diff --git a/EZ-Template-Example-Project-3.1.0-RC2.zip b/EZ-Template-Example-Project-3.1.0-RC3.zip similarity index 90% rename from EZ-Template-Example-Project-3.1.0-RC2.zip rename to EZ-Template-Example-Project-3.1.0-RC3.zip index bfc3d54..593ff29 100644 Binary files a/EZ-Template-Example-Project-3.1.0-RC2.zip and b/EZ-Template-Example-Project-3.1.0-RC3.zip differ diff --git a/EZ-Template-Example-Project/EZ-Template@3.1.0-RC2.zip b/EZ-Template-Example-Project/EZ-Template@3.1.0-RC3.zip similarity index 75% rename from EZ-Template-Example-Project/EZ-Template@3.1.0-RC2.zip rename to EZ-Template-Example-Project/EZ-Template@3.1.0-RC3.zip index ea78992..ee3006e 100644 Binary files a/EZ-Template-Example-Project/EZ-Template@3.1.0-RC2.zip and b/EZ-Template-Example-Project/EZ-Template@3.1.0-RC3.zip differ diff --git a/EZ-Template-Example-Project/firmware/EZ-Template.a b/EZ-Template-Example-Project/firmware/EZ-Template.a index 7fc27aa..a88b5e4 100644 Binary files a/EZ-Template-Example-Project/firmware/EZ-Template.a and b/EZ-Template-Example-Project/firmware/EZ-Template.a differ diff --git a/EZ-Template-Example-Project/project.pros b/EZ-Template-Example-Project/project.pros index f3b07e4..0f1a322 100644 --- a/EZ-Template-Example-Project/project.pros +++ b/EZ-Template-Example-Project/project.pros @@ -5,7 +5,7 @@ "target": "v5", "templates": { "EZ-Template": { - "location": "C:\\Users\\union\\AppData\\Roaming\\PROS\\templates\\EZ-Template@3.1.0-RC2", + "location": "C:\\Users\\union\\AppData\\Roaming\\PROS\\templates\\EZ-Template@3.1.0-RC3", "metadata": { "origin": "local" }, @@ -13,20 +13,20 @@ "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\\kernel@4.1.0", @@ -420,7 +420,9 @@ "version": "5.0.0" } }, - "upload_options": {}, + "upload_options": { + "description": "making code ez" + }, "use_early_access": false } } \ No newline at end of file diff --git a/EZ-Template@3.1.0-RC2.zip b/EZ-Template@3.1.0-RC3.zip similarity index 75% rename from EZ-Template@3.1.0-RC2.zip rename to EZ-Template@3.1.0-RC3.zip index ea78992..ee3006e 100644 Binary files a/EZ-Template@3.1.0-RC2.zip and b/EZ-Template@3.1.0-RC3.zip differ diff --git a/Makefile b/Makefile index 246de3b..9c7c832 100644 --- a/Makefile +++ b/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))) diff --git a/include/main.h b/include/main.h index a57785d..987e2f2 100644 --- a/include/main.h +++ b/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 diff --git a/include/subsystems.hpp b/include/subsystems.hpp new file mode 100644 index 0000000..404e241 --- /dev/null +++ b/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'); \ No newline at end of file diff --git a/project.pros b/project.pros index 989acea..a9016da 100644 --- a/project.pros +++ b/project.pros @@ -1,407 +1,407 @@ { - "py/object": "pros.conductor.project.Project", - "py/state": { - "project_name": "EZ-Template", + "py/object": "pros.conductor.project.Project", + "py/state": { + "project_name": "EZ-Template", + "target": "v5", + "templates": { + "kernel": { + "location": "C:\\Users\\xuzwi\\AppData\\Roaming\\PROS\\templates\\kernel@4.1.0", + "metadata": { + "cold_addr": "58720256", + "cold_output": "bin/cold.package.bin", + "hot_addr": "125829120", + "hot_output": "bin/hot.package.bin", + "origin": "pros-mainline", + "output": "bin/monolith.bin" + }, + "name": "kernel", + "py/object": "pros.conductor.templates.local_template.LocalTemplate", + "supported_kernels": null, + "system_files": [ + "include\\pros\\rtos.hpp", + "firmware\\libpros.a", + "include\\pros\\imu.hpp", + "common.mk", + "include\\pros\\rotation.hpp", + "include\\pros\\abstract_motor.hpp", + "include\\pros\\serial.h", + "include\\pros\\vision.hpp", + "include\\pros\\colors.h", + "include\\pros\\colors.hpp", + "include\\pros\\device.hpp", + "include\\pros\\misc.h", + "include\\api.h", + "include\\pros\\link.h", + "firmware\\v5-hot.ld", + "include\\pros\\distance.h", + "firmware\\v5-common.ld", + "include\\pros\\imu.h", + "include\\pros\\motor_group.hpp", + "include\\pros\\vision.h", + "include\\pros\\misc.hpp", + "include\\pros\\adi.h", + "include\\pros\\screen.h", + "include\\pros\\motors.h", + "include\\pros\\llemu.h", + "include\\pros\\adi.hpp", + "include\\pros\\device.h", + "include\\pros\\motors.hpp", + "include\\pros\\serial.hpp", + "include\\pros\\ext_adi.h", + "include\\pros\\apix.h", + "include\\pros\\rtos.h", + "include\\pros\\rotation.h", + "include\\pros\\llemu.hpp", + "firmware\\libc.a", + "firmware\\v5.ld", + 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"include\\liblvgl\\draw\\nxp\\vglite\\lv_gpu_nxp_vglite.h", + "include\\liblvgl\\extra\\widgets\\menu\\lv_menu.h", + "include\\liblvgl\\misc\\lv_math.h", + "include\\liblvgl\\misc\\lv_color.h", + "include\\liblvgl\\draw\\lv_draw_line.h", + "include\\liblvgl\\misc\\lv_gc.h", + "include\\liblvgl\\core\\lv_obj_pos.h", + "include\\liblvgl\\widgets\\lv_arc.h", + "include\\liblvgl\\extra\\themes\\default\\lv_theme_default.h", + "include\\liblvgl\\extra\\widgets\\list\\lv_list.h", + "include\\liblvgl\\widgets\\lv_roller.h", + "include\\liblvgl\\extra\\libs\\png\\lodepng.h", + "include\\liblvgl\\misc\\lv_tlsf.h", + "include\\liblvgl\\extra\\widgets\\keyboard\\lv_keyboard.h" + ], + "target": "v5", + "user_files": [], + "version": "8.3.8" + }, + "okapilib": { + "location": "C:\\Users\\xuzwi\\AppData\\Roaming\\PROS\\templates\\okapilib@5.0.0", + "metadata": { + "origin": "kernel-beta-mainline" }, - "use_early_access": false - } + "name": "okapilib", + "py/object": "pros.conductor.templates.local_template.LocalTemplate", + "supported_kernels": "^4.0.3", + "system_files": [ + "include/okapi/api/units/QFrequency.hpp", + "include/okapi/api/control/iterative/iterativePosPidController.hpp", + "include/okapi/impl/util/configurableTimeUtilFactory.hpp", + "include/okapi/api/filter/passthroughFilter.hpp", + "include/okapi/api/coreProsAPI.hpp", + "include/okapi/squiggles/math/quinticpolynomial.hpp", + "firmware/okapilib.a", + "include/okapi/api/util/abstractTimer.hpp", + "include/okapi/impl/control/async/asyncMotionProfileControllerBuilder.hpp", + "include/okapi/squiggles/geometry/pose.hpp", + "include/okapi/api/control/util/pathfinderUtil.hpp", + "include/okapi/squiggles/constraints.hpp", + "include/okapi/api/chassis/model/threeEncoderSkidSteerModel.hpp", + "include/okapi/api/control/iterative/iterativeMotorVelocityController.hpp", + "include/okapi/api/control/async/asyncVelIntegratedController.hpp", + "include/okapi/api/units/RQuantity.hpp", + "include/okapi/api/units/QArea.hpp", + "include/okapi/api/units/QAngularJerk.hpp", + "include/okapi/api/odometry/twoEncoderOdometry.hpp", + "include/okapi/api/chassis/model/skidSteerModel.hpp", + "include/okapi/impl/util/timeUtilFactory.hpp", + "include/okapi/impl/device/rotarysensor/rotationSensor.hpp", + "include/okapi/api/control/async/asyncController.hpp", + "include/okapi/api/chassis/model/chassisModel.hpp", + "include/okapi/api/chassis/controller/odomChassisController.hpp", + "include/okapi/api/control/iterative/iterativePositionController.hpp", + "include/okapi/api/odometry/threeEncoderOdometry.hpp", + "include/okapi/impl/device/controllerUtil.hpp", + "include/okapi/api/device/rotarysensor/rotarySensor.hpp", + "include/okapi/api/chassis/controller/chassisControllerPid.hpp", + "include/okapi/impl/device/controller.hpp", + "include/okapi/squiggles/physicalmodel/physicalmodel.hpp", + "include/okapi/api/control/iterative/iterativeVelPidController.hpp", + "include/okapi/impl/device/distanceSensor.hpp", + "include/okapi/impl/filter/velMathFactory.hpp", + "include/okapi/api/chassis/controller/chassisControllerIntegrated.hpp", + "include/okapi/squiggles/math/utils.hpp", + "include/okapi/api/util/abstractRate.hpp", + "include/okapi/api/util/supplier.hpp", + "include/okapi/api/chassis/controller/chassisController.hpp", + "include/okapi/api/odometry/stateMode.hpp", + "include/okapi/impl/util/timer.hpp", + "include/okapi/api/filter/ekfFilter.hpp", + "include/okapi/impl/chassis/controller/chassisControllerBuilder.hpp", + "include/okapi/api/units/QVolume.hpp", + "include/okapi/api/chassis/controller/chassisScales.hpp", + "firmware/squiggles.mk", + "include/okapi/impl/device/motor/motor.hpp", + "include/okapi/api/odometry/odomMath.hpp", + "include/okapi/api/chassis/model/threeEncoderXDriveModel.hpp", + "include/okapi/api/control/async/asyncMotionProfileController.hpp", + "include/okapi/api/chassis/model/hDriveModel.hpp", + "include/okapi/api/units/QJerk.hpp", + "include/okapi/impl/util/rate.hpp", + "include/okapi/api/control/offsettableControllerInput.hpp", + "include/okapi/squiggles/geometry/profilepoint.hpp", + "include/okapi/impl/device/rotarysensor/potentiometer.hpp", + "include/okapi/api/units/QAngularSpeed.hpp", + "include/okapi/squiggles/spline.hpp", + "include/okapi/api/odometry/odometry.hpp", + "include/okapi/api/util/timeUtil.hpp", + "include/okapi/squiggles/geometry/controlvector.hpp", + "include/okapi/api/control/util/flywheelSimulator.hpp", + "include/okapi/api/control/util/pidTuner.hpp", + "include/okapi/impl/device/motor/adiMotor.hpp", + "include/okapi/api/chassis/model/xDriveModel.hpp", + "include/okapi/api/units/QSpeed.hpp", + "include/okapi/api/odometry/point.hpp", + "include/okapi/api/filter/composableFilter.hpp", + "include/okapi/impl/device/adiUltrasonic.hpp", + "include/okapi/api/filter/averageFilter.hpp", + "include/okapi/api/units/QAngularAcceleration.hpp", + "include/okapi/api/device/rotarysensor/continuousRotarySensor.hpp", + "include/okapi/api/control/util/controllerRunner.hpp", + "include/okapi/api/device/button/buttonBase.hpp", + "include/okapi/squiggles/squiggles.hpp", + "include/okapi/squiggles/physicalmodel/tankmodel.hpp", + "include/okapi/api/units/QMass.hpp", + "include/okapi/api/util/mathUtil.hpp", + "include/okapi/api/control/controllerOutput.hpp", + "include/okapi/impl/control/util/pidTunerFactory.hpp", + "include/okapi/api/filter/emaFilter.hpp", + "include/okapi/impl/control/iterative/iterativeControllerFactory.hpp", + "include/okapi/api/filter/filter.hpp", + "include/okapi/api/control/controllerInput.hpp", + "include/okapi/api/units/QForce.hpp", + "include/okapi/impl/device/rotarysensor/IMU.hpp", + "include/okapi/api/control/async/asyncLinearMotionProfileController.hpp", + "include/okapi/impl/device/button/controllerButton.hpp", + "include/okapi/squiggles/io.hpp", + "include/okapi/api/chassis/controller/defaultOdomChassisController.hpp", + "include/okapi/api/control/closedLoopController.hpp", + "include/okapi/api/control/iterative/iterativeVelocityController.hpp", + "include/okapi/impl/control/util/controllerRunnerFactory.hpp", + "include/okapi/api/units/RQuantityName.hpp", + "include/okapi/api/filter/filteredControllerInput.hpp", + "include/okapi/impl/control/async/asyncVelControllerBuilder.hpp", + "include/okapi/api/units