v3.0.0 (#88)

* Fixed rotation sensor tick per rev (#47)

* middle step for #49 and #54

* Added piston groups (#54)

* Completed small issues (#56, #55, $54, #52, #48)

* Finished with clean up on constants

* Added set ratio function

* Added practice mode

* Updated PROS Kernel, okapi, fixed #53, general cleaning

* ✨Okapi units (#49, #62)

* ✨ Added `set_relative_turn_pid()` (#59)

* issue #59 - add set_relative_turn_pid function, no issue - fix various cases of wrong function documentation

* issue #59 - set_relative_turn_pid changed casing of variables to snake_case and made it relative to current target, not current heading

* Fixed issue #67

* ✨Okapi units

* New function names #65

* Added okapi units to turns and time, tuned PID, cleaned code, completed #66

* Fixed some names, added `get` functions #73

* Added more gets, removed version # from print  #73

The version number in `ez_template_print` was redundant when version can be checked through pros cli.

* ⬆️ Update Kernel/Okapi to 3.8.0 and 4.8.0 Respectively  (#76)

* Memory optimisation and comments:
when a function is static, it doesn't need to exist for every object. Since this function does not reference any internal variables, it can be static

* Maybe I was wrong

* add new website code

* added running the site locally

* kernel upgrade

* Update Kernel/Okapi

---------

Co-authored-by: Michael Barr <[email protected]>
Co-authored-by: Asik007 <[email protected]>
Co-authored-by: Sylvie <[email protected]>

* Added Ability for user to reverse Drive in opcontrol (#80)

* Update drive.hpp

weird changes

* Added Reversal to opcontrol driving

* mistake deleting active break logic, added back

* Removed old website, updated readme

* Completed #82, fixed formatting

* Cleaned relative turns, added wide swings #59 #83

* Added slew to turns and swings, fixed wide arc bug #59 #83 #84

Backwards right arcs would have the left PID go the wrong direction.

* #49 #59 #65 #84

All functions that have a parameter using okapi units has the ability to be called without using okapi units.

Fixed relative bug that would stop a swing from working off of a turn

Naming convention was fixed on setting constants.

Forward and Reverse PID for swings was implemented.

* namespaced all classes, removed piston group. #50 #54

* Added PID Tuner #85

* PID Tuner can modify increments #85 #86 #87

PID Tuner:
- printing to brain can now be toggled
- won't enable autonselector if it wasn't on prior to enabling PID Tuner
- user can set all increments
- user can get all increments
- renamed functions to be compliant with #65

Completed #86 and #87

* Cleaned example files

* Added example project to this repo and made v3 template

* Final update for 3.0.0 #65

---------

Co-authored-by: HakopZarikyan <[email protected]>
Co-authored-by: Michael Ben-Zvi <[email protected]>
Co-authored-by: Will Xu <[email protected]>
Co-authored-by: Michael Barr <[email protected]>
Co-authored-by: Asik007 <[email protected]>
Co-authored-by: Sylvie <[email protected]>
Co-authored-by: Will Xu <[email protected]>
Co-authored-by: Mactar Gueye <[email protected]>

.gitignore

@@ -1,3 +1,24 @@
+# Dependencies
+/node_modules
+
+# Production
+/build
+
+# Generated files
+.docusaurus
+.cache-loader
+
+# Misc
+.DS_Store
+.env.local
+.env.development.local
+.env.test.local
+.env.production.local
+
+npm-debug.log*
+yarn-debug.log*
+yarn-error.log*
+
 # Compiled Object files
 *.o
 *.obj
@@ -14,4 +35,13 @@ compile_commands.json
 temp.log
 temp.errors
 *.ini
-.d/
+.d/
+
+EZ-Template-Example-Project/bin/
+EZ-Template-Example-Project/.vscode/
+EZ-Template-Example-Project/.cache/
+EZ-Template-Example-Project/compile_commands.json
+EZ-Template-Example-Project/temp.log
+EZ-Template-Example-Project/temp.errors
+EZ-Template-Example-Project/*.ini
+EZ-Template-Example-Project/.d/

