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Run format action on master branch #60

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merged 2 commits into from
Feb 19, 2024
Merged

Run format action on master branch #60

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cf52575
Update clang-format.yml
AndrewLuGit Feb 19, 2024
8171ce3
Committing clang-format changes
github-actions[bot] Feb 19, 2024
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3 changes: 3 additions & 0 deletions .github/workflows/clang-format.yml
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Original file line number Diff line number Diff line change
@@ -1,6 +1,9 @@
name: Clang Format

on:
push:
branches:
- 'master'
pull_request:
types: [review_requested, ready_for_review]

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4 changes: 1 addition & 3 deletions include/VOSS/chassis/ChassisCommand.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -34,9 +34,7 @@ using DiffChassisCommand =
diff_commands::Swing>;
using HoloChassisCommand = std::variant<Stop, holo_commands::Voltages>;

template <class... Ts> struct overload : Ts... {
using Ts::operator()...;
};
template <class... Ts> struct overload : Ts... { using Ts::operator()...; };
template <class... Ts> overload(Ts...) -> overload<Ts...>;

} // namespace voss::chassis
20 changes: 11 additions & 9 deletions src/VOSS/controller/BoomerangController.cpp
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Expand Up @@ -19,10 +19,10 @@ chassis::DiffChassisCommand BoomerangController::get_command(bool reverse,
double dx, dy, distance_error, at;
int dir = reverse ? -1 : 1;
Pose trueTarget;
if(thru) {
if (thru) {
dx = virtualTarget.x - current_pos.x;
dy = virtualTarget.y - current_pos.y;
trueTarget = {virtualTarget.x, virtualTarget.y , target.theta};
trueTarget = {virtualTarget.x, virtualTarget.y, target.theta};
} else {
dx = target.x - current_pos.x;
dy = target.y - current_pos.y;
Expand All @@ -36,7 +36,8 @@ chassis::DiffChassisCommand BoomerangController::get_command(bool reverse,
target.theta};
counter += 10;

double current_angle = this->l->get_orientation_rad() + (reverse ? M_PI : 0);
double current_angle =
this->l->get_orientation_rad() + (reverse ? M_PI : 0);
bool chainedExecutable = false;
bool noPose = this->target.theta == 361;
double angle_error;
Expand Down Expand Up @@ -128,16 +129,17 @@ chassis::DiffChassisCommand BoomerangController::get_command(bool reverse,
}

if (chainedExecutable) {
return chassis::DiffChassisCommand{
chassis::diff_commands::Chained{lin_speed + ang_speed, lin_speed - ang_speed}};
return chassis::DiffChassisCommand{chassis::diff_commands::Chained{
lin_speed + ang_speed, lin_speed - ang_speed}};
}

return chassis::DiffChassisCommand{
chassis::diff_commands::Voltages{lin_speed - ang_speed, lin_speed + ang_speed}};
return chassis::DiffChassisCommand{chassis::diff_commands::Voltages{
lin_speed - ang_speed, lin_speed + ang_speed}};
}

chassis::DiffChassisCommand BoomerangController::get_angular_command(bool reverse,
bool thru, voss::AngularDirection direction) {
chassis::DiffChassisCommand
BoomerangController::get_angular_command(bool reverse, bool thru,
voss::AngularDirection direction) {
return chassis::DiffChassisCommand{chassis::Stop{}};
}

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24 changes: 14 additions & 10 deletions src/main.cpp
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Expand Up @@ -110,17 +110,21 @@ void opcontrol() {

if (master.get_digital_new_press(DIGITAL_Y)) {
odom->set_pose(voss::Pose{0.0, 0.0, 180});
// chassis.move(voss::Pose{24, 24, 90}, &boomerang, 100.0, voss::Flags::THRU);
// master.rumble(".");
// chassis.move(voss::Pose{48, 5, 290}, &boomerang, 70.0, voss::Flags::THRU);
// master.rumble(".");
// chassis.move(voss::Pose{64, 24, 90}, &boomerang, 70.0);
// master.rumble(".");
chassis.move(voss::Pose{48, 25, 10}, boomerang, 70.0, voss::Flags::REVERSE | voss::Flags::THRU);
// chassis.move(voss::Pose{48, 25, 10}, &boomerang, 70.0, voss::Flags::THRU);
// chassis.move(voss::Pose{24, 24, 90}, &boomerang,
// 100.0, voss::Flags::THRU); master.rumble(".");
// chassis.move(voss::Pose{48, 5, 290}, &boomerang, 70.0,
// voss::Flags::THRU); master.rumble(".");
// chassis.move(voss::Pose{64, 24, 90},
// &boomerang, 70.0); master.rumble(".");
chassis.move(voss::Pose{48, 25, 10}, boomerang, 70.0,
voss::Flags::REVERSE | voss::Flags::THRU);
// chassis.move(voss::Pose{48, 25, 10}, &boomerang, 70.0,
// voss::Flags::THRU);
master.rumble(".");
chassis.move(voss::Pose{60, -5, 270}, boomerang, 100.0, voss::Flags::REVERSE);
// chassis.move(voss::Pose{60, 0, 270}, &boomerang, 70.0);
chassis.move(voss::Pose{60, -5, 270}, boomerang, 100.0,
voss::Flags::REVERSE);
// chassis.move(voss::Pose{60, 0, 270},
// &boomerang, 70.0);
}

pros::lcd::clear_line(1);
Expand Down