The ARMS configuration file. This file is where you setup everything about your chassis, including the motors, the sensors, and constants. This is also where you will setup autonomous selector. More...

Macros
#define	ODOM_DEBUG 0
	Odom debug mode. More...

#define	LEFT_MOTORS 0
	Left chassis motors. More...

#define	RIGHT_MOTORS 0
	Right chassis motors. More...

#define	GEARSET pros::E_MOTOR_GEAR_200
	Chassis gearset. More...

#define	TPI 0
	Ticks per Inch. More...

#define	MIDDLE_TPI 0
	Middle Ticks Per Inch. More...

#define	TRACK_WIDTH 0
	Track Width. More...

#define	MIDDLE_DISTANCE 0
	Middle Distance. More...

#define	IMU_PORT 0
	IMU Port. More...

#define	ENCODER_PORTS 0, 0, 0
	Encoder Ports. More...

#define	EXPANDER_PORT 0
	Encoder ADI Expander Port. More...

#define	ENCODER_TYPE arms::odom::ENCODER_ADI
	Encoder Type. More...

#define	SLEW_STEP 0
	Slew Step. More...

#define	LINEAR_EXIT_ERROR 0
	Linear Exit Error. More...

#define	ANGULAR_EXIT_ERROR 0
	Angular Exit Error. More...

#define	SETTLE_THRESH_LINEAR 0
	Linear Settle Threshold. More...

#define	SETTLE_THRESH_ANGULAR 0
	Angular settle threshold. More...

#define	SETTLE_TIME 0
	Settle Time. More...

#define	LINEAR_KP 0
	Linear kP. More...

#define	LINEAR_KI 0
	Linear kI. More...

#define	LINEAR_KD 0
	Linear kD. More...

#define	TRACKING_KP 0
	Tracking kP. More...

#define	ANGULAR_KP 0
	Angular kP. More...

#define	ANGULAR_KI 0
	Angular kI. More...

#define	ANGULAR_KD 0
	Angular kD. More...

#define	LEAD_PCT 0
	Lead Percent. More...

#define	MIN_ERROR 0
	Minimum Error. More...

#define	AUTONS 0
	Auton Selector Routines. More...

#define	HUE 0
	Autonomous Selctor Hue. More...

#define	DEFAULT 0
	Autonomous Selctor Default Routine. More...

Functions
void	arms::init ()
	Initialize ARMS using the user defined constants Example 1: More...

Detailed Description

The ARMS configuration file. This file is where you setup everything about your chassis, including the motors, the sensors, and constants. This is also where you will setup autonomous selector.

YOU NEED TO REPLACE ALL OF THESE VALUES WITH THE CORRECT VALUES FOR YOUR ROBOT.

Macro Definition Documentation

◆ ANGULAR_EXIT_ERROR

#define ANGULAR_EXIT_ERROR 0

Angular Exit Error.

Parameters

error the error to use when exiting angular movement

Example 1:

//using an error of 4 units

#define ANGULAR_EXIT_ERROR 4

Sets the error to use when exiting angular movement to error.

◆ ANGULAR_KD

#define ANGULAR_KD 0

Angular kD.

Parameters

kd	the derivative constant for the angular motion PID controller

Example 1:

//using a kd of 0.5

#define ANGULAR_KD 0.5

Sets the derivative constant for the angular motion PID controller to kd.

◆ ANGULAR_KI

#define ANGULAR_KI 0

Angular kI.

Parameters

ki	the integral constant for the angular motion PID controller

Example 1:

//using a ki of 0.5

#define ANGULAR_KI 0.5

Sets the integral constant for the angular motion PID controller to ki.

◆ ANGULAR_KP

#define ANGULAR_KP 0

Angular kP.

Parameters

kp	the proportional constant for the angular motion PID controller

Example 1:

//using a kP of 0.5

#define ANGULAR_KP 0.5

Sets the proportional constant for the angular motion PID controller to kp.

