diff --git a/2.x.html b/2.x.html index 992cc000..d4b37a15 100644 --- a/2.x.html +++ b/2.x.html @@ -4,11 +4,11 @@ EZ-Template | EZ-Template - - + + -
Skip to main content
Version: 2.x

EZ-Template

+

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. diff --git a/2.x/category/docs.html b/2.x/category/docs.html index bc06b63f..3e1bf6f0 100644 --- a/2.x/category/docs.html +++ b/2.x/category/docs.html @@ -4,10 +4,10 @@ Docs | EZ-Template - - + + -

Version: 2.x

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/2.x/category/tutorials.html b/2.x/category/tutorials.html index 2583b204..8a582430 100644 --- a/2.x/category/tutorials.html +++ b/2.x/category/tutorials.html @@ -4,10 +4,10 @@ Tutorials | EZ-Template - - + + -
Version: 2.x

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/2.x/docs/auton_functions.html b/2.x/docs/auton_functions.html index 52b86aa7..a9c85abc 100644 --- a/2.x/docs/auton_functions.html +++ b/2.x/docs/auton_functions.html @@ -4,11 +4,11 @@ Autonomous Functions | EZ-Template - - + + -
Version: 2.x

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.
diff --git a/2.x/docs/auton_selector.html b/2.x/docs/auton_selector.html index 78528e7e..947459c5 100644 --- a/2.x/docs/auton_selector.html +++ b/2.x/docs/auton_selector.html @@ -4,11 +4,11 @@ Autonomous Selector | EZ-Template - - + + -

Version: 2.x

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();
diff --git a/2.x/docs/constructor.html b/2.x/docs/constructor.html index 4837b438..9fbe87e4 100644 --- a/2.x/docs/constructor.html +++ b/2.x/docs/constructor.html @@ -4,11 +4,11 @@ Drive Constructors | EZ-Template - - + + -
Version: 2.x

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 diff --git a/2.x/docs/pid.html b/2.x/docs/pid.html index 8f30e596..babe6753 100644 --- a/2.x/docs/pid.html +++ b/2.x/docs/pid.html @@ -4,11 +4,11 @@ PID | EZ-Template - - + + -

Version: 2.x

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
diff --git a/2.x/docs/pto.html b/2.x/docs/pto.html index 6fbbd937..fcd98440 100644 --- a/2.x/docs/pto.html +++ b/2.x/docs/pto.html @@ -4,11 +4,11 @@ PTO | EZ-Template - - + + -

Version: 2.x

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);
diff --git a/2.x/docs/set_and_get_drive.html b/2.x/docs/set_and_get_drive.html index a4939d14..10cabc5d 100644 --- a/2.x/docs/set_and_get_drive.html +++ b/2.x/docs/set_and_get_drive.html @@ -4,11 +4,11 @@ Drive and Telemetry | EZ-Template - - + + -
Version: 2.x

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
diff --git a/2.x/docs/user_control.html b/2.x/docs/user_control.html index e0979b98..05614ee3 100644 --- a/2.x/docs/user_control.html +++ b/2.x/docs/user_control.html @@ -4,11 +4,11 @@ User Control | EZ-Template - - + + -

Version: 2.x

User Control

+
Version: 2.x

User Control

Drive Modes​

tank()​

Sets the drive to the left and right y axis.

diff --git a/2.x/docs/util.html b/2.x/docs/util.html index 2dc5bbfa..dde90d15 100644 --- a/2.x/docs/util.html +++ b/2.x/docs/util.html @@ -4,11 +4,11 @@ Util | EZ-Template - - + + -
Version: 2.x

Util

+
Version: 2.x

Util

controller​

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

extern pros::Controller master();
diff --git a/2.x/tutorials/activebrake.html b/2.x/tutorials/activebrake.html index a9139071..eaabbb20 100644 --- a/2.x/tutorials/activebrake.html +++ b/2.x/tutorials/activebrake.html @@ -4,11 +4,11 @@ Active Brake | EZ-Template - - + + -
Version: 2.x

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​

diff --git a/2.x/tutorials/autons.html b/2.x/tutorials/autons.html index 2ac0808f..e6a1d7f8 100644 --- a/2.x/tutorials/autons.html +++ b/2.x/tutorials/autons.html @@ -4,11 +4,11 @@ Adding Autonomous Routines | EZ-Template - - + + -
Version: 2.x

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​

diff --git a/2.x/tutorials/example_autons.html b/2.x/tutorials/example_autons.html index fb15fd58..5ff7d15f 100644 --- a/2.x/tutorials/example_autons.html +++ b/2.x/tutorials/example_autons.html @@ -4,11 +4,11 @@ Example Autonomous Routines | EZ-Template - - + + -
Version: 2.x

