Main project updated to example, fixed #122 and #123

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]RC2",
+                "location": "C:\\Users\\union\\AppData\\Roaming\\PROS\\templates\\[email protected]RC3",
                 "metadata": {
                     "origin": "local"
                 },
                 "name": "EZ-Template",
                 "py/object": "pros.conductor.templates.local_template.LocalTemplate",
                 "supported_kernels": "^4.1.0",
                 "system_files": [
-                    "include\\EZ-Template\\api.hpp",
                     "include\\EZ-Template\\auton_selector.hpp",
-                    "include\\EZ-Template\\drive\\drive.hpp",
+                    "include\\EZ-Template\\api.hpp",
+                    "include\\EZ-Template\\util.hpp",
+                    "include\\EZ-Template\\slew.hpp",
+                    "include\\EZ-Template\\piston.hpp",
                     "include\\EZ-Template\\PID.hpp",
                     "include\\EZ-Template\\sdcard.hpp",
+                    "include\\EZ-Template\\auton.hpp",
                     "firmware\\EZ-Template.a",
-                    "include\\EZ-Template\\slew.hpp",
-                    "include\\EZ-Template\\piston.hpp",
-                    "include\\EZ-Template\\util.hpp",
-                    "include\\EZ-Template\\auton.hpp"
+                    "include\\EZ-Template\\drive\\drive.hpp"
                 ],
                 "target": "v5",
                 "user_files": [],
-                "version": "3.1.0-RC2"
+                "version": "3.1.0-RC3"
             },
             "kernel": {
                 "location": "C:\\Users\\union\\AppData\\Roaming\\PROS\\templates\\[email protected]",
@@ -420,7 +420,9 @@
                 "version": "5.0.0"
             }
         },
-        "upload_options": {},
+        "upload_options": {
+            "description": "making code ez"
+        },
         "use_early_access": false
     }
 }

Makefile

@@ -27,7 +27,7 @@ EXCLUDE_COLD_LIBRARIES:=
 IS_LIBRARY:=1
 # TODO: CHANGE THIS!
 LIBNAME:=EZ-Template
-VERSION:=3.1.0-RC2
+VERSION:=3.1.0-RC3
 # 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/main.h

@@ -45,6 +45,8 @@
 
 // More includes here...
 #include "autons.hpp"
+#include "subsystems.hpp"
+
 
 /**
  * If you find doing pros::Motor() to be tedious and you'd prefer just to do

include/subsystems.hpp

@@ -0,0 +1,8 @@
+#pragma once
+
+#include "api.h"
+
+// Your motors, sensors, etc. should go here.  Below are examples
+
+// inline pros::Motor intake(1);
+// inline pros::adi::DigitalIn limit_switch('A');

src/EZ-Template/drive/drive.cpp

@@ -149,6 +149,9 @@ Drive::Drive(std::vector<int> left_motor_ports, std::vector<int> right_motor_por
 }
 
 void Drive::drive_defaults_set() {
+  std::cout << std::fixed;
+  std::cout << std::setprecision(2);
+
   // PID Constants
   pid_heading_constants_set(11, 0, 20, 0);
   pid_drive_constants_set(20, 0, 100, 0);

src/EZ-Template/drive/exit_conditions.cpp

@@ -161,7 +161,7 @@ void Drive::wait_until_drive(double target) {
     }
     // Once we've past target, return
     else if (util::sgn(l_error) != l_sgn || util::sgn(r_error) != r_sgn) {
-      if (print_toggle) printf("  Drive Wait Until Exit Success. Triggered at: L,R(%f, %f)  Target: L,R(%f, %f)\n", drive_sensor_left() - l_start, drive_sensor_right() - r_start, l_tar, r_tar);
+      if (print_toggle) printf("  Drive Wait Until Exit Success. Triggered at: L,R(%.2f, %.2f)  Target: L,R(%.2f, %.2f)\n", drive_sensor_left() - l_start, drive_sensor_right() - r_start, l_tar, r_tar);
       leftPID.timers_reset();
       rightPID.timers_reset();
       return;
@@ -210,7 +210,7 @@ void Drive::wait_until_turn_swing(double target) {
       }
       // Once we've past target, return
       else if (util::sgn(g_error) != g_sgn) {
-        if (print_toggle) printf("  Turn Wait Until Exit Success, triggered at %f.  Target: %f\n", drive_imu_get(), target);
+        if (print_toggle) printf("  Turn Wait Until Exit Success, triggered at %.2f.  Target: %.2f\n", drive_imu_get(), target);
         turnPID.timers_reset();
         return;
       }
@@ -235,7 +235,7 @@ void Drive::wait_until_turn_swing(double target) {
       }
       // Once we've past target, return
       else if (util::sgn(g_error) != g_sgn) {
-        if (print_toggle) printf("  Swing Wait Until Exit Success, triggered at %f. Target: %f\n", drive_imu_get(), target);
+        if (print_toggle) printf("  Swing Wait Until Exit Success, triggered at %.2f. Target: %.2f\n", drive_imu_get(), target);
         swingPID.timers_reset();
         return;
       }
@@ -327,7 +327,7 @@ void Drive::pid_wait_quick_chain() {
     double chain_scale = motion_chain_backward ? drive_backward_motion_chain_scale : drive_forward_motion_chain_scale;
     used_motion_chain_scale = chain_scale * util::sgn(chain_target_start);
     leftPID.target_set(leftPID.target_get() + used_motion_chain_scale);
-    rightPID.target_set(leftPID.target_get() + used_motion_chain_scale);
+    rightPID.target_set(rightPID.target_get() + used_motion_chain_scale);
   }
   // If turning, add turn_motion_chain_scale to target
   else if (mode == TURN) {

