From b69ea58960f86cd13b243ea79e83d179cdc52b48 Mon Sep 17 00:00:00 2001 From: Jess Zarchi Date: Mon, 20 Nov 2023 14:09:57 -0800 Subject: [PATCH] Start of incomplete v3 docs --- 404.html | 10 +- Docs/auton_functions.html | 12 +- Docs/auton_selector.html | 12 +- Docs/constructor.html | 12 +- Docs/pid.html | 16 +-- Docs/pto.html | 12 +- Docs/set_and_get_drive.html | 12 +- Docs/user_control.html | 12 +- Docs/util.html | 12 +- Tutorials/activebrake.html | 12 +- Tutorials/autons.html | 12 +- Tutorials/example_autons.html | 12 +- Tutorials/joystick_curve.html | 12 +- Tutorials/pid.html | 12 +- Tutorials/pto_tutorial.html | 12 +- Tutorials/tuning_constants.html | 12 +- Tutorials/using_auton_selector.html | 12 +- assets/css/styles.415efa15.css | 1 + ...7686B-e26bfae36f0ddadd217b35ff5add7727.jpg | Bin 0 -> 3013981 bytes assets/js/08c06724.a9e8106a.js | 1 + assets/js/0f3a470a.b95d14ae.js | 1 + assets/js/0f5483c7.82a27261.js | 1 + assets/js/0fb444df.e930f169.js | 1 + assets/js/14eb3368.7a242232.js 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++ next/category/tutorials.html | 13 ++ next/docs/auton_functions.html | 115 ++++++++++++++++++ next/docs/auton_selector.html | 40 ++++++ next/docs/constructor.html | 56 +++++++++ next/docs/pid.html | 67 ++++++++++ next/docs/pto.html | 29 +++++ next/docs/set_and_get_drive.html | 63 ++++++++++ next/docs/user_control.html | 75 ++++++++++++ next/docs/util.html | 44 +++++++ next/migration.html | 29 +++++ next/tutorials/activebrake.html | 19 +++ next/tutorials/autons.html | 24 ++++ next/tutorials/example_autons.html | 37 ++++++ next/tutorials/joystick_curve.html | 28 +++++ next/tutorials/pid.html | 24 ++++ next/tutorials/pto_tutorial.html | 26 ++++ next/tutorials/tuning_constants.html | 69 +++++++++++ next/tutorials/using_auton_selector.html | 18 +++ sitemap.xml | 2 +- versions.html | 8 +- 99 files changed, 1089 insertions(+), 125 deletions(-) create mode 100644 assets/css/styles.415efa15.css create mode 100644 assets/images/7686B-e26bfae36f0ddadd217b35ff5add7727.jpg create mode 100644 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next/docs/constructor.html create mode 100644 next/docs/pid.html create mode 100644 next/docs/pto.html create mode 100644 next/docs/set_and_get_drive.html create mode 100644 next/docs/user_control.html create mode 100644 next/docs/util.html create mode 100644 next/migration.html create mode 100644 next/tutorials/activebrake.html create mode 100644 next/tutorials/autons.html create mode 100644 next/tutorials/example_autons.html create mode 100644 next/tutorials/joystick_curve.html create mode 100644 next/tutorials/pid.html create mode 100644 next/tutorials/pto_tutorial.html create mode 100644 next/tutorials/tuning_constants.html create mode 100644 next/tutorials/using_auton_selector.html diff --git a/404.html b/404.html index 1bfd7303..e8400f34 100644 --- a/404.html +++ b/404.html @@ -1,13 +1,13 @@ - + -EZ-Template - - +EZ-Template + + -
Skip to main content

Page Not Found

We could not find what you were looking for.

Please contact the owner of the site that linked you to the original URL and let them know their link is broken.

+
Skip to main content

Page Not Found

We could not find what you were looking for.

Please contact the owner of the site that linked you to the original URL and let them know their link is broken.

\ No newline at end of file diff --git a/Docs/auton_functions.html b/Docs/auton_functions.html index be9753d3..25410c5f 100644 --- a/Docs/auton_functions.html +++ b/Docs/auton_functions.html @@ -1,14 +1,14 @@ - + -Autonomous Functions | EZ-Template - - +Autonomous Functions | EZ-Template + + -
Skip to main content

Autonomous Functions

Setter functions​

+
Version: 2.x

Autonomous Functions

Setter functions​

set_drive_pid()​

Sets the drive to go forward using PID and heading correction.

target is in inches.
@@ -110,6 +110,6 @@

wait_drive()wait_until()​

Locks the code in place until the drive has passed the input parameter. This uses the exit conditions from the PID class.

target the distance the robot needs to travel before unlocking the code

-
void wait_until(double target);
+
void wait_until(double target);
\ No newline at end of file diff --git a/Docs/auton_selector.html b/Docs/auton_selector.html index db0f6ef7..2c1571e4 100644 --- a/Docs/auton_selector.html +++ b/Docs/auton_selector.html @@ -1,14 +1,14 @@ - + -Autonomous Selector | EZ-Template - - +Autonomous Selector | EZ-Template + + -
Skip to main content

Autonomous Selector

+
Version: 2.x

Autonomous Selector

initialize()​

Initializes the autonomous selector. If an SD card is plugged in, the current page will set to what's on the SD card.

void initialize();
@@ -35,6 +35,6 @@

page_up()
void page_down();
void page_up();

call_selected_auton()​

Runs the current autonomous that's selected.

-
void call_selected_auton();
+
void call_selected_auton();
\ No newline at end of file diff --git a/Docs/constructor.html b/Docs/constructor.html index 600ced0e..e7ff2c8c 100644 --- a/Docs/constructor.html +++ b/Docs/constructor.html @@ -1,14 +1,14 @@ - + -Drive Constructors | EZ-Template - - +Drive Constructors | EZ-Template + + -
Skip to main content

Drive Constructors

Integrated Encoders​

+
Version: 2.x

Drive Constructors

Integrated Encoders​

This is the standard setup that uses built in motor encoders.

left_motor_ports a vector of left motor ports, negative reverses the port. first motor is used for sensing right_motor_ports a vector of right motor ports, negative reverses the port. first motor is used for sensing @@ -51,6 +51,6 @@

Rotation Sen ratio external ratio of your tracking wheel. should be wheel gear / motor gear left_rotation_port port for left rotation sensor, negative reverses the port right_rotation_port port for right rotation sensor, negative reverses the port

-
Drive(std::vector<int> left_motor_ports, std::vector<int> right_motor_ports, int imu_port, 
double wheel_diameter, double ratio, int left_rotation_port, int right_rotation_port);

+
Drive(std::vector<int> left_motor_ports, std::vector<int> right_motor_ports, int imu_port, 
double wheel_diameter, double ratio, int left_rotation_port, int right_rotation_port);
\ No newline at end of file diff --git a/Docs/pid.html b/Docs/pid.html index 230caf96..0a747dfb 100644 --- a/Docs/pid.html +++ b/Docs/pid.html @@ -1,20 +1,20 @@ - + -PID | EZ-Template - - +PID | EZ-Template + + -
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PID

Constructors​

+
Version: 2.x

PID

Constructors​

PID()​

Creates a PID object with constants. Everything past kP has a default starting value, so you can just put kP.

p kP
i kI
d kD
-p_start_i i will start when error is within this +p_start_i i will start when error is within this name a string for the name of the PID

PID(double p, double i = 0, double d = 0, double start_i = 0, std::string name = "");

Functions​

@@ -55,13 +55,13 @@

No Motorset_exit_condition().

Outputs one of the exit_output states. This exit condition checks small_error, big_error and velocity if they are enabled.

ez::exit_output exit_condition(bool print = false);
-

One Motor​

+

One Motor​

Exit conditions with a motor will check if the error is small for X amount of time, if error is a little bigger for Y amount of time, if velocity is 0 for Z amount of time, then they will check if the motor is pulling too many amps for A amount of time, only if you have constants enabled for them in set_exit_condition().

Outputs one of the exit_output states. This exit condition checks small_error, big_error, velocity and mA if they are enabled.

ez::exit_output exit_condition(pros::Motor sensor, bool print = false);

Multiple Motors​

This checks the same thing as one motor, except it will check through multiple motors instead of 1. If any of the motors are pulling too many amps the function will start the timer for mA.

Outputs one of the exit_output states. This exit condition checks small_error, big_error, velocity and mA if they are enabled. When any of the motors trip mA, it returns mA_EXIT.

-
ez::exit_output exit_condition(std::vector<pros::Motor> sensor, bool print = false);
+
ez::exit_output exit_condition(std::vector<pros::Motor> sensor, bool print = false);
\ No newline at end of file diff --git a/Docs/pto.html b/Docs/pto.html index 4f76496c..1530e189 100644 --- a/Docs/pto.html +++ b/Docs/pto.html @@ -1,14 +1,14 @@ - + -PTO | EZ-Template - - +PTO | EZ-Template + + -
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PTO

pto_check()​

+
Version: 2.x

PTO

pto_check()​

Checks if the port is in the pto_list.

check_if_pto a PROS motor that is in the drive

bool pto_check(pros::Motor check_if_pto);
@@ -24,6 +24,6 @@

pto_toggle()Runs pto_add if toggle is true, and pto_remove if toggle is false.

pto_list a vector of motors to add / remove to the drive toggle boolean to add / remove motors to drive

-
void pto_toggle(std::vector<pros::Motor> pto_list, bool toggle);

+
void pto_toggle(std::vector<pros::Motor> pto_list, bool toggle);
\ No newline at end of file diff --git a/Docs/set_and_get_drive.html b/Docs/set_and_get_drive.html index d927808f..e569bf83 100644 --- a/Docs/set_and_get_drive.html +++ b/Docs/set_and_get_drive.html @@ -1,14 +1,14 @@ - + -Drive and Telemetry | EZ-Template - - +Drive and Telemetry | EZ-Template + + -
Skip to main content

Drive and Telemetry

Set Drive​

+
Version: 2.x

Drive and Telemetry

Set Drive​

set_tank()​

Sets the drive to voltage.

left an integer between -127 and 127
@@ -58,6 +58,6 @@

get_gyro()
double get_gyro();

imu_calibrate()​

Calibrates IMU, and vibrates the controller after a successful calibration.

-
bool imu_calibrate();
+
bool imu_calibrate();
\ No newline at end of file diff --git a/Docs/user_control.html b/Docs/user_control.html index fd7813b9..4f195e9f 100644 --- a/Docs/user_control.html +++ b/Docs/user_control.html @@ -1,14 +1,14 @@ - + -User Control | EZ-Template - - +User Control | EZ-Template + + -
Skip to main content

User Control

+
Version: 2.x

User Control

Drive Modes​

tank()​

Sets the drive to the left and right y axis.

@@ -70,6 +70,6 @@

joy_thr 
void joy_thresh_opcontrol(int l_stick, int r_stick);

modify_curve_with_controller()​

Allows the user to modify the curve with the controller.

-
void modify_curve_with_controller();
+
void modify_curve_with_controller();
\ No newline at end of file diff --git a/Docs/util.html b/Docs/util.html index 8adb6317..4b1817de 100644 --- a/Docs/util.html +++ b/Docs/util.html @@ -1,14 +1,14 @@ - + -Util | EZ-Template - - +Util | EZ-Template + + -
Skip to main content

Util

+
Version: 2.x

Util

controller​

The pros controller is defined globally in our library as master.

extern pros::Controller master();
@@ -39,6 +39,6 @@

DELAY_TIME
const int DELAY_TIME = 10;

IS_SD_CARD​

Boolean that checks if an SD card is installed. True if there is one, false if there isn't.

-
const bool IS_SD_CARD = pros::usd::is_installed();
+
const bool IS_SD_CARD = pros::usd::is_installed();
\ No newline at end of file diff --git a/Tutorials/activebrake.html b/Tutorials/activebrake.html index e4afc794..c423f2aa 100644 --- a/Tutorials/activebrake.html +++ b/Tutorials/activebrake.html @@ -1,19 +1,19 @@ - + -Active Brake | EZ-Template - - +Active Brake | EZ-Template + + -
Skip to main content

Active Brake

+
Version: 2.x

Active Brake

Introduction​

If you put the motors on brake type hold, a robot can still push the robot a bit, and when you let go of the joysticks the robot just locks in place. Active brake runs a P loop on the drive when you let go of the joysticks. By adjusting the kP, you adjust how hard the robot fights back. If you make it smaller, there will be a larger dead zone and you'll coast a little bit. Active brake vs brake type is personal preference.

Enabling​

To adjust the kP, in src/main.cpp change chassis.set_active_brake(0) to whatever you like! We suggest around 0.1.

Disabling​

-

To disable active brake, in src/main.cpp make sure the kP is 0 with chassis.set_active_brake(0).

+

To disable active brake, in src/main.cpp make sure the kP is 0 with chassis.set_active_brake(0).

\ No newline at end of file diff --git a/Tutorials/autons.html b/Tutorials/autons.html index d156b71a..bc70d965 100644 --- a/Tutorials/autons.html +++ b/Tutorials/autons.html @@ -1,14 +1,14 @@ - + -Adding Autonomous Routines | EZ-Template - - +Adding Autonomous Routines | EZ-Template + + -
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Adding Autonomous Routines

+
Version: 2.x

Adding Autonomous Routines

Learn to use Autonomous Functions​

Read through src/autons.cpp (or click here) and learn how to use the autonomous functions by reading through the example routines!

Make Your Own Autonomous Routine​

@@ -19,6 +19,6 @@ 

void SoloAWP();
void ScoreRingsPlatDown();
void NeutralStealPlatDown();
void NeutralStealPlatUp();

Add the Function to the Autonomous Selector​

To add the autonomous mode to the on screen selector, in src/main.cpp go to void initialize() and either replace an existing autonomous mode or add new pages.

-
void initialize() {
  . . . 

  // Autonomous Selector using LLEMMU
  ez::as::auton_selector.add_autons({
    Auton("Solo AWP\n\nStarting Position: Plat Down", SoloAWP),
    Auton("Score Rings on Amogo\n\nStarting Position: Plat Down", ScoreRingsPlatDown),
    Auton("Neutral Steal\n\nStarting Position: Plat Down", NeutralStealPlatDown),
    Auton("Neutral Steal\n\nStarting Position: Plat Up", NeutralStealPlatUp),
  });

  . . .
}
+
void initialize() {
  . . . 

  // Autonomous Selector using LLEMMU
  ez::as::auton_selector.add_autons({
    Auton("Solo AWP\n\nStarting Position: Plat Down", SoloAWP),
    Auton("Score Rings on Amogo\n\nStarting Position: Plat Down", ScoreRingsPlatDown),
    Auton("Neutral Steal\n\nStarting Position: Plat Down", NeutralStealPlatDown),
    Auton("Neutral Steal\n\nStarting Position: Plat Up", NeutralStealPlatUp),
  });

  . . .
}
\ No newline at end of file diff --git a/Tutorials/example_autons.html b/Tutorials/example_autons.html index 16026877..73726346 100644 --- a/Tutorials/example_autons.html +++ b/Tutorials/example_autons.html @@ -1,14 +1,14 @@ - + -Example Autonomous Routines | EZ-Template - - +Example Autonomous Routines | EZ-Template + + -
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Example Autonomous Routines

+
Version: 2.x

Example Autonomous Routines

Assumed Constants​

These are default speeds that we can use throughout our autonomous routines to make it easier to modify them retroactively.

const int DRIVE_SPEED = 110; 
const int TURN_SPEED  = 90;
const int SWING_SPEED = 90;
@@ -32,6 +32,6 @@

Comb 
void combining_movements() {
  chassis.set_drive_pid(24, DRIVE_SPEED, true);
  chassis.wait_drive();

  chassis.set_turn_pid(45, TURN_SPEED);
  chassis.wait_drive();

  chassis.set_drive_pid(ez::RIGHT_SWING, -45, TURN_SPEED);
  chassis.wait_drive();

  chassis.set_turn_pid(0, TURN_SPEED);
  chassis.wait_drive();

  chassis.set_drive_pid(-24, DRIVE_SPEED, true);
  chassis.wait_drive();
}

Interference​

Interference checks if the drive exited in an unintentional way. If the robot stops unintentionally or pulls too many amps this will trigger. This allows you to add fail-safes that stop your robot from burning out. The below function will attempt to "tug" an opponent mobile goal a couple times before giving up.

-
void tug (int attempts) {
  for (int i=0; i<attempts-1; i++) {
    // Attempt to drive backwards
    printf("i - %i", i);
    chassis.set_drive_pid(-12, 127);
    chassis.wait_drive();

    // If failsafed...
    if (chassis.interfered) {
      chassis.reset_drive_sensor();
      chassis.set_drive_pid(-2, 20);
      pros::delay(1000);
    }
    // If robot successfully drove back, return
    else {
      return;
    }
  }
}

// If there is no interference, robot will drive forward and turn 90 degrees. 
// If interfered, robot will drive forward and then attempt to drive backwards. 
void interfered_example() {
 chassis.set_drive_pid(24, DRIVE_SPEED, true);
 chassis.wait_drive();

 if (chassis.interfered) {
   tug(3);
   return;
 }

 chassis.set_turn_pid(90, TURN_SPEED);
 chassis.wait_drive();
}
+
void tug (int attempts) {
  for (int i=0; i<attempts-1; i++) {
    // Attempt to drive backwards
    printf("i - %i", i);
    chassis.set_drive_pid(-12, 127);
    chassis.wait_drive();

    // If failsafed...
    if (chassis.interfered) {
      chassis.reset_drive_sensor();
      chassis.set_drive_pid(-2, 20);
      pros::delay(1000);
    }
    // If robot successfully drove back, return
    else {
      return;
    }
  }
}

// If there is no interference, robot will drive forward and turn 90 degrees. 
// If interfered, robot will drive forward and then attempt to drive backwards. 
void interfered_example() {
 chassis.set_drive_pid(24, DRIVE_SPEED, true);
 chassis.wait_drive();

 if (chassis.interfered) {
   tug(3);
   return;
 }

 chassis.set_turn_pid(90, TURN_SPEED);
 chassis.wait_drive();
}
\ No newline at end of file diff --git a/Tutorials/joystick_curve.html b/Tutorials/joystick_curve.html index e7628378..58000a24 100644 --- a/Tutorials/joystick_curve.html +++ b/Tutorials/joystick_curve.html @@ -1,14 +1,14 @@ - + -Joystick Curves | EZ-Template - - +Joystick Curves | EZ-Template + + -
Skip to main content

Joystick Curves

+
Version: 2.x

Joystick Curves

Introduction​

Using the 5225 curves from 2018, (explained here). The x-axis is the joystick input and the y-axis is the motor output.

Normally, pushing the joystick half way means the robot goes half speed. With an input curve, pushing the joystick half way may only move the robot at 1/4 power. This means more of the joystick movement goes to lower speeds, giving you more control of the robot.

@@ -23,6 +23,6 @@

Enabling
warning

You must remove chassis.set_curve_default(x, x) from initialize() if you have an SD card, otherwise this will overwrite the SD card when you power on the robot!

Disabling​

To disable the joystick curve entirely, in src/main.cpp make sure these are 0 chassis.set_curve_defaults(0, 0). If you don't want to modify the curve with the controller, make sure chassis.toggle_modify_curve_with_controller(false) is false.

-
void initialize() {
  . . .
  chassis.toggle_modify_curve_with_controller(false); 
  chassis.set_curve_default(0, 0); 
  . . .
}
+
void initialize() {
  . . .
  chassis.toggle_modify_curve_with_controller(false); 
  chassis.set_curve_default(0, 0); 
  . . .
}
\ No newline at end of file diff --git a/Tutorials/pid.html b/Tutorials/pid.html index 1b3d8d72..118b0770 100644 --- a/Tutorials/pid.html +++ b/Tutorials/pid.html @@ -1,14 +1,14 @@ - + -PID Tutorial | EZ-Template - - +PID Tutorial | EZ-Template + + -
Skip to main content

PID Tutorial

+
Version: 2.x

PID Tutorial

PID (proportion, integral, derivative) is a feedback controlled used to move something to a position. The controller slows down as it approaches its target and will correct itself after overshoot occurs. It is a relatively simply controller and can be very consistent with tuning.

Example 1 - User Control​

This code uses a function called set_lift to set the power of 2 lift motors in a single function call. After liftPID is created, in opcontrol() we set the target depending on button presses. To run the PID we have to run liftPID.compute(sensor value) repeatedly to make sure our subsystem gets to its target. We reset the lift encoder in initialize() to make sure the motor is starting at a known position.

@@ -19,6 +19,6 @@ 

pros::Motor l_lift(17);
pros::Motor r_lift(18);
void set_lift(int input) {
  l_lift = input;
  r_lift = input;
}
PID liftPID{0.45, 0, 0, 0, "Lift"};

void lift_auto(double target) {
  liftPID.set_target(target);
  ez::exit_output exit = ez::RUNNING;
  while (liftPID.exit_condition({l_lift, r_lift}, true) == ez::RUNNING) {
    double output = liftPID.compute(l_lift.get_position());
    set_lift(output);
    pros::delay(ez::util::DELAY_TIME);
  }
  set_lift(0);
}

void initialize() {
  l_lift.tare_position();
  liftPID.set_exit_condition(80, 50, 300, 150, 500, 500);
}

void autonomous() {
  lift_auto(500);
  pros::delay(1000);
  lift_auto(0);
}

void opcontrol() {
  while (true) {
    if (master.get_digital(DIGITAL_L1)) {
      liftPID.set_target(500);
    }
    else if (master.get_digital(DIGITAL_L2)) {
      liftPID.set_target(0);
    }
    set_lift(liftPID.compute(l_lift.get_position()));

    pros::delay(ez::util::DELAY_TIME);
  }
}

Example 3 - Tasks​

Example 2 has a problem of not being able to do other things while the lift is running because the code is locked. We can fix this with a task.

-
pros::Motor l_lift(17);
pros::Motor r_lift(18);
void set_lift(int input) {
  l_lift = input;
  r_lift = input;
}
PID liftPID{0.45, 0, 0, 0, "Lift"};


void lift_wait() {
  while (liftPID.exit_condition({l_lift, r_lift}, true) == ez::RUNNING) {
    pros::delay(ez::util::DELAY_TIME);
  }
}

void lift_task() {
  pros::delay(2000);
  while (true) {
    set_lift(liftPID.compute(l_lift.get_position()));

    pros::delay(ez::util::DELAY_TIME);
  }
}
pros::Task Lift_Task(lift_task);

void initialize() {
  l_lift.tare_position();
  liftPID.set_exit_condition(80, 50, 300, 150, 500, 500);
}

void autonomous() {
  liftPID.set_target(500);
  lift_wait();

  pros::delay(1000);

  liftPID.set_target(0);
  lift_wait();
}

void opcontrol() {
  while (true) {
    if (master.get_digital(DIGITAL_L1)) {
      liftPID.set_target(500);
    }
    else if (master.get_digital(DIGITAL_L2)) {
      liftPID.set_target(0);
    }

    pros::delay(ez::util::DELAY_TIME);
  }
}
+
pros::Motor l_lift(17);
pros::Motor r_lift(18);
void set_lift(int input) {
  l_lift = input;
  r_lift = input;
}
PID liftPID{0.45, 0, 0, 0, "Lift"};


void lift_wait() {
  while (liftPID.exit_condition({l_lift, r_lift}, true) == ez::RUNNING) {
    pros::delay(ez::util::DELAY_TIME);
  }
}

void lift_task() {
  pros::delay(2000);
  while (true) {
    set_lift(liftPID.compute(l_lift.get_position()));

    pros::delay(ez::util::DELAY_TIME);
  }
}
pros::Task Lift_Task(lift_task);

void initialize() {
  l_lift.tare_position();
  liftPID.set_exit_condition(80, 50, 300, 150, 500, 500);
}

void autonomous() {
  liftPID.set_target(500);
  lift_wait();

  pros::delay(1000);

  liftPID.set_target(0);
  lift_wait();
}

void opcontrol() {
  while (true) {
    if (master.get_digital(DIGITAL_L1)) {
      liftPID.set_target(500);
    }
    else if (master.get_digital(DIGITAL_L2)) {
      liftPID.set_target(0);
    }

    pros::delay(ez::util::DELAY_TIME);
  }
}
\ No newline at end of file diff --git a/Tutorials/pto_tutorial.html b/Tutorials/pto_tutorial.html index 17e90784..210b885a 100644 --- a/Tutorials/pto_tutorial.html +++ b/Tutorials/pto_tutorial.html @@ -1,14 +1,14 @@ - + -PTO Tutorial | EZ-Template - - +PTO Tutorial | EZ-Template + + -
Skip to main content

PTO Tutorial

+
Version: 2.x

PTO Tutorial

PTO (power take off) is used to share power between two mechanisms, usually between the drive and something else. For example, a 6 motor drive could pneumatically shift to a 4 motor drive and a 2 motor intake.

Example 1 - Beginner​

The simplest way to control a PTO is to keep track of the piston state and setting motors yourself. In this code, the driver has control over switching the PTO on and off. The intake buttons will only work when the PTO is enabled.

@@ -21,6 +21,6 @@

Exa

Example 3 - Expert​

Using the same concepts from above, this example expands on it and adds an "anti jam" function that will run the intake in the opposite direction for a short amount of time if something gets jammed. Functions like this were incredibly useful during Tipping Point with the odd shape of rings, and this code is from the 21S Tipping Point robot.

This code checks the velocity of the motors to check if they are 0. If they are 0, a timer is started. Once the timer passes 250ms, we recognize a jam has happened and set the intake to go full power in the opposite direction for 250ms. 21S has problems when the PTO triggered this code would recognize a jam happening. To prevent this another timer was started, where for 500ms after toggling a jam cannot occur.

