Intake Control

note

As of v3.1.0, example projects come with include/subsystems.hpp.  If you do not have this, create this file in include/.  Now open include/main.h, add #include "subsytems.hpp".  You're all caught up and can follow along below!  

Creating the Motor

We want to create a motor and have it accessible by main.cpp and autons.cpp.  To do this we can create the motor in include/subsystems.hpp with the code below.  If we have an intake that has multiple motors, we can create one MotorGroup and then treat it like a single motor in code.  

One Motor

#pragma once

#include "EZ-Template/api.hpp"
#include "api.h"

extern Drive chassis;

// Your motors, sensors, etc. should go here.  Below are examples

inline pros::Motor intake(10);  // Make this number negative if you want to reverse the motor
// inline pros::Motor intake(1);
// inline pros::adi::DigitalIn limit_switch('A');

Motor Groups

#pragma once

#include "EZ-Template/api.hpp"
#include "api.h"

extern Drive chassis;

// Your motors, sensors, etc. should go here.  Below are examples

inline pros::MotorGroup intake({10, -11});  // Negative port will reverse the motor
// inline pros::Motor intake(1);
// inline pros::adi::DigitalIn limit_switch('A');

Button Control

To move a motor we type

motor name.move(a number between -127 and 127);

So to make the intake spin at full speed forward, we would type

intake.move(127);

EZ-Template has a controller object already made for you that you can access with master. You can read controller inputs with master.get_digital(DIGITAL_button).  

Two Button Control

With an if/else statement, we can have the intake go full speed forward when L1 is pressed, and go full speed backward when L2 is pressed.  When neither button is pressed the intake will stop moving.  

if (master.get_digital(DIGITAL_L1)) {
  intake.move(127);
} 
else if (master.get_digital(DIGITAL_L2)) {
  intake.move(-127);
} 
else {
  intake.move(0);
}

Adding this into the default opcontrol() function looks like this.

void opcontrol() {
  // This is preference to what you like to drive on
  chassis.drive_brake_set(MOTOR_BRAKE_COAST);

  while (true) {
    // Gives you some extras to make EZ-Template ezier
    ez_template_extras();

    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

    // . . .
    // Put more user control code here!
    // . . .
    
    if (master.get_digital(DIGITAL_L1)) {
      intake.move(127);
    } 
    else if (master.get_digital(DIGITAL_L2)) {
      intake.move(-127);
    } 
    else {
      intake.move(0);
    }

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

Toggle

We can also have the button turn on/off with a single button. This can happen with a bool that is set to true/false and that changes what the intake will do.

void opcontrol() {
  // This is preference to what you like to drive on
  chassis.drive_brake_set(MOTOR_BRAKE_COAST);

  // Boolean for if the intake is spinning
  bool intake_running = false;

  while (true) {
    // Gives you some extras to make EZ-Template ezier
    ez_template_extras();

    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

    // . . .
    // Put more user control code here!
    // . . .
    
    // Set intake_running to the opposite of itself
    if (master.get_digital_new_press(DIGITAL_L1)) {
      intake_running = !intake_running;
    }

    // Spin the intake if intake_running is true
    if (intake_running) {
      intake.move(127);
    }
    // Stop the intake if intake_running is false 
    else {
      intake.move(0);
    }

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

Using it in Autonomous

Because the motor is created in subsystmes.hpp, we can access is in autonomous exactly the same way!

In the example below, the robot will start to intake after driving 6" and will stop once it's driven 24".  The intake will not spin again until it starts to come back and will outtake until it's back where it started.  

void intake_autonomous() {
  chassis.pid_drive_set(24_in, DRIVE_SPEED, true);
  chassis.pid_wait_until(6_in);
  intake.move(127);
  chassis.pid_wait_quick_chain();
  intake.move(0);

  chassis.pid_turn_set(45_deg, TURN_SPEED);
  chassis.pid_wait_quick_chain();

  chassis.pid_turn_set(-45_deg, TURN_SPEED);
  chassis.pid_wait_quick_chain();

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

  intake.move(-127);
  chassis.pid_drive_set(-24_in, DRIVE_SPEED, true);
  chassis.pid_speed_max_set(DRIVE_SPEED);  
  chassis.pid_wait();
  intake.move(0);
}

More Tutorials

The PROS team has made a tutorial for programming a VEX clawbot.  You can find that here.