◆ AUTONS

#define AUTONS 0

Auton Selector Routines.

Parameters

auton_names the names of your autonomous routines.

Example 1:

//using the autons "left", "middle", "right", and "nothing"

#define AUTONS "left", "middle", "right", "nothing"

Sets the auton names to run. The names should be seprated by commas. The maximum number of autons is 10. This is part of the autonomous selector configuration. More details can be found at selector.h

◆ DEFAULT

#define DEFAULT 0

Autonomous Selctor Default Routine.

Parameters

index the index for the default autonomous routine to run.

Example 1:

//using the default auton to be "left"

#define DEFAULT_AUTON 1

Sets the default auton to run. This is part of the autonomous selector configuration. More details can be found at selector.h

◆ ENCODER_PORTS

#define ENCODER_PORTS 0, 0, 0

Encoder Ports.

Parameters

left	the port the left encoder is plugged into. 0 for disabled.
right	the port the right encoder is plugged into. 0 for disabled.
middle	the port the middle encoder is plugged into. 0 for disabled.

Example 1:

//using one parrallel encoder, IMU for heading, and not worring about sidways movement

#define ENCODER_PORTS 1, 0, 0

Example 2:

//using all three encoders and no IMU for heading. Heading will be calculated using all 3 encoders.

#define ENCODER_PORTS 1, 3, 5

Sets up the 1-3 encoders being used on the bot. An IMU_PORT should be set if you do not use all 3 encoders. An encoder perpindicular to the chassis (middle) should be used if the robot is expected to be pushed sideways. Negative values reverse the direction of the encoder. A value of 0 disables the encoder and uses the integrated motor encoders instead. The values should be valid smart ports if using the V5 rotation sensor, or odd numbered adi ports if using the optical shaft encoders. This is configured at ENCODER_TYPE If all encoders are disabled, the integrated encoders in the chassis motors will be used.

◆ ENCODER_TYPE

#define ENCODER_TYPE arms::odom::ENCODER_ADI

Encoder Type.

Parameters

type	The type of encoder being used

Example 1:

//using the new V5 Rotation sensors

#define ENCODER_TYPE arms::odom::ENCODER_ROTATION

Example 2:

//using the old Optical Shaft Encoders

#define ENCODER_TYPE arms::odom::ENCODER_ADI

Which type of vex encoder is being used on the chassis. Using a mixture of encoder types is not currently supported. This influences what the valid values for ENCODER_PORTS are.

◆ EXPANDER_PORT

#define EXPANDER_PORT 0

Encoder ADI Expander Port.

Parameters

port	the port the ADI expander is plugged into. 0 for disabled.

Example 1:

//using an ADI expander in port 1

#define EXPANDER_PORT 1

Example 2:

//don't use an ADI expander

#define EXPANDER_PORT 0

Uses the expander port in port port for the encoder's configured at ENCODER_PORTS.

◆ GEARSET

#define GEARSET pros::E_MOTOR_GEAR_200

Chassis gearset.

Parameters

rpm	the rpm of the chassis's motors

Example 1:

//using 200 rpm cartridges

#define GEARSET pros::E_MOTOR_GEAR_200

Sets the robot's chassis gearset to rpm.

◆ HUE

#define HUE 0

Autonomous Selctor Hue.

Parameters

hue	the hue of your autonomous selector Example 1: //using a hue of 60 (yellow) #define HUE 0

S This is part of the autonomous selector configuration. More details can be found at selector.h

◆ IMU_PORT

#define IMU_PORT 0

IMU Port.

Parameters

port	the port the imu is plugged into. Set to 0 for disabled

Example 1:

//using an IMU in port 8

#define IMU_PORT 8

Example 2:

//don't use an IMU

#define IMU_PORT 0

Sets the chassis' imu to the sensor in port port.

◆ LEAD_PCT

#define LEAD_PCT 0

Lead Percent.