-
using namespace ez;

// 4th place in the chassis constructor list
#define LEFT_INTAKE 3
#define RIGHT_INTAKE 3

Piston pto_intake_piston('A');    // PTO piston
bool pto_piston_enabled = false;  // Current PTO state
int target_speed = 0;             // Global target speed

// Toggle motors from PTO, toggle piston, switch brake modes
void pto_toggle_intake(bool toggle) {
  pto_piston_enabled = toggle;
  chassis.pto_toggle({chassis.left_motors[LEFT_INTAKE], chassis.right_motors[RIGHT_INTAKE]}, toggle);
  pto_intake_piston.set(toggle);
  if (toggle) {
    chassis.left_motors[LEFT_INTAKE].set_brake_mode(pros::E_MOTOR_BRAKE_COAST);
    chassis.right_motors[RIGHT_INTAKE].set_brake_mode(pros::E_MOTOR_BRAKE_COAST);
  }
}

// Raw intake function (intended use in this file only)
void raw_set_intake(int input) {
  if (!pto_piston_enabled) return;
  chassis.left_motors[LEFT_INTAKE] = -input;
  chassis.right_motors[RIGHT_INTAKE] = -input;
}

// Global intake function (for use outside of this file)
void set_intake(int input) {
  pto_toggle_intake(input == 0 ? false : true);
  raw_set_intake(input);
  if (pto_piston_enabled) target_speed = input;
}

// Is velocity of motors 0?
bool has_intake_stopped() {
  if ((chassis.left_motors[LEFT_INTAKE].get_actual_velocity() == 0 || chassis.right_motors[RIGHT_INTAKE].get_actual_velocity() == 0) && pto_piston_enabled)
    return true;
  return false;
}

// Intake task with antijam logic
void intake_task() {
  const int wait_time = 250, switch_wait_time = 500;
  int switch_counter = 0, jam_counter = 0;
  bool is_jammed = false, last_pto = false, just_switched = false;

  while (true) {
    // Detect the PTO engaging to the intake
    if (pto_piston_enabled != last_pto /*&& pto_piston_enabled == true*/)
      just_switched = true;

    // This stops the antijam code from running 500ms after engaging the PTO to the intake
    if (just_switched) {
      switch_counter += util::DELAY_TIME;
      if (switch_counter > switch_wait_time) {
        just_switched = false;
        switch_counter = 0;
      }
    }
    last_pto = pto_piston_enabled;

    // Only run this code when the PTO is engaged to the intake
    if (pto_piston_enabled) {
      // Run intake full power in opposite direction for 250ms when jammed, then set intake
      // back to normal
      if (is_jammed) {
        raw_set_intake(-127 * util::sgn(target_speed));
        jam_counter += ez::util::DELAY_TIME;
        if (jam_counter > wait_time) {
          is_jammed = false;
          jam_counter = 0;
          raw_set_intake(target_speed);
        }
      }

      // Detect a jam if velocity is 0 for 250ms
      else if (target_speed != 0 && has_intake_stopped() && !just_switched) {
        jam_counter += util::DELAY_TIME;
        if (jam_counter > wait_time) {
          jam_counter = 0;
          is_jammed = true;
        }
      }
    }

    pros::delay(util::DELAY_TIME);
  }
}
pros::Task Intake_Task(intake_task);

// User control code
void intake_control() {
  if (master.get_digital(DIGITAL_L1)) {
    set_intake(127);
  }
  else if (master.get_digital(DIGITAL_L2)) {
    set_intake(-127);
  }
  else {
    set_intake(0);
  }
}

void opcontrol() {
  // This is preference to what you like to drive on.
  chassis.set_drive_brake(MOTOR_BRAKE_COAST);

  while (true) {
    chassis.tank(); // Tank control

    intake_control();

    pros::delay(util::DELAY_TIME); // This is used for timer calculations!  Keep this ez::util::DELAY_TIME
  }
}
+
using namespace ez;

// 4th place in the chassis constructor list
#define LEFT_INTAKE 3
#define RIGHT_INTAKE 3

Piston pto_intake_piston('A');    // PTO piston
bool pto_piston_enabled = false;  // Current PTO state
int target_speed = 0;             // Global target speed

// Toggle motors from PTO, toggle piston, switch brake modes
void pto_toggle_intake(bool toggle) {
  pto_piston_enabled = toggle;
  chassis.pto_toggle({chassis.left_motors[LEFT_INTAKE], chassis.right_motors[RIGHT_INTAKE]}, toggle);
  pto_intake_piston.set(toggle);
  if (toggle) {
    chassis.left_motors[LEFT_INTAKE].set_brake_mode(pros::E_MOTOR_BRAKE_COAST);
    chassis.right_motors[RIGHT_INTAKE].set_brake_mode(pros::E_MOTOR_BRAKE_COAST);
  }
}

// Raw intake function (intended use in this file only)
void raw_set_intake(int input) {
  if (!pto_piston_enabled) return;
  chassis.left_motors[LEFT_INTAKE] = -input;
  chassis.right_motors[RIGHT_INTAKE] = -input;
}

// Global intake function (for use outside of this file)
void set_intake(int input) {
  pto_toggle_intake(input == 0 ? false : true);
  raw_set_intake(input);
  if (pto_piston_enabled) target_speed = input;
}

// Is velocity of motors 0?
bool has_intake_stopped() {
  if ((chassis.left_motors[LEFT_INTAKE].get_actual_velocity() == 0 || chassis.right_motors[RIGHT_INTAKE].get_actual_velocity() == 0) && pto_piston_enabled)
    return true;
  return false;
}

// Intake task with antijam logic
void intake_task() {
  const int wait_time = 250, switch_wait_time = 500;
  int switch_counter = 0, jam_counter = 0;
  bool is_jammed = false, last_pto = false, just_switched = false;

  while (true) {
    // Detect the PTO engaging to the intake
    if (pto_piston_enabled != last_pto /*&& pto_piston_enabled == true*/)
      just_switched = true;

    // This stops the antijam code from running 500ms after engaging the PTO to the intake
    if (just_switched) {
      switch_counter += util::DELAY_TIME;
      if (switch_counter > switch_wait_time) {
        just_switched = false;
        switch_counter = 0;
      }
    }
    last_pto = pto_piston_enabled;

    // Only run this code when the PTO is engaged to the intake
    if (pto_piston_enabled) {
      // Run intake full power in opposite direction for 250ms when jammed, then set intake
      // back to normal
      if (is_jammed) {
        raw_set_intake(-127 * util::sgn(target_speed));
        jam_counter += ez::util::DELAY_TIME;
        if (jam_counter > wait_time) {
          is_jammed = false;
          jam_counter = 0;
          raw_set_intake(target_speed);
        }
      }

      // Detect a jam if velocity is 0 for 250ms
      else if (target_speed != 0 && has_intake_stopped() && !just_switched) {
        jam_counter += util::DELAY_TIME;
        if (jam_counter > wait_time) {
          jam_counter = 0;
          is_jammed = true;
        }
      }
    }

    pros::delay(util::DELAY_TIME);
  }
}
pros::Task Intake_Task(intake_task);

// User control code
void intake_control() {
  if (master.get_digital(DIGITAL_L1)) {
    set_intake(127);
  }
  else if (master.get_digital(DIGITAL_L2)) {
    set_intake(-127);
  }
  else {
    set_intake(0);
  }
}

void opcontrol() {
  // This is preference to what you like to drive on.
  chassis.set_drive_brake(MOTOR_BRAKE_COAST);

  while (true) {
    chassis.tank(); // Tank control

    intake_control();

    pros::delay(util::DELAY_TIME); // This is used for timer calculations!  Keep this ez::util::DELAY_TIME
  }
}
\ No newline at end of file diff --git a/Tutorials/tuning_constants.html b/Tutorials/tuning_constants.html index 4ebe1b2b..a813a9ac 100644 --- a/Tutorials/tuning_constants.html +++ b/Tutorials/tuning_constants.html @@ -1,14 +1,14 @@ - + -Tuning Constants | EZ-Template - - +Tuning Constants | EZ-Template + + -
Skip to main content

Tuning Constants

+
Version: 2.x

Tuning Constants

For more information on how PID controllers work, reference this document made by George Gillard.

Setup​

Uncommenting Default Constants​

@@ -64,6 +64,6 @@

Step 2 - kIWhat about when PD isn't enough?

Sometimes you need a little extra power to get your robot all the way there. Integral can be a dangerous variable because it grows exponentially. The fourth parameter is what the error needs to be for I to start. For turns, we found around 15 degrees is good.

Increase kI until any minor disturbances are accounted for. You might need to adjust kD while tuning kI.

-
  chassis.set_pid_constants(&chassis.turnPID, 5, 0.003, 35, 15);

+
  chassis.set_pid_constants(&chassis.turnPID, 5, 0.003, 35, 15);
\ No newline at end of file diff --git a/Tutorials/using_auton_selector.html b/Tutorials/using_auton_selector.html index 3d017b31..856a8f88 100644 --- a/Tutorials/using_auton_selector.html +++ b/Tutorials/using_auton_selector.html @@ -1,18 +1,18 @@ - + -Using Autonomous Selector | EZ-Template - - +Using Autonomous Selector | EZ-Template + + -
Skip to main content

Using Autonomous Selector

+
Version: 2.x

Using Autonomous Selector

Without SD Card​

With a competition switch, run your code in disable. Select the autonomous on the screen by pressing the left / right buttons until you're on the page you want. Run the autonomous!

With SD Card​

The last page you're on will save to the SD Card. So if you're running Page 3, select it once using the steps above, then you won't have to select it again.

-

To use an SD Card with the brain, just plug it in and EZ-Template will generate the files needed.

+

To use an SD Card with the brain, just plug it in and EZ-Template will generate the files needed.

