Updateing files to match the files from the past

include/initialize/setup.hpp

@@ -0,0 +1,10 @@
+#include "main.h"
+#include "EZ-Template/api.hpp"
+#include "api.h"
+
+#pragma once
+
+#ifndef CONFIG_H
+#define CONFIG_H
+
+#endif

include/main.h

@@ -42,6 +42,7 @@
 //#include "okapi/api.hpp"
 //#include "pros/api_legacy.h"
 #include "EZ-Template/api.hpp"
+#include "initialize/setup.hpp"
 
 // More includes here...
 #include "autons.hpp"

src/main.cpp

@@ -12,16 +12,16 @@ ez::Drive chassis(
     {-4, -5, -6},  // Right Chassis Ports (negative port will reverse it!)
 
     7,      // IMU Port
-    4.125,  // Wheel Diameter (Remember, 4" wheels without screw holes are actually 4.125!)
+    3.25,  // Wheel Diameter (Remember, 4" wheels without screw holes are actually 4.125!)
-    343);   // Wheel RPM = cartridge * (motor gear / wheel gear)
+    360);   // Wheel RPM = cartridge * (motor gear / wheel gear)
 
 // Uncomment the trackers you're using here!
 // - `8` and `9` are smart ports (making these negative will reverse the sensor)
 //  - you should get positive values on the encoders going FORWARD and RIGHT
 // - `2.75` is the wheel diameter
 // - `4.0` is the distance from the center of the wheel to the center of the robot
-// ez::tracking_wheel horiz_tracker(8, 2.75, 4.0);  // This tracking wheel is perpendicular to the drive wheels
+// ez::tracking_wheel horiz_tracker(8, 3.25, 4.0);  // This tracking wheel is perpendicular to the drive wheels
-// ez::tracking_wheel vert_tracker(9, 2.75, 4.0);   // This tracking wheel is parallel to the drive wheels
+// ez::tracking_wheel vert_tracker(9, 3.25, 4.0);   // This tracking wheel is parallel to the drive wheels
 
 /**
  * Runs initialization code. This occurs as soon as the program is started.
@@ -58,7 +58,9 @@ void initialize() {
 
   // Autonomous Selector using LLEMU
   ez::as::auton_selector.autons_add({
-      {"Drive\n\nDrive forward and come back", drive_example},
+      //personal autons go here
+
+      /*{"Drive\n\nDrive forward and come back", drive_example},
       {"Turn\n\nTurn 3 times.", turn_example},
       {"Drive and Turn\n\nDrive forward, turn, come back", drive_and_turn},
       {"Drive and Turn\n\nSlow down during drive", wait_until_change_speed},
@@ -71,7 +73,7 @@ void initialize() {
       {"Pure Pursuit Wait Until\n\nGo to (24, 24) but start running an intake once the robot passes (12, 24)", odom_pure_pursuit_wait_until_example},
       {"Boomerang\n\nGo to (0, 24, 45) then come back to (0, 0, 0)", odom_boomerang_example},
       {"Boomerang Pure Pursuit\n\nGo to (0, 24, 45) on the way to (24, 24) then come back to (0, 0, 0)", odom_boomerang_injected_pure_pursuit_example},
-      {"Measure Offsets\n\nThis will turn the robot a bunch of times and calculate your offsets for your tracking wheels.", measure_offsets},
+      {"Measure Offsets\n\nThis will turn the robot a bunch of times and calculate your offsets for your tracking wheels.", measure_offsets},*/
   });
 
   // Initialize chassis and auton selector
@@ -169,10 +171,12 @@ void ez_screen_task() {
                            1);  // Don't override the top Page line
 
           // Display all trackers that are being used
-          screen_print_tracker(chassis.odom_tracker_left, "l", 4);
+          screen_print_tracker(chassis.odom_tracker_left, "LV", 4);
-          screen_print_tracker(chassis.odom_tracker_right, "r", 5);
+          screen_print_tracker(chassis.odom_tracker_right, "RV", 5);
-          screen_print_tracker(chassis.odom_tracker_back, "b", 6);
+          screen_print_tracker(chassis.odom_tracker_back, "BH", 6);
-          screen_print_tracker(chassis.odom_tracker_front, "f", 7);
+          screen_print_tracker(chassis.odom_tracker_front, "FH", 7);
+
+          //More display code goes here
         }
       }
     }
@@ -241,14 +245,16 @@ void ez_template_extras() {
  */
 void opcontrol() {
   // This is preference to what you like to drive on
-  chassis.drive_brake_set(MOTOR_BRAKE_COAST);
+  chassis.drive_brake_set(MOTOR_BRAKE_HOLD);
 
   while (true) {
     // Gives you some extras to make EZ-Template ezier
-    ez_template_extras();
+    //ez_template_extras();
 
-    chassis.opcontrol_tank();  // Tank control
+    //Put function you need to call in driver control here
-    // chassis.opcontrol_arcade_standard(ez::SPLIT);   // Standard split arcade
+
+    // chassis.opcontrol_tank();  // Tank control
+    chassis.opcontrol_arcade_standard(ez::SPLIT);   // Standard split arcade
     // chassis.opcontrol_arcade_standard(ez::SINGLE);  // Standard single arcade
     // chassis.opcontrol_arcade_flipped(ez::SPLIT);    // Flipped split arcade
     // chassis.opcontrol_arcade_flipped(ez::SINGLE);   // Flipped single arcade