🐛Fixed unit conversion for exit conditions

EZ-Robotics · Jun 2, 2024 · d844c96 · d844c96
1 parent 95b5329
commit d844c96
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Showing 2 changed files with 13 additions and 13 deletions.
diff --git a/src/EZ-Template/PID.cpp b/src/EZ-Template/PID.cpp
@@ -121,7 +121,7 @@ exit_output PID::exit_condition(bool print) {
 
   // If the robot is close to the target, start a timer.  If the robot doesn't get closer within
   // a certain amount of time, exit and continue.  This does not run while small_timeout is running
-  if (exit.big_error != 0 && exit.big_exit_time != 0) {  // Check if this condition is enabled
+  else if (exit.big_error != 0 && exit.big_exit_time != 0) {  // Check if this condition is enabled
     if (abs(error) < exit.big_error) {
       i += util::DELAY_TIME;
       if (i > exit.big_exit_time) {

diff --git a/src/EZ-Template/drive/exit_conditions.cpp b/src/EZ-Template/drive/exit_conditions.cpp
@@ -18,10 +18,10 @@ void Drive::pid_drive_exit_condition_set(okapi::QTime p_small_exit_time, okapi::
   // Convert okapi units to doubles
   double se = p_small_error.convert(okapi::inch);
   double be = p_big_error.convert(okapi::inch);
-  double set = p_small_exit_time.convert(okapi::millisecond);
-  double bet = p_big_exit_time.convert(okapi::millisecond);
-  double vet = p_velocity_exit_time.convert(okapi::millisecond);
-  double mAt = p_mA_timeout.convert(okapi::millisecond);
+  int set = p_small_exit_time.convert(okapi::millisecond);
+  int bet = p_big_exit_time.convert(okapi::millisecond);
+  int vet = p_velocity_exit_time.convert(okapi::millisecond);
+  int mAt = p_mA_timeout.convert(okapi::millisecond);
 
   pid_drive_exit_condition_set(set, se, bet, be, vet, mAt);
 }
@@ -34,10 +34,10 @@ void Drive::pid_turn_exit_condition_set(okapi::QTime p_small_exit_time, okapi::Q
   // Convert okapi units to doubles
   double se = p_small_error.convert(okapi::degree);
   double be = p_big_error.convert(okapi::degree);
-  double set = p_small_exit_time.convert(okapi::millisecond);
-  double bet = p_big_exit_time.convert(okapi::millisecond);
-  double vet = p_velocity_exit_time.convert(okapi::millisecond);
-  double mAt = p_mA_timeout.convert(okapi::millisecond);
+  int set = p_small_exit_time.convert(okapi::millisecond);
+  int bet = p_big_exit_time.convert(okapi::millisecond);
+  int vet = p_velocity_exit_time.convert(okapi::millisecond);
+  int mAt = p_mA_timeout.convert(okapi::millisecond);
 
   pid_turn_exit_condition_set(set, se, bet, be, vet, mAt);
 }
@@ -50,10 +50,10 @@ void Drive::pid_swing_exit_condition_set(okapi::QTime p_small_exit_time, okapi::
   // Convert okapi units to doubles
   double se = p_small_error.convert(okapi::degree);
   double be = p_big_error.convert(okapi::degree);
-  double set = p_small_exit_time.convert(okapi::millisecond);
-  double bet = p_big_exit_time.convert(okapi::millisecond);
-  double vet = p_velocity_exit_time.convert(okapi::millisecond);
-  double mAt = p_mA_timeout.convert(okapi::millisecond);
+  int set = p_small_exit_time.convert(okapi::millisecond);
+  int bet = p_big_exit_time.convert(okapi::millisecond);
+  int vet = p_velocity_exit_time.convert(okapi::millisecond);
+  int mAt = p_mA_timeout.convert(okapi::millisecond);
 
   pid_swing_exit_condition_set(set, se, bet, be, vet, mAt);
 }