1 - Drivetrain Chassis

Initialization

// Define SmartMotorGroups for left and right motors
SmartMotorGroup leftMotors = SmartMotorGroup("LeftMotors", {1, -2, 3, -4});
SmartMotorGroup rightMotors = SmartMotorGroup("RightMotors", {-5, 6, -7, 8});

// Create a TankChassis using the defined motor groups
TankChassis chassis = TankChassis(leftMotors, rightMotors);

Usage

Arcade

Arcade controls allow the robot to be driven using a horizontal and vertical joystick input.

// Initialize the main controller
pros::Controller mainController = pros::Controller(pros::E_CONTROLLER_MASTER);

// Operator control function
void opcontrol() {

    // Infinite loop for operator control
    while (true) {
    
        // Read joystick values from the main controller
        double leftY = mainController.get_analog(ANALOG_LEFT_Y);
        double rightX = mainController.get_analog(ANALOG_RIGHT_X);
        
        // Normalize to [-1.0, 1.0]
        leftY /= 127.0;
        rightX /= 127.0;
    
        // Move chassis based on joystick inputs
        chassis.move(
            leftY,  // Forward/backward speed [-1.0 to 1.0]
            rightX  // Turning speed [-1.0 to 1.0]
        );
    
        // Delay to prevent the CPU from being overloaded
        pros::delay(20);
    }
}

Tank

Tank controls allow the robot to be driven using two separate joystick inputs for the left and right sides.

// Initialize the main controller
pros::Controller mainController = pros::Controller(pros::E_CONTROLLER_MASTER);

// Operator control function
void opcontrol() {

    // Infinite loop for operator control
    while (true) {
    
        // Read joystick values from the main controller
        double leftY = mainController.get_analog(ANALOG_LEFT_Y);
        double rightY = mainController.get_analog(ANALOG_RIGHT_Y);
        
        // Normalize to [-1.0, 1.0]
        leftY /= 127.0;
        rightY /= 127.0;
    
        // Move chassis based on joystick inputs
        chassis.moveTank(
            leftY,  // Left Forward/backward speed [-1.0 to 1.0]
            rightY  // Right Forward/backward speed [-1.0 to 1.0]
        );
    
        // Delay to prevent the CPU from being overloaded
        pros::delay(20);
    }
}

Configuration

Brake Mode

By default, SmartMotorGroup motors are set to coast mode after they are passed into a TankChassis. While this is configurable, it is highly recommended to keep the drivetrain motors in coast mode to prevent Smart Motors from overheating during matches.

void initialize() {
    // Enable brake mode on drivetrain motors
    // DO NOT do this unless you know what you are doing!
    leftMotors.setBrakeMode(true);
    rightMotors.setBrakeMode(true);

    // ...
}