Tracking Wheels

Constructors

Rotation Sensor

Creates a new tracking wheel with a Rotation sensor.

port the port your Rotation sensor is plugged into
wheel_diameter assumed inches, this is the diameter of your wheel
distance_to_center the distance to the center of your robot, this is used for tracking
ratio the gear ratio of your tracking wheel. if it's not geared, this should be 1.0

Prototype

tracking_wheel(int port, double wheel_diameter, double distance_to_center = 0.0, double ratio = 1.0);

Example

ez::tracking_wheel right_tracker(1, 2.75, 4.0);

ADI Encoder

Creates a new tracking wheel with an ADI Encoder.

ports {'A', 'B'} make the encoder negative if reversed
wheel_diameter assumed inches, this is the diameter of your wheel
distance_to_center the distance to the center of your robot, this is used for tracking
ratio the gear ratio of your tracking wheel. if it's not geared, this should be 1.0

Prototype

tracking_wheel(std::vector<int> ports, double wheel_diameter, double distance_to_center = 0.0, double ratio = 1.0);

Example

ez::tracking_wheel right_tracker({-'A', -'B'}, 2.75, 4.0);

ADI Encoder 3-wire Expander

Creates a new tracking wheel with an ADI Encoder plugged into a 3-wire expander.

smart_port the smart port your ADI Expander is plugged into
ports {'A', 'B'} make the encoder negative if reversed
wheel_diameter assumed inches, this is the diameter of your wheel
distance_to_center the distance to the center of your robot, this is used for tracking
ratio the gear ratio of your tracking wheel. if it's not geared, this should be 1.0

Prototype

tracking_wheel(int smart_port, std::vector<int> ports, double wheel_diameter, double distance_to_center = 0.0, double ratio = 1.0);

Example

ez::tracking_wheel right_tracker(1, {'C', 'D'}, 2.75, 4.0);

Getters

get()

Returns how far the wheel has traveled in inches.

Prototype

double get();

Example

ez::tracking_wheel right_tracker(1, 2.75, 4.0);
void opcontrol() {
  while (true) {
    chassis.opcontrol_tank();  // Tank control

    if (ez::as::page_blank_is_on(0)) {
      ez::screen_print(to_string(right_tracker.get()), 1);
    }

    pros::delay(ez::util::DELAY_TIME);  // This is used for timer calculations!  Keep this ez::util::DELAY_TIME
  }
}

get_raw()

Returns the raw sensor value.

Prototype

double get_raw();

Example

ez::tracking_wheel right_tracker(1, 2.75, 4.0);
void opcontrol() {
  while (true) {
    chassis.opcontrol_tank();  // Tank control

    if (ez::as::page_blank_is_on(0)) {
      ez::screen_print(to_string(right_tracker.get_raw()), 1);
    }

    pros::delay(ez::util::DELAY_TIME);  // This is used for timer calculations!  Keep this ez::util::DELAY_TIME
  }
}

distance_to_center_get()

Returns the distance to the center of the robot.

Prototype

double distance_to_center_get();

Example

ez::tracking_wheel right_tracker(1, 2.75, 4.0);
void opcontrol() {
  while (true) {
    chassis.opcontrol_tank();  // Tank control

    if (ez::as::page_blank_is_on(0)) {
      ez::screen_print(to_string(right_tracker.distance_to_center_get()), 1);
    }

    pros::delay(ez::util::DELAY_TIME);  // This is used for timer calculations!  Keep this ez::util::DELAY_TIME
  }
}

distance_to_center_flip_get()

Returns if the distance to center is flipped or not. False is not, true is.

Prototype

double distance_to_center_flip_get();

Example

ez::tracking_wheel right_tracker(1, 2.75, 4.0);
void opcontrol() {
  while (true) {
    chassis.opcontrol_tank();  // Tank control

    if (ez::as::page_blank_is_on(0)) {
      ez::screen_print(to_string(right_tracker.distance_to_center_flip_get()), 1);
    }

    pros::delay(ez::util::DELAY_TIME);  // This is used for timer calculations!  Keep this ez::util::DELAY_TIME
  }
}

ticks_per_inch()

Returns the constant for how many ticks is 1 inch.

Prototype

double ticks_per_inch();

Example

ez::tracking_wheel right_tracker(1, 2.75, 4.0);
void opcontrol() {
  while (true) {
    chassis.opcontrol_tank();  // Tank control

    if (ez::as::page_blank_is_on(0)) {
      ez::screen_print(to_string(right_tracker.ticks_per_inch()), 1);
    }

    pros::delay(ez::util::DELAY_TIME);  // This is used for timer calculations!  Keep this ez::util::DELAY_TIME
  }
}

ticks_per_rev_get()

Returns the amount of ticks per revolution of your sensor.

Prototype

double ticks_per_rev_get();

Example

ez::tracking_wheel right_tracker(1, 2.75, 4.0);
void opcontrol() {
  while (true) {
    chassis.opcontrol_tank();  // Tank control

    if (ez::as::page_blank_is_on(0)) {
      ez::screen_print(to_string(right_tracker.ticks_per_rev_get()), 1);
    }

    pros::delay(ez::util::DELAY_TIME);  // This is used for timer calculations!  Keep this ez::util::DELAY_TIME
  }
}

ratio_get()

Returns the gear ratio for your tracking wheel.