EZ-Template-Example-Project/Makefile

@@ -0,0 +1,45 @@
+################################################################################
+######################### User configurable parameters #########################
+# filename extensions
+CEXTS:=c
+ASMEXTS:=s S
+CXXEXTS:=cpp c++ cc
+
+# probably shouldn't modify these, but you may need them below
+ROOT=.
+FWDIR:=$(ROOT)/firmware
+BINDIR=$(ROOT)/bin
+SRCDIR=$(ROOT)/src
+INCDIR=$(ROOT)/include
+
+WARNFLAGS+=
+EXTRA_CFLAGS=
+EXTRA_CXXFLAGS=
+
+# Set to 1 to enable hot/cold linking
+USE_PACKAGE:=1
+
+# Add libraries you do not wish to include in the cold image here
+# EXCLUDE_COLD_LIBRARIES:= $(FWDIR)/your_library.a
+EXCLUDE_COLD_LIBRARIES:= 
+
+# Set this to 1 to add additional rules to compile your project as a PROS library template
+IS_LIBRARY:=0
+# TODO: CHANGE THIS!
+LIBNAME:=libbest
+VERSION:=1.0.0
+# EXCLUDE_SRC_FROM_LIB= $(SRCDIR)/unpublishedfile.c
+# this line excludes opcontrol.c and similar files
+EXCLUDE_SRC_FROM_LIB+=$(foreach file, $(SRCDIR)/main,$(foreach cext,$(CEXTS),$(file).$(cext)) $(foreach cxxext,$(CXXEXTS),$(file).$(cxxext)))
+
+# files that get distributed to every user (beyond your source archive) - add
+# whatever files you want here. This line is configured to add all header files
+# that are in the the include directory get exported
+TEMPLATE_FILES=$(INCDIR)/**/*.h $(INCDIR)/**/*.hpp
+
+.DEFAULT_GOAL=quick
+
+################################################################################
+################################################################################
+########## Nothing below this line should be edited by typical users ###########
+-include ./common.mk

