ohhhhhhhhhmy peeeeceeeeeeeeeeeeeeeeee

NoozAbooz · Feb 11, 2025 · 8e7be53 · 8e7be53
1 parent 124489b
commit 8e7be53
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Showing 11 changed files with 481 additions and 600 deletions.
diff --git a/firmware/catLib.a b/firmware/catLib.a
diff --git a/include/catLib/drivetrain/chassis.hpp b/include/catLib/drivetrain/chassis.hpp
@@ -15,27 +15,31 @@ namespace catlib {
 
             void calibrate();
 
+            void initializeOdom();
+
             void track();
 
+            void mirrorAutons(bool state);
+
             void setPose(double x, double y, double theta, bool isRadian);
 
-            void setBrakeMode(pros::MotorBrake brakeMode);
+            void setBrakeMode(pros::motor_brake_mode_e brakeMode);
 
             Vector2d getPose();
 
-            Vector3d getPoseWithTheta(bool isRadian);
+            Vector3d getPoseWithTheta(bool isRadian = false);
 
             void arcadeDrive(double linear, double angular);
 
             void tankDrive(double l, double r);
 
             void setDrive(double l, double r);
 
-            void driveStraightPID(double targetDistance, double speedCap, double timeOut);
+            void movePID(double targetDistance,  double timeOut = 2000, double speedCap = 1, double exitRange = 0.2);
 
-            void turnToHeadingPID(double targetDeg, double speedRatio, bool reversed);
+            void turnToHeadingPID(double heading, double speedRatio = 1, bool reversed = 0, double exitRange = 0.2);
 
-            void driveToPoint(double x, double y, double timeOut, double maxVoltage, double minVoltage);
+            void moveToPoint(double x, double y, double timeOut, double maxVoltage, double minVoltage);
 
             void turnToPoint(double x, double y, double timeOut, double speedCap);
 
@@ -52,5 +56,12 @@ namespace catlib {
             DriveType d;
             Vector2d pose;
             double heading;
+            double currentHeading;
+
+            double prevHeading;
+            double prevVertical;
+            double prevHorizontal;
+
+            bool mirror;
     };
 }
diff --git a/include/deviceGlobals.hpp b/include/deviceGlobals.hpp
@@ -16,7 +16,7 @@ inline pros::MotorGroup rightDrive({-7, 10, 8});
 
 // Intake
 inline pros::MotorGroup intake({-9, -19});
-inline pros::Motor wallStake(16);
+inline pros::Motor wallStake(20);
 
 // Pneumatics
 inline pros::adi::Pneumatics clampPiston('A', false);
@@ -116,7 +116,7 @@ inline catlib::OdomSensors cLsensors(
     &vertical_tracker
 );
 
-inline catlib::Chassis cl (
+inline catlib::Chassis cat (
     &cLdt,
     &lateral_pid,
     &angular_pid,

diff --git a/project.pros b/project.pros