Final 3.1.0 push. Template and example project finalized

EZ-Template-Example-Project/.clang-format

@@ -0,0 +1,4 @@
+BasedOnStyle: Google
+ColumnLimit: 0
+TabWidth: 2
+IndentWidth: 2

EZ-Template-Example-Project/project.pros

@@ -5,28 +5,28 @@
         "target": "v5",
         "templates": {
             "EZ-Template": {
-                "location": "C:\\Users\\union\\AppData\\Roaming\\PROS\\templates\\[email protected]-RC3",
+                "location": "C:\\Users\\union\\AppData\\Roaming\\PROS\\templates\\[email protected]",
                 "metadata": {
                     "origin": "local"
                 },
                 "name": "EZ-Template",
                 "py/object": "pros.conductor.templates.local_template.LocalTemplate",
                 "supported_kernels": "^4.1.0",
                 "system_files": [
+                    "include\\EZ-Template\\drive\\drive.hpp",
+                    "include\\EZ-Template\\sdcard.hpp",
                     "include\\EZ-Template\\auton_selector.hpp",
                     "include\\EZ-Template\\api.hpp",
-                    "include\\EZ-Template\\util.hpp",
-                    "include\\EZ-Template\\slew.hpp",
-                    "include\\EZ-Template\\piston.hpp",
                     "include\\EZ-Template\\PID.hpp",
-                    "include\\EZ-Template\\sdcard.hpp",
                     "include\\EZ-Template\\auton.hpp",
+                    "include\\EZ-Template\\piston.hpp",
+                    "include\\EZ-Template\\slew.hpp",
                     "firmware\\EZ-Template.a",
-                    "include\\EZ-Template\\drive\\drive.hpp"
+                    "include\\EZ-Template\\util.hpp"
                 ],
                 "target": "v5",
                 "user_files": [],
-                "version": "3.1.0-RC3"
+                "version": "3.1.0"
             },
             "kernel": {
                 "location": "C:\\Users\\union\\AppData\\Roaming\\PROS\\templates\\[email protected]",

EZ-Template-Example-Project/src/autons.cpp

@@ -37,7 +37,7 @@ void drive_example() {
   // The first parameter is target inches
   // The second parameter is max speed the robot will drive at
   // The third parameter is a boolean (true or false) for enabling/disabling a slew at the start of drive motions
-  // for slew, only enable it when the drive distance is greater then the slew distance + a few inches
+  // for slew, only enable it when the drive distance is greater than the slew distance + a few inches
 
   chassis.pid_drive_set(24_in, DRIVE_SPEED, true);
   chassis.pid_wait();
@@ -53,7 +53,7 @@ void drive_example() {
 // Turn Example
 ///
 void turn_example() {
-  // The first parameter is target degrees
+  // The first parameter is the target in degrees
   // The second parameter is max speed the robot will drive at
 
   chassis.pid_turn_set(90_deg, TURN_SPEED);
@@ -92,7 +92,7 @@ void drive_and_turn() {
 void wait_until_change_speed() {
   // pid_wait_until will wait until the robot gets to a desired position
 
-  // When the robot gets to 6 inches, the robot will travel the remaining distance at a max speed of 30
+  // When the robot gets to 6 inches slowly, the robot will travel the remaining distance at full speed
   chassis.pid_drive_set(24_in, 30, true);
   chassis.pid_wait_until(6_in);
   chassis.pid_speed_max_set(DRIVE_SPEED);  // After driving 6 inches at 30 speed, the robot will go the remaining distance at DRIVE_SPEED
@@ -107,7 +107,7 @@ void wait_until_change_speed() {
   chassis.pid_turn_set(0_deg, TURN_SPEED);
   chassis.pid_wait();
 
-  // When the robot gets to -6 inches, the robot will travel the remaining distance at a max speed of 30
+  // When the robot gets to -6 inches slowly, the robot will travel the remaining distance at full speed
   chassis.pid_drive_set(-24_in, 30, true);
   chassis.pid_wait_until(-6_in);
   chassis.pid_speed_max_set(DRIVE_SPEED);  // After driving 6 inches at 30 speed, the robot will go the remaining distance at DRIVE_SPEED
@@ -119,8 +119,8 @@ void wait_until_change_speed() {
 ///
 void swing_example() {
   // The first parameter is ez::LEFT_SWING or ez::RIGHT_SWING
-  // The second parameter is target degrees
-  // The third parameter is speed of the moving side of the drive
+  // The second parameter is the target in degrees
+  // The third parameter is the speed of the moving side of the drive
   // The fourth parameter is the speed of the still side of the drive, this allows for wider arcs
 
