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Relative Set Angle #59

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HakopZ opened this issue May 22, 2022 · 3 comments
Closed

Relative Set Angle #59

HakopZ opened this issue May 22, 2022 · 3 comments
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@ssejrog @HakopZ

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@HakopZ
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HakopZ commented May 22, 2022

Adding a relative set angle so that you can just say turn 45 instead of the absolute position.
@mkhlb
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mkhlb commented Sep 1, 2022

as far as i can tell set angle sets the gyro AND the headingPID to the same thing, so the robot expressly won't turn when you set it, no?

@ssejrog
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ssejrog commented Sep 1, 2022 •
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New function for turning thats structurally identical to set_turn_pid except its called maybe set_relative_turn_pid().

For example:
Robot is facing absolute 270

  • set_turn_pid(90) would turn you relative 180 deg backwards to face absolute 90
  • set_relative_turn_pid(90) would turn you relative 90 forwards to face 360

The target in relative is just gyroPID.target + parameter.

mkhlb added a commit to mkhlb/EZ-Template that referenced this issue Sep 1, 2022
@mkhlb
issue EZ-Robotics#59 - add set_relative_turn_pid function, no issue -…
1599e17 
… fix various cases of wrong function documentation
mkhlb added a commit to mkhlb/EZ-Template that referenced this issue Sep 1, 2022
@mkhlb
issue EZ-Robotics#59 - set_relative_turn_pid changed casing of variab…
c80ce74 
…les to snake_case and made it relative to current target, not current heading
ssejrog pushed a commit that referenced this issue Sep 1, 2022
✨ Added set_relative_turn_pid() (#59)
7d345ec 
* issue #59 - add set_relative_turn_pid function, no issue - fix various cases of wrong function documentation

* issue #59 - set_relative_turn_pid changed casing of variables to snake_case and made it relative to current target, not current heading
@ssejrog
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ssejrog commented Mar 30, 2023

This should also apply for swing turns

ssejrog added a commit that referenced this issue Jan 25, 2024
@ssejrog
Cleaned relative turns, added wide swings #59 #83
4c65528
ssejrog added a commit that referenced this issue Jan 25, 2024
@ssejrog
Added slew to turns and swings, fixed wide arc bug #59 #83 #84
83dcb5d 
Backwards right arcs would have the left PID go the wrong direction.
ssejrog added a commit that referenced this issue Jan 25, 2024
@ssejrog
#49 #59 #65 #84
329bfd9 
All functions that have a parameter using okapi units has the ability to be called without using okapi units.

Fixed relative bug that would stop a swing from working off of a turn

Naming convention was fixed on setting constants.

Forward and Reverse PID for swings was implemented.
ssejrog added a commit that referenced this issue Jan 29, 2024
@ssejrog @HakopZ
@WillXuCodes @fishsticks89 @Asik007 @sy1vi3 @Mactar1233
v3.0.0 (#88)
6f6c701 
* Fixed rotation sensor tick per rev (#47)

* middle step for #49 and #54

* Added piston groups (#54)

* Completed small issues (#56, #55, $54, #52, #48)

* Finished with clean up on constants

* Added set ratio function

* Added practice mode

* Updated PROS Kernel, okapi, fixed #53, general cleaning

* ✨Okapi units (#49, #62)

* ✨ Added `set_relative_turn_pid()` (#59)

* issue #59 - add set_relative_turn_pid function, no issue - fix various cases of wrong function documentation

* issue #59 - set_relative_turn_pid changed casing of variables to snake_case and made it relative to current target, not current heading

* Fixed issue #67

* ✨Okapi units

* New function names #65

* Added okapi units to turns and time, tuned PID, cleaned code, completed #66

* Fixed some names, added `get` functions #73

* 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.

