* Begin rewrite of LEGS

* Streamline controller interface. Move motors to concrete chassis classes

* Add in movement flags. Add BoomerangController

* Add max velocity to move

* Upgrade to PROS 4.0.5

* Rename to VOSS

* Add lead percent to Boomerang builder

* add lvgl

* fix movement

* Fix min error implementation

* Fix reverse movement

* slew

* if negative, max slew

* Make slew a member function

* Selector (#19)

* Create Selector class

* Switch back to procedural programming

* Add label to display current auton. Change to dark theme

* Add radio button functionality

* Simplify text update, remove autonMap

* single-screen selector

---------

Co-authored-by: Andrew Lu <[email protected]>

* Add turn functionality (#21)

---------

Co-authored-by: Andrew Lu <[email protected]>

* Fix oscillations when near target (#27)

* Thread safe ADILocalizer (#22)

* Using mutex instead of bool semaphore

* Cleaner locking

* Changed all variables to atomic

* Include rtos for mutex

* Test cases

* Use mutex pointer

* Remove atomic

Builds, will readd atomic later

* Print to brain

* Mostly fixed atomic

prev_pose doesn't like being atomic

* Use mutex for prev_pose

* Use unique lock

* Testing

* Removed atomic (fixed data abort) & mutex works for abstract localizer

* Fix atomic (again)

* Removed debug prints

* Clean up main.cpp

---------

Co-authored-by: Mihir Laud <[email protected]>

* Minor fixes

* Safeguards (#28)

* Add validation code for ADILocalizerBuilder

* Fix build validation code. Add testing code

* Add safeguards to ADILocalizer update function

* Removed testing code

* add settle_time to PIDController (#20)

* settle_time

* Fix formatting

* Add default for settle_time. Fix angular settling

* Fix IDE warning

---------

Co-authored-by: Mihir Laud <[email protected]>

* commit (#31)

* Implement BoomerangController (#30)

* work

* Add settle time to Boomerang

---------

Co-authored-by: Mihir Laud <[email protected]>
Co-authored-by: Mihir Laud <[email protected]>

* IME Localizer + IMU (#29)

* Add IME Support for Odom

* Added some protections on the builder - CANNOT TEST CUZ LIBLVGL Broken

* Add testing code. Resolve IDE warning

* Added ability to use IMU on ADI and IME Localizers

Check Voss working thread for more details about what is working/broken

* Remove testing code. Add safeguards for IMELocalizer update

* Fix naming

* Fix boomerang naming

---------

Co-authored-by: cjsport11 <[email protected]>

* Add valid cases for IMU with no track width (#32)

* Imu set pose (#33)

* Create override functions for set_pose in localizers

* Add IMU checks

* change set_heading to set_rotation

---------

Co-authored-by: Andrew Lu <[email protected]>

* commit (#34)

* Added get motor function (#35)

* Added get motor function

* Mark the getMotor function const and remove it from cpp file

* Add getMotor example to main.cpp

* Implement chained(thru) boomerang motion (#36)

* Refector flags (#40)

* commit

* add settling when stopped, fix relative movements

* Refactor flags

---------

Co-authored-by: Andrew Lu <[email protected]>

* Pre-NUKE fixes (#37)

* commit

* add settling when stopped, fix relative movements

---------

Co-authored-by: Mihir Laud <[email protected]>

* commit (#39)

Co-authored-by: Mihir Laud <[email protected]>

* Fix reverse flag for thru case (#41)

* Format Code (#43)

* refactor includes, add clang-format

* create github action

* Committing clang-format changes

---------

Co-authored-by: github-actions <41898282+github-actions[bot]@users.noreply.github.com>

---------

Co-authored-by: Mihir Laud <[email protected]>
Co-authored-by: 12944qwerty <[email protected]>
Co-authored-by: Mihir Laud <[email protected]>
Co-authored-by: THERocky <[email protected]>
Co-authored-by: Mayank Patibandla <[email protected]>
Co-authored-by: Rvernen <[email protected]>
Co-authored-by: cjsport11 <[email protected]>
Co-authored-by: github-actions <41898282+github-actions[bot]@users.noreply.github.com>