chassis.hpp

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#pragma once
 
#include "pros/motors.hpp"
#include "pros/imu.hpp"
#include "lemlib/chassis/trackingWheel.hpp"
#include "lemlib/pose.hpp"
 
namespace lemlib {
typedef struct {
        TrackingWheel* vertical1;
        TrackingWheel* vertical2;
        TrackingWheel* horizontal1;
        TrackingWheel* horizontal2;
        pros::Imu* imu;
} OdomSensors_t;
 
typedef struct {
        float kP;
        float kD;
        float smallError;
        float smallErrorTimeout;
        float largeError;
        float largeErrorTimeout;
        float slew;
} ChassisController_t;
 
typedef struct {
        pros::Motor_Group* leftMotors;
        pros::Motor_Group* rightMotors;
        float trackWidth;
        float wheelDiameter;
        float rpm;
} Drivetrain_t;
 
class Chassis {
    public:
        Chassis(Drivetrain_t drivetrain, ChassisController_t lateralSettings, ChassisController_t angularSettings,
                OdomSensors_t sensors);
        void calibrate();
        void setPose(double x, double y, double theta, bool radians = false);
        void setPose(Pose pose, bool radians = false);
        Pose getPose(bool radians = false);
        void turnTo(float x, float y, int timeout, bool reversed = false, float maxSpeed = 127, bool log = false);
        void moveTo(float x, float y, int timeout, float maxSpeed = 200, bool log = false);
        void follow(const char* filePath, int timeout, float lookahead, bool reverse = false, float maxSpeed = 127,
                    bool log = false);
    private:
        ChassisController_t lateralSettings;
        ChassisController_t angularSettings;
        Drivetrain_t drivetrain;
        OdomSensors_t odomSensors;
};
} // namespace lemlib