Updated to EZ-Template 2.0.1

EZ-Robotics · Dec 14, 2021 · d28bc0f · d28bc0f
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diff --git a/[email protected] → [email protected] b/[email protected] → [email protected]
diff --git a/README.md b/README.md
@@ -3,8 +3,8 @@
 
 EZ-Template is a simple plug-and-play PROS template that handles drive base functions for VEX robots.  
 
-[EZ-Template Version](https://github.com/EZ-Robotics/EZ-Template): 2.0.0  
-[Example Project Version](https://github.com/EZ-Robotics/EZ-Template-Example): 1.0.1
+[EZ-Template Version](https://github.com/EZ-Robotics/EZ-Template): 2.0.1  
+[Example Project Version](https://github.com/EZ-Robotics/EZ-Template-Example): 1.1.0
 
 [Autonomous routines that used EZ-Template](https://photos.app.goo.gl/yRwuvmq7hDoM4f6EA)
 
@@ -20,7 +20,7 @@ EZ-Template is a simple plug-and-play PROS template that handles drive base func
 *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].0.zip`.  
+3) Run this command from terminal `prosv5 c fetch [email protected].1.zip`.  
 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`.  

diff --git a/firmware/EZ-Template.a b/firmware/EZ-Template.a
diff --git a/include/EZ-Template/drive/drive.hpp b/include/EZ-Template/drive/drive.hpp
@@ -426,7 +426,7 @@ class Drive {
     * Set Either the headingPID, turnPID, forwardPID, backwardPID, activeBrakePID, or swingPID
     * IF NOT DONE PID WILL DEFAULT TO 0!
     */
-  void set_pid_constants(PID pid, double p, double i, double d, double p_start_i);
+  void set_pid_constants(PID* pid, double p, double i, double d, double p_start_i);
 
   /**
     * Sets minimum slew speed constants.

diff --git a/include/autons.hpp b/include/autons.hpp
@@ -13,3 +13,5 @@ void combining_movements();
 void interfered_example();
 
 void default_constants();
+void one_mogo_constants();
+void two_mogo_constants();
diff --git a/project.pros b/project.pros
@@ -5,26 +5,26 @@
         "target": "v5",
         "templates": {
             "EZ-Template": {
-                "location": "C:\\Users\\union\\AppData\\Roaming\\PROS\\templates\\[email protected].0",
+                "location": "C:\\Users\\union\\AppData\\Roaming\\PROS\\templates\\[email protected].1",
                 "metadata": {
                     "origin": "local"
                 },
                 "name": "EZ-Template",
                 "py/object": "pros.conductor.templates.local_template.LocalTemplate",
                 "supported_kernels": "^3.5.4",
                 "system_files": [
+                    "include\\EZ-Template\\auton.hpp",
                     "include\\EZ-Template\\api.hpp",
+                    "include\\EZ-Template\\auton_selector.hpp",
                     "include\\EZ-Template\\drive\\drive.hpp",
                     "include\\EZ-Template\\PID.hpp",
-                    "include\\EZ-Template\\auton_selector.hpp",
-                    "include\\EZ-Template\\auton.hpp",
+                    "firmware\\EZ-Template.a",
                     "include\\EZ-Template\\util.hpp",
-                    "include\\EZ-Template\\sdcard.hpp",
-                    "firmware\\EZ-Template.a"
+                    "include\\EZ-Template\\sdcard.hpp"
                 ],
                 "target": "v5",
                 "user_files": [],
-                "version": "2.0.0"
+                "version": "2.0.1"
             },
             "kernel": {
                 "location": "C:\\Users\\union\\AppData\\Roaming\\PROS\\templates\\[email protected]",

