Drive and Telemetry

Initialize Drive

initialize()

Runs opcontrol_curve_sd_initialize() and drive_imu_calibrate().

run_loading_animation false skips the loading animation on the brain screen while the IMU calibrates

Prototype

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

Example

void Drive::initialize(bool run_loading_animation = true);

Set Drive

drive_set()

Sets the chassis to voltage.

Disables PID when called.

left voltage for left side, -127 to 127
right voltage for right side, -127 to 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()

Changes the way the drive behaves when it is not under active user control.

brake_type the 'brake mode' of the motor e.g. 'pros::E_MOTOR_BRAKE_COAST' 'pros::E_MOTOR_BRAKE_BRAKE' 'pros::E_MOTOR_BRAKE_HOLD'

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 the limit for the current on the drive.

mA input in miliamps

Prototype

void initialize() {
  drive_brake_set_mode(1000);
}

Example

void drive_current_limit_set(int mA);

drive_imu_scaler_set()

Sets a new imu scaling factor.

This value is multiplied by the imu to change its output.

scaler factor to scale the imu by

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);

drive_imus_scalers_set()

Sets a new IMU scaling factor for all IMUs, for drives built with the redundant IMU constructor.

This value is multiplied by each imu to change its output.

scales input {0.99, 1.01...}, in the same order as the IMU ports passed to the constructor

Prototype

void initialize() {
  chassis.initialize();
  chassis.drive_imus_scalers_set({1.0, 1.02});
}

Example

void drive_imus_scalers_set(std::vector<double> scales);

Telemetry

drive_sensor_right()

The position of the right sensor in inches.

If you have two parallel tracking wheels, this will return tracking wheel position. Otherwise this returns motor position.

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()

The velocity of the right motor.

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()

The watts of the right motor.

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()

Return true when the motor is over current.

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()

The position of the left sensor in inches.

If you have two parallel tracking wheels, this will return tracking wheel position. Otherwise this returns motor position.

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()

The velocity of the left motor.

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()

The watts of the left motor.

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()

Return true when the motor is over current.

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()

Reset all the chassis motors and tracking wheels, recommended to run at the start of your autonomous routine.

Prototype

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

Example

void drive_sensor_reset();

drive_imu_reset()

Resets the current imu value. Defaults to 0, recommended to run at the start of your autonomous routine.

new_heading_value new heading value

Prototype

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

Example

void drive_imu_reset(double new_heading = 0);

drive_imu_get()

Returns the current imu heading rotation value in 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()

Returns the current imu accel x + accel y value.

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 the IMU, recommended to run in initialize().

run_loading_animation true runs the animation, false doesn't

Prototype

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

Example

bool drive_imu_calibrate(bool run_loading_animation = true);

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()

Returns the current imu scaling factor.

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();

drive_imus_scalers_get()

Returns the scaling factor for all IMUs, keyed by port, for drives built with the redundant IMU constructor.

Prototype

chassis.drive_imus_scalers_set({1.0, 1.02});
for (auto& [port, scale] : chassis.drive_imus_scalers_get())
  printf("port %i: %.2f\n", port, scale);

Example

std::map<int, double> drive_imus_scalers_get();

drive_angle_get()

Returns the angle of the robot, from whichever IMU is currently focused. On a redundant IMU drive, this is the one to read instead of talking to an individual pros::Imu directly, since it stays correct across a failover.

Prototype

printf("%.2f\n", chassis.drive_angle_get());

Example

double drive_angle_get();

drive_imu_scaler_get()

Checks if the imu calibrated successfully or if it took longer than expected.

Returns true if calibrated successfully, and false if unsuccessful.

Prototype

void initialize() {
  // Print our branding over your terminal :D
  ez::ez_template_print();

  pros::delay(500);  // Stop the user from doing anything while legacy ports configure

  // Initialize chassis and auton selector
  chassis.initialize();
  ez::as::initialize();
  master.rumble(chassis.drive_imu_calibrated() ? "." : "---");
}

Example

bool drive_imu_calibrated();