Drive and Telemetry

Set Drive

set_tank()

Sets the drive to voltage.

left an integer between -127 and 127
right an integer between -127 and 127

Prototype

void autonomous() {
  set_tank(127, 127);
  pros::delay(1000); // Wait 1 second
  set_tank(0, 0);
}

Example

void set_tank(int left, int right);

set_drive_brake()

Sets brake mode for all drive motors.

brake_type takes either MOTOR_BRAKE_COAST, MOTOR_BRAKE_BRAKE, and MOTOR_BRAKE_HOLD as parameters

Prototype

void initialize() {
  set_drive_brake_mode(MOTOR_BRAKE_COAST);
}

Example

void set_drive_brake(pros::motor_brake_mode_e_t brake_type);

set_drive_current_limit()

Sets mA limit to the drive. Default is 2500.

mA input miliamps

Prototype

void initialize() {
  set_drive_brake_mode(1000);
}

Example

void set_drive_current_limit(int mA);

Telemetry

right_sensor()

Returns right sensor value, either integrated encoder or external encoder.

Prototype

void opcontrol() {
  while (true) {
    chassis.tank();

    printf("Right Sensor: %i \n", chassis.right_sensor());

    pros::delay(ez::util::DELAY_TIME);
  }
}

Example

int right_sensor();

right_velocity()

Returns integrated encoder velocity.

Prototype

void opcontrol() {
  while (true) {
    chassis.tank();

    printf("Right Velocity: %i \n", chassis.right_velocity());

    pros::delay(ez::util::DELAY_TIME);
  }
}

Example

int right_velocity();

right_mA()

Returns current mA being used.

Prototype

void opcontrol() {
  while (true) {
    chassis.tank();

    printf("Right mA: %i \n", chassis.right_mA());

    pros::delay(ez::util::DELAY_TIME);
  }
}

Example

double right_mA();

right_over_current()

Returns true when the motor is pulling too many amps.

Prototype

void opcontrol() {
  while (true) {
    chassis.tank();

    printf("Right Over Current: %i \n", chassis.right_over_current());

    pros::delay(ez::util::DELAY_TIME);
  }
}

Example

bool right_over_current();

left_sensor()

Returns left sensor value, either integrated encoder or external encoder.

Prototype

void opcontrol() {
  while (true) {
    chassis.tank();

    printf("Left Sensor: %i \n", chassis.left_sensor());

    pros::delay(ez::util::DELAY_TIME);
  }
}

Example

int left_sensor();

left_velocity()

Returns integrated encoder velocity.

Prototype

void opcontrol() {
  while (true) {
    chassis.tank();

    printf("Left Velocity: %i \n", chassis.left_velocity());

    pros::delay(ez::util::DELAY_TIME);
  }
}

Example

int left_velocity();

left_mA()

Returns current mA being used.

Prototype

void opcontrol() {
  while (true) {
    chassis.tank();

    printf("Left mA: %i \n", chassis.left_mA());

    pros::delay(ez::util::DELAY_TIME);
  }
}

Example

double left_mA();

left_over_current()

Returns true when the motor is pulling too many amps.

Prototype

void opcontrol() {
  while (true) {
    chassis.tank();

    printf("Left Over Current: %i \n", chassis.left_over_current());

    pros::delay(ez::util::DELAY_TIME);
  }
}

Example

bool left_over_current();

reset_drive_sensor()

Resets integrated encoders and trackers if applicable.

Prototype

void initialize() {
  chassis.reset_drive_sensor();
}

Example

void reset_drive_sensor();

reset_gyro()

Sets current gyro position to parameter, defaulted to 0.

Prototype

void initialize() {
  chassis.reset_gyro();
}

Example

void reset_gyro(double new_heading = 0);

get_gyro()

Gets IMU sensor, value is degrees.

Prototype

void opcontrol() {
  while (true) {
    chassis.tank();

    printf("Gyro: %f \n", chassis.get_gyro());

    pros::delay(ez::util::DELAY_TIME);
  }
}

Example

double get_gyro();

imu_calibrate()

Calibrates IMU, and vibrates the controller after a successful calibration.

Prototype

void initialize() {
  chassis.imu_calibrate();
}

Example

bool imu_calibrate();