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🐛 Exit conditions now work (#101) #103

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merged 1 commit into from
Jun 2, 2024
Merged

🐛 Exit conditions now work (#101) #103

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2 changes: 1 addition & 1 deletion src/EZ-Template/PID.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -121,7 +121,7 @@ exit_output PID::exit_condition(bool print) {

// If the robot is close to the target, start a timer. If the robot doesn't get closer within
// a certain amount of time, exit and continue. This does not run while small_timeout is running
if (exit.big_error != 0 && exit.big_exit_time != 0) { // Check if this condition is enabled
else if (exit.big_error != 0 && exit.big_exit_time != 0) { // Check if this condition is enabled
if (abs(error) < exit.big_error) {
i += util::DELAY_TIME;
if (i > exit.big_exit_time) {
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24 changes: 12 additions & 12 deletions src/EZ-Template/drive/exit_conditions.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -18,10 +18,10 @@ void Drive::pid_drive_exit_condition_set(okapi::QTime p_small_exit_time, okapi::
// Convert okapi units to doubles
double se = p_small_error.convert(okapi::inch);
double be = p_big_error.convert(okapi::inch);
double set = p_small_exit_time.convert(okapi::millisecond);
double bet = p_big_exit_time.convert(okapi::millisecond);
double vet = p_velocity_exit_time.convert(okapi::millisecond);
double mAt = p_mA_timeout.convert(okapi::millisecond);
int set = p_small_exit_time.convert(okapi::millisecond);
int bet = p_big_exit_time.convert(okapi::millisecond);
int vet = p_velocity_exit_time.convert(okapi::millisecond);
int mAt = p_mA_timeout.convert(okapi::millisecond);

pid_drive_exit_condition_set(set, se, bet, be, vet, mAt);
}
Expand All @@ -34,10 +34,10 @@ void Drive::pid_turn_exit_condition_set(okapi::QTime p_small_exit_time, okapi::Q
// Convert okapi units to doubles
double se = p_small_error.convert(okapi::degree);
double be = p_big_error.convert(okapi::degree);
double set = p_small_exit_time.convert(okapi::millisecond);
double bet = p_big_exit_time.convert(okapi::millisecond);
double vet = p_velocity_exit_time.convert(okapi::millisecond);
double mAt = p_mA_timeout.convert(okapi::millisecond);
int set = p_small_exit_time.convert(okapi::millisecond);
int bet = p_big_exit_time.convert(okapi::millisecond);
int vet = p_velocity_exit_time.convert(okapi::millisecond);
int mAt = p_mA_timeout.convert(okapi::millisecond);

pid_turn_exit_condition_set(set, se, bet, be, vet, mAt);
}
Expand All @@ -50,10 +50,10 @@ void Drive::pid_swing_exit_condition_set(okapi::QTime p_small_exit_time, okapi::
// Convert okapi units to doubles
double se = p_small_error.convert(okapi::degree);
double be = p_big_error.convert(okapi::degree);
double set = p_small_exit_time.convert(okapi::millisecond);
double bet = p_big_exit_time.convert(okapi::millisecond);
double vet = p_velocity_exit_time.convert(okapi::millisecond);
double mAt = p_mA_timeout.convert(okapi::millisecond);
int set = p_small_exit_time.convert(okapi::millisecond);
int bet = p_big_exit_time.convert(okapi::millisecond);
int vet = p_velocity_exit_time.convert(okapi::millisecond);
int mAt = p_mA_timeout.convert(okapi::millisecond);

pid_swing_exit_condition_set(set, se, bet, be, vet, mAt);
}
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