add grafana

.vscode/settings.json

@@ -102,5 +102,6 @@
 		"future": "cpp",
 		"scoped_allocator": "cpp",
 		"shared_mutex": "cpp"
-	}
+	},
+	"rpc.enabled": true
 }

include/auton.h

@@ -1 +1 @@
-#define AUTON 8
+#define AUTON 4

include/chassis/omniDrivetrain.hpp → include/chassis/abstractHolonomicDrivetrain.hpp

@@ -1,25 +1,24 @@
 #pragma once 
 
-#include "api.h"
-#include "drivetrain.hpp"
+#include "abstractDrivetrain.hpp"
 #include "utils/vector.hpp"
 
 namespace Pronounce
 {
     /**
      * Omnidirectional drive type, used for X-Drive/Mecanum drive
      */
-    class OmniDrivetrain : public Drivetrain {
+    class AbstractHolonomicDrivetrain : public AbstractDrivetrain {
     private:
-
     public:
-        OmniDrivetrain();
-        OmniDrivetrain(pros::Motor* frontLeft, pros::Motor* frontRight, pros::Motor* backLeft, pros::Motor* backRight, pros::Imu* imu);
+        AbstractHolonomicDrivetrain();
+
+		virtual double getSpeed() { return 0; }
 
         virtual void setDriveVectorVelocity(Vector vector) {}
         virtual void setDriveVectorVelocity(Vector vector, double rotation) {}
 
-        ~OmniDrivetrain();
+        ~AbstractHolonomicDrivetrain();
     };
 
 } // namespace Pronounce

include/chassis/chassis.puml

@@ -0,0 +1,42 @@
+@startuml
+abstract "AbstractDrivetrain" as abstractDrivetrain
+abstract "AbstractHolonomicDrivetrain" as abstractHolonomicDrivetrain
+abstract "AbstractTankDrivetrain" as abstractTankDrivetrain
+
+abstractDrivetrain <|-- abstractHolonomicDrivetrain
+abstractDrivetrain <|-- abstractTankDrivetrain
+
+abstract "SimDrivetrain" as simDrivetrain
+class "SimTankDrivetrain" as simTankDrivetrain
+
+abstractDrivetrain <|-- simDrivetrain
+simDrivetrain <|-- simTankDrivetrain
+abstractTankDrivetrain <|-- simTankDrivetrain
+
+abstract "Drivetrain" as drivetrain
+
+abstractDrivetrain <|-- drivetrain
+
+abstract "XDrive" as xdrive
+
+drivetrain <|-- xdrive
+abstractHolonomicDrivetrain <|-- xdrive
+
+abstract "MecanumDrivetrain" as mecanumDrivetrain
+
+drivetrain <|-- mecanumDrivetrain
+abstractHolonomicDrivetrain <|-- mecanumDrivetrain
+
+abstract "TankDrivetrain" as tankDrivetrain
+
+drivetrain <|-- tankDrivetrain
+abstractTankDrivetrain <|-- tankDrivetrain
+
+class "Pros" as pros
+
+drivetrain ..> pros
+xdrive ..> pros
+mecanumDrivetrain ..> pros
+tankDrivetrain ..> pros
+
+@enduml

include/chassis/drivetrain.hpp

@@ -12,58 +12,18 @@ namespace Pronounce {
     class Drivetrain : public AbstractDrivetrain {
     protected:
 
-		MotorGroup leftMotors;
-		MotorGroup rightMotors;
-
-        pros::Imu* imu;
-
     public:
 		Drivetrain();
-        Drivetrain(pros::Motor* frontLeft, pros::Motor* frontRight, pros::Motor* backLeft, pros::Motor* backRight, pros::Imu* imu);
-        Drivetrain(pros::Motor* frontLeft, pros::Motor* frontRight, pros::Motor* midLeft, pros::Motor* midRight, pros::Motor* backLeft, pros::Motor* backRight, pros::Imu* imu);
-		Drivetrain(MotorGroup leftMotors, MotorGroup rightMotors, pros::Imu* imu);
 
 		/**
          * Get average temperature of all the motors.
          */
-        double getTemp();
+        virtual double getTemp() { return 0; }
 
         /**
          * Get average speed of all the motors
          */
-        double getSpeed();
-
-		pros::Imu* getImu() {
-			return imu;
-		}
-
-		void setImu(pros::Imu* imu) {
-			this->imu = imu;
-		}
-
-		MotorGroup getLeftMotors() {
-			return leftMotors;
-		}
-
-		void setLeftMotors(MotorGroup leftMotors) {
-			this->leftMotors = leftMotors;
-		}
-
-		void addLeftMotor(pros::Motor* motor) {
-			this->leftMotors.addMotor(motor);
-		}
-
-		MotorGroup getRightMotors() {
-			return rightMotors;
-		}
-
-		void setRightMotors(MotorGroup rightMotors) {
-			this->rightMotors = rightMotors;
-		}
-
-		void addRightMotor(pros::Motor* motor) {
-			this->rightMotors.addMotor(motor);
-		}
+        virtual double getSpeed() { return 0; }
 
