Merge pull request #172 from alexDickhans/ad-velocity-profile

Add Velocity profile and clean up code

.gitignore

@@ -9,6 +9,7 @@
 # PROS
 bin/
 .vscode/
+.cache/
 compile_commands.json
 temp.log
 temp.errors

.vscode/settings.json

@@ -103,5 +103,8 @@
 		"scoped_allocator": "cpp",
 		"shared_mutex": "cpp"
 	},
-	"rpc.enabled": true
+	"rpc.enabled": true,
+	"cSpell.words": [
+		"odometry"
+	]
 }

firmware/v5-common.ld

@@ -27,46 +27,46 @@ SECTIONS
    *(.vfp11_veneer)
    *(.ARM.extab)
    *(.gnu.linkonce.armextab.*)
-} > MEMORY
+} > RAM
 
 .init : {
    KEEP (*(.init))
-} > MEMORY
+} > RAM
 
 .fini : {
    KEEP (*(.fini))
-} > MEMORY
+} > RAM
 
 .rodata : {
    __rodata_start = .;
    *(.rodata)
    *(.rodata.*)
    *(.gnu.linkonce.r.*)
    __rodata_end = .;
-} > MEMORY
+} > RAM
 
 .rodata1 : {
    __rodata1_start = .;
    *(.rodata1)
    *(.rodata1.*)
    __rodata1_end = .;
-} > MEMORY
+} > RAM
 
 .sdata2 : {
    __sdata2_start = .;
    *(.sdata2)
    *(.sdata2.*)
    *(.gnu.linkonce.s2.*)
    __sdata2_end = .;
-} > MEMORY
+} > RAM
 
 .sbss2 : {
    __sbss2_start = .;
    *(.sbss2)
    *(.sbss2.*)
    *(.gnu.linkonce.sb2.*)
    __sbss2_end = .;
-} > MEMORY
+} > RAM
 
 .data : {
    __data_start = .;
@@ -77,18 +77,18 @@ SECTIONS
    *(.got)
    *(.got.plt)
    __data_end = .;
-} > MEMORY
+} > RAM
 
 .data1 : {
    __data1_start = .;
    *(.data1)
    *(.data1.*)
    __data1_end = .;
-} > MEMORY
+} > RAM
 
 .got : {
    *(.got)
-} > MEMORY
+} > RAM
 
 .ctors : {
    __CTOR_LIST__ = .;
@@ -99,7 +99,7 @@ SECTIONS
    KEEP (*(.ctors))
    __CTOR_END__ = .;
    ___CTORS_END___ = .;
-} > MEMORY
+} > RAM
 
 .dtors : {
    __DTOR_LIST__ = .;
@@ -110,99 +110,99 @@ SECTIONS
    KEEP (*(.dtors))
    __DTOR_END__ = .;
    ___DTORS_END___ = .;
-} > MEMORY
+} > RAM
 
 .fixup : {
    __fixup_start = .;
    *(.fixup)
    __fixup_end = .;
-} > MEMORY
+} > RAM
 
 .eh_frame : {
    *(.eh_frame)
-} > MEMORY
+} > RAM
 
 .eh_framehdr : {
    __eh_framehdr_start = .;
    *(.eh_framehdr)
    __eh_framehdr_end = .;
-} > MEMORY
+} > RAM
 
 .gcc_except_table : {
    *(.gcc_except_table)
-} > MEMORY
+} > RAM
 
 .mmu_tbl (ALIGN(16384)) : {
    __mmu_tbl_start = .;
    *(.mmu_tbl)
    __mmu_tbl_end = .;
-} > MEMORY
+} > RAM
 
 .ARM.exidx : {
    __exidx_start = .;
    *(.ARM.exidx*)
    *(.gnu.linkonce.armexidix.*.*)
    __exidx_end = .;
-} > MEMORY
+} > RAM
 
 .preinit_array : {
    __preinit_array_start = .;
    KEEP (*(SORT(.preinit_array.*)))
    KEEP (*(.preinit_array))
    __preinit_array_end = .;
-} > MEMORY
+} > RAM
 
 .init_array : {
    __init_array_start = .;
    KEEP (*(SORT(.init_array.*)))
    KEEP (*(.init_array))
    __init_array_end = .;
-} > MEMORY
+} > RAM
 
