⬆️3.1.0 (#124)

* New action for deploying website

* ⬆️ PROS 4 Porting work (#100)

* New action for deploying website (#98)

* PROS 4 Porting work

* Revert gitignore

* Added imu loading animation

---------

Co-authored-by: Jess Zarchi <[email protected]>

* 🐛Fixed unit conversion for exit conditions

* 🐛Fixed derivative kick #99 (#105)

* ✨Added imu scaling #104 (#106)

* ✨Imu velocity exiting #102 

* PID class has secondary sensor velocity support, implemented that with imu accel into exit conditions

* Made names more clear, added missing functions

* 🐛Max text width is wider #112 (#113)

* 🐛Exit condition print error #111 (#114)

* ✨Motion chaining #109 (#115)

* Motion chaining and quick exits are functional #109

* Added reverse constants, okapi units, finalized function names and comments

* 🐛Fixed scaling in drive pid #110 (#116)

* Upgraded example project, cleaned formatting everywhere

Main project builds fine, the example project is giving me strange errors about the LCD.  Not sure how to fix this

* Timers now correctly reset between motions #117

* Added liblvgl to example project, updated template

* Changing max speed works, new (old) default constants, new constructor #118 #119 #120

* Fixed typo in example project

* Cleaned up example project

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

* Final 3.1.0 push.  Template and example project finalized

---------

Co-authored-by: Will Xu <[email protected]>

.gitignore

@@ -22,11 +22,9 @@ yarn-error.log*
 # Compiled Object files
 *.o
 *.obj
-
 # Executables
 *.bin
 *.elf
-
 # PROS
 bin/
 .vscode/
@@ -44,4 +42,5 @@ EZ-Template-Example-Project/compile_commands.json
 EZ-Template-Example-Project/temp.log
 EZ-Template-Example-Project/temp.errors
 EZ-Template-Example-Project/*.ini
-EZ-Template-Example-Project/.d/
+EZ-Template-Example-Project/.d/
+.d/

EZ-Template-Example-Project/.clang-format

@@ -0,0 +1,4 @@
+BasedOnStyle: Google
+ColumnLimit: 0
+TabWidth: 2
+IndentWidth: 2

EZ-Template-Example-Project/common.mk

@@ -5,11 +5,24 @@ MFLAGS=-mcpu=cortex-a9 -mfpu=neon-fp16 -mfloat-abi=softfp -Os -g
 CPPFLAGS=-D_POSIX_THREADS -D_UNIX98_THREAD_MUTEX_ATTRIBUTES -D_POSIX_TIMERS -D_POSIX_MONOTONIC_CLOCK
 GCCFLAGS=-ffunction-sections -fdata-sections -fdiagnostics-color -funwind-tables
 
+# Check if the llemu files in libvgl exist. If they do, define macros that the
+# llemu headers in the kernel repo can use to conditionally include the libvgl
+# versions
+ifneq (,$(wildcard ./include/liblvgl/llemu.h))
+	CPPFLAGS += -D_PROS_INCLUDE_LIBLVGL_LLEMU_H
+endif
+ifneq (,$(wildcard ./include/liblvgl/llemu.hpp))
+	CPPFLAGS += -D_PROS_INCLUDE_LIBLVGL_LLEMU_HPP
+endif
+
 WARNFLAGS+=-Wno-psabi
 
 SPACE := $() $()
 COMMA := ,
 
+C_STANDARD?=gnu11
+CXX_STANDARD?=gnu++20
+
 DEPDIR := .d
 $(shell mkdir -p $(DEPDIR))
 DEPFLAGS = -MT $$@ -MMD -MP -MF $(DEPDIR)/$$*.Td
@@ -24,8 +37,8 @@ wlprefix=-Wl,$(subst $(SPACE),$(COMMA),$1)
 LNK_FLAGS=--gc-sections --start-group $(strip $(LIBRARIES)) -lgcc -lstdc++ --end-group -T$(FWDIR)/v5-common.ld
 
