set_tank should disable the PID

[ssejrog]

in auto, if a user wants to just set power to the drive, they currently have to set_mode(ez::DISABLED), then set_tank(127, 127).

set_tank should disable PID for the user, and the pid tasks should use a different function for that is something like

private_set_tank(int left, int right) {
  if (get_mode() == ez::DISABLED) return;
  set_tank(left, right);
}

[BDubs401]

So how would one make the robot drive say 10 inches at full speed without using PID? Tried using "move_relative" but it didn't work after running the PID. As far as I know, we can only use either pid OR move_relative.

[ssejrog]

While I haven't tested it, something like the below should work. Setting the PID mode to ez::DISABLE after running PID is necessary to disable the PID task and allow you to do whatever you want with the drive motors.

void my_move_relative(double position, double velocity) {
  for (auto i : chassis.left_motors) {
    i.move_relative(position, velocity);
  }
  for (auto i : chassis.right_motors) {
    i.move_relative(position, velocity);
  }
}

void autonomous() {
  chassis.set_drive_pid(12, DRIVE_SPEED);
  chassis.wait_drive();

  chassis.set_mode(ez::DISABLE); 

  my_move_relative(1000, 200);
}