⬆️3.2.1

Merge pull request #236 from EZ-Robotics/dev

EZ-Template-Example-Project/include/EZ-Template/PID.hpp

@@ -102,8 +102,8 @@ class PID {
   double compute(double current);
 
   /**
-   * Computes PID, but you compute the error yourself.  
-   * 
+   * Computes PID, but you compute the error yourself.
+   *
    * Current is only used here for calculative derivative to solve derivative kick.
    *
    * \param err
@@ -247,8 +247,8 @@ class PID {
   std::string name_get();
 
   /**
-   * Enables / disables i resetting when sgn of error changes.  
-   * 
+   * Enables / disables i resetting when sgn of error changes.
+   *
    * True resets, false doesn't.
    *
    * \param toggle
@@ -257,8 +257,8 @@ class PID {
   void i_reset_toggle(bool toggle);
 
   /**
-   * Returns if i will reset when sgn of error changes.  
-   * 
+   * Returns if i will reset when sgn of error changes.
+   *
    * True resets, false doesn't.
    */
   bool i_reset_get();

EZ-Template-Example-Project/include/EZ-Template/drive/drive.hpp

@@ -1153,7 +1153,7 @@ class Drive {
 
   /**
    * Adds/removes motors from drive.
-   * 
+   *
    * You cannot add the first index because it's used for autonomous.
    *
    * \param pto_list
@@ -2069,6 +2069,8 @@ class Drive {
    *        target value as a double, unit is degrees
    * \param speed
    *        0 to 127, max speed during motion
+   * \param behavior
+   *        changes what direction the robot will turn.  can be left, right, shortest, longest, raw
    */
   void pid_swing_set(e_swing type, double target, int speed, e_angle_behavior behavior);
 
@@ -2081,6 +2083,8 @@ class Drive {
    *        target value as a double, unit is degrees
    * \param speed
    *        0 to 127, max speed during motion
+   * \param slew_on
+   *        ramp up from a lower speed to your target speed
    */
   void pid_swing_set(e_swing type, double target, int speed, bool slew_on);
 
@@ -2093,6 +2097,8 @@ class Drive {
    *        target value as a double, unit is degrees
    * \param speed
    *        0 to 127, max speed during motion
+   * \param slew_on
+   *        ramp up from a lower speed to your target speed
    */
   void pid_swing_set(e_swing type, double target, int speed, e_angle_behavior behavior, bool slew_on);
 
@@ -2135,6 +2141,8 @@ class Drive {
    *        0 to 127, max speed during motion
    * \param opposite_speed
    *        -127 to 127, max speed of the opposite side of the drive during the swing. this is used for arcs, and is defaulted to 0
+   * \param slew_on
+   *        ramp up from a lower speed to your target speed
    */
   void pid_swing_set(e_swing type, double target, int speed, int opposite_speed, bool slew_on);
 
@@ -2149,6 +2157,10 @@ class Drive {
    *        0 to 127, max speed during motion
    * \param opposite_speed
    *        -127 to 127, max speed of the opposite side of the drive during the swing. this is used for arcs, and is defaulted to 0
+   * \param behavior
+   *        changes what direction the robot will turn.  can be left, right, shortest, longest, raw
+   * \param slew_on
+   *        ramp up from a lower speed to your target speed
    */
   void pid_swing_set(e_swing type, double target, int speed, int opposite_speed, e_angle_behavior behavior, bool slew_on);
 
@@ -2161,8 +2173,6 @@ class Drive {
    *        target value in okapi angle units
    * \param speed
    *        0 to 127, max speed during motion
-   * \param opposite_speed
-   *        -127 to 127, max speed of the opposite side of the drive during the swing. this is used for arcs, and is defaulted to 0
    */
   void pid_swing_set(e_swing type, okapi::QAngle p_target, int speed);
 
@@ -2175,8 +2185,8 @@ class Drive {
    *        target value in okapi angle units
    * \param speed
    *        0 to 127, max speed during motion
-   * \param opposite_speed
-   *        -127 to 127, max speed of the opposite side of the drive during the swing. this is used for arcs, and is defaulted to 0
+   * \param behavior
+   *        changes what direction the robot will turn.  can be left, right, shortest, longest, raw
    */
   void pid_swing_set(e_swing type, okapi::QAngle p_target, int speed, e_angle_behavior behavior);
 