 .fini_array : {
    __fini_array_start = .;
    KEEP (*(SORT(.fini_array.*)))
    KEEP (*(.fini_array))
    __fini_array_end = .;
-} > MEMORY
+} > RAM
 
 .ARM.attributes : {
    __ARM.attributes_start = .;
    *(.ARM.attributes)
    __ARM.attributes_end = .;
-} > MEMORY
+} > RAM
 
 .sdata : {
    __sdata_start = .;
    *(.sdata)
    *(.sdata.*)
    *(.gnu.linkonce.s.*)
    __sdata_end = .;
-} > MEMORY
+} > RAM
 
 .sbss (NOLOAD) : {
    __sbss_start = .;
    *(.sbss)
    *(.sbss.*)
    *(.gnu.linkonce.sb.*)
    __sbss_end = .;
-} > MEMORY
+} > RAM
 
 .tdata : {
    __tdata_start = .;
    *(.tdata)
    *(.tdata.*)
    *(.gnu.linkonce.td.*)
    __tdata_end = .;
-} > MEMORY
+} > RAM
 
 .tbss : {
    __tbss_start = .;
    *(.tbss)
    *(.tbss.*)
    *(.gnu.linkonce.tb.*)
    __tbss_end = .;
-} > MEMORY
+} > RAM
 
 .bss (NOLOAD) : {
    __bss_start = .;
@@ -211,7 +211,7 @@ SECTIONS
    *(.gnu.linkonce.b.*)
    *(COMMON)
    __bss_end = .;
-} > MEMORY
+} > RAM
 
 _SDA_BASE_ = __sdata_start + ((__sbss_end - __sdata_start) / 2 );
 

firmware/v5-hot.ld

@@ -28,6 +28,6 @@ MEMORY
    HOT_MEMORY : ORIGIN = start_of_hot_mem, LENGTH = _HOT_MEM_SIZE  /* Just over 8 MB */
 }
 
-REGION_ALIAS("MEMORY", HOT_MEMORY);
+REGION_ALIAS("RAM", HOT_MEMORY);
 
 ENTRY(install_hot_table)

firmware/v5.ld

@@ -28,6 +28,6 @@ MEMORY
    HOT_MEMORY : ORIGIN = start_of_hot_mem, LENGTH = _HOT_MEM_SIZE  /* Just over 8 MB */
 }
 
-REGION_ALIAS("MEMORY", COLD_MEMORY);
+REGION_ALIAS("RAM", COLD_MEMORY);
 
 ENTRY(vexStartup)

include/api.h

@@ -40,16 +40,14 @@
 #endif /* __cplusplus */
 
 #define PROS_VERSION_MAJOR 3
-#define PROS_VERSION_MINOR 6
-#define PROS_VERSION_PATCH 0
-#define PROS_VERSION_STRING "3.6.0"
-
-#define PROS_ERR (INT32_MAX)
-#define PROS_ERR_F (INFINITY)
+#define PROS_VERSION_MINOR 7
+#define PROS_VERSION_PATCH 1
+#define PROS_VERSION_STRING "3.7.1"
 
 #include "pros/adi.h"
 #include "pros/colors.h"
 #include "pros/distance.h"
+#include "pros/error.h"
 #include "pros/ext_adi.h"
 #include "pros/gps.h"
 #include "pros/imu.h"

include/chassis/abstractDrivetrain.hpp

@@ -1,17 +1,27 @@
 #pragma once
 
+#include "units/units.hpp"
+
 namespace Pronounce {
 	/**
 	 * @brief Abstract class to be used in both the pure pursuit simulator and on the robot.
 	 * 
+	 * @authors Alex Dickhans(ad101-lab)
 	 */
 	class AbstractDrivetrain {
 	private:
 
 	public:
-		AbstractDrivetrain();
+		AbstractDrivetrain() {}
+
+		/**
+		 * @brief Get the current speed of the drivetrain
+		 * 
+		 * @return QSpeed 
+		 */
+		virtual QSpeed getSpeed() { return 0.0; }
 
-		~AbstractDrivetrain();
+		~AbstractDrivetrain() {}
 	};
 
 } // namespace Pronounce