v3.2.0-beta.1 - Odometry

v3.2.0-beta.1

This is NOT a stable version of EZ-Template

This has been tested, but there will be issues. v3.2 is a a massive update. Finding bugs now will help get to a stable version quicker.

Missing Features

• horizontal tracking wheel support
• ability to switch between motor encoders and tracking wheels for normal pid movements
• single vertical tracking wheel support
• automatic track width tuning
• v3.1 motion chaining syntax with odom
• wait_until line crossed
• good function names for everything new
• drive.hpp is a mess with odom

Known Bugs (this list will be updated)

• slew freaks out when going backwards and is always disabled internally for all odom movements

What should you test?

I bet there will be problems with:

• boomerang
• boomerang in pps
• boomerang in smooth pps