\ No newline at end of file diff --git a/assets/css/styles.415efa15.css b/assets/css/styles.415efa15.css new file mode 100644 index 00000000..25bf47bd --- /dev/null +++ b/assets/css/styles.415efa15.css @@ -0,0 +1 @@ +@import url(https://fonts.googleapis.com/css?family=Red+Hat+Text);.col,.container{padding:0 var(--ifm-spacing-horizontal);width:100%}.markdown>h2,.markdown>h3,.markdown>h4,.markdown>h5,.markdown>h6{margin-bottom:calc(var(--ifm-heading-vertical-rhythm-bottom)*var(--ifm-leading))}.markdown li,body{word-wrap:break-word}body,ol ol,ol ul,ul ol,ul ul{margin:0}pre,table{overflow:auto}blockquote,pre{margin:0 0 var(--ifm-spacing-vertical)}.breadcrumbs__link,.button{transition-timing-function:var(--ifm-transition-timing-default)}.button,code{vertical-align:middle}.button--outline.button--active,.button--outline:active,.button--outline:hover,:root{--ifm-button-color:var(--ifm-font-color-base-inverse)}.menu__link:hover,a{transition:color var(--ifm-transition-fast) 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This is useful when your robot is setup in at an unconventional angle and you want 0 to be when you're square with the field."}),"\n",(0,r.jsxs)(s.p,{children:[(0,r.jsx)(s.code,{children:"angle"})," angle that the robot will think it's now facing"]}),"\n",(0,r.jsxs)(t.Z,{groupId:"examples5",defaultValue:"proto",values:[{label:"Prototype",value:"proto"},{label:"Example",value:"example"}],children:[(0,r.jsx)(l.Z,{value:"proto",children:(0,r.jsx)(s.pre,{children:(0,r.jsx)(s.code,{className:"language-cpp",children:"void set_angle(double angle);\n"})})}),(0,r.jsx)(l.Z,{value:"example",children:(0,r.jsx)(s.pre,{children:(0,r.jsx)(s.code,{className:"language-cpp",children:"void autonomous() {\r\n chassis.reset_pid_targets(); // Resets PID targets to 0\r\n chassis.reset_gyro(); // Reset gyro position to 0\r\n chassis.reset_drive_sensor(); // Reset drive sensors to 0\r\n chassis.set_drive_brake(MOTOR_BRAKE_HOLD); // Set motors to hold. 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This makes autonomous routines and user control code significantly easier."]}),"\n",(0,r.jsx)(t.pre,{children:(0,r.jsx)(t.code,{className:"language-cpp",children:"using namespace ez;\r\n\r\n// 4th place in the chassis constructor list\r\n#define LEFT_INTAKE 3\r\n#define RIGHT_INTAKE 3\r\n\r\nPiston pto_intake_piston('A'); // PTO piston\r\nbool pto_piston_enabled = false; // Current PTO state\r\n\r\n// Toggle motors from PTO, toggle piston, switch brake modes\r\nvoid pto_toggle_intake(bool toggle) {\r\n pto_piston_enabled = toggle;\r\n chassis.pto_toggle({chassis.left_motors[LEFT_INTAKE], chassis.right_motors[RIGHT_INTAKE]}, toggle);\r\n pto_intake_piston.set(toggle);\r\n if (toggle) {\r\n chassis.left_motors[LEFT_INTAKE].set_brake_mode(pros::E_MOTOR_BRAKE_COAST);\r\n chassis.right_motors[RIGHT_INTAKE].set_brake_mode(pros::E_MOTOR_BRAKE_COAST);\r\n }\r\n}\r\n\r\n// Global intake function (for use outside of this file)\r\nvoid set_intake(int input) {\r\n pto_toggle_intake(input == 0 ? false : true);\r\n if (!pto_piston_enabled) return;\r\n chassis.left_motors[LEFT_INTAKE] = -input;\r\n chassis.right_motors[RIGHT_INTAKE] = -input;\r\n}\r\n\r\n// User control code\r\nvoid intake_control() {\r\n if (master.get_digital(DIGITAL_L1)) {\r\n set_intake(127);\r\n }\r\n else if (master.get_digital(DIGITAL_L2)) {\r\n set_intake(-127);\r\n }\r\n else {\r\n set_intake(0);\r\n }\r\n}\r\n\r\nvoid opcontrol() {\r\n // This is preference to what you like to drive on.\r\n chassis.set_drive_brake(MOTOR_BRAKE_COAST);\r\n\r\n while (true) {\r\n chassis.tank(); // Tank control\r\n\r\n intake_control();\r\n\r\n pros::delay(util::DELAY_TIME); // This is used for timer calculations! Keep this ez::util::DELAY_TIME\r\n }\r\n}\n"})}),"\n",(0,r.jsx)(t.h2,{id:"example-3---expert",children:"Example 3 - Expert"}),"\n",(0,r.jsx)(t.p,{children:'Using the same concepts from above, this example expands on it and adds an "anti jam" function that will run the intake in the opposite direction for a short amount of time if something gets jammed. Functions like this were incredibly useful during Tipping Point with the odd shape of rings, and this code is from the 21S Tipping Point robot.'}),"\n",(0,r.jsx)(t.p,{children:"This code checks the velocity of the motors to check if they are 0. If they are 0, a timer is started. Once the timer passes 250ms, we recognize a jam has happened and set the intake to go full power in the opposite direction for 250ms. 21S has problems when the PTO triggered this code would recognize a jam happening. To prevent this another timer was started, where for 500ms after toggling a jam cannot occur."}),"\n",(0,r.jsx)(t.pre,{children:(0,r.jsx)(t.code,{className:"language-cpp",children:"using namespace ez;\r\n\r\n// 4th place in the chassis constructor list\r\n#define LEFT_INTAKE 3\r\n#define RIGHT_INTAKE 3\r\n\r\nPiston pto_intake_piston('A'); // PTO piston\r\nbool pto_piston_enabled = false; // Current PTO state\r\nint target_speed = 0; // Global target speed\r\n\r\n// Toggle motors from PTO, toggle piston, switch brake modes\r\nvoid pto_toggle_intake(bool toggle) {\r\n pto_piston_enabled = toggle;\r\n chassis.pto_toggle({chassis.left_motors[LEFT_INTAKE], chassis.right_motors[RIGHT_INTAKE]}, toggle);\r\n pto_intake_piston.set(toggle);\r\n if (toggle) {\r\n chassis.left_motors[LEFT_INTAKE].set_brake_mode(pros::E_MOTOR_BRAKE_COAST);\r\n chassis.right_motors[RIGHT_INTAKE].set_brake_mode(pros::E_MOTOR_BRAKE_COAST);\r\n }\r\n}\r\n\r\n// Raw intake function (intended use in this file only)\r\nvoid raw_set_intake(int input) {\r\n if (!pto_piston_enabled) return;\r\n chassis.left_motors[LEFT_INTAKE] = -input;\r\n chassis.right_motors[RIGHT_INTAKE] = -input;\r\n}\r\n\r\n// Global intake function (for use outside of this file)\r\nvoid set_intake(int input) {\r\n pto_toggle_intake(input == 0 ? false : true);\r\n raw_set_intake(input);\r\n if (pto_piston_enabled) target_speed = input;\r\n}\r\n\r\n// Is velocity of motors 0?\r\nbool has_intake_stopped() {\r\n if ((chassis.left_motors[LEFT_INTAKE].get_actual_velocity() == 0 || chassis.right_motors[RIGHT_INTAKE].get_actual_velocity() == 0) && pto_piston_enabled)\r\n return true;\r\n return false;\r\n}\r\n\r\n// Intake task with antijam logic\r\nvoid intake_task() {\r\n const int wait_time = 250, switch_wait_time = 500;\r\n int switch_counter = 0, jam_counter = 0;\r\n bool is_jammed = false, last_pto = false, just_switched = false;\r\n\r\n while (true) {\r\n // Detect the PTO engaging to the intake\r\n if (pto_piston_enabled != last_pto /*&& pto_piston_enabled == true*/)\r\n just_switched = true;\r\n\r\n // This stops the antijam code from running 500ms after engaging the PTO to the intake\r\n if (just_switched) {\r\n switch_counter += util::DELAY_TIME;\r\n if (switch_counter > switch_wait_time) {\r\n just_switched = false;\r\n switch_counter = 0;\r\n }\r\n }\r\n last_pto = pto_piston_enabled;\r\n\r\n // Only run this code when the PTO is engaged to the intake\r\n if (pto_piston_enabled) {\r\n // Run intake full power in opposite direction for 250ms when jammed, then set intake\r\n // back to normal\r\n if (is_jammed) {\r\n raw_set_intake(-127 * util::sgn(target_speed));\r\n jam_counter += ez::util::DELAY_TIME;\r\n if (jam_counter > wait_time) {\r\n is_jammed = false;\r\n jam_counter = 0;\r\n raw_set_intake(target_speed);\r\n }\r\n }\r\n\r\n // Detect a jam if velocity is 0 for 250ms\r\n else if (target_speed != 0 && has_intake_stopped() && !just_switched) {\r\n jam_counter += util::DELAY_TIME;\r\n if (jam_counter > wait_time) {\r\n jam_counter = 0;\r\n is_jammed = true;\r\n }\r\n }\r\n }\r\n\r\n pros::delay(util::DELAY_TIME);\r\n }\r\n}\r\npros::Task Intake_Task(intake_task);\r\n\r\n// User control code\r\nvoid intake_control() {\r\n if (master.get_digital(DIGITAL_L1)) {\r\n set_intake(127);\r\n }\r\n else if (master.get_digital(DIGITAL_L2)) {\r\n set_intake(-127);\r\n }\r\n else {\r\n set_intake(0);\r\n }\r\n}\r\n\r\nvoid opcontrol() {\r\n // This is preference to what you like to drive on.\r\n chassis.set_drive_brake(MOTOR_BRAKE_COAST);\r\n\r\n while (true) {\r\n chassis.tank(); // Tank control\r\n\r\n intake_control();\r\n\r\n pros::delay(util::DELAY_TIME); // This is used for timer calculations! 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Set it to some number, and run your example autonomous. The robot will either undershoot the target (kP too low), or the robot is oscillate around the target (kP too high)."}),"\n",(0,s.jsx)(n.p,{children:"To tune a PD controller, you want the kP to oscillate a little bit, usually a bounce or two."}),"\n",(0,s.jsx)(n.h3,{id:"step-2---kd",children:"Step 2 - kD"}),"\n",(0,s.jsx)(n.p,{children:'After finding a kP that oscillates a little, we can tune kD. Increase kD until the oscillation goes away. This movement should look more "snappy" then just a P loop.'}),"\n",(0,s.jsx)(n.h3,{id:"step-3---repeat",children:"Step 3 - Repeat"}),"\n",(0,s.jsx)(n.p,{children:"Repeat Steps 1 and Steps 2 until kD cannot remove oscillation from the movement. Then go back to the last values that worked."}),"\n",(0,s.jsx)(n.h3,{id:"step-4---ki",children:"Step 4 - kI"}),"\n",(0,s.jsx)(n.p,{children:"Sometimes you need a little extra power to get your robot all the way there. Integral can be a dangerous variable because it grows exponentially. The fourth parameter is what the error needs to be for I to start. For turns, we found around 15 degrees is good."}),"\n",(0,s.jsx)(n.p,{children:"Increase kI until any minor disturbances are accounted for. You might need to adjust kD while tuning kI."}),"\n",(0,s.jsx)(n.hr,{}),"\n",(0,s.jsx)(n.h2,{id:"tuning-forwardbackward-constants",children:"Tuning Forward/Backward Constants"}),"\n",(0,s.jsx)(n.h3,{id:"step-1---forwardbackwards-constants",children:"Step 1 - Forward/Backwards Constants"}),"\n",(0,s.jsx)(n.p,{children:"Using the steps above, modify your kP, kD, and if you chose to, kI."}),"\n",(0,s.jsx)(n.p,{children:"If you see the robot acting differently going forwards and backwards, you can have different constants for each. This is usually only needed when something is off balance on your robot mechanically."}),"\n",(0,s.jsx)(n.pre,{children:(0,s.jsx)(n.code,{className:"language-cpp",children:" chassis.set_pid_constants(&chassis.forward_drivePID, 0.45, 0, 5, 0);\r\n chassis.set_pid_constants(&chassis.backward_drivePID, 0.45, 0, 5, 0);\n"})}),"\n",(0,s.jsx)(n.h3,{id:"step-2---heading-correction",children:"Step 2 - Heading Correction"}),"\n",(0,s.jsx)(n.p,{children:"Heading correction tries to keep your robot facing an angle while driving forward. The constants for this are generally higher then other PID controllers because you're only correcting for a few degrees of error."}),"\n",(0,s.jsx)(n.p,{children:"The same steps above can be used to tune the heading constants. Increase kP until there's a little oscillation, increase kD until it goes away, repeat."}),"\n",(0,s.jsx)(n.pre,{children:(0,s.jsx)(n.code,{className:"language-cpp",children:" chassis.set_pid_constants(&chassis.headingPID, 11, 0, 20, 0);\n"})}),"\n",(0,s.jsx)(n.h3,{id:"step-3---slew",children:"Step 3 - Slew"}),"\n",(0,s.jsxs)(n.p,{children:["Slew ramps the speed of the robot up from the start of the motion to avoid wheelies and wheel slip.",(0,s.jsx)(n.br,{}),"\n",(0,s.jsx)(n.code,{children:"slew_min_power()"})," is the starting power the robot will use when slewing.",(0,s.jsx)(n.br,{}),"\n",(0,s.jsx)(n.code,{children:"slew_distance()"})," is the distance the robot will increase from min power to the max power you set in your autonomous function."]}),"\n",(0,s.jsx)(n.p,{children:"Minimum power should be as high as it can be without causing the robot to wheelie or cause wheel slip. Slew distance should be as small as it can be without causing the same."}),"\n",(0,s.jsx)(n.pre,{children:(0,s.jsx)(n.code,{className:"language-cpp",children:" chassis.set_slew_min_power(80, 80);\r\n chassis.set_slew_distance(7, 7);\n"})}),"\n",(0,s.jsx)(n.hr,{}),"\n",(0,s.jsx)(n.h2,{id:"tuning-turns-and-swings",children:"Tuning Turns and Swings"}),"\n",(0,s.jsx)(n.h3,{id:"step-1---constants",children:"Step 1 - Constants"}),"\n",(0,s.jsx)(n.p,{children:"Using the same steps as above, set kP to some number and modify it until there is slight oscillation, one or two bounces."}),"\n",(0,s.jsx)(n.p,{children:"Increase kD until the oscillation is gone."}),"\n",(0,s.jsx)(n.p,{children:"Repeat until kD cannot fix the oscillation."}),"\n",(0,s.jsx)(n.pre,{children:(0,s.jsx)(n.code,{className:"language-cpp",children:" chassis.set_pid_constants(&chassis.turnPID, 5, 0.003, 35, 15);\r\n chassis.set_pid_constants(&chassis.swingPID, 7, 0, 45, 0);\n"})}),"\n",(0,s.jsx)(n.h3,{id:"step-2---ki",children:"Step 2 - kI"}),"\n",(0,s.jsx)(n.p,{children:"What about when PD isn't enough?"}),"\n",(0,s.jsx)(n.p,{children:"Sometimes you need a little extra power to get your robot all the way there. Integral can be a dangerous variable because it grows exponentially. The fourth parameter is what the error needs to be for I to start. For turns, we found around 15 degrees is good."}),"\n",(0,s.jsx)(n.p,{children:"Increase kI until any minor disturbances are accounted for. You might need to adjust kD while tuning kI."}),"\n",(0,s.jsx)(n.pre,{children:(0,s.jsx)(n.code,{className:"language-cpp",children:" chassis.set_pid_constants(&chassis.turnPID, 5, 0.003, 35, 15);\n"})})]})}function h(e={}){const{wrapper:n}={...(0,o.a)(),...e.components};return n?(0,s.jsx)(n,{...e,children:(0,s.jsx)(d,{...e})}):d(e)}},1151:(e,n,t)=>{t.d(n,{Z:()=>r,a:()=>a});var s=t(7294);const o={},i=s.createContext(o);function a(e){const n=s.useContext(i);return s.useMemo((function(){return"function"==typeof e?e(n):{...n,...e}}),[n,e])}function r(e){let n;return n=e.disableParentContext?"function"==typeof e.components?e.components(o):e.components||o:a(e.components),s.createElement(i.Provider,{value:n},e.children)}}}]); \ No newline at end of file diff --git a/assets/js/27d3c76c.c7eca5a8.js b/assets/js/27d3c76c.c7eca5a8.js new file mode 100644 index 00000000..d656054a --- /dev/null +++ b/assets/js/27d3c76c.c7eca5a8.js @@ -0,0 +1 @@ +"use strict";(self.webpackChunkmy_website=self.webpackChunkmy_website||[]).push([[3966],{3888:(e,t,s)=>{s.r(t),s.d(t,{assets:()=>c,contentTitle:()=>r,default:()=>o,frontMatter:()=>l,metadata:()=>v,toc:()=>a});var n=s(5893),i=s(1151);const l={title:"versions"},r="3.x",v={type:"mdx",permalink:"/EZ-Template/versions",source:"@site/src/pages/versions.md",title:"versions",description:"v3.0.0-RC1",frontMatter:{title:"versions"},unlisted:!1},c={},a=[{value:"v3.0.0-RC1",id:"v300-rc1",level:4},{value:"v2.1.2",id:"v212",level:4},{value:"v2.1.1",id:"v211",level:4},{value:"v2.1.0",id:"v210",level:4},{value:"v2.0.1",id:"v201",level:4},{value:"v2.0.0",id:"v200",level:4},{value:"v1.0.2",id:"v102",level:4},{value:"v1.0.1",id:"v101",level:4},{value:"v1.0.0",id:"v100",level:4}];function h(e){const t={a:"a",h1:"h1",h4:"h4",...(0,i.a)(),...e.components};return(0,n.jsxs)(n.Fragment,{children:[(0,n.jsx)(t.h1,{id:"3x",children:"3.x"}),"\n",(0,n.jsx)(t.h4,{id:"v300-rc1",children:(0,n.jsx)(t.a,{href:"https://github.com/EZ-Robotics/EZ-Template/releases/tag/v3.0.0-RC1",children:"v3.0.0-RC1"})}),"\n",(0,n.jsx)(t.h1,{id:"2x",children:"2.x"}),"\n",(0,n.jsx)(t.h4,{id:"v212",children:(0,n.jsx)(t.a,{href:"https://github.com/EZ-Robotics/EZ-Template/releases/tag/v2.1.2",children:"v2.1.2"})}),"\n",(0,n.jsx)(t.h4,{id:"v211",children:(0,n.jsx)(t.a,{href:"https://github.com/EZ-Robotics/EZ-Template/releases/tag/v2.1.1",children:"v2.1.1"})}),"\n",(0,n.jsx)(t.h4,{id:"v210",children:(0,n.jsx)(t.a,{href:"https://github.com/EZ-Robotics/EZ-Template/releases/tag/v2.1.0",children:"v2.1.0"})}),"\n",(0,n.jsx)(t.h4,{id:"v201",children:(0,n.jsx)(t.a,{href:"https://github.com/EZ-Robotics/EZ-Template/releases/tag/v2.0.1",children:"v2.0.1"})}),"\n",(0,n.jsx)(t.h4,{id:"v200",children:(0,n.jsx)(t.a,{href:"https://github.com/EZ-Robotics/EZ-Template/releases/tag/v2.0.0",children:"v2.0.0"})}),"\n",(0,n.jsx)(t.h1,{id:"1x",children:"1.x"}),"\n",(0,n.jsx)(t.h4,{id:"v102",children:(0,n.jsx)(t.a,{href:"https://github.com/EZ-Robotics/EZ-Template/releases/tag/v1.0.2",children:"v1.0.2"})}),"\n",(0,n.jsx)(t.h4,{id:"v101",children:(0,n.jsx)(t.a,{href:"https://github.com/EZ-Robotics/EZ-Template/releases/tag/v1.0.1",children:"v1.0.1"})}),"\n",(0,n.jsx)(t.h4,{id:"v100",children:(0,n.jsx)(t.a,{href:"https://github.com/EZ-Robotics/EZ-Template/releases/tag/v1.0.0",children:"v1.0.0"})})]})}function o(e={}){const{wrapper:t}={...(0,i.a)(),...e.components};return t?(0,n.jsx)(t,{...e,children:(0,n.jsx)(h,{...e})}):h(e)}},1151:(e,t,s)=>{s.d(t,{Z:()=>v,a:()=>r});var n=s(7294);const i={},l=n.createContext(i);function r(e){const t=n.useContext(l);return n.useMemo((function(){return"function"==typeof e?e(t):{...t,...e}}),[t,e])}function v(e){let t;return t=e.disableParentContext?"function"==typeof e.components?e.components(i):e.components||i:r(e.components),n.createElement(l.Provider,{value:t},e.children)}}}]); 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If you don't want to modify the curve with the controller, make sure ",(0,s.jsx)(t.code,{children:"chassis.toggle_modify_curve_with_controller(false)"})," is false."]}),"\n",(0,s.jsx)(t.pre,{children:(0,s.jsx)(t.code,{className:"language-cpp",children:"void initialize() {\r\n . . .\r\n chassis.toggle_modify_curve_with_controller(false); \r\n chassis.set_curve_default(0, 0); \r\n . . .\r\n}\n"})})]})}function h(e={}){const{wrapper:t}={...(0,n.a)(),...e.components};return t?(0,s.jsx)(t,{...e,children:(0,s.jsx)(d,{...e})}):d(e)}},1151:(e,t,i)=>{i.d(t,{Z:()=>c,a:()=>o});var s=i(7294);const n={},r=s.createContext(n);function o(e){const t=s.useContext(r);return s.useMemo((function(){return"function"==typeof e?e(t):{...t,...e}}),[t,e])}function c(e){let t;return t=e.disableParentContext?"function"==typeof e.components?e.components(n):e.components||n:o(e.components),s.createElement(r.Provider,{value:t},e.children)}}}]); \ No newline at end of file diff --git a/assets/js/342be952.d354af70.js b/assets/js/342be952.d354af70.js new file mode 100644 index 00000000..6369a771 --- /dev/null +++ b/assets/js/342be952.d354af70.js @@ -0,0 +1 @@ +"use strict";(self.webpackChunkmy_website=self.webpackChunkmy_website||[]).push([[2705],{6420:(e,t,n)=>{n.r(t),n.d(t,{assets:()=>a,contentTitle:()=>r,default:()=>h,frontMatter:()=>s,metadata:()=>l,toc:()=>c});var i=n(5893),o=n(1151);const s={title:"EZ-Template",nav_order:1,slug:"/",description:"Simple plug-and-play PROS template that handles drive base functions, autonomous selector, input curves, and active brake with PTO support.",image:"/img/embed.png",preview:"/img/embed.png"},r=void 0,l={id:"Installation",title:"EZ-Template",description:"Simple plug-and-play PROS template that handles drive base functions, autonomous selector, input curves, and active brake with PTO 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t={a:"a",admonition:"admonition",code:"code",h2:"h2",img:"img",li:"li",ol:"ol",p:"p",strong:"strong",ul:"ul",...(0,o.a)(),...e.components};return(0,i.jsxs)(i.Fragment,{children:[(0,i.jsxs)(t.p,{children:[(0,i.jsx)(t.img,{src:"https://img.shields.io/github/downloads/EZ-Robotics/EZ-Template/total.svg",alt:""}),"\r\n",(0,i.jsx)(t.img,{src:"https://github.com/EZ-Robotics/EZ-Template/workflows/Build/badge.svg",alt:""}),"\r\n",(0,i.jsx)(t.a,{href:"https://opensource.org/licenses/MPL-2.0",children:(0,i.jsx)(t.img,{src:"https://img.shields.io/badge/License-MPL%202.0-brightgreen.svg",alt:"License: MPL 2.0"})})]}),"\n",(0,i.jsxs)(t.p,{children:[(0,i.jsx)(t.strong,{children:"EZ-Template is a simple plug-and-play PROS template that handles drive base functions, autonomous selector, input curves, and active brake with PTO 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arcade"}),"\n",(0,i.jsx)(t.li,{children:"Loading animation during IMU calibration"}),"\n",(0,i.jsx)(t.li,{children:"3 wire encoder and rotation sensor support"}),"\n",(0,i.jsx)(t.li,{children:"Add / remove motors from the drive dynamically to allow for PTO use"}),"\n",(0,i.jsx)(t.li,{children:"Exposed PID class for use with your other subsystems"}),"\n"]}),"\n",(0,i.jsx)(t.h2,{id:"installation",children:"Installation"}),"\n",(0,i.jsxs)(t.ol,{children:["\n",(0,i.jsxs)(t.li,{children:["Download the latest example project ",(0,i.jsx)(t.a,{href:"https://github.com/EZ-Robotics/EZ-Template/releases/latest",children:"here"}),". Extract the zip, and open it in PROS."]}),"\n",(0,i.jsxs)(t.li,{children:["In ",(0,i.jsx)(t.code,{children:"src/main.cpp"}),", configure drive and IMU ports to what they are on your robot. Be sure to read the comments!"]}),"\n",(0,i.jsx)(t.li,{children:'Configure your wheel size and cartridge. Remember that older 4" omni wheels without mounting holes are actually 4.125!'}),"\n",(0,i.jsxs)(t.li,{children:["In ",(0,i.jsx)(t.code,{children:"src/main.cpp"}),", at the bottom in ",(0,i.jsx)(t.code,{children:"void opcontrol()"}),", decide how you'd like to control your robot! Any flavor of arcade or tank!"]}),"\n",(0,i.jsx)(t.li,{children:"Turn the robot on and use it in driver control. Make sure the ports are correct and reversed correctly!"}),"\n",(0,i.jsxs)(t.li,{children:["To test the test autonomous modes, plug into a competition switch and select the autonomous mode on the brain screen by pressing the left and right buttons! The current page will be the autonomous that runs. For making new autonomous routines, ",(0,i.jsx)(t.a,{href:"https://ez-robotics.github.io/EZ-Template/tutorials/example_autons",children:"click here"})," for examples on how to use the drive functions."]}),"\n"]}),"\n",(0,i.jsx)(t.h2,{id:"upgrading",children:"Upgrading"}),"\n",(0,i.jsx)(t.admonition,{type:"warning",children:(0,i.jsx)(t.p,{children:"This only works for 2.0.0 and beyond. You cannot upgrade from 1.x to 2.x, or 2.x to 3.x."})}),"\n",(0,i.jsxs)(t.ol,{children:["\n",(0,i.jsxs)(t.li,{children:["Download the most recent EZ-Template ",(0,i.jsx)(t.a,{href:"https://github.com/EZ-Robotics/EZ-Template/releases/latest",children:"here"}),"."]}),"\n",(0,i.jsx)(t.li,{children:"Move the file to your project."}),"\n",(0,i.jsxs)(t.li,{children:["Open terminal or command prompt, and ",(0,i.jsx)(t.code,{children:"cd"})," into your projects directory."]}),"\n",(0,i.jsxs)(t.li,{children:["Run this command from terminal ",(0,i.jsx)(t.code,{children:"prosv5 c fetch EZ-Template@x.x.x..zip"})," replacing ",(0,i.jsx)(t.code,{children:"x.x.x"})," with the version number of your file."]}),"\n",(0,i.jsxs)(t.li,{children:["Apply the library to the project ",(0,i.jsx)(t.code,{children:"prosv5 c apply EZ-Template"}),"."]}),"\n",(0,i.jsxs)(t.li,{children:["Put ",(0,i.jsx)(t.code,{children:'#include "EZ-Template/api.hpp"'})," in your ",(0,i.jsx)(t.code,{children:"include/main.h"}),"."]}),"\n"]})]})}function h(e={}){const{wrapper:t}={...(0,o.a)(),...e.components};return t?(0,i.jsx)(t,{...e,children:(0,i.jsx)(d,{...e})}):d(e)}},6481:(e,t,n)=>{n.d(t,{Z:()=>i});const i=n.p+"assets/images/7686B-e26bfae36f0ddadd217b35ff5add7727.jpg"},1151:(e,t,n)=>{n.d(t,{Z:()=>l,a:()=>r});var i=n(7294);const o={},s=i.createContext(o);function r(e){const t=i.useContext(s);return i.useMemo((function(){return"function"==typeof e?e(t):{...t,...e}}),[t,e])}function l(e){let t;return t=e.disableParentContext?"function"==typeof e.components?e.components(o):e.components||o:r(e.components),i.createElement(s.Provider,{value:t},e.children)}}}]); \ No newline at end of file diff --git a/assets/js/3433dc20.b673a491.js b/assets/js/3433dc20.b673a491.js new file mode 100644 index 00000000..e3cfd7ea --- /dev/null +++ b/assets/js/3433dc20.b673a491.js @@ -0,0 +1 @@ +"use strict";(self.webpackChunkmy_website=self.webpackChunkmy_website||[]).push([[3585],{9679:(e,n,t)=>{t.r(n),t.d(n,{assets:()=>c,contentTitle:()=>a,default:()=>h,frontMatter:()=>i,metadata:()=>r,toc:()=>l});var s=t(5893),o=t(1151);const i={title:"Tuning Constants",description:"Tuning the PID system to accurately rotate the desired amount"},a="Tuning Constants",r={id:"tutorials/tuning_constants",title:"Tuning Constants",description:"Tuning the PID system to accurately rotate the desired amount",source:"@site/ez-template-docs/tutorials/tuning_constants.md",sourceDirName:"tutorials",slug:"/tutorials/tuning_constants",permalink:"/EZ-Template/next/tutorials/tuning_constants",draft:!1,unlisted:!1,editUrl:"https://github.com/EZ-Robotics/EZ-Template/tree/website/${versionDocsDirPath}/${docPath}/ez-template-docs/tutorials/tuning_constants.md",tags:[],version:"current",frontMatter:{title:"Tuning Constants",description:"Tuning the PID system to accurately rotate the desired amount"},sidebar:"tutorialSidebar",previous:{title:"PTO Tutorial",permalink:"/EZ-Template/next/tutorials/pto_tutorial"},next:{title:"Using Autonomous Selector",permalink:"/EZ-Template/next/tutorials/using_auton_selector"}},c={},l=[{value:"Setup",id:"setup",level:2},{value:"Uncommenting Default Constants",id:"uncommenting-default-constants",level:3},{value:"Running the Autonomous",id:"running-the-autonomous",level:3},{value:"Modifying Constants",id:"modifying-constants",level:3},{value:"Different Constants",id:"different-constants",level:3},{value:"Tuning PID",id:"tuning-pid",level:2},{value:"Step 1 - kP",id:"step-1---kp",level:3},{value:"Step 2 - kD",id:"step-2---kd",level:3},{value:"Step 3 - Repeat",id:"step-3---repeat",level:3},{value:"Step 4 - kI",id:"step-4---ki",level:3},{value:"Tuning Forward/Backward Constants",id:"tuning-forwardbackward-constants",level:2},{value:"Step 1 - Forward/Backwards Constants",id:"step-1---forwardbackwards-constants",level:3},{value:"Step 2 - Heading Correction",id:"step-2---heading-correction",level:3},{value:"Step 3 - Slew",id:"step-3---slew",level:3},{value:"Tuning Turns and Swings",id:"tuning-turns-and-swings",level:2},{value:"Step 1 - Constants",id:"step-1---constants",level:3},{value:"Step 2 - kI",id:"step-2---ki",level:3}];function d(e){const n={a:"a",br:"br",code:"code",h1:"h1",h2:"h2",h3:"h3",hr:"hr",p:"p",pre:"pre",strong:"strong",...(0,o.a)(),...e.components};return(0,s.jsxs)(s.Fragment,{children:[(0,s.jsx)(n.h1,{id:"tuning-constants",children:(0,s.jsx)(n.strong,{children:"Tuning Constants"})}),"\n",(0,s.jsxs)(n.p,{children:["For more information on how PID controllers work, ",(0,s.jsx)(n.a,{href:"http://georgegillard.com/documents/2-introduction-to-pid-controllers",children:"reference this document made by George Gillard"}),"."]}),"\n",(0,s.jsx)(n.h2,{id:"setup",children:"Setup"}),"\n",(0,s.jsx)(n.h3,{id:"uncommenting-default-constants",children:"Uncommenting Default Constants"}),"\n",(0,s.jsxs)(n.p,{children:["In ",(0,s.jsx)(n.code,{children:"src/main.cpp"}),", make sure ",(0,s.jsx)(n.code,{children:"default_constants()"})," is uncommented in ",(0,s.jsx)(n.code,{children:"void initialize()"}),"."]}),"\n",(0,s.jsx)(n.pre,{children:(0,s.jsx)(n.code,{className:"language-cpp",children:"void initialize() {\r\n . . .\r\n default_constants();\r\n . . .\r\n}\n"})}),"\n",(0,s.jsx)(n.h3,{id:"running-the-autonomous",children:"Running the Autonomous"}),"\n",(0,s.jsxs)(n.p,{children:["You can run one of the example autonomous routines to tune your constants. When you're tuning drive constants, run ",(0,s.jsx)(n.code,{children:"drive_example()"}),". When you're tuning turn constants, run ",(0,s.jsx)(n.code,{children:"turn_example()"}),"."]}),"\n",(0,s.jsxs)(n.p,{children:["Look at our ",(0,s.jsx)(n.a,{href:"https://ez-robotics.github.io/EZ-Template/tutorials/using_auton_selector",children:"Using Auton Selector tutorial"})," for how to select autonomous routines!"]}),"\n",(0,s.jsx)(n.h3,{id:"modifying-constants",children:"Modifying Constants"}),"\n",(0,s.jsxs)(n.p,{children:["In ",(0,s.jsx)(n.code,{children:"src/autons.cpp"}),", there is a function called ",(0,s.jsx)(n.code,{children:"default_constants()"}),". This function is where all of your modified PID constants can be set."]