That-One-Nerd/ary-over-under
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update files to agree with me

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ary 2023-10-14 18:04:22 -04:00
parent b0add85062
commit 47e366ba37
2 changed files with 12 additions and 12 deletions
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18
RELENTLESS/src/ary-lib/drive/exit_conditions.cpp
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@ -84,8 +84,8 @@ void Drive::wait_until(double target) {
int r_tar = r_start + (target * TICK_PER_INCH); int r_tar = r_start + (target * TICK_PER_INCH);
int l_error = l_tar - left_sensor(); int l_error = l_tar - left_sensor();
int r_error = r_tar - right_sensor(); int r_error = r_tar - right_sensor();
int l_sgn = util::sgn(l_error); int l_sgn = util::signum(l_error);
int r_sgn = util::sgn(r_error); int r_sgn = util::signum(r_error);
exit_output left_exit = RUNNING; exit_output left_exit = RUNNING;
exit_output right_exit = RUNNING; exit_output right_exit = RUNNING;
@ -95,7 +95,7 @@ void Drive::wait_until(double target) {
r_error = r_tar - right_sensor(); r_error = r_tar - right_sensor();
// Before robot has reached target, use the exit conditions to avoid getting stuck in this while loop // Before robot has reached target, use the exit conditions to avoid getting stuck in this while loop
if (util::sgn(l_error) == l_sgn || util::sgn(r_error) == r_sgn) { if (util::signum(l_error) == l_sgn || util::signum(r_error) == r_sgn) {
if (left_exit == RUNNING || right_exit == RUNNING) { if (left_exit == RUNNING || right_exit == RUNNING) {
left_exit = left_exit != RUNNING ? left_exit : leftPID.exit_condition(left_motors[0]); left_exit = left_exit != RUNNING ? left_exit : leftPID.exit_condition(left_motors[0]);
right_exit = right_exit != RUNNING ? right_exit : rightPID.exit_condition(right_motors[0]); right_exit = right_exit != RUNNING ? right_exit : rightPID.exit_condition(right_motors[0]);
@ -110,7 +110,7 @@ void Drive::wait_until(double target) {
} }
} }
// Once we've past target, return // Once we've past target, return
else if (util::sgn(l_error) != l_sgn || util::sgn(r_error) != r_sgn) { else if (util::signum(l_error) != l_sgn || util::signum(r_error) != r_sgn) {
if (print_toggle) std::cout << " Drive Wait Until Exit.\n"; if (print_toggle) std::cout << " Drive Wait Until Exit.\n";
return; return;
} }
@ -123,7 +123,7 @@ void Drive::wait_until(double target) {
else if (mode == TURN || mode == SWING) { else if (mode == TURN || mode == SWING) {
// Calculate error between current and target (target needs to be an in between position) // Calculate error between current and target (target needs to be an in between position)
int g_error = target - get_gyro(); int g_error = target - get_gyro();
int g_sgn = util::sgn(g_error); int g_sgn = util::signum(g_error);
exit_output turn_exit = RUNNING; exit_output turn_exit = RUNNING;
exit_output swing_exit = RUNNING; exit_output swing_exit = RUNNING;
@ -136,7 +136,7 @@ void Drive::wait_until(double target) {
// If turning... // If turning...
if (mode == TURN) { if (mode == TURN) {
// Before robot has reached target, use the exit conditions to avoid getting stuck in this while loop // Before robot has reached target, use the exit conditions to avoid getting stuck in this while loop
if (util::sgn(g_error) == g_sgn) { if (util::signum(g_error) == g_sgn) {
if (turn_exit == RUNNING) { if (turn_exit == RUNNING) {
turn_exit = turn_exit != RUNNING ? turn_exit : turnPID.exit_condition({left_motors[0], right_motors[0]}); turn_exit = turn_exit != RUNNING ? turn_exit : turnPID.exit_condition({left_motors[0], right_motors[0]});
pros::delay(util::DELAY_TIME); pros::delay(util::DELAY_TIME);
@ -150,7 +150,7 @@ void Drive::wait_until(double target) {
} }
} }
// Once we've past target, return // Once we've past target, return
else if (util::sgn(g_error) != g_sgn) { else if (util::signum(g_error) != g_sgn) {
if (print_toggle) std::cout << " Turn Wait Until Exit.\n"; if (print_toggle) std::cout << " Turn Wait Until Exit.\n";
return; return;
} }
@ -159,7 +159,7 @@ void Drive::wait_until(double target) {
// If swinging... // If swinging...
else { else {
// Before robot has reached target, use the exit conditions to avoid getting stuck in this while loop // Before robot has reached target, use the exit conditions to avoid getting stuck in this while loop
if (util::sgn(g_error) == g_sgn) { if (util::signum(g_error) == g_sgn) {
if (swing_exit == RUNNING) { if (swing_exit == RUNNING) {
swing_exit = swing_exit != RUNNING ? swing_exit : swingPID.exit_condition(sensor); swing_exit = swing_exit != RUNNING ? swing_exit : swingPID.exit_condition(sensor);
pros::delay(util::DELAY_TIME); pros::delay(util::DELAY_TIME);
@ -173,7 +173,7 @@ void Drive::wait_until(double target) {
} }
} }
// Once we've past target, return // Once we've past target, return
else if (util::sgn(g_error) != g_sgn) { else if (util::signum(g_error) != g_sgn) {
if (print_toggle) std::cout << " Swing Wait Until Exit.\n"; if (print_toggle) std::cout << " Swing Wait Until Exit.\n";
return; return;
} }

6
RELENTLESS/src/ary-lib/drive/slew.cpp
View File

@ -25,7 +25,7 @@ void Drive::slew_initialize(slew_ &input, bool slew_on, double max_speed, double
input.enabled = slew_on; input.enabled = slew_on;
input.max_speed = max_speed; input.max_speed = max_speed;
input.sign = util::sgn(target - current); input.sign = util::signum(target - current);
input.x_intercept = start + ((SLEW_DISTANCE[backwards] * input.sign) * TICK_PER_INCH); input.x_intercept = start + ((SLEW_DISTANCE[backwards] * input.sign) * TICK_PER_INCH);
input.y_intercept = max_speed * input.sign; input.y_intercept = max_speed * input.sign;
input.slope = ((input.sign * SLEW_MIN_POWER[backwards]) - input.y_intercept) / (input.x_intercept - 0 - start); // y2-y1 / x2-x1 input.slope = ((input.sign * SLEW_MIN_POWER[backwards]) - input.y_intercept) / (input.x_intercept - 0 - start); // y2-y1 / x2-x1
@ -39,11 +39,11 @@ double Drive::slew_calculate(slew_ &input, double current) {
input.error = input.x_intercept - current; input.error = input.x_intercept - current;
// When the sign of error flips, slew is completed // When the sign of error flips, slew is completed
if (util::sgn(input.error) != input.sign) if (util::signum(input.error) != input.sign)
input.enabled = false; input.enabled = false;
// Return y=mx+b // Return y=mx+b
else if (util::sgn(input.error) == input.sign) else if (util::signum(input.error) == input.sign)
return ((input.slope * input.error) + input.y_intercept) * input.sign; return ((input.slope * input.error) + input.y_intercept) * input.sign;
} }
// When slew is completed, return max speed // When slew is completed, return max speed