   chassis.pid_swing_set(ez::LEFT_SWING, 45_deg, SWING_SPEED, 45);
@@ -165,13 +165,13 @@ void motion_chaining() {
 ///
 void combining_movements() {
   chassis.pid_drive_set(24_in, DRIVE_SPEED, true);
-  chassis.pid_wait_quick_chain();
+  chassis.pid_wait();
 
   chassis.pid_turn_set(45_deg, TURN_SPEED);
   chassis.pid_wait();
 
   chassis.pid_swing_set(ez::RIGHT_SWING, -45_deg, SWING_SPEED, 45);
-  chassis.pid_wait_quick_chain();
+  chassis.pid_wait();
 
   chassis.pid_turn_set(0_deg, TURN_SPEED);
   chassis.pid_wait();
@@ -185,7 +185,7 @@ void combining_movements() {
 ///
 void tug(int attempts) {
   for (int i = 0; i < attempts - 1; i++) {
-    // Attempt to drive backwards
+    // Attempt to drive backward
     printf("i - %i", i);
     chassis.pid_drive_set(-12_in, 127);
     chassis.pid_wait();
@@ -196,15 +196,15 @@ void tug(int attempts) {
       chassis.pid_drive_set(-2_in, 20);
       pros::delay(1000);
     }
-    // If robot successfully drove back, return
+    // If the robot successfully drove back, return
     else {
       return;
     }
   }
 }
 
-// If there is no interference, robot will drive forward and turn 90 degrees.
-// If interfered, robot will drive forward and then attempt to drive backwards.
+// If there is no interference, the robot will drive forward and turn 90 degrees.
+// If interfered, the robot will drive forward and then attempt to drive backward.
 void interfered_example() {
   chassis.pid_drive_set(24_in, DRIVE_SPEED, true);
   chassis.pid_wait();

Makefile

@@ -27,7 +27,7 @@ EXCLUDE_COLD_LIBRARIES:=
 IS_LIBRARY:=1
 # TODO: CHANGE THIS!
 LIBNAME:=EZ-Template
-VERSION:=3.1.0-RC3
+VERSION:=3.1.0
 # EXCLUDE_SRC_FROM_LIB= $(SRCDIR)/unpublishedfile.c
 # this line excludes opcontrol.c and similar files
 EXCLUDE_SRC_FROM_LIB+=$(foreach file, $(SRCDIR)/autons $(SRCDIR)/main,$(foreach cext,$(CEXTS),$(file).$(cext)) $(foreach cxxext,$(CXXEXTS),$(file).$(cxxext)))

README.md

@@ -6,7 +6,8 @@
 
 ## Features
 - Simple to setup 
-- PID for driving, turning, and swing turns
+- PID for driving, turning, swing turns, and arcs
+- Easy to use PID tuner 
 - Speed ramp-up for driving
 - Asynchronous PID with blocking functions until settled and until a specific position has come
 - Joystick input curves
@@ -20,12 +21,19 @@
 - 3 wire encoder and rotation sensor support
 - Add / remove motors from the drive dynamically to allow for PTO use
 - Exposed PID class for use with your other subsystems
+- Exposed slew class for gradual speed ramp-up for your other subsystems
 
-## [Installation and Upgrading](https://ez-robotics.github.io/EZ-Template/tutorials/installation)
-Installation and Upgrading tutorials can be foud [here](https://ez-robotics.github.io/EZ-Template/tutorials/installation).  
+## [Discord Server](https://discord.gg/EHjXBcK2Gy)
+Need extra assistance using EZ-Template?  Feel free to join our [Discord Server](https://discord.gg/EHjXBcK2Gy)!  
+
+## [Installation](https://ez-robotics.github.io/EZ-Template/tutorials/installation)
+Installation tutorials can be found [here](https://ez-robotics.github.io/EZ-Template/tutorials/installation).  
+
+## [Upgrading](https://ez-robotics.github.io/EZ-Template/tutorials/installation)
+Upgrading tutorials can be found [here](https://ez-robotics.github.io/EZ-Template/tutorials/upgrading). 
 
 ## [Tutorials](https://ez-robotics.github.io/EZ-Template/category/tutorials)
-Tutorials on how to use and install EZ-Template can be found [here](https://ez-robotics.github.io/EZ-Template/category/tutorials).  
+Tutorials on how to use and install EZ-Template can be found [here](https://ez-robotics.github.io/EZ-Template/category/tutorials). 
 
