3.0.0 - PID Tuner, New Function Names, Arcs, and more!

For download and installation instructions, documentation and tutorials, check our website! https://ez-robotics.github.io/EZ-Template/

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Download and Installation

1. Download the latest example project below (EZ-Template-Example-Project-v3.0.0.zip). Extract the zip, and open it in PROS.
2. In src/main.cpp, configure drive and IMU ports to what they are on your robot. Be sure to read the comments!
3. Configure your wheel size and cartridge. Remember that older 4" omni wheels without mounting holes are actually 4.125!
4. In src/main.cpp, at the bottom in void opcontrol(), decide how you'd like to control your robot! Any flavor of arcade or tank!
5. Turn the robot on and use it in driver control. Make sure the ports are correct and reversed correctly!
6. To test the test autonomous modes, press B on your controller. The current page will be the autonomous that runs. For making new autonomous routines, check src/autons.cpp for examples on how to use the drive functions.

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Upgrading

Note: this only works for 2.0.0 and beyond. You cannot upgrade from 1.x to 2.x, or 2.x to 3.x

1. Download the most recent EZ-Template below ([email protected]).
2. Move the file to your project.
3. Open terminal or command prompt, and cd into your projects directory.
4. Run this command from terminal pros c fetch [email protected].
5. Apply the library to the project pros c apply EZ-Template.

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Features

• Okapi units (#49)
• Practice Mode (#53)
• Piston class (#54)
• Added relative turn and swing PID (#59)
• pid_wait() prints error to terminal (#62)
• All functions renamed (#65)
• Option added to have PID not reset i (#66)
• Added more sets() and gets() (#73)
• Slew for turns, swings, and your own subsystems (#74)
• Drive can be reversed in opcontrol (#79)
• Heading is vector scaled (#82)
• Wider and Smaller swing turns (#83)
• Swings have independent forward and reverse constants (#84)
• PID Tuner (#85)

Bug Fixes

• Fixed Rotation Sensor Ticks (#47)
• Fixed toggling active brake in opcontrol (#48)
• drive_set() now disables PID (#52)
• Autononomous functions work in driver (#55)
• Fixed joystick deadzone (#56)
• Restructured setting PID constants and exit conditions (#57)
• Auton selector disables correctly on shutdown (#86)
• Disabling curve modifier clears the controller screen (#87)

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Thank you @Mactar1233 and @Sprxxng for first time contributing, along with @Unionjackjz1 @HakopZ @WillXuCodes!