✨[FEATURE] - More Tracking Wheel Support #165
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This needs to account for having a single parallel tracker in normal drive motions. This tracker should only be used for odom motions and should not be used for driving motions, as there is independent PID for the left and right sides of the drive. EZ-Template can already handle two parallel trackers. |
ssejrog
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Sep 5, 2024
With this comes a new constructor that is unique to not overlap with "ratio" used previously, and removing "ratio" will create breaking changes. This new constructor takes in a motor group and it extracts that out into the ez motor groups. This currently doesn't work as there's a bug with `get_direction` that has an open issue on the PROS kernel. If a left and right tracker are enabled, the main sensors for the drive switch over to being these tracking wheels. If only one sensor is used, then this tracker is only used for odom. Normal drive motions will use IMEs still, as that PID uses a left and a right PID. Only one horizontal tracker will be used. Angle is currently always calculated with IMU. Until there's an easy way to tune track width, #45 will remain open.
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Is this feature related to a problem?
EZ-Template only supports 0 tracking wheels or 2 tracking wheels.
What should be added?
Teams have been using an IMU+1 tracking wheel for odometry. EZ-Template should support this, as well as one parallel tracker and one perpendicular tracker.
OPTIONAL: Describe any solutions you've considered
OPTIONAL: Additional context
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