Parameters

pct	the lead percent to use for go to pose movements (boomerang controller)

Example 1:

//using a pct of 0.3

#define LEAD_PCT 0.3

Sets the lead percent to use for go to pose movements to pct. In theory, lower percents will be more linear movements, while higher percents will be more curvy.

◆ LEFT_MOTORS

#define LEFT_MOTORS 0

Left chassis motors.

Parameters

ports the motor ports on the right side of the chassis

Example 1:

// two motors on the left side of the chassis in ports 4 and 5

#define LEFT_MOTORS 4, 5

Example 2:

// three motors on the left side of the chassis in ports 4, 5, and 6. The motor in port 5 is reversed

#define LEFT_MOTORS 4, -5, 6

Comma seperated ports that the chassis's left motors are in. Negative values reverse the motor on that port.

◆ LINEAR_EXIT_ERROR

#define LINEAR_EXIT_ERROR 0

Linear Exit Error.

Parameters

error the error to use when exiting linear movement

Example 1:

//using an error of 4 units

#define LINEAR_EXIT_ERROR 4

Sets the error to use when exiting linear movement to error.

◆ LINEAR_KD

#define LINEAR_KD 0

Linear kD.

Parameters

kd	the derivative constant for the linear motion PID controller

Example 1:

//using a kd of 0.5

#define LINEAR_KD 0.5

Sets the derivative constant for the linear motion PID controller to kd.

◆ LINEAR_KI

#define LINEAR_KI 0

Linear kI.

Parameters

ki	the integral constant for the linear motion PID controller

Example 1:

//using a ki of 0.5

#define LINEAR_KI 0.5

Sets the integral constant for the linear motion PID controller to ki.

◆ LINEAR_KP

#define LINEAR_KP 0

Linear kP.

Parameters

kp	the proportional constant for the linear motion PID controller

Example 1:

//using a kP of 0.5

#define LINEAR_KP 0.5

Sets the proportional constant for the linear motion PID controller to kp.

◆ MIDDLE_DISTANCE

#define MIDDLE_DISTANCE 0

Middle Distance.

Parameters

dist	the distance between the middle wheel and the center of the robot

Example 1:

//using a middle distance of 2 inches.

#define MIDDLE_DISTANCE 2

◆ MIDDLE_TPI

#define MIDDLE_TPI 0

Middle Ticks Per Inch.

Parameters

mtpi	encoder ticks per inch of robot movement for the perpendicular middle wheel

Example 1:

//using a middle tpi of 10.

#define MIDDLE_TPI

Sets the number of middle encoder ticks per inch of perpendicular robot movement to tpi.

◆ MIN_ERROR

#define MIN_ERROR 0

Minimum Error.

Parameters

error the minimum error for the robot to be considered at the target position

Example 1:

//using a minimum error of 2

#define MIN_ERROR 2

Sets the minimum error for the robot to be considered at the target position to error.

◆ ODOM_DEBUG

#define ODOM_DEBUG 0

Odom debug mode.

Parameters

db	Enable/disable odom debug

Example 1:

//enable odom debug messages

#define ODOM_DEBUG 1

Example 2:

//disable odom debug messages

#define ODOM_DEBUG 0

Enable/disable odometry debugging messages being sent to the terminal. This can be useful when trying to troubleshoot chassis movements. Note: Enabling odom debug prints the robot's x, y, and angle to the termal 100 times a second. Make sure to connect to your brain with a wire when using this. Connecting wirelessly through the controller will cause values to take dozons of seconds to show up.

◆ RIGHT_MOTORS

#define RIGHT_MOTORS 0

Right chassis motors.

Parameters

ports the motor ports on the right side of the chassis

Example 1:

// two motors on the right side of the chassis in ports 1 and 2

#define RIGHT_MOTORS 1, 2

Example 2:

// three motors on the right side of the chassis in ports 1, 2, and 3. The motor in port 2 is reversed

#define RIGHT_MOTORS 1, -2, 3

Comma seperated ports that the chassis's right motors are in. Negative values reverse the motor on that port.