* ⬆️ Update Kernel/Okapi to 3.8.0 and 4.8.0 Respectively  (#76)

* Memory optimisation and comments:
when a function is static, it doesn't need to exist for every object. Since this function does not reference any internal variables, it can be static

* Maybe I was wrong

* add new website code

* added running the site locally

* kernel upgrade

* Update Kernel/Okapi

---------

Co-authored-by: Michael Barr <[email protected]>
Co-authored-by: Asik007 <[email protected]>
Co-authored-by: Sylvie <[email protected]>

* Added Ability for user to reverse Drive in opcontrol (#80)

* Update drive.hpp

weird changes

* Added Reversal to opcontrol driving

* mistake deleting active break logic, added back

* Removed old website, updated readme

* Completed #82, fixed formatting

* Cleaned relative turns, added wide swings #59 #83

* Added slew to turns and swings, fixed wide arc bug #59 #83 #84

Backwards right arcs would have the left PID go the wrong direction.

* #49 #59 #65 #84

All functions that have a parameter using okapi units has the ability to be called without using okapi units.

Fixed relative bug that would stop a swing from working off of a turn

Naming convention was fixed on setting constants.

Forward and Reverse PID for swings was implemented.

* namespaced all classes, removed piston group. #50 #54

* Added PID Tuner #85

* PID Tuner can modify increments #85 #86 #87

PID Tuner:
- printing to brain can now be toggled
- won't enable autonselector if it wasn't on prior to enabling PID Tuner
- user can set all increments
- user can get all increments
- renamed functions to be compliant with #65

Completed #86 and #87

* Cleaned example files

* Added example project to this repo and made v3 template

* Final update for 3.0.0 #65

---------

Co-authored-by: HakopZarikyan <[email protected]>
Co-authored-by: Michael Ben-Zvi <[email protected]>
Co-authored-by: Will Xu <[email protected]>
Co-authored-by: Michael Barr <[email protected]>
Co-authored-by: Asik007 <[email protected]>
Co-authored-by: Sylvie <[email protected]>
Co-authored-by: Will Xu <[email protected]>
Co-authored-by: Mactar Gueye <[email protected]>
@ssejrog ssejrog closed this as completed Jan 29, 2024
ssejrog added a commit that referenced this issue Feb 7, 2024
@ssejrog
Squashed commit of the following:
c5a9878 
commit 600bc47
Author: Jess Zarchi <[email protected]>
Date:   Sun Jan 28 23:53:53 2024 -0800

    Removed 2.x files

commit 6f6c701
Author: Jess Zarchi <[email protected]>
Date:   Sun Jan 28 23:45:42 2024 -0800

    v3.0.0 (#88)

    * Fixed rotation sensor tick per rev (#47)

    * middle step for #49 and #54

    * Added piston groups (#54)

    * Completed small issues (#56, #55, $54, #52, #48)

    * Finished with clean up on constants

    * Added set ratio function

    * Added practice mode

    * Updated PROS Kernel, okapi, fixed #53, general cleaning

    * ✨Okapi units (#49, #62)

    * ✨ Added `set_relative_turn_pid()` (#59)

    * issue #59 - add set_relative_turn_pid function, no issue - fix various cases of wrong function documentation

    * issue #59 - set_relative_turn_pid changed casing of variables to snake_case and made it relative to current target, not current heading

    * Fixed issue #67

    * ✨Okapi units

    * New function names #65

    * Added okapi units to turns and time, tuned PID, cleaned code, completed #66

    * Fixed some names, added `get` functions #73

    * 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.

    * ⬆️ Update Kernel/Okapi to 3.8.0 and 4.8.0 Respectively  (#76)

    * Memory optimisation and comments:
    when a function is static, it doesn't need to exist for every object. Since this function does not reference any internal variables, it can be static

    * Maybe I was wrong

    * add new website code

    * added running the site locally

    * kernel upgrade

    * Update Kernel/Okapi

    ---------

    Co-authored-by: Michael Barr <[email protected]>
    Co-authored-by: Asik007 <[email protected]>
    Co-authored-by: Sylvie <[email protected]>

    * Added Ability for user to reverse Drive in opcontrol (#80)

    * Update drive.hpp

    weird changes

    * Added Reversal to opcontrol driving

    * mistake deleting active break logic, added back

    * Removed old website, updated readme

    * Completed #82, fixed formatting

    * Cleaned relative turns, added wide swings #59 #83

    * Added slew to turns and swings, fixed wide arc bug #59 #83 #84

    Backwards right arcs would have the left PID go the wrong direction.

