Fixed arcade control (#46)

Makefile

@@ -27,7 +27,7 @@ EXCLUDE_COLD_LIBRARIES:=
 IS_LIBRARY:=1
 # TODO: CHANGE THIS!
 LIBNAME:=EZ-Template
-VERSION:=2.1.0
+VERSION:=2.1.1
 # EXCLUDE_SRC_FROM_LIB= $(SRCDIR)/unpublishedfile.c
 # this line excludes opcontrol.c and similar files
 EXCLUDE_SRC_FROM_LIB+=$(foreach file, $(SRCDIR)/autons $(SRCDIR)/main,$(foreach cext,$(CEXTS),$(file).$(cext)) $(foreach cxxext,$(CXXEXTS),$(file).$(cxxext)))

README.md

@@ -11,7 +11,7 @@ permalink: /
 Simple plug-and-play PROS template that handles drive base functions for VEX robots.  
 
 
-[EZ-Template Version](https://github.com/EZ-Robotics/EZ-Template): 2.1.0  
+[EZ-Template Version](https://github.com/EZ-Robotics/EZ-Template): 2.1.1  
 
 [Autonomous routines that used EZ-Template](https://photos.app.goo.gl/yRwuvmq7hDoM4f6EA)
 
@@ -26,9 +26,9 @@ Simple plug-and-play PROS template that handles drive base functions for VEX rob
 ## Upgrading  
 *Note: this only works for 2.0.0 and beyond.  You cannot upgrade from 1.X.X to 2.X.X.*  
 1) Download the most recent EZ-Template [here](https://github.com/EZ-Robotics/EZ-Template/releases/latest).  
-2) In your terminal, `cd` into the directory you downloaded the file.    
-3) Run this command from terminal `prosv5 c fetch [email protected]`.  
-4) `cd` into your pros project directory in your terminal.  
+2) Move the file to your project.  
+3) Open terminal or command prompt, and `cd` into your projects directory.    
+4) Run this command from terminal `prosv5 c fetch [email protected]`.  
 5) Apply the library to the project `prosv5 c apply EZ-Template`.  
 6) Put `#include "EZ-Template/api.hpp"` in your `include/main.h`.  
 

src/EZ-Template/drive/user_input.cpp

@@ -27,10 +27,10 @@ void Drive::init_curve_sd() {
     fread(l_buf, 1, 5, l_usd_file_read);
     left_curve_scale = std::stof(l_buf);
     fclose(l_usd_file_read);
-  } 
+  }
   // If file doesn't exist, create file
   else {
-    save_l_curve_sd(); // Writing to a file that doesn't exist creates the file
+    save_l_curve_sd();  // Writing to a file that doesn't exist creates the file
     printf("Created left_curve.txt\n");
   }
 
@@ -41,10 +41,10 @@ void Drive::init_curve_sd() {
     fread(l_buf, 1, 5, r_usd_file_read);
     right_curve_scale = std::stof(l_buf);
     fclose(r_usd_file_read);
-  } 
+  }
   // If file doesn't exist, create file
   else {
-    save_r_curve_sd(); // Writing to a file that doesn't exist creates the file
+    save_r_curve_sd();  // Writing to a file that doesn't exist creates the file
     printf("Created right_curve.txt\n");
   }
 }
@@ -157,21 +157,21 @@ void Drive::modify_curve_with_controller() {
 // Left curve function
 double Drive::left_curve_function(double x) {
   if (left_curve_scale != 0) {
-    //if (CURVE_TYPE)
+    // if (CURVE_TYPE)
     return (powf(2.718, -(left_curve_scale / 10)) + powf(2.718, (fabs(x) - 127) / 10) * (1 - powf(2.718, -(left_curve_scale / 10)))) * x;
-    //else
-    //return powf(2.718, ((abs(x)-127)*RIGHT_CURVE_SCALE)/100)*x;
+    // else
+    // return powf(2.718, ((abs(x)-127)*RIGHT_CURVE_SCALE)/100)*x;
   }
   return x;
 }
 
