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2.1.0 - PIDs, PTOs and Bug Fixes!
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@ssejrog ssejrog released this 13 Jan 08:57
· 210 commits to main since this release
v2.1.0
c7880c8

Note: upgrading only works for 2.0.0 and beyond. You cannot upgrade from 1.X.X to 2.X.X.

This is a feature release that includes PTO, PID and bug fixes.

For download and installation instructions, documentation and tutorials, check our website! https://ez-robotics.github.io/EZ-Template/

Download and Installation

  1. Download the latest example project below (Example-Project.zip). Extract the zip, and open it in PROS.
  2. In src/main.cpp, configure drive and IMU ports to what they are on your robot. Be sure to read the comments!
  3. Configure your wheel size and cartrige. Remember that 4" omni wheels are actually 4.125!
  4. In src/main.cpp, at the bottom in void opcontrol(), decide how you'd like to control your robot! Any flavor of arcade or tank!
  5. Turn the robot on and use it in driver control. Make sure the ports are correct and reversed correctly!
  6. To test the test autonomous modes, plug into a competition switch and select the autonomous mode on the brain screen by pressing the left and right buttons! The current page will be the autonomous that runs. For making new autonomous routines, check src/autons.cpp for examples on how to use the drive functions.

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 below ([email protected]).
  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.
  5. Apply the library to the project prosv5 c apply EZ-Template.
  6. Put #include "EZ-Template/api.hpp" in your include/main.h.

Features

  • PTO support (#12)
  • Smart encoder support (#28)
  • Toggles for autonomous printf and set drive (#36)
  • Limit switch control for selecting autonomous modes (#34)
  • Wait functions to PID (#33)
  • reset_pid_targets() to reset all targets (#37)
  • Function to get and set drive mode (#38)

Bug Fixes

  • set_exit_condition() now accepts doubles (#30)
  • set_max_speed() now sets max speed (#35)
  • Hardcoded speed limits for swings and turns are now not hardcoded (#39)
  • IMU loading animation is more consistent (#40)
  • Slew math is now correct (#41)
  • Fixed edge case in print_to_screen() (#43)
  • The last line of the LCD now clears (#44)

Maintenance

  • Cleaned joystick control (#31)
  • Moved more to public (#42)

Thanks to @HakopZ, @Unionjackjz1 for helping with this release!

Contributors

ssejrog and HakopZ
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