    * #49 #59 #65 #84

    All functions that have a parameter using okapi units has the ability to be called without using okapi units.

    Fixed relative bug that would stop a swing from working off of a turn

    Naming convention was fixed on setting constants.

    Forward and Reverse PID for swings was implemented.

    * namespaced all classes, removed piston group. #50 #54

    * Added PID Tuner #85

    * PID Tuner can modify increments #85 #86 #87

    PID Tuner:
    - printing to brain can now be toggled
    - won't enable autonselector if it wasn't on prior to enabling PID Tuner
    - user can set all increments
    - user can get all increments
    - renamed functions to be compliant with #65

    Completed #86 and #87

    * Cleaned example files

    * Added example project to this repo and made v3 template

    * Final update for 3.0.0 #65

    ---------

    Co-authored-by: HakopZarikyan <[email protected]>
    Co-authored-by: Michael Ben-Zvi <[email protected]>
    Co-authored-by: Will Xu <[email protected]>
    Co-authored-by: Michael Barr <[email protected]>
    Co-authored-by: Asik007 <[email protected]>
    Co-authored-by: Sylvie <[email protected]>
    Co-authored-by: Will Xu <[email protected]>
    Co-authored-by: Mactar Gueye <[email protected]>
ssejrog added a commit that referenced this issue Apr 2, 2024
@ssejrog @HakopZ
@WillXuCodes @fishsticks89 @Asik007 @sy1vi3 @Mactar1233
Tset (#94)
72fc4cb 
* v3.0.0 (#88)

* Fixed rotation sensor tick per rev (#47)

* middle step for #49 and #54

* Added piston groups (#54)

* Completed small issues (#56, #55, $54, #52, #48)

* Finished with clean up on constants

* Added set ratio function

* Added practice mode

* Updated PROS Kernel, okapi, fixed #53, general cleaning

* ✨Okapi units (#49, #62)

* ✨ Added `set_relative_turn_pid()` (#59)

* issue #59 - add set_relative_turn_pid function, no issue - fix various cases of wrong function documentation

* issue #59 - set_relative_turn_pid changed casing of variables to snake_case and made it relative to current target, not current heading

* Fixed issue #67

* ✨Okapi units

* New function names #65

* Added okapi units to turns and time, tuned PID, cleaned code, completed #66

* Fixed some names, added `get` functions #73

* 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.

* ⬆️ Update Kernel/Okapi to 3.8.0 and 4.8.0 Respectively  (#76)

* Memory optimisation and comments:
when a function is static, it doesn't need to exist for every object. Since this function does not reference any internal variables, it can be static

* Maybe I was wrong

* add new website code

* added running the site locally

* kernel upgrade

* Update Kernel/Okapi

---------

Co-authored-by: Michael Barr <[email protected]>
Co-authored-by: Asik007 <[email protected]>
Co-authored-by: Sylvie <[email protected]>

* Added Ability for user to reverse Drive in opcontrol (#80)

* Update drive.hpp

weird changes

* Added Reversal to opcontrol driving

* mistake deleting active break logic, added back

* Removed old website, updated readme

* Completed #82, fixed formatting

* Cleaned relative turns, added wide swings #59 #83

* Added slew to turns and swings, fixed wide arc bug #59 #83 #84

Backwards right arcs would have the left PID go the wrong direction.

* #49 #59 #65 #84

All functions that have a parameter using okapi units has the ability to be called without using okapi units.

Fixed relative bug that would stop a swing from working off of a turn

Naming convention was fixed on setting constants.

Forward and Reverse PID for swings was implemented.

