Code before competition

compile_commands.json

@@ -31,7 +31,7 @@
             "bin/initialize.cpp.o",
             "src\\initialize.cpp"
         ],
-        "directory": "C:\\Users\\David\\Documents\\2381WCode",
+        "directory": "C:\\Users\\shao4\\Downloads\\Terrebonne\\2381WCode-2",
         "file": "src\\initialize.cpp"
     },
     {
@@ -66,7 +66,7 @@
             "bin/pid.cpp.o",
             "src\\pid.cpp"
         ],
-        "directory": "C:\\Users\\David\\Documents\\2381WCode",
+        "directory": "C:\\Users\\shao4\\Downloads\\Terrebonne\\2381WCode-2",
         "file": "src\\pid.cpp"
     },
     {
@@ -98,11 +98,46 @@
             "-fdiagnostics-color",
             "--std=gnu++17",
             "-o",
-            "bin/autonomous.cpp.o",
-            "src\\autonomous.cpp"
+            "bin/motors.cpp.o",
+            "src\\motors.cpp"
         ],
-        "directory": "C:\\Users\\David\\Documents\\2381WCode",
-        "file": "src\\autonomous.cpp"
+        "directory": "C:\\Users\\shao4\\Downloads\\Terrebonne\\2381WCode-2",
+        "file": "src\\motors.cpp"
+    },
+    {
+        "arguments": [
+            "clang++",
+            "-c",
+            "-target",
+            "armv7ar-none-none-eabi",
+            "-fno-ms-extensions",
+            "-fno-ms-compatibility",
+            "-fno-delayed-template-parsing",
+            "-isystemc:\\program files\\pros\\toolchain\\usr\\bin\\../lib/gcc/arm-none-eabi/7.2.1/../../../../arm-none-eabi/include/c++/7.2.1",
+            "-isystemc:\\program files\\pros\\toolchain\\usr\\bin\\../lib/gcc/arm-none-eabi/7.2.1/../../../../arm-none-eabi/include/c++/7.2.1/arm-none-eabi/thumb/v7-ar/fpv3/softfp",
+            "-isystemc:\\program files\\pros\\toolchain\\usr\\bin\\../lib/gcc/arm-none-eabi/7.2.1/../../../../arm-none-eabi/include/c++/7.2.1/backward",
+            "-isystemc:\\program files\\pros\\toolchain\\usr\\bin\\../lib/gcc/arm-none-eabi/7.2.1/include",
+            "-isystemc:\\program files\\pros\\toolchain\\usr\\bin\\../lib/gcc/arm-none-eabi/7.2.1/include-fixed",
+            "-isystemc:\\program files\\pros\\toolchain\\usr\\bin\\../lib/gcc/arm-none-eabi/7.2.1/../../../../arm-none-eabi/include",
+            "-iquote./include",
+            "-iquote./include/./",
+            "-mcpu=cortex-a9",
+            "-mfpu=neon-fp16",
+            "-mfloat-abi=softfp",
+            "-D_POSIX_THREADS",
+            "-D_UNIX98_THREAD_MUTEX_ATTRIBUTES",
+            "-Os",
+            "-funwind-tables",
+            "-ffunction-sections",
+            "-fdata-sections",
+            "-fdiagnostics-color",
+            "--std=gnu++17",
+            "-o",
+            "bin/adi.cpp.o",
+            "src\\adi.cpp"
+        ],
+        "directory": "C:\\Users\\shao4\\Downloads\\Terrebonne\\2381WCode-2",
+        "file": "src\\adi.cpp"
     },
     {
         "arguments": [
@@ -136,7 +171,42 @@
             "bin/opcontrol.cpp.o",
             "src\\opcontrol.cpp"
         ],
-        "directory": "C:\\Users\\David\\Documents\\2381WCode",
+        "directory": "C:\\Users\\shao4\\Downloads\\Terrebonne\\2381WCode-2",
         "file": "src\\opcontrol.cpp"
+    },
+    {
+        "arguments": [
+            "clang++",
+            "-c",
+            "-target",
+            "armv7ar-none-none-eabi",
+            "-fno-ms-extensions",
+            "-fno-ms-compatibility",
+            "-fno-delayed-template-parsing",
+            "-isystemc:\\program files\\pros\\toolchain\\usr\\bin\\../lib/gcc/arm-none-eabi/7.2.1/../../../../arm-none-eabi/include/c++/7.2.1",
+            "-isystemc:\\program files\\pros\\toolchain\\usr\\bin\\../lib/gcc/arm-none-eabi/7.2.1/../../../../arm-none-eabi/include/c++/7.2.1/arm-none-eabi/thumb/v7-ar/fpv3/softfp",
+            "-isystemc:\\program files\\pros\\toolchain\\usr\\bin\\../lib/gcc/arm-none-eabi/7.2.1/../../../../arm-none-eabi/include/c++/7.2.1/backward",
+            "-isystemc:\\program files\\pros\\toolchain\\usr\\bin\\../lib/gcc/arm-none-eabi/7.2.1/include",
+            "-isystemc:\\program files\\pros\\toolchain\\usr\\bin\\../lib/gcc/arm-none-eabi/7.2.1/include-fixed",
+            "-isystemc:\\program files\\pros\\toolchain\\usr\\bin\\../lib/gcc/arm-none-eabi/7.2.1/../../../../arm-none-eabi/include",
+            "-iquote./include",
+            "-iquote./include/./",
+            "-mcpu=cortex-a9",
+            "-mfpu=neon-fp16",
+            "-mfloat-abi=softfp",
+            "-D_POSIX_THREADS",
+            "-D_UNIX98_THREAD_MUTEX_ATTRIBUTES",
+            "-Os",
+            "-funwind-tables",
+            "-ffunction-sections",
+            "-fdata-sections",
+            "-fdiagnostics-color",
+            "--std=gnu++17",
+            "-o",
+            "bin/autonomous.cpp.o",
+            "src\\autonomous.cpp"
+        ],
+        "directory": "C:\\Users\\shao4\\Downloads\\Terrebonne\\2381WCode-2",
+        "file": "src\\autonomous.cpp"
     }
 ]

