PTO

pto_check()

Checks if the motor is currently in pto_list.

Returns true if it's already in pto_list.

check_if_pto motor to check

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, removing them from the drive.

You cannot add the first index because it's used for autonomous.

pto_list list 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, adding them to the drive.

pto_list list of motors to add 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()

Moves motors between the drive and the pto list.

You cannot add the first index because it's used for autonomous.

pto_list list of motors to add/remove from the drive
toggle true removes the motors from the drive and adds them to the pto list, false removes them from the pto list and adds them back to the 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);