From 8312d53c663ee19d5b3c183c1f62f01a5bd8b2d7 Mon Sep 17 00:00:00 2001
From: Jess Zarchi <jackfz01@gmail.com>
Date: Tue, 3 Dec 2024 21:59:26 -0800
Subject: [PATCH] Added motor group exit condition wrapper

---
 include/EZ-Template/PID.hpp | 10 ++++++++++
 src/EZ-Template/PID.cpp     |  8 ++++++++
 2 files changed, 18 insertions(+)

diff --git a/include/EZ-Template/PID.hpp b/include/EZ-Template/PID.hpp
index f0f35783..72b8ff5c 100644
--- a/include/EZ-Template/PID.hpp
+++ b/include/EZ-Template/PID.hpp
@@ -222,6 +222,16 @@ class PID {
    */
   ez::exit_output exit_condition(std::vector<pros::Motor> sensor, bool print = false);
 
+  /**
+   * Iterative exit condition for PID.
+   *
+   * \param sensor
+   *        Pros motor group on your mechanism.
+   * \param print = false
+   *        if true, prints when complete.
+   */
+  ez::exit_output exit_condition(pros::MotorGroup sensor, bool print = false);
+
   /**
    * Sets the name of the PID that prints during exit conditions.
    *
diff --git a/src/EZ-Template/PID.cpp b/src/EZ-Template/PID.cpp
index 2b3981f4..7a633e91 100644
--- a/src/EZ-Template/PID.cpp
+++ b/src/EZ-Template/PID.cpp
@@ -249,4 +249,12 @@ exit_output PID::exit_condition(std::vector<pros::Motor> sensor, bool print) {
   }
 
   return exit_condition(print);
+}
+
+exit_output PID::exit_condition(pros::MotorGroup sensor, bool print) {
+  std::vector<pros::Motor> vector_sensor;
+  for (i = 0; i < sensor.size(); i++) {
+    vector_sensor.push_back(pros::Motor(sensor.get_port(i)));
+  }
+  return exit_condition(vector_sensor, print);
 }
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