Okapi

Notes: Mar 17, 2023

1. to use Okapi namespace:

using namespace okapi;

2. to use Okapi motor drives (tank vs arcade):

#include "main.h"
#include "okapi/api.hpp"

using namespace okapi;

// Define the ports for the left and right motors
#define LEFT_MOTOR_PORT 2
#define RIGHT_MOTOR_PORT 1

void opcontrol() {

    std::shared_ptr<ChassisController> drive =
            ChassisControllerBuilder()
                    .withMotors(LEFT_MOTOR_PORT, -RIGHT_MOTOR_PORT)
                            // Green gearset, 4 in wheel diam, 11.5 in wheel track
                    .withDimensions(AbstractMotor::gearset::green, {{4_in, 11.5_in}, imev5GreenTPR})
                    .build();

    // Joystick to read analog values for tank or arcade control.
   // Master controller by default.
    Controller controller;

    while (true) {
        // Tank drive with left and right sticks.
        drive->getModel()->arcade(controller.getAnalog(ControllerAnalog::leftY),
                                controller.getAnalog(ControllerAnalog::rightY));

        // Wait and give up the time we don't need to other tasks.
        // Additionally, joystick values, motor telemetry, etc. all updates every 10 ms.
        pros::delay(10);
    }

    // Wait for some time before repeating loop
    pros::delay(20);
}