⬆️3.2.0-beta.6

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

@@ -3129,16 +3129,16 @@ class Drive {
   bool current_slew_on = false;
   bool is_odom_turn_bias_enabled = true;
   bool odom_turn_bias_enabled();
-  void odom_turn_bias_set(bool set);
+  void odom_turn_bias_enable(bool set);
   double angle_rad = 0.0;
   double global_track_width = 0.0;
   bool odometry_enabled = true;
-  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};
-  pose turn_to_point_target = {0, 0, 0};
+  pose odom_target = {0.0, 0.0, 0.0};
+  pose odom_current = {0.0, 0.0, 0.0};
+  pose odom_second_to_last = {0.0, 0.0, 0.0};
+  pose odom_start = {0.0, 0.0, 0.0};
+  pose odom_target_start = {0.0, 0.0, 0.0};
+  pose turn_to_point_target = {0.0, 0.0, 0.0};
   bool y_flipped = false;
   bool x_flipped = false;
   double odom_imu_start = 0.0;
@@ -3153,6 +3153,11 @@ class Drive {
   pose l_pose{0.0, 0.0, 0.0};
   pose r_pose{0.0, 0.0, 0.0};
   pose central_pose{0.0, 0.0, 0.0};
+  double xy_current_fake = 0.0;
+  double xy_last_fake = 0.0;
+  double xy_delta_fake = 0.0;
+  double new_current_fake = 0.0;
+  bool was_odom_just_set = false;
   std::pair<float, float> decide_vert_sensor(ez::tracking_wheel* tracker, bool is_tracker_enabled, float ime = 0.0, float ime_track = 0.0);
   pose solve_xy_vert(float p_track_width, float current_t, float delta_vert, float delta_t);
   pose solve_xy_horiz(float p_track_width, float current_t, float delta_horiz, float delta_t);

EZ-Template-Example-Project/src/autons.cpp

@@ -20,14 +20,14 @@ void default_constants() {
   chassis.pid_heading_constants_set(11.0, 0.0, 20.0);        // Holds the robot straight while going forward without odom
   chassis.pid_turn_constants_set(3.0, 0.05, 20.0, 15.0);     // Turn in place constants
   chassis.pid_swing_constants_set(6.0, 0.0, 65.0);           // Swing constants
-  chassis.pid_odom_angular_constants_set(5.0, 0.0, 60.0);    // Angular control for odom motions
+  chassis.pid_odom_angular_constants_set(4.7, 0.0, 60.0);    // Angular control for odom motions
   chassis.pid_odom_boomerang_constants_set(3.5, 0.0, 35.0);  // Angular control for boomerang motions
 
   // Exit conditions
   // https://ez-robotics.github.io/EZ-Template/tutorials/tuning_exit_conditions
-  chassis.pid_turn_exit_condition_set(80_ms, 3_deg, 250_ms, 7_deg, 500_ms, 500_ms);
-  chassis.pid_swing_exit_condition_set(80_ms, 3_deg, 250_ms, 7_deg, 500_ms, 500_ms);
-  chassis.pid_drive_exit_condition_set(80_ms, 1_in, 250_ms, 3_in, 500_ms, 500_ms);
+  chassis.pid_turn_exit_condition_set(90_ms, 3_deg, 250_ms, 7_deg, 500_ms, 500_ms);
+  chassis.pid_swing_exit_condition_set(90_ms, 3_deg, 250_ms, 7_deg, 500_ms, 500_ms);
+  chassis.pid_drive_exit_condition_set(90_ms, 1_in, 250_ms, 3_in, 500_ms, 500_ms);
   chassis.pid_odom_turn_exit_condition_set(90_ms, 3_deg, 250_ms, 7_deg, 500_ms, 750_ms);
   chassis.pid_odom_drive_exit_condition_set(90_ms, 1_in, 250_ms, 3_in, 500_ms, 750_ms);
   chassis.pid_turn_chain_constant_set(3_deg);
@@ -42,7 +42,7 @@ void default_constants() {
 
   // The amount that turns are prioritized over driving in odom motions
   // - if you have tracking wheels, you can run this higher.  1 is the max
-  chassis.odom_turn_bias_set(0.5);
+  chassis.odom_turn_bias_set(0.9);
 
   chassis.odom_look_ahead_set(10_in);          // This is how far ahead in the path the robot looks at
   chassis.odom_boomerang_distance_set(16_in);  // This sets the maximum distance away from target that the carrot point can be

