Fixed typos, formatting, and comments

EZ-Robotics · Jan 2, 2025 · bee448c · bee448c
1 parent 333fbd5
commit bee448c
Show file tree

Hide file tree

Showing 4 changed files with 79 additions and 100 deletions.
diff --git a/include/EZ-Template/drive/drive.hpp b/include/EZ-Template/drive/drive.hpp
@@ -1240,62 +1240,89 @@ class Drive {
   /**
    * Gets the current state of the toggle.
    *
-   * This toggles printing in autonomous.
-   *
    * True enabled, false disabled.
    */
   bool pid_print_toggle_get();
-  
+
   /**
-  * \param increase 
-  *        sets the button to increase PID tuner
-  */
+   * Sets the button to increment the PID constants.
+   *
+   * \param increase
+   *        a pros controller button
+   */
   void pid_tuner_button_increment_set(pros::controller_digital_e_t increase);
 
-  std::vector<pros::controller_digital_e_t> pid_tuner_button_increment_get();
+  /**
+   * Returns the pros button to increment the PID constants.
+   */
+  pros::controller_digital_e_t pid_tuner_button_increment_get();
 
   /**
-  * \param decrease
-  *        sets the button to lower PID tuner
-  */
+   * Sets the button to decrement the PID constants.
+   *
+   * \param decrease
+   *        a pros controller button
+   */
   void pid_tuner_button_decrement_set(pros::controller_digital_e_t decrease);
-
-  std::vector<pros::controller_digital_e_t> pid_tuner_button_decrement_get();
 
-  /** 
-  * \param pageUP
-  *        switched between kp, ki, kd, and start i
-  */
+  /**
+   * Returns the pros button to decrement the PID constants.
+   */
+  pros::controller_digital_e_t pid_tuner_button_decrement_get();
+
+  /**
+   * Sets the button to go up between the PID constants.
+   *
+   * \param pageUp
+   *        a pros controller button
+   */
   void pid_tuner_button_up_set(pros::controller_digital_e_t pageUp);
-
-  std::vector<pros::controller_digital_e_t> pid_tuner_button_up_get();  
 
   /**
-  * \param pageDown
-  *        switched between kp, ki, kd, and start i
-  */
+   * Returns the pros button to go up between the PID constants.
+   */
+  pros::controller_digital_e_t pid_tuner_button_up_get();
+
+  /**
+   * Sets the button to go down between the PID constants.
+   *
+   * \param pageDown
+   *        a pros controller button
+   */
   void pid_tuner_button_down_set(pros::controller_digital_e_t pageDown);
 
-  std::vector<pros::controller_digital_e_t> pid_tuner_button_down_get();  
+  /**
+   * Returns the pros button to go down between the PID constants.
+   */
+  pros::controller_digital_e_t pid_tuner_button_down_get();
 
   /**
-  * \param pageLeft
-  *        sets the PID screen left
-  */
+   * Sets the button to go left in the PID Tuner.
+   *
+   * \param pageLeft
+   *        a pros controller button
+   */
 
   void pid_tuner_button_left_set(pros::controller_digital_e_t pageLeft);
 
-  std::vector<pros::controller_digital_e_t> pid_tuner_button_left_get();  
+  /**
+   * Returns the pros button to go left in the PID Tuner.
+   */
+  pros::controller_digital_e_t pid_tuner_button_left_get();
 
-  /** 
-  * \param pageRight
-  *        sets the PID screen right
-  */
+  /**
+   * Sets the button to go right in the PID Tuner.
+   *
+   * \param pageRight
+   *        a pros controller button
+   */
   void pid_tuner_button_right_set(pros::controller_digital_e_t pageRight);
-
-  std::vector<pros::controller_digital_e_t> pid_tuner_button_right_get();  
 
-  //std::vector<pros::controller_digital_e_t> pid_tuner_button_get();
+  /**
+   * Returns the pros button to go right in the PID Tuner.
+   */
+  pros::controller_digital_e_t pid_tuner_button_right_get();
+
   /////
   //
   // Telemetry
@@ -3592,8 +3619,8 @@ class Drive {
   std::string complete_pid_tuner_output = "";
   float p_increment = 0.1, i_increment = 0.001, d_increment = 0.25, start_i_increment = 1.0;
 
