v3.2.0-beta.3 - Tracking Wheels!

Full Changelog: v3.2.0-beta.2...v3.2.0-beta.3

v3.2.0-beta.3

This version is stable

This is very close to what RC1 will be. This is being released now for testing while extra documentation is made in drive.hpp. There is still a chance breaking changes happen between this and RC1 / the full 3.2.0 release.

Features since beta.2

• tracking wheel support
• turn directions
• pid_drive_set syntax is compatible with pid_odom_set
• blank pages can be added to the auton selector
• "mirrored field problem" is solved
• blanket enables for slew
• odom units
• clamp() now has an option for 2 parameters
• slew reenables when speed increases during pure pursuits
• you can add custom stuff to pid tuner

Bug fixed since beta.2

• disabling PID now turns the drive motors off

Missing Features

Once this bug is fixed/figured out, the new drive constructor will work and will allow you to input track width into the constructor. Additional comments are needed in drive.hpp, and new example autonomous routines are needed to show how odom works.

What should you test?

Something cool about this version is pid_odom_set now supports the same syntax as pid_drive_set. So you can take one of your autos from a previous 3.x version, change pid_drive_set to pid_odom_set, and you'd have tracking in your autons! This will not be as good as telling the robot what points to go to, as accumulative error will still happen, but each motion should be more accurate with this.