EZ-Template-Example-Project/common.mk

@@ -0,0 +1,295 @@
+ARCHTUPLE=arm-none-eabi-
+DEVICE=VEX EDR V5
+
+MFLAGS=-mcpu=cortex-a9 -mfpu=neon-fp16 -mfloat-abi=softfp -Os -g
+CPPFLAGS=-D_POSIX_THREADS -D_UNIX98_THREAD_MUTEX_ATTRIBUTES -D_POSIX_TIMERS -D_POSIX_MONOTONIC_CLOCK
+GCCFLAGS=-ffunction-sections -fdata-sections -fdiagnostics-color -funwind-tables
+
+WARNFLAGS+=-Wno-psabi
+
+SPACE := $() $()
+COMMA := ,
+
+DEPDIR := .d
+$(shell mkdir -p $(DEPDIR))
+DEPFLAGS = -MT $$@ -MMD -MP -MF $(DEPDIR)/$$*.Td
+MAKEDEPFOLDER = -$(VV)mkdir -p $(DEPDIR)/$$(dir $$(patsubst $(BINDIR)/%, %, $(ROOT)/$$@))
+RENAMEDEPENDENCYFILE = -$(VV)mv -f $(DEPDIR)/$$*.Td $$(patsubst $(SRCDIR)/%, $(DEPDIR)/%.d, $(ROOT)/$$<) && touch $$@
+
+LIBRARIES+=$(wildcard $(FWDIR)/*.a)
+# Cannot include newlib and libc because not all of the req'd stubs are implemented
+EXCLUDE_COLD_LIBRARIES+=$(FWDIR)/libc.a $(FWDIR)/libm.a
+COLD_LIBRARIES=$(filter-out $(EXCLUDE_COLD_LIBRARIES), $(LIBRARIES))
+wlprefix=-Wl,$(subst $(SPACE),$(COMMA),$1)
+LNK_FLAGS=--gc-sections --start-group $(strip $(LIBRARIES)) -lgcc -lstdc++ --end-group -T$(FWDIR)/v5-common.ld
+
+ASMFLAGS=$(MFLAGS) $(WARNFLAGS)
+CFLAGS=$(MFLAGS) $(CPPFLAGS) $(WARNFLAGS) $(GCCFLAGS) --std=gnu11
+CXXFLAGS=$(MFLAGS) $(CPPFLAGS) $(WARNFLAGS) $(GCCFLAGS) --std=gnu++17
+LDFLAGS=$(MFLAGS) $(WARNFLAGS) -nostdlib $(GCCFLAGS)
+SIZEFLAGS=-d --common
+NUMFMTFLAGS=--to=iec --format %.2f --suffix=B
+
+AR:=$(ARCHTUPLE)ar
+# using arm-none-eabi-as generates a listing by default. This produces a super verbose output.
+# Using gcc accomplishes the same thing without the extra output
+AS:=$(ARCHTUPLE)gcc
+CC:=$(ARCHTUPLE)gcc
+CXX:=$(ARCHTUPLE)g++
+LD:=$(ARCHTUPLE)g++
+OBJCOPY:=$(ARCHTUPLE)objcopy
+SIZETOOL:=$(ARCHTUPLE)size
+READELF:=$(ARCHTUPLE)readelf
+STRIP:=$(ARCHTUPLE)strip
+
+ifneq (, $(shell command -v gnumfmt 2> /dev/null))
+	SIZES_NUMFMT:=| gnumfmt --field=-4 --header $(NUMFMTFLAGS)
+else
+ifneq (, $(shell command -v numfmt 2> /dev/null))
+	SIZES_NUMFMT:=| numfmt --field=-4 --header $(NUMFMTFLAGS)
+else
+	SIZES_NUMFMT:=
+endif
+endif
+
+ifneq (, $(shell command -v sed 2> /dev/null))
+SIZES_SED:=| sed -e 's/  dec/total/'
+else
+SIZES_SED:=
+endif
+
+rwildcard=$(foreach d,$(filter-out $3,$(wildcard $1*)),$(call rwildcard,$d/,$2,$3)$(filter $(subst *,%,$2),$d))
+
+# Colors
+NO_COLOR=$(shell printf "%b" "\033[0m")
+OK_COLOR=$(shell printf "%b" "\033[32;01m")
+ERROR_COLOR=$(shell printf "%b" "\033[31;01m")
+WARN_COLOR=$(shell printf "%b" "\033[33;01m")
+STEP_COLOR=$(shell printf "%b" "\033[37;01m")
+OK_STRING=$(OK_COLOR)[OK]$(NO_COLOR)
+DONE_STRING=$(OK_COLOR)[DONE]$(NO_COLOR)
+ERROR_STRING=$(ERROR_COLOR)[ERRORS]$(NO_COLOR)
+WARN_STRING=$(WARN_COLOR)[WARNINGS]$(NO_COLOR)
+ECHO=/bin/printf "%s\n"
+echo=@$(ECHO) "$2$1$(NO_COLOR)"
+echon=@/bin/printf "%s" "$2$1$(NO_COLOR)"
+
+define test_output_2
+@if test $(BUILD_VERBOSE) -eq $(or $4,1); then printf "%s\n" "$2"; fi;
