Drive and Telemetry

Initialize Drive

initialize()

Runs opcontrol_curve_sd_initialize() and drive_imu_calibrate().

Prototype

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

Example

void Drive::initialize();

Set Drive

drive_set()

Sets the drive to voltage. Sets mode to ez::DISABLE.

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

Prototype

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

Example

void drive_set(int left, int right);

drive_brake_set()

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() {
  drive_brake_set_mode(MOTOR_BRAKE_COAST);
}

Example

void drive_brake_set(pros::motor_brake_mode_e_t brake_type);

drive_current_limit_set()

Sets mA limit to the drive. Default is 2500.

mA input miliamps

Prototype

void initialize() {
  drive_brake_set_mode(1000);
}

Example

void drive_current_limit_set(int mA);

drive_imu_scaler_set()

Sets a scaler for the imu. This number is multiplied by the imu so users can tune what a "degree" is.

scaler a small double

Prototype

void turn_example() {
  chassis.drive_imu_scaler_set(2);

  // This will now turn to 45 real degrees
  chassis.pid_turn_set(90_deg, TURN_SPEED);
  chassis.pid_wait();

  // This will turn to 22.5 real degrees
  chassis.pid_turn_set(45_deg, TURN_SPEED);
  chassis.pid_wait();

  chassis.pid_turn_set(0_deg, TURN_SPEED);
  chassis.pid_wait();
}

Example

void drive_imu_scaler_set(double scaler);

Telemetry

drive_sensor_right()

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

Prototype

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

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

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

Example

int drive_sensor_right();

drive_velocity_right()

Returns integrated encoder velocity.

Prototype

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

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

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

Example

int drive_velocity_right();

drive_mA_right()

Returns current mA being used.

Prototype

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

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

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

Example

double drive_mA_right();

drive_current_right_over()

Returns true when the motor is pulling too many amps.

Prototype

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

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

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

Example

bool drive_current_right_over();

drive_sensor_left()

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

Prototype

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

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

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

Example

int drive_sensor_left();

drive_velocity_left()

Returns integrated encoder velocity.

Prototype

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

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

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

Example

int drive_velocity_left();

drive_mA_left()

Returns current mA being used.

Prototype

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

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

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

Example

double drive_mA_left();

drive_current_left_over()

Returns true when the motor is pulling too many amps.

Prototype

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

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

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

Example

bool drive_current_left_over();

drive_sensor_reset()

Resets integrated encoders and trackers if applicable.

Prototype

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

Example

void drive_sensor_reset();

drive_imu_reset()

Sets current gyro position to parameter, defaulted to 0.

Prototype

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

Example

void drive_imu_reset(double new_heading = 0);

drive_imu_get()

Gets IMU sensor, value is degrees.

Prototype

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

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

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

Example

double drive_imu_get();

drive_imu_accel_get()

Gets imu x + y acceleration. This is (optionally) used internally as the secondary sensor for velocity exiting.

Prototype

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

    printf("Accel x + y: %f \n", chassis.drive_imu_accel_get());

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

Example

double drive_imu_accel_get();

drive_imu_calibrate()

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

Prototype

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

Example

bool drive_imu_calibrate();

drive_imu_get()

Gets IMU sensor scaler. This number is multiplied by the imu so users can tune what a "degree" means.

Prototype

...

Example

double drive_imu_scaler_get();

drive_imu_scaler_get()

Gets the scaler for the imu. This number is multiplied by the imu so users can tune what a "degree" is.

Prototype

void turn_example() {
  chassis.drive_imu_scaler_set(2);
  printf("%.2f\n", chassis.drive_imu_scaler_get()); // Prints 2

  // This will now turn to 45 real degrees
  chassis.pid_turn_set(90_deg, TURN_SPEED);
  chassis.pid_wait();

  // This will turn to 22.5 real degrees
  chassis.pid_turn_set(45_deg, TURN_SPEED);
  chassis.pid_wait();

  chassis.pid_turn_set(0_deg, TURN_SPEED);
  chassis.pid_wait();
}

Example

double drive_imu_scaler_get();