✨Tracking is now an std::function

[ssejrog]

Summary:

Users can now make their own tracking functions.

Motivation:

With teams wanting to use MCL and VEXU teams using the sparkfun OTOS, EZ-Template needs a way to support custom tracking.

References (optional):

#246

Test Plan:

• Run this code and ensure that XYT doesn't updating.

void new_tracking() {
  printf("custom tracking task\n");
}

void initialize() {
  // Print our branding over your terminal :D
  ez::ez_template_print();

  pros::delay(500);  // Stop the user from doing anything while legacy ports configure

  chassis.odom_tracking_set(new_tracking);
  // . . .

• Comment out the line of code below and ensure XYT does update.

// chassis.odom_tracking_set(new_tracking);

• Ensure that setting a custom XYT actually works

void new_tracking() {
  chassis.odom_current.x = something;
  chassis.odom_current.y = something;
  chassis.odom_current.theta = chassis.drive_imu_get();
}

void initialize() {
  // Print our branding over your terminal :D
  ez::ez_template_print();

  pros::delay(500);  // Stop the user from doing anything while legacy ports configure

  chassis.odom_tracking_set(new_tracking);
  // . . .

Download the template for this pull request:

Note

This is auto generated from Add Template to Pull Request

• via manual download: [email protected]+3e584a.zip
• via PROS Integrated Terminal:

curl -o [email protected]+3e584a.zip https://nightly.link/EZ-Robotics/EZ-Template/actions/artifacts/2341902030.zip;
pros c fetch [email protected]+3e584a.zip;
pros c apply [email protected]+3e584a;
rm [email protected]+3e584a.zip;

[ssejrog]

Examples tested and work, ready to merge