Changing max speed works, new (old) default constants, new constructor …

…#118 #119 #120

EZ-Template-Example-Project/include/EZ-Template/drive/drive.hpp

@@ -249,7 +249,7 @@ class Drive {
    * \param ratio
    *        External gear ratio, wheel gear / motor gear.
    */
-  Drive(std::vector<int> left_motor_ports, std::vector<int> right_motor_ports, int imu_port, double wheel_diameter, double ticks, double ratio);
+  Drive(std::vector<int> left_motor_ports, std::vector<int> right_motor_ports, int imu_port, double wheel_diameter, double ticks, double ratio = 1.0);
 
   /**
    * Creates a Drive Controller using encoders plugged into the brain.
@@ -916,6 +916,24 @@ class Drive {
    */
   void drive_ratio_set(double ratio);
 
+  /**
+   * @brief Set the cartridge/wheel rpm of the robot
+   *
+   * @param rpm
+   *        rpm of the cartridge or wheel
+   */
+  void drive_rpm_set(double rpm);
+
+  /**
+   * Returns the ratio of the drive.
+   */
+  double drive_ratio_get();
+
+  /**
+   * Returns the current cartridge / wheel rpm.
+   */
+  double drive_rpm_get();
+
   /**
    * Changes max speed during a drive motion.
    *

EZ-Template-Example-Project/include/EZ-Template/slew.hpp

@@ -76,6 +76,19 @@ class slew {
    */
   double output();
 
+  /**
+   * Sets the max speed the slew can be
+   *
+   * \param speed
+   *        maximum speed
+   */
+  void speed_max_set(double speed);
+
+  /**
+   * Returns the max speed the slew can be
+   */
+  double speed_max_get();
+
  private:
   int sign = 0;
   double error = 0;

EZ-Template-Example-Project/project.pros

@@ -5,28 +5,28 @@
         "target": "v5",
         "templates": {
             "EZ-Template": {
-                "location": "C:\\Users\\union\\AppData\\Roaming\\PROS\\templates\\[email protected]",
+                "location": "C:\\Users\\union\\AppData\\Roaming\\PROS\\templates\\[email protected]-RC2",
                 "metadata": {
                     "origin": "local"
                 },
                 "name": "EZ-Template",
                 "py/object": "pros.conductor.templates.local_template.LocalTemplate",
                 "supported_kernels": "^4.1.0",
                 "system_files": [
-                    "include\\EZ-Template\\util.hpp",
-                    "include\\EZ-Template\\PID.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\\sdcard.hpp",
                     "firmware\\EZ-Template.a",
-                    "include\\EZ-Template\\piston.hpp",
                     "include\\EZ-Template\\slew.hpp",
-                    "include\\EZ-Template\\api.hpp",
-                    "include\\EZ-Template\\drive\\drive.hpp",
-                    "include\\EZ-Template\\auton.hpp",
-                    "include\\EZ-Template\\sdcard.hpp"
+                    "include\\EZ-Template\\piston.hpp",
+                    "include\\EZ-Template\\util.hpp",
+                    "include\\EZ-Template\\auton.hpp"
                 ],
                 "target": "v5",
                 "user_files": [],
-                "version": "3.1.0"
+                "version": "3.1.0-RC2"
             },
             "kernel": {
                 "location": "C:\\Users\\union\\AppData\\Roaming\\PROS\\templates\\[email protected]",

EZ-Template-Example-Project/src/autons.cpp

@@ -14,14 +14,14 @@ const int SWING_SPEED = 90;
 // Constants
 ///
 void default_constants() {
-  chassis.pid_heading_constants_set(3, 0, 20);
-  chassis.pid_drive_constants_set(10, 0, 100);
-  chassis.pid_turn_constants_set(3, 0, 20);
-  chassis.pid_swing_constants_set(5, 0, 30);
+  chassis.pid_heading_constants_set(11, 0, 20);
+  chassis.pid_drive_constants_set(20, 0, 100);
+  chassis.pid_turn_constants_set(3, 0.05, 20, 15);
+  chassis.pid_swing_constants_set(6, 0, 65);
 
