void GeekBot::init() { pinMode(LED_LEFT_PIN, OUTPUT); pinMode(LED_RIGHT_PIN, OUTPUT); digitalWrite(LED_LEFT_PIN, HIGH); digitalWrite(LED_RIGHT_PIN, HIGH); motorsInit( LEFT_SERVO_PIN, RIGHT_SERVO_PIN ); navigationInit( &mySounds ); lineFollowerInit( &mySounds ); LineSensorArrayInit(); }
task main() { writeValueToLEDs(0); autonomousOptimized = true; initSwerve(); initLift(); lineFollowerInit(); writeValueToLEDs(IDLE); waitForStart(); initGyro(); setModulePositions(1440); resetDistance(); while ( !driveToCenter(false) ) { updateGyro(); updateSwerve(); updateLift(); } }