Copied Bumblebee

.github/workflows/main.yml

@@ -0,0 +1,13 @@
+name: Build
+
+# Controls when the workflow will run
+on: [push, pull_request, workflow_dispatch]
+
+jobs:
+  build:
+    runs-on: ubuntu-latest
+    steps:
+      - name: Check out repository code
+        uses: actions/checkout@v2
+      - name: Builds Code
+        uses: fishsticks89/pros-build@v1

Makefile

@@ -25,9 +25,7 @@ EXCLUDE_COLD_LIBRARIES:=
 
 # Set this to 1 to add additional rules to compile your project as a PROS library template
 IS_LIBRARY:=0
-# TODO: CHANGE THIS! 
-# Be sure that your header files are in the include directory inside of a folder with the
-# same name as what you set LIBNAME to below.
+# TODO: CHANGE THIS!
 LIBNAME:=libbest
 VERSION:=1.0.0
 # EXCLUDE_SRC_FROM_LIB= $(SRCDIR)/unpublishedfile.c
@@ -36,8 +34,8 @@ EXCLUDE_SRC_FROM_LIB+=$(foreach file, $(SRCDIR)/main,$(foreach cext,$(CEXTS),$(f
 
 # files that get distributed to every user (beyond your source archive) - add
 # whatever files you want here. This line is configured to add all header files
-# that are in the directory include/LIBNAME
-TEMPLATE_FILES=$(INCDIR)/$(LIBNAME)/*.h $(INCDIR)/$(LIBNAME)/*.hpp
+# that are in the the include directory get exported
+TEMPLATE_FILES=$(INCDIR)/**/*.h $(INCDIR)/**/*.hpp
 
 .DEFAULT_GOAL=quick
 

README.md

@@ -0,0 +1 @@
+[![Build](https://github.com/KSUOwlBots/OPTIMUS-15-MAIN/actions/workflows/main.yml/badge.svg)](https://github.com/KSUOwlBots/OPTIMUS-15-MAIN/actions/workflows/main.yml)

common.mk

@@ -5,24 +5,11 @@ MFLAGS=-mcpu=cortex-a9 -mfpu=neon-fp16 -mfloat-abi=softfp -Os -g
 CPPFLAGS=-D_POSIX_THREADS -D_UNIX98_THREAD_MUTEX_ATTRIBUTES -D_POSIX_TIMERS -D_POSIX_MONOTONIC_CLOCK
 GCCFLAGS=-ffunction-sections -fdata-sections -fdiagnostics-color -funwind-tables
 
-# Check if the llemu files in libvgl exist. If they do, define macros that the
-# llemu headers in the kernel repo can use to conditionally include the libvgl
-# versions
-ifneq (,$(wildcard ./include/liblvgl/llemu.h))
-	CPPFLAGS += -D_PROS_INCLUDE_LIBLVGL_LLEMU_H
-endif
-ifneq (,$(wildcard ./include/liblvgl/llemu.hpp))
-	CPPFLAGS += -D_PROS_INCLUDE_LIBLVGL_LLEMU_HPP
-endif
-
 WARNFLAGS+=-Wno-psabi
 
 SPACE := $() $()
 COMMA := ,
 
-C_STANDARD?=gnu11
-CXX_STANDARD?=gnu++20
-
 DEPDIR := .d
 $(shell mkdir -p $(DEPDIR))
 DEPFLAGS = -MT $$@ -MMD -MP -MF $(DEPDIR)/$$*.Td
@@ -37,8 +24,8 @@ wlprefix=-Wl,$(subst $(SPACE),$(COMMA),$1)
 LNK_FLAGS=--gc-sections --start-group $(strip $(LIBRARIES)) -lgcc -lstdc++ --end-group -T$(FWDIR)/v5-common.ld
 