* namespaced all classes, removed piston group. #50 #54

* Added PID Tuner #85

* PID Tuner can modify increments #85 #86 #87

PID Tuner:
- printing to brain can now be toggled
- won't enable autonselector if it wasn't on prior to enabling PID Tuner
- user can set all increments
- user can get all increments
- renamed functions to be compliant with #65

Completed #86 and #87

* Cleaned example files

* Added example project to this repo and made v3 template

* Final update for 3.0.0 #65

---------

Co-authored-by: HakopZarikyan <[email protected]>
Co-authored-by: Michael Ben-Zvi <[email protected]>
Co-authored-by: Will Xu <[email protected]>
Co-authored-by: Michael Barr <[email protected]>
Co-authored-by: Asik007 <[email protected]>
Co-authored-by: Sylvie <[email protected]>
Co-authored-by: Will Xu <[email protected]>
Co-authored-by: Mactar Gueye <[email protected]>

* Removed 2.x files

* 3.0.1

* Revert "3.0.1"

This reverts commit f0f633d.

---------

Co-authored-by: HakopZarikyan <[email protected]>
Co-authored-by: Michael Ben-Zvi <[email protected]>
Co-authored-by: Will Xu <[email protected]>
Co-authored-by: Michael Barr <[email protected]>
Co-authored-by: Asik007 <[email protected]>
Co-authored-by: Sylvie <[email protected]>
Co-authored-by: Will Xu <[email protected]>
Co-authored-by: Mactar Gueye <[email protected]>
ssejrog added a commit that referenced this issue Apr 2, 2024
@ssejrog
Fixing bad github usage (#95)
e7abe06 
* Squashed commit of the following:

commit 600bc47
Author: Jess Zarchi <[email protected]>
Date:   Sun Jan 28 23:53:53 2024 -0800

    Removed 2.x files

commit 6f6c701
Author: Jess Zarchi <[email protected]>
Date:   Sun Jan 28 23:45:42 2024 -0800

    v3.0.0 (#88)

    * Fixed rotation sensor tick per rev (#47)

    * middle step for #49 and #54

    * Added piston groups (#54)

    * Completed small issues (#56, #55, $54, #52, #48)

    * Finished with clean up on constants

    * Added set ratio function

    * Added practice mode

    * Updated PROS Kernel, okapi, fixed #53, general cleaning

    * ✨Okapi units (#49, #62)

    * ✨ Added `set_relative_turn_pid()` (#59)

    * issue #59 - add set_relative_turn_pid function, no issue - fix various cases of wrong function documentation

    * issue #59 - set_relative_turn_pid changed casing of variables to snake_case and made it relative to current target, not current heading

    * Fixed issue #67

    * ✨Okapi units

    * New function names #65

    * Added okapi units to turns and time, tuned PID, cleaned code, completed #66

    * Fixed some names, added `get` functions #73

    * 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.

    * ⬆️ Update Kernel/Okapi to 3.8.0 and 4.8.0 Respectively  (#76)

    * Memory optimisation and comments:
    when a function is static, it doesn't need to exist for every object. Since this function does not reference any internal variables, it can be static

    * Maybe I was wrong

    * add new website code

    * added running the site locally

    * kernel upgrade

    * Update Kernel/Okapi

    ---------

    Co-authored-by: Michael Barr <[email protected]>
    Co-authored-by: Asik007 <[email protected]>
    Co-authored-by: Sylvie <[email protected]>

    * Added Ability for user to reverse Drive in opcontrol (#80)

    * Update drive.hpp

    weird changes

    * Added Reversal to opcontrol driving

    * mistake deleting active break logic, added back

    * Removed old website, updated readme

    * Completed #82, fixed formatting

    * Cleaned relative turns, added wide swings #59 #83

    * Added slew to turns and swings, fixed wide arc bug #59 #83 #84

    Backwards right arcs would have the left PID go the wrong direction.

    * #49 #59 #65 #84

    All functions that have a parameter using okapi units has the ability to be called without using okapi units.

    Fixed relative bug that would stop a swing from working off of a turn

    Naming convention was fixed on setting constants.

    Forward and Reverse PID for swings was implemented.