Prototype

double ratio_get();

Example

ez::tracking_wheel right_tracker(1, 2.75, 4.0);
void opcontrol() {
  while (true) {
    chassis.opcontrol_tank();  // Tank control

    if (ez::as::page_blank_is_on(0)) {
      ez::screen_print(to_string(right_tracker.ratio_get()), 1);
    }

    pros::delay(ez::util::DELAY_TIME);  // This is used for timer calculations!  Keep this ez::util::DELAY_TIME
  }
}

wheel_diameter_get()

Returns the diameter of your wheel.

Prototype

double wheel_diameter_get();

Example

ez::tracking_wheel right_tracker(1, 2.75, 4.0);
void opcontrol() {
  while (true) {
    chassis.opcontrol_tank();  // Tank control

    if (ez::as::page_blank_is_on(0)) {
      ez::screen_print(to_string(right_tracker.wheel_diameter_get()), 1);
    }

    pros::delay(ez::util::DELAY_TIME);  // This is used for timer calculations!  Keep this ez::util::DELAY_TIME
  }
}

Setters

reset()

Returns the diameter of your wheel.

Prototype

void reset();

Example

ez::tracking_wheel right_tracker(1, 2.75, 4.0);
void initialize() {
    right_tracker.reset();
}

distance_to_center_set()

Sets the distance to the center of the robot.

input distance to center of your robot in inches

Prototype

void distance_to_center_set(double input);

Example

ez::tracking_wheel right_tracker(1, 2.75, 4.0);
void opcontrol() {
  right_tracker.distance_to_center_set(2.0);  // Update center distance
  while (true) {
    chassis.opcontrol_tank();  // Tank control

    if (ez::as::page_blank_is_on(0)) {
      ez::screen_print(to_string(right_tracker.distance_to_center_get()), 1);
    }

    pros::delay(ez::util::DELAY_TIME);  // This is used for timer calculations!  Keep this ez::util::DELAY_TIME
  }
}

distance_to_center_flip_set()

Sets the distance to the center to be flipped to negative or not.

input flips distance to center to negative. false leaves it alone, true flips it

Prototype

void distance_to_center_flip_set(bool input);

Example

ez::tracking_wheel right_tracker(1, 2.75, 4.0);
void opcontrol() {
  right_tracker.distance_to_center_flip_set(true);  // Make center distance negative
  while (true) {
    chassis.opcontrol_tank();  // Tank control

    if (ez::as::page_blank_is_on(0)) {
      ez::screen_print(to_string(right_tracker.wheel_diameter_get()), 1);
    }

    pros::delay(ez::util::DELAY_TIME);  // This is used for timer calculations!  Keep this ez::util::DELAY_TIME
  }
}

ticks_per_rev_set()

Sets the amount of ticks per revolution of your sensor.

This is useful for custom encoders.

input ticks per revolution

Prototype

void ticks_per_rev_set(double input);

Example

ez::tracking_wheel right_tracker(1, 2.75, 4.0);
void opcontrol() {
  right_tracker.ticks_per_rev_set(36000);  // Set ticks per rev to 36000
  while (true) {
    chassis.opcontrol_tank();  // Tank control

    if (ez::as::page_blank_is_on(0)) {
      ez::screen_print(to_string(right_tracker.ticks_per_rev_get()), 1);
    }

    pros::delay(ez::util::DELAY_TIME);  // This is used for timer calculations!  Keep this ez::util::DELAY_TIME
  }
}

ratio_set()

Sets the gear ratio for your tracking wheel.

input gear ratio of tracking wheel

Prototype

void ratio_set(double input);

Example

ez::tracking_wheel right_tracker(1, 2.75, 4.0);
void opcontrol() {
  right_tracker.ratio_set(2.0);  // Set ratio to 2:1
  while (true) {
    chassis.opcontrol_tank();  // Tank control

    if (ez::as::page_blank_is_on(0)) {
      ez::screen_print(to_string(right_tracker.ratio_get()), 1);
    }

    pros::delay(ez::util::DELAY_TIME);  // This is used for timer calculations!  Keep this ez::util::DELAY_TIME
  }
}

wheel_diameter_set()

Sets the diameter of your wheel.

input wheel diameter

Prototype

void wheel_diameter_set(double input);

Example

ez::tracking_wheel right_tracker(1, 2.75, 4.0);
void opcontrol() {
  right_tracker.wheel_diameter_set(3.25);  // Update wheel diameter
  while (true) {
    chassis.opcontrol_tank();  // Tank control

    if (ez::as::page_blank_is_on(0)) {
      ez::screen_print(to_string(right_tracker.wheel_diameter_get()), 1);
    }

    pros::delay(ez::util::DELAY_TIME);  // This is used for timer calculations!  Keep this ez::util::DELAY_TIME
  }
}