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;
diff --git a/2.x/tutorials/joystick_curve.html b/2.x/tutorials/joystick_curve.html index d965e3bb..4e875158 100644 --- a/2.x/tutorials/joystick_curve.html +++ b/2.x/tutorials/joystick_curve.html @@ -4,11 +4,11 @@ Joystick Curves | EZ-Template - - + + -
Version: 2.x

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.

diff --git a/2.x/tutorials/pid.html b/2.x/tutorials/pid.html index b6180039..1aa5cb38 100644 --- a/2.x/tutorials/pid.html +++ b/2.x/tutorials/pid.html @@ -4,11 +4,11 @@ PID Tutorial | EZ-Template - - + + -
Version: 2.x

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.

diff --git a/2.x/tutorials/practice_mode.html b/2.x/tutorials/practice_mode.html index 8c84952d..849830d1 100644 --- a/2.x/tutorials/practice_mode.html +++ b/2.x/tutorials/practice_mode.html @@ -4,10 +4,10 @@ Practice Mode | EZ-Template - - + + -
+
\ No newline at end of file diff --git a/2.x/tutorials/pto_tutorial.html b/2.x/tutorials/pto_tutorial.html index a48b4ceb..afee5f9c 100644 --- a/2.x/tutorials/pto_tutorial.html +++ b/2.x/tutorials/pto_tutorial.html @@ -4,11 +4,11 @@ PTO Tutorial | EZ-Template - - + + -
Version: 2.x

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.

diff --git a/2.x/tutorials/tuning_constants.html b/2.x/tutorials/tuning_constants.html index 8268b744..3dbfd789 100644 --- a/2.x/tutorials/tuning_constants.html +++ b/2.x/tutorials/tuning_constants.html @@ -4,11 +4,11 @@ Tuning Constants | EZ-Template - - + + -
Version: 2.x

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​

diff --git a/2.x/tutorials/using_auton_selector.html b/2.x/tutorials/using_auton_selector.html index 9265c318..9a0d0679 100644 --- a/2.x/tutorials/using_auton_selector.html +++ b/2.x/tutorials/using_auton_selector.html @@ -4,11 +4,11 @@ Using Autonomous Selector | EZ-Template - - + + -
Version: 2.x

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​

diff --git a/404.html b/404.html index de19170e..df66e101 100644 --- a/404.html +++ b/404.html @@ -4,10 +4,10 @@ EZ-Template - - + + -

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.

+

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 7ec218a8..2657cfd8 100644 --- a/Docs/auton_functions.html +++ b/Docs/auton_functions.html @@ -4,11 +4,11 @@ Autonomous Functions | EZ-Template - - + + -
Version: 3.0.0

Autonomous Functions

Functions with Okapi Units​

+
Version: 3.0.1

Autonomous Functions

Functions with Okapi Units​

pid_drive_set()​

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

p_target is in an okapi length unit.
diff --git a/Docs/auton_selector.html b/Docs/auton_selector.html index bf998f25..dae8ed1b 100644 --- a/Docs/auton_selector.html +++ b/Docs/auton_selector.html @@ -4,11 +4,11 @@ Autonomous Selector | EZ-Template - - + + -

Version: 3.0.0

Autonomous Selector

+
Version: 3.0.1

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();
diff --git a/Docs/constructor.html b/Docs/constructor.html index bbf1417f..31dcc165 100644 --- a/Docs/constructor.html +++ b/Docs/constructor.html @@ -4,11 +4,11 @@ Drive Constructors | EZ-Template - - + + -
Version: 3.0.0

Drive Constructors

Integrated Encoders​

+
Version: 3.0.1

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 diff --git a/Docs/pid.html b/Docs/pid.html index c8754c8f..96356eed 100644 --- a/Docs/pid.html +++ b/Docs/pid.html @@ -4,11 +4,11 @@ PID | EZ-Template - - + + -

Version: 3.0.0

PID

Constructors​

+
Version: 3.0.1

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
diff --git a/Docs/pto.html b/Docs/pto.html index 5e0202d1..ecf1956c 100644 --- a/Docs/pto.html +++ b/Docs/pto.html @@ -4,11 +4,11 @@ PTO | EZ-Template - - + + -

Version: 3.0.0

PTO

pto_check()​

+
Version: 3.0.1

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);
diff --git a/Docs/set_and_get_drive.html b/Docs/set_and_get_drive.html index b212d2b1..d06aa377 100644 --- a/Docs/set_and_get_drive.html +++ b/Docs/set_and_get_drive.html @@ -4,11 +4,11 @@ Drive and Telemetry | EZ-Template - - + + -
Version: 3.0.0

Drive and Telemetry

Initialize Drive​

+
Version: 3.0.1

Drive and Telemetry

Initialize Drive​

initialize()​

Runs opcontrol_curve_sd_initialize() and drive_imu_calibrate().

