New example odom auton

src/main.cpp

@@ -119,38 +119,40 @@ void autonomous() {
   chassis.drive_sensor_reset();                // Reset drive sensors to 0
   chassis.odom_pose_set({0_in, 0_in, 0_deg});  // Set the current position, you can start at a specific position with this
   chassis.drive_brake_set(MOTOR_BRAKE_HOLD);   // Set motors to hold.  This helps autonomous consistency
-  chassis.drive_width_set(12.0_in);            // You can measure this with a tape measure
 
   /*
   Odometry and Pure Pursuit are not magic
 
-  It is possible to get perfectly consistent results without trackers,
-  but it is also possible to have extremely inconsistent results without trackers.
-  When you don't use trackers, you need to:
+  It is possible to get perfectly consistent results without tracking wheels,
+  but it is also possible to have extremely inconsistent results without tracking wheels.
+  When you don't use tracking wheels, you need to:
    - avoid wheel slip
    - avoid wheelies
    - avoid throwing momentum around (super harsh turns, like in the example below)
   You can do cool curved motions, but you have to give your robot the best chance
   to be consistent
   */
 
-  // Drive to 0, 24
-  chassis.pid_odom_set({{0_in, 24_in}, fwd, 110},
+  // Drive to 0, 24 and pass through -3, 8 and 0, 16 on the way, with slew
+  chassis.pid_odom_set({{{6_in, 10_in}, fwd, 110},
+                        {{0_in, 20_in}, fwd, 110},
+                        {{0_in, 30_in}, fwd, 110}},
                        true);
   chassis.pid_wait();
 
-  // Turn to face 24, 24
-  chassis.pid_turn_set({24_in, 24_in}, fwd, 110,
+  // Turn to face -48, 48 with slew
+  chassis.pid_turn_set({-36_in, 48_in}, fwd, 110,
                        true);
   chassis.pid_wait();
 
-  // Drive to 24, 24
-  chassis.pid_odom_set({{24_in, 24_in}, fwd, 110},
+  // Turn to face 48, 48 with slew
+  chassis.pid_turn_set({36_in, 48_in}, fwd, 110,
                        true);
   chassis.pid_wait();
 
-  // Drive backwards through 0, 24 and stop at 0, 0
-  chassis.pid_odom_set({{{0_in, 24_in}, rev, 110},
+  // Drive to 0, 0 and pass through 3, 16 and 0, 8 on the way, with slew
+  chassis.pid_odom_set({{{-6_in, 20_in}, rev, 110},
+                        {{0_in, 10_in}, rev, 110},
                         {{0_in, 0_in}, rev, 110}},
                        true);
   chassis.pid_wait();