v3.0.1 (#97)

* Fixed rotation sensor tick per rev (#47) * middle step for #49 and #54 * Added piston groups (#54) * Completed small issues (#56, #55, $54, #52, #48) * Finished with clean up on constants * Added set ratio function * Added practice mode * Updated PROS Kernel, okapi, fixed #53, general cleaning * ✨Okapi units (#49, #62) * ✨ Added `set_relative_turn_pid()` (#59) * issue #59 - add set_relative_turn_pid function, no issue - fix various cases of wrong function documentation * issue #59 - set_relative_turn_pid changed casing of variables to snake_case and made it relative to current target, not current heading * Fixed issue #67 * ✨Okapi units * New function names #65 * Added okapi units to turns and time, tuned PID, cleaned code, completed #66 * Fixed some names, added `get` functions #73 * Added more gets, removed version # from print #73 The version number in `ez_template_print` was redundant when version can be checked through pros cli. * ⬆️ Update Kernel/Okapi to 3.8.0 and 4.8.0 Respectively (#76) * Memory optimisation and comments: when a function is static, it doesn't need to exist for every object. Since this function does not reference any internal variables, it can be static * Maybe I was wrong * add new website code * added running the site locally * kernel upgrade * Update Kernel/Okapi --------- Co-authored-by: Michael Barr <[email protected]> Co-authored-by: Asik007 <[email protected]> Co-authored-by: Sylvie <[email protected]> * Added Ability for user to reverse Drive in opcontrol (#80) * Update drive.hpp weird changes * Added Reversal to opcontrol driving * mistake deleting active break logic, added back * Removed old website, updated readme * Completed #82, fixed formatting * Cleaned relative turns, added wide swings #59 #83 * Added slew to turns and swings, fixed wide arc bug #59 #83 #84 Backwards right arcs would have the left PID go the wrong direction. * #49 #59 #65 #84 All functions that have a parameter using okapi units has the ability to be called without using okapi units. Fixed relative bug that would stop a swing from working off of a turn Naming convention was fixed on setting constants. Forward and Reverse PID for swings was implemented. * namespaced all classes, removed piston group. #50 #54 * Added PID Tuner #85 * PID Tuner can modify increments #85 #86 #87 PID Tuner: - printing to brain can now be toggled - won't enable autonselector if it wasn't on prior to enabling PID Tuner - user can set all increments - user can get all increments - renamed functions to be compliant with #65 Completed #86 and #87 * Cleaned example files * Added example project to this repo and made v3 template * Final update for 3.0.0 #65 * Squashed commit of the following: commit 600bc47 Author: Jess Zarchi <[email protected]> Date: Sun Jan 28 23:53:53 2024 -0800 Removed 2.x files commit 6f6c701 Author: Jess Zarchi <[email protected]> Date: Sun Jan 28 23:45:42 2024 -0800 v3.0.0 (#88) * Fixed rotation sensor tick per rev (#47) * middle step for #49 and #54 * Added piston groups (#54) * Completed small issues (#56, #55, $54, #52, #48) * Finished with clean up on constants * Added set ratio function * Added practice mode * Updated PROS Kernel, okapi, fixed #53, general cleaning * ✨Okapi units (#49, #62) * ✨ Added `set_relative_turn_pid()` (#59) * issue #59 - add set_relative_turn_pid function, no issue - fix various cases of wrong function documentation * issue #59 - set_relative_turn_pid changed casing of variables to snake_case and made it relative to current target, not current heading * Fixed issue #67 * ✨Okapi units * New function names #65 * Added okapi units to turns and time, tuned PID, cleaned code, completed #66 * Fixed some names, added `get` functions #73 * Added more gets, removed version # from print #73 The version number in `ez_template_print` was redundant when version can be checked through pros cli. * ⬆️ Update Kernel/Okapi to 3.8.0 and 4.8.0 Respectively (#76) * Memory optimisation and comments: