Remove unused configuration files and update motor configurations for…

… improved functionality
NoozAbooz · Jan 24, 2025 · 9d475c3 · 9d475c3
1 parent dcfd4c0
commit 9d475c3
Show file tree

Hide file tree

Showing 12 changed files with 54 additions and 46 deletions.
diff --git a/.clang-format b/.clang-format
diff --git a/.clangd b/.clangd
diff --git a/common.mk b/common.mk
@@ -34,7 +34,7 @@ LIBRARIES+=$(wildcard $(FWDIR)/*.a)
 EXCLUDE_COLD_LIBRARIES+=$(FWDIR)/libc.a $(FWDIR)/libm.a
 COLD_LIBRARIES=$(filter-out $(EXCLUDE_COLD_LIBRARIES), $(LIBRARIES))
 wlprefix=-Wl,$(subst $(SPACE),$(COMMA),$1)
-LNK_FLAGS=--gc-sections --start-group $(strip $(LIBRARIES)) -lgcc -lstdc++ --end-group -T$(FWDIR)/v5-common.ld
+LNK_FLAGS=--gc-sections --start-group $(strip $(LIBRARIES)) -lgcc -lstdc++ --end-group -T$(FWDIR)/v5-common.ld --no-warn-rwx-segments
 
 ASMFLAGS=$(MFLAGS) $(WARNFLAGS)
 CFLAGS=$(MFLAGS) $(CPPFLAGS) $(WARNFLAGS) $(GCCFLAGS) --std=$(C_STANDARD)

diff --git a/include/abstractGlobals.hpp b/include/abstractGlobals.hpp
@@ -14,6 +14,7 @@ void rdconfig_init();
 
 extern std::string alliance;
 extern std::string field_status;
+extern bool intakeLock;
 extern void competitionTelemtryRefresh();
 
 /* Functions */

diff --git a/include/deviceGlobals.hpp b/include/deviceGlobals.hpp
@@ -11,22 +11,22 @@ inline pros::Controller controller(pros::E_CONTROLLER_MASTER);
 // inline pros::MotorGroup rightDrive({-12, 13, -17});
 
 // v1
-inline pros::MotorGroup leftDrive({-18, 19, 20});
-inline pros::MotorGroup rightDrive({-11, 12, 13});
+inline pros::MotorGroup leftDrive({11, -12, -13});
+inline pros::MotorGroup rightDrive({18, -19, 20});
 
 // Intake
-inline pros::Motor intake(-14);
-inline pros::MotorGroup wallStake({-13, 14});
+inline pros::MotorGroup intake({-17, -8});
+inline pros::Motor wallStake(21);
 
 // Pneumatics
 inline pros::adi::Pneumatics clampPiston('A', false);
 inline pros::adi::Pneumatics doinkerPiston('B', false);
 
 /* Declare sensors */
-inline pros::Optical optical(14);
+inline pros::Optical optical(2);
 inline pros::Imu inertial1(17);
 inline pros::Imu inertial2(15);
-inline pros::Rotation wallStakeRotationSensor(12);
+inline pros::Rotation wallStakeRotationSensor(10);
 
 inline pros::Rotation verticalEncoder(4);
 inline pros::Rotation horizontalEncoder(-5);

diff --git a/include/libKS/drivetrain/chassis.hpp b/include/libKS/drivetrain/chassis.hpp
@@ -4,5 +4,5 @@
 namespace ks {
     void moveRaw(int voltage, int time);
     double driveCurve(double input, double curve);
-    void arcadeDrive(int linCurve, int rotCurve, double turnScale);
+    void arcadeDrive(int linCurve = 0, int rotCurve = 0, double turnScale = 1);
 }
diff --git a/src/init/initialize.cpp b/src/init/initialize.cpp
@@ -16,10 +16,12 @@ void initialize() {
     //     chassis.calibrate();
     // });
     ks::initializeOdom();
+    initializeColourSort();
 
     optical.set_led_pwm(75); // enable led on optical sensor for accuracy
     optical.set_integration_time(10); // refresh every 10ms
     wallStake.set_brake_mode(pros::E_MOTOR_BRAKE_HOLD);
+    intake.get_brake_mode(pros::E_MOTOR_BRAKE_BRAKE);
 
     inertial1.set_data_rate(5);
     inertial2.set_data_rate(5);
@@ -46,17 +48,18 @@ void disabled() {
  * This task will exit when the robot is enabled and autonomous or opcontrol
  * starts.
  */
-void competitionTelemtryRefresh(std::optional<rd::Selector::routine_t> routine) {
-    if (!routine.has_value()) return;
-    controller.print(0, 0, "%s |%s| %.0lf", alliance.c_str(), routine.value().action, chassis.getPose().theta);
+void competitionTelemtryRefresh() {
+    auto auton = gui_selector.get_auton();
+    const char* auton_name = auton->name.c_str();
+    controller.print(0, 0, "%s|%s|%.0lf", alliance.c_str(), auton_name, chassis.getPose().theta);
 }
 
 void competition_initialize() {
     rd_view_focus(allianceview);
     field_status = "competition";
 
     gui_selector.on_select([](std::optional<rd::Selector::routine_t> routine) {
-        competitionTelemtryRefresh(routine);
+        competitionTelemtryRefresh();
     });
 