}),"\n",(0,s.jsx)(n.pre,{children:(0,s.jsx)(n.code,{className:"language-cpp",children:"void default_constants() {\r\n chassis.slew_power_min_set(80, 80);\r\n chassis.slew_distance_set(7, 7);\r\n chassis.set_pid_constants(&chassis.headingPID, 11, 0, 20, 0);\r\n chassis.set_pid_constants(&chassis.forward_drivePID, 0.45, 0, 5, 0);\r\n chassis.set_pid_constants(&chassis.backward_drivePID, 0.45, 0, 5, 0);\r\n chassis.set_pid_constants(&chassis.turnPID, 5, 0.003, 35, 15);\r\n chassis.set_pid_constants(&chassis.swingPID, 7, 0, 45, 0);\r\n}\n"})}),"\n",(0,s.jsx)(n.h3,{id:"different-constants",children:"Different Constants"}),"\n",(0,s.jsx)(n.p,{children:"When your robot has huge weight shifts (grabbing a mobile goal, raising a lift, etc), you might want to have different constants for those states. You can have multiple functions with constants for different states, and change constants during your autonomous routine."}),"\n",(0,s.jsx)(n.pre,{children:(0,s.jsx)(n.code,{className:"language-cpp",children:"void grab_mogo() {\r\n chassis.pid_drive_set(40, 110, true);\r\n chassis.pid_wait();\r\n\r\n one_mogo_constants();\r\n chassis.pid_drive_set(-40, 110, true);\r\n chassis.pid_wait();\r\n}\n"})}),"\n",(0,s.jsx)(n.hr,{}),"\n",(0,s.jsx)(n.h2,{id:"tuning-pid",children:"Tuning PID"}),"\n",(0,s.jsx)(n.p,{children:"This video is a good visual representation of what each constant does."}),"\n",(0,s.jsx)("iframe",{width:"560",height:"315",src:"https://www.youtube.com/embed/qKy98Cbcltw?si=tC9FrdKh6DR1Imrp",title:"YouTube video player",frameborder:"0",allow:"accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture; web-share",allowfullscreen:!0}),"\n",(0,s.jsx)(n.h3,{id:"step-1---kp",children:"Step 1 - kP"}),"\n",(0,s.jsx)(n.p,{children:"You'll start with kP. Set it to some number, and run your example autonomous. The robot will either undershoot the target (kP too low), or the robot is oscillate around the target (kP too high)."}),"\n",(0,s.jsx)(n.p,{children:"To tune a PD controller, you want the kP to oscillate a little bit, usually a bounce or two."}),"\n",(0,s.jsx)(n.h3,{id:"step-2---kd",children:"Step 2 - kD"}),"\n",(0,s.jsx)(n.p,{children:'After finding a kP that oscillates a little, we can tune kD. Increase kD until the oscillation goes away. This movement should look more "snappy" then just a P loop.'}),"\n",(0,s.jsx)(n.h3,{id:"step-3---repeat",children:"Step 3 - Repeat"}),"\n",(0,s.jsx)(n.p,{children:"Repeat Steps 1 and Steps 2 until kD cannot remove oscillation from the movement. Then go back to the last values that worked."}),"\n",(0,s.jsx)(n.h3,{id:"step-4---ki",children:"Step 4 - kI"}),"\n",(0,s.jsx)(n.p,{children:"Sometimes you need a little extra power to get your robot all the way there. Integral can be a dangerous variable because it grows exponentially. The fourth parameter is what the error needs to be for I to start. For turns, we found around 15 degrees is good."}),"\n",(0,s.jsx)(n.p,{children:"Increase kI until any minor disturbances are accounted for. You might need to adjust kD while tuning kI."}),"\n",(0,s.jsx)(n.hr,{}),"\n",(0,s.jsx)(n.h2,{id:"tuning-forwardbackward-constants",children:"Tuning Forward/Backward Constants"}),"\n",(0,s.jsx)(n.h3,{id:"step-1---forwardbackwards-constants",children:"Step 1 - Forward/Backwards Constants"}),"\n",(0,s.jsx)(n.p,{children:"Using the steps above, modify your kP, kD, and if you chose to, kI."}),"\n",(0,s.jsx)(n.p,{children:"If you see the robot acting differently going forwards and backwards, you can have different constants for each. This is usually only needed when something is off balance on your robot mechanically."}),"\n",(0,s.jsx)(n.pre,{children:(0,s.jsx)(n.code,{className:"language-cpp",children:" chassis.set_pid_constants(&chassis.forward_drivePID, 0.45, 0, 5, 0);\r\n chassis.set_pid_constants(&chassis.backward_drivePID, 0.45, 0, 5, 0);\n"})}),"\n",(0,s.jsx)(n.h3,{id:"step-2---heading-correction",children:"Step 2 - Heading Correction"}),"\n",(0,s.jsx)(n.p,{children:"Heading correction tries to keep your robot facing an angle while driving forward. The constants for this are generally higher then other PID controllers because you're only correcting for a few degrees of error."}),"\n",(0,s.jsx)(n.p,{children:"The same steps above can be used to tune the heading constants. Increase kP until there's a little oscillation, increase kD until it goes away, repeat."}),"\n",(0,s.jsx)(n.pre,{children:(0,s.jsx)(n.code,{className:"language-cpp",children:" chassis.set_pid_constants(&chassis.headingPID, 11, 0, 20, 0);\n"})}),"\n",(0,s.jsx)(n.h3,{id:"step-3---slew",children:"Step 3 - Slew"}),"\n",(0,s.jsxs)(n.p,{children:["Slew ramps the speed of the robot up from the start of the motion to avoid wheelies and wheel slip.",(0,s.jsx)(n.br,{}),"\n",(0,s.jsx)(n.code,{children:"slew_min_power()"})," is the starting power the robot will use when slewing.",(0,s.jsx)(n.br,{}),"\n",(0,s.jsx)(n.code,{children:"slew_distance()"})," is the distance the robot will increase from min power to the max power you set in your autonomous function."]}),"\n",(0,s.jsx)(n.p,{children:"Minimum power should be as high as it can be without causing the robot to wheelie or cause wheel slip. Slew distance should be as small as it can be without causing the same."}),"\n",(0,s.jsx)(n.pre,{children:(0,s.jsx)(n.code,{className:"language-cpp",children:" chassis.slew_power_min_set(80, 80);\r\n chassis.slew_distance_set(7, 7);\n"})}),"\n",(0,s.jsx)(n.hr,{}),"\n",(0,s.jsx)(n.h2,{id:"tuning-turns-and-swings",children:"Tuning Turns and Swings"}),"\n",(0,s.jsx)(n.h3,{id:"step-1---constants",children:"Step 1 - Constants"}),"\n",(0,s.jsx)(n.p,{children:"Using the same steps as above, set kP to some number and modify it until there is slight oscillation, one or two bounces."}),"\n",(0,s.jsx)(n.p,{children:"Increase kD until the oscillation is gone."}),"\n",(0,s.jsx)(n.p,{children:"Repeat until kD cannot fix the oscillation."}),"\n",(0,s.jsx)(n.pre,{children:(0,s.jsx)(n.code,{className:"language-cpp",children:" chassis.set_pid_constants(&chassis.turnPID, 5, 0.003, 35, 15);\r\n chassis.set_pid_constants(&chassis.swingPID, 7, 0, 45, 0);\n"})}),"\n",(0,s.jsx)(n.h3,{id:"step-2---ki",children:"Step 2 - kI"}),"\n",(0,s.jsx)(n.p,{children:"What about when PD isn't enough?"}),"\n",(0,s.jsx)(n.p,{children:"Sometimes you need a little extra power to get your robot all the way there. Integral can be a dangerous variable because it grows exponentially. The fourth parameter is what the error needs to be for I to start. For turns, we found around 15 degrees is good."}),"\n",(0,s.jsx)(n.p,{children:"Increase kI until any minor disturbances are accounted for. 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For example, a 6 motor drive could pneumatically shift to a 4 motor drive and a 2 motor intake."}),"\n",(0,r.jsx)(t.h2,{id:"example-1---beginner",children:"Example 1 - Beginner"}),"\n",(0,r.jsx)(t.p,{children:"The simplest way to control a PTO is to keep track of the piston state and setting motors yourself. In this code, the driver has control over switching the PTO on and off. The intake buttons will only work when the PTO is enabled."}),"\n",(0,r.jsxs)(t.p,{children:["The function ",(0,r.jsx)(t.code,{children:"pto_toggle_intake()"})," is in charge of triggering the piston and changing the bool ",(0,r.jsx)(t.code,{children:"pto_intake_enabled"})," to allow or disallow ",(0,r.jsx)(t.code,{children:"set_intake()"})," from setting power to the motors."]}),"\n",(0,r.jsx)(t.pre,{children:(0,r.jsx)(t.code,{className:"language-cpp",children:"using namespace ez;\r\n\r\n// 4th place in the chassis constructor list\r\n#define LEFT_INTAKE 3\r\n#define RIGHT_INTAKE 3\r\n\r\npros::ADIDigitalOut pto_intake_piston('A');\r\nbool pto_intake_enabled = false;\r\n\r\nvoid pto_toggle_intake(bool toggle) {\r\n pto_intake_enabled = toggle;\r\n chassis.pto_toggle({chassis.left_motors[LEFT_INTAKE], chassis.right_motors[RIGHT_INTAKE]}, toggle);\r\n pto_intake_piston.set_value(toggle);\r\n if (toggle) {\r\n chassis.left_motors[LEFT_INTAKE].set_brake_mode(pros::E_MOTOR_BRAKE_COAST);\r\n chassis.right_motors[RIGHT_INTAKE].set_brake_mode(pros::E_MOTOR_BRAKE_COAST);\r\n }\r\n}\r\n\r\nvoid set_intake(int input) {\r\n if (!pto_intake_enabled) return;\r\n chassis.left_motors[LEFT_INTAKE] = input;\r\n chassis.right_motors[RIGHT_INTAKE] = input;\r\n}\r\n\r\n// User control code\r\nvoid intake_control() {\r\n if (master.get_digital_new_press(DIGITAL_DOWN)) {\r\n pto_toggle_intake(!pto_intake_enabled);\r\n } \r\n\r\n if (master.get_digital(DIGITAL_L1)) {\r\n set_intake(127);\r\n }\r\n else if (master.get_digital(DIGITAL_L2)) {\r\n set_intake(-127);\r\n }\r\n else {\r\n set_intake(0);\r\n }\r\n}\r\n\r\nvoid opcontrol() {\r\n // This is preference to what you like to drive on.\r\n chassis.drive_brake_set(MOTOR_BRAKE_COAST);\r\n\r\n while (true) {\r\n chassis.opcontrol_tank(); // Tank control\r\n\r\n intake_control();\r\n\r\n pros::delay(util::DELAY_TIME); // This is used for timer calculations! Keep this ez::util::DELAY_TIME\r\n }\r\n}\r\n\n"})}),"\n",(0,r.jsx)(t.h2,{id:"example-2---intermediate",children:"Example 2 - Intermediate"}),"\n",(0,r.jsx)(t.p,{children:"This code is more complex, but the goal with it is to make it feel like there isn't a PTO to the driver and the programmer."}),"\n",(0,r.jsxs)(t.p,{children:[(0,r.jsx)(t.code,{children:"set_intake()"})," is used to trigger the PTO here. If a non 0 number is sent, the PTO will trigger and the motors will disengage from the drive. Once ",(0,r.jsx)(t.code,{children:"set_intake(0);"})," is sent, the PTO will bring those motors back to the drive. This makes autonomous routines and user control code significantly easier."]}),"\n",(0,r.jsx)(t.pre,{children:(0,r.jsx)(t.code,{className:"language-cpp",children:"using namespace ez;\r\n\r\n// 4th place in the chassis constructor list\r\n#define LEFT_INTAKE 3\r\n#define RIGHT_INTAKE 3\r\n\r\nPiston pto_intake_piston('A'); // PTO piston\r\nbool pto_piston_enabled = false; // Current PTO state\r\n\r\n// Toggle motors from PTO, toggle piston, switch brake modes\r\nvoid pto_toggle_intake(bool toggle) {\r\n pto_piston_enabled = toggle;\r\n chassis.pto_toggle({chassis.left_motors[LEFT_INTAKE], chassis.right_motors[RIGHT_INTAKE]}, toggle);\r\n pto_intake_piston.set(toggle);\r\n if (toggle) {\r\n chassis.left_motors[LEFT_INTAKE].set_brake_mode(pros::E_MOTOR_BRAKE_COAST);\r\n chassis.right_motors[RIGHT_INTAKE].set_brake_mode(pros::E_MOTOR_BRAKE_COAST);\r\n }\r\n}\r\n\r\n// Global intake function (for use outside of this file)\r\nvoid set_intake(int input) {\r\n pto_toggle_intake(input == 0 ? false : true);\r\n if (!pto_piston_enabled) return;\r\n chassis.left_motors[LEFT_INTAKE] = -input;\r\n chassis.right_motors[RIGHT_INTAKE] = -input;\r\n}\r\n\r\n// User control code\r\nvoid intake_control() {\r\n if (master.get_digital(DIGITAL_L1)) {\r\n set_intake(127);\r\n }\r\n else if (master.get_digital(DIGITAL_L2)) {\r\n set_intake(-127);\r\n }\r\n else {\r\n set_intake(0);\r\n }\r\n}\r\n\r\nvoid opcontrol() {\r\n // This is preference to what you like to drive on.\r\n chassis.drive_brake_set(MOTOR_BRAKE_COAST);\r\n\r\n while (true) {\r\n chassis.opcontrol_tank(); // Tank control\r\n\r\n intake_control();\r\n\r\n pros::delay(util::DELAY_TIME); // This is used for timer calculations! Keep this ez::util::DELAY_TIME\r\n }\r\n}\n"})}),"\n",(0,r.jsx)(t.h2,{id:"example-3---expert",children:"Example 3 - Expert"}),"\n",(0,r.jsx)(t.p,{children:'Using the same concepts from above, this example expands on it and adds an "anti jam" function that will run the intake in the opposite direction for a short amount of time if something gets jammed. Functions like this were incredibly useful during Tipping Point with the odd shape of rings, and this code is from the 21S Tipping Point robot.'}),"\n",(0,r.jsx)(t.p,{children:"This code checks the velocity of the motors to check if they are 0. If they are 0, a timer is started. Once the timer passes 250ms, we recognize a jam has happened and set the intake to go full power in the opposite direction for 250ms. 21S has problems when the PTO triggered this code would recognize a jam happening. To prevent this another timer was started, where for 500ms after toggling a jam cannot occur."}),"\n",(0,r.jsx)(t.pre,{children:(0,r.jsx)(t.code,{className:"language-cpp",children:"using namespace ez;\r\n\r\n// 4th place in the chassis constructor list\r\n#define LEFT_INTAKE 3\r\n#define RIGHT_INTAKE 3\r\n\r\nPiston pto_intake_piston('A'); // PTO piston\r\nbool pto_piston_enabled = false; // Current PTO state\r\nint target_speed = 0; // Global target speed\r\n\r\n// Toggle motors from PTO, toggle piston, switch brake modes\r\nvoid pto_toggle_intake(bool toggle) {\r\n pto_piston_enabled = toggle;\r\n chassis.pto_toggle({chassis.left_motors[LEFT_INTAKE], chassis.right_motors[RIGHT_INTAKE]}, toggle);\r\n pto_intake_piston.set(toggle);\r\n if (toggle) {\r\n chassis.left_motors[LEFT_INTAKE].set_brake_mode(pros::E_MOTOR_BRAKE_COAST);\r\n chassis.right_motors[RIGHT_INTAKE].set_brake_mode(pros::E_MOTOR_BRAKE_COAST);\r\n }\r\n}\r\n\r\n// Raw intake function (intended use in this file only)\r\nvoid raw_set_intake(int input) {\r\n if (!pto_piston_enabled) return;\r\n chassis.left_motors[LEFT_INTAKE] = -input;\r\n chassis.right_motors[RIGHT_INTAKE] = -input;\r\n}\r\n\r\n// Global intake function (for use outside of this file)\r\nvoid set_intake(int input) {\r\n pto_toggle_intake(input == 0 ? false : true);\r\n raw_set_intake(input);\r\n if (pto_piston_enabled) target_speed = input;\r\n}\r\n\r\n// Is velocity of motors 0?\r\nbool has_intake_stopped() {\r\n if ((chassis.left_motors[LEFT_INTAKE].get_actual_velocity() == 0 || chassis.right_motors[RIGHT_INTAKE].get_actual_velocity() == 0) && pto_piston_enabled)\r\n return true;\r\n return false;\r\n}\r\n\r\n// Intake task with antijam logic\r\nvoid intake_task() {\r\n const int wait_time = 250, switch_wait_time = 500;\r\n int switch_counter = 0, jam_counter = 0;\r\n bool is_jammed = false, last_pto = false, just_switched = false;\r\n\r\n while (true) {\r\n // Detect the PTO engaging to the intake\r\n if (pto_piston_enabled != last_pto /*&& pto_piston_enabled == true*/)\r\n just_switched = true;\r\n\r\n // This stops the antijam code from running 500ms after engaging the PTO to the intake\r\n if (just_switched) {\r\n switch_counter += util::DELAY_TIME;\r\n if (switch_counter > switch_wait_time) {\r\n just_switched = false;\r\n switch_counter = 0;\r\n }\r\n }\r\n last_pto = pto_piston_enabled;\r\n\r\n // Only run this code when the PTO is engaged to the intake\r\n if (pto_piston_enabled) {\r\n // Run intake full power in opposite direction for 250ms when jammed, then set intake\r\n // back to normal\r\n if (is_jammed) {\r\n raw_set_intake(-127 * util::sgn(target_speed));\r\n jam_counter += ez::util::DELAY_TIME;\r\n if (jam_counter > wait_time) {\r\n is_jammed = false;\r\n jam_counter = 0;\r\n raw_set_intake(target_speed);\r\n }\r\n }\r\n\r\n // Detect a jam if velocity is 0 for 250ms\r\n else if (target_speed != 0 && has_intake_stopped() && !just_switched) {\r\n jam_counter += util::DELAY_TIME;\r\n if (jam_counter > wait_time) {\r\n jam_counter = 0;\r\n is_jammed = true;\r\n }\r\n }\r\n }\r\n\r\n pros::delay(util::DELAY_TIME);\r\n }\r\n}\r\npros::Task Intake_Task(intake_task);\r\n\r\n// User control code\r\nvoid intake_control() {\r\n if (master.get_digital(DIGITAL_L1)) {\r\n set_intake(127);\r\n }\r\n else if (master.get_digital(DIGITAL_L2)) {\r\n set_intake(-127);\r\n }\r\n else {\r\n set_intake(0);\r\n }\r\n}\r\n\r\nvoid opcontrol() {\r\n // This is preference to what you like to drive on.\r\n chassis.drive_brake_set(MOTOR_BRAKE_COAST);\r\n\r\n while (true) {\r\n chassis.opcontrol_tank(); // Tank control\r\n\r\n intake_control();\r\n\r\n pros::delay(util::DELAY_TIME); // This is used for timer calculations! Keep this ez::util::DELAY_TIME\r\n }\r\n}\n"})})]})}function d(e={}){const{wrapper:t}={...(0,i.a)(),...e.components};return t?(0,r.jsx)(t,{...e,children:(0,r.jsx)(c,{...e})}):c(e)}},1151:(e,t,n)=>{n.d(t,{Z:()=>a,a:()=>s});var r=n(7294);const i={},o=r.createContext(i);function s(e){const t=r.useContext(o);return r.useMemo((function(){return"function"==typeof e?e(t):{...t,...e}}),[t,e])}function a(e){let t;return t=e.disableParentContext?"function"==typeof e.components?e.components(i):e.components||i:s(e.components),r.createElement(o.Provider,{value:t},e.children)}}}]); \ No newline at end of file diff --git a/assets/js/6b7ada18.6574db23.js b/assets/js/6b7ada18.6574db23.js new file mode 100644 index 00000000..726c7399 --- /dev/null +++ b/assets/js/6b7ada18.6574db23.js @@ -0,0 +1 @@ +"use strict";(self.webpackChunkmy_website=self.webpackChunkmy_website||[]).push([[5879],{8038:(o,n,t)=>{t.r(n),t.d(n,{assets:()=>a,contentTitle:()=>i,default:()=>c,frontMatter:()=>r,metadata:()=>u,toc:()=>d});var e=t(5893),s=t(1151);const r={title:"Adding Autonomous Routines",description:"Add autonomous routines to the selector"},i="Adding Autonomous Routines",u={id:"tutorials/autons",title:"Adding Autonomous Routines",description:"Add autonomous routines to the selector",source:"@site/versioned_docs/version-2.x/tutorials/autons.md",sourceDirName:"tutorials",slug:"/tutorials/autons",permalink:"/EZ-Template/tutorials/autons",draft:!1,unlisted:!1,editUrl:"https://github.com/EZ-Robotics/EZ-Template/tree/website/${versionDocsDirPath}/${docPath}/versioned_docs/version-2.x/tutorials/autons.md",tags:[],version:"2.x",frontMatter:{title:"Adding Autonomous Routines",description:"Add autonomous routines to the selector"},sidebar:"tutorialSidebar",previous:{title:"Active 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The controller slows down as it approaches its target and will correct itself after overshoot occurs. It is a relatively simply controller and can be very consistent with ",(0,r.jsx)(e.a,{href:"https://ez-robotics.github.io/EZ-Template/tutorials/tuning_constants",children:"tuning"}),"."]}),"\n",(0,r.jsx)(e.h2,{id:"example-1---user-control",children:"Example 1 - User Control"}),"\n",(0,r.jsxs)(e.p,{children:["This code uses a function called ",(0,r.jsx)(e.code,{children:"set_lift"})," to set the power of 2 lift motors in a single function call. After ",(0,r.jsx)(e.code,{children:"liftPID"})," is created, in ",(0,r.jsx)(e.code,{children:"opcontrol()"})," we set the target depending on button presses. To run the PID we have to run ",(0,r.jsx)(e.code,{children:"liftPID.compute(sensor value)"})," repeatedly to make sure our subsystem gets to its target. 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The same thing happens on the return back."]}),"\n",(0,i.jsx)(n.pre,{children:(0,i.jsx)(n.code,{className:"language-cpp",children:"void pid_wait_until_change_speed() {\r\n // pid_wait_until will wait until the robot gets to a desired position\r\n\r\n\r\n // When the robot gets to 6 inches, the robot will travel the remaining distance at a max speed of 40\r\n chassis.pid_drive_set(24, DRIVE_SPEED, true);\r\n chassis.pid_wait_until(6);\r\n chassis.pid_speed_max_set(40); // After driving 6 inches at DRIVE_SPEED, the robot will go the remaining distance at 40 speed\r\n chassis.pid_wait();\r\n\r\n chassis.pid_turn_set(45, TURN_SPEED);\r\n chassis.pid_wait();\r\n\r\n chassis.pid_turn_set(-45, TURN_SPEED);\r\n chassis.pid_wait();\r\n\r\n chassis.pid_turn_set(0, TURN_SPEED);\r\n chassis.pid_wait();\r\n\r\n // When the robot gets to -6 inches, the robot will travel the remaining distance at a max speed of 40\r\n chassis.pid_drive_set(-24, DRIVE_SPEED, true);\r\n chassis.pid_wait_until(-6);\r\n chassis.pid_speed_max_set(40); // After driving 6 inches at DRIVE_SPEED, the robot will go the remaining distance at 40 speed\r\n chassis.pid_wait();\r\n}\n"})}),"\n",(0,i.jsx)(n.h2,{id:"swing-turns",children:"Swing Turns"}),"\n",(0,i.jsx)(n.p,{children:"Swing turns are turns that only use one side of the drive. Left swings use the left side, and right swings use the right side. This will turn the robot to 45 degrees using the left side, drive 24 inches, then turn to 0 degrees using the right side."}),"\n",(0,i.jsx)(n.pre,{children:(0,i.jsx)(n.code,{className:"language-cpp",children:"void swing_example() {\r\n // The first parameter is ez::LEFT_SWING or ez::RIGHT_SWING\r\n // The second parameter is target degrees\r\n // The third parameter is speed of the moving side of the drive\r\n\r\n\r\n chassis.pid_swing_set(ez::LEFT_SWING, 45, SWING_SPEED);\r\n chassis.pid_wait();\r\n\r\n chassis.pid_drive_set(24, DRIVE_SPEED, true);\r\n chassis.pid_wait_until(12);\r\n\r\n chassis.pid_swing_set(ez::RIGHT_SWING, 0, SWING_SPEED);\r\n chassis.pid_wait();\r\n}\n"})}),"\n",(0,i.jsx)(n.h2,{id:"combining-all-movements",children:"Combining All Movements"}),"\n",(0,i.jsx)(n.p,{children:"This combines all movements from above."}),"\n",(0,i.jsx)(n.pre,{children:(0,i.jsx)(n.code,{className:"language-cpp",children:"void combining_movements() {\r\n chassis.pid_drive_set(24, DRIVE_SPEED, true);\r\n chassis.pid_wait();\r\n\r\n chassis.pid_turn_set(45, TURN_SPEED);\r\n chassis.pid_wait();\r\n\r\n chassis.pid_drive_set(ez::RIGHT_SWING, -45, TURN_SPEED);\r\n chassis.pid_wait();\r\n\r\n chassis.pid_turn_set(0, TURN_SPEED);\r\n chassis.pid_wait();\r\n\r\n chassis.pid_drive_set(-24, DRIVE_SPEED, true);\r\n chassis.pid_wait();\r\n}\n"})}),"\n",(0,i.jsx)(n.h2,{id:"interference",children:"Interference"}),"\n",(0,i.jsx)(n.p,{children:'Interference checks if the drive exited in an unintentional way. If the robot stops unintentionally or pulls too many amps this will trigger. This allows you to add fail-safes that stop your robot from burning out. The below function will attempt to "tug" an opponent mobile goal a couple times before giving up.'}),"\n",(0,i.jsx)(n.pre,{children:(0,i.jsx)(n.code,{className:"language-cpp",children:'void tug (int attempts) {\r\n for (int i=0; i<attempts-1; i++) {\r\n // Attempt to drive backwards\r\n printf("i - %i", i);\r\n chassis.pid_drive_set(-12, 127);\r\n chassis.pid_wait();\r\n\r\n // If failsafed...\r\n if (chassis.interfered) {\r\n chassis.drive_sensor_reset();\r\n chassis.pid_drive_set(-2, 20);\r\n pros::delay(1000);\r\n }\r\n // If robot successfully drove back, return\r\n else {\r\n return;\r\n }\r\n }\r\n}\r\n\r\n// If there is no interference, robot will drive forward and turn 90 degrees. \r\n// If interfered, robot will drive forward and then attempt to drive backwards. \r\nvoid interfered_example() {\r\n chassis.pid_drive_set(24, DRIVE_SPEED, true);\r\n chassis.pid_wait();\r\n\r\n if (chassis.interfered) {\r\n tug(3);\r\n return;\r\n }\r\n\r\n chassis.pid_turn_set(90, TURN_SPEED);\r\n chassis.pid_wait();\r\n}\n'})})]})}function h(e={}){const{wrapper:n}={...(0,t.a)(),...e.components};return n?(0,i.jsx)(n,{...e,children:(0,i.jsx)(c,{...e})}):c(e)}},1151:(e,n,s)=>{s.d(n,{Z:()=>d,a:()=>a});var i=s(7294);const t={},r=i.createContext(t);function a(e){const n=i.useContext(r);return i.useMemo((function(){return"function"==typeof e?e(n):{...n,...e}}),[n,e])}function d(e){let n;return n=e.disableParentContext?"function"==typeof e.components?e.components(t):e.components||t:a(e.components),i.createElement(r.Provider,{value:n},e.children)}}}]); \ No newline at end of file diff --git a/assets/js/b320819c.82713207.js b/assets/js/b320819c.82713207.js new file mode 100644 index 00000000..7e1b4838 --- /dev/null +++ b/assets/js/b320819c.82713207.js @@ -0,0 +1 @@ +"use strict";(self.webpackChunkmy_website=self.webpackChunkmy_website||[]).push([[7609],{5745:e=>{e.exports=JSON.parse('{"name":"docusaurus-plugin-content-pages","id":"default"}')}}]); \ No newline at end of file diff --git a/assets/js/b63927db.6d468794.js b/assets/js/b63927db.6d468794.js new file mode 100644 index 00000000..9ed1c38e --- /dev/null +++ b/assets/js/b63927db.6d468794.js @@ -0,0 +1 @@ +"use strict";(self.webpackChunkmy_website=self.webpackChunkmy_website||[]).push([[206],{3079:(t,e,i)=>{i.r(e),i.d(e,{assets:()=>a,contentTitle:()=>l,default:()=>u,frontMatter:()=>o,metadata:()=>s,toc:()=>c});var n=i(5893),r=i(1151);const o={title:"PID Tutorial",description:"How to add a feedback loop to motors and increase their accuracy"},l="PID Tutorial",s={id:"tutorials/pid",title:"PID Tutorial",description:"How to add a feedback loop to motors and increase their accuracy",source:"@site/ez-template-docs/tutorials/pid.md",sourceDirName:"tutorials",slug:"/tutorials/pid",permalink:"/EZ-Template/next/tutorials/pid",draft:!1,unlisted:!1,editUrl:"https://github.com/EZ-Robotics/EZ-Template/tree/website/${versionDocsDirPath}/${docPath}/ez-template-docs/tutorials/pid.md",tags:[],version:"current",frontMatter:{title:"PID Tutorial",description:"How to add a feedback loop to motors and increase their accuracy"},sidebar:"tutorialSidebar",previous:{title:"Joystick Curves",permalink:"/EZ-Template/next/tutorials/joystick_curve"},next:{title:"PTO Tutorial",permalink:"/EZ-Template/next/tutorials/pto_tutorial"}},a={},c=[{value:"Example 1 - User Control",id:"example-1---user-control",level:2},{value:"Example 2 - Waiting in Autonomous",id:"example-2---waiting-in-autonomous",level:2},{value:"Example 3 - Tasks",id:"example-3---tasks",level:2}];function d(t){const e={a:"a",code:"code",h1:"h1",h2:"h2",p:"p",pre:"pre",...(0,r.a)(),...t.components};return(0,n.jsxs)(n.Fragment,{children:[(0,n.jsx)(e.h1,{id:"pid-tutorial",children:"PID Tutorial"}),"\n",(0,n.jsxs)(e.p,{children:["PID (proportion, integral, derivative) is a feedback controlled used to move something to a position. The controller slows down as it approaches its target and will correct itself after overshoot occurs. It is a relatively simply controller and can be very consistent with ",(0,n.jsx)(e.a,{href:"https://ez-robotics.github.io/EZ-Template/tutorials/tuning_constants",children:"tuning"}),"."]}),"\n",(0,n.jsx)(e.h2,{id:"example-1---user-control",children:"Example 1 - User Control"}),"\n",(0,n.jsxs)(e.p,{children:["This code uses a function called ",(0,n.jsx)(e.code,{children:"set_lift"})," to set the power of 2 lift motors in a single function call. After ",(0,n.jsx)(e.code,{children:"liftPID"})," is created, in ",(0,n.jsx)(e.code,{children:"opcontrol()"})," we set the target depending on button presses. To run the PID we have to run ",(0,n.jsx)(e.code,{children:"liftPID.compute(sensor value)"})," repeatedly to make sure our subsystem gets to its target. We reset the lift encoder in ",(0,n.jsx)(e.code,{children:"initialize()"})," to make sure the motor is starting at a known position."]}),"\n",(0,n.jsx)(e.pre,{children:(0,n.jsx)(e.code,{className:"language-cpp",children:'pros::Motor l_lift(17);\r\npros::Motor r_lift(18);\r\nvoid set_lift(int input) {\r\n l_lift = input;\r\n r_lift = input;\r\n}\r\nPID liftPID{0.45, 0, 0, 0, "Lift"};\r\n\r\nvoid initialize() {\r\n l_lift.tare_position();\r\n}\r\n\r\nvoid opcontrol() {\r\n while (true) {\r\n if (master.get_digital(DIGITAL_L1)) {\r\n liftPID.target_set(500);\r\n }\r\n else if (master.get_digital(DIGITAL_L2)) {\r\n liftPID.target_set(0);\r\n }\r\n set_lift(liftPID.compute(l_lift.get_position()));\r\n\r\n pros::delay(ez::util::DELAY_TIME);\r\n }\r\n}\n'})}),"\n",(0,n.jsx)(e.h2,{id:"example-2---waiting-in-autonomous",children:"Example 2 - Waiting in Autonomous"}),"\n",(0,n.jsx)(e.p,{children:"This code uses the previous example as a base."}),"\n",(0,n.jsxs)(e.p,{children:["We've added a new function called ",(0,n.jsx)(e.code,{children:"lift_auto()"}),". This function takes in a target and locks the code in a while loop until the lift has reached its target. The autonomous routine will bring the lift up to 500, wait for 1 second, and then come back down to 0."]}),"\n",(0,n.jsx)(e.pre,{children:(0,n.jsx)(e.code,{className:"language-cpp",children:'pros::Motor l_lift(17);\r\npros::Motor r_lift(18);\r\nvoid set_lift(int input) {\r\n l_lift = input;\r\n r_lift = input;\r\n}\r\nPID liftPID{0.45, 0, 0, 0, "Lift"};\r\n\r\nvoid lift_auto(double target) {\r\n liftPID.target_set(target);\r\n ez::exit_output exit = ez::RUNNING;\r\n while (liftPID.exit_condition({l_lift, r_lift}, true) == ez::RUNNING) {\r\n double output = liftPID.compute(l_lift.get_position());\r\n set_lift(output);\r\n pros::delay(ez::util::DELAY_TIME);\r\n }\r\n set_lift(0);\r\n}\r\n\r\nvoid initialize() {\r\n l_lift.tare_position();\r\n liftPID.exit_condition_set(80, 50, 300, 150, 500, 500);\r\n}\r\n\r\nvoid autonomous() {\r\n lift_auto(500);\r\n pros::delay(1000);\r\n lift_auto(0);\r\n}\r\n\r\nvoid opcontrol() {\r\n while (true) {\r\n if (master.get_digital(DIGITAL_L1)) {\r\n liftPID.target_set(500);\r\n }\r\n else if (master.get_digital(DIGITAL_L2)) {\r\n liftPID.target_set(0);\r\n }\r\n set_lift(liftPID.compute(l_lift.get_position()));\r\n\r\n pros::delay(ez::util::DELAY_TIME);\r\n }\r\n}\n'})}),"\n",(0,n.jsx)(e.h2,{id:"example-3---tasks",children:"Example 3 - Tasks"}),"\n",(0,n.jsx)(e.p,{children:"Example 2 has a problem of not being able to do other things while the lift is running because the code is locked. We can fix this with a task."