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.
EZ-Robotics · Nov 24, 2023 · f08fbb4 · f08fbb4
1 parent 7de75fd
commit f08fbb4
Show file tree

Hide file tree

Showing 5 changed files with 16 additions and 7 deletions.
diff --git a/include/EZ-Template/drive/drive.hpp b/include/EZ-Template/drive/drive.hpp
@@ -412,6 +412,11 @@ class Drive {
    */
   void drive_set(int left, int right);
 
+  /**
+   * Gets the chassis to voltage, -127 to 127.  Returns {left, right}
+   */
+  std::vector<int> drive_get();
+
   /**
    * Changes the way the drive behaves when it is not under active user control
    *

diff --git a/src/EZ-Template/drive/drive.cpp b/src/EZ-Template/drive/drive.cpp
@@ -202,6 +202,12 @@ void Drive::drive_set(int left, int right) {
   private_drive_set(left, right);
 }
 
+std::vector<int> Drive::drive_get() {
+  int left = left_motors[0].get_voltage() / (12000.0 / 127.0);
+  int right = right_motors[0].get_voltage() / (12000.0 / 127.0);
+  return {left, right};
+}
+
 void Drive::drive_current_limit_set(int mA) {
   if (abs(mA) > 2500) {
     mA = 2500;
@@ -340,5 +346,5 @@ void Drive::initialize() {
 void Drive::pid_drive_toggle(bool toggle) { drive_toggle = toggle; }
 void Drive::pid_print_toggle(bool toggle) { print_toggle = toggle; }
 
-bool Drive::pid_drive_toggle_get() {return drive_toggle;}
-bool Drive::pid_print_toggle_get() {return print_toggle;}
+bool Drive::pid_drive_toggle_get() { return drive_toggle; }
+bool Drive::pid_print_toggle_get() { return print_toggle; }
diff --git a/src/EZ-Template/drive/exit_conditions.cpp b/src/EZ-Template/drive/exit_conditions.cpp
@@ -73,7 +73,7 @@ void Drive::pid_wait() {
       turn_exit = turn_exit != RUNNING ? turn_exit : turnPID.exit_condition({left_motors[0], right_motors[0]});
       pros::delay(util::DELAY_TIME);
     }
-    if (print_toggle) std::cout << "  Turn: " << exit_to_string(turn_exit) << " Exit, error:" << turnPID.error << ".\n";
+    if (print_toggle) std::cout << "  Turn: " << exit_to_string(turn_exit) << " Exit, error: " << turnPID.error << ".\n";
 
     if (turn_exit == mA_EXIT || turn_exit == VELOCITY_EXIT) {
       interfered = true;
@@ -88,7 +88,7 @@ void Drive::pid_wait() {
       swing_exit = swing_exit != RUNNING ? swing_exit : swingPID.exit_condition(sensor);
       pros::delay(util::DELAY_TIME);
     }
-    if (print_toggle) std::cout << "  Swing: " << exit_to_string(swing_exit) << " Exit, error:" << swingPID.error << ".\n";
+    if (print_toggle) std::cout << "  Swing: " << exit_to_string(swing_exit) << " Exit, error: " << swingPID.error << ".\n";
 
     if (swing_exit == mA_EXIT || swing_exit == VELOCITY_EXIT) {
       interfered = true;

diff --git a/src/EZ-Template/drive/user_input.cpp b/src/EZ-Template/drive/user_input.cpp
@@ -178,7 +178,7 @@ double Drive::opcontrol_curve_left(double x) {
   return x;
 }
 
-// Right curve fnuction
+// Right curve function
 double Drive::opcontrol_curve_right(double x) {
   if (right_curve_scale != 0) {
     // if (CURVE_TYPE)

diff --git a/src/EZ-Template/util.cpp b/src/EZ-Template/util.cpp
@@ -24,8 +24,6 @@ void ez_template_print() {
                                      | |
                                      |_|
 )" << '\n';
-
-  printf("Version: 2.2.0-RC2\n");
 }
 std::string get_last_word(std::string text) {
   std::string word = "";