subsystems_8hpp_source.html

#pragma once


#include "LightLib/lib.hpp"

#include "LightLib/util/rotational_snap.hpp"

#include "pros/motors.hpp"


extern Drive chassis;


inline pros::Motor Top(7);

inline pros::Motor Bottom(17);

inline pros::MotorGroup Score({17, 7});


inline pros::Motor turret(0);

inline pros::Optical optical(15);

inline pros::Motor LiftMotor(0);

inline pros::Rotation LiftRot(0);


inline light::RotationalSnap Lift(

    LiftMotor, LiftRot,

    /* snap_angles_deg = */ {0.0, 45.0, 90.0, 135.0, 180.0},

    /* kP             = */ 1.5,

    /* tolerance_deg  = */ 1.0,

    /* max_snap_speed = */ 80);

inline light::Piston Wings('A');

inline light::Piston Loader('C');

inline light::Piston MidGoal('D');

inline light::Piston Hood('E');

enum Colors { BLUE = 0,

              NEUTRAL = 1,

              RED = 2 };

extern Colors allianceColor;

light::Drive
Tank-drive chassis class.
Definition drive.hpp:72

light::Piston
Stateful 3-wire pneumatic piston with toggle helpers.
Definition piston.hpp:26

light::RotationalSnap
Manual-then-snap controller for a motor + rotation-sensor pair.
Definition rotational_snap.hpp:33

lib.hpp
Umbrella header for LightLib's own classes.

rotational_snap.hpp
Manual-then-snap mechanism controller.

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

Score
pros::MotorGroup Score({17, 7})
Top + Bottom together.

LiftRot
pros::Rotation LiftRot(0)
Rotation sensor on the lift axis.

Colors
Colors
Alliance color enum used by the color-sort logic.
Definition subsystems.hpp:96

BLUE
@ BLUE
Definition subsystems.hpp:96

NEUTRAL
@ NEUTRAL
Definition subsystems.hpp:97

RED
@ RED
Definition subsystems.hpp:98

Lift
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.

LiftMotor
pros::Motor LiftMotor(0)
0 = disabled until you set the port.

allianceColor
Colors allianceColor
Currently active alliance color.

Hood
light::Piston Hood('E')
Scoring hood.

Bottom
pros::Motor Bottom(17)

Top
pros::Motor Top(7)

MidGoal
light::Piston MidGoal('D')
Mid-goal clamp or mechanism.

turret
pros::Motor turret(0)
Set port to 0 if not installed.

optical
pros::Optical optical(15)
Optical sensor for color sorting.

Loader
light::Piston Loader('C')
Ball loader / indexer.

Wings
light::Piston Wings('A')
Intake wings / expander.