}),"\n",(0,n.jsx)(e.pre,{children:(0,n.jsx)(e.code,{className:"language-cpp",children:'pros::Motor l_lift(17);\r\npros::Motor r_lift(18);\r\nvoid set_lift(int input) {\r\n l_lift = input;\r\n r_lift = input;\r\n}\r\nPID liftPID{0.45, 0, 0, 0, "Lift"};\r\n\r\n\r\nvoid lift_wait() {\r\n while (liftPID.exit_condition({l_lift, r_lift}, true) == ez::RUNNING) {\r\n pros::delay(ez::util::DELAY_TIME);\r\n }\r\n}\r\n\r\nvoid lift_task() {\r\n pros::delay(2000);\r\n while (true) {\r\n set_lift(liftPID.compute(l_lift.get_position()));\r\n\r\n pros::delay(ez::util::DELAY_TIME);\r\n }\r\n}\r\npros::Task Lift_Task(lift_task);\r\n\r\nvoid initialize() {\r\n l_lift.tare_position();\r\n liftPID.exit_condition_set(80, 50, 300, 150, 500, 500);\r\n}\r\n\r\nvoid autonomous() {\r\n liftPID.target_set(500);\r\n lift_wait();\r\n\r\n pros::delay(1000);\r\n\r\n liftPID.target_set(0);\r\n lift_wait();\r\n}\r\n\r\nvoid opcontrol() {\r\n while (true) {\r\n if (master.get_digital(DIGITAL_L1)) {\r\n liftPID.target_set(500);\r\n }\r\n else if (master.get_digital(DIGITAL_L2)) {\r\n liftPID.target_set(0);\r\n }\r\n\r\n pros::delay(ez::util::DELAY_TIME);\r\n }\r\n}\n'})})]})}function u(t={}){const{wrapper:e}={...(0,r.a)(),...t.components};return e?(0,n.jsx)(e,{...t,children:(0,n.jsx)(d,{...t})}):d(t)}},1151:(t,e,i)=>{i.d(e,{Z:()=>s,a:()=>l});var n=i(7294);const r={},o=n.createContext(r);function l(t){const e=n.useContext(o);return n.useMemo((function(){return"function"==typeof t?t(e):{...e,...t}}),[e,t])}function s(t){let e;return e=t.disableParentContext?"function"==typeof t.components?t.components(r):t.components||r:l(t.components),n.createElement(o.Provider,{value:e},t.children)}}}]); \ No newline at end of file diff --git a/assets/js/bb101773.2469a4e0.js b/assets/js/bb101773.2469a4e0.js new file mode 100644 index 00000000..1c2419d1 --- /dev/null +++ b/assets/js/bb101773.2469a4e0.js @@ -0,0 +1 @@ +"use strict";(self.webpackChunkmy_website=self.webpackChunkmy_website||[]).push([[42],{588:(e,s,n)=>{n.r(s),n.d(s,{assets:()=>c,contentTitle:()=>d,default:()=>h,frontMatter:()=>a,metadata:()=>o,toc:()=>p});var i=n(5893),r=n(1151),t=n(4866),l=n(5162);const a={layout:"default",title:"Autonomous Functions",parent:"Docs",description:"",nav_order:4},d=void 0,o={id:"docs/auton_functions",title:"Autonomous Functions",description:"",source:"@site/ez-template-docs/docs/auton_functions.md",sourceDirName:"docs",slug:"/docs/auton_functions",permalink:"/EZ-Template/next/docs/auton_functions",draft:!1,unlisted:!1,editUrl:"https://github.com/EZ-Robotics/EZ-Template/tree/website/${versionDocsDirPath}/${docPath}/ez-template-docs/docs/auton_functions.md",tags:[],version:"current",frontMatter:{layout:"default",title:"Autonomous Functions",parent:"Docs",description:"",nav_order:4},sidebar:"tutorialSidebar",previous:{title:"Docs",permalink:"/EZ-Template/next/category/docs"},next:{title:"Autonomous Selector",permalink:"/EZ-Template/next/docs/auton_selector"}},c={},p=[{value:"Setter functions",id:"setter-functions",level:2},{value:"pid_drive_set()",id:"pid_drive_set",level:3},{value:"pid_turn_set()",id:"pid_turn_set",level:3},{value:"pid_swing_set()",id:"pid_swing_set",level:3},{value:"pid_targets_reset()",id:"pid_targets_reset",level:3},{value:"set_angle()",id:"set_angle",level:3},{value:"pid_speed_max_set()",id:"pid_speed_max_set",level:3},{value:"set_pid_constants()",id:"set_pid_constants",level:3},{value:"slew_power_min_set()",id:"slew_power_min_set",level:3},{value:"slew_distance_set()",id:"slew_distance_set",level:3},{value:"exit_condition_set()",id:"exit_condition_set",level:3},{value:"pid_swing_min_set()",id:"pid_swing_min_set",level:3},{value:"pid_turn_min_set()",id:"pid_turn_min_set",level:3},{value:"drive_mode_set()",id:"drive_mode_set",level:3},{value:"pid_drive_toggle()",id:"pid_drive_toggle",level:3},{value:"pid_print_toggle()",id:"pid_print_toggle",level:3},{value:"Getter",id:"getter",level:2},{value:"pid_swing_min_get()",id:"pid_swing_min_get",level:3},{value:"pid_turn_min_get()",id:"pid_turn_min_get",level:3},{value:"interfered",id:"interfered",level:3},{value:"drive_mode_get()",id:"drive_mode_get",level:3},{value:"drive_tick_per_inch()",id:"drive_tick_per_inch",level:3},{value:"Misc.",id:"misc",level:2},{value:"pid_wait()",id:"pid_wait",level:3},{value:"pid_wait_until()",id:"pid_wait_until",level:3}];function u(e){const s={admonition:"admonition",br:"br",code:"code",h2:"h2",h3:"h3",p:"p",pre:"pre",...(0,r.a)(),...e.components};return(0,i.jsxs)(i.Fragment,{children:[(0,i.jsx)(s.h2,{id:"setter-functions",children:"Setter functions"}),"\n",(0,i.jsx)(s.h3,{id:"pid_drive_set",children:"pid_drive_set()"}),"\n",(0,i.jsx)(s.p,{children:"Sets the drive to go forward using PID and heading correction."}),"\n",(0,i.jsxs)(s.p,{children:[(0,i.jsx)(s.code,{children:"target"})," is in inches.",(0,i.jsx)(s.br,{}),"\n",(0,i.jsx)(s.code,{children:"speed"})," is -127 to 127. It's recommended to keep this at 110.",(0,i.jsx)(s.br,{}),"\n",(0,i.jsx)(s.code,{children:"slew_on"})," will ramp the drive up.\r\n",(0,i.jsx)(s.code,{children:"toggle_heading"})," will disable heading correction when false."]}),"\n",(0,i.jsxs)(t.Z,{groupId:"examples1",defaultValue:"proto",values:[{label:"Prototype",value:"proto"},{label:"Example",value:"example"}],children:[(0,i.jsx)(l.Z,{value:"example",children:(0,i.jsx)(s.pre,{children:(0,i.jsx)(s.code,{className:"language-cpp",children:"void autonomous() {\r\n chassis.drive_imu_reset(); \r\n chassis.drive_sensor_reset(); \r\n chassis.drive_brake_set(MOTOR_BRAKE_HOLD); \r\n\r\n chassis.pid_drive_set(24, 110, true);\r\n chassis.pid_wait();\r\n}\n"})})}),(0,i.jsx)(l.Z,{value:"proto",children:(0,i.jsx)(s.pre,{children:(0,i.jsx)(s.code,{className:"language-cpp",children:"void pid_drive_set(double target, int speed, bool slew_on = false, bool toggle_heading = true);\n"})})})]}),"\n",(0,i.jsx)(s.h3,{id:"pid_turn_set",children:"pid_turn_set()"}),"\n",(0,i.jsx)(s.p,{children:"Sets the drive to turn using PID."}),"\n",(0,i.jsxs)(s.p,{children:[(0,i.jsx)(s.code,{children:"target"})," is in degrees.",(0,i.jsx)(s.br,{}),"\n",(0,i.jsx)(s.code,{children:"speed"})," is -127 to 127."]}),"\n",(0,i.jsxs)(t.Z,{groupId:"examples2",defaultValue:"proto",values:[{label:"Prototype",value:"proto"},{label:"Example",value:"example"}],children:[(0,i.jsx)(l.Z,{value:"example",children:(0,i.jsx)(s.pre,{children:(0,i.jsx)(s.code,{className:"language-cpp",children:"void autonomous() {\r\n chassis.drive_imu_reset(); \r\n chassis.drive_sensor_reset(); \r\n chassis.drive_brake_set(MOTOR_BRAKE_HOLD); \r\n\r\n chassis.pid_drive_set(24, 110, true);\r\n chassis.pid_wait();\r\n}\n"})})}),(0,i.jsx)(l.Z,{value:"proto",children:(0,i.jsx)(s.pre,{children:(0,i.jsx)(s.code,{className:"language-cpp",children:"void pid_turn_set(double target, int speed);\n"})})})]}),"\n",(0,i.jsx)(s.h3,{id:"pid_swing_set",children:"pid_swing_set()"}),"\n",(0,i.jsx)(s.p,{children:"Sets the robot to swing using PID. The robot will turn using one side of the drive, either the left or right."}),"\n",(0,i.jsxs)(s.p,{children:[(0,i.jsx)(s.code,{children:"type"})," is either ",(0,i.jsx)(s.code,{children:"ez::LEFT_SWING"})," or ",(0,i.jsx)(s.code,{children:"ez::RIGHT_SWING"}),".",(0,i.jsx)(s.br,{}),"\n",(0,i.jsx)(s.code,{children:"target"})," is in degrees.",(0,i.jsx)(s.br,{}),"\n",(0,i.jsx)(s.code,{children:"speed"})," is -127 to 127."]}),"\n",(0,i.jsxs)(t.Z,{groupId:"examples3",defaultValue:"proto",values:[{label:"Prototype",value:"proto"},{label:"Example",value:"example"}],children:[(0,i.jsx)(l.Z,{value:"proto",children:(0,i.jsx)(s.pre,{children:(0,i.jsx)(s.code,{className:"language-cpp",children:"void pid_swing_set(e_swing type, double target, int speed);\n"})})}),(0,i.jsx)(l.Z,{value:"example",children:(0,i.jsx)(s.pre,{children:(0,i.jsx)(s.code,{className:"language-cpp",children:"void autonomous() {\r\n chassis.drive_imu_reset(); \r\n chassis.drive_sensor_reset(); \r\n chassis.drive_brake_set(MOTOR_BRAKE_HOLD); \r\n\r\n chassis.pid_swing_set(ez::LEFT_SWING, 45, 110);\r\n chassis.pid_wait();\r\n\r\n chassis.pid_swing_set(ez::RIGHT_SWING, 0, 110);\r\n chassis.pid_wait();\r\n}\n"})})})]}),"\n",(0,i.jsx)(s.h3,{id:"pid_targets_reset",children:"pid_targets_reset()"}),"\n",(0,i.jsx)(s.p,{children:"Resets all drive PID targets to 0."}),"\n",(0,i.jsxs)(t.Z,{groupId:"examples4",defaultValue:"proto",values:[{label:"Prototype",value:"proto"},{label:"Example",value:"example"}],children:[(0,i.jsx)(l.Z,{value:"example",children:(0,i.jsx)(s.pre,{children:(0,i.jsx)(s.code,{className:"language-cpp",children:"void autonomous() {\r\n chassis.pid_targets_reset(); // Resets PID targets to 0\r\n chassis.drive_imu_reset(); // Reset gyro position to 0\r\n chassis.drive_sensor_reset(); // Reset drive sensors to 0\r\n chassis.drive_brake_set(MOTOR_BRAKE_HOLD); // Set motors to hold. This helps autonomous consistency.\r\n\r\n ez::as::auton_selector.selected_auton_call(); // Calls selected auton from autonomous selector.\r\n}\n"})})}),(0,i.jsx)(l.Z,{value:"proto",children:(0,i.jsx)(s.pre,{children:(0,i.jsx)(s.code,{className:"language-cpp",children:"void pid_targets_reset();\n"})})})]}),"\n",(0,i.jsx)(s.h3,{id:"set_angle",children:"set_angle()"}),"\n",(0,i.jsx)(s.p,{children:"Sets the angle of the robot. This is useful when your robot is setup in at an unconventional angle and you want 0 to be when you're square with the field."}),"\n",(0,i.jsxs)(s.p,{children:[(0,i.jsx)(s.code,{children:"angle"})," angle that the robot will think it's now facing"]}),"\n",(0,i.jsxs)(t.Z,{groupId:"examples5",defaultValue:"proto",values:[{label:"Prototype",value:"proto"},{label:"Example",value:"example"}],children:[(0,i.jsx)(l.Z,{value:"proto",children:(0,i.jsx)(s.pre,{children:(0,i.jsx)(s.code,{className:"language-cpp",children:"void set_angle(double angle);\n"})})}),(0,i.jsx)(l.Z,{value:"example",children:(0,i.jsx)(s.pre,{children:(0,i.jsx)(s.code,{className:"language-cpp",children:"void autonomous() {\r\n chassis.pid_targets_reset(); // Resets PID targets to 0\r\n chassis.drive_imu_reset(); // Reset gyro position to 0\r\n chassis.drive_sensor_reset(); // Reset drive sensors to 0\r\n chassis.drive_brake_set(MOTOR_BRAKE_HOLD); // Set motors to hold. This helps autonomous consistency.\r\n\r\n chassis.set_angle(45);\r\n\r\n chassis.pid_turn_set(0, TURN_SPEED);\r\n chassis.pid_wait();\r\n}\n"})})})]}),"\n",(0,i.jsx)(s.h3,{id:"pid_speed_max_set",children:"pid_speed_max_set()"}),"\n",(0,i.jsx)(s.p,{children:"Sets the max speed of the drive."}),"\n",(0,i.jsxs)(s.p,{children:[(0,i.jsx)(s.code,{children:"speed"})," an integer between -127 and 127."]}),"\n",(0,i.jsxs)(t.Z,{groupId:"examples6",defaultValue:"proto",values:[{label:"Prototype",value:"proto"},{label:"Example",value:"example"}],children:[(0,i.jsx)(l.Z,{value:"example",children:(0,i.jsx)(s.pre,{children:(0,i.jsx)(s.code,{className:"language-cpp",children:"void autonomous() {\r\n chassis.drive_imu_reset(); \r\n chassis.drive_sensor_reset(); \r\n chassis.drive_brake_set(MOTOR_BRAKE_HOLD); \r\n\r\n chassis.pid_drive_set(48, 110);\r\n chassis.pid_wait_until(24);\r\n chassis.pid_speed_max_set(40);\r\n chassis.pid_wait();\r\n}\n"})})}),(0,i.jsx)(l.Z,{value:"proto",children:(0,i.jsx)(s.pre,{children:(0,i.jsx)(s.code,{className:"language-cpp",children:"void pid_speed_max_set(int speed);\n"})})})]}),"\n",(0,i.jsx)(s.h3,{id:"set_pid_constants",children:"set_pid_constants()"}),"\n",(0,i.jsx)(s.admonition,{type:"note",children:(0,i.jsx)(s.p,{children:"Note: this function was changed with 2.0.1"})}),"\n",(0,i.jsx)(s.p,{children:"Set PID constants. Below are the defaults."}),"\n",(0,i.jsxs)(s.p,{children:[(0,i.jsx)(s.code,{children:"pid"})," either ",(0,i.jsx)(s.code,{children:"&chassis.headingPID"}),", ",(0,i.jsx)(s.code,{children:"&chassis.forward_drivePID"}),", ",(0,i.jsx)(s.code,{children:"&chassis.backward_drivePID"}),", ",(0,i.jsx)(s.code,{children:"&chassis.turnPID"}),", or ",(0,i.jsx)(s.code,{children:"&chassis.swingPID"}),(0,i.jsx)(s.br,{}),"\n",(0,i.jsx)(s.code,{children:"p"})," proportion constant",(0,i.jsx)(s.br,{}),"\n",(0,i.jsx)(s.code,{children:"i"})," integral constant\r\n",(0,i.jsx)(s.code,{children:"d"})," derivative constant",(0,i.jsx)(s.br,{}),"\n",(0,i.jsx)(s.code,{children:"p_start_i"})," error needs to be within this for i to start"]}),"\n",(0,i.jsxs)(t.Z,{groupId:"examples7",defaultValue:"proto",values:[{label:"Prototype",value:"proto"},{label:"Example",value:"example"}],children:[(0,i.jsx)(l.Z,{value:"example",children:(0,i.jsx)(s.pre,{children:(0,i.jsx)(s.code,{className:"language-cpp",children:"void initialize() {\r\n chassis.set_pid_constants(&chassis.headingPID, 11, 0, 20, 0);\r\n chassis.set_pid_constants(&chassis.forward_drivePID, 0.45, 0, 5, 0);\r\n chassis.set_pid_constants(&chassis.backward_drivePID, 0.45, 0, 5, 0);\r\n chassis.set_pid_constants(&chassis.turnPID, 5, 0.003, 35, 15;\r\n chassis.set_pid_constants(&chassis.swingPID, 7, 0, 45, 0);\r\n}\n"})})}),(0,i.jsx)(l.Z,{value:"proto",children:(0,i.jsx)(s.pre,{children:(0,i.jsx)(s.code,{className:"language-cpp",children:"void set_pid_constants(PID* pid, double p, double i, double d, double p_start_i);\n"})})})]}),"\n",(0,i.jsx)(s.h3,{id:"slew_power_min_set",children:"slew_power_min_set()"}),"\n",(0,i.jsx)(s.p,{children:"Sets the starting speed for slew, with the ability to have different constants for forward and reverse. Below are the defaults."}),"\n",(0,i.jsxs)(s.p,{children:[(0,i.jsx)(s.code,{children:"fwd"})," integer between -127 and 127\r\n",(0,i.jsx)(s.code,{children:"rev"})," integer between -127 and 127"]}),"\n",(0,i.jsxs)(t.Z,{groupId:"examples8",defaultValue:"proto",values:[{label:"Prototype",value:"proto"},{label:"Example",value:"example"}],children:[(0,i.jsx)(l.Z,{value:"example",children:(0,i.jsx)(s.pre,{children:(0,i.jsx)(s.code,{className:"language-cpp",children:"void initialize() {\r\n chassis.slew_power_min_set(80, 80);\r\n}\n"})})}),(0,i.jsx)(l.Z,{value:"proto",children:(0,i.jsx)(s.pre,{children:(0,i.jsx)(s.code,{className:"language-cpp",children:"void slew_power_min_set(int fwd, int rev);\n"})})})]}),"\n",(0,i.jsx)(s.h3,{id:"slew_distance_set",children:"slew_distance_set()"}),"\n",(0,i.jsx)(s.p,{children:"Sets the distance the drive will slew for, with the ability to have different constants for forward and reverse. Input is inches. Below are the defaults."}),"\n",(0,i.jsxs)(s.p,{children:[(0,i.jsx)(s.code,{children:"fwd"})," a distance in inches",(0,i.jsx)(s.br,{}),"\n",(0,i.jsx)(s.code,{children:"rev"})," a distance in inches"]}),"\n",(0,i.jsxs)(t.Z,{groupId:"examples9",defaultValue:"proto",values:[{label:"Prototype",value:"proto"},{label:"Example",value:"example"}],children:[(0,i.jsx)(l.Z,{value:"example",children:(0,i.jsx)(s.pre,{children:(0,i.jsx)(s.code,{className:"language-cpp",children:"void initialize() {\r\n chassis.set_slew_min_distance(7, 7);\r\n}\n"})})}),(0,i.jsx)(l.Z,{value:"proto",children:(0,i.jsx)(s.pre,{children:(0,i.jsx)(s.code,{className:"language-cpp",children:"void slew_distance_set (int fwd, int rev);\n"})})})]}),"\n",(0,i.jsx)(s.h3,{id:"exit_condition_set",children:"exit_condition_set()"}),"\n",(0,i.jsx)(s.p,{children:"Sets the exit condition constants. This uses the exit conditions from the PID class. Below are the defaults."}),"\n",(0,i.jsxs)(s.p,{children:[(0,i.jsx)(s.code,{children:"type"})," either ",(0,i.jsx)(s.code,{children:"chassis.turn_exit"}),", ",(0,i.jsx)(s.code,{children:"chassis.swing_exit"}),", or ",(0,i.jsx)(s.code,{children:"chassis.drive_exit"}),(0,i.jsx)(s.br,{}),"\n",(0,i.jsx)(s.code,{children:"p_small_exit_time"})," time, in ms, before exiting ",(0,i.jsx)(s.code,{children:"p_small_error"}),(0,i.jsx)(s.br,{}),"\n",(0,i.jsx)(s.code,{children:"p_small_error"})," small error threshold",(0,i.jsx)(s.br,{}),"\n",(0,i.jsx)(s.code,{children:"p_big_exit_time"})," time, in ms, before exiting ",(0,i.jsx)(s.code,{children:"p_big_error"}),(0,i.jsx)(s.br,{}),"\n",(0,i.jsx)(s.code,{children:"p_big_error"})," big error threshold",(0,i.jsx)(s.br,{}),"\n",(0,i.jsx)(s.code,{children:"p_velocity_exit_time"})," time, in ms, for velocity to be 0",(0,i.jsx)(s.br,{}),"\n",(0,i.jsx)(s.code,{children:"p_mA_timeout"})," time, in ms, for ",(0,i.jsx)(s.code,{children:"is_over_current"})," to be true"]}),"\n",(0,i.jsxs)(t.Z,{groupId:"examples10",defaultValue:"proto",values:[{label:"Prototype",value:"proto"},{label:"Example",value:"example"}],children:[(0,i.jsx)(l.Z,{value:"example",children:(0,i.jsx)(s.pre,{children:(0,i.jsx)(s.code,{className:"language-cpp",children:"void initialize() {\r\n chassis.exit_condition_set(chassis.turn_exit, 100, 3, 500, 7, 500, 500);\r\n chassis.exit_condition_set(chassis.swing_exit, 100, 3, 500, 7, 500, 500);\r\n chassis.exit_condition_set(chassis.drive_exit, 80, 50, 300, 150, 500, 500);\r\n}\n"})})}),(0,i.jsx)(l.Z,{value:"proto",children:(0,i.jsx)(s.pre,{children:(0,i.jsx)(s.code,{className:"language-cpp",children:"void exit_condition_set(exit_condition_ &type, int p_small_exit_time, double p_small_error, int p_big_exit_time, double p_big_error, int p_velocity_exit_time, int p_mA_timeout);\n"})})})]}),"\n",(0,i.jsx)(s.h3,{id:"pid_swing_min_set",children:"pid_swing_min_set()"}),"\n",(0,i.jsxs)(s.p,{children:["Sets the max power of the drive when the robot is within ",(0,i.jsx)(s.code,{children:"start_i"}),". This only enables when ",(0,i.jsx)(s.code,{children:"i"})," is enabled, and when the movement is greater then ",(0,i.jsx)(s.code,{children:"start_i"}),"."]}),"\n",(0,i.jsxs)(s.p,{children:[(0,i.jsx)(s.code,{children:"min"})," the minimum speed the robot will turn at when integral is being used"]}),"\n",(0,i.jsxs)(t.Z,{groupId:"examples11",defaultValue:"proto",values:[{label:"Prototype",value:"proto"},{label:"Example",value:"example"}],children:[(0,i.jsx)(l.Z,{value:"example",children:(0,i.jsx)(s.pre,{children:(0,i.jsx)(s.code,{className:"language-cpp",children:"void autonomous() {\r\n chassis.pid_swing_min_set(30);\r\n\r\n chassis.pid_swing_set(45, 110);\r\n chassis.pid_wait();\r\n}\n"})})}),(0,i.jsx)(l.Z,{value:"proto",children:(0,i.jsx)(s.pre,{children:(0,i.jsx)(s.code,{className:"language-cpp",children:"void pid_swing_min_set(int min);\n"})})})]}),"\n",(0,i.jsx)(s.h3,{id:"pid_turn_min_set",children:"pid_turn_min_set()"}),"\n",(0,i.jsxs)(s.p,{children:["Sets the max power of the drive when the robot is within ",(0,i.jsx)(s.code,{children:"start_i"}),". This only enables when ",(0,i.jsx)(s.code,{children:"i"})," is enabled, and when the movement is greater then ",(0,i.jsx)(s.code,{children:"start_i"}),"."]}),"\n",(0,i.jsxs)(s.p,{children:[(0,i.jsx)(s.code,{children:"min"})," the minimum speed the robot will turn at when integral is being used"]}),"\n",(0,i.jsxs)(t.Z,{groupId:"examples12",defaultValue:"proto",values:[{label:"Prototype",value:"proto"},{label:"Example",value:"example"}],children:[(0,i.jsx)(l.Z,{value:"example",children:(0,i.jsx)(s.pre,{children:(0,i.jsx)(s.code,{className:"language-cpp",children:"void autonomous() {\r\n chassis.pid_turn_min_set(30);\r\n\r\n chassis.pid_turn_set(45, 110);\r\n chassis.pid_wait();\r\n}\n"})})}),(0,i.jsx)(l.Z,{value:"proto",children:(0,i.jsx)(s.pre,{children:(0,i.jsx)(s.code,{className:"language-cpp",children:"void pid_turn_min_set(int min);\n"})})})]}),"\n",(0,i.jsx)(s.h3,{id:"drive_mode_set",children:"drive_mode_set()"}),"\n",(0,i.jsx)(s.p,{children:"Sets the current mode of the drive."}),"\n",(0,i.jsxs)(s.p,{children:[(0,i.jsx)(s.code,{children:"p_mode"})," the current task running for the drive. accepts ",(0,i.jsx)(s.code,{children:"ez::DISABLE"}),", ",(0,i.jsx)(s.code,{children:"ez::SWING"}),", ",(0,i.jsx)(s.code,{children:"ez::TURN"}),", ",(0,i.jsx)(s.code,{children:"ez::DRIVE"})]}),"\n",(0,i.jsxs)(t.Z,{groupId:"examples13",defaultValue:"proto",values:[{label:"Prototype",value:"proto"},{label:"Example",value:"example"}],children:[(0,i.jsx)(l.Z,{value:"example",children:(0,i.jsx)(s.pre,{children:(0,i.jsx)(s.code,{className:"language-cpp",children:"void autonomous() {\r\n chassis.pid_drive_set(12, DRIVE_SPEED);\r\n chassis.pid_wait();\r\n\r\n chassis.drive_mode_set(ez::DISABLE); // Disable drive\r\n\r\n chassis.drive_set(-127, -127); // Run drive motors myself\r\n pros::delay(2000);\r\n chassis.drive_set(0, 0);\r\n}\n"})})}),(0,i.jsx)(l.Z,{value:"proto",children:(0,i.jsx)(s.pre,{children:(0,i.jsx)(s.code,{className:"language-cpp",children:"void drive_mode_set(e_mode p_mode);\n"})})})]}),"\n",(0,i.jsx)(s.h3,{id:"pid_drive_toggle",children:"pid_drive_toggle()"}),"\n",(0,i.jsx)(s.p,{children:"Enables/disables the drive from moving in autonomous. 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e.languages.kotlin["class-name"];var t={"interpolation-punctuation":{pattern:/^\$\{?|\}$/,alias:"punctuation"},expression:{pattern:/[\s\S]+/,inside:e.languages.kotlin}};e.languages.insertBefore("kotlin","string",{"string-literal":[{pattern:/"""(?:[^$]|\$(?:(?!\{)|\{[^{}]*\}))*?"""/,alias:"multiline",inside:{interpolation:{pattern:/\$(?:[a-z_]\w*|\{[^{}]*\})/i,inside:t},string:/[\s\S]+/}},{pattern:/"(?:[^"\\\r\n$]|\\.|\$(?:(?!\{)|\{[^{}]*\}))*"/,alias:"singleline",inside:{interpolation:{pattern:/((?:^|[^\\])(?:\\{2})*)\$(?:[a-z_]\w*|\{[^{}]*\})/i,lookbehind:!0,inside:t},string:/[\s\S]+/}}],char:{pattern:/'(?:[^'\\\r\n]|\\(?:.|u[a-fA-F0-9]{0,4}))'/,greedy:!0}}),delete e.languages.kotlin.string,e.languages.insertBefore("kotlin","keyword",{annotation:{pattern:/\B@(?:\w+:)?(?:[A-Z]\w*|\[[^\]]+\])/,alias:"builtin"}}),e.languages.insertBefore("kotlin","function",{label:{pattern:/\b\w+@|@\w+\b/,alias:"symbol"}}),e.languages.kt=e.languages.kotlin,e.languages.kts=e.languages.kotlin}(C),C.languages.c=C.languages.extend("clike",{comment:{pattern:/\/\/(?:[^\r\n\\]|\\(?:\r\n?|\n|(?![\r\n])))*|\/\*[\s\S]*?(?:\*\/|$)/,greedy:!0},string:{pattern:/"(?:\\(?:\r\n|[\s\S])|[^"\\\r\n])*"/,greedy:!0},"class-name":{pattern:/(\b(?:enum|struct)\s+(?:__attribute__\s*\(\([\s\S]*?\)\)\s*)?)\w+|\b[a-z]\w*_t\b/,lookbehind:!0},keyword:/\b(?:_Alignas|_Alignof|_Atomic|_Bool|_Complex|_Generic|_Imaginary|_Noreturn|_Static_assert|_Thread_local|__attribute__|asm|auto|break|case|char|const|continue|default|do|double|else|enum|extern|float|for|goto|if|inline|int|long|register|return|short|signed|sizeof|static|struct|switch|typedef|typeof|union|unsigned|void|volatile|while)\b/,function:/\b[a-z_]\w*(?=\s*\()/i,number:/(?:\b0x(?:[\da-f]+(?:\.[\da-f]*)?|\.[\da-f]+)(?:p[+-]?\d+)?|(?:\b\d+(?:\.\d*)?|\B\.\d+)(?:e[+-]?\d+)?)[ful]{0,4}/i,operator:/>>=?|<<=?|->|([-+&|:])\1|[?:~]|[-+*/%&|^!=<>]=?/}),C.languages.insertBefore("c","string",{char:{pattern:/'(?:\\(?:\r\n|[\s\S])|[^'\\\r\n]){0,32}'/,greedy:!0}}),C.languages.insertBefore("c","string",{macro:{pattern:/(^[\t 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C.languages.c.boolean,C.languages.objectivec=C.languages.extend("c",{string:{pattern:/@?"(?:\\(?:\r\n|[\s\S])|[^"\\\r\n])*"/,greedy:!0},keyword:/\b(?:asm|auto|break|case|char|const|continue|default|do|double|else|enum|extern|float|for|goto|if|in|inline|int|long|register|return|self|short|signed|sizeof|static|struct|super|switch|typedef|typeof|union|unsigned|void|volatile|while)\b|(?:@interface|@end|@implementation|@protocol|@class|@public|@protected|@private|@property|@try|@catch|@finally|@throw|@synthesize|@dynamic|@selector)\b/,operator:/-[->]?|\+\+?|!=?|<<?=?|>>?=?|==?|&&?|\|\|?|[~^%?*\/@]/}),delete C.languages.objectivec["class-name"],C.languages.objc=C.languages.objectivec,C.languages.reason=C.languages.extend("clike",{string:{pattern:/"(?:\\(?:\r\n|[\s\S])|[^\\\r\n"])*"/,greedy:!0},"class-name":/\b[A-Z]\w*/,keyword:/\b(?:and|as|assert|begin|class|constraint|do|done|downto|else|end|exception|external|for|fun|function|functor|if|in|include|inherit|initializer|lazy|let|method|module|mutable|new|nonrec|object|of|open|or|private|rec|sig|struct|switch|then|to|try|type|val|virtual|when|while|with)\b/,operator:/\.{3}|:[:=]|\|>|->|=(?:==?|>)?|<=?|>=?|[|^?'#!~`]|[+\-*\/]\.?|\b(?:asr|land|lor|lsl|lsr|lxor|mod)\b/}),C.languages.insertBefore("reason","class-name",{char:{pattern:/'(?:\\x[\da-f]{2}|\\o[0-3][0-7][0-7]|\\\d{3}|\\.|[^'\\\r\n])'/,greedy:!0},constructor:/\b[A-Z]\w*\b(?!\s*\.)/,label:{pattern:/\b[a-z]\w*(?=::)/,alias:"symbol"}}),delete C.languages.reason.function,function(e){for(var t=/\/\*(?:[^*/]|\*(?!\/)|\/(?!\*)|<self>)*\*\//.source,n=0;n<2;n++)t=t.replace(/<self>/g,(function(){return t}));t=t.replace(/<self>/g,(function(){return/[^\s\S]/.source})),e.languages.rust={comment:[{pattern:RegExp(/(^|[^\\])/.source+t),lookbehind:!0,greedy:!0},{pattern:/(^|[^\\:])\/\/.*/,lookbehind:!0,greedy:!0}],string:{pattern:/b?"(?:\\[\s\S]|[^\\"])*"|b?r(#*)"(?:[^"]|"(?!\1))*"\1/,greedy:!0},char:{pattern:/b?'(?:\\(?:x[0-7][\da-fA-F]|u\{(?:[\da-fA-F]_*){1,6}\}|.)|[^\\\r\n\t'])'/,greedy:!0},attribute:{pattern:/#!?\[(?:[^\[\]"]|"(?:\\[\s\S]|[^\\"])*")*\]/,greedy:!0,alias:"attr-name",inside:{string:null}},"closure-params":{pattern:/([=(,:]\s*|\bmove\s*)\|[^|]*\||\|[^|]*\|(?=\s*(?:\{|->))/,lookbehind:!0,greedy:!0,inside:{"closure-punctuation":{pattern:/^\||\|$/,alias:"punctuation"},rest:null}},"lifetime-annotation":{pattern:/'\w+/,alias:"symbol"},"fragment-specifier":{pattern:/(\$\w+:)[a-z]+/,lookbehind:!0,alias:"punctuation"},variable:/\$\w+/,"function-definition":{pattern:/(\bfn\s+)\w+/,lookbehind:!0,alias:"function"},"type-definition":{pattern:/(\b(?:enum|struct|trait|type|union)\s+)\w+/,lookbehind:!0,alias:"class-name"},"module-declaration":[{pattern:/(\b(?:crate|mod)\s+)[a-z][a-z_\d]*/,lookbehind:!0,alias:"namespace"},{pattern:/(\b(?:crate|self|super)\s*)::\s*[a-z][a-z_\d]*\b(?:\s*::(?:\s*[a-z][a-z_\d]*\s*::)*)?/,lookbehind:!0,alias:"namespace",inside:{punctuation:/::/}}],keyword:[/\b(?:Self|abstract|as|async|await|become|box|break|const|continue|crate|do|dyn|else|enum|extern|final|fn|for|if|impl|in|let|loop|macro|match|mod|move|mut|override|priv|pub|ref|return|self|static|struct|super|trait|try|type|typeof|union|unsafe|unsized|use|virtual|where|while|yield)\b/,/\b(?:bool|char|f(?:32|64)|[ui](?:8|16|32|64|128|size)|str)\b/],function:/\b[a-z_]\w*(?=\s*(?:::\s*<|\())/,macro:{pattern:/\b\w+!/,alias:"property"},constant:/\b[A-Z_][A-Z_\d]+\b/,"class-name":/\b[A-Z]\w*\b/,namespace:{pattern:/(?:\b[a-z][a-z_\d]*\s*::\s*)*\b[a-z][a-z_\d]*\s*::(?!\s*<)/,inside:{punctuation:/::/}},number:/\b(?:0x[\dA-Fa-f](?:_?[\dA-Fa-f])*|0o[0-7](?:_?[0-7])*|0b[01](?:_?[01])*|(?:(?:\d(?:_?\d)*)?\.)?\d(?:_?\d)*(?:[Ee][+-]?\d+)?)(?:_?(?:f32|f64|[iu](?:8|16|32|64|size)?))?\b/,boolean:/\b(?:false|true)\b/,punctuation:/->|\.\.=|\.{1,3}|::|[{}[\];(),:]/,operator:/[-+*\/%!^]=?|=[=>]?|&[&=]?|\|[|=]?|<<?=?|>>?=?|[@?]/},e.languages.rust["closure-params"].inside.rest=e.languages.rust,e.languages.rust.attribute.inside.string=e.languages.rust.string}(C),C.languages.go=C.languages.extend("clike",{string:{pattern:/(^|[^\\])"(?:\\.|[^"\\\r\n])*"|`[^`]*`/,lookbehind:!0,greedy:!0},keyword:/\b(?:break|case|chan|const|continue|default|defer|else|fallthrough|for|func|go(?:to)?|if|import|interface|map|package|range|return|select|struct|switch|type|var)\b/,boolean:/\b(?:_|false|iota|nil|true)\b/,number:[/\b0(?:b[01_]+|o[0-7_]+)i?\b/i,/\b0x(?:[a-f\d_]+(?:\.[a-f\d_]*)?|\.[a-f\d_]+)(?:p[+-]?\d+(?:_\d+)*)?i?(?!\w)/i,/(?:\b\d[\d_]*(?:\.[\d_]*)?|\B\.\d[\d_]*)(?:e[+-]?[\d_]+)?i?(?!\w)/i],operator:/[*\/%^!=]=?|\+[=+]?|-[=-]?|\|[=|]?|&(?:=|&|\^=?)?|>(?:>=?|=)?|<(?:<=?|=|-)?|:=|\.\.\./,builtin:/\b(?:append|bool|byte|cap|close|complex|complex(?:64|128)|copy|delete|error|float(?:32|64)|u?int(?:8|16|32|64)?|imag|len|make|new|panic|print(?:ln)?|real|recover|rune|string|uintptr)\b/}),C.languages.insertBefore("go","string",{char:{pattern:/'(?:\\.|[^'\\\r\n]){0,10}'/,greedy:!0}}),delete 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plugin-id-default docs-version-current docs-doc-page" data-has-hydrated="false"> +<html lang="en" dir="ltr" class="docs-wrapper plugin-docs plugin-id-default docs-version-2.x docs-doc-page" data-has-hydrated="false"> <head> <meta charset="UTF-8"> <meta name="generator" content="Docusaurus v3.0.0"> -<title data-rh="true">Docs | EZ-Template - - +Docs | EZ-Template + + -