EZ-Template-Example-Project/src/main.cpp

@@ -108,38 +108,40 @@ void autonomous() {
   chassis.drive_sensor_reset();                // Reset drive sensors to 0
   chassis.odom_pose_set({0_in, 0_in, 0_deg});  // Set the current position, you can start at a specific position with this
   chassis.drive_brake_set(MOTOR_BRAKE_HOLD);   // Set motors to hold.  This helps autonomous consistency
-  chassis.drive_width_set(12.0_in);            // You can measure this with a tape measure
 
   /*
   Odometry and Pure Pursuit are not magic
 
-  It is possible to get perfectly consistent results without trackers,
-  but it is also possible to have extremely inconsistent results without trackers.
-  When you don't use trackers, you need to:
+  It is possible to get perfectly consistent results without tracking wheels,
+  but it is also possible to have extremely inconsistent results without tracking wheels.
+  When you don't use tracking wheels, you need to:
    - avoid wheel slip
    - avoid wheelies
    - avoid throwing momentum around (super harsh turns, like in the example below)
   You can do cool curved motions, but you have to give your robot the best chance
   to be consistent
   */
 
-  // Drive to 0, 24
-  chassis.pid_odom_set({{0_in, 24_in}, fwd, 110},
+  // Drive to 0, 30 and pass through 6, 10 and 0, 20 on the way, with slew
+  chassis.pid_odom_set({{{6_in, 10_in}, fwd, 110},
+                        {{0_in, 20_in}, fwd, 110},
+                        {{0_in, 30_in}, fwd, 110}},
                        true);
   chassis.pid_wait();
 
-  // Turn to face 24, 24
-  chassis.pid_turn_set({24_in, 24_in}, fwd, 110,
+  // Turn to face -36, 48 with slew
+  chassis.pid_turn_set({-36_in, 48_in}, fwd, 110,
                        true);
   chassis.pid_wait();
 
-  // Drive to 24, 24
-  chassis.pid_odom_set({{24_in, 24_in}, fwd, 110},
+  // Turn to face 36, 48 with slew
+  chassis.pid_turn_set({36_in, 48_in}, fwd, 110,
                        true);
   chassis.pid_wait();
 
-  // Drive backwards through 0, 24 and stop at 0, 0
-  chassis.pid_odom_set({{{0_in, 24_in}, rev, 110},
+  // Drive to 0, 0 and pass through -6, 20 and 0, 10 on the way, with slew
+  chassis.pid_odom_set({{{-6_in, 20_in}, rev, 110},
+                        {{0_in, 10_in}, rev, 110},
                         {{0_in, 0_in}, rev, 110}},
                        true);
   chassis.pid_wait();

Makefile

@@ -27,7 +27,7 @@ EXCLUDE_COLD_LIBRARIES:=
 IS_LIBRARY:=1
 # TODO: CHANGE THIS!
 LIBNAME:=EZ-Template
-VERSION:=3.2.0-beta.5
+VERSION:=3.2.0-beta.6
 # 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)))

src/EZ-Template/drive/drive.cpp

@@ -199,7 +199,7 @@ void Drive::drive_defaults_set() {
   pid_heading_constants_set(11.0, 0.0, 20.0);
   pid_turn_constants_set(3.0, 0.05, 20.0, 15.0);
   pid_swing_constants_set(6.0, 0.0, 65.0);
-  pid_odom_angular_constants_set(5.0, 0.0, 60.0);
+  pid_odom_angular_constants_set(4.7, 0.0, 60.0);
   pid_odom_boomerang_constants_set(3.5, 0.0, 35.0);
   pid_turn_min_set(30);
   pid_swing_min_set(30);
@@ -210,9 +210,9 @@ void Drive::drive_defaults_set() {
   slew_swing_constants_set(3_in, 80);
 
   // Exit condition constants
-  pid_turn_exit_condition_set(80_ms, 3_deg, 250_ms, 7_deg, 500_ms, 500_ms);
-  pid_swing_exit_condition_set(80_ms, 3_deg, 250_ms, 7_deg, 500_ms, 500_ms);
-  pid_drive_exit_condition_set(80_ms, 1_in, 250_ms, 3_in, 500_ms, 500_ms);
+  pid_turn_exit_condition_set(90_ms, 3_deg, 250_ms, 7_deg, 500_ms, 500_ms);
+  pid_swing_exit_condition_set(90_ms, 3_deg, 250_ms, 7_deg, 500_ms, 500_ms);
+  pid_drive_exit_condition_set(90_ms, 1_in, 250_ms, 3_in, 500_ms, 500_ms);
   pid_odom_turn_exit_condition_set(90_ms, 3_deg, 250_ms, 7_deg, 500_ms, 750_ms);
   pid_odom_drive_exit_condition_set(90_ms, 1_in, 250_ms, 3_in, 500_ms, 750_ms);
 

version

@@ -1 +1 @@
-3.2.0-beta.4
+3.2.0-beta.6