@@ -2189,6 +2199,8 @@ class Drive {
    *        target value in okapi angle units
    * \param speed
    *        0 to 127, max speed during motion
+   * \param slew_on
+   *        ramp up from a lower speed to your target speed
    */
   void pid_swing_set(e_swing type, okapi::QAngle p_target, int speed, bool slew_on);
 
@@ -2201,6 +2213,10 @@ class Drive {
    *        target value in okapi angle units
    * \param speed
    *        0 to 127, max speed during motion
+   * \param behavior
+   *        changes what direction the robot will turn.  can be left, right, shortest, longest, raw
+   * \param slew_on
+   *        ramp up from a lower speed to your target speed
    */
   void pid_swing_set(e_swing type, okapi::QAngle p_target, int speed, e_angle_behavior behavior, bool slew_on);
 
@@ -2229,6 +2245,8 @@ class Drive {
    *        0 to 127, max speed during motion
    * \param opposite_speed
    *        -127 to 127, max speed of the opposite side of the drive during the swing. this is used for arcs, and is defaulted to 0
+   * \param behavior
+   *        changes what direction the robot will turn.  can be left, right, shortest, longest, raw
    */
   void pid_swing_set(e_swing type, okapi::QAngle p_target, int speed, int opposite_speed, e_angle_behavior behavior);
 
@@ -2243,6 +2261,8 @@ class Drive {
    *        0 to 127, max speed during motion
    * \param opposite_speed
    *        -127 to 127, max speed of the opposite side of the drive during the swing. this is used for arcs, and is defaulted to 0
+   * \param slew_on
+   *        ramp up from a lower speed to your target speed
    */
   void pid_swing_set(e_swing type, okapi::QAngle p_target, int speed, int opposite_speed, bool slew_on);
 
@@ -2257,6 +2277,10 @@ class Drive {
    *        0 to 127, max speed during motion
    * \param opposite_speed
    *        -127 to 127, max speed of the opposite side of the drive during the swing. this is used for arcs, and is defaulted to 0
+   * \param behavior
+   *        changes what direction the robot will turn.  can be left, right, shortest, longest, raw
+   * \param slew_on
+   *        ramp up from a lower speed to your target speed
    */
   void pid_swing_set(e_swing type, okapi::QAngle p_target, int speed, int opposite_speed, e_angle_behavior behavior, bool slew_on);
 
@@ -2617,7 +2641,7 @@ class Drive {
    * Changes max speed during a drive motion.
    *
    * \param speed
-   *        new clipped speed, between 0 and 127     
+   *        new clipped speed, between 0 and 127
    */
   void pid_speed_max_set(int speed);
 
@@ -3228,7 +3252,7 @@ class Drive {
 
   /**
    * Checks if PID Tuner is enabled.
-   * 
+   *
    * True is enabled, false is disabled.
    */
   bool pid_tuner_enabled();

EZ-Template-Example-Project/project.pros

@@ -5,29 +5,29 @@
         "target": "v5",
         "templates": {
             "EZ-Template": {
-                "location": "C:\\Users\\union\\AppData\\Roaming\\PROS\\templates\\[email protected].0",
+                "location": "C:\\Users\\union\\AppData\\Roaming\\PROS\\templates\\[email protected].1",
                 "metadata": {
                     "origin": "local"
                 },
                 "name": "EZ-Template",
                 "py/object": "pros.conductor.templates.local_template.LocalTemplate",
                 "supported_kernels": "^4.1.1",
                 "system_files": [
-                    "include\\EZ-Template\\auton.hpp",
-                    "include\\EZ-Template\\drive\\drive.hpp",
+                    "include\\EZ-Template\\slew.hpp",
                     "include\\EZ-Template\\piston.hpp",
-                    "include\\EZ-Template\\tracking_wheel.hpp",
                     "include\\EZ-Template\\api.hpp",
-                    "include\\EZ-Template\\PID.hpp",
-                    "include\\EZ-Template\\util.hpp",
-                    "include\\EZ-Template\\slew.hpp",
                     "include\\EZ-Template\\auton_selector.hpp",
                     "include\\EZ-Template\\sdcard.hpp",
+                    "include\\EZ-Template\\tracking_wheel.hpp",
+                    "include\\EZ-Template\\auton.hpp",
+                    "include\\EZ-Template\\PID.hpp",
+                    "include\\EZ-Template\\util.hpp",
+                    "include\\EZ-Template\\drive\\drive.hpp",
                     "firmware\\EZ-Template.a"
                 ],
                 "target": "v5",
                 "user_files": [],
-                "version": "3.2.0"
+                "version": "3.2.1"
             },
             "kernel": {
                 "location": "C:\\Users\\union\\AppData\\Roaming\\PROS\\templates\\[email protected]",

