config.h

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#ifndef _ARMS_CONFIG_H_
#define _ARMS_CONFIG_H_
 
#include "ARMS/lib.h"
 
namespace arms {
// Debug
#define ODOM_DEBUG 0
 
// Negative numbers mean reversed motor
#define LEFT_MOTORS 0
 
#define RIGHT_MOTORS 0
 
#define GEARSET pros::E_MOTOR_GEAR_200 // RPM of chassis motors
 
#define TPI 0                 // Encoder ticks per inch of forward robot movement
 
#define MIDDLE_TPI 0          // Ticks per inch for the middle wheel
 
// Tracking wheel distances
#define TRACK_WIDTH 0         // The distance between left and right wheels (or tracker wheels)
 
#define MIDDLE_DISTANCE 0     // Distance from middle wheel to the robot turning center
 
// Sensors
#define IMU_PORT 0                         // Port 0 for disabled
 
#define ENCODER_PORTS 0, 0, 0    // Port 0 for disabled
 
#define EXPANDER_PORT 0                     // Port 0 for disabled
 
#define ENCODER_TYPE arms::odom::ENCODER_ADI // The type of encoders
// Movement tuning
#define SLEW_STEP 0         // Encoder ticks to move at each step
 
#define LINEAR_EXIT_ERROR 0 // Error to use when exiting linear movement
 
#define ANGULAR_EXIT_ERROR 0 // default exit distance for angular movements
 
#define SETTLE_THRESH_LINEAR 0      // amount of linear movement for settling
 
#define SETTLE_THRESH_ANGULAR 0     // amount of angular movement for settling
 
#define SETTLE_TIME 0      // amount of time to count as settled
 
#define LINEAR_KP 0
 
#define LINEAR_KI 0
 
#define LINEAR_KD 0
 
#define TRACKING_KP 0        // point tracking turning strength
 
#define ANGULAR_KP 0
 
#define ANGULAR_KI 0
 
#define ANGULAR_KD 0
 
#define LEAD_PCT 0           // Go-to-pose lead distance ratio (0-1)
 
#define MIN_ERROR 0
 
// Auton selector configuration constants
#define AUTONS 0 // Names of autonomous routines, up to 10
 
#define HUE 0     // Color of theme from 0-359(H part of HSV)
 
#define DEFAULT 0 // Default auton selected
 
// Initializer
inline void init() {
 
    chassis::init({LEFT_MOTORS}, {RIGHT_MOTORS}, GEARSET, SLEW_STEP, LINEAR_EXIT_ERROR,
                  ANGULAR_EXIT_ERROR, SETTLE_THRESH_LINEAR, SETTLE_THRESH_ANGULAR, SETTLE_TIME);
 
    odom::init(ODOM_DEBUG, ENCODER_TYPE, {ENCODER_PORTS}, EXPANDER_PORT, IMU_PORT,
               TRACK_WIDTH, MIDDLE_DISTANCE, TPI,
               MIDDLE_TPI);
 
    pid::init(LINEAR_KP, LINEAR_KI, LINEAR_KD, ANGULAR_KP, ANGULAR_KI, ANGULAR_KD, TRACKING_KP, MIN_ERROR, LEAD_PCT);
 
    const char* b[] = {AUTONS, ""};
    selector::init(HUE, DEFAULT, b);
 
}
 
} // namespace arms
 
#endif