+@output="$$($2 2>&1)"; exit=$$?;           \
+if test 0 -ne $$exit; then                 \
+  printf "%s%s\n" "$1" "$(ERROR_STRING)";  \
+  printf "%s\n" "$$output";                \
+  exit $$exit;                             \
+elif test -n "$$output"; then              \
+  printf "%s%s\n" "$1" "$(WARN_STRING)";   \
+  printf "%s\n" "$$output";                \
+else                                       \
+  printf "%s%s\n" "$1" "$3";               \
+fi;
+endef
+
+define test_output
+@output=$$($1 2>&1); exit=$$?;            \
+if test 0 -ne $$exit; then                \
+  printf "%s\n" "$(ERROR_STRING)" $$?;    \
+  printf "%s\n" $$output;                 \
+  exit $$exit;                            \
+elif test -n "$$output"; then             \
+  printf "%s\n" "$(WARN_STRING)";         \
+  printf "%s" $$output;                   \
+else                                      \
+  printf "%s\n" "$2";                     \
+fi;
+endef
+
+# Makefile Verbosity
+ifeq ("$(origin VERBOSE)", "command line")
+BUILD_VERBOSE = $(VERBOSE)
+endif
+ifeq ("$(origin V)", "command line")
+BUILD_VERBOSE = $(V)
+endif
+
+ifndef BUILD_VERBOSE
+BUILD_VERBOSE = 0
+endif
+
+# R is reduced (default messages) - build verbose = 0
+# V is verbose messages - verbosity = 1
+# VV is super verbose - verbosity = 2
+ifeq ($(BUILD_VERBOSE), 0)
+R = @echo
+D = @
+VV = @
+endif
+ifeq ($(BUILD_VERBOSE), 1)
+R = @echo
+D =
+VV = @
+endif
+ifeq ($(BUILD_VERBOSE), 2)
+R =
+D =
+VV =
+endif
+
+INCLUDE=$(foreach dir,$(INCDIR) $(EXTRA_INCDIR),-iquote"$(dir)")
+
+ASMSRC=$(foreach asmext,$(ASMEXTS),$(call rwildcard, $(SRCDIR),*.$(asmext), $1))
+ASMOBJ=$(addprefix $(BINDIR)/,$(patsubst $(SRCDIR)/%,%.o,$(call ASMSRC,$1)))
+CSRC=$(foreach cext,$(CEXTS),$(call rwildcard, $(SRCDIR),*.$(cext), $1))
+COBJ=$(addprefix $(BINDIR)/,$(patsubst $(SRCDIR)/%,%.o,$(call CSRC, $1)))
+CXXSRC=$(foreach cxxext,$(CXXEXTS),$(call rwildcard, $(SRCDIR),*.$(cxxext), $1))
+CXXOBJ=$(addprefix $(BINDIR)/,$(patsubst $(SRCDIR)/%,%.o,$(call CXXSRC,$1)))
+
+GETALLOBJ=$(sort $(call ASMOBJ,$1) $(call COBJ,$1) $(call CXXOBJ,$1))
+
+ARCHIVE_TEXT_LIST=$(subst $(SPACE),$(COMMA),$(notdir $(basename $(LIBRARIES))))
+
+LDTIMEOBJ:=$(BINDIR)/_pros_ld_timestamp.o
+
+MONOLITH_BIN:=$(BINDIR)/monolith.bin
+MONOLITH_ELF:=$(basename $(MONOLITH_BIN)).elf
+
+HOT_BIN:=$(BINDIR)/hot.package.bin
+HOT_ELF:=$(basename $(HOT_BIN)).elf
+COLD_BIN:=$(BINDIR)/cold.package.bin
+COLD_ELF:=$(basename $(COLD_BIN)).elf
+
+# Check if USE_PACKAGE is defined to check for migration steps from purduesigbots/pros#87
+ifndef USE_PACKAGE
+$(error Your Makefile must be migrated! Visit https://pros.cs.purdue.edu/v5/releases/kernel3.1.6.html to learn how)
+endif
+
+DEFAULT_BIN=$(MONOLITH_BIN)
+ifeq ($(USE_PACKAGE),1)
+DEFAULT_BIN=$(HOT_BIN)
+endif
+
+-include $(wildcard $(FWDIR)/*.mk)
+
+.PHONY: all clean quick