Docs

Documentation for functions used in EZ-Template

+
Version: 2.x

Docs

Documentation for functions used in EZ-Template

\ No newline at end of file diff --git a/category/tutorials.html b/category/tutorials.html index ca8aa15d..29fb64de 100644 --- a/category/tutorials.html +++ b/category/tutorials.html @@ -1,13 +1,13 @@ - + -Tutorials | EZ-Template - - +Tutorials | EZ-Template + + -

Tutorials

Tutorials for how to use EZ-Template

+
Version: 2.x

Tutorials

Tutorials for how to use EZ-Template

\ No newline at end of file diff --git a/index.html b/index.html index d1253209..1d76a07a 100644 --- a/index.html +++ b/index.html @@ -1,17 +1,18 @@ - + -Getting Started | EZ-Template - - +EZ-Template | EZ-Template + + -

Getting Started

+

Version: 2.x

EZ-Template

License: MPL 2.0

-

EZ-Template is a simple plug-and-play PROS template that handles drive base functions, autonomous selector, input curves, and active brake with PTO support.

+

EZ-Template is a simple plug-and-play PROS template that handles drive base functions, autonomous selector, input curves, and active brake with PTO support. +

Features​

+
\ No newline at end of file diff --git a/next.html b/next.html new file mode 100644 index 00000000..70bea287 --- /dev/null +++ b/next.html @@ -0,0 +1,54 @@ + + + + + +EZ-Template | EZ-Template + + + + +
Version: 3.0.0-RC1

EZ-Template

+ +License: MPL 2.0

+

EZ-Template is a simple plug-and-play PROS template that handles drive base functions, autonomous selector, input curves, and active brake with PTO support. +

+

Features​

+
    +
  • Simple to setup
    • +
  • PID for driving, turning, and swing turns
    • +
  • Speed ramp-up for driving
    • +
  • Asynchronous PID with blocking functions until settled and until a specific position has come
    • +
  • Joystick input curves
    • +
  • Live adjustment of input curves
    • +
  • Basic autonomous selector
    • +
  • SD card saving of autonomous selector and joystick curves
    • +
  • "Tug of war" detection for autonomous
    • +
  • PID exit conditions for when drive motors overheat
    • +
  • Tank drive, single stick arcade, and dual stick arcade
    • +
  • Loading animation during IMU calibration
    • +
  • 3 wire encoder and rotation sensor support
    • +
  • Add / remove motors from the drive dynamically to allow for PTO use
    • +
  • Exposed PID class for use with your other subsystems
    • +
+

Installation​

+
    +
  1. Download the latest example project here. Extract the zip, and open it in PROS.
    2. +
  2. In src/main.cpp, configure drive and IMU ports to what they are on your robot. Be sure to read the comments!
    3. +
  3. Configure your wheel size and cartridge. Remember that older 4" omni wheels without mounting holes are actually 4.125!
    4. +
  4. In src/main.cpp, at the bottom in void opcontrol(), decide how you'd like to control your robot! Any flavor of arcade or tank!
    5. +
  5. Turn the robot on and use it in driver control. Make sure the ports are correct and reversed correctly!
    6. +
  6. To test the test autonomous modes, plug into a competition switch and select the autonomous mode on the brain screen by pressing the left and right buttons! The current page will be the autonomous that runs. For making new autonomous routines, click here for examples on how to use the drive functions.
    7. +
+

Upgrading​

+
warning

This only works for 2.0.0 and beyond. You cannot upgrade from 1.x to 2.x, or 2.x to 3.x.

+
    +
  1. Download the most recent EZ-Template here.
    2. +
  2. Move the file to your project.
    3. +
  3. Open terminal or command prompt, and cd into your projects directory.
    4. +
  4. Run this command from terminal prosv5 c fetch EZ-Template@x.x.x..zip replacing x.x.x with the version number of your file.
    5. +
  5. Apply the library to the project prosv5 c apply EZ-Template.
    6. +
  6. Put #include "EZ-Template/api.hpp" in your include/main.h.
    7. +
+ + \ No newline at end of file diff --git a/next/category/docs.html b/next/category/docs.html new file mode 100644 index 00000000..6aa779d7 --- /dev/null +++ b/next/category/docs.html @@ -0,0 +1,13 @@ + + + + + +Docs | EZ-Template + + + + +
Version: 3.0.0-RC1

Docs

Documentation for functions used in EZ-Template

+ + \ No newline at end of file diff --git a/next/category/tutorials.html b/next/category/tutorials.html new file mode 100644 index 00000000..29796b9c --- /dev/null +++ b/next/category/tutorials.html @@ -0,0 +1,13 @@ + + + + + +Tutorials | EZ-Template + + + + +
Version: 3.0.0-RC1

Tutorials

Tutorials for how to use EZ-Template

+ + \ No newline at end of file diff --git a/next/docs/auton_functions.html b/next/docs/auton_functions.html new file mode 100644 index 00000000..f58bac50 --- /dev/null +++ b/next/docs/auton_functions.html @@ -0,0 +1,115 @@ + + + + + +Autonomous Functions | EZ-Template + + + + +
Version: 3.0.0-RC1

Autonomous Functions

Setter functions​

+

pid_drive_set()​

+

Sets the drive to go forward using PID and heading correction.

+

target is in inches.
+speed is -127 to 127. It's recommended to keep this at 110.
+slew_on will ramp the drive up. +toggle_heading will disable heading correction when false.

+
void pid_drive_set(double target, int speed, bool slew_on = false, bool toggle_heading = true);
+

pid_turn_set()​

+

Sets the drive to turn using PID.

+

target is in degrees.
+speed is -127 to 127.

+
void pid_turn_set(double target, int speed);
+

pid_swing_set()​

+

Sets the robot to swing using PID. The robot will turn using one side of the drive, either the left or right.

+

type is either ez::LEFT_SWING or ez::RIGHT_SWING.
+target is in degrees.
+speed is -127 to 127.

+
void pid_swing_set(e_swing type, double target, int speed);
+

pid_targets_reset()​

+

Resets all drive PID targets to 0.

+
void pid_targets_reset();
+

set_angle()​

+

Sets the angle of the robot. This is useful when your robot is setup in at an unconventional angle and you want 0 to be when you're square with the field.

+

angle angle that the robot will think it's now facing

+
void set_angle(double angle);
+

pid_speed_max_set()​

+

Sets the max speed of the drive.

+

speed an integer between -127 and 127.

+
void pid_speed_max_set(int speed);
+

set_pid_constants()​

+
note

Note: this function was changed with 2.0.1

+

Set PID constants. Below are the defaults.

+

pid either &chassis.headingPID, &chassis.forward_drivePID, &chassis.backward_drivePID, &chassis.turnPID, or &chassis.swingPID
+p proportion constant
+i integral constant +d derivative constant
+p_start_i error needs to be within this for i to start

+
void set_pid_constants(PID* pid, double p, double i, double d, double p_start_i);
+

slew_power_min_set()​

+

Sets the starting speed for slew, with the ability to have different constants for forward and reverse. Below are the defaults.

+

fwd integer between -127 and 127 +rev integer between -127 and 127

+
void slew_power_min_set(int fwd, int rev);
+

slew_distance_set()​

+

Sets the distance the drive will slew for, with the ability to have different constants for forward and reverse. Input is inches. Below are the defaults.

+

fwd a distance in inches
+rev a distance in inches

+
void slew_distance_set (int fwd, int rev);
+

exit_condition_set()​

+

Sets the exit condition constants. This uses the exit conditions from the PID class. Below are the defaults.

+

type either chassis.turn_exit, chassis.swing_exit, or chassis.drive_exit
+p_small_exit_time time, in ms, before exiting p_small_error
+p_small_error small error threshold
+p_big_exit_time time, in ms, before exiting p_big_error
+p_big_error big error threshold
+p_velocity_exit_time time, in ms, for velocity to be 0
+p_mA_timeout time, in ms, for is_over_current to be true

+
void exit_condition_set(exit_condition_ &type, int p_small_exit_time, double p_small_error, int p_big_exit_time, double p_big_error, int p_velocity_exit_time, int p_mA_timeout);
+

pid_swing_min_set()​

+

Sets the max power of the drive when the robot is within start_i. This only enables when i is enabled, and when the movement is greater then start_i.

+

min the minimum speed the robot will turn at when integral is being used

+
void pid_swing_min_set(int min);
+

pid_turn_min_set()​

+

Sets the max power of the drive when the robot is within start_i. This only enables when i is enabled, and when the movement is greater then start_i.

+

min the minimum speed the robot will turn at when integral is being used

+
void pid_turn_min_set(int min);
+

drive_mode_set()​

+

Sets the current mode of the drive.

+

p_mode the current task running for the drive. accepts ez::DISABLE, ez::SWING, ez::TURN, ez::DRIVE

+
void drive_mode_set(e_mode p_mode);
+

pid_drive_toggle()​

+

Enables/disables the drive from moving in autonomous. This is useful for debugging and checking PID variables.

+

toggle true enables the drive, false disables the drive

+
void pid_drive_toggle(bool toggle);
+

pid_print_toggle()​

+

Enables/disables the drive functions printing every drive motion. This is useful when you're debugging something and don't want terminal cluttered.

+

toggle true enables printing, false disables

+
void pid_print_toggle(bool toggle);
+

Getter​

+

pid_swing_min_get()​

+

Returns the minimum power the robot will swing at while integral is enabled.

+
int pid_swing_min_get();
+

pid_turn_min_get()​

+

Returns the minimum power the robot will turn at while integral is enabled.

+
int pid_turn_min_get();
+

interfered​

+

Boolean that returns true when pid_wait() or pid_wait_until() exit with velocity or is_over_current. This can be used to detect unwanted motion and stop the drive motors from overheating during autonomous.

+
bool interfered = false;
+

drive_mode_get()​

+

Returns the current drive mode that the task is running. Returns ez::DISABLE, ez::SWING, ez::TURN, ez::DRIVE.

+
e_mode drive_mode_get();
+

drive_tick_per_inch()​

+

Returns the conversion between raw sensor value and inches.

+
double drive_tick_per_inch();
+

Misc.​

+

pid_wait()​

+

Locks the code in place until the drive has settled. This uses the exit conditions from the PID class.

+
void pid_wait();
+

pid_wait_until()​

+

Locks the code in place until the drive has passed the input parameter. This uses the exit conditions from the PID class.

+

target the distance the robot needs to travel before unlocking the code

+
void pid_wait_until(double target);
+ + \ No newline at end of file diff --git a/next/docs/auton_selector.html b/next/docs/auton_selector.html new file mode 100644 index 00000000..b8646f03 --- /dev/null +++ b/next/docs/auton_selector.html @@ -0,0 +1,40 @@ + + + + + +Autonomous Selector | EZ-Template + + + + +
Version: 3.0.0-RC1

Autonomous Selector

+

initialize()​

+

Initializes the autonomous selector. If an SD card is plugged in, the current page will set to what's on the SD card.

+
void initialize();
+

limit_switch_lcd_initialize()​

+

Sets external buttons to increase/decrease the current autonomous page.

+

right_limit a button to go forward a page +left_limit a button to go backwards a page

+
void limit_switch_lcd_initialize(pros::ADIDigitalIn* right_limit, pros::ADIDigitalIn* left_limit = nullptr);
+

shutdown()​

+

Wrapper for pros::lcd::shutdown() found here.

+
void shutdown();
+

autons_add();​

+

Adds autonomous routines to the autonomous selector. Uses ez::print_to_screen() to display to the brain.

+

autons accepts an object of a string and a function

+
void autons_add(std::vector<Auton> autons);
+

selected_auton_print();​

+

Prints the current autonomous mode to the screen.

+
void selected_auton_print();
+

page_down()​

+

Decreases the page number. Best used with the lcd callback functions.

+
void page_down();
+

page_up()​

+

Increases the page number. Best used with the lcd callback functions

+
void page_down();
void page_up();
+

selected_auton_call()​

+

Runs the current autonomous that's selected.

+
void selected_auton_call();
+ + \ No newline at end of file diff --git a/next/docs/constructor.html b/next/docs/constructor.html new file mode 100644 index 00000000..5316345e --- /dev/null +++ b/next/docs/constructor.html @@ -0,0 +1,56 @@ + + + + + +Drive Constructors | EZ-Template + + + + +
Version: 3.0.0-RC1

Drive Constructors

Integrated Encoders​

+

This is the standard setup that uses built in motor encoders.

+

left_motor_ports a vector of left motor ports, negative reverses the port. first motor is used for sensing +right_motor_ports a vector of right motor ports, negative reverses the port. first motor is used for sensing +imu_port the port an imu is in +wheel_diameter diameter of your drive wheel +ticks cartridge rpm +ratio external ratio of your drive. should be wheel gear / motor gear

+
Drive(std::vector<int> left_motor_ports, std::vector<int> right_motor_ports, int imu_port, 
double wheel_diameter, double ticks, double ratio);
+

ADI Encoders in Brain​

+

Only supports parallel trackers.

+

left_motor_ports a vector of left motor ports, negative reverses the port +right_motor_ports a vector of right motor ports, negative reverses the port +imu_port the port an imu is in +wheel_diameter diameter of your tracking wheel +ticks ticks per rotation of your sensor. 360 if using ADI quadrature encoders +ratio external ratio of your tracking wheel. should be wheel gear / motor gear +left_tracker_ports vector of left tracker ports, negative will reverse the encoder +right_tracker_ports vector of right tracker ports, negative will reverse the encoder

+
Drive(std::vector<int> left_motor_ports, std::vector<int> right_motor_ports, int imu_port, 
double wheel_diameter, double ticks, double ratio, std::vector<int> left_tracker_ports,
std::vector<int> right_tracker_ports);
+

ADI Encoders in Expander​

+

Only supports parallel trackers.

+

left_motor_ports a vector of left motor ports, negative reverses the port +right_motor_ports a vector of right motor ports, negative reverses the port +imu_port the port an imu is in +wheel_diameter diameter of your tracking wheel +ticks ticks per rotation of your sensor. 360 if using ADI quadrature encoders +ratio external ratio of your tracking wheel. should be wheel gear / motor gear +left_tracker_ports vector of left tracker ports, negative will reverse the encoder +right_tracker_ports vector of right tracker ports, negative will reverse the encoder +expander_smart_port port of the 3 wire expander

+
Drive(std::vector<int> left_motor_ports, std::vector<int> right_motor_ports, int imu_port, 
double wheel_diameter, double ticks, double ratio, std::vector<int> left_tracker_ports, 
std::vector<int> right_tracker_ports, int expander_smart_port);
+

Rotation Sensor​

+
warning

Note: smart encoders might not work as intended as of of 2.0.0

+

Only supports parallel trackers.

+

left_motor_ports a vector of left motor ports, negative reverses the port +right_motor_ports a vector of right motor ports, negative reverses the port +imu_port the port an imu is in +wheel_diameter diameter of your tracking wheel +ticks ticks per rotation of your sensor. 360 if using ADI quadrature encoders +ratio external ratio of your tracking wheel. should be wheel gear / motor gear +left_rotation_port port for left rotation sensor, negative reverses the port +right_rotation_port port for right rotation sensor, negative reverses the port

+
Drive(std::vector<int> left_motor_ports, std::vector<int> right_motor_ports, int imu_port, 
double wheel_diameter, double ratio, int left_rotation_port, int right_rotation_port);
+ + \ No newline at end of file diff --git a/next/docs/pid.html b/next/docs/pid.html new file mode 100644 index 00000000..eeabd02c --- /dev/null +++ b/next/docs/pid.html @@ -0,0 +1,67 @@ + + + + + +PID | EZ-Template + + + + +
Version: 3.0.0-RC1

PID

Constructors​

+

PID()​

+

Creates a PID object with constants. Everything past kP has a default starting value, so you can just put kP.

+

p kP
+i kI
+d kD
+p_start_i i will start when error is within this +name a string for the name of the PID

+
PID(double p, double i = 0, double d = 0, double start_i = 0, std::string name = "");
+

Functions​

+

constants_set()​

+

Sets PID constants.

+

p kP
+i kI
+d kD
+p_start_i i will start when error is within this

+
void constants_set(double p, double i = 0, double d = 0, double p_start_i = 0);
+

target_set()​

+

Sets PID target.

+

target the goal position for your subsystem

+
void target_set(double input);
+

exit_condition_set()​

+

Sets the exit condition constants. To disable one of the conditions, set the constants relating to it to 0.

