⬆️v3.2.0

Merge pull request #229 from EZ-Robotics/dev

.gitignore

@@ -43,4 +43,4 @@ EZ-Template-Example-Project/temp.log
 EZ-Template-Example-Project/temp.errors
 EZ-Template-Example-Project/*.ini
 EZ-Template-Example-Project/.d/
-.d/
+.d/

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

@@ -73,42 +73,43 @@ class PID {
    * Set's constants for exit conditions.
    *
    * \param p_small_exit_time
-   *        Sets small_exit_time.  Timer for to exit within smalL_error.
+   *        sets small_exit_time, timer for to exit within smalL_error
    * \param p_small_error
-   *        Sets smalL_error. Timer will start when error is within this.
+   *        sets smalL_error, timer will start when error is within this
    * \param p_big_exit_time
-   *        Sets big_exit_time.  Timer for to exit within big_error.
+   *        sets big_exit_time, timer for to exit within big_error
    * \param p_big_error
-   *        Sets big_error. Timer will start when error is within this.
+   *        sets big_error, timer will start when error is within this
    * \param p_velocity_exit_time
-   *        Sets velocity_exit_time.  Timer will start when velocity is 0.
+   *        sets velocity_exit_time, timer will start when velocity is 0
    */
   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);
 
   /**
-   * Sets target.
+   * Sets PID target.
    *
    * \param target
-   *        Target for PID.
+   *        new target for PID
    */
   void target_set(double input);
 
   /**
    * Computes PID.
    *
    * \param current
-   *        Current sensor value.
+   *        current sensor value
    */
   double compute(double current);
 
   /**
-   * Computes PID, but you set the error yourself.  This function ignores target.
-   * Current is only used here for calculative derivative.
+   * Computes PID, but you compute the error yourself.  
+   * 
+   * Current is only used here for calculative derivative to solve derivative kick.
    *
    * \param err
-   *        Error in PID, you need to calculate this yourself.
+   *        error for the PID, you need to calculate this yourself
    * \param current
-   *        Current sensor value.
+   *        current sensor value
    */
   double compute_error(double err, double current);
 
@@ -122,26 +123,31 @@ class PID {
    */
   Constants constants_get();
 
+  /**
+   * Returns true if PID constants are set, returns false if they're all 0.
+   */
+  bool constants_set_check();
+
   /**
    * Resets all variables to 0.  This does not reset constants.
    */
   void variables_reset();
 
   /**
-   * Constants
+   * Constants.
    */
   Constants constants;
 
   /**
-   * Exit
+   * Exit.
    */
   exit_condition_ exit;
 
   /**
    * Updates a secondary sensor for velocity exiting.  Ideal use is IMU during normal drive motions.
    *
    * \param secondary_sensor
-   *        double for a secondary sensor.
+   *        secondary sensor value
    */
   void velocity_sensor_secondary_set(double secondary_sensor);
 
@@ -154,7 +160,7 @@ class PID {
    * Boolean for if the secondary sensor will be updated or not.  True uses this sensor, false does not.
    *
    * \param toggle
-   *        True uses this sensor, false does not.
+   *        true uses this sensor, false does not
    */
   void velocity_sensor_secondary_toggle_set(bool toggle);
 
@@ -164,64 +170,74 @@ class PID {
   bool velocity_sensor_secondary_toggle_get();
 
   /**
-   * Sets the threshold that the main sensor will return 0 velocity within
+   * Sets the threshold that the main sensor will return 0 velocity within.
    *
    * \param zero
    *        a small double
    */
   void velocity_sensor_main_exit_set(double zero);
 
   /**
-   * Returns the threshold that the main sensor will return 0 velocity within
+   * Returns the threshold that the main sensor will return 0 velocity within.
    */
   double velocity_sensor_main_exit_get();
 
   /**
-   * Sets the threshold that the secondary sensor will return 0 velocity within
+   * Sets the threshold that the secondary sensor will return 0 velocity within.
    *
    * \param zero
    *        a small double
    */
   void velocity_sensor_secondary_exit_set(double zero);
 
   /**
-   * Returns the threshold that the secondary sensor will return 0 velocity within
+   * Returns the threshold that the secondary sensor will return 0 velocity within.
    */
   double velocity_sensor_secondary_exit_get();
 
   /**
    * Iterative exit condition for PID.
    *
    * \param print = false
-   *        if true, prints when complete.
+   *        if true, prints when complete
    */
   ez::exit_output exit_condition(bool print = false);
 
   /**
    * Iterative exit condition for PID.
    *
    * \param sensor
-   *        A pros motor on your mechanism.
+   *        a pros motor on your mechanism
    * \param print = false
-   *        if true, prints when complete.
+   *        if true, prints when complete
    */
   ez::exit_output exit_condition(pros::Motor sensor, bool print = false);
 
   /**
    * Iterative exit condition for PID.
    *
    * \param sensor
-   *        Pros motors on your mechanism.
+   *        pros motors on your mechanism
    * \param print = false
-   *        if true, prints when complete.
+   *        if true, prints when complete
    */
   ez::exit_output exit_condition(std::vector<pros::Motor> sensor, bool print = false);
 
+  /**
+   * Iterative exit condition for PID.
+   *
+   * \param sensor
+   *        pros motor group on your mechanism
+   * \param print = false
+   *        if true, prints when complete
+   */
+  ez::exit_output exit_condition(pros::MotorGroup sensor, bool print = false);
+
   /**
    * Sets the name of the PID that prints during exit conditions.
    *
    * \param name
-   *        a string that is the name you want to print
+   *        the name of the mechanism for printing
    */
   void name_set(std::string name);
 
@@ -231,15 +247,19 @@ class PID {
   std::string name_get();
 
   /**
-   * Enables / disables i resetting when sgn of error changes.  True resets, false doesn't.
+   * Enables / disables i resetting when sgn of error changes.  
+   * 
+   * True resets, false doesn't.
    *
    * \param toggle
    *        true resets, false doesn't
    */
   void i_reset_toggle(bool toggle);
 
   /**
-   * Returns if i will reset when sgn of error changes.  True resets, false doesn't.
+   * Returns if i will reset when sgn of error changes.  
+   * 
+   * True resets, false doesn't.
    */
   bool i_reset_get();
 
@@ -264,7 +284,7 @@ class PID {
 
  private:
   double velocity_zero_main = 0.05;
-  double velocity_zero_secondary = 0.1;
+  double velocity_zero_secondary = 0.075;
   int i = 0, j = 0, k = 0, l = 0, m = 0;
   bool is_mA = false;
   double second_sensor = 0.0;

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

@@ -13,4 +13,5 @@ file, You can obtain one at http://mozilla.org/MPL/2.0/.
 #include "EZ-Template/piston.hpp"
 #include "EZ-Template/sdcard.hpp"
 #include "EZ-Template/slew.hpp"
+#include "EZ-Template/tracking_wheel.hpp"
 #include "EZ-Template/util.hpp"

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

@@ -17,6 +17,7 @@ class AutonSelector {
   std::vector<Auton> Autons;
   int auton_page_current;
   int auton_count;
+  int last_auton_page_current;
   AutonSelector();
   AutonSelector(std::vector<Auton> autons);
   void selected_auton_call();