My team has been working on programming an autonomous mode for our robot. Instead of using degrees or timed motor movements, we wanted to try using revolutions. However, it seems I accidentally coded it to follow the previous inputs from driver control. I’ve been trying to fix this but hit a roadblock. We’re using a holonomic drive, so I’ve had to create a lot of custom code since very few libraries support holonomic systems or are outdated. I’m aware of Okapilib but haven’t had time to fully integrate it yet. (I’m also using this code to train a new team member.)
#include "main.h"
#include "Master-Selector/api.hpp"
#include "pros/motors.hpp" // Ensure this include is present for MotorGearset
#include "AutonFunctions.h" // Include the header file
#include "SensorPorts.h" // Include the header file to access isPistonOpen and piston
#include "MovementRecorder.h"
// Define the wheel diameter (in inches)
const double WHEEL_DIAMETER = 4.0; // Example: 4 inches
const double WHEEL_CIRCUMFERENCE = M_PI * WHEEL_DIAMETER;
void autonomous() {
ms::call_selected_auton();
}
// Define your autonomous functions here
void near_side_awp() {
// Set the target distance to travel (in inches)
double target_revolutions = 5.0;
// Move the motors to the target revolutions
front_left.move_absolute(target_revolutions, 100); // Move front left motor to target revolutions at 100 velocity
back_left.move_absolute(target_revolutions, 100); // Move back left motor to target revolutions at 100 velocity
front_right.move_absolute(target_revolutions, 100); // Move front right motor to target revolutions at 100 velocity
back_right.move_absolute(target_revolutions, 100); // Move back right motor to target revolutions at 100 velocity
// Stop all motors after reaching the target position
front_left.move_velocity(0); // Stop the front left motor
back_left.move_velocity(0); // Stop the back left motor
front_right.move_velocity(0); // Stop the front right motor
back_right.move_velocity(0); // Stop the back right motor
}
void near_side_elims() {
// Your autonomous code for near side eliminations
}
void skills() {
// Your skills autonomous code
}