That-One-Nerd/ary-over-under
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

update superstructure

Browse Source 
update naming conventions for cleaner usage.

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

turnChassis() ->
- turnSync()
- turnAsync()
This commit is contained in:
ary 2023-10-03 08:27:37 -04:00
parent c47d46a4ef
commit a09e61b07f
2 changed files with 16 additions and 8 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

10
RELENTLESS/include/superstructure.hpp
View File

@ -19,11 +19,13 @@ namespace superstruct {
// Movement Methods // Movement Methods
void driveChassisAsync(double dist, bool useHeadingCorrection); void driveAsync(double dist, bool useHeadingCorrection);
void driveChassisSync(double dist, bool useHeadingCorrection); void driveSync(double dist, bool useHeadingCorrection);
void driveChasissWithMD(double dist, bool useHeadingCorrection, double waitUntilDist); 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 leftSwing(double theta);
void rightSwing(double theta); void rightSwing(double theta);

14
RELENTLESS/src/superstructure.cpp
View File

@ -53,24 +53,30 @@ namespace superstruct {
// motion and stuff // motion and stuff
void driveChassisAsync(double dist, bool useHeadingCorrection) { void driveAsync(double dist, bool useHeadingCorrection) {
//chassis.set_mode(ary::DRIVE); //chassis.set_mode(ary::DRIVE);
chassis.set_drive(dist, DRIVE_SPEED * speedScale, (dist > 14.0) ? true : false, useHeadingCorrection); 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_mode(ary::DRIVE);
chassis.set_drive(dist, DRIVE_SPEED * speedScale, (dist > 14.0) ? true : false, useHeadingCorrection); chassis.set_drive(dist, DRIVE_SPEED * speedScale, (dist > 14.0) ? true : false, useHeadingCorrection);
chassis.wait_drive(); 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_mode(ary::DRIVE);
chassis.set_drive(dist, DRIVE_SPEED * speedScale, (dist > 14.0) ? true : false, useHeadingCorrection); chassis.set_drive(dist, DRIVE_SPEED * speedScale, (dist > 14.0) ? true : false, useHeadingCorrection);
chassis.wait_until(waitUntilDist); 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_mode(ary::TURN);
chassis.set_turn(theta, TURN_SPEED * turnScale); chassis.set_turn(theta, TURN_SPEED * turnScale);
} }