Added pid_wait_until_index_started (#198)
#201
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Summary:
Added
pid_wait_until_index_started()which triggers once the index becomes the targetMotivation:
References (optional):
#198
Test Plan:
Run this and make sure the pid wait prints 12, 24
chassis.pid_odom_set({{{0_in, 24_in}, fwd, 110}, {{12_in, 24_in}, rev, 110}, {{24_in, 24_in}, rev, 110}}, true); chassis.pid_wait_until_index(1); // Waits until the robot passes 12, 24 Intake.move(127); chassis.pid_wait();Run this and make sure the pid wait prints something closer to 2, 24
chassis.pid_odom_set({{{0_in, 24_in}, fwd, 110}, {{12_in, 24_in}, rev, 110}, {{24_in, 24_in}, rev, 110}}, true); chassis.pid_wait_until_index_started(1); // Waits until the robot passes 12, 24 Intake.move(127); chassis.pid_wait();Download the template for this pull request:
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