issue EZ-Robotics#59 - set_relative_turn_pid changed casing of variab…

…les to snake_case and made it relative to current target, not current heading
mkhlb · Sep 1, 2022 · c80ce74 · c80ce74
1 parent 1599e17
commit c80ce74
Showing 1 changed file with 4 additions and 4 deletions.
diff --git a/src/EZ-Template/drive/set_pid.cpp b/src/EZ-Template/drive/set_pid.cpp
@@ -124,14 +124,14 @@ void Drive::set_turn_pid(double target, int speed) {
 
 void Drive::set_relative_turn_pid(double target, int speed) {
   // Compute absolute target by adding to current heading
-  double absoluteTarget = get_gyro() + target;
+  double absolute_target = turnPID.get_target() + target;
 
   // Print targets
-  if (print_toggle) printf("Turn Started... Target Value: %f\n", absoluteTarget);
+  if (print_toggle) printf("Turn Started... Target Value: %f\n", absolute_target);
 
   // Set PID targets
-  turnPID.set_target(absoluteTarget);
-  headingPID.set_target(absoluteTarget);
+  turnPID.set_target(absolute_target);
+  headingPID.set_target(absolute_target);
   set_max_speed(speed);
 
   // Run task