> For the complete documentation index, see [llms.txt](https://acezxn.gitbook.io/vex-ji-qi-ren-cheng-shi-jiao-xue/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://acezxn.gitbook.io/vex-ji-qi-ren-cheng-shi-jiao-xue/fan-li-cheng-shi/ji-chu-di-pan-kong-zhi.md).

# 基礎底盤控制

方法1：使用PROS API:

```cpp
void opcontrol() {
	pros::Controller master(pros::E_CONTROLLER_MASTER);
	pros::Motor left_motor(1);
	pros::Motor right_motor(-2);

	while (true) {
		left_motor.move_velocity(std::fmin(std::fmax(master.get_analog(pros::E_CONTROLLER_ANALOG_LEFT_Y) + master.get_analog(pros::E_CONTROLLER_ANALOG_RIGHT_X), -127), 127));
		right_motor.move_velocity(std::fmin(std::fmax(master.get_analog(pros::E_CONTROLLER_ANALOG_LEFT_Y) - master.get_analog(pros::E_CONTROLLER_ANALOG_RIGHT_X), -127), 127));
		pros::delay(10);
	}
}
```

方法2：使用Okapilib:

```cpp
// main.h

/**
 * You should add more #includes here
 */
#include "okapi/api.hpp" // <---
#include "pros/api_legacy.h" // <---
// 把上兩行的註解拿掉

// ...

/**
 * If you find doing pros::Motor() to be tedious and you'd prefer just to do
 * Motor, you can use the namespace with the following commented out line.
 *
 * IMPORTANT: Only the okapi or pros namespace may be used, not both
 * concurrently! The okapi namespace will export all symbols inside the pros
 * namespace.
 */
// using namespace pros; 
// using namespace pros::literals;
using namespace okapi; // 把這行的註解拿掉，但是要把pros的namespace都拿掉

```

```cpp
// main.cpp

void opcontrol() {
	Controller master(ControllerId::master);
	Motor left_motor(1);
	Motor right_motor(-2);

	while (true) {
		left_motor.moveVelocity(std::fmin(std::fmax(master.getAnalog(ControllerAnalog::leftY) + master.getAnalog(ControllerAnalog::rightX), -1), 1));
		right_motor.moveVelocity(std::fmin(std::fmax(master.getAnalog(ControllerAnalog::leftY) - master.getAnalog(ControllerAnalog::rightX), -1), 1));
		pros::delay(10);
	}
}
```


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