src/EZ-Template/drive/set_pid.cpp

@@ -137,7 +137,7 @@ void Drive::pid_drive_set(double target, int speed, bool slew_on, bool toggle_he
   rightPID.timers_reset();
 
   // Print targets
-  if (print_toggle) printf("Drive Started... Target Value: %f", target);
+  if (print_toggle) printf("Drive Started... Target Value: %.2f", target);
   if (slew_on && print_toggle) printf(" with slew");
   if (print_toggle) printf("\n");
   chain_target_start = target;
@@ -197,7 +197,7 @@ void Drive::pid_turn_set(double target, int speed, bool slew_on) {
   turnPID.timers_reset();
 
   // Print targets
-  if (print_toggle) printf("Turn Started... Target Value: %f\n", target);
+  if (print_toggle) printf("Turn Started... Target Value: %.2f\n", target);
   chain_sensor_start = drive_imu_get();
   chain_target_start = target;
   used_motion_chain_scale = 0.0;
@@ -239,7 +239,7 @@ void Drive::pid_swing_set(e_swing type, double target, int speed, int opposite_s
   swingPID.timers_reset();
 
   // Print targets
-  if (print_toggle) printf("Swing Started... Target Value: %f\n", target);
+  if (print_toggle) printf("Swing Started... Target Value: %.2f\n", target);
   current_swing = type;
   chain_sensor_start = drive_imu_get();
   chain_target_start = target;

src/EZ-Template/drive/user_input.cpp

@@ -167,10 +167,14 @@ void Drive::opcontrol_curve_buttons_iterate() {
     button_press(&r_decrease_, master.get_digital(r_decrease_.button), ([this] { this->r_decrease(); }), ([this] { this->save_r_curve_sd(); }));
   }
 
-  auto sr = std::to_string(right_curve_scale);
-  auto sl = std::to_string(left_curve_scale);
+  std::ostringstream short_sl, short_sr;
+  short_sl << std::fixed << std::setprecision(1) << left_curve_scale;
+  short_sr << std::fixed << std::setprecision(1) << right_curve_scale;
+
+  auto sr = short_sr.str();
+  auto sl = short_sl.str();
   if (!is_tank)
-    master.set_text(2, 0, sl + "   " + sr);
+    master.set_text(2, 0, sl + "         " + sr);
   else
     master.set_text(2, 0, sl);
 }
@@ -230,11 +234,10 @@ void Drive::opcontrol_joystick_threshold_iterate(int l_stick, int r_stick) {
   if (abs(l_stick) > 0 || abs(r_stick) > 0) {
     if (practice_mode_is_on && (abs(l_stick) > 120 || abs(r_stick) > 120))
       drive_set(0, 0);
+    else if (is_reversed == true)
+      drive_set(-r_stick, -l_stick);
     else
-      if(is_reversed == true)
-        drive_set(-r_stick, -l_stick);
-      else
-         drive_set(l_stick, r_stick);
+      drive_set(l_stick, r_stick);
     if (active_brake_kp != 0) drive_sensor_reset();
   }
   // When joys are released, run active brake (P) on drive

src/autons.cpp

@@ -1,7 +1,7 @@
 #include "main.h"
 
 /////
-// For installation, upgrading, documentations and tutorials, check out our website!
+// For installation, upgrading, documentations, and tutorials, check out our website!
 // https://ez-robotics.github.io/EZ-Template/
 /////
 
