together.
pros::Motor	turret (0)
	Set port to 0 if not installed.
pros::Optical	optical (15)
	Optical sensor for color sorting.

Variables
Drive	chassis
	The drive chassis, configured in main.cpp and used everywhere else.
Pistons (ADI / 3-wire)
Syntax: ‘inline light::Piston name('PORT’); PORT` is the letter A–H matching the 3-wire port on the brain or expander. light::Piston tracks toggle state and supports: name.set(true / false) extend / retract name.button_toggle(btn) toggle state when btn is newly pressed
light::Piston	Wings ('A')
	Intake wings / expander.
light::Piston	Loader ('C')
	Ball loader / indexer.
light::Piston	MidGoal ('D')
	Mid-goal clamp or mechanism.
light::Piston	Hood ('E')
	Scoring hood.

Alliance color
Set allianceColor at the start of autonomous (in user_autonomous() or your auton routine) to control color-sort behavior: allianceColor = RED; sort out blue rings allianceColor = BLUE; sort out red rings allianceColor = NEUTRAL; sort nothing
enum	Colors { BLUE = 0 , NEUTRAL = 1 , RED = 2 }
	Alliance color enum used by the color-sort logic. More...
Colors	allianceColor
	Currently active alliance color.

Lift with rotational snapping
A motor + rotation sensor pair that snaps to the nearest preset angle when the operator stops driving it. While DIGITAL_UP / DIGITAL_DOWN is held — or the right joystick is deflected — the motor moves manually. As soon as the operator releases, the lift latches the closest snap angle and runs a P controller to it, then holds (motor brake mode is set to HOLD in main.cpp). To use: replace port 0 with your real motor / rotation-sensor ports, then edit the snap angles (degrees) to match your mechanism's rest stops.
light::RotationalSnap	Lift (LiftMotor, LiftRot, {0.0, 45.0, 90.0, 135.0, 180.0}, 1.5, 1.0, 80)
	Lift assembly: snaps to {0, 45, 90, 135, 180}° at rest.
pros::Motor	LiftMotor (0)
	0 = disabled until you set the port.
pros::Rotation	LiftRot (0)
	Rotation sensor on the lift axis.

Detailed Description

Robot subsystem declarations: motors, sensors, and pistons.

Everything declared inline here is available in every .cpp file that includes this header — no extern declarations needed elsewhere.

The drive chassis is declared in main.cpp (built from the #defines at the top of that file) and re-exposed here as extern Drive chassis.

Definition in file subsystems.hpp.

Enumeration Type Documentation

Colors

enum Colors

Alliance color enum used by the color-sort logic.

Enumerator
BLUE
NEUTRAL
RED

Definition at line 96 of file subsystems.hpp.

Function Documentation

Bottom()

pros::Motor Bottom ( 17  )

inline

LiftMotor()

pros::Motor LiftMotor ( 0  )

inline

0 = disabled until you set the port.

LiftRot()

pros::Rotation LiftRot ( 0  )

inline

Rotation sensor on the lift axis.

optical()

pros::Optical optical ( 15  )

inline

Optical sensor for color sorting.

Score()

pros::MotorGroup Score ( {17, 7}  )

inline

Top + Bottom together.

Top()

pros::Motor Top ( 7  )

inline

turret()

pros::Motor turret ( 0  )

inline

Set port to 0 if not installed.

Variable Documentation

allianceColor

Colors allianceColor

extern

Currently active alliance color.

chassis

Drive chassis

extern

The drive chassis, configured in main.cpp and used everywhere else.

Hood

light::Piston Hood( 'E') ( 'E'  )

inline

Scoring hood.

Lift

light::RotationalSnap Lift(LiftMotor, LiftRot, {0.0, 45.0, 90.0, 135.0, 180.0}, 1.5, 1.0, 80) ( LiftMotor  , LiftRot  , {0.0, 45.0, 90.0, 135.0, 180.0}  , 1.  5, 1.  0, 80    )

inline

Lift assembly: snaps to {0, 45, 90, 135, 180}° at rest.

Loader

light::Piston Loader( 'C') ( 'C'  )

inline

Ball loader / indexer.

MidGoal

light::Piston MidGoal( 'D') ( 'D'  )

inline

Mid-goal clamp or mechanism.

Wings

light::Piston Wings( 'A') ( 'A'  )

inline

Intake wings / expander.