 ASMFLAGS=$(MFLAGS) $(WARNFLAGS)
-CFLAGS=$(MFLAGS) $(CPPFLAGS) $(WARNFLAGS) $(GCCFLAGS) --std=$(C_STANDARD)
-CXXFLAGS=$(MFLAGS) $(CPPFLAGS) $(WARNFLAGS) $(GCCFLAGS) --std=$(CXX_STANDARD)
+CFLAGS=$(MFLAGS) $(CPPFLAGS) $(WARNFLAGS) $(GCCFLAGS) --std=gnu11
+CXXFLAGS=$(MFLAGS) $(CPPFLAGS) $(WARNFLAGS) $(GCCFLAGS) --std=gnu++17
 LDFLAGS=$(MFLAGS) $(WARNFLAGS) -nostdlib $(GCCFLAGS)
 SIZEFLAGS=-d --common
 NUMFMTFLAGS=--to=iec --format %.2f --suffix=B

include/EZ-Template/PID.hpp

@@ -0,0 +1,205 @@
+/*
+This Source Code Form is subject to the terms of the Mozilla Public
+License, v. 2.0. If a copy of the MPL was not distributed with this
+file, You can obtain one at http://mozilla.org/MPL/2.0/.
+*/
+
+#pragma once
+
+#include "EZ-Template/util.hpp"
+#include "api.h"
+
+namespace ez {
+class PID {
+ public:
+  /**
+   * Default constructor.
+   */
+  PID();
+
+  /**
+   * Constructor with constants.
+   *
+   * \param p
+   *        kP
+   * \param i
+   *        ki
+   * \param d
+   *        kD
+   * \param p_start_i
+   *        error value that i starts within
+   * \param name
+   *        std::string of name that prints
+   */
+  PID(double p, double i = 0, double d = 0, double start_i = 0, std::string name = "");
+
+  /**
+   * Set constants for PID.
+   *
+   * \param p
+   *        kP
+   * \param i
+   *        ki
+   * \param d
+   *        kD
+   * \param p_start_i
+   *        error value that i starts within
+   */
+  void constants_set(double p, double i = 0, double d = 0, double p_start_i = 0);
+
+  /**
+   * Struct for constants.
+   */
+  struct Constants {
+    double kp;
+    double ki;
+    double kd;
+    double start_i;
+  };
+
+  /**
+   * Struct for exit condition.
+   */
+  struct exit_condition_ {
+    int small_exit_time = 0;
+    double small_error = 0;
+    int big_exit_time = 0;
+    double big_error = 0;
+    int velocity_exit_time = 0;
+    int mA_timeout = 0;
+  };
+
+  /**
+   * Set's constants for exit conditions.
+   *
+   * \param p_small_exit_time
+   *        Sets small_exit_time.  Timer for to exit within smalL_error.
+   * \param p_small_error
+   *        Sets smalL_error. Timer will start when error is within this.
+   * \param p_big_exit_time
+   *        Sets big_exit_time.  Timer for to exit within big_error.
+   * \param p_big_error
+   *        Sets big_error. Timer will start when error is within this.
+   * \param p_velocity_exit_time
+   *        Sets velocity_exit_time.  Timer will start when velocity is 0.
+   */
+  void exit_condition_set(int p_small_exit_time, double p_small_error, int p_big_exit_time = 0, double p_big_error = 0, int p_velocity_exit_time = 0, int p_mA_timeout = 0);
+
+  /**
+   * Sets target.
+   *
+   * \param target
+   *        Target for PID.
+   */
+  void target_set(double input);
+
+  /**
+   * Computes PID.
+   *
+   * \param current
+   *        Current sensor library.
+   */
+  double compute(double current);
+
+  /**
+   * Returns target value.
+   */
+  double target_get();
+
+  /**
+   * Returns constants.
+   */
+  Constants constants_get();
+
+  /**
+   * Resets all variables to 0.  This does not reset constants.
+   */
+  void variables_reset();
+
+  /**
+   * Constants
+   */
+  Constants constants;
+
+  /**
+   * Exit
+   */
+  exit_condition_ exit;
+
+  /**
+   * Iterative exit condition for PID.
+   *
+   * \param print = false
+   *        if true, prints when complete.
+   */
+  ez::exit_output exit_condition(bool print = false);
+
+  /**
+   * Iterative exit condition for PID.
+   *
+   * \param sensor
+   *        A pros motor on your mechanism.
+   * \param print = false
+   *        if true, prints when complete.
+   */
+  ez::exit_output exit_condition(pros::Motor sensor, bool print = false);
+
+  /**
+   * Iterative exit condition for PID.
+   *
+   * \param sensor
+   *        Pros motors on your mechanism.
+   * \param print = false
+   *        if true, prints when complete.
+   */
+  ez::exit_output exit_condition(std::vector<pros::Motor> sensor, bool print = false);
+
+  /**
+   * Sets the name of the PID that prints during exit conditions.
+   *
+   * \param name
+   *        a string that is the name you want to print
+   */
+  void name_set(std::string name);
+
+  /**
+   * Returns the name of the PID that prints during exit conditions.
+   */
+  std::string name_get();
+
+  /**
+   * Enables / disables i resetting when sgn of error changes.  True resets, false doesn't.
+   *
+   * \param toggle
+   *        true resets, false doesn't
+   */
+  void i_reset_toggle(bool toggle);
+
+  /**
+   * Returns if i will reset when sgn of error changes.  True resets, false doesn't.
+   */
+  bool i_reset_get();
+
+  /**
+   * PID variables.
+   */
+  double output;
+  double cur;
+  double error;
+  double target;
+  double prev_error;
+  double integral;
+  double derivative;
+  long time;
+  long prev_time;
+
+ private:
+  int i = 0, j = 0, k = 0, l = 0;
+  bool is_mA = false;
+  void timers_reset();
+  std::string name;
+  bool name_active = false;
+  void exit_condition_print(ez::exit_output exit_type);
+  bool reset_i_sgn = true;
+};
+};  // namespace ez