@@ -144,7 +144,7 @@ void motion_chaining() {
   // This works by exiting while the robot is still moving a little bit.
   // To use this, replace pid_wait with pid_wait_quick_chain.
   chassis.pid_drive_set(24_in, DRIVE_SPEED, true);
-  chassis.pid_wait_quick_chain();
+  chassis.pid_wait();
 
   chassis.pid_turn_set(45_deg, TURN_SPEED);
   chassis.pid_wait_quick_chain();

src/main.cpp

@@ -1,7 +1,7 @@
 #include "main.h"
 
 /////
-// For installation, upgrading, documentations and tutorials, check out our website!
+// For installation, upgrading, documentations, and tutorials, check out our website!
 // https://ez-robotics.github.io/EZ-Template/
 /////
 
@@ -29,15 +29,15 @@ void initialize() {
 
   // Configure your chassis controls
   chassis.opcontrol_curve_buttons_toggle(true);  // Enables modifying the controller curve with buttons on the joysticks
-  chassis.opcontrol_drive_activebrake_set(0);    // Sets the active brake kP. We recommend 2.
+  chassis.opcontrol_drive_activebrake_set(0);    // Sets the active brake kP. We recommend ~2.  0 will disable.
   chassis.opcontrol_curve_default_set(0, 0);     // Defaults for curve. If using tank, only the first parameter is used. (Comment this line out if you have an SD card!)
 
   // Set the drive to your own constants from autons.cpp!
   default_constants();
 
   // These are already defaulted to these buttons, but you can change the left/right curve buttons here!
-  // chassis.opcontrol_curve_buttons_left_set (pros::E_CONTROLLER_DIGITAL_LEFT, pros::E_CONTROLLER_DIGITAL_RIGHT); // If using tank, only the left side is used.
-  // chassis.opcontrol_curve_buttons_right_set(pros::E_CONTROLLER_DIGITAL_Y,    pros::E_CONTROLLER_DIGITAL_A);
+  // chassis.opcontrol_curve_buttons_left_set(pros::E_CONTROLLER_DIGITAL_LEFT, pros::E_CONTROLLER_DIGITAL_RIGHT);  // If using tank, only the left side is used.
+  // chassis.opcontrol_curve_buttons_right_set(pros::E_CONTROLLER_DIGITAL_Y, pros::E_CONTROLLER_DIGITAL_A);
 
   // Autonomous Selector using LLEMU
   ez::as::auton_selector.autons_add({
@@ -114,7 +114,9 @@ void autonomous() {
  */
 void opcontrol() {
   // This is preference to what you like to drive on
-  chassis.drive_brake_set(MOTOR_BRAKE_COAST);
+  pros::motor_brake_mode_e_t driver_preference_brake = MOTOR_BRAKE_COAST;
+
+  chassis.drive_brake_set(driver_preference_brake);
 
   while (true) {
     // PID Tuner
@@ -128,22 +130,24 @@ void opcontrol() {
         chassis.pid_tuner_toggle();
 
       // Trigger the selected autonomous routine
-      if (master.get_digital_new_press(DIGITAL_B) && master.get_digital(DIGITAL_DOWN))
+      if (master.get_digital(DIGITAL_B) && master.get_digital(DIGITAL_DOWN)) {
         autonomous();
+        chassis.drive_brake_set(driver_preference_brake);
+      }
 
       chassis.pid_tuner_iterate();  // Allow PID Tuner to iterate
     }
 
-    chassis.opcontrol_tank();  // Tank control
-    // chassis.opcontrol_arcade_standard(ez::SPLIT); // Standard split arcade
-    // chassis.opcontrol_arcade_standard(ez::SINGLE); // Standard single arcade
-    // chassis.opcontrol_arcade_flipped(ez::SPLIT); // Flipped split arcade
-    // chassis.opcontrol_arcade_flipped(ez::SINGLE); // Flipped single arcade
+    // chassis.opcontrol_tank();  // Tank control
+    chassis.opcontrol_arcade_standard(ez::SPLIT);   // Standard split arcade
+    // chassis.opcontrol_arcade_standard(ez::SINGLE);  // Standard single arcade
+    // chassis.opcontrol_arcade_flipped(ez::SPLIT);    // Flipped split arcade
+    // chassis.opcontrol_arcade_flipped(ez::SINGLE);   // Flipped single arcade
 
     // . . .
     // Put more user control code here!
     // . . .
 
     pros::delay(ez::util::DELAY_TIME);  // This is used for timer calculations!  Keep this ez::util::DELAY_TIME
   }
-}
+}

version

@@ -1 +1 @@
-3.1.0
+3.1.0-RC3