 		~Drivetrain() {
 

include/chassis/mecanumDrivetrain.hpp

@@ -1,12 +1,12 @@
 #pragma once
 
 #include "api.h"
-#include "omniDrivetrain.hpp"
+#include "abstractHolonomicDrivetrain.hpp"
 #include "utils/vector.hpp"
 #include "odometry/threeWheelOdom.hpp"
 
 namespace Pronounce {
-	class MecanumDrivetrain : public OmniDrivetrain {
+	class MecanumDrivetrain : public AbstractHolonomicDrivetrain {
 	private:
         pros::Motor* frontLeft;
         pros::Motor* frontRight;

include/chassis/simDrivetrain.hpp

@@ -8,7 +8,7 @@ namespace Pronounce {
 	 * @brief A class for all simulator drivetrains
 	 * 
 	 */
-	class SimDrivetrain {
+	class SimDrivetrain : public AbstractDrivetrain {
 	private:
 		Position* position;
 		double resetOrientation = 0.0;

include/chassis/tankDrive.hpp

@@ -10,35 +10,7 @@ namespace Pronounce {
 	private:
 
 	public:
-		TankDrivetrain(pros::Motor* frontLeft, pros::Motor* frontRight, pros::Motor* backLeft, pros::Motor* backRight, pros::Imu* imu);
-		TankDrivetrain(pros::Motor* frontLeft, pros::Motor* frontRight, pros::Motor* backLeft, pros::Motor* backRight, pros::Imu* imu, double trackWidth);
-		TankDrivetrain(pros::Motor* frontLeft, pros::Motor* frontRight, pros::Motor* midLeft, pros::Motor* midRight, pros::Motor* backLeft, pros::Motor* backRight, pros::Imu* imu);
-		TankDrivetrain(pros::Motor* frontLeft, pros::Motor* frontRight, pros::Motor* midLeft, pros::Motor* midRight, pros::Motor* backLeft, pros::Motor* backRight, pros::Imu* imu, double trackWidth);
-
-		double getSpeed() override {
-			return (this->getLeftMotors().get_actual_velocity() + this->getRightMotors().get_actual_velocity()) / 2;
-		}
-
-		void skidSteerVelocity(double speed, double turn) {
-			this->getLeftMotors().move_velocity(speed + turn);
-			this->getRightMotors().move_velocity(speed - turn);
-		}
-
-		void skidSteerVoltage(double speed, double turn) {
-			this->getLeftMotors().move_voltage(speed + turn);
-			this->getRightMotors().move_voltage(speed - turn);
-		}
-
-		void tankSteerVelocity(double leftSpeed, double rightSpeed) {
-			this->getLeftMotors().move_velocity(leftSpeed);
-			this->getRightMotors().move_velocity(rightSpeed);
-		}
-
-		void tankSteerVoltage(double leftSpeed, double rightSpeed) {
-			this->getLeftMotors().move_voltage(leftSpeed);
-			this->getRightMotors().move_voltage(rightSpeed);
-		}
-
+
 		~TankDrivetrain();
 	};
 } // namespace Pronounce

include/chassis/xdrive.hpp

@@ -2,54 +2,69 @@
 
 #include "api.h"
 #include "drivetrain.hpp"
+#include "abstractHolonomicDrivetrain.hpp"
+#include "utils/vector.hpp"
 
-#define AUTON_CONTROL 0
-#define DRIVER_CONTROL 1
+namespace Pronounce {
+	class XDrive : public Drivetrain, AbstractHolonomicDrivetrain {
+	private:
 
-class XDrive {
-private:
+		pros::Motor* frontLeftMotor;
+		pros::Motor* frontRightMotor;
+		pros::Motor* backLeftMotor;
+		pros::Motor* backRightMotor;
 
-    // Motors, have to be pointers because they would 
-    // not be modifiable otherwise 
-    pros::Motor* frontRight;
-    pros::Motor* frontLeft;
-    pros::Motor* backRight;
-    pros::Motor* backLeft;
+		double trackWidth;
+		double wheelAngle;
 
-    // Motion control wheels
+	public:
+		XDrive(pros::Motor* frontLeft,
+			pros::Motor* frontRight,
+			pros::Motor* backLeft,
+			pros::Motor* backRight) {
+			frontLeftMotor = frontLeft;
+			frontRightMotor = frontRight;
+			backLeftMotor = backLeft;
+			backRightMotor = backRight;
 
-    pros::Imu* imu;
+			trackWidth = 15;
+			wheelAngle = M_PI_4;
+		}
 
-    int currentState;
+		XDrive(pros::Motor* frontLeft, pros::Motor* frontRight, pros::Motor* backLeft, pros::Motor* backRight, double trackWidth, double wheelAngle) {
+			frontLeftMotor = frontLeft;
+			frontRightMotor = frontRight;
+			backLeftMotor = backLeft;
+			backRightMotor = backRight;
 
