chassis.h

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#ifndef _ARMS_CHASSIS_H_
#define _ARMS_CHASSIS_H_
 
#include "ARMS/flags.h"
#include "ARMS/point.h"
#include <memory>
#include "../api.h"
#include "pros/motors.h"
 
namespace arms::chassis {
 
extern double maxSpeed;
extern std::shared_ptr<pros::Motor_Group> leftMotors;
extern std::shared_ptr<pros::Motor_Group> rightMotors;
 
void setBrakeMode(pros::motor_brake_mode_e_t b);
 
bool settled();
 
void waitUntilFinished(double exit_error);
 
void move(std::vector<double> target, double max, double exit_error,
          double lp, double ap, MoveFlags = NONE);
 
void move(std::vector<double> target, double max, double exit_error,
          MoveFlags = NONE);
void move(std::vector<double> target, double max, MoveFlags = NONE);
void move(std::vector<double> target, MoveFlags = NONE);
 
void move(double target, double max, double exit_error,
          double lp, double ap, MoveFlags = NONE);
 
void move(double target, double max, double exit_error,
          MoveFlags = NONE);
void move(double target, double max, MoveFlags = NONE);
void move(double target, MoveFlags = NONE);
 
void turn(double target, double max, double exit_error, double ap,
          MoveFlags = NONE);
 
void turn(double target, double max, double exit_error, MoveFlags = NONE);
void turn(double target, double max, MoveFlags = NONE);
void turn(double target, MoveFlags = NONE);
 
void turn(Point target, double max, double exit_error, double ap,
          MoveFlags = NONE);
 
void turn(Point target, double max, double exit_error, MoveFlags = NONE);
void turn(Point target, double max, MoveFlags = NONE);
void turn(Point target, MoveFlags = NONE);
 
 
void tank(double left, double right, bool velocity = false);
 
void arcade(double vertical, double horizontal, bool velocity = false);
 
void init(std::initializer_list<int8_t> leftMotors,
          std::initializer_list<int8_t> rightMotors, pros::motor_gearset_e_t gearset,
          double slew_step, double linear_exit_error, double angular_exit_error, 
          double settle_thresh_linear, double settle_thresh_angular,
          int settle_time);
} // namespace arms::chassis
 
 
 
#endif