-  chassis.pid_turn_exit_condition_set(300_ms, 3_deg, 500_ms, 7_deg, 750_ms, 750_ms);
-  chassis.pid_swing_exit_condition_set(300_ms, 3_deg, 500_ms, 7_deg, 750_ms, 750_ms);
-  chassis.pid_drive_exit_condition_set(300_ms, 1_in, 500_ms, 3_in, 750_ms, 750_ms);
+  chassis.pid_turn_exit_condition_set(80_ms, 3_deg, 250_ms, 7_deg, 500_ms, 500_ms);
+  chassis.pid_swing_exit_condition_set(80_ms, 3_deg, 250_ms, 7_deg, 500_ms, 500_ms);
+  chassis.pid_drive_exit_condition_set(80_ms, 1_in, 250_ms, 3_in, 500_ms, 500_ms);
 
   chassis.pid_turn_chain_constant_set(3_deg);
   chassis.pid_swing_chain_constant_set(5_deg);
@@ -93,9 +93,9 @@ void wait_until_change_speed() {
   // pid_wait_until will wait until the robot gets to a desired position
 
   // When the robot gets to 6 inches, the robot will travel the remaining distance at a max speed of 30
-  chassis.pid_drive_set(24_in, DRIVE_SPEED, true);
+  chassis.pid_drive_set(24_in, 30, true);
   chassis.pid_wait_until(6_in);
-  chassis.pid_speed_max_set(30);  // After driving 6 inches at DRIVE_SPEED, the robot will go the remaining distance at 30 speed
+  chassis.pid_speed_max_set(DRIVE_SPEED);  // After driving 6 inches at 30 speed, the robot will go the remaining distance at DRIVE_SPEED
   chassis.pid_wait();
 
   chassis.pid_turn_set(45_deg, TURN_SPEED);
@@ -108,9 +108,9 @@ void wait_until_change_speed() {
   chassis.pid_wait();
 
   // When the robot gets to -6 inches, the robot will travel the remaining distance at a max speed of 30
-  chassis.pid_drive_set(-24_in, DRIVE_SPEED, true);
+  chassis.pid_drive_set(-24_in, 30, true);
   chassis.pid_wait_until(-6_in);
-  chassis.pid_speed_max_set(30);  // After driving 6 inches at DRIVE_SPEED, the robot will go the remaining distance at 30 speed
+  chassis.pid_speed_max_set(30);  // After driving 6 inches at 30 speed, the robot will go the remaining distance at DRIVE_SPEED
   chassis.pid_wait();
 }
 
@@ -137,7 +137,7 @@ void swing_example() {
 }
 
 ///
-// Combining Turn + Drive
+// Motion Chaining
 ///
 void motion_chaining() {
   // Motion chaining is where motions all try to blend together instead of individual movements.
@@ -153,7 +153,7 @@ void motion_chaining() {
   chassis.pid_wait_quick_chain();
 
   chassis.pid_turn_set(0_deg, TURN_SPEED);
-  chassis.pid_wait_quick_chain();
+  chassis.pid_wait();
 
   // Your final motion should still be a normal pid_wait
   chassis.pid_drive_set(-24_in, DRIVE_SPEED, true);

EZ-Template-Example-Project/src/main.cpp

@@ -13,12 +13,7 @@ ez::Drive chassis(
 
     7,      // IMU Port
     4.125,  // Wheel Diameter (Remember, 4" wheels without screw holes are actually 4.125!)
-    600,    // Cartridge RPM
-
-    // External Gear Ratio (MUST BE DECIMAL) This is WHEEL GEAR / MOTOR GEAR
-    // eg. if your drive is 84:36 where the 36t is powered, your RATIO would be 84/36 which is 2.333
-    // eg. if your drive is 36:60 where the 60t is powered, your RATIO would be 36/60 which is 0.6
-    1.75);
+    343);   // Wheel RPM
 
 /**
  * Runs initialization code. This occurs as soon as the program is started.

Makefile

@@ -27,7 +27,7 @@ EXCLUDE_COLD_LIBRARIES:=
 IS_LIBRARY:=1
 # TODO: CHANGE THIS!
 LIBNAME:=EZ-Template
-VERSION:=3.1.0
+VERSION:=3.1.0-RC2
 # 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)))

include/EZ-Template/drive/drive.hpp

@@ -249,7 +249,7 @@ class Drive {
    * \param ratio
    *        External gear ratio, wheel gear / motor gear.
    */
-  Drive(std::vector<int> left_motor_ports, std::vector<int> right_motor_ports, int imu_port, double wheel_diameter, double ticks, double ratio);
+  Drive(std::vector<int> left_motor_ports, std::vector<int> right_motor_ports, int imu_port, double wheel_diameter, double ticks, double ratio = 1.0);
 
   /**
    * Creates a Drive Controller using encoders plugged into the brain.
@@ -916,6 +916,24 @@ class Drive {
    */
   void drive_ratio_set(double ratio);
 