-  pros::controller_digital_e_t pid_tuner_increase; //is this place good?
-  pros::controller_digital_e_t pid_tuner_decrease;
+  pros::controller_digital_e_t pid_tuner_increase;  // is this place good?
+  pros::controller_digital_e_t pid_tuner_decrease;  // ^yes this placement is fine :D
   pros::controller_digital_e_t pid_tuner_pageLeft;
   pros::controller_digital_e_t pid_tuner_pageRight;
   pros::controller_digital_e_t pid_tuner_pageUp;

diff --git a/src/EZ-Template/drive/drive.cpp b/src/EZ-Template/drive/drive.cpp
@@ -196,8 +196,7 @@ void Drive::drive_defaults_set() {
   opcontrol_curve_buttons_left_set(pros::E_CONTROLLER_DIGITAL_LEFT, pros::E_CONTROLLER_DIGITAL_RIGHT);
   opcontrol_curve_buttons_right_set(pros::E_CONTROLLER_DIGITAL_Y, pros::E_CONTROLLER_DIGITAL_A);
 
-  //Default PID tuner controlls
-
+  //Default PID Tuner buttons
   pid_tuner_button_increment_set(pros::E_CONTROLLER_DIGITAL_A);
   pid_tuner_button_decrement_set(pros::E_CONTROLLER_DIGITAL_Y);
   pid_tuner_button_up_set(pros::E_CONTROLLER_DIGITAL_UP);

diff --git a/src/EZ-Template/drive/pid_tuner.cpp b/src/EZ-Template/drive/pid_tuner.cpp
@@ -22,6 +22,22 @@ bool Drive::pid_tuner_full_enabled() { return is_full_pid_tuner_enabled; }
 void Drive::pid_tuner_print_terminal_set(bool input) { pid_tuner_terminal_b = input; }
 bool Drive::pid_tuner_print_terminal_enabled() { return pid_tuner_terminal_b; }
 
+// Set used buttons
+void Drive::pid_tuner_button_increment_set(pros::controller_digital_e_t increase) { pid_tuner_increase = increase; }
+void Drive::pid_tuner_button_decrement_set(pros::controller_digital_e_t decrease) { pid_tuner_decrease = decrease; }
+void Drive::pid_tuner_button_up_set(pros::controller_digital_e_t pageUp) { pid_tuner_pageUp = pageUp; }
+void Drive::pid_tuner_button_down_set(pros::controller_digital_e_t pageDown) { pid_tuner_pageDown = pageDown; }
+void Drive::pid_tuner_button_left_set(pros::controller_digital_e_t pageLeft) { pid_tuner_pageLeft = pageLeft; }
+void Drive::pid_tuner_button_right_set(pros::controller_digital_e_t pageRight) { pid_tuner_pageRight = pageRight; }
+
+// Get used buttons
+pros::controller_digital_e_t Drive::pid_tuner_button_increment_get() { return pid_tuner_increase; }
+pros::controller_digital_e_t Drive::pid_tuner_button_decrement_get() { return pid_tuner_decrease; }
+pros::controller_digital_e_t Drive::pid_tuner_button_up_get() { return pid_tuner_pageUp; }
+pros::controller_digital_e_t Drive::pid_tuner_button_down_get() { return pid_tuner_pageDown; }
+pros::controller_digital_e_t Drive::pid_tuner_button_left_get() { return pid_tuner_pageLeft; }
+pros::controller_digital_e_t Drive::pid_tuner_button_right_get() { return pid_tuner_pageRight; }
+
 // Initialize the brain screen
 void Drive::pid_tuner_brain_init() {
   last_auton_selector_state = ez::as::enabled();
@@ -164,67 +180,6 @@ double Drive::pid_tuner_increment_i_get() { return i_increment; }
 double Drive::pid_tuner_increment_d_get() { return d_increment; }
 double Drive::pid_tuner_increment_start_i_get() { return start_i_increment; }
 