+
+quick: $(DEFAULT_BIN)
+
+all: clean $(DEFAULT_BIN)
+
+clean:
+	@echo Cleaning project
+	-$Drm -rf $(BINDIR)
+	-$Drm -rf $(DEPDIR)
+
+ifeq ($(IS_LIBRARY),1)
+ifeq ($(LIBNAME),libbest)
+$(errror "You should rename your library! libbest is the default library name and should be changed")
+endif
+
+LIBAR=$(BINDIR)/$(LIBNAME).a
+TEMPLATE_DIR=$(ROOT)/template
+
+clean-template:
+	@echo Cleaning $(TEMPLATE_DIR)
+	-$Drm -rf $(TEMPLATE_DIR)
+
+$(LIBAR): $(call GETALLOBJ,$(EXCLUDE_SRC_FROM_LIB)) $(EXTRA_LIB_DEPS)
+	-$Drm -f $@
+	$(call test_output_2,Creating $@ ,$(AR) rcs $@ $^, $(DONE_STRING))
+
+.PHONY: library
+library: $(LIBAR)
+
+.PHONY: template
+template: clean-template $(LIBAR)
+	$Dpros c create-template . $(LIBNAME) $(VERSION) $(foreach file,$(TEMPLATE_FILES) $(LIBAR),--system "$(file)") --target v5 $(CREATE_TEMPLATE_FLAGS)
+endif
+
+# if project is a library source, compile the archive and link output.elf against the archive rather than source objects
+ifeq ($(IS_LIBRARY),1)
+ELF_DEPS+=$(filter-out $(call GETALLOBJ,$(EXCLUDE_SRC_FROM_LIB)), $(call GETALLOBJ,$(EXCLUDE_SRCDIRS)))
+LIBRARIES+=$(LIBAR)
+else
+ELF_DEPS+=$(call GETALLOBJ,$(EXCLUDE_SRCDIRS))
+endif
+
+$(MONOLITH_BIN): $(MONOLITH_ELF) $(BINDIR)
+	$(call test_output_2,Creating $@ for $(DEVICE) ,$(OBJCOPY) $< -O binary -R .hot_init $@,$(DONE_STRING))
+
+$(MONOLITH_ELF): $(ELF_DEPS) $(LIBRARIES)
+	$(call _pros_ld_timestamp)
+	$(call test_output_2,Linking project with $(ARCHIVE_TEXT_LIST) ,$(LD) $(LDFLAGS) $(ELF_DEPS) $(LDTIMEOBJ) $(call wlprefix,-T$(FWDIR)/v5.ld $(LNK_FLAGS)) -o $@,$(OK_STRING))
+	@echo Section sizes:
+	-$(VV)$(SIZETOOL) $(SIZEFLAGS) $@ $(SIZES_SED) $(SIZES_NUMFMT)
+
+$(COLD_BIN): $(COLD_ELF)
+	$(call test_output_2,Creating cold package binary for $(DEVICE) ,$(OBJCOPY) $< -O binary -R .hot_init $@,$(DONE_STRING))
+
+$(COLD_ELF): $(COLD_LIBRARIES)
+	$(VV)mkdir -p $(dir $@)
+	$(call test_output_2,Creating cold package with $(ARCHIVE_TEXT_LIST) ,$(LD) $(LDFLAGS) $(call wlprefix,--gc-keep-exported --whole-archive $^ -lstdc++ --no-whole-archive) $(call wlprefix,-T$(FWDIR)/v5.ld $(LNK_FLAGS) -o $@),$(OK_STRING))
+	$(call test_output_2,Stripping cold package ,$(OBJCOPY) --strip-symbol=install_hot_table --strip-symbol=__libc_init_array --strip-symbol=_PROS_COMPILE_DIRECTORY --strip-symbol=_PROS_COMPILE_TIMESTAMP --strip-symbol=_PROS_COMPILE_TIMESTAMP_INT $@ $@, $(DONE_STRING))
+	@echo Section sizes:
+	-$(VV)$(SIZETOOL) $(SIZEFLAGS) $@ $(SIZES_SED) $(SIZES_NUMFMT)
+
+$(HOT_BIN): $(HOT_ELF) $(COLD_BIN)
+	$(call test_output_2,Creating $@ for $(DEVICE) ,$(OBJCOPY) $< -O binary $@,$(DONE_STRING))
+
+$(HOT_ELF): $(COLD_ELF) $(ELF_DEPS)
+	$(call _pros_ld_timestamp)
+	$(call test_output_2,Linking hot project with $(COLD_ELF) and $(ARCHIVE_TEXT_LIST) ,$(LD) -nostartfiles $(LDFLAGS) $(call wlprefix,-R $<) $(filter-out $<,$^) $(LDTIMEOBJ) $(LIBRARIES) $(call wlprefix,-T$(FWDIR)/v5-hot.ld $(LNK_FLAGS) -o $@),$(OK_STRING))
