⬆️v3.2.0-beta.2

EZ-Robotics · Jul 7, 2024 · 468d40c · 468d40c
1 parent 30eb8e7
commit 468d40c
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Showing 9 changed files with 27 additions and 18 deletions.
diff --git a/...mple-Project/[email protected] → ...mple-Project/[email protected] b/...mple-Project/[email protected] → ...mple-Project/[email protected]
diff --git a/EZ-Template-Example-Project/firmware/EZ-Template.a b/EZ-Template-Example-Project/firmware/EZ-Template.a
diff --git a/EZ-Template-Example-Project/include/EZ-Template/drive/drive.hpp b/EZ-Template-Example-Project/include/EZ-Template/drive/drive.hpp
@@ -343,6 +343,9 @@ class Drive {
   void drive_odom_enable(bool input);
   pose odom_target = {0, 0, 0};
   pose odom_current = {0, 0, 0};
+  pose odom_second_to_last = {0, 0, 0};
+  pose odom_start = {0, 0, 0};
+  pose odom_target_start = {0, 0, 0};
   std::vector<odom> pp_movements;
   std::vector<int> injected_pp_index;
   int pp_index = 0;
@@ -353,8 +356,10 @@ class Drive {
   void odom_reset();
   bool imu_calibration_complete = false;
   double angle_rad = 0.0;
-  void pid_turn_set(pose itarget, turn_types dir, int speed, bool slew_on = false);
+  void pid_turn_set(pose itarget, drive_directions dir, int speed, bool slew_on = false);
   pose turn_to_point_target = {0, 0, 0};
+  void pid_odom_set(odom imovement, bool slew_on = false);
+  void pid_odom_set(std::vector<odom> imovements, bool slew_on = false);
   void pid_odom_ptp_set(odom imovement, bool slew_on = false);
   void pid_odom_pp_set(std::vector<odom> imovements, bool slew_on = false);
   void pid_odom_injected_pp_set(std::vector<odom> imovements, bool slew_on = false);
@@ -367,7 +372,9 @@ class Drive {
   double SPACING = 0.5;
   double LOOK_AHEAD = 7.0;
   // bool is_past_target_using_xy = false;
-  void pid_wait_until_pp(int index);
+  void pid_wait_until_index(int index);
+  void pid_wait_until_point(pose target);
+  void pid_wait_until(pose target);
   double dlead = 0.375;
   void pid_odom_boomerang_set(odom imovement, bool slew_on = false);
   //  Odometry
@@ -377,7 +384,7 @@ class Drive {
   /*double h = 0, h2 = 0*/;  // rad for big circle
   double last_theta = 0;
   // double Xx = 0, Yy = 0, Xy = 0, Yx = 0;
-  turn_types current_drive_direction = fwd;
+  drive_directions current_drive_direction = fwd;
   bool ptf1_running = false;
   std::vector<pose> find_point_to_face(pose current, pose target, bool set_global = false);
   void raw_pid_odom_ptp_set(odom imovement, bool slew_on);
@@ -387,6 +394,9 @@ class Drive {
   void pp_task();
   PID xyPID;
   PID aPID;
+  PID internal_leftPID;
+  PID internal_rightPID;
+  bool was_last_pp_mode_boomerang = false;
 
   /////
   //

diff --git a/EZ-Template-Example-Project/include/EZ-Template/util.hpp b/EZ-Template-Example-Project/include/EZ-Template/util.hpp
@@ -72,13 +72,12 @@ enum e_mode { DISABLE = 0,
               TURN_TO_POINT = 3,
               DRIVE = 4,
               POINT_TO_POINT = 5,
-              PURE_PURSUIT = 6,
-              BOOMERANG = 7 };
+              PURE_PURSUIT = 6 };
 
 /**
  * Enum for turn types
  */
-enum turn_types { FWD = 0,
+enum drive_directions { FWD = 0,
                   FORWARD = FWD,
                   fwd = FWD,
                   forward = FWD,
@@ -103,7 +102,7 @@ typedef struct pose {
  */
 typedef struct odom {
   pose target;
-  turn_types turn_type;
+  drive_directions drive_direction;
   int max_xy_speed;
 } odom;
 

diff --git a/EZ-Template-Example-Project/project.pros b/EZ-Template-Example-Project/project.pros
@@ -5,28 +5,28 @@
         "target": "v5",
         "templates": {
             "EZ-Template": {
-                "location": "C:\\Users\\union\\AppData\\Roaming\\PROS\\templates\\[email protected].1",
+                "location": "C:\\Users\\union\\AppData\\Roaming\\PROS\\templates\\[email protected].2",
                 "metadata": {
                     "origin": "local"
                 },
                 "name": "EZ-Template",
                 "py/object": "pros.conductor.templates.local_template.LocalTemplate",
                 "supported_kernels": "^4.1.0",
                 "system_files": [
-                    "firmware\\EZ-Template.a",
-                    "include\\EZ-Template\\PID.hpp",
-                    "include\\EZ-Template\\sdcard.hpp",
-                    "include\\EZ-Template\\auton.hpp",
+                    "include\\EZ-Template\\util.hpp",
+                    "include\\EZ-Template\\drive\\drive.hpp",
                     "include\\EZ-Template\\auton_selector.hpp",
                     "include\\EZ-Template\\piston.hpp",
-                    "include\\EZ-Template\\drive\\drive.hpp",
                     "include\\EZ-Template\\api.hpp",
-                    "include\\EZ-Template\\util.hpp",
-                    "include\\EZ-Template\\slew.hpp"
+                    "include\\EZ-Template\\PID.hpp",
+                    "include\\EZ-Template\\auton.hpp",
+                    "include\\EZ-Template\\slew.hpp",
+                    "firmware\\EZ-Template.a",
+                    "include\\EZ-Template\\sdcard.hpp"
                 ],
                 "target": "v5",
                 "user_files": [],
-                "version": "3.2.0-beta.1"
+                "version": "3.2.0-beta.2"
             },
             "kernel": {
                 "location": "C:\\Users\\union\\AppData\\Roaming\\PROS\\templates\\[email protected]",

diff --git a/[email protected] → [email protected] b/[email protected] → [email protected]
diff --git a/[email protected] → [email protected] b/[email protected] → [email protected]
diff --git a/Makefile b/Makefile
@@ -27,7 +27,7 @@ EXCLUDE_COLD_LIBRARIES:=
 IS_LIBRARY:=1
 # TODO: CHANGE THIS!
 LIBNAME:=EZ-Template
-VERSION:=3.2.0-beta.1
+VERSION:=3.2.0-beta.2
 # 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)))

diff --git a/version b/version
@@ -1 +1 @@
-3.2.0-beta.1
+3.2.0-beta.2