That-One-Nerd/ary-over-under
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update superstructure

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ary 2023-10-03 08:15:12 -04:00
parent e54005d492
commit c47d46a4ef
2 changed files with 17 additions and 2 deletions
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5
RELENTLESS/include/superstructure.hpp
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@ -19,7 +19,10 @@ namespace superstruct {
// Movement Methods // Movement Methods
void driveChassis(double dist, bool useHeadingCorrection); void driveChassisAsync(double dist, bool useHeadingCorrection);
void driveChassisSync(double dist, bool useHeadingCorrection);
void driveChasissWithMD(double dist, bool useHeadingCorrection, double waitUntilDist);
void turnChassis(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
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@ -53,11 +53,23 @@ namespace superstruct {
// motion and stuff // motion and stuff
void driveChassis(double dist, bool useHeadingCorrection) { void driveChassisAsync(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) {
//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) {
//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 turnChassis(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);