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📝Fixed mistakes in all swing motion comments #235

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merged 1 commit into from
Dec 17, 2024
Merged

📝Fixed mistakes in all swing motion comments #235

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12 changes: 6 additions & 6 deletions include/EZ-Template/PID.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -102,8 +102,8 @@ class PID {
double compute(double current);

/**
* Computes PID, but you compute the error yourself.
*
* Computes PID, but you compute the error yourself.
*
* Current is only used here for calculative derivative to solve derivative kick.
*
* \param err
Expand Down Expand Up @@ -247,8 +247,8 @@ class PID {
std::string name_get();

/**
* Enables / disables i resetting when sgn of error changes.
*
* Enables / disables i resetting when sgn of error changes.
*
* True resets, false doesn't.
*
* \param toggle
Expand All @@ -257,8 +257,8 @@ class PID {
void i_reset_toggle(bool toggle);

/**
* Returns if i will reset when sgn of error changes.
*
* Returns if i will reset when sgn of error changes.
*
* True resets, false doesn't.
*/
bool i_reset_get();
Expand Down
38 changes: 31 additions & 7 deletions include/EZ-Template/drive/drive.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -1153,7 +1153,7 @@ class Drive {

/**
* Adds/removes motors from drive.
*
*
* You cannot add the first index because it's used for autonomous.
*
* \param pto_list
Expand Down Expand Up @@ -2069,6 +2069,8 @@ class Drive {
* target value as a double, unit is degrees
* \param speed
* 0 to 127, max speed during motion
* \param behavior
* changes what direction the robot will turn. can be left, right, shortest, longest, raw
*/
void pid_swing_set(e_swing type, double target, int speed, e_angle_behavior behavior);

Expand All @@ -2081,6 +2083,8 @@ class Drive {
* target value as a double, unit is degrees
* \param speed
* 0 to 127, max speed during motion
* \param slew_on
* ramp up from a lower speed to your target speed
*/
void pid_swing_set(e_swing type, double target, int speed, bool slew_on);

Expand All @@ -2093,6 +2097,8 @@ class Drive {
* target value as a double, unit is degrees
* \param speed
* 0 to 127, max speed during motion
* \param slew_on
* ramp up from a lower speed to your target speed
*/
void pid_swing_set(e_swing type, double target, int speed, e_angle_behavior behavior, bool slew_on);

Expand Down Expand Up @@ -2135,6 +2141,8 @@ class Drive {
* 0 to 127, max speed during motion
* \param opposite_speed
* -127 to 127, max speed of the opposite side of the drive during the swing. this is used for arcs, and is defaulted to 0
* \param slew_on
* ramp up from a lower speed to your target speed
*/
void pid_swing_set(e_swing type, double target, int speed, int opposite_speed, bool slew_on);

Expand All @@ -2149,6 +2157,10 @@ class Drive {
* 0 to 127, max speed during motion
* \param opposite_speed
* -127 to 127, max speed of the opposite side of the drive during the swing. this is used for arcs, and is defaulted to 0
* \param behavior
* changes what direction the robot will turn. can be left, right, shortest, longest, raw
* \param slew_on
* ramp up from a lower speed to your target speed
*/
void pid_swing_set(e_swing type, double target, int speed, int opposite_speed, e_angle_behavior behavior, bool slew_on);

Expand All @@ -2161,8 +2173,6 @@ class Drive {
* target value in okapi angle units
* \param speed
* 0 to 127, max speed during motion
* \param opposite_speed
* -127 to 127, max speed of the opposite side of the drive during the swing. this is used for arcs, and is defaulted to 0
*/
void pid_swing_set(e_swing type, okapi::QAngle p_target, int speed);

Expand All @@ -2175,8 +2185,8 @@ class Drive {
* target value in okapi angle units
* \param speed
* 0 to 127, max speed during motion
* \param opposite_speed
* -127 to 127, max speed of the opposite side of the drive during the swing. this is used for arcs, and is defaulted to 0
* \param behavior
* changes what direction the robot will turn. can be left, right, shortest, longest, raw
*/
void pid_swing_set(e_swing type, okapi::QAngle p_target, int speed, e_angle_behavior behavior);

Expand All @@ -2189,6 +2199,8 @@ class Drive {
* target value in okapi angle units
* \param speed
* 0 to 127, max speed during motion
* \param slew_on
* ramp up from a lower speed to your target speed
*/
void pid_swing_set(e_swing type, okapi::QAngle p_target, int speed, bool slew_on);

Expand All @@ -2201,6 +2213,10 @@ class Drive {
* target value in okapi angle units
* \param speed
* 0 to 127, max speed during motion
* \param behavior
* changes what direction the robot will turn. can be left, right, shortest, longest, raw
* \param slew_on
* ramp up from a lower speed to your target speed
*/
void pid_swing_set(e_swing type, okapi::QAngle p_target, int speed, e_angle_behavior behavior, bool slew_on);

Expand Down Expand Up @@ -2229,6 +2245,8 @@ class Drive {
* 0 to 127, max speed during motion
* \param opposite_speed
* -127 to 127, max speed of the opposite side of the drive during the swing. this is used for arcs, and is defaulted to 0
* \param behavior
* changes what direction the robot will turn. can be left, right, shortest, longest, raw
*/
void pid_swing_set(e_swing type, okapi::QAngle p_target, int speed, int opposite_speed, e_angle_behavior behavior);

Expand All @@ -2243,6 +2261,8 @@ class Drive {
* 0 to 127, max speed during motion
* \param opposite_speed
* -127 to 127, max speed of the opposite side of the drive during the swing. this is used for arcs, and is defaulted to 0
* \param slew_on
* ramp up from a lower speed to your target speed
*/
void pid_swing_set(e_swing type, okapi::QAngle p_target, int speed, int opposite_speed, bool slew_on);

Expand All @@ -2257,6 +2277,10 @@ class Drive {
* 0 to 127, max speed during motion
* \param opposite_speed
* -127 to 127, max speed of the opposite side of the drive during the swing. this is used for arcs, and is defaulted to 0
* \param behavior
* changes what direction the robot will turn. can be left, right, shortest, longest, raw
* \param slew_on
* ramp up from a lower speed to your target speed
*/
void pid_swing_set(e_swing type, okapi::QAngle p_target, int speed, int opposite_speed, e_angle_behavior behavior, bool slew_on);

Expand Down Expand Up @@ -2617,7 +2641,7 @@ class Drive {
* Changes max speed during a drive motion.
*
* \param speed
* new clipped speed, between 0 and 127
* new clipped speed, between 0 and 127
*/
void pid_speed_max_set(int speed);

Expand Down Expand Up @@ -3228,7 +3252,7 @@ class Drive {

/**
* Checks if PID Tuner is enabled.
*
*
* True is enabled, false is disabled.
*/
bool pid_tuner_enabled();
Expand Down
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