 ASMFLAGS=$(MFLAGS) $(WARNFLAGS)
-CFLAGS=$(MFLAGS) $(CPPFLAGS) $(WARNFLAGS) $(GCCFLAGS) --std=gnu11
-CXXFLAGS=$(MFLAGS) $(CPPFLAGS) $(WARNFLAGS) $(GCCFLAGS) --std=gnu++17
+CFLAGS=$(MFLAGS) $(CPPFLAGS) $(WARNFLAGS) $(GCCFLAGS) --std=$(C_STANDARD)
+CXXFLAGS=$(MFLAGS) $(CPPFLAGS) $(WARNFLAGS) $(GCCFLAGS) --std=$(CXX_STANDARD)
 LDFLAGS=$(MFLAGS) $(WARNFLAGS) -nostdlib $(GCCFLAGS)
 SIZEFLAGS=-d --common
 NUMFMTFLAGS=--to=iec --format %.2f --suffix=B

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

@@ -97,10 +97,21 @@ class PID {
    * Computes PID.
    *
    * \param current
-   *        Current sensor library.
+   *        Current sensor value.
    */
   double compute(double current);
 
+  /**
+   * Computes PID, but you set the error yourself.  This function ignores target.
+   * Current is only used here for calculative derivative.
+   *
+   * \param err
+   *        Error in PID, you need to calculate this yourself.
+   * \param current
+   *        Current sensor value.
+   */
+  double compute_error(double err, double current);
+
   /**
    * Returns target value.
    */
@@ -126,6 +137,58 @@ class PID {
    */
   exit_condition_ exit;
 
+  /**
+   * Updates a secondary sensor for velocity exiting.  Ideal use is IMU during normal drive motions.
+   *
+   * \param secondary_sensor
+   *        double for a secondary sensor.
+   */
+  void velocity_sensor_secondary_set(double secondary_sensor);
+
+  /**
+   * Returns the updated secondary sensor for velocity exiting.
+   */
+  double velocity_sensor_secondary_get();
+
+  /**
+   * Boolean for if the secondary sensor will be updated or not.  True uses this sensor, false does not.
+   *
+   * \param toggle
+   *        True uses this sensor, false does not.
+   */
+  void velocity_sensor_secondary_toggle_set(bool toggle);
+
+  /**
+   * Returns the boolean for if the secondary sensor will be updated or not.  True uses this sensor, false does not.
+   */
+  bool velocity_sensor_secondary_toggle_get();
+
+  /**
+   * Sets the threshold that the main sensor will return 0 velocity within
+   *
+   * \param zero
+   *        a small double
+   */
+  void velocity_sensor_main_exit_set(double zero);
+
+  /**
+   * Returns the threshold that the main sensor will return 0 velocity within
+   */
+  double velocity_sensor_main_exit_get();
+
+  /**
+   * Sets the threshold that the secondary sensor will return 0 velocity within
+   *
+   * \param zero
+   *        a small double
+   */
+  void velocity_sensor_secondary_exit_set(double zero);
+
+  /**
+   * Returns the threshold that the secondary sensor will return 0 velocity within
+   */
+  double velocity_sensor_secondary_exit_get();
+
   /**
    * Iterative exit condition for PID.
    *
@@ -180,26 +243,37 @@ class PID {
    */
   bool i_reset_get();
 
+  /**
+   * Resets all timers for exit conditions.
+   */
+  void timers_reset();
+
   /**
    * PID variables.
    */
-  double output;
-  double cur;
-  double error;
-  double target;
-  double prev_error;
-  double integral;
-  double derivative;
-  long time;
-  long prev_time;
+  double output = 0.0;
+  double cur = 0.0;
+  double error = 0.0;
+  double target = 0.0;
+  double prev_error = 0.0;
+  double prev_current = 0.0;
+  double integral = 0.0;
+  double derivative = 0.0;
+  long time = 0;
+  long prev_time = 0;
 
  private:
-  int i = 0, j = 0, k = 0, l = 0;
+  double velocity_zero_main = 0.05;
+  double velocity_zero_secondary = 0.1;
+  int i = 0, j = 0, k = 0, l = 0, m = 0;
   bool is_mA = false;
-  void timers_reset();
+  double second_sensor = 0.0;
+
   std::string name;
   bool name_active = false;
   void exit_condition_print(ez::exit_output exit_type);
   bool reset_i_sgn = true;
+  double raw_compute();
+  bool use_second_sensor = false;
 };
 };  // namespace ez