 // Right curve fnuction
 double Drive::right_curve_function(double x) {
   if (right_curve_scale != 0) {
-    //if (CURVE_TYPE)
+    // if (CURVE_TYPE)
     return (powf(2.718, -(right_curve_scale / 10)) + powf(2.718, (fabs(x) - 127) / 10) * (1 - powf(2.718, -(right_curve_scale / 10)))) * x;
-    //else
-    //return powf(2.718, ((abs(x)-127)*RIGHT_CURVE_SCALE)/100)*x;
+    // else
+    // return powf(2.718, ((abs(x)-127)*RIGHT_CURVE_SCALE)/100)*x;
   }
   return x;
 }
@@ -225,20 +225,20 @@ void Drive::arcade_standard(e_type stick_type) {
   // Toggle for controller curve
   modify_curve_with_controller();
 
-  int l_stick, r_stick;
+  int fwd_stick, turn_stick;
   // Check arcade type (split vs single, normal vs flipped)
   if (stick_type == SPLIT) {
     // Put the joysticks through the curve function
-    l_stick = left_curve_function(master.get_analog(ANALOG_LEFT_Y));
-    r_stick = right_curve_function(master.get_analog(ANALOG_RIGHT_X));
+    fwd_stick = left_curve_function(master.get_analog(ANALOG_LEFT_Y));
+    turn_stick = right_curve_function(master.get_analog(ANALOG_RIGHT_X));
   } else if (stick_type == SINGLE) {
     // Put the joysticks through the curve function
-    l_stick = left_curve_function(master.get_analog(ANALOG_LEFT_Y));
-    r_stick = right_curve_function(master.get_analog(ANALOG_LEFT_X));
+    fwd_stick = left_curve_function(master.get_analog(ANALOG_LEFT_Y));
+    turn_stick = right_curve_function(master.get_analog(ANALOG_LEFT_X));
   }
 
   // Set robot to l_stick and r_stick, check joystick threshold, set active brake
-  joy_thresh_opcontrol(l_stick, r_stick);
+  joy_thresh_opcontrol(fwd_stick + turn_stick, fwd_stick - turn_stick);
 }
 
 // Arcade control flipped
@@ -249,18 +249,18 @@ void Drive::arcade_flipped(e_type stick_type) {
   // Toggle for controller curve
   modify_curve_with_controller();
 
-  int l_stick, r_stick;
+  int turn_stick, fwd_stick;
   // Check arcade type (split vs single, normal vs flipped)
   if (stick_type == SPLIT) {
     // Put the joysticks through the curve function
-    r_stick = right_curve_function(master.get_analog(ANALOG_RIGHT_Y));
-    l_stick = left_curve_function(master.get_analog(ANALOG_LEFT_X));
+    fwd_stick = right_curve_function(master.get_analog(ANALOG_RIGHT_Y));
+    turn_stick = left_curve_function(master.get_analog(ANALOG_LEFT_X));
   } else if (stick_type == SINGLE) {
     // Put the joysticks through the curve function
-    r_stick = right_curve_function(master.get_analog(ANALOG_RIGHT_Y));
-    l_stick = left_curve_function(master.get_analog(ANALOG_RIGHT_X));
+    fwd_stick = right_curve_function(master.get_analog(ANALOG_RIGHT_Y));
+    turn_stick = left_curve_function(master.get_analog(ANALOG_RIGHT_X));
   }
 
   // Set robot to l_stick and r_stick, check joystick threshold, set active brake
-  joy_thresh_opcontrol(l_stick, r_stick);
+  joy_thresh_opcontrol(fwd_stick + turn_stick, fwd_stick - turn_stick);
 }

src/EZ-Template/util.cpp

@@ -25,7 +25,7 @@ void print_ez_template() {
                                      |_|
 )" << '\n';
 
-  printf("Version: 2.1.0\n");
+  printf("Version: 2.1.1\n");
 }
 std::string get_last_word(std::string text) {
   std::string word = "";

version

@@ -1 +1 @@
-2.1.0
+2.1.1