when a function is static, it doesn't need to exist for every object. Since this function does not reference any internal variables, it can be static * Maybe I was wrong * add new website code * added running the site locally * kernel upgrade * Update Kernel/Okapi --------- Co-authored-by: Michael Barr <[email protected]> Co-authored-by: Asik007 <[email protected]> Co-authored-by: Sylvie <[email protected]> * Added Ability for user to reverse Drive in opcontrol (#80) * Update drive.hpp weird changes * Added Reversal to opcontrol driving * mistake deleting active break logic, added back * Removed old website, updated readme * Completed #82, fixed formatting * Cleaned relative turns, added wide swings #59 #83 * Added slew to turns and swings, fixed wide arc bug #59 #83 #84 Backwards right arcs would have the left PID go the wrong direction. * #49 #59 #65 #84 All functions that have a parameter using okapi units has the ability to be called without using okapi units. Fixed relative bug that would stop a swing from working off of a turn Naming convention was fixed on setting constants. Forward and Reverse PID for swings was implemented. * namespaced all classes, removed piston group. #50 #54 * Added PID Tuner #85 * PID Tuner can modify increments #85 #86 #87 PID Tuner: - printing to brain can now be toggled - won't enable autonselector if it wasn't on prior to enabling PID Tuner - user can set all increments - user can get all increments - renamed functions to be compliant with #65 Completed #86 and #87 * Cleaned example files * Added example project to this repo and made v3 template * Final update for 3.0.0 #65 --------- Co-authored-by: HakopZarikyan <[email protected]> Co-authored-by: Michael Ben-Zvi <[email protected]> Co-authored-by: Will Xu <[email protected]> Co-authored-by: Michael Barr <[email protected]> Co-authored-by: Asik007 <[email protected]> Co-authored-by: Sylvie <[email protected]> Co-authored-by: Will Xu <[email protected]> Co-authored-by: Mactar Gueye <[email protected]> * Fixed small bugs, refactoring #89, #90, #91, #92) * Fixed typo in comment, updated readme * Upgraded kernel, ready for v3.0.1 release --------- Co-authored-by: HakopZarikyan <[email protected]> Co-authored-by: Michael Ben-Zvi <[email protected]> Co-authored-by: Will Xu <[email protected]> Co-authored-by: Michael Barr <[email protected]> Co-authored-by: Asik007 <[email protected]> Co-authored-by: Sylvie <[email protected]> Co-authored-by: Will Xu <[email protected]> Co-authored-by: Mactar Gueye <[email protected]>
EZ-Robotics · Apr 2, 2024 · 6b1c8ea · 6b1c8ea
1 parent 1fcf7c8
commit 6b1c8ea
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diff --git a/EZ-Template-Example-Project/.gitignore b/EZ-Template-Example-Project/.gitignore
@@ -0,0 +1,17 @@
+# Compiled Object files
+*.o
+*.obj
+
+# Executables
+*.bin
+*.elf
+
+# PROS
+bin/
+.vscode/
+.cache/
+compile_commands.json
+temp.log
+temp.errors
+*.ini
+.d/
diff --git a/...ct/EZ-Template-Example-Project-v3.0.0.zip → ...ct/EZ-Template-Example-Project-v3.0.1.zip b/...ct/EZ-Template-Example-Project-v3.0.0.zip → ...ct/EZ-Template-Example-Project-v3.0.1.zip
diff --git a/...ate-Example-Project/[email protected] → ...ate-Example-Project/[email protected] b/...ate-Example-Project/[email protected] → ...ate-Example-Project/[email protected]
diff --git a/EZ-Template-Example-Project/firmware/EZ-Template.a b/EZ-Template-Example-Project/firmware/EZ-Template.a
diff --git a/EZ-Template-Example-Project/firmware/libpros.a b/EZ-Template-Example-Project/firmware/libpros.a
diff --git a/EZ-Template-Example-Project/include/EZ-Template/drive/drive.hpp b/EZ-Template-Example-Project/include/EZ-Template/drive/drive.hpp
@@ -722,7 +722,7 @@ class Drive {
    * \param toggle_heading
    *        toggle for heading correction
    */
-  void pid_drive_set(double target, int speed, bool slew_on, bool toggle_heading = true);
+  void pid_drive_set(double target, int speed, bool slew_on = false, bool toggle_heading = true);
 
