Added controller function

msoe-vex · Feb 12, 2022 · b5f5013 · b5f5013
1 parent 4a1b516
commit b5f5013
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Showing 2 changed files with 15 additions and 3 deletions.
diff --git a/src/v5_hal/firmware/src/nodes/LiftNode.cpp b/src/v5_hal/firmware/src/nodes/LiftNode.cpp
@@ -51,15 +51,17 @@ int LiftNode::getPosition() {
 }
 
 void LiftNode::teleopPeriodic() {
-    if(pros::E_CONTROLLER_DIGITAL_R1 && !pros::E_CONTROLLER_DIGITAL_R2) {
+    if (m_controller->getController()->get_digital(pros::E_CONTROLLER_DIGITAL_R1) && 
+        !m_controller->getController()->get_digital(pros::E_CONTROLLER_DIGITAL_R2)) {
         if(m_top_limit_switch->getValue()) {
             m_left_motor->moveVoltage(0);
 		    m_right_motor->moveVoltage(0);
         } else {
             m_left_motor->moveVoltage(MAX_MOTOR_VOLTAGE);
             m_right_motor->moveVoltage(-1 * MAX_MOTOR_VOLTAGE);
         }
-    } else if(pros::E_CONTROLLER_DIGITAL_R1 && !pros::E_CONTROLLER_DIGITAL_R2) {
+    } else if (m_controller->getController()->get_digital(pros::E_CONTROLLER_DIGITAL_R1) && 
+        !m_controller->getController()->get_digital(pros::E_CONTROLLER_DIGITAL_R2)) {
         if (m_bottom_limit_switch) {
             m_left_motor->moveVoltage(0);
 		    m_right_motor->moveVoltage(0);
@@ -71,7 +73,6 @@ void LiftNode::teleopPeriodic() {
         m_left_motor->moveVoltage(0);
 		m_right_motor->moveVoltage(0);
     }
-
 };
 
 void LiftNode::autonPeriodic() {

diff --git a/src/v5_hal/firmware/src/nodes/TankDriveNode.cpp b/src/v5_hal/firmware/src/nodes/TankDriveNode.cpp
@@ -62,6 +62,17 @@ void TankDriveNode::resetEncoders() {
     m_motors.right_4_motor->resetEncoder();
 }
 
+TankDriveNode::FourMotorDriveEncoderVals TankDriveNode::getIntegratedEncoderVals() {
+    FourMotorDriveEncoderVals encoder_vals = {
+        m_motors.left_1_motor->getPosition(),
+        m_motors.left_2_motor->getPosition(),
+        m_motors.left_3_motor->getPosition(),
+        m_motors.left_4_motor->getPosition()
+    };
+
+    return encoder_vals;
+}
+
 void TankDriveNode::initialize() {
     resetEncoders();
 }