    * namespaced all classes, removed piston group. #50 #54

    * Added PID Tuner #85

    * PID Tuner can modify increments #85 #86 #87

    PID Tuner:
    - printing to brain can now be toggled
    - won't enable autonselector if it wasn't on prior to enabling PID Tuner
    - user can set all increments
    - user can get all increments
    - renamed functions to be compliant with #65

    Completed #86 and #87

    * Cleaned example files

    * Added example project to this repo and made v3 template

    * Final update for 3.0.0 #65

    ---------

    Co-authored-by: HakopZarikyan <[email protected]>
    Co-authored-by: Michael Ben-Zvi <[email protected]>
    Co-authored-by: Will Xu <[email protected]>
    Co-authored-by: Michael Barr <[email protected]>
    Co-authored-by: Asik007 <[email protected]>
    Co-authored-by: Sylvie <[email protected]>
    Co-authored-by: Will Xu <[email protected]>
    Co-authored-by: Mactar Gueye <[email protected]>

* Fixed small bugs, refactoring #89, #90, #91, #92)

* Fixed typo in comment, updated readme

* Upgraded kernel, ready for v3.0.1 release
ssejrog added a commit that referenced this issue Apr 2, 2024
@ssejrog @HakopZ
@WillXuCodes @fishsticks89 @Asik007 @sy1vi3 @Mactar1233
v3.0.1 (#97)
6b1c8ea 
* Fixed rotation sensor tick per rev (#47)

* middle step for #49 and #54

* Added piston groups (#54)

* Completed small issues (#56, #55, $54, #52, #48)

* Finished with clean up on constants

* Added set ratio function

* Added practice mode

* Updated PROS Kernel, okapi, fixed #53, general cleaning

* ✨Okapi units (#49, #62)

* ✨ Added `set_relative_turn_pid()` (#59)

* issue #59 - add set_relative_turn_pid function, no issue - fix various cases of wrong function documentation

* issue #59 - set_relative_turn_pid changed casing of variables to snake_case and made it relative to current target, not current heading

* Fixed issue #67

* ✨Okapi units

* New function names #65

* Added okapi units to turns and time, tuned PID, cleaned code, completed #66

* Fixed some names, added `get` functions #73

* 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.

* ⬆️ Update Kernel/Okapi to 3.8.0 and 4.8.0 Respectively  (#76)

* Memory optimisation and comments:
when a function is static, it doesn't need to exist for every object. Since this function does not reference any internal variables, it can be static

* Maybe I was wrong

* add new website code

* added running the site locally

* kernel upgrade

* Update Kernel/Okapi

---------

Co-authored-by: Michael Barr <[email protected]>
Co-authored-by: Asik007 <[email protected]>
Co-authored-by: Sylvie <[email protected]>

* Added Ability for user to reverse Drive in opcontrol (#80)

* Update drive.hpp

weird changes

* Added Reversal to opcontrol driving

* mistake deleting active break logic, added back

* Removed old website, updated readme

* Completed #82, fixed formatting

* Cleaned relative turns, added wide swings #59 #83

* Added slew to turns and swings, fixed wide arc bug #59 #83 #84

Backwards right arcs would have the left PID go the wrong direction.

* #49 #59 #65 #84

All functions that have a parameter using okapi units has the ability to be called without using okapi units.

Fixed relative bug that would stop a swing from working off of a turn

Naming convention was fixed on setting constants.

Forward and Reverse PID for swings was implemented.