 ## [Docs](https://ez-robotics.github.io/EZ-Template/category/docs)
 Documentation on how to use EZ-Template functions can be found [here](https://ez-robotics.github.io/EZ-Template/category/docs).  

src/autons.cpp

@@ -37,7 +37,7 @@ void drive_example() {
   // The first parameter is target inches
   // The second parameter is max speed the robot will drive at
   // The third parameter is a boolean (true or false) for enabling/disabling a slew at the start of drive motions
-  // for slew, only enable it when the drive distance is greater then the slew distance + a few inches
+  // for slew, only enable it when the drive distance is greater than the slew distance + a few inches
 
   chassis.pid_drive_set(24_in, DRIVE_SPEED, true);
   chassis.pid_wait();
@@ -53,7 +53,7 @@ void drive_example() {
 // Turn Example
 ///
 void turn_example() {
-  // The first parameter is target degrees
+  // The first parameter is the target in degrees
   // The second parameter is max speed the robot will drive at
 
   chassis.pid_turn_set(90_deg, TURN_SPEED);
@@ -92,7 +92,7 @@ void drive_and_turn() {
 void wait_until_change_speed() {
   // pid_wait_until will wait until the robot gets to a desired position
 
-  // When the robot gets to 6 inches, the robot will travel the remaining distance at a max speed of 30
+  // When the robot gets to 6 inches slowly, the robot will travel the remaining distance at full speed
   chassis.pid_drive_set(24_in, 30, true);
   chassis.pid_wait_until(6_in);
   chassis.pid_speed_max_set(DRIVE_SPEED);  // After driving 6 inches at 30 speed, the robot will go the remaining distance at DRIVE_SPEED
@@ -107,7 +107,7 @@ void wait_until_change_speed() {
   chassis.pid_turn_set(0_deg, TURN_SPEED);
   chassis.pid_wait();
 
-  // When the robot gets to -6 inches, the robot will travel the remaining distance at a max speed of 30
+  // When the robot gets to -6 inches slowly, the robot will travel the remaining distance at full speed
   chassis.pid_drive_set(-24_in, 30, true);
   chassis.pid_wait_until(-6_in);
   chassis.pid_speed_max_set(DRIVE_SPEED);  // After driving 6 inches at 30 speed, the robot will go the remaining distance at DRIVE_SPEED
@@ -119,8 +119,8 @@ void wait_until_change_speed() {
 ///
 void swing_example() {
   // The first parameter is ez::LEFT_SWING or ez::RIGHT_SWING
-  // The second parameter is target degrees
-  // The third parameter is speed of the moving side of the drive
+  // The second parameter is the target in degrees
+  // The third parameter is the speed of the moving side of the drive
   // The fourth parameter is the speed of the still side of the drive, this allows for wider arcs
 
   chassis.pid_swing_set(ez::LEFT_SWING, 45_deg, SWING_SPEED, 45);
@@ -165,13 +165,13 @@ void motion_chaining() {
 ///
 void combining_movements() {
   chassis.pid_drive_set(24_in, DRIVE_SPEED, true);
-  chassis.pid_wait_quick_chain();
+  chassis.pid_wait();
 
   chassis.pid_turn_set(45_deg, TURN_SPEED);
   chassis.pid_wait();
 
   chassis.pid_swing_set(ez::RIGHT_SWING, -45_deg, SWING_SPEED, 45);
-  chassis.pid_wait_quick_chain();
+  chassis.pid_wait();
 
   chassis.pid_turn_set(0_deg, TURN_SPEED);
   chassis.pid_wait();
@@ -185,7 +185,7 @@ void combining_movements() {
 ///
 void tug(int attempts) {
   for (int i = 0; i < attempts - 1; i++) {
-    // Attempt to drive backwards
+    // Attempt to drive backward
     printf("i - %i", i);
     chassis.pid_drive_set(-12_in, 127);
     chassis.pid_wait();
@@ -196,15 +196,15 @@ void tug(int attempts) {
       chassis.pid_drive_set(-2_in, 20);
       pros::delay(1000);
     }
-    // If robot successfully drove back, return
+    // If the robot successfully drove back, return
     else {
       return;
     }
   }
 }
 
-// If there is no interference, robot will drive forward and turn 90 degrees.
-// If interfered, robot will drive forward and then attempt to drive backwards.
+// If there is no interference, the robot will drive forward and turn 90 degrees.
+// If interfered, the robot will drive forward and then attempt to drive backward.
 void interfered_example() {
   chassis.pid_drive_set(24_in, DRIVE_SPEED, true);
   chassis.pid_wait();

version

@@ -1 +1 @@
-3.1.0-RC3
+3.1.0