/QAcceleration.hpp", + "include/okapi/api/control/async/asyncWrapper.hpp", + "include/okapi/api/util/logging.hpp", + "include/okapi/api/units/QTime.hpp", + "include/okapi/api/control/async/asyncPositionController.hpp", + "include/okapi/impl/device/button/adiButton.hpp", + "include/okapi/api/units/QPressure.hpp", + "include/okapi/impl/device/rotarysensor/adiEncoder.hpp", + "include/okapi/impl/device/motor/motorGroup.hpp", + "include/okapi/api/units/QLength.hpp", + "include/okapi/api.hpp", + "include/okapi/api/units/QAngle.hpp", + "include/okapi/impl/control/async/asyncPosControllerBuilder.hpp", + "include/okapi/api/filter/medianFilter.hpp", + "include/okapi/api/control/async/asyncPosPidController.hpp", + "include/okapi/api/control/async/asyncVelPidController.hpp", + "include/okapi/api/control/async/asyncVelocityController.hpp", + "include/okapi/impl/device/rotarysensor/adiGyro.hpp", + "include/okapi/impl/device/rotarysensor/integratedEncoder.hpp", + "include/okapi/api/device/button/abstractButton.hpp", + "include/okapi/squiggles/physicalmodel/passthroughmodel.hpp", + "include/okapi/api/filter/demaFilter.hpp", + "include/okapi/api/device/motor/abstractMotor.hpp", + "include/okapi/impl/device/opticalSensor.hpp", + "include/okapi/api/control/async/asyncPosIntegratedController.hpp", + "include/okapi/api/filter/velMath.hpp", + "include/okapi/api/control/iterative/iterativeController.hpp", + "include/okapi/api/odometry/odomState.hpp", + "include/okapi/api/chassis/model/readOnlyChassisModel.hpp", + "include/okapi/api/control/util/settledUtil.hpp", + "include/okapi/api/units/QTorque.hpp" + ], + "target": "v5", + "user_files": [], + "version": "5.0.0" + } + }, + "upload_options": { + "compress_bin": true, + "description": "making code ez", + "remote_name": "EZ-Template", + "slot": 1 + }, + "use_early_access": false + } } \ No newline at end of file diff --git a/src/EZ-Template/drive/drive.cpp b/src/EZ-Template/drive/drive.cpp index 95ce12e..d2a6809 100644 --- a/src/EZ-Template/drive/drive.cpp +++ b/src/EZ-Template/drive/drive.cpp @@ -149,6 +149,9 @@ Drive::Drive(std::vector left_motor_ports, std::vector 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); diff --git a/src/EZ-Template/drive/exit_conditions.cpp b/src/EZ-Template/drive/exit_conditions.cpp index 647d9b6..5174738 100644 --- a/src/EZ-Template/drive/exit_conditions.cpp +++ b/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) { diff --git a/src/EZ-Template/drive/set_pid.cpp b/src/EZ-Template/drive/set_pid.cpp index 86c046d..8ed3d25 100644 --- a/src/EZ-Template/drive/set_pid.cpp +++ b/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; diff --git a/src/EZ-Template/drive/user_input.cpp b/src/EZ-Template/drive/user_input.cpp index 04ced31..f9761aa 100644 --- a/src/EZ-Template/drive/user_input.cpp +++ b/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 diff --git a/src/autons.cpp b/src/autons.cpp index f2ed242..82a25b0 100644 --- a/src/autons.cpp +++ b/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(); diff --git a/src/main.cpp b/src/main.cpp index ee3ec0e..162f239 100644 --- a/src/main.cpp +++ b/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 @@ -128,17 +130,19 @@ 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! @@ -146,4 +150,4 @@ void opcontrol() { pros::delay(ez::util::DELAY_TIME); // This is used for timer calculations! Keep this ez::util::DELAY_TIME } -} +} \ No newline at end of file diff --git a/version b/version index a0cd9f0..052d543 100644 --- a/version +++ b/version @@ -1 +1 @@ -3.1.0 \ No newline at end of file +3.1.0-RC3 \ No newline at end of file