Makefile

@@ -27,7 +27,7 @@ EXCLUDE_COLD_LIBRARIES:=
 IS_LIBRARY:=1
 # TODO: CHANGE THIS!
 LIBNAME:=EZ-Template
-VERSION:=3.2.0
+VERSION:=3.2.1
 # EXCLUDE_SRC_FROM_LIB= $(SRCDIR)/unpublishedfile.c
 # this line excludes opcontrol.c and similar files
 EXCLUDE_SRC_FROM_LIB+=$(foreach file, $(SRCDIR)/autons $(SRCDIR)/main,$(foreach cext,$(CEXTS),$(file).$(cext)) $(foreach cxxext,$(CXXEXTS),$(file).$(cxxext)))

include/EZ-Template/PID.hpp

@@ -102,8 +102,8 @@ class PID {
   double compute(double current);
 
   /**
-   * Computes PID, but you compute the error yourself.  
-   * 
+   * Computes PID, but you compute the error yourself.
+   *
    * Current is only used here for calculative derivative to solve derivative kick.
    *
    * \param err
@@ -247,8 +247,8 @@ class PID {
   std::string name_get();
 
   /**
-   * Enables / disables i resetting when sgn of error changes.  
-   * 
+   * Enables / disables i resetting when sgn of error changes.
+   *
    * True resets, false doesn't.
    *
    * \param toggle
@@ -257,8 +257,8 @@ class PID {
   void i_reset_toggle(bool toggle);
 
   /**
-   * Returns if i will reset when sgn of error changes.  
-   * 
+   * Returns if i will reset when sgn of error changes.
+   *
    * True resets, false doesn't.
    */
   bool i_reset_get();

include/EZ-Template/drive/drive.hpp

@@ -1153,7 +1153,7 @@ class Drive {
 
   /**
    * Adds/removes motors from drive.
-   * 
+   *
    * You cannot add the first index because it's used for autonomous.
    *
    * \param pto_list
@@ -2069,6 +2069,8 @@ class Drive {
    *        target value as a double, unit is degrees
    * \param speed
    *        0 to 127, max speed during motion
+   * \param behavior
+   *        changes what direction the robot will turn.  can be left, right, shortest, longest, raw
    */
   void pid_swing_set(e_swing type, double target, int speed, e_angle_behavior behavior);
 
@@ -2081,6 +2083,8 @@ class Drive {
    *        target value as a double, unit is degrees
    * \param speed
    *        0 to 127, max speed during motion
+   * \param slew_on
+   *        ramp up from a lower speed to your target speed
    */
   void pid_swing_set(e_swing type, double target, int speed, bool slew_on);
 
@@ -2093,6 +2097,8 @@ class Drive {
    *        target value as a double, unit is degrees
    * \param speed
    *        0 to 127, max speed during motion
+   * \param slew_on
+   *        ramp up from a lower speed to your target speed
    */
   void pid_swing_set(e_swing type, double target, int speed, e_angle_behavior behavior, bool slew_on);
 
@@ -2135,6 +2141,8 @@ class Drive {
    *        0 to 127, max speed during motion
    * \param opposite_speed
    *        -127 to 127, max speed of the opposite side of the drive during the swing. this is used for arcs, and is defaulted to 0
+   * \param slew_on
+   *        ramp up from a lower speed to your target speed
    */
   void pid_swing_set(e_swing type, double target, int speed, int opposite_speed, bool slew_on);
 
