Completed limit switch lcd control #34

Fixed error in mA calculation #33

Authored with @HakopZ

include/EZ-Template/api.hpp

@@ -11,5 +11,4 @@ file, You can obtain one at http://mozilla.org/MPL/2.0/.
 #include "EZ-Template/auton_selector.hpp"
 #include "EZ-Template/drive/drive.hpp"
 #include "EZ-Template/sdcard.hpp"
-#include "EZ-Template/util.hpp"
-#include "EZ-Template/pre_auto_selector.hpp"
+#include "EZ-Template/util.hpp"

include/EZ-Template/sdcard.hpp

@@ -7,6 +7,7 @@ file, You can obtain one at http://mozilla.org/MPL/2.0/.
 #pragma once
 
 #include "EZ-Template/auton_selector.hpp"
+#include "api.h"
 
 namespace ez {
 namespace as {
@@ -15,25 +16,47 @@ extern AutonSelector auton_selector;
  * Sets sd card to current page.
  */
 void init_auton_selector();
+
 /**
  * Sets the sd card to current page.
  */
 void update_auto_sd();
+
 /**
  * Increases the page by 1.
  */
 void page_up();
+
 /**
  * Decreases the page by 1.
  */
 void page_down();
+
 /**
  * Initializes LLEMU and sets up callbacks for auton selector.
  */
 void initialize();
+
 /**
  * Wrapper for pros::lcd::shutdown.
  */
 void shutdown();
+
+extern pros::ADIDigitalIn* left_limit_switch;
+extern pros::ADIDigitalIn* right_limit_switch;
+/**
+ * Initialize two limitswithces to change pages on the lcd
+ *
+ * @param left_limit_port
+ *        port for the left limit switch
+ * @param right_limit_port
+ *        port for the right limit switch
+ */
+void limit_switch_lcd_initialize(pros::ADIDigitalIn* right_limit, pros::ADIDigitalIn* left_limit = nullptr);
+
+/**
+ * pre_auto_task
+ */
+void limitSwitchTask();
 }  // namespace as
 }  // namespace ez

src/EZ-Template/PID.cpp

@@ -150,14 +150,14 @@ exit_output PID::exit_condition(std::vector<pros::Motor> sensor, bool print) {
   // If the motors are pulling too many mA, the code will timeout and set interfered to true.
   if (exit.mA_timeout != 0) {  // Check if this condition is enabled
     for (auto i : sensor) {
-      // Check if the motor isn't drawing too many mA.  If 1 of the motors isn't, break.
-      if (!i.is_over_current()) {
-        is_mA = false;
+      // Check if 1 motor is pulling too many mA
+      if (i.is_over_current()) {
+        is_mA = true;
         break;
       }
-      // If all of the motors are drawing too many mA, keep the bool true
+      // If all of the motors aren't drawing too many mA, keep bool false
       else {
-        is_mA = true;
+        is_mA = false;
       }
     }
     if (is_mA) {

src/EZ-Template/drive/drive.cpp

@@ -168,6 +168,9 @@ void Drive::set_defaults() {
   // Enable auto printing and drive motors moving
   toggle_auto_drive(true);
   toggle_auto_print(true);
+
+  // Disables limit switch for auto selector
+  as::limit_switch_lcd_initialize(nullptr, nullptr); 
 }
 
 double Drive::get_tick_per_inch() {

src/EZ-Template/sdcard.cpp

@@ -5,10 +5,11 @@ file, You can obtain one at http://mozilla.org/MPL/2.0/.
 */
 
 #include <filesystem>
+
 #include "main.h"
 
-namespace ez {
-namespace as {
+
+namespace ez::as {
 AutonSelector auton_selector{};
 
 void update_auto_sd() {
@@ -33,10 +34,10 @@ void init_auton_selector() {
     fread(l_buf, 1, 5, as_usd_file_read);
     ez::as::auton_selector.current_auton_page = std::stof(l_buf);
     fclose(as_usd_file_read);
-  } 
+  }
   // If file doesn't exist, create file
   else {
-    update_auto_sd(); // Writing to a file that doesn't exist creates the file
+    update_auto_sd();  // Writing to a file that doesn't exist creates the file
     printf("Created auto.txt\n");
   }
 
@@ -78,5 +79,31 @@ void initialize() {
 void shutdown() {
   pros::lcd::shutdown();
 }
-}  // namespace as
-}  // namespace ez
+
+// Using a button to control the lcd
+pros::ADIDigitalIn* left_limit_switch = nullptr;
+pros::ADIDigitalIn* right_limit_switch = nullptr;
+pros::Task limit_switch_task(limitSwitchTask);
+void limit_switch_lcd_initialize(pros::ADIDigitalIn* right_limit, pros::ADIDigitalIn* left_limit) {
+  if (!left_limit && !right_limit) {
+    delete left_limit_switch;
+    delete right_limit_switch;
+    return;
+  }
+
+  right_limit_switch = right_limit;
+  left_limit_switch = left_limit;
+  limit_switch_task.resume();
+}
+
+void limitSwitchTask() {
+  while (true) {
+    if (right_limit_switch && right_limit_switch->get_new_press())
+      page_up();
+    else if (left_limit_switch && left_limit_switch->get_new_press())
+      page_down();
+
+    pros::delay(50);
+  }
+}
+}  // namespace ez::as

src/main.cpp

@@ -57,7 +57,7 @@ void initialize() {
   // Print our branding over your terminal :D
   ez::print_ez_template();
   pros::delay(500); // Stop the user from doing anything while legacy ports configure.
-  ez::limit_switch_lcd_initialize(-1, -1); //limit switch for lcd
+
   // Configure your chassis controls
   chassis.toggle_modify_curve_with_controller(true); // Enables modifying the controller curve with buttons on the joysticks
   chassis.set_active_brake(0); // Sets the active brake kP. We recommend 0.1.
@@ -68,7 +68,7 @@ void initialize() {
   // chassis.set_left_curve_buttons (pros::E_CONTROLLER_DIGITAL_LEFT, pros::E_CONTROLLER_DIGITAL_RIGHT);
   // chassis.set_right_curve_buttons(pros::E_CONTROLLER_DIGITAL_Y,    pros::E_CONTROLLER_DIGITAL_A);
 
-  // Autonomous Selector using LLEMMU
+  // Autonomous Selector using LLEMU
   ez::as::auton_selector.add_autons({
     Auton("Example Drive\n\nDrive forward and come back.", drive_example),
     Auton("Example Turn\n\nTurn 3 times.", turn_example),