void Drive::initialize();
diff --git a/Docs/user_control.html b/Docs/user_control.html index 1d917d38..3c14ffa9 100644 --- a/Docs/user_control.html +++ b/Docs/user_control.html @@ -4,11 +4,11 @@ User Control | EZ-Template - - + + -
Version: 3.0.0

User Control

+
Version: 3.0.1

User Control

Drive Modes​

opcontrol_tank()​

Sets the drive to the left and right y axis.

diff --git a/Docs/util.html b/Docs/util.html index eb059d3a..55e76f82 100644 --- a/Docs/util.html +++ b/Docs/util.html @@ -4,11 +4,11 @@ Util | EZ-Template - - + + -
Version: 3.0.0

Util

+
Version: 3.0.1

Util

controller​

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

extern pros::Controller master();
diff --git a/Tutorials/activebrake.html b/Tutorials/activebrake.html index 2460bfff..2abcc44d 100644 --- a/Tutorials/activebrake.html +++ b/Tutorials/activebrake.html @@ -4,11 +4,11 @@ Active Brake | EZ-Template - - + + -
Version: 3.0.0

Active Brake

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.

+
Version: 3.0.1

Active Brake

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.

This is nice to use while the robot's brake mode is set to coast so you have full control over how much the robot will fight back when pushed.

Enabling​

To adjust the kP, in src/main.cpp change chassis.opcontrol_drive_activebrake_set(0) to whatever you like! We suggest around 2.0.

diff --git a/Tutorials/autons.html b/Tutorials/autons.html index fb9a174c..e2d35193 100644 --- a/Tutorials/autons.html +++ b/Tutorials/autons.html @@ -4,11 +4,11 @@ Adding Autonomous Routines | EZ-Template - - + + -
Version: 3.0.0

Adding Autonomous Routines

Learn to use Autonomous Functions​

+
Version: 3.0.1

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 the Autonomous Routines​

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

diff --git a/Tutorials/example_autons.html b/Tutorials/example_autons.html index ed1f1649..55f89123 100644 --- a/Tutorials/example_autons.html +++ b/Tutorials/example_autons.html @@ -4,11 +4,11 @@ Example Autonomous Routines | EZ-Template - - + + -
Version: 3.0.0

Example Autonomous Routines

Assumed Constants​

+
Version: 3.0.1

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​

diff --git a/Tutorials/joystick_curve.html b/Tutorials/joystick_curve.html index aaf512f4..8cbae412 100644 --- a/Tutorials/joystick_curve.html +++ b/Tutorials/joystick_curve.html @@ -4,11 +4,11 @@ Joystick Curves | EZ-Template - - + + -
Version: 3.0.0

Joystick Curves

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

+
Version: 3.0.1

Joystick Curves

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.

diff --git a/Tutorials/pid.html b/Tutorials/pid.html index 0ffe65ca..a280b191 100644 --- a/Tutorials/pid.html +++ b/Tutorials/pid.html @@ -4,11 +4,11 @@ PID Tutorial | EZ-Template - - + + -
Version: 3.0.0

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.

+
Version: 3.0.1

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;
}
ez::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);
  }
}
diff --git a/Tutorials/pto_tutorial.html b/Tutorials/pto_tutorial.html index 0389b04d..9369ec19 100644 --- a/Tutorials/pto_tutorial.html +++ b/Tutorials/pto_tutorial.html @@ -4,11 +4,11 @@ PTO Tutorial | EZ-Template - - + + -
Version: 3.0.0

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.

+
Version: 3.0.1

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.

diff --git a/Tutorials/tuning_constants.html b/Tutorials/tuning_constants.html index 2e88a3c6..8e0090c3 100644 --- a/Tutorials/tuning_constants.html +++ b/Tutorials/tuning_constants.html @@ -4,11 +4,11 @@ Tuning Constants | EZ-Template - - + + -
Version: 3.0.0

Tuning Constants

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

+
Version: 3.0.1

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().

diff --git a/Tutorials/using_auton_selector.html b/Tutorials/using_auton_selector.html index debf1561..fdc315a6 100644 --- a/Tutorials/using_auton_selector.html +++ b/Tutorials/using_auton_selector.html @@ -4,11 +4,11 @@ Using Autonomous Selector | EZ-Template - - + + -
Version: 3.0.0

Using Autonomous Selector

Select and Run your Autonomous​

+
Version: 3.0.1

Using Autonomous Selector

Select and Run your Autonomous​

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. Select Autonomous on your competition switch, and set it to Enable to run the autonomous.

Using an SD Card​

The SD card will remember the last page you were on before powering the robot off. If you're on page 3 and power off, the next time you power on the selector will start on page 3.

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