Chassis Controller - lets us drive the robot around with open- or closed-loop control std :: shared_ptr drive = ChassisControllerBuilder (). We should also specify the gearset in the drive motors and the chassis dimensions.
The motor in port 10 is negative because it is reversed. Let's initialize it now with our two motors in ports 1 and 10. We will be using ChassisControllerIntegrated for this tutorial. This class can give you more accurate chassis control, but requires tuning the PID controllers. The other class, ChassisControllerPID, uses three PID controllers running on the V5 brain and sends velocity or voltage commands to the motors. This class is the easiest to use, so we will use it for this tutorial. ChassisControllerIntegrated uses the V5 motor's built-in position and velocity control to move the robot around. There are two main subclasses we can use: ChassisControllerIntegrated and ChassisControllerPID. It also provides closed-loop control methods to drive a specific distance or turn a specific angle. It also provides methods to move the robot programmatically, like driving in an arc or only powering one side of the chassis. This interface lets you use open-loop control methods to drive the robot around with a joystick, like tank and arcade control. OkapiLib uses something called a ChassisController to interact with a robot's chassis. The last 3 commands ( make, upload, terminal) can be simplified to prosv5 mut. To create, build, and upload a new project in PROS 3, run prosv5 conduct new prosv5 make prosv5 upload prosv5 terminal For the purposes of this tutorial, we've plugged in our motors into the following ports: Port You can follow VEX's tutorial for building this robot here.
Understood the basic organization of an OkapiLib project.GoalsĪt the end of this tutorial you will have: If you haven't programmed before, we recommend checking out all the "Introduction and Basic C++ Features" and "Classes and Objects" sections of this tutorial series. This tutorial is intended for developers with some programming experience, but with little to no experience with OkapiLib. This tutorial will guide you through basic programming of the VEX Clawbot.
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