+  /**
+   * @brief Set the cartridge/wheel rpm of the robot
+   *
+   * @param rpm
+   *        rpm of the cartridge or wheel
+   */
+  void drive_rpm_set(double rpm);
+
+  /**
+   * Returns the ratio of the drive.
+   */
+  double drive_ratio_get();
+
+  /**
+   * Returns the current cartridge / wheel rpm.
+   */
+  double drive_rpm_get();
+
   /**
    * Changes max speed during a drive motion.
    *

include/EZ-Template/slew.hpp

@@ -76,6 +76,19 @@ class slew {
    */
   double output();
 
+  /**
+   * Sets the max speed the slew can be
+   *
+   * \param speed
+   *        maximum speed
+   */
+  void speed_max_set(double speed);
+
+  /**
+   * Returns the max speed the slew can be
+   */
+  double speed_max_get();
+
  private:
   int sign = 0;
   double error = 0;

src/EZ-Template/drive/drive.cpp

@@ -150,20 +150,20 @@ Drive::Drive(std::vector<int> left_motor_ports, std::vector<int> right_motor_por
 
 void Drive::drive_defaults_set() {
   // PID Constants
-  pid_heading_constants_set(3, 0, 20, 0);
-  pid_drive_constants_set(10, 0, 100, 0);
-  pid_turn_constants_set(3, 0, 20, 0);
-  pid_swing_constants_set(5, 0, 30, 0);
+  pid_heading_constants_set(11, 0, 20, 0);
+  pid_drive_constants_set(20, 0, 100, 0);
+  pid_turn_constants_set(3, 0.05, 20, 15);
+  pid_swing_constants_set(6, 0, 65);
   pid_turn_min_set(30);
   pid_swing_min_set(30);
 
   // Slew constants
   slew_drive_constants_set(7_in, 80);
 
   // Exit condition constants
-  pid_turn_exit_condition_set(300_ms, 3_deg, 500_ms, 7_deg, 750_ms, 750_ms);
-  pid_swing_exit_condition_set(300_ms, 3_deg, 500_ms, 7_deg, 750_ms, 750_ms);
-  pid_drive_exit_condition_set(300_ms, 1_in, 500_ms, 3_in, 750_ms, 750_ms);
+  pid_turn_exit_condition_set(80_ms, 3_deg, 250_ms, 7_deg, 500_ms, 500_ms);
+  pid_swing_exit_condition_set(80_ms, 3_deg, 250_ms, 7_deg, 500_ms, 500_ms);
+  pid_drive_exit_condition_set(80_ms, 1_in, 250_ms, 3_in, 500_ms, 500_ms);
 
   pid_turn_chain_constant_set(3_deg);
   pid_swing_chain_constant_set(5_deg);
@@ -197,6 +197,9 @@ double Drive::drive_tick_per_inch() {
 }
 
 void Drive::drive_ratio_set(double ratio) { RATIO = ratio; }
+double Drive::drive_ratio_get() { return RATIO; }
+void Drive::drive_rpm_set(double rpm) { CARTRIDGE = rpm; }
+double Drive::drive_rpm_get() { return CARTRIDGE; }
 
 void Drive::private_drive_set(int left, int right) {
   if (pros::millis() < 1500) return;

src/EZ-Template/drive/set_pid.cpp

@@ -90,6 +90,10 @@ PID::Constants Drive::pid_heading_constants_get() {
 // Updates max speed
 void Drive::pid_speed_max_set(int speed) {
   max_speed = abs(util::clamp(speed, 127, -127));
+  slew_left.speed_max_set(max_speed);
+  slew_right.speed_max_set(max_speed);
+  slew_turn.speed_max_set(max_speed);
+  slew_swing.speed_max_set(max_speed);
 }
 
 int Drive::pid_speed_max_get() {

src/EZ-Template/slew.cpp

@@ -20,6 +20,9 @@ void slew::constants_set(double distance, int minimum_speed) {
   constants.distance_to_travel = distance;
 }
 
