grr

src/init/declaration.cpp

@@ -26,15 +26,20 @@ pros::ADIPotentiometer potentiometer('G');
 
 pros::Imu inertial(2);
 pros::Imu inertial2(3);
-// pros::Rotation verticalEnc(15, true);
-// lemlib::TrackingWheel vertical(&verticalEnc, lemlib::Omniwheel::NEW_275, -3.7);
+
+pros::Rotation verticalEncoder(15, true);
+pros::Rotation horizontalEncoder(16, true);
+// horizontal tracking wheel
+lemlib::TrackingWheel vertical_tracking_wheel(&verticalEncoder, lemlib::Omniwheel::NEW_275, -5.75);
+// vertical tracking wheel
+lemlib::TrackingWheel horizontal_tracking_wheel(&horizontalEncoder, lemlib::Omniwheel::NEW_275, -2.5);
 
 // drivetrain settings
 lemlib::Drivetrain drivetrain(&leftDrive, // left motor group
                               &rightDrive, // right motor group
                               10.5, // 25 hole track width
                               lemlib::Omniwheel::NEW_325,
-                              450, // drivetrain rpm
+                              360, // drivetrain rpm
                               2 // chase power is 2. If we had traction wheels, it would have been 8
 );
 // lateral motion controller

src/init/initialize.cpp

@@ -9,10 +9,9 @@
 void initialize() {
     pros::delay(10);
 
-    static Gif gif("/usd/logo2.gif", lv_scr_act());
     strait::selector::init();
 
-    pros::Task bruh(strait::calibrateIMU);
+    pros::Task straitOdomTask(strait::calibrateIMU);
     chassis.calibrate();
     pros::Task odomTask(strait::odomThread);
 

src/main.cpp

@@ -9,6 +9,7 @@
  * the task from where it left off.
  */
 void opcontrol() {
+	static Gif gif("/usd/logo2.gif", lv_scr_act());
 	while (true) { // Main continuous loop
 		/* Drive */
 		strait::arcadeDrive(12, 0, 0.5);