     // pros::Task([] {   // legacy way of doing above

diff --git a/src/libKS/drivetrain/chassis.cpp b/src/libKS/drivetrain/chassis.cpp
@@ -16,9 +16,14 @@ double ks::driveCurve(double input, double curve) {
 }
 
 void ks::arcadeDrive(int linCurve, int rotCurve, double turnScale) {
-    // poll joystick input and convert to mv, then run through drivecurve function
-    int power = ks::driveCurve(controller.get_analog(pros::E_CONTROLLER_ANALOG_LEFT_Y), linCurve);
-    int turn = ks::driveCurve(controller.get_analog(pros::E_CONTROLLER_ANALOG_RIGHT_X), rotCurve);
+    int power = controller.get_analog(pros::E_CONTROLLER_ANALOG_LEFT_Y);
+    int turn = controller.get_analog(pros::E_CONTROLLER_ANALOG_RIGHT_X) * turnScale;
+
+    if (linCurve != 0 && rotCurve != 0) {
+        // poll joystick input and convert to mv, then run through drivecurve function
+        power = ks::driveCurve(controller.get_analog(pros::E_CONTROLLER_ANALOG_LEFT_Y), linCurve);
+        turn = ks::driveCurve(controller.get_analog(pros::E_CONTROLLER_ANALOG_RIGHT_X), rotCurve) * turnScale;
+    }
 
     // move motors based on direction (eg move left more when turn is positive)
     leftDrive.move_voltage((power + turn) * (12000.0 / 127));

diff --git a/src/libKS/drivetrain/odom.cpp b/src/libKS/drivetrain/odom.cpp
@@ -80,6 +80,10 @@ double avg_heading;
 double deltaXLocal;
 double deltaYLocal;
 
+void ks::initializeOdom() {
+	pros::Task odom_task(ks::odomUpdate); 
+}
+
 void ks::setOdomPosition(double x_new, double y_new, double theta_new) {
 	x = 0;
 	y = 0;

diff --git a/src/main.cpp b/src/main.cpp
@@ -20,7 +20,7 @@ void opcontrol() {
 
 	while (true) { // Main continuous loop
 		/* Drive */
-		ks::arcadeDrive(0, 0, 1);
+		ks::arcadeDrive(0, 0, 1.2);
 
 		/* Subsystem Listeners */
 		refreshIntake();

diff --git a/src/subsystem/colourSort.cpp b/src/subsystem/colourSort.cpp
@@ -1,25 +1,28 @@
 #include "main.h"
 
-bool sortToggle = true;
-bool lock = false;
+bool intakeLock = false;
 
 // Colour Sorter
-
-
 void initializeColourSort() {
 	pros::Task([] {
 		while (true) {
-			if (alliance == "red" && optical.get_hue() > 100 && optical.get_hue() < 200 && lock == false && sortToggle == true) {
+			//console.printf("Hue: %d\n", optical.get_hue());
+			if (alliance == "red" && optical.get_hue() > 100 && optical.get_hue() < 230) {
 				// eject blue rings
+				console.println("eject blue impostor");
+				intakeLock = true;
+				intake.brake();
+				pros::delay(600);
+				intake.move_voltage(12000);
+				intakeLock = false;
 			}
-			if (alliance == "blue" && optical.get_hue() > 15 && optical.get_hue() < 40 && lock == false && sortToggle == true) {
+			if (alliance == "blue" && optical.get_hue() > 15 && optical.get_hue() < 40) {
 				// eject red rings
+				intake.brake();
+				console.println("eject red impostor");
 			}
-
-			if (controller.get_digital_new_press(pros::E_CONTROLLER_DIGITAL_B)) {
-    			sortToggle = !sortToggle;
-				optical.set_led_pwm((sortToggle == true ? 75 : 0)); // Turn off LED if not sorting
-    		}
+
+			pros::delay(10);
 		}
 	});
 }
diff --git a/src/subsystem/opcontrol.cpp b/src/subsystem/opcontrol.cpp
@@ -2,12 +2,17 @@
 
 // Intake (hold down button to spin motor)
 void refreshIntake() {
-	if(controller.get_digital(pros::E_CONTROLLER_DIGITAL_L1)) {
-		intake.move_voltage(12000);
-	} else if (controller.get_digital(pros::E_CONTROLLER_DIGITAL_L2)) {
-		intake.move_voltage(-12000);
-	} else {
-		intake.move_voltage(0);
+	if (intakeLock == false) {
+		if(controller.get_digital(pros::E_CONTROLLER_DIGITAL_L1)) {
+			intake.move_voltage(12000);
+
+			// stuff anti-jam system here too
+
+		} else if (controller.get_digital(pros::E_CONTROLLER_DIGITAL_L2)) {
+			intake.move_voltage(-12000);
+		} else {
+			intake.move_voltage(0);
+		}
 	}
 }