+void slew::speed_max_set(double speed) { max_speed = speed; }
+double slew::speed_max_get() { return max_speed; }
+
 bool slew::enabled() { return is_enabled; }                  // Is slew currently enabled?
 double slew::output() { return last_output; }                // Returns output
 slew::Constants slew::constants_get() { return constants; }  // Get constants

src/autons.cpp

@@ -14,14 +14,14 @@ const int SWING_SPEED = 90;
 // Constants
 ///
 void default_constants() {
-  chassis.pid_heading_constants_set(3, 0, 20);
-  chassis.pid_drive_constants_set(10, 0, 100);
-  chassis.pid_turn_constants_set(3, 0, 20);
-  chassis.pid_swing_constants_set(5, 0, 30);
+  chassis.pid_heading_constants_set(11, 0, 20);
+  chassis.pid_drive_constants_set(20, 0, 100);
+  chassis.pid_turn_constants_set(3, 0.05, 20, 15);
+  chassis.pid_swing_constants_set(6, 0, 65);
 
-  chassis.pid_turn_exit_condition_set(300_ms, 3_deg, 500_ms, 7_deg, 750_ms, 750_ms);
-  chassis.pid_swing_exit_condition_set(300_ms, 3_deg, 500_ms, 7_deg, 750_ms, 750_ms);
-  chassis.pid_drive_exit_condition_set(300_ms, 1_in, 500_ms, 3_in, 750_ms, 750_ms);
+  chassis.pid_turn_exit_condition_set(80_ms, 3_deg, 250_ms, 7_deg, 500_ms, 500_ms);
+  chassis.pid_swing_exit_condition_set(80_ms, 3_deg, 250_ms, 7_deg, 500_ms, 500_ms);
+  chassis.pid_drive_exit_condition_set(80_ms, 1_in, 250_ms, 3_in, 500_ms, 500_ms);
 
   chassis.pid_turn_chain_constant_set(3_deg);
   chassis.pid_swing_chain_constant_set(5_deg);
@@ -93,9 +93,9 @@ void wait_until_change_speed() {
   // pid_wait_until will wait until the robot gets to a desired position
 
   // When the robot gets to 6 inches, the robot will travel the remaining distance at a max speed of 30
-  chassis.pid_drive_set(24_in, DRIVE_SPEED, true);
+  chassis.pid_drive_set(24_in, 30, true);
   chassis.pid_wait_until(6_in);
-  chassis.pid_speed_max_set(30);  // After driving 6 inches at DRIVE_SPEED, the robot will go the remaining distance at 30 speed
+  chassis.pid_speed_max_set(DRIVE_SPEED);  // After driving 6 inches at 30 speed, the robot will go the remaining distance at DRIVE_SPEED
   chassis.pid_wait();
 
   chassis.pid_turn_set(45_deg, TURN_SPEED);
@@ -108,9 +108,9 @@ void wait_until_change_speed() {
   chassis.pid_wait();
 
   // When the robot gets to -6 inches, the robot will travel the remaining distance at a max speed of 30
-  chassis.pid_drive_set(-24_in, DRIVE_SPEED, true);
+  chassis.pid_drive_set(-24_in, 30, true);
   chassis.pid_wait_until(-6_in);
-  chassis.pid_speed_max_set(30);  // After driving 6 inches at DRIVE_SPEED, the robot will go the remaining distance at 30 speed
+  chassis.pid_speed_max_set(DRIVE_SPEED);  // After driving 6 inches at 30 speed, the robot will go the remaining distance at DRIVE_SPEED
   chassis.pid_wait();
 }
 
@@ -137,7 +137,7 @@ void swing_example() {
 }
 
 ///
-// Combining Turn + Drive
+// Motion Chaining
 ///
 void motion_chaining() {
   // Motion chaining is where motions all try to blend together instead of individual movements.
@@ -153,7 +153,7 @@ void motion_chaining() {
   chassis.pid_wait_quick_chain();
 
   chassis.pid_turn_set(0_deg, TURN_SPEED);
-  chassis.pid_wait_quick_chain();
+  chassis.pid_wait();
 
   // Your final motion should still be a normal pid_wait
   chassis.pid_drive_set(-24_in, DRIVE_SPEED, true);

src/main.cpp

@@ -13,12 +13,7 @@ ez::Drive chassis(
 
     21,     // IMU Port
     4.125,  // Wheel Diameter (Remember, 4" wheels without screw holes are actually 4.125!)
-    420,    // Cartridge RPM
-
-    // External Gear Ratio (MUST BE DECIMAL) This is WHEEL GEAR / MOTOR GEAR
-    // eg. if your drive is 84:36 where the 36t is powered, your RATIO would be 84/36 which is 2.333
-    // eg. if your drive is 36:60 where the 60t is powered, your RATIO would be 36/60 which is 0.6
-    1.0);
+    420);   // Wheel RPM
 
 /**
  * Runs initialization code. This occurs as soon as the program is started.