+	@printf "%s\n" "Section sizes:"
+	-$(VV)$(SIZETOOL) $(SIZEFLAGS) $@ $(SIZES_SED) $(SIZES_NUMFMT)
+
+define asm_rule
+$(BINDIR)/%.$1.o: $(SRCDIR)/%.$1
+	$(VV)mkdir -p $$(dir $$@)
+	$$(call test_output_2,Compiled $$< ,$(AS) -c $(ASMFLAGS) -o $$@ $$<,$(OK_STRING))
+endef
+$(foreach asmext,$(ASMEXTS),$(eval $(call asm_rule,$(asmext))))
+
+define c_rule
+$(BINDIR)/%.$1.o: $(SRCDIR)/%.$1
+$(BINDIR)/%.$1.o: $(SRCDIR)/%.$1 $(DEPDIR)/$(basename $1).d
+	$(VV)mkdir -p $$(dir $$@)
+	$(MAKEDEPFOLDER)
+	$$(call test_output_2,Compiled $$< ,$(CC) -c $(INCLUDE) -iquote"$(INCDIR)/$$(dir $$*)" $(CFLAGS) $(EXTRA_CFLAGS) $(DEPFLAGS) -o $$@ $$<,$(OK_STRING))
+	$(RENAMEDEPENDENCYFILE)
+endef
+$(foreach cext,$(CEXTS),$(eval $(call c_rule,$(cext))))
+
+define cxx_rule
+$(BINDIR)/%.$1.o: $(SRCDIR)/%.$1
+$(BINDIR)/%.$1.o: $(SRCDIR)/%.$1 $(DEPDIR)/$(basename %).d
+	$(VV)mkdir -p $$(dir $$@)
+	$(MAKEDEPFOLDER)
+	$$(call test_output_2,Compiled $$< ,$(CXX) -c $(INCLUDE) -iquote"$(INCDIR)/$$(dir $$*)" $(CXXFLAGS) $(EXTRA_CXXFLAGS) $(DEPFLAGS) -o $$@ $$<,$(OK_STRING))
+	$(RENAMEDEPENDENCYFILE)
+endef
+$(foreach cxxext,$(CXXEXTS),$(eval $(call cxx_rule,$(cxxext))))
+
+define _pros_ld_timestamp
+$(VV)mkdir -p $(dir $(LDTIMEOBJ))
+@# Pipe a line of code defining _PROS_COMPILE_TOOLSTAMP and _PROS_COMPILE_DIRECTORY into GCC,
+@# which allows compilation from stdin. We define _PROS_COMPILE_DIRECTORY using a command line-defined macro
+@# which is the pwd | tail bit, which will truncate the path to the last 23 characters
+@# 
+@# const int _PROS_COMPILE_TIMESTAMP_INT = $(( $(date +%s) - $(date +%z) * 3600 ))
+@# char const * const _PROS_COMPILE_TIEMSTAMP = __DATE__ " " __TIME__
+@# char const * const _PROS_COMPILE_DIRECTORY = "$(shell pwd | tail -c 23)";
+@#
+@# The shell command $$(($$(date +%s)+($$(date +%-z)/100*3600))) fetches the current
+@# unix timestamp, and then adds the UTC timezone offset to account for time zones.
+
+$(call test_output_2,Adding timestamp ,echo 'const int _PROS_COMPILE_TIMESTAMP_INT = $(shell echo $$(($$(date +%s)+($$(date +%-z)/100*3600)))); char const * const _PROS_COMPILE_TIMESTAMP = __DATE__ " " __TIME__; char const * const _PROS_COMPILE_DIRECTORY = "$(wildcard $(shell pwd | tail -c 23))";' | $(CC) -c -x c $(CFLAGS) $(EXTRA_CFLAGS) -o $(LDTIMEOBJ) -,$(OK_STRING))
+endef
+
+# these rules are for build-compile-commands, which just print out sysroot information
+cc-sysroot:
+	@echo | $(CC) -c -x c $(CFLAGS) $(EXTRA_CFLAGS) --verbose -o /dev/null -
+cxx-sysroot:
+	@echo | $(CXX) -c -x c++ $(CXXFLAGS) $(EXTRA_CXXFLAGS) --verbose -o /dev/null -
+
+$(DEPDIR)/%.d: ;
+.PRECIOUS: $(DEPDIR)/%.d
+
+include $(wildcard $(patsubst $(SRCDIR)/%,$(DEPDIR)/%.d,$(CSRC) $(CXXSRC)))

EZ-Template-Example-Project/firmware/squiggles.mk

@@ -0,0 +1 @@
+INCLUDE+=-iquote"$(ROOT)/include/okapi/squiggles"