   /**
    * Sets the robot to turn using PID.
@@ -782,7 +782,7 @@ class Drive {
    * \param speed
    *        0 to 127, max speed during motion
    * \param opposite_speed
-   *        0 to 127, max speed of the opposite side of the drive during the swing.  This is used for arcs, and is defaulted to 0.
+   *        -127 to 127, max speed of the opposite side of the drive during the swing.  This is used for arcs, and is defaulted to 0.
    */
   void pid_swing_set(e_swing type, double target, int speed, int opposite_speed = 0, bool slew_on = false);
 
@@ -796,7 +796,7 @@ class Drive {
    * \param speed
    *        0 to 127, max speed during motion
    * \param opposite_speed
-   *        0 to 127, max speed of the opposite side of the drive during the swing.  This is used for arcs, and is defaulted to 0.
+   *        -127 to 127, max speed of the opposite side of the drive during the swing.  This is used for arcs, and is defaulted to 0.
    */
   void pid_swing_set(e_swing type, okapi::QAngle p_target, int speed, int opposite_speed = 0, bool slew_on = false);
 
@@ -810,7 +810,7 @@ class Drive {
    * \param speed
    *        0 to 127, max speed during motion
    * \param opposite_speed
-   *        0 to 127, max speed of the opposite side of the drive during the swing.  This is used for arcs, and is defaulted to 0.
+   *        -127 to 127, max speed of the opposite side of the drive during the swing.  This is used for arcs, and is defaulted to 0.
    */
   void pid_swing_relative_set(e_swing type, okapi::QAngle p_target, int speed, int opposite_speed = 0, bool slew_on = false);
 
@@ -824,7 +824,7 @@ class Drive {
    * \param speed
    *        0 to 127, max speed during motion
    * \param opposite_speed
-   *        0 to 127, max speed of the opposite side of the drive during the swing.  This is used for arcs, and is defaulted to 0.
+   *        -127 to 127, max speed of the opposite side of the drive during the swing.  This is used for arcs, and is defaulted to 0.
    */
   void pid_swing_relative_set(e_swing type, double target, int speed, int opposite_speed = 0, bool slew_on = false);
 
@@ -1305,31 +1305,26 @@ class Drive {
   bool slew_swing_using_angle = false;
   bool pid_tuner_terminal_b = false;
   bool pid_tuner_lcd_b = true;
-
   struct const_and_name {
     std::string name = "";
     PID::Constants *consts;
   };
   std::vector<const_and_name> constants;
   void pid_tuner_print();
-  void pid_tuner_value_modify(double p, double i, double d, double start);
+  void pid_tuner_value_modify(float p, float i, float d, float start);
   void pid_tuner_value_increase();
   void pid_tuner_value_decrease();
   void pid_tuner_print_brain();
   void pid_tuner_print_terminal();
   void pid_tuner_brain_init();
   int column = 0;
   int row = 0;
-  int column_max = 0;
-  const int row_max = 3;
-  std::string name, kp, ki, kd, starti;
   std::string arrow = " <--\n";
-  std::string newline = "\n";
-  bool last_controller_curve_state;
-  bool last_auton_selector_state;
+  bool last_controller_curve_state = false;
+  bool last_auton_selector_state = false;
   bool pid_tuner_on = false;
-  std::string complete_pid_tuner_output;
-  double p_increment = 0.1, i_increment = 0.001, d_increment = 0.25, start_i_increment = 1.0;
+  std::string complete_pid_tuner_output = "";
+  float p_increment = 0.1, i_increment = 0.001, d_increment = 0.25, start_i_increment = 1.0;
 
   /**
    * Private wait until for drive

diff --git a/EZ-Template-Example-Project/include/api.h b/EZ-Template-Example-Project/include/api.h
@@ -41,8 +41,8 @@
 
 #define PROS_VERSION_MAJOR 3
 #define PROS_VERSION_MINOR 8
-#define PROS_VERSION_PATCH 0
-#define PROS_VERSION_STRING "3.8.0"
+#define PROS_VERSION_PATCH 3
+#define PROS_VERSION_STRING "3.8.3"
 