include/EZ-Template/api.hpp

@@ -0,0 +1,16 @@
+/*
+This Source Code Form is subject to the terms of the Mozilla Public
+License, v. 2.0. If a copy of the MPL was not distributed with this
+file, You can obtain one at http://mozilla.org/MPL/2.0/.
+*/
+
+#pragma once
+
+#include "EZ-Template/PID.hpp"
+#include "EZ-Template/auton.hpp"
+#include "EZ-Template/auton_selector.hpp"
+#include "EZ-Template/drive/drive.hpp"
+#include "EZ-Template/piston.hpp"
+#include "EZ-Template/sdcard.hpp"
+#include "EZ-Template/slew.hpp"
+#include "EZ-Template/util.hpp"

include/EZ-Template/auton.hpp

@@ -0,0 +1,21 @@
+/*
+This Source Code Form is subject to the terms of the Mozilla Public
+License, v. 2.0. If a copy of the MPL was not distributed with this
+file, You can obtain one at http://mozilla.org/MPL/2.0/.
+*/
+
+#pragma once
+#include <functional>
+#include <iostream>
+
+namespace ez {
+class Auton {
+ public:
+  Auton();
+  Auton(std::string, std::function<void()>);
+  std::string Name;
+  std::function<void()> auton_call;
+
+ private:
+};
+}  // namespace ez

include/EZ-Template/auton_selector.hpp

@@ -0,0 +1,26 @@
+/*
+This Source Code Form is subject to the terms of the Mozilla Public
+License, v. 2.0. If a copy of the MPL was not distributed with this
+file, You can obtain one at http://mozilla.org/MPL/2.0/.
+*/
+
+#pragma once
+#include <tuple>
+
+#include "EZ-Template/auton.hpp"
+
+using namespace std;
+
+namespace ez {
+class AutonSelector {
+ public:
+  std::vector<Auton> Autons;
+  int auton_page_current;
+  int auton_count;
+  AutonSelector();
+  AutonSelector(std::vector<Auton> autons);
+  void selected_auton_call();
+  void selected_auton_print();
+  void autons_add(std::vector<Auton> autons);
+};
+}  // namespace ez