Util

controller

The pros controller is defined globally in our library as master.

Prototype

void opcontrol() {
  while (true) {
    int l_stick = left_curve_function(master.get_analog(ANALOG_LEFT_Y));
    int r_stick = left_curve_function(master.get_analog(ANALOG_RIGHT_Y));
    
    chassis.set_tank(l_stick, r_stick);
    
    pros::delay(ez::util::DELAY_TIME);
  }
}

Example

extern pros::Controller master();

print_to_screen()

Prints to the LLEMU. This function handles text that's too long for a line by finding the last word and starting it on a new line, and takes \n to set a new line.

text input string
line starting line

Prototype

Returns:
hello, this is line 0
this is line 1

void initialize() {
  ez::print_to_screen("hello, this is line 0\nthis is line 1");
}

Example

void print_to_screen(std::string text, int line)

Example 2

Returns:
01234567890123456789012345678901
hello

void initialize() {
  std::string 32char = 01234567890123456789012345678901;
  ez::print_to_screen(32char + "hello", 2);
}

print_ez_template()

Prints our branding on your terimnal :D.

Prototype

void initialize() {
  print_ez_template();
}

Example

void print_ez_template();

sgn()

Returns the sign of the input. Returns 1 if positive, -1 if negative, and 0 if 0.

input value to check the sign of

Prototype

void opcontrol() {
  while (true) {
    printf("Sgn of Controller: %i \n", sgn(master.get_analog(ANALOG_LEFT_Y)));

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

Example

double sgn(double input);

clip_num()

Checks if input is within range of max and min. If it's out, this returns max or min respectively.

input value to check if it's above/below max/min max biggest input can be min smallest input can be

Prototype

void opcontrol() {
  while (true) {
    int joy = master.get_analog(ANALOG_LEFT_Y);

    // When the joystick is between 100 and 127
    // (or -100 and -127) this will print 100 (or -100).
    printf("Clipped Controller: %i \n", clip_num(joy, 100, -100)); 
  }
}

Example

double clip_num(double input, double max, double min);

DELAY_TIME

Standard delay time for loops in ms.

Prototype

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

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

Example

const int DELAY_TIME = 10;

IS_SD_CARD

Boolean that checks if an SD card is installed. True if there is one, false if there isn't.

Prototype

void initialize() {
  if (!ez::util::IS_SD_CARD) 
    printf("No SD Card Found!\n");
}

Example

const bool IS_SD_CARD = pros::usd::is_installed();