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ary 2023-10-27 06:47:11 -05:00
parent 65d7d24a62
commit 47d99fec52
3 changed files with 11 additions and 1 deletions
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6
RELENTLESS/include/ary-lib/drive/drive.hpp
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@ -528,6 +528,12 @@ class Drive {
*/ */
void set_drive(double target, int speed, bool slew_on = false, bool toggle_heading = true); void set_drive(double target, int speed, bool slew_on = false, bool toggle_heading = true);
/*
Stops movement on the drivetrain
*/
void stop_drive(Drive& chassis);
/** /**
* Drives the robot forward using a trapezoidal motional profile * Drives the robot forward using a trapezoidal motional profile
* *

4
RELENTLESS/src/ary-lib/drive/drive.cpp
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@ -288,6 +288,10 @@ void Drive::imu_loading_display(int iter) {
} }
} }
void Drive::stop_drive(Drive& chassis) {
chassis.set_tank(0, 0);
}
bool Drive::imu_calibrate(bool run_loading_animation) { bool Drive::imu_calibrate(bool run_loading_animation) {
imu.reset(); imu.reset();
int iter = 0; int iter = 0;

2
RELENTLESS/src/ary-lib/drive/set_pid.cpp
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@ -129,7 +129,7 @@ void set_profiled_drive(Drive& chassis, double target, int endTimeout) {
pros::delay(10); pros::delay(10);
} }
chassis.set_tank(0, 0); chassis.set_tank(0, 0); // Stop the drive
chassis.set_drive_brake(MOTOR_BRAKE_BRAKE); chassis.set_drive_brake(MOTOR_BRAKE_BRAKE);
pros::delay(endTimeout); pros::delay(endTimeout);