diff --git a/src/autons.cpp b/src/autons.cpp
@@ -26,35 +26,33 @@ const int SWING_SPEED = 90;
 void default_constants() {
   chassis.set_slew_min_power(80, 80);
   chassis.set_slew_distance(7, 7);
-  chassis.set_pid_constants(chassis.headingPID, 11, 0, 20, 0);
-  chassis.set_pid_constants(chassis.forward_drivePID, 0.45, 0, 5, 0);
-  chassis.set_pid_constants(chassis.backward_drivePID, 0.45, 0, 5, 0);
-  chassis.set_pid_constants(chassis.turnPID, 5, 0.003, 35, 15);
-  chassis.set_pid_constants(chassis.swingPID, 7, 0, 45, 0);
+  chassis.set_pid_constants(&chassis.headingPID, 11, 0, 20, 0);
+  chassis.set_pid_constants(&chassis.forward_drivePID, 0.45, 0, 5, 0);
+  chassis.set_pid_constants(&chassis.backward_drivePID, 0.45, 0, 5, 0);
+  chassis.set_pid_constants(&chassis.turnPID, 5, 0.003, 35, 15);
+  chassis.set_pid_constants(&chassis.swingPID, 7, 0, 45, 0);
 }
 
-/*
-
 void one_mogo_constants() {
   chassis.set_slew_min_power(80, 80);
   chassis.set_slew_distance(7, 7);
-  chassis.set_pid_constants(chassis.headingPID, 11, 0, 20, 0);
-  chassis.set_pid_constants(chassis.forward_drivePID, 0.45, 0, 5, 0);
-  chassis.set_pid_constants(chassis.backward_drivePID, 0.45, 0, 5, 0);
-  chassis.set_pid_constants(chassis.turnPID, 5, 0.003, 35, 15);
-  chassis.set_pid_constants(chassis.swingPID, 7, 0, 45, 0);
+  chassis.set_pid_constants(&chassis.headingPID, 11, 0, 20, 0);
+  chassis.set_pid_constants(&chassis.forward_drivePID, 0.45, 0, 5, 0);
+  chassis.set_pid_constants(&chassis.backward_drivePID, 0.45, 0, 5, 0);
+  chassis.set_pid_constants(&chassis.turnPID, 5, 0.003, 35, 15);
+  chassis.set_pid_constants(&chassis.swingPID, 7, 0, 45, 0);
 }
 
 void two_mogo_constants() {
   chassis.set_slew_min_power(80, 80);
   chassis.set_slew_distance(7, 7);
-  chassis.set_pid_constants(chassis.headingPID, 11, 0, 20, 0);
-  chassis.set_pid_constants(chassis.forward_drivePID, 0.45, 0, 5, 0);
-  chassis.set_pid_constants(chassis.backward_drivePID, 0.45, 0, 5, 0);
-  chassis.set_pid_constants(chassis.turnPID, 5, 0.003, 35, 15);
-  chassis.set_pid_constants(chassis.swingPID, 7, 0, 45, 0);
+  chassis.set_pid_constants(&chassis.headingPID, 11, 0, 20, 0);
+  chassis.set_pid_constants(&chassis.forward_drivePID, 0.45, 0, 5, 0);
+  chassis.set_pid_constants(&chassis.backward_drivePID, 0.45, 0, 5, 0);
+  chassis.set_pid_constants(&chassis.turnPID, 5, 0.003, 35, 15);
+  chassis.set_pid_constants(&chassis.swingPID, 7, 0, 45, 0);
 }
-*/
+
 
 
 
@@ -212,7 +210,7 @@ void tug (int attempts) {
       chassis.set_drive_pid(-2, 20);
       pros::delay(1000);
     }
-    // If robot succesfully drove back, return
+    // If robot successfully drove back, return
     else {
       return;
     }

diff --git a/src/main.cpp b/src/main.cpp
@@ -67,7 +67,7 @@ void initialize() {
   chassis.toggle_modify_curve_with_controller(true); // Enables modifying the controller curve with buttons on the joysticks
   chassis.set_active_brake(0); // Sets the active brake kP. We recommend 0.1.
   chassis.set_curve_default(0, 0); // Defaults for curve. (Comment this line out if you have an SD card!)
-  // default_constants(); // Set the drive to your own constants from autons.cpp!
+  default_constants(); // Set the drive to your own constants from autons.cpp!
 
   // These are already defaulted to these buttons, but you can change the left/right curve buttons here!
   // chassis.set_left_curve_buttons (pros::E_CONTROLLER_DIGITAL_LEFT, pros::E_CONTROLLER_DIGITAL_RIGHT);