◆ SETTLE_THRESH_ANGULAR

#define SETTLE_THRESH_ANGULAR 0

Angular settle threshold.

Parameters

threshold the threshold to use when settling angular movement

Example 1:

//using a threshold of 1 units

#define SETTLE_THRESH_ANGULAR 1

Sets the threshold to use when settling angular movement to threshold. The robot is considered settled if it does not move this many units within the duration of SETTLE_TIME.

◆ SETTLE_THRESH_LINEAR

#define SETTLE_THRESH_LINEAR 0

Linear Settle Threshold.

Parameters

threshold the threshold to use when settling linear movement

Example 1:

//using a threshold of 1 units

#define SETTLE_THRESH_LINEAR 1

Sets the threshold to use when settling linear movement to threshold. The robot is considered settled if it does not move this many units within the duration of SETTLE_TIME.

◆ SETTLE_TIME

#define SETTLE_TIME 0

Settle Time.

Parameters

time	the time the chassis must be still to be considered settled

Example 1:

//using a settle time of 150 milliseconds

#define SETTLE_TIME 150

Sets the time the chassis must be still to be considered settled to time in milliseconds. A high settle time may make movements take too long to complete, where as a low settle time may cause the robot to exit its movement prematurely.

◆ SLEW_STEP

#define SLEW_STEP 0

Slew Step.

Parameters

step	how much to slew the motors by each time the motors are updated

Example 1:

//using a slew step of 10

#define SLEW_STEP 10

Sets the slew step to step. A smaller value results more slew.

◆ TPI

#define TPI 0

Ticks per Inch.

Parameters

tpi	the number of encoder ticks per inch of forward robot movement.

Example 1:

//using a tpi of 10.

#define TPI 10

Sets the number of encoder ticks per inch of forward robot movement to tpi.

◆ TRACK_WIDTH

#define TRACK_WIDTH 0

Track Width.

Parameters

twidth The track width of the robot (distance between left and right weels)

Example 1:

//using a track width of 16 inches.

#define TRACK_WIDTH 16

Sets the number of encoder ticks per inch of forward robot movement to tpi.

◆ TRACKING_KP

#define TRACKING_KP 0

Tracking kP.

Parameters

trackkp the proportional constant for turning strength during point to point movements

Example 1:

//using a Tracking kP of 60

#define TRACKING_KP 60

sets the proportional constant for turning strength during point to point movements to trackkp

Function Documentation

◆ init()

void arms::init ( )

inline

Initialize ARMS using the user defined constants Example 1:

// initalize arms

arms::init();

arms::init

void init()

Initialize ARMS using the user defined constants Example 1:

Definition: config.h:566

initialize ARMS (pid, chassis, odom, etc) using the defined constants in config.h

Macros

Functions

Detailed Description

Macro Definition Documentation

◆ ANGULAR_EXIT_ERROR

◆ ANGULAR_KD

◆ ANGULAR_KI

◆ ANGULAR_KP

◆ AUTONS

◆ DEFAULT

◆ ENCODER_PORTS

◆ ENCODER_TYPE

◆ EXPANDER_PORT

◆ GEARSET

◆ HUE

◆ IMU_PORT

◆ LEAD_PCT

◆ LEFT_MOTORS

◆ LINEAR_EXIT_ERROR

◆ LINEAR_KD

◆ LINEAR_KI

◆ LINEAR_KP

◆ MIDDLE_DISTANCE

◆ MIDDLE_TPI

◆ MIN_ERROR

◆ ODOM_DEBUG

◆ RIGHT_MOTORS

◆ SETTLE_THRESH_ANGULAR

◆ SETTLE_THRESH_LINEAR

◆ SETTLE_TIME

◆ SLEW_STEP

◆ TPI

◆ TRACK_WIDTH

◆ TRACKING_KP

Function Documentation

◆ init()