Symmetric Control

Symmetric control utilizes the VEX built-in motor encoders to control 2 sets of SmartMotorGroups in unison. This ensures that both sets of motors rotate the exact same distance over time.

info

This was initially designed and utilized for DEVIL5's climbing mech in High Stakes (2024-25). This utilized a PTO system that used the robot's drivetrain motors to pull the robot up during the climb. In this case, the robot was kept level by ensuring the left and right climbing hooks were kept at the same height throughout the climb.

Under the hood, this drives both sides by the same amount, but gradually slows down whichever motor group is "too far ahead".

// Define the symmetric controller
SymmetricControl symmetricControl = SymmetricControl(leftMotors, rightMotors);

void opcontrol() override {
    while (true) {
        symmetricControl.drive(
            mainController.leftY,   // <-- Drives both motor groups forward or backward at the same pace
            mainController.leftX    // <-- Increases/decreases the offset between the left and right motors
        );

        // ...
    }
}

Reset Offsets

If the motor groups start at weird offsets, you can reset their "starting positions" to whatever their current position is by calling symmetricControl.resetOffsets().

void opcontrol() override {
    while (true) {
        // If the A button is pressed, reset the offsets
        if (mainController.a)
            symmetricControl.resetOffsets();

        // ...
    }
}