From a09e61b07f0786f7b3ed7594c353e3128bb613b4 Mon Sep 17 00:00:00 2001
From: ary <cjansah11@gmail.com>
Date: Tue, 3 Oct 2023 08:27:37 -0400
Subject: [PATCH] update superstructure

update naming conventions for cleaner usage.

driveChassis() ->
- driveSync()
- driveAsync()
- driveWithMD

turnChassis() ->
- turnSync()
- turnAsync()
---
 RELENTLESS/include/superstructure.hpp | 10 ++++++----
 RELENTLESS/src/superstructure.cpp     | 14 ++++++++++----
 2 files changed, 16 insertions(+), 8 deletions(-)

diff --git a/RELENTLESS/include/superstructure.hpp b/RELENTLESS/include/superstructure.hpp
index 6d777c0..245f82e 100644
--- a/RELENTLESS/include/superstructure.hpp
+++ b/RELENTLESS/include/superstructure.hpp
@@ -19,11 +19,13 @@ namespace superstruct {
     
 
     // Movement Methods
-    void driveChassisAsync(double dist, bool useHeadingCorrection);
-    void driveChassisSync(double dist, bool useHeadingCorrection);
-    void driveChasissWithMD(double dist, bool useHeadingCorrection, double waitUntilDist);
+    void driveAsync(double dist, bool useHeadingCorrection);
+    void driveSync(double dist, bool useHeadingCorrection);
+    void driveWithMD(double dist, bool useHeadingCorrection, double waitUntilDist);
+
+    void turnSync(double theta);
+    void turnAsync(double theta);
 
-    void turnChassis(double theta);
     void leftSwing(double theta);
     void rightSwing(double theta);
     
diff --git a/RELENTLESS/src/superstructure.cpp b/RELENTLESS/src/superstructure.cpp
index 6c2a6ee..dd4b8af 100644
--- a/RELENTLESS/src/superstructure.cpp
+++ b/RELENTLESS/src/superstructure.cpp
@@ -53,24 +53,30 @@ namespace superstruct {
 
 
   // motion and stuff
-  void driveChassisAsync(double dist, bool useHeadingCorrection) {
+  void driveAsync(double dist, bool useHeadingCorrection) {
     //chassis.set_mode(ary::DRIVE);
     chassis.set_drive(dist, DRIVE_SPEED * speedScale, (dist > 14.0) ? true : false, useHeadingCorrection); 
   }
 
-  void driveChassisSync(double dist, bool useHeadingCorrection) {
+  void driveSync(double dist, bool useHeadingCorrection) {
     //chassis.set_mode(ary::DRIVE);
     chassis.set_drive(dist, DRIVE_SPEED * speedScale, (dist > 14.0) ? true : false, useHeadingCorrection); 
     chassis.wait_drive();
   }
 
-  void driveChasissWithMD(double dist, bool useHeadingCorrection, double waitUntilDist) {
+  void driveWithMD(double dist, bool useHeadingCorrection, double waitUntilDist) {
     //chassis.set_mode(ary::DRIVE);
     chassis.set_drive(dist, DRIVE_SPEED * speedScale, (dist > 14.0) ? true : false, useHeadingCorrection); 
     chassis.wait_until(waitUntilDist);
   }
 
-  void turnChassis(double theta) {
+  void turnSync(double theta) {
+    //chassis.set_mode(ary::TURN);
+    chassis.set_turn(theta, TURN_SPEED * turnScale);
+    chassis.wait_drive();
+  }
+
+  void turnAsync(double theta) {
     //chassis.set_mode(ary::TURN);
     chassis.set_turn(theta, TURN_SPEED * turnScale);
   }