i cleaned code and made wheels invert in code

PYRORobotics · Feb 2, 2023 · 16d59a0 · 16d59a0
1 parent e22d979
commit 16d59a0
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Showing 4 changed files with 9 additions and 14 deletions.
diff --git a/include/odom.h b/include/odom.h
@@ -13,8 +13,6 @@ class odom{
     #define YCONV 0.00037339_in
 
     okapi::QLength rightConversion;
-    okapi::QLength xPosition;
-    okapi::QLength yPosition;
     okapi::QLength xRelativeDelta;
     okapi::QLength yRelativeDelta;
     okapi::QLength previousRelativeX;
@@ -27,7 +25,6 @@ class odom{
     Cartesian position;
     void resetOdom();
     void updateOdom();
-    double heading();
     okapi::QLength getX_position();
     okapi::QLength getY_position();
     void printOdom();

diff --git a/include/robotConfig.h b/include/robotConfig.h
@@ -9,10 +9,10 @@
 	inline pros::Motor left_front1_mtr(7);
 	inline pros::Motor left_back0_mtr(10);
 	inline pros::Motor left_back1_mtr(9);
-	inline pros::Motor right_front0_mtr(5, true);
-	inline pros::Motor right_front1_mtr(4, true);
-	inline pros::Motor right_back0_mtr(3, true);
-	inline pros::Motor right_back1_mtr(2, true);
+	inline pros::Motor right_front0_mtr(5);
+	inline pros::Motor right_front1_mtr(4);
+	inline pros::Motor right_back0_mtr(3);
+	inline pros::Motor right_back1_mtr(2);
 	inline pros::Rotation right_encoder(21);
 	inline pros::Rotation left_encoder(20);
 	inline pros::Rotation center_encoder(19);

diff --git a/src/odom.cpp b/src/odom.cpp
@@ -7,8 +7,6 @@
 using namespace okapi::literals;
 odom::odom() {
     printf("Odom Initialized");
-    xPosition = 0_in;
-    yPosition = 0_in;
     position = Cartesian(0_in, 0_in);
     previousRelativeY = up.get_value()*RLCONV;
     previousRelativeX = sideways.get_value()*YCONV;

diff --git a/src/robotControl.cpp b/src/robotControl.cpp
@@ -31,10 +31,10 @@ void RobotControl::raw_tank(double straightPow, double turnPow, double strafePow
 	left_front1_mtr = (straightPow + turnPow + strafePow)*scale;
 	left_back0_mtr = (straightPow + turnPow - strafePow)*scale;
 	left_back1_mtr = (straightPow + turnPow - strafePow)*scale;
-	right_front0_mtr = (straightPow - turnPow - strafePow)*scale;
-	right_front1_mtr = (straightPow - turnPow - strafePow)*scale;
-	right_back0_mtr = (straightPow - turnPow + strafePow)*scale;
-	right_back1_mtr = (straightPow - turnPow + strafePow)*scale;
+	right_front0_mtr = -((straightPow - turnPow - strafePow)*scale);
+	right_front1_mtr = -((straightPow - turnPow - strafePow)*scale);
+	right_back0_mtr = -((straightPow - turnPow - strafePow)*scale);
+	right_back1_mtr = -((straightPow - turnPow - strafePow)*scale);
 }
 
 void RobotControl::relStrafe(okapi::QAngle relHeading, double pow, double turn) {
@@ -97,7 +97,7 @@ void RobotControl::goTo(odom odom1, Cartesian to_Cartesian, okapi::QAngle robotF
 		if (drivePow>100) {
 			drivePow = 100;
 		}
-		this->headingStrafe(to_Polar.angle+180_deg, drivePow * .3 , robotFacing);
+		this->headingStrafe(to_Polar.angle+180_deg, drivePow * .4 , robotFacing);
 	}
 }
 //auton p looper, goes to position given and faces the bot tword heading, if you do not specify an angle the robot will face 0_rad.