Control Schemes

There are multiple ways of controlling your drive, split into two categories; tank and arcade.  EZ-Template supports both and you can pick which one you'd like to use by uncommenting it in the example project.  

void opcontrol() {
  // . . .
  while (true) {
    // . . .

    chassis.opcontrol_tank();  // Tank control
    // chassis.opcontrol_arcade_standard(ez::SPLIT);  // Standard split arcade
    // chassis.opcontrol_arcade_standard(ez::SINGLE);  // Standard single arcade
    // chassis.opcontrol_arcade_flipped(ez::SPLIT);  // Flipped split arcade
    // chassis.opcontrol_arcade_flipped(ez::SINGLE);  // Flipped single arcade

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

Tank

Tank lets you control each side of the drive.  The left stick controls the left side of the drive, and the right stick controls the right side of the drive.  This can be called in EZ-Template with chassis.opcontrol_tank();.  This is the default in the example project.  

chassis.opcontrol_tank();

Arcade

Arcade drive is where you have control over "forward" and "turning".  

Split Arcade

EZ-Template lets you call "standard" arcade or "flipped" arcade.  Standard is where the left stick does fwd/rev and flipped is where the right stick does fwd/rev.  With split arcade, the other joystick is used for turning.  

Standard

chassis.opcontrol_arcade_standard(ez::SPLIT); // Standard split arcade

Flipped

chassis.opcontrol_arcade_flipped(ez::SPLIT); // Flipped split arcade

Single Stick Arcade

EZ-Template lets you call "standard" arcade or "flipped" arcade.  Standard is where the left stick does fwd/rev and flipped is where the right stick does fwd/rev.  With single stick arcade, turning is done on the same joystick as fwd/rev.  

Standard

chassis.opcontrol_arcade_standard(ez::SINGLE); // Standard split arcade

Flipped

chassis.opcontrol_arcade_flipped(ez::SINGLE); // Flipped split arcade