include/adi.h

@@ -0,0 +1,9 @@
+#include "main.h"
+
+#ifndef _ADI_H_
+#define _ADI_H_
+
+extern pros::ADIUltrasonic ultra_left; //left ultrasonic
+extern pros::ADIUltrasonic ultra_right; //right ultrasonic
+
+#endif

include/main.h

@@ -15,6 +15,22 @@
 #ifndef _PROS_MAIN_H_
 #define _PROS_MAIN_H_
 
+//defines the ports for each motor
+#define MOTOR1 12 //L1
+#define MOTOR2 9 //L2
+#define MOTOR3 11 //R1
+#define MOTOR4 2 //R2
+
+#define MOTOR5 13 //Angler
+#define MOTOR6 4 //Arm
+#define MOTOR7 7 //LIntake
+#define MOTOR8 19 //RIntake
+
+#define ULTRA1_PING 1 //LUltrasonic
+#define ULTRA1_ECHO 2
+#define ULTRA2_PING 3 //RUltrasonic
+#define ULTRA2_ECHO 4
+
 /**
  * If defined, some commonly used enums will have preprocessor macros which give
  * a shorter, more convenient naming pattern. If this isn't desired, simply

include/motors.h

@@ -0,0 +1,16 @@
+#include "main.h"
+
+#ifndef _MOTORS_H_
+#define _MOTORS_H_
+
+extern pros::Motor left_wheels_1; //L1
+extern pros::Motor right_wheels_1; //R1
+extern pros::Motor left_wheels_2; //L2
+extern pros::Motor right_wheels_2; //R2
+
+extern pros::Motor intake_left;
+extern pros::Motor intake_right;
+extern pros::Motor arm;
+extern pros::Motor angler;
+
+#endif

include/pid.h

@@ -0,0 +1,25 @@
+#ifndef _PID_H_
+#define _PID_H_
+
+class PIDImpl;
+class PID
+{
+    public:
+        // Kp -  proportional gain
+        // Ki -  Integral gain
+        // Kd -  derivative gain
+        // dt -  loop interval time
+        // max - maximum value of manipulated variable
+        // min - minimum value of manipulated variable
+        PID( double dt, double max, double min, double Kp, double Kd, double Ki );
+        void resetError();
+
+        // Returns the manipulated variable given a setpoint and current process value
+        double calculate( double setpoint, double pv );
+        ~PID();
+
+    private:
+        PIDImpl *pimpl;
+};
+
+#endif

project.pros

@@ -248,6 +248,11 @@
                 "version": "3.3.13"
             }
         },
-        "upload_options": {}
+        "upload_options": {
+            "compress_bin": true,
+            "description": "Created with PROS",
+            "remote_name": "Robosuck",
+            "slot": 2
+        }
     }
 }

src/adi.cpp

@@ -0,0 +1,7 @@
+#include "main.h"
+#include "adi.h"
+
+using namespace pros;
+
+ADIUltrasonic ultra_left (ULTRA1_PING, ULTRA1_ECHO); //LUltra
+ADIUltrasonic ultra_right (ULTRA2_PING, ULTRA2_ECHO); //RUltra