 #include "pros/adi.h"
 #include "pros/colors.h"
@@ -56,8 +56,8 @@
 #include "pros/misc.h"
 #include "pros/motors.h"
 #include "pros/optical.h"
-#include "pros/rtos.h"
 #include "pros/rotation.h"
+#include "pros/rtos.h"
 #include "pros/screen.h"
 #include "pros/vision.h"
 
@@ -66,6 +66,7 @@
 #include "pros/distance.hpp"
 #include "pros/gps.hpp"
 #include "pros/imu.hpp"
+#include "pros/link.hpp"
 #include "pros/llemu.hpp"
 #include "pros/misc.hpp"
 #include "pros/motors.hpp"
@@ -74,7 +75,6 @@
 #include "pros/rtos.hpp"
 #include "pros/screen.hpp"
 #include "pros/vision.hpp"
-#include "pros/link.hpp"
 #endif
 
 #endif  // _PROS_API_H_
diff --git a/EZ-Template-Example-Project/include/pros/gps.h b/EZ-Template-Example-Project/include/pros/gps.h
@@ -188,6 +188,91 @@ double gps_get_error(uint8_t port);
  */
 gps_status_s_t gps_get_status(uint8_t port);
 
+/**
+ * Gets the X position in meters of the robot relative to the starting position.
+ *
+ * This function uses the following values of errno when an error state is
+ * reached:
+ * ENXIO - The given value is not within the range of V5 ports (1-21).
+ * ENODEV - The port cannot be configured as a GPS
+ * EAGAIN - The sensor is still calibrating
+ *
+ * \param  port
+ * 				 The V5 GPS port number from 1-21
+ * 
+ * \return The X position in meters. If the operation failed,
+ * returns PROS_ERR_F and errno is set.
+ */
+double gps_get_x_position(uint8_t port);
+
+/**
+ * Gets the Y position in meters of the robot relative to the starting position.
+ * 
+ * This function uses the following values of errno when an error state is
+ * reached:
+ * ENXIO - The given value is not within the range of V5 ports (1-21).
+ * ENODEV - The port cannot be configured as a GPS
+ * EAGAIN - The sensor is still calibrating
+ *
+ * \param  port
+ * 				 The V5 GPS port number from 1-21
+ * 
+ * \return The Y position in meters. If the operation failed,
+ * returns PROS_ERR_F and errno is set.
+ */
+double gps_get_y_position(uint8_t port);
+
+/**
+ * Gets the pitch of the GPS in degrees relative to the starting orientation.
+ *
+ * This function uses the following values of errno when an error state is
+ * reached:
+ * ENXIO - The given value is not within the range of V5 ports (1-21).
+ * ENODEV - The port cannot be configured as a GPS
+ * EAGAIN - The sensor is still calibrating
+ *
+ * \param  port
+ * 				 The V5 GPS port number from 1-21
+ * 
+ * \return The pitch in (-90,90] degree values. If the operation failed,
+ * returns PROS_ERR_F and errno is set.
+ */
+double gps_get_pitch(uint8_t port);
+
+/**
+ * Gets the roll of the GPS in degrees relative to the starting orientation.
+ *
+ * This function uses the following values of errno when an error state is
+ * reached:
+ * ENXIO - The given value is not within the range of V5 ports (1-21).
+ * ENODEV - The port cannot be configured as a GPS
+ * EAGAIN - The sensor is still calibrating
+ *
+ * \param  port
+ * 				 The V5 GPS port number from 1-21
+ * 
+ * \return The roll in (-180,180] degree values. If the operation failed,
+ * returns PROS_ERR_F and errno is set.
+ */
+double gps_get_roll(uint8_t port);
+
+/**
+ * Gets the yaw of the GPS in degrees relative to the starting orientation.
+ *
+ * This function uses the following values of errno when an error state is
+ * reached:
+ * ENXIO - The given value is not within the range of V5 ports (1-21).
+ * ENODEV - The port cannot be configured as a GPS
+ * EAGAIN - The sensor is still calibrating
+ *
+ * \param  port
+ * 				 The V5 GPS port number from 1-21
+ * 
+ * \return The yaw in (-180,180] degree values. If the operation failed,
+ * returns PROS_ERR_F and errno is set.
+ */
+double gps_get_yaw(uint8_t port);
+
 /**
  * Get the heading in [0,360) degree values.
  *