+

p_small_exit_time time, in ms, before exiting p_small_error
+p_small_error small error threshold
+p_big_exit_time time, in ms, before exiting p_big_error
+p_big_error big error threshold
+p_velocity_exit_time time, in ms, for velocity to be 0
+p_mA_timeout time, in ms, for is_over_current to be true

+
void exit_condition_set(int p_small_exit_time, double p_small_error, int p_big_exit_time = 0, double p_big_error = 0, int p_velocity_exit_time = 0, int p_mA_timeout = 0);
+

name_set()​

+

A string that prints when exit conditions are met. When you have multiple mechanisms using exit conditions and you're debugging, seeing which exit condition is doing what can be useful.

+

name a string for the name of the PID

+
void name_set(std::string name);
+

compute()​

+

Computes PID.

+

current the current sensor value for the subsystem

+
double compute(double current);
+

Exit Conditions​

+

Exit conditions are a series of things that need to happen for you to know your subsystem has arrived at the desired target.

+

exit_output​

+

The .exit_condition() function can return any of the following variables depending on what triggered it to exit.

+
enum exit_output { RUNNING = 1,
                   SMALL_EXIT = 2,
                   BIG_EXIT = 3,
                   VELOCITY_EXIT = 4,
                   mA_EXIT = 5,
                   ERROR_NO_CONSTANTS = 6 };
+

No Motor​

+

Exit conditions without a motor will check if the error is small for X amount of time, if error is a little bigger for Y amount of time, or if velocity is 0 for Z amount of time, if you have constants enabled for them in exit_condition_set().

+

Outputs one of the exit_output states. This exit condition checks small_error, big_error and velocity if they are enabled.

+
ez::exit_output exit_condition(bool print = false);
+

One Motor​

+

Exit conditions with a motor will check if the error is small for X amount of time, if error is a little bigger for Y amount of time, if velocity is 0 for Z amount of time, then they will check if the motor is pulling too many amps for A amount of time, only if you have constants enabled for them in exit_condition_set().

+

Outputs one of the exit_output states. This exit condition checks small_error, big_error, velocity and mA if they are enabled.

+
ez::exit_output exit_condition(pros::Motor sensor, bool print = false);
+

Multiple Motors​

+

This checks the same thing as one motor, except it will check through multiple motors instead of 1. If any of the motors are pulling too many amps the function will start the timer for mA.

+

Outputs one of the exit_output states. This exit condition checks small_error, big_error, velocity and mA if they are enabled. When any of the motors trip mA, it returns mA_EXIT.

+
ez::exit_output exit_condition(std::vector<pros::Motor> sensor, bool print = false);
+ + \ No newline at end of file diff --git a/next/docs/pto.html b/next/docs/pto.html new file mode 100644 index 00000000..7787b43c --- /dev/null +++ b/next/docs/pto.html @@ -0,0 +1,29 @@ + + + + + +PTO | EZ-Template + + + + +
Version: 3.0.0-RC1

PTO

pto_check()​

+

Checks if the port is in the pto_list.

+

check_if_pto a PROS motor that is in the drive

+
bool pto_check(pros::Motor check_if_pto);
+

pto_add()​

+

Adds motors to the pto_list. You cannot add the first index because it's used for autonomous.

+

pto_list a vector of motors to remove from the drive

+
void pto_add(std::vector<pros::Motor> pto_list);
+

pto_remove()​

+

Removes motors from the pto_list.

+

pto_list a vector of motors to add back to the drive

+
void pto_remove(std::vector<pros::Motor> pto_list);
+

pto_toggle()​

+

Runs pto_add if toggle is true, and pto_remove if toggle is false.

+

pto_list a vector of motors to add / remove to the drive +toggle boolean to add / remove motors to drive

+
void pto_toggle(std::vector<pros::Motor> pto_list, bool toggle);
+ + \ No newline at end of file diff --git a/next/docs/set_and_get_drive.html b/next/docs/set_and_get_drive.html new file mode 100644 index 00000000..913dc1df --- /dev/null +++ b/next/docs/set_and_get_drive.html @@ -0,0 +1,63 @@ + + + + + +Drive and Telemetry | EZ-Template + + + + +
Version: 3.0.0-RC1

Drive and Telemetry

Set Drive​

+

drive_set()​

+

Sets the drive to voltage.

+

left an integer between -127 and 127
+right an integer between -127 and 127

+
void drive_set(int left, int right);
+

drive_brake_set()​

+

Sets brake mode for all drive motors.

+

brake_type takes either MOTOR_BRAKE_COAST, MOTOR_BRAKE_BRAKE, and MOTOR_BRAKE_HOLD as parameters

+
void drive_brake_set(pros::motor_brake_mode_e_t brake_type);
+

drive_current_limit_set()​

+

Sets mA limit to the drive. Default is 2500.

+

mA input miliamps

+
void drive_current_limit_set(int mA);
+

Telemetry​

+

drive_sensor_right()​

+

Returns right sensor value, either integrated encoder or external encoder.

+
int drive_sensor_right();
+

drive_velocity_right()​

+

Returns integrated encoder velocity.

+
int drive_velocity_right();
+

drive_mA_right()​

+

Returns current mA being used.

+
double drive_mA_right();
+

drive_current_right_over()​

+

Returns true when the motor is pulling too many amps.

+
bool drive_current_right_over();
+

drive_sensor_left()​

+

Returns left sensor value, either integrated encoder or external encoder.

+
int drive_sensor_left();
+

drive_velocity_left()​

+

Returns integrated encoder velocity.

+
int drive_velocity_left();
+

drive_mA_left()​

+

Returns current mA being used.

+
double drive_mA_left();
+

drive_current_left_over()​

+

Returns true when the motor is pulling too many amps.

+
bool drive_current_left_over();
+

drive_sensor_reset()​

+

Resets integrated encoders and trackers if applicable.

+
void drive_sensor_reset();
+

drive_imu_reset()​

+

Sets current gyro position to parameter, defaulted to 0.

+
void drive_imu_reset(double new_heading = 0);
+

drive_imu_get()​

+

Gets IMU sensor, value is degrees.

+
double drive_imu_get();
+

drive_imu_calibrate()​

+

Calibrates IMU, and vibrates the controller after a successful calibration.

+
bool drive_imu_calibrate();
+ + \ No newline at end of file diff --git a/next/docs/user_control.html b/next/docs/user_control.html new file mode 100644 index 00000000..b3194c8f --- /dev/null +++ b/next/docs/user_control.html @@ -0,0 +1,75 @@ + + + + + +User Control | EZ-Template + + + + +
Version: 3.0.0-RC1

User Control

+

Drive Modes​

+

opcontrol_tank()​

+

Sets the drive to the left and right y axis.

+
void opcontrol_tank();
+

opcontrol_arcade_standard()​

+

Sets the drive to standard arcade. Left stick is fwd/rev.

+

stick_type is either ez::SPLIT or ez::SINGLE

+
void opcontrol_arcade_standard(e_type stick_type);
+

opcontrol_arcade_flipped()​

+

Sets the drive to flipped arcade. Right stick is fwd/rev.

+

stick_type is either ez::SPLIT or ez::SINGLE

+
void opcontrol_arcade_flipped(e_type stick_type);
+

Joystick Functions​

+

initialize()​

+

Runs opcontrol_curve_sd_initialize() and drive_imu_calibrate().

+
void Drive::initialize();
+

opcontrol_curve_sd_initialize()​

+

Sets the left/right curve constants to what's on the SD card. If the SD card is empty, creates needed files.

+
void opcontrol_curve_sd_initialize();
+

opcontrol_curve_default_sets()​

+

Sets the left/right curve defaults and saves new values to the SD card.

+

left left input curve
+right right input curve

+
void opcontrol_curve_default_set(double left, double right);
+

opcontrol_drive_activebrake_set()​

+

Active brake runs a P loop on the drive when joysticks are within their threshold.

+

kp proportional constant for drive

+
void opcontrol_drive_activebrake_set(double kp);
+

toggle_modify_curve_with_controller()​

+

Enables/disables buttons used for modifying the controller curve with the joystick.

+

toggle true enables, false disables

+
void toggle_modify_curve_with_controller(bool toggle);
+

opcontrol_curve_buttons_left()​

+

Sets the buttons that are used to modify the left input curve. The example is the default.

+

decrease a pros button
+increase a pros button

+
void opcontrol_curve_buttons_left(pros::controller_digital_e_t decrease, pros::controller_digital_e_t increase);
+

opcontrol_curve_buttons_right()​

+

Sets the buttons that are used to modify the right input curve. The example is the default.

+

decrease a pros button
+increase a pros button

+
void opcontrol_curve_buttons_right(pros::controller_digital_e_t decrease, pros::controller_digital_e_t increase);
+

opcontrol_curve_left()​

+

Returns the input times the curve here. opcontrol_tank(), opcontrol_arcade_standard(), and opcontrol_arcade_flipped() all handle this for you. When tank is enabled, only this curve is used.

+

x input value

+
double opcontrol_curve_left(double x);
+

opcontrol_curve_right()​

+

Returns the input times the curve here. opcontrol_tank(), opcontrol_arcade_standard(), and opcontrol_arcade_flipped() all handle this for you.

+

x input value

+
double opcontrol_curve_right(double x);
+

opcontrol_joystick_threshold()​

+

Threshold the joystick will return 0 within. This is useful because not all joysticks will return perfectly to 0 when let go.

+

threshold an integer, recommended to be less then 5

+
void opcontrol_joystick_threshold(int threshold);
+

opcontrol_joystick_threshold_opcontrol()​

+

Runs the joystick control. Sets the left drive to l_stick, and right drive to r_stick. Runs active brake and joystick thresholds.

+

l_stick left joystick value +r_stick right joystick value

+
void opcontrol_joystick_threshold_opcontrol(int l_stick, int r_stick);
+

modify_curve_with_controller()​

+

Allows the user to modify the curve with the controller.

+
void modify_curve_with_controller();
+ + \ No newline at end of file diff --git a/next/docs/util.html b/next/docs/util.html new file mode 100644 index 00000000..de963b22 --- /dev/null +++ b/next/docs/util.html @@ -0,0 +1,44 @@ + + + + + +Util | EZ-Template + + + + +
Version: 3.0.0-RC1

Util

+

controller​

+

The pros controller is defined globally in our library as master.

+
extern pros::Controller master();
+ +

Prints to the LLEMU. This function handles text that's too long for a line by finding the last word and starting it on a new line, and takes \n to set a new line.

+

text input string
+line starting line

+
void print_to_screen(std::string text, int line)
+ +

Prints our branding on your terimnal :D.

+
void print_ez_template();
+

sgn()​

+

Returns the sign of the input. Returns 1 if positive, -1 if negative, and 0 if 0.

+

input value to check the sign of

+
double sgn(double input);
+

clip_num()​

+

Checks if input is within range of max and min. If it's out, this returns max or min respectively.

+

input value to check if it's above/below max/min +max biggest input can be +min smallest input can be

+
double clip_num(double input, double max, double min);
+

DELAY_TIME​

+

Standard delay time for loops in ms.

+
const int DELAY_TIME = 10;
+

IS_SD_CARD​

+

Boolean that checks if an SD card is installed. True if there is one, false if there isn't.

+
const bool IS_SD_CARD = pros::usd::is_installed();
+ + \ No newline at end of file diff --git a/next/migration.html b/next/migration.html new file mode 100644 index 00000000..288e97c3 --- /dev/null +++ b/next/migration.html @@ -0,0 +1,29 @@ + + + + + +2.x -> 3.x | EZ-Template + + + + +
Version: 3.0.0-RC1

2.x -> 3.x

danger

3.x has breaking changes from 2.x. To upgrade your project without starting fresh, you must change everything listed below.

+ + +

Function Names​

+

Inspired by LVGL, all functions have been renamed for improved searchability with autocomplete. Instead of set_ showing you everything that can be set, you can now type drive_ and see everything possible with the drive. If you want to see input curve functions, you can type opcontrol_curve_ and autocomplete will show you those functions.

+

In VScode, ctrl + shift + F allows you to search for and replace every instance of a function call in your project across multiple files. This is the easiest way to upgrade your function calls.

+
warning

Be sure to check what you're replacing to avoid unintentionally breaking your code.

+

Below are functions that have been renamed. Some functions, such as PTO, have not been renamed because they already followed this.

+

drive.hpp​

+
2.x Name3.x Name
tank()opcontrol_tank()
arcade_standard()opcontrol_arcade_standard()
arcade_flipped()opcontrol_arcade_flipped()
init_curve_sd()opcontrol_curve_sd_initialize()
set_curve_default()opcontrol_curve_default_set()
modify_curve_with_controller()opcontrol_curve_buttons_iterate()
toggle_modify_curve_with_controller()opcontrol_curve_buttons_toggle()
set_left_curve_buttons()opcontrol_curve_buttons_left_set()
set_right_curve_buttons()opcontrol_curve_buttons_right_set()
left_curve_function()opcontrol_curve_left()
right_curve_function()opcontrol_curve_right()
reset_drive_sensors_opcontrol()opcontrol_drive_sensors_reset()
set_active_brake()opcontrol_drive_activebrake_set()
set_joystick_threshold()opcontrol_joystick_threshold()
joy_thresh_opcontrol()opcontrol_joystick_threshold_opcontrol()
toggle_practice_mode()opcontrol_joystick_practicemode_toggle()
set_tank()drive_set()
set_drive_brake()drive_brake_set()
reset_drive_sensor()drive_sensor_reset()
right_sensor()drive_sensor_right()
raw_right_sensor()drive_sensor_right_raw()
left_sensor()drive_sensor_left()
raw_left_sensor()drive_sensor_left_raw()
right_velocity()drive_velocity_right()
left_velocity()drive_velocity_left()
right_mA()drive_mA_right()
left_mA()drive_mA_left()
right_over_current()drive_current_right_over()
left_over_current()drive_current_left_over()
reset_gyro()drive_imu_reset()
get_gyro()drive_imu_get()
set_mode()drive_mode_set()
get_mode()drive_mode_get()
imu_calibrate()drive_imu_calibrate()
imu_loading_display()drive_imu_display_loading()
set_angle()drive_angle_set()
get_tick_per_inch()drive_tick_per_inch()
set_defaults()drive_defaults_set()
set_ratio()drive_ratio_set()
set_drive_current_limit()drive_current_limit_set()
set_drive_pid()pid_drive_set()
set_turn_pid()pid_turn_set()
set_swing_pid()pid_swing_set()
reset_pid_targets()pid_targets_reset()
wait_drive()pid_wait()
wait_until()pid_wait_until()
set_max_speed()pid_speed_max_set()
set_drive_pid_constants()pid_drive_constants_set()
set_turn_pid_constants()pid_turn_constants_set()
set_swing_pid_constants()pid_swing_constants_set()
set_heading_pid_constants()pid_heading_constants_set()
set_drive_forward_pid_constants()pid_drive_forward_constants_set()
set_drive_backwards_pid_constants()pid_drive_backward_constants_set()
set_swing_min()pid_swing_min_set()
set_turn_min()pid_turn_min_set()
toggle_auto_drive()pid_drive_toggle()
toggle_auto_print()pid_print_toggle()
set_drive_exit_condition()pid_drive_exit_condition_set()
set_turn_exit_condition()pid_durn_exit_condition_set()
set_swing_exit_condition()pid_swing_exit_condition_set()
get_swing_min()pid_swing_min_get()
get_turn_min()pid_turn_min_get()
set_slew_min_power()slew_power_min_set()
set_slew_distance()slew_distance_set()
slew_calculate()slew_iterate()
+

pid.hpp​

+
2.x Name3.x Name
set_constants()constants_set()
get_constants()constants_get()
set_target()target_set()
get_target()target_get()
set_name()name_set()
is_name()name_active()
set_exit_condition()exit_condition_set()
reset_variables()variables_reset()
reset_timers()timers_reset()
+

auton_selector.hpp​

+
2.x Name3.x Name
call_selected_auton()selected_auton_call()
add_autons()autons_add()
current_auton_page()auton_page_current()
+

Okapi Units​

+

Okapi Units allow users to use whatever units they would like instead of being locked into inches. parameters that used to assume inches now use okapi units.

+

Put a list of functions that now use okapi units here. They should link to their docs.

+ + \ No newline at end of file diff --git a/next/tutorials/activebrake.html b/next/tutorials/activebrake.html new file mode 100644 index 00000000..01f23c1b --- /dev/null +++ b/next/tutorials/activebrake.html @@ -0,0 +1,19 @@ + + + + + +Active Brake | EZ-Template + + + + +
Version: 3.0.0-RC1

Active Brake

+

Introduction​

+

If you put the motors on brake type hold, a robot can still push the robot a bit, and when you let go of the joysticks the robot just locks in place. Active brake runs a P loop on the drive when you let go of the joysticks. By adjusting the kP, you adjust how hard the robot fights back. If you make it smaller, there will be a larger dead zone and you'll coast a little bit. Active brake vs brake type is personal preference.

+

Enabling​

+

To adjust the kP, in src/main.cpp change chassis.opcontrol_drive_activebrake_set(0) to whatever you like! We suggest around 0.1.

+

Disabling​

+

To disable active brake, in src/main.cpp make sure the kP is 0 with chassis.opcontrol_drive_activebrake_set(0).

+ + \ No newline at end of file diff --git a/next/tutorials/autons.html b/next/tutorials/autons.html new file mode 100644 index 00000000..3b20325f --- /dev/null +++ b/next/tutorials/autons.html @@ -0,0 +1,24 @@ + + + + + +Adding Autonomous Routines | EZ-Template + + + + +
Version: 3.0.0-RC1

Adding Autonomous Routines

+

Learn to use Autonomous Functions​

+

Read through src/autons.cpp (or click here) and learn how to use the autonomous functions by reading through the example routines!

+

Make Your Own Autonomous Routine​

+

Make a new function in src/autons.cpp and name it something that says what the autonomous will do.

+
void SoloAWP() {
  // . . .
  // Autonomous code goes here
  // . . .
}

void ScoreRingsPlatDown() {
  // . . .
  // Autonomous code goes here
  // . . .
}

void NeutralStealPlatDown() {
  // . . .
  // Autonomous code goes here
  // . . .
}

void NeutralStealPlatUp() {
  // . . .
  // Autonomous code goes here
  // . . .
}
+

Add the Function to autons.hpp​

+

In include/autons.hpp add the name of your function.

+
void SoloAWP();
void ScoreRingsPlatDown();
void NeutralStealPlatDown();
void NeutralStealPlatUp();
+

Add the Function to the Autonomous Selector​

+

To add the autonomous mode to the on screen selector, in src/main.cpp go to void initialize() and either replace an existing autonomous mode or add new pages.

+
void initialize() {
  . . . 

  // Autonomous Selector using LLEMMU
  ez::as::auton_selector.autons_add({
    Auton("Solo AWP\n\nStarting Position: Plat Down", SoloAWP),
    Auton("Score Rings on Amogo\n\nStarting Position: Plat Down", ScoreRingsPlatDown),
    Auton("Neutral Steal\n\nStarting Position: Plat Down", NeutralStealPlatDown),
    Auton("Neutral Steal\n\nStarting Position: Plat Up", NeutralStealPlatUp),
  });

  . . .
}
+ + \ No newline at end of file diff --git a/next/tutorials/example_autons.html b/next/tutorials/example_autons.html new file mode 100644 index 00000000..66957129 --- /dev/null +++ b/next/tutorials/example_autons.html @@ -0,0 +1,37 @@ + + + + + +Example Autonomous Routines | EZ-Template + + + + +
Version: 3.0.0-RC1

Example Autonomous Routines

+

Assumed Constants​

+

These are default speeds that we can use throughout our autonomous routines to make it easier to modify them retroactively.

+
const int DRIVE_SPEED = 110; 
const int TURN_SPEED  = 90;
const int SWING_SPEED = 90;
+

Drive​

+

This autonomous routine will have the robot go forwards for 24 inches with slew enabled, come back -12 inches, then come back another -12 inches to where it started. It will do all of this at the predefined DRIVE_SPEED.

+
void drive_example() {
  // The first parameter is target inches
  // The second parameter is max speed the robot will drive at
  // The third parameter is a boolean (true or false) for enabling/disabling a slew at the start of drive motions
  // for slew, only enable it when the drive distance is greater then the slew distance + a few inches


  chassis.pid_drive_set(24, DRIVE_SPEED, true);
  chassis.pid_wait();

  chassis.pid_drive_set(-12, DRIVE_SPEED);
  chassis.pid_wait();

  chassis.pid_drive_set(-12, DRIVE_SPEED);
  chassis.pid_wait();
}
+

Turn​

+

This autonomous routine will turn 90 degrees, then back 45 degrees, and finally to 0 where it started. It will do all of this at the predefined TURN_SPEED.

+
void turn_example() {
  // The first parameter is target degrees
  // The second parameter is max speed the robot will drive at


  chassis.pid_turn_set(90, TURN_SPEED);
  chassis.pid_wait();

  chassis.pid_turn_set(45, TURN_SPEED);
  chassis.pid_wait();

  chassis.pid_turn_set(0, TURN_SPEED);
  chassis.pid_wait();
}
+

Drive and Turn​

+

This autonomous routine will combine driving and turning in a single function.

+
void drive_and_turn() {
  chassis.pid_drive_set(24, DRIVE_SPEED, true);
  chassis.pid_wait();

  chassis.pid_turn_set(45, TURN_SPEED);
  chassis.pid_wait();

  chassis.pid_turn_set(-45, TURN_SPEED);
  chassis.pid_wait();

  chassis.pid_turn_set(0, TURN_SPEED);
  chassis.pid_wait();

  chassis.pid_drive_set(-24, DRIVE_SPEED, true);
  chassis.pid_wait();
}
+

Wait Until and Changing Speed​

+

Now we add pid_wait_until(). This new function will wait until a specified distance has been traveled and then allow the code to continue. The robot will drive at DRIVE_SPEED until the robot has traveled 6 inches, then will lower the max speed to 40. The same thing happens on the return back.

+
void pid_wait_until_change_speed() {
  // pid_wait_until will wait until the robot gets to a desired position


  // When the robot gets to 6 inches, the robot will travel the remaining distance at a max speed of 40
  chassis.pid_drive_set(24, DRIVE_SPEED, true);
  chassis.pid_wait_until(6);
  chassis.pid_speed_max_set(40); // After driving 6 inches at DRIVE_SPEED, the robot will go the remaining distance at 40 speed
  chassis.pid_wait();

  chassis.pid_turn_set(45, TURN_SPEED);
  chassis.pid_wait();

  chassis.pid_turn_set(-45, TURN_SPEED);
  chassis.pid_wait();

  chassis.pid_turn_set(0, TURN_SPEED);
  chassis.pid_wait();

  // When the robot gets to -6 inches, the robot will travel the remaining distance at a max speed of 40
  chassis.pid_drive_set(-24, DRIVE_SPEED, true);
  chassis.pid_wait_until(-6);
  chassis.pid_speed_max_set(40); // After driving 6 inches at DRIVE_SPEED, the robot will go the remaining distance at 40 speed
  chassis.pid_wait();
}
+

Swing Turns​

+

Swing turns are turns that only use one side of the drive. Left swings use the left side, and right swings use the right side. This will turn the robot to 45 degrees using the left side, drive 24 inches, then turn to 0 degrees using the right side.

+
void swing_example() {
  // The first parameter is ez::LEFT_SWING or ez::RIGHT_SWING
  // The second parameter is target degrees
  // The third parameter is speed of the moving side of the drive


  chassis.pid_swing_set(ez::LEFT_SWING, 45, SWING_SPEED);
  chassis.pid_wait();

  chassis.pid_drive_set(24, DRIVE_SPEED, true);
  chassis.pid_wait_until(12);

  chassis.pid_swing_set(ez::RIGHT_SWING, 0, SWING_SPEED);
  chassis.pid_wait();
}
+

Combining All Movements​

+

This combines all movements from above.

+
void combining_movements() {
  chassis.pid_drive_set(24, DRIVE_SPEED, true);
  chassis.pid_wait();

  chassis.pid_turn_set(45, TURN_SPEED);
  chassis.pid_wait();

  chassis.pid_drive_set(ez::RIGHT_SWING, -45, TURN_SPEED);
  chassis.pid_wait();

  chassis.pid_turn_set(0, TURN_SPEED);
  chassis.pid_wait();

  chassis.pid_drive_set(-24, DRIVE_SPEED, true);
  chassis.pid_wait();
}
+

Interference​

+

Interference checks if the drive exited in an unintentional way. If the robot stops unintentionally or pulls too many amps this will trigger. This allows you to add fail-safes that stop your robot from burning out. The below function will attempt to "tug" an opponent mobile goal a couple times before giving up.

+
void tug (int attempts) {
  for (int i=0; i<attempts-1; i++) {
    // Attempt to drive backwards
    printf("i - %i", i);
    chassis.pid_drive_set(-12, 127);
    chassis.pid_wait();

    // If failsafed...
    if (chassis.interfered) {
      chassis.drive_sensor_reset();
      chassis.pid_drive_set(-2, 20);
      pros::delay(1000);
    }
    // If robot successfully drove back, return
    else {
      return;
    }
  }
}

// If there is no interference, robot will drive forward and turn 90 degrees. 
// If interfered, robot will drive forward and then attempt to drive backwards. 
void interfered_example() {
 chassis.pid_drive_set(24, DRIVE_SPEED, true);
 chassis.pid_wait();

 if (chassis.interfered) {
   tug(3);
   return;
 }

 chassis.pid_turn_set(90, TURN_SPEED);
 chassis.pid_wait();
}
+ + \ No newline at end of file diff --git a/next/tutorials/joystick_curve.html b/next/tutorials/joystick_curve.html new file mode 100644 index 00000000..131df88a --- /dev/null +++ b/next/tutorials/joystick_curve.html @@ -0,0 +1,28 @@ + + + + + +Joystick Curves | EZ-Template + + + + +
Version: 3.0.0-RC1

Joystick Curves

+

Introduction​

+

Using the 5225 curves from 2018, (explained here). The x-axis is the joystick input and the y-axis is the motor output.

+

Normally, pushing the joystick half way means the robot goes half speed. With an input curve, pushing the joystick half way may only move the robot at 1/4 power. This means more of the joystick movement goes to lower speeds, giving you more control of the robot.

+

This curve is adjustable by changing the T value. We can do this live on our controllers, or have it enable during initialize().

+

When the robot is on, tapping/holding the left/right arrows will increase/decrease how large the curve is. When arcade is enabled, each stick will have it's own curve. The y/a buttons will increase/decrease the curve for the right stick.