* namespaced all classes, removed piston group. #50 #54

* Added PID Tuner #85

* PID Tuner can modify increments #85 #86 #87

PID Tuner:
- printing to brain can now be toggled
- won't enable autonselector if it wasn't on prior to enabling PID Tuner
- user can set all increments
- user can get all increments
- renamed functions to be compliant with #65

Completed #86 and #87

* Cleaned example files

* Added example project to this repo and made v3 template

* Final update for 3.0.0 #65

* Squashed commit of the following:

commit 600bc47
Author: Jess Zarchi <[email protected]>
Date:   Sun Jan 28 23:53:53 2024 -0800

    Removed 2.x files

commit 6f6c701
Author: Jess Zarchi <[email protected]>
Date:   Sun Jan 28 23:45:42 2024 -0800

    v3.0.0 (#88)

    * Fixed rotation sensor tick per rev (#47)

    * middle step for #49 and #54

    * Added piston groups (#54)

    * Completed small issues (#56, #55, $54, #52, #48)

    * Finished with clean up on constants

    * Added set ratio function

    * Added practice mode

    * Updated PROS Kernel, okapi, fixed #53, general cleaning

    * ✨Okapi units (#49, #62)

    * ✨ Added `set_relative_turn_pid()` (#59)

    * issue #59 - add set_relative_turn_pid function, no issue - fix various cases of wrong function documentation

    * issue #59 - set_relative_turn_pid changed casing of variables to snake_case and made it relative to current target, not current heading

    * Fixed issue #67

    * ✨Okapi units

    * New function names #65

    * Added okapi units to turns and time, tuned PID, cleaned code, completed #66

    * Fixed some names, added `get` functions #73

    * 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.

    * ⬆️ Update Kernel/Okapi to 3.8.0 and 4.8.0 Respectively  (#76)

    * Memory optimisation and comments:
    when a function is static, it doesn't need to exist for every object. Since this function does not reference any internal variables, it can be static

    * Maybe I was wrong

    * add new website code

    * added running the site locally

    * kernel upgrade

    * Update Kernel/Okapi

    ---------

    Co-authored-by: Michael Barr <[email protected]>
    Co-authored-by: Asik007 <[email protected]>
    Co-authored-by: Sylvie <[email protected]>

    * Added Ability for user to reverse Drive in opcontrol (#80)

    * Update drive.hpp

    weird changes

    * Added Reversal to opcontrol driving

    * mistake deleting active break logic, added back

    * Removed old website, updated readme

    * Completed #82, fixed formatting

    * Cleaned relative turns, added wide swings #59 #83

    * Added slew to turns and swings, fixed wide arc bug #59 #83 #84

    Backwards right arcs would have the left PID go the wrong direction.

    * #49 #59 #65 #84

    All functions that have a parameter using okapi units has the ability to be called without using okapi units.

    Fixed relative bug that would stop a swing from working off of a turn

    Naming convention was fixed on setting constants.

    Forward and Reverse PID for swings was implemented.

    * namespaced all classes, removed piston group. #50 #54

    * Added PID Tuner #85

    * PID Tuner can modify increments #85 #86 #87

    PID Tuner:
    - printing to brain can now be toggled
    - won't enable autonselector if it wasn't on prior to enabling PID Tuner
    - user can set all increments
    - user can get all increments
    - renamed functions to be compliant with #65

    Completed #86 and #87

    * Cleaned example files

    * Added example project to this repo and made v3 template

    * Final update for 3.0.0 #65

    ---------

    Co-authored-by: HakopZarikyan <[email protected]>
    Co-authored-by: Michael Ben-Zvi <[email protected]>
    Co-authored-by: Will Xu <[email protected]>
    Co-authored-by: Michael Barr <[email protected]>
    Co-authored-by: Asik007 <[email protected]>
    Co-authored-by: Sylvie <[email protected]>
    Co-authored-by: Will Xu <[email protected]>
    Co-authored-by: Mactar Gueye <[email protected]>

* Fixed small bugs, refactoring #89, #90, #91, #92)

* Fixed typo in comment, updated readme

* Upgraded kernel, ready for v3.0.1 release

---------

Co-authored-by: HakopZarikyan <[email protected]>
Co-authored-by: Michael Ben-Zvi <[email protected]>
Co-authored-by: Will Xu <[email protected]>
Co-authored-by: Michael Barr <[email protected]>
Co-authored-by: Asik007 <[email protected]>
Co-authored-by: Sylvie <[email protected]>
Co-authored-by: Will Xu <[email protected]>
Co-authored-by: Mactar Gueye <[email protected]>
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