@@ -2149,6 +2157,10 @@ class Drive {
    *        0 to 127, max speed during motion
    * \param opposite_speed
    *        -127 to 127, max speed of the opposite side of the drive during the swing. this is used for arcs, and is defaulted to 0
+   * \param behavior
+   *        changes what direction the robot will turn.  can be left, right, shortest, longest, raw
+   * \param slew_on
+   *        ramp up from a lower speed to your target speed
    */
   void pid_swing_set(e_swing type, double target, int speed, int opposite_speed, e_angle_behavior behavior, bool slew_on);
 
@@ -2161,8 +2173,6 @@ class Drive {
    *        target value in okapi angle units
    * \param speed
    *        0 to 127, max speed during motion
-   * \param opposite_speed
-   *        -127 to 127, max speed of the opposite side of the drive during the swing. this is used for arcs, and is defaulted to 0
    */
   void pid_swing_set(e_swing type, okapi::QAngle p_target, int speed);
 
@@ -2175,8 +2185,8 @@ class Drive {
    *        target value in okapi angle units
    * \param speed
    *        0 to 127, max speed during motion
-   * \param opposite_speed
-   *        -127 to 127, max speed of the opposite side of the drive during the swing. this is used for arcs, and is defaulted to 0
+   * \param behavior
+   *        changes what direction the robot will turn.  can be left, right, shortest, longest, raw
    */
   void pid_swing_set(e_swing type, okapi::QAngle p_target, int speed, e_angle_behavior behavior);
 
@@ -2189,6 +2199,8 @@ class Drive {
    *        target value in okapi angle units
    * \param speed
    *        0 to 127, max speed during motion
+   * \param slew_on
+   *        ramp up from a lower speed to your target speed
    */
   void pid_swing_set(e_swing type, okapi::QAngle p_target, int speed, bool slew_on);
 
@@ -2201,6 +2213,10 @@ class Drive {
    *        target value in okapi angle units
    * \param speed
    *        0 to 127, max speed during motion
+   * \param behavior
+   *        changes what direction the robot will turn.  can be left, right, shortest, longest, raw
+   * \param slew_on
+   *        ramp up from a lower speed to your target speed
    */
   void pid_swing_set(e_swing type, okapi::QAngle p_target, int speed, e_angle_behavior behavior, bool slew_on);
 
@@ -2229,6 +2245,8 @@ class Drive {
    *        0 to 127, max speed during motion
    * \param opposite_speed
    *        -127 to 127, max speed of the opposite side of the drive during the swing. this is used for arcs, and is defaulted to 0
+   * \param behavior
+   *        changes what direction the robot will turn.  can be left, right, shortest, longest, raw
    */
   void pid_swing_set(e_swing type, okapi::QAngle p_target, int speed, int opposite_speed, e_angle_behavior behavior);
 
@@ -2243,6 +2261,8 @@ class Drive {
    *        0 to 127, max speed during motion
    * \param opposite_speed
    *        -127 to 127, max speed of the opposite side of the drive during the swing. this is used for arcs, and is defaulted to 0
+   * \param slew_on
+   *        ramp up from a lower speed to your target speed
    */
   void pid_swing_set(e_swing type, okapi::QAngle p_target, int speed, int opposite_speed, bool slew_on);
 
@@ -2257,6 +2277,10 @@ class Drive {
    *        0 to 127, max speed during motion
    * \param opposite_speed
    *        -127 to 127, max speed of the opposite side of the drive during the swing. this is used for arcs, and is defaulted to 0
+   * \param behavior
+   *        changes what direction the robot will turn.  can be left, right, shortest, longest, raw
+   * \param slew_on
+   *        ramp up from a lower speed to your target speed
    */
   void pid_swing_set(e_swing type, okapi::QAngle p_target, int speed, int opposite_speed, e_angle_behavior behavior, bool slew_on);
 
@@ -2617,7 +2641,7 @@ class Drive {
    * Changes max speed during a drive motion.
    *
    * \param speed
-   *        new clipped speed, between 0 and 127     
+   *        new clipped speed, between 0 and 127
    */
   void pid_speed_max_set(int speed);
 
@@ -3228,7 +3252,7 @@ class Drive {
 
   /**
    * Checks if PID Tuner is enabled.
-   * 
+   *
    * True is enabled, false is disabled.
    */
   bool pid_tuner_enabled();