-/*void Drive::pid_tuner_button_set(pros::controller_digital_e_t decrease, pros::controller_digital_e_t increase, pros::controller_digital_e_t pageLeft, pros::controller_digital_e_t pageRight, pros::controller_digital_e_t pageUp, pros::controller_digital_e_t pageDown){
-  pid_tuner_increase = increase;
-  pid_tuner_decrease = decrease;
-  pid_tuner_pageLeft = pageLeft;
-  pid_tuner_pageRight = pageRight;
-  pid_tuner_pageUp = pageUp;
-  pid_tuner_pageDown = pageDown;
-}
-
-std::vector<pros::controller_digital_e_t> Drive::pid_tuner_button_get() {
-  return {pid_tuner_increase, pid_tuner_decrease, pid_tuner_pageLeft, pid_tuner_pageRight, pid_tuner_pageUp, pid_tuner_pageDown};
-}*/
-
-void Drive::pid_tuner_button_increment_set(pros::controller_digital_e_t increase){
-  pid_tuner_increase = increase;
-}
-
-std::vector<pros::controller_digital_e_t> Drive::pid_tuner_button_increment_get() {
-  return {pid_tuner_increase};
-}
-
-void Drive::pid_tuner_button_decrement_set(pros::controller_digital_e_t decrease){
-  pid_tuner_decrease = decrease;
-}
-
-std::vector<pros::controller_digital_e_t> Drive::pid_tuner_button_decrement_get() {
-  return {pid_tuner_decrease};
-}
-
-void Drive::pid_tuner_button_up_set(pros::controller_digital_e_t pageUp){
-  pid_tuner_pageUp = pageUp;
-}
-
-std::vector<pros::controller_digital_e_t> Drive::pid_tuner_button_up_get() {
-  return {pid_tuner_pageUp};
-}
-
-void Drive::pid_tuner_button_down_set(pros::controller_digital_e_t pageDown){
-  pid_tuner_pageDown = pageDown;
-}
-
-std::vector<pros::controller_digital_e_t> Drive::pid_tuner_button_down_get() {
-  return {pid_tuner_pageDown};
-}
-
-void Drive::pid_tuner_button_left_set(pros::controller_digital_e_t pageLeft){
-  pid_tuner_pageLeft = pageLeft;
-}
-
-std::vector<pros::controller_digital_e_t> Drive::pid_tuner_button_left_get() {
-  return {pid_tuner_pageLeft};
-}
-
-void Drive::pid_tuner_button_right_set(pros::controller_digital_e_t pageRight){
-  pid_tuner_pageRight = pageRight;
-}
-
-std::vector<pros::controller_digital_e_t> Drive::pid_tuner_button_right_get() {
-  return {pid_tuner_pageRight};
-}
-
 // Iterate
 void Drive::pid_tuner_iterate() {
   if (!pid_tuner_on) return;  // Exit if it's disabled

diff --git a/src/main.cpp b/src/main.cpp
@@ -44,8 +44,6 @@ void initialize() {
   //  - ignore this if you aren't using a vertical tracker
   // chassis.odom_tracker_left_set(&vert_tracker);
 
-  //chassis.pid_tuner_button_set(pros::E_CONTROLLER_DIGITAL_Y, pros::E_CONTROLLER_DIGITAL_A, pros::E_CONTROLLER_DIGITAL_LEFT, pros::E_CONTROLLER_DIGITAL_RIGHT, pros::E_CONTROLLER_DIGITAL_UP, pros::E_CONTROLLER_DIGITAL_DOWN); // Sets the buttons used for PID Tuning. 
-
   // Configure your chassis controls
   chassis.opcontrol_curve_buttons_toggle(true);   // Enables modifying the controller curve with buttons on the joysticks
   chassis.opcontrol_drive_activebrake_set(0.0);   // Sets the active brake kP. We recommend ~2.  0 will disable.