+

Enabling​

+

After you find values you like, in src/main.cpp set chassis.opcontrol_curve_default_sets(0, 0) to whatever you liked! The first parameter is left stick, second is right stick. When using tank, only the left stick value is used.

+
void initialize() {
  . . .
  chassis.opcontrol_curve_default_set(2.1, 4.3);
  . . .
}
+

In src/main.cpp, in void initialize(), if chassis.toggle_modify_curve_with_controller(true) is enabled, by pressing the left/right (or y/a if arcade is enabled), you can live adjust your curve and it will display to your controller!

+
void initialize() {
  . . .
  chassis.toggle_modify_curve_with_controller(true); 
  chassis.opcontrol_curve_default_set(2.1, 4.3); 
  . . .
}
+

If you have an sd card plugged in, after changing the number with your controller, the value will save to the sd card.

+
warning

You must remove chassis.opcontrol_curve_default_set(x, x) from initialize() if you have an SD card, otherwise this will overwrite the SD card when you power on the robot!

+

Disabling​

+

To disable the joystick curve entirely, in src/main.cpp make sure these are 0 chassis.opcontrol_curve_default_sets(0, 0). If you don't want to modify the curve with the controller, make sure chassis.toggle_modify_curve_with_controller(false) is false.

+
void initialize() {
  . . .
  chassis.toggle_modify_curve_with_controller(false); 
  chassis.opcontrol_curve_default_set(0, 0); 
  . . .
}
+ + \ No newline at end of file diff --git a/next/tutorials/pid.html b/next/tutorials/pid.html new file mode 100644 index 00000000..42d5d776 --- /dev/null +++ b/next/tutorials/pid.html @@ -0,0 +1,24 @@ + + + + + +PID Tutorial | EZ-Template + + + + +
Version: 3.0.0-RC1

PID Tutorial

+

PID (proportion, integral, derivative) is a feedback controlled used to move something to a position. The controller slows down as it approaches its target and will correct itself after overshoot occurs. It is a relatively simply controller and can be very consistent with tuning.

+

Example 1 - User Control​

+

This code uses a function called set_lift to set the power of 2 lift motors in a single function call. After liftPID is created, in opcontrol() we set the target depending on button presses. To run the PID we have to run liftPID.compute(sensor value) repeatedly to make sure our subsystem gets to its target. We reset the lift encoder in initialize() to make sure the motor is starting at a known position.

+
pros::Motor l_lift(17);
pros::Motor r_lift(18);
void set_lift(int input) {
  l_lift = input;
  r_lift = input;
}
PID liftPID{0.45, 0, 0, 0, "Lift"};

void initialize() {
  l_lift.tare_position();
}

void opcontrol() {
  while (true) {
    if (master.get_digital(DIGITAL_L1)) {
      liftPID.target_set(500);
    }
    else if (master.get_digital(DIGITAL_L2)) {
      liftPID.target_set(0);
    }
    set_lift(liftPID.compute(l_lift.get_position()));

    pros::delay(ez::util::DELAY_TIME);
  }
}
+

Example 2 - Waiting in Autonomous​

+

This code uses the previous example as a base.

+

We've added a new function called lift_auto(). This function takes in a target and locks the code in a while loop until the lift has reached its target. The autonomous routine will bring the lift up to 500, wait for 1 second, and then come back down to 0.

+
pros::Motor l_lift(17);
pros::Motor r_lift(18);
void set_lift(int input) {
  l_lift = input;
  r_lift = input;
}
PID liftPID{0.45, 0, 0, 0, "Lift"};

void lift_auto(double target) {
  liftPID.target_set(target);
  ez::exit_output exit = ez::RUNNING;
  while (liftPID.exit_condition({l_lift, r_lift}, true) == ez::RUNNING) {
    double output = liftPID.compute(l_lift.get_position());
    set_lift(output);
    pros::delay(ez::util::DELAY_TIME);
  }
  set_lift(0);
}

void initialize() {
  l_lift.tare_position();
  liftPID.exit_condition_set(80, 50, 300, 150, 500, 500);
}

void autonomous() {
  lift_auto(500);
  pros::delay(1000);
  lift_auto(0);
}

void opcontrol() {
  while (true) {
    if (master.get_digital(DIGITAL_L1)) {
      liftPID.target_set(500);
    }
    else if (master.get_digital(DIGITAL_L2)) {
      liftPID.target_set(0);
    }
    set_lift(liftPID.compute(l_lift.get_position()));

    pros::delay(ez::util::DELAY_TIME);
  }
}
+

Example 3 - Tasks​

+

Example 2 has a problem of not being able to do other things while the lift is running because the code is locked. We can fix this with a task.

+
pros::Motor l_lift(17);
pros::Motor r_lift(18);
void set_lift(int input) {
  l_lift = input;
  r_lift = input;
}
PID liftPID{0.45, 0, 0, 0, "Lift"};


void lift_wait() {
  while (liftPID.exit_condition({l_lift, r_lift}, true) == ez::RUNNING) {
    pros::delay(ez::util::DELAY_TIME);
  }
}

void lift_task() {
  pros::delay(2000);
  while (true) {
    set_lift(liftPID.compute(l_lift.get_position()));

    pros::delay(ez::util::DELAY_TIME);
  }
}
pros::Task Lift_Task(lift_task);

void initialize() {
  l_lift.tare_position();
  liftPID.exit_condition_set(80, 50, 300, 150, 500, 500);
}

void autonomous() {
  liftPID.target_set(500);
  lift_wait();

  pros::delay(1000);

  liftPID.target_set(0);
  lift_wait();
}

void opcontrol() {
  while (true) {
    if (master.get_digital(DIGITAL_L1)) {
      liftPID.target_set(500);
    }
    else if (master.get_digital(DIGITAL_L2)) {
      liftPID.target_set(0);
    }

    pros::delay(ez::util::DELAY_TIME);
  }
}
+ + \ No newline at end of file diff --git a/next/tutorials/pto_tutorial.html b/next/tutorials/pto_tutorial.html new file mode 100644 index 00000000..782ddb44 --- /dev/null +++ b/next/tutorials/pto_tutorial.html @@ -0,0 +1,26 @@ + + + + + +PTO Tutorial | EZ-Template + + + + +
Version: 3.0.0-RC1

PTO Tutorial

+

PTO (power take off) is used to share power between two mechanisms, usually between the drive and something else. For example, a 6 motor drive could pneumatically shift to a 4 motor drive and a 2 motor intake.

+

Example 1 - Beginner​

+

The simplest way to control a PTO is to keep track of the piston state and setting motors yourself. In this code, the driver has control over switching the PTO on and off. The intake buttons will only work when the PTO is enabled.

+

The function pto_toggle_intake() is in charge of triggering the piston and changing the bool pto_intake_enabled to allow or disallow set_intake() from setting power to the motors.

+
using namespace ez;

// 4th place in the chassis constructor list
#define LEFT_INTAKE 3
#define RIGHT_INTAKE 3

pros::ADIDigitalOut pto_intake_piston('A');
bool pto_intake_enabled = false;

void pto_toggle_intake(bool toggle) {
  pto_intake_enabled = toggle;
  chassis.pto_toggle({chassis.left_motors[LEFT_INTAKE], chassis.right_motors[RIGHT_INTAKE]}, toggle);
  pto_intake_piston.set_value(toggle);
  if (toggle) {
    chassis.left_motors[LEFT_INTAKE].set_brake_mode(pros::E_MOTOR_BRAKE_COAST);
    chassis.right_motors[RIGHT_INTAKE].set_brake_mode(pros::E_MOTOR_BRAKE_COAST);
  }
}

void set_intake(int input) {
  if (!pto_intake_enabled) return;
  chassis.left_motors[LEFT_INTAKE] = input;
  chassis.right_motors[RIGHT_INTAKE] = input;
}

// User control code
void intake_control() {
  if (master.get_digital_new_press(DIGITAL_DOWN)) {
    pto_toggle_intake(!pto_intake_enabled);
  } 

  if (master.get_digital(DIGITAL_L1)) {
    set_intake(127);
  }
  else if (master.get_digital(DIGITAL_L2)) {
    set_intake(-127);
  }
  else {
    set_intake(0);
  }
}

void opcontrol() {
  // This is preference to what you like to drive on.
  chassis.drive_brake_set(MOTOR_BRAKE_COAST);

  while (true) {
    chassis.opcontrol_tank(); // Tank control

    intake_control();

    pros::delay(util::DELAY_TIME); // This is used for timer calculations!  Keep this ez::util::DELAY_TIME
  }
}

+

Example 2 - Intermediate​

+

This code is more complex, but the goal with it is to make it feel like there isn't a PTO to the driver and the programmer.

+

set_intake() is used to trigger the PTO here. If a non 0 number is sent, the PTO will trigger and the motors will disengage from the drive. Once set_intake(0); is sent, the PTO will bring those motors back to the drive. This makes autonomous routines and user control code significantly easier.

+
using namespace ez;

// 4th place in the chassis constructor list
#define LEFT_INTAKE 3
#define RIGHT_INTAKE 3

Piston pto_intake_piston('A');    // PTO piston
bool pto_piston_enabled = false;  // Current PTO state

// Toggle motors from PTO, toggle piston, switch brake modes
void pto_toggle_intake(bool toggle) {
  pto_piston_enabled = toggle;
  chassis.pto_toggle({chassis.left_motors[LEFT_INTAKE], chassis.right_motors[RIGHT_INTAKE]}, toggle);
  pto_intake_piston.set(toggle);
  if (toggle) {
    chassis.left_motors[LEFT_INTAKE].set_brake_mode(pros::E_MOTOR_BRAKE_COAST);
    chassis.right_motors[RIGHT_INTAKE].set_brake_mode(pros::E_MOTOR_BRAKE_COAST);
  }
}

// Global intake function (for use outside of this file)
void set_intake(int input) {
  pto_toggle_intake(input == 0 ? false : true);
  if (!pto_piston_enabled) return;
  chassis.left_motors[LEFT_INTAKE] = -input;
  chassis.right_motors[RIGHT_INTAKE] = -input;
}

// User control code
void intake_control() {
  if (master.get_digital(DIGITAL_L1)) {
    set_intake(127);
  }
  else if (master.get_digital(DIGITAL_L2)) {
    set_intake(-127);
  }
  else {
    set_intake(0);
  }
}

void opcontrol() {
  // This is preference to what you like to drive on.
  chassis.drive_brake_set(MOTOR_BRAKE_COAST);

  while (true) {
    chassis.opcontrol_tank(); // Tank control

    intake_control();

    pros::delay(util::DELAY_TIME); // This is used for timer calculations!  Keep this ez::util::DELAY_TIME
  }
}
+

Example 3 - Expert​

+

Using the same concepts from above, this example expands on it and adds an "anti jam" function that will run the intake in the opposite direction for a short amount of time if something gets jammed. Functions like this were incredibly useful during Tipping Point with the odd shape of rings, and this code is from the 21S Tipping Point robot.

+

This code checks the velocity of the motors to check if they are 0. If they are 0, a timer is started. Once the timer passes 250ms, we recognize a jam has happened and set the intake to go full power in the opposite direction for 250ms. 21S has problems when the PTO triggered this code would recognize a jam happening. To prevent this another timer was started, where for 500ms after toggling a jam cannot occur.

+
using namespace ez;

// 4th place in the chassis constructor list
#define LEFT_INTAKE 3
#define RIGHT_INTAKE 3

Piston pto_intake_piston('A');    // PTO piston
bool pto_piston_enabled = false;  // Current PTO state
int target_speed = 0;             // Global target speed

// Toggle motors from PTO, toggle piston, switch brake modes
void pto_toggle_intake(bool toggle) {
  pto_piston_enabled = toggle;
  chassis.pto_toggle({chassis.left_motors[LEFT_INTAKE], chassis.right_motors[RIGHT_INTAKE]}, toggle);
  pto_intake_piston.set(toggle);
  if (toggle) {
    chassis.left_motors[LEFT_INTAKE].set_brake_mode(pros::E_MOTOR_BRAKE_COAST);
    chassis.right_motors[RIGHT_INTAKE].set_brake_mode(pros::E_MOTOR_BRAKE_COAST);
  }
}

// Raw intake function (intended use in this file only)
void raw_set_intake(int input) {
  if (!pto_piston_enabled) return;
  chassis.left_motors[LEFT_INTAKE] = -input;
  chassis.right_motors[RIGHT_INTAKE] = -input;
}

// Global intake function (for use outside of this file)
void set_intake(int input) {
  pto_toggle_intake(input == 0 ? false : true);
  raw_set_intake(input);
  if (pto_piston_enabled) target_speed = input;
}

// Is velocity of motors 0?
bool has_intake_stopped() {
  if ((chassis.left_motors[LEFT_INTAKE].get_actual_velocity() == 0 || chassis.right_motors[RIGHT_INTAKE].get_actual_velocity() == 0) && pto_piston_enabled)
    return true;
  return false;
}

// Intake task with antijam logic
void intake_task() {
  const int wait_time = 250, switch_wait_time = 500;
  int switch_counter = 0, jam_counter = 0;
  bool is_jammed = false, last_pto = false, just_switched = false;

  while (true) {
    // Detect the PTO engaging to the intake
    if (pto_piston_enabled != last_pto /*&& pto_piston_enabled == true*/)
      just_switched = true;

    // This stops the antijam code from running 500ms after engaging the PTO to the intake
    if (just_switched) {
      switch_counter += util::DELAY_TIME;
      if (switch_counter > switch_wait_time) {
        just_switched = false;
        switch_counter = 0;
      }
    }
    last_pto = pto_piston_enabled;

    // Only run this code when the PTO is engaged to the intake
    if (pto_piston_enabled) {
      // Run intake full power in opposite direction for 250ms when jammed, then set intake
      // back to normal
      if (is_jammed) {
        raw_set_intake(-127 * util::sgn(target_speed));
        jam_counter += ez::util::DELAY_TIME;
        if (jam_counter > wait_time) {
          is_jammed = false;
          jam_counter = 0;
          raw_set_intake(target_speed);
        }
      }

      // Detect a jam if velocity is 0 for 250ms
      else if (target_speed != 0 && has_intake_stopped() && !just_switched) {
        jam_counter += util::DELAY_TIME;
        if (jam_counter > wait_time) {
          jam_counter = 0;
          is_jammed = true;
        }
      }
    }

    pros::delay(util::DELAY_TIME);
  }
}
pros::Task Intake_Task(intake_task);

// User control code
void intake_control() {
  if (master.get_digital(DIGITAL_L1)) {
    set_intake(127);
  }
  else if (master.get_digital(DIGITAL_L2)) {
    set_intake(-127);
  }
  else {
    set_intake(0);
  }
}

void opcontrol() {
  // This is preference to what you like to drive on.
  chassis.drive_brake_set(MOTOR_BRAKE_COAST);

  while (true) {
    chassis.opcontrol_tank(); // Tank control

    intake_control();

    pros::delay(util::DELAY_TIME); // This is used for timer calculations!  Keep this ez::util::DELAY_TIME
  }
}
+ + \ No newline at end of file diff --git a/next/tutorials/tuning_constants.html b/next/tutorials/tuning_constants.html new file mode 100644 index 00000000..ddad8a55 --- /dev/null +++ b/next/tutorials/tuning_constants.html @@ -0,0 +1,69 @@ + + + + + +Tuning Constants | EZ-Template + + + + +
Version: 3.0.0-RC1

Tuning Constants

+

For more information on how PID controllers work, reference this document made by George Gillard.

+

Setup​

+

Uncommenting Default Constants​

+

In src/main.cpp, make sure default_constants() is uncommented in void initialize().

+
void initialize() {
    . . .
    default_constants();
    . . .
}
+

Running the Autonomous​

+

You can run one of the example autonomous routines to tune your constants. When you're tuning drive constants, run drive_example(). When you're tuning turn constants, run turn_example().

+

Look at our Using Auton Selector tutorial for how to select autonomous routines!

+

Modifying Constants​

+

In src/autons.cpp, there is a function called default_constants(). This function is where all of your modified PID constants can be set.

+
void default_constants() {
  chassis.slew_power_min_set(80, 80);
  chassis.slew_distance_set(7, 7);
  chassis.set_pid_constants(&chassis.headingPID, 11, 0, 20, 0);
  chassis.set_pid_constants(&chassis.forward_drivePID, 0.45, 0, 5, 0);
  chassis.set_pid_constants(&chassis.backward_drivePID, 0.45, 0, 5, 0);
  chassis.set_pid_constants(&chassis.turnPID, 5, 0.003, 35, 15);
  chassis.set_pid_constants(&chassis.swingPID, 7, 0, 45, 0);
}
+

Different Constants​

+

When your robot has huge weight shifts (grabbing a mobile goal, raising a lift, etc), you might want to have different constants for those states. You can have multiple functions with constants for different states, and change constants during your autonomous routine.

+
void grab_mogo() {
  chassis.pid_drive_set(40, 110, true);
  chassis.pid_wait();

  one_mogo_constants();
  chassis.pid_drive_set(-40, 110, true);
  chassis.pid_wait();
}
+
+

Tuning PID​

+

This video is a good visual representation of what each constant does.

+ +

Step 1 - kP​

+

You'll start with kP. Set it to some number, and run your example autonomous. The robot will either undershoot the target (kP too low), or the robot is oscillate around the target (kP too high).

+

To tune a PD controller, you want the kP to oscillate a little bit, usually a bounce or two.

+

Step 2 - kD​

+

After finding a kP that oscillates a little, we can tune kD. Increase kD until the oscillation goes away. This movement should look more "snappy" then just a P loop.

+

Step 3 - Repeat​

+

Repeat Steps 1 and Steps 2 until kD cannot remove oscillation from the movement. Then go back to the last values that worked.

+

Step 4 - kI​

+

Sometimes you need a little extra power to get your robot all the way there. Integral can be a dangerous variable because it grows exponentially. The fourth parameter is what the error needs to be for I to start. For turns, we found around 15 degrees is good.

+

Increase kI until any minor disturbances are accounted for. You might need to adjust kD while tuning kI.

+
+

Tuning Forward/Backward Constants​

+

Step 1 - Forward/Backwards Constants​

+

Using the steps above, modify your kP, kD, and if you chose to, kI.

+

If you see the robot acting differently going forwards and backwards, you can have different constants for each. This is usually only needed when something is off balance on your robot mechanically.

+
  chassis.set_pid_constants(&chassis.forward_drivePID, 0.45, 0, 5, 0);
  chassis.set_pid_constants(&chassis.backward_drivePID, 0.45, 0, 5, 0);
+

Step 2 - Heading Correction​

+

Heading correction tries to keep your robot facing an angle while driving forward. The constants for this are generally higher then other PID controllers because you're only correcting for a few degrees of error.

+

The same steps above can be used to tune the heading constants. Increase kP until there's a little oscillation, increase kD until it goes away, repeat.

+
  chassis.set_pid_constants(&chassis.headingPID, 11, 0, 20, 0);
+

Step 3 - Slew​

+

Slew ramps the speed of the robot up from the start of the motion to avoid wheelies and wheel slip.
+slew_min_power() is the starting power the robot will use when slewing.
+slew_distance() is the distance the robot will increase from min power to the max power you set in your autonomous function.

+

Minimum power should be as high as it can be without causing the robot to wheelie or cause wheel slip. Slew distance should be as small as it can be without causing the same.

+
  chassis.slew_power_min_set(80, 80);
  chassis.slew_distance_set(7, 7);
+
+

Tuning Turns and Swings​

+

Step 1 - Constants​

+

Using the same steps as above, set kP to some number and modify it until there is slight oscillation, one or two bounces.

+

Increase kD until the oscillation is gone.

+

Repeat until kD cannot fix the oscillation.

+
  chassis.set_pid_constants(&chassis.turnPID, 5, 0.003, 35, 15);
  chassis.set_pid_constants(&chassis.swingPID, 7, 0, 45, 0);
+

Step 2 - kI​

+

What about when PD isn't enough?

+

Sometimes you need a little extra power to get your robot all the way there. Integral can be a dangerous variable because it grows exponentially. The fourth parameter is what the error needs to be for I to start. For turns, we found around 15 degrees is good.

+

Increase kI until any minor disturbances are accounted for. You might need to adjust kD while tuning kI.

+
  chassis.set_pid_constants(&chassis.turnPID, 5, 0.003, 35, 15);
+ + \ No newline at end of file diff --git a/next/tutorials/using_auton_selector.html b/next/tutorials/using_auton_selector.html new file mode 100644 index 00000000..5ced9957 --- /dev/null +++ b/next/tutorials/using_auton_selector.html @@ -0,0 +1,18 @@ + + + + + +Using Autonomous Selector | EZ-Template + + + + +
Version: 3.0.0-RC1

Using Autonomous Selector

+

Without SD Card​

+

With a competition switch, run your code in disable. Select the autonomous on the screen by pressing the left / right buttons until you're on the page you want. Run the autonomous!

+

With SD Card​

+

The last page you're on will save to the SD Card. So if you're running Page 3, select it once using the steps above, then you won't have to select it again.

+

To use an SD Card with the brain, just plug it in and EZ-Template will generate the files needed.

+ + \ No newline at end of file diff --git a/sitemap.xml b/sitemap.xml index d13dde97..eda07cee 100644 --- a/sitemap.xml +++ b/sitemap.xml @@ -1 +1 @@ -https://ez-robotics.github.io/EZ-Template/versionsweekly0.5https://ez-robotics.github.io/EZ-Template/category/docsweekly0.5https://ez-robotics.github.io/EZ-Template/category/tutorialsweekly0.5https://ez-robotics.github.io/EZ-Template/docs/auton_functionsweekly0.5https://ez-robotics.github.io/EZ-Template/docs/auton_selectorweekly0.5https://ez-robotics.github.io/EZ-Template/docs/constructorweekly0.5https://ez-robotics.github.io/EZ-Template/docs/pidweekly0.5https://ez-robotics.github.io/EZ-Template/docs/ptoweekly0.5https://ez-robotics.github.io/EZ-Template/docs/set_and_get_driveweekly0.5https://ez-robotics.github.io/EZ-Template/docs/user_controlweekly0.5https://ez-robotics.github.io/EZ-Template/docs/utilweekly0.5https://ez-robotics.github.io/EZ-Template/tutorials/activebrakeweekly0.5https://ez-robotics.github.io/EZ-Template/tutorials/autonsweekly0.5https://ez-robotics.github.io/EZ-Template/tutorials/example_autonsweekly0.5https://ez-robotics.github.io/EZ-Template/tutorials/joystick_curveweekly0.5https://ez-robotics.github.io/EZ-Template/tutorials/pidweekly0.5https://ez-robotics.github.io/EZ-Template/tutorials/pto_tutorialweekly0.5https://ez-robotics.github.io/EZ-Template/tutorials/tuning_constantsweekly0.5https://ez-robotics.github.io/EZ-Template/tutorials/using_auton_selectorweekly0.5https://ez-robotics.github.io/EZ-Template/weekly0.5 \ No newline at end of file +https://ez-robotics.github.io/EZ-Template/versionsweekly0.5https://ez-robotics.github.io/EZ-Template/nextweekly0.5https://ez-robotics.github.io/EZ-Template/next/category/docsweekly0.5https://ez-robotics.github.io/EZ-Template/next/category/tutorialsweekly0.5https://ez-robotics.github.io/EZ-Template/next/docs/auton_functionsweekly0.5https://ez-robotics.github.io/EZ-Template/next/docs/auton_selectorweekly0.5https://ez-robotics.github.io/EZ-Template/next/docs/constructorweekly0.5https://ez-robotics.github.io/EZ-Template/next/docs/pidweekly0.5https://ez-robotics.github.io/EZ-Template/next/docs/ptoweekly0.5https://ez-robotics.github.io/EZ-Template/next/docs/set_and_get_driveweekly0.5https://ez-robotics.github.io/EZ-Template/next/docs/user_controlweekly0.5https://ez-robotics.github.io/EZ-Template/next/docs/utilweekly0.5https://ez-robotics.github.io/EZ-Template/next/migrationweekly0.5https://ez-robotics.github.io/EZ-Template/next/tutorials/activebrakeweekly0.5https://ez-robotics.github.io/EZ-Template/next/tutorials/autonsweekly0.5https://ez-robotics.github.io/EZ-Template/next/tutorials/example_autonsweekly0.5https://ez-robotics.github.io/EZ-Template/next/tutorials/joystick_curveweekly0.5https://ez-robotics.github.io/EZ-Template/next/tutorials/pidweekly0.5https://ez-robotics.github.io/EZ-Template/next/tutorials/pto_tutorialweekly0.5https://ez-robotics.github.io/EZ-Template/next/tutorials/tuning_constantsweekly0.5https://ez-robotics.github.io/EZ-Template/next/tutorials/using_auton_selectorweekly0.5https://ez-robotics.github.io/EZ-Template/category/docsweekly0.5https://ez-robotics.github.io/EZ-Template/category/tutorialsweekly0.5https://ez-robotics.github.io/EZ-Template/docs/auton_functionsweekly0.5https://ez-robotics.github.io/EZ-Template/docs/auton_selectorweekly0.5https://ez-robotics.github.io/EZ-Template/docs/constructorweekly0.5https://ez-robotics.github.io/EZ-Template/docs/pidweekly0.5https://ez-robotics.github.io/EZ-Template/docs/ptoweekly0.5https://ez-robotics.github.io/EZ-Template/docs/set_and_get_driveweekly0.5https://ez-robotics.github.io/EZ-Template/docs/user_controlweekly0.5https://ez-robotics.github.io/EZ-Template/docs/utilweekly0.5https://ez-robotics.github.io/EZ-Template/tutorials/activebrakeweekly0.5https://ez-robotics.github.io/EZ-Template/tutorials/autonsweekly0.5https://ez-robotics.github.io/EZ-Template/tutorials/example_autonsweekly0.5https://ez-robotics.github.io/EZ-Template/tutorials/joystick_curveweekly0.5https://ez-robotics.github.io/EZ-Template/tutorials/pidweekly0.5https://ez-robotics.github.io/EZ-Template/tutorials/pto_tutorialweekly0.5https://ez-robotics.github.io/EZ-Template/tutorials/tuning_constantsweekly0.5https://ez-robotics.github.io/EZ-Template/tutorials/using_auton_selectorweekly0.5https://ez-robotics.github.io/EZ-Template/weekly0.5 \ No newline at end of file diff --git a/versions.html b/versions.html index 41eff20a..8cade6b9 100644 --- a/versions.html +++ b/versions.html @@ -3,12 +3,12 @@ -versions | EZ-Template - - +versions | EZ-Template + + -

3.x

+

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