Cleaned up example project

EZ-Template-Example-Project/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

EZ-Template-Example-Project/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');

EZ-Template-Example-Project/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();

EZ-Template-Example-Project/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_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
   }
-}
+}