-public:
+			this->trackWidth = trackWidth;
+			this->wheelAngle = wheelAngle;
 
-    XDrive(pros::Motor* frontRight,
-        pros::Motor* frontLeft,
-        pros::Motor* backRight,
-        pros::Motor* backLeft,
-        pros::Imu* imu) {
+		}
 
-        this->frontRight = frontRight;
-        this->frontLeft = frontLeft;
-        this->backRight = backRight;
-        this->backLeft = backLeft;
+		void setDriveVectorVelocity(Vector vector, double rotation) {
+			this->frontLeftMotor->move_velocity(vector.getCartesian().getY() + vector.getCartesian().getX() + rotation);
+			this->frontRightMotor->move_velocity(vector.getCartesian().getY() - vector.getCartesian().getX() - rotation);
+			this->backLeftMotor->move_velocity(vector.getCartesian().getY() - vector.getCartesian().getX() + rotation);
+			this->backRightMotor->move_velocity(vector.getCartesian().getY() + vector.getCartesian().getX() - rotation);
+		}
 
-        this->imu = imu;
-    } //! Move implementation to src/chassis/xdrive.cpp
+		void setDriveVectorVelocity(Vector vector) {
+			this->setDriveVectorVelocity(vector, 0);
+		}
 
+		/**
+		 * Get the average drivetrain temperature
+		 *
+		 * @return Average of the 4 wheels
+		 */
+		double getAvgTemp() {
+			double total = this->frontLeftMotor->get_temperature() +
+				this->frontRightMotor->get_temperature() +
+				this->backLeftMotor->get_temperature() +
+				this->backRightMotor->get_temperature();
+			return total / 4;
+		}
 
-    /**
-     * Get the average drivetrain temperature
-     * 
-     * @return Average of the 4 wheels
-     */
-    double getAvgTemp() {
-        double total = this->frontLeft->get_temperature() +
-            this->frontRight->get_temperature() +
-            this->backLeft->get_temperature() +
-            this->backRight->get_temperature();
-        return total / 4;
-    } //! Move implementation to src/chassis/xdrive.cpp
-
-};
+	};
+}

include/defines.h

@@ -6,3 +6,4 @@
 #define AUTON_RIGHT_DOUBLE_STEAL 6
 #define AUTON_NONE 7
 #define AUTON_SKILLS 8
+#define AUTON_TEST 9

include/main.h

@@ -43,9 +43,10 @@
 #include "okapi/api.hpp"
 //#include "pros/api_legacy.h"
 
-/**
- * User defined imports
- */
+// grafanalib includes
+#include "pros-grafana-lib/api.h"
+
+// 2654lib includes
 
 #include "autoPaths.hpp"
 
@@ -60,7 +61,7 @@
 #include "chassis/abstractDrivetrain.hpp"
 #include "chassis/drivetrain.hpp"
 #include "chassis/mecanumDrivetrain.hpp"
-#include "chassis/omniDrivetrain.hpp"
+#include "chassis/abstractHolonomicDrivetrain.hpp"
 #include "chassis/tankDrive.hpp"
 #include "chassis/xdrive.hpp"
 
@@ -92,13 +93,17 @@
 #include "position/odomWheel.hpp"
 #include "position/trackingWheel.hpp"
 
+// State Machine
+#include "stateMachine/behavior.hpp"
+#include "stateMachine/sequence.hpp"
+#include "stateMachine/stateController.hpp"
+#include "stateMachine/wait.hpp"
+
 // Utils
 #include "utils/motorGroup.hpp"
 #include "utils/path.hpp"
 #include "utils/pointUtil.hpp"
 #include "utils/position.hpp"
-#include "utils/purePursuitProfile.hpp"
-#include "utils/purePursuitProfileManager.hpp"
 #include "utils/quadraticSplinePath.hpp"
 #include "utils/runningAverage.hpp"
 #include "utils/splinePath.hpp"
@@ -108,7 +113,6 @@
 #include "utils/motorGroup.hpp"
 
 // Vision
-#include "vision/tippingVision.hpp"
 
 
 /**
@@ -123,7 +127,6 @@
 // using namespace pros::literals;
 using namespace okapi;
 using namespace Pronounce; // General Lib
-using namespace PronounceTiP; // TiP Exclusive libs
 
 /**
  * Prototypes for the competition control tasks are redefined here to ensure

include/motionControl/balance.hpp

@@ -31,9 +31,7 @@ namespace Pronounce {
 
 			uint32_t startTime = pros::millis();
 
-			while (!this->isBalanced()) {// && pros::millis() - startTime < 2000) {
-				printf("Is balanced: %d\n", this->isBalanced());
-
+			while (!this->isBalanced()) {// && pros::millis() - startTime < 2000) {				
 				this->update();
 				pros::Task::delay(waitTime);
 			}