PTO

pto_check()

Checks if the port is in the pto_list.

check_if_pto a PROS motor that is in the drive

Prototype

void initialize() {
  pros::delay(500);

  printf("Check: %i %i\n", chassis.pto_check(chassis.left_motors[1]), chassis.pto_check(chassis.right_motors[1]))); // This prints 0 0
  chassis.pto_add({chassis.left_motors[1], chassis.right_motors[1]});
  printf("Check: %i %i\n", chassis.pto_check(chassis.left_motors[1]), chassis.pto_check(chassis.right_motors[1]))); // This prints 1 1
}

Example

bool pto_check(pros::Motor check_if_pto);

pto_add()

Adds motors to the pto_list. You cannot add the first index because it's used for autonomous.

pto_list a vector of motors to remove from the drive

Prototype

void initialize() {
  pros::delay(500);

  printf("Check: %i %i\n", chassis.pto_check(chassis.left_motors[1]), chassis.pto_check(chassis.right_motors[1]))); // This prints 0 0
  chassis.pto_add({chassis.left_motors[1], chassis.right_motors[1]});
  printf("Check: %i %i\n", chassis.pto_check(chassis.left_motors[1]), chassis.pto_check(chassis.right_motors[1]))); // This prints 1 1
}

Example

void pto_add(std::vector<pros::Motor> pto_list);

pto_remove()

Removes motors from the pto_list.

pto_list a vector of motors to add back to the drive

Prototype

void initialize() {
  pros::delay(500);

  printf("Check: %i %i\n", chassis.pto_check(chassis.left_motors[1]), chassis.pto_check(chassis.right_motors[1]))); // This prints 0 0
  chassis.pto_add({chassis.left_motors[1], chassis.right_motors[1]});
  printf("Check: %i %i\n", chassis.pto_check(chassis.left_motors[1]), chassis.pto_check(chassis.right_motors[1]))); // This prints 1 1
  chassis.pto_remove({chassis.left_motors[1], chassis.right_motors[1]});
  printf("Check: %i %i\n", chassis.pto_check(chassis.left_motors[1]), chassis.pto_check(chassis.right_motors[1]))); // This prints 0 0

}

Example

void pto_remove(std::vector<pros::Motor> pto_list);

pto_toggle()

Runs pto_add if toggle is true, and pto_remove if toggle is false.

pto_list a vector of motors to add / remove to the drive toggle boolean to add / remove motors to drive

Prototype

void pto_intake(bool toggle) {
  pto_intake_enabled = toggle;
  chassis.pto_toggle({chassis.left_motors[1], chassis.right_motors[1]}, toggle);
  pto_intake_piston.set_value(toggle);
  if (toggle) {
    chassis.left_motors[1].set_brake_mode(pros::E_MOTOR_BRAKE_COAST);
    chassis.right_motors[1].set_brake_mode(pros::E_MOTOR_BRAKE_COAST);
  }
}

Example

void pto_toggle(std::vector<pros::Motor> pto_list, bool toggle);