text: #include "main.h"
  
  using namespace okapi;
  
  const auto WHEEL_DIAMETER = 4_in;
  const auto CHASSIS_WIDTH = 15_in;
  
  namespace drivetrain {
  
  	Motor driveFL(DRIVE_FL);
  	Motor driveML(DRIVE_ML);
  	Motor driveRL(DRIVE_RL);
  	Motor driveFR(DRIVE_FR);
  	Motor driveMR(DRIVE_MR);
  	Motor driveRR(DRIVE_RR);
  
  	MotorGroup driveLeft({driveFL, driveML, driveRL});
  	MotorGroup driveRight({driveFR, driveMR, driveRR});
  
  	auto drive = ChassisControllerBuilder()
  		.withMotors(driveLeft, driveRight)
  		.withDimensions(
  			AbstractMotor::gearset::green,
  			{{WHEEL_DIAMETER, CHASSIS_WIDTH}, imev5GreenTPR}
  		)
  		.withOdometry()
  		.buildOdometry();
  
  	void init() {
  
  	}
  
  	/** arcade drive control:
  	 *  left joystick controls throttle,
  	 *  right joystick controls rotation
  	 */
  	void arcadeDrive(double throttle, double rotation) {
  		drive->getModel()->arcade(throttle, rotation);
  	}
  
  	/** tank drive control:
  	 *  left joystick controls left side,
  	 *  right joystick controls right side
  	 */
  	void tankDrive(double left, double right) {
  		drive->getModel()->tank(left, right);
  	}
  }
  