Turn Only Braking Method #96
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CodingPotatoes
requested review from
PascalSkylake,
cowsed,
max-49,
Rabinvic and
superrm11
cowsed
reviewed
Jan 21, 2025
src/subsystems/tank_drive.cpp
Outdated
| else{ | ||
| bt = BrakeType::None; | ||
| } | ||
| if(bt == BrakeType::None){ |
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Can you remove these prints before merging?
src/subsystems/tank_drive.cpp
Outdated
| void TankDrive::drive_tank(double left, double right, int power, BrakeType bt) { | ||
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| left = modify_inputs(left, power); | ||
| right = modify_inputs(right, power); | ||
| double brake_threshold = 0.05; | ||
| if(((left_motors.velocity(vex::velocityUnits::rpm) * (right_motors.velocity(vex::velocityUnits::rpm))) < 0)){ |
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Should this be (if bt == TurnOnly && (left.vel * right.vel < 0)) that way it's turned off when not specified?
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Whoops, should be fixed now
| @@ -116,6 +117,8 @@ template <int WHEELS> class OdometryNWheel : public OdometryBase { | |||
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| pose_t updated_pos = calculate_new_pos(radian_deltas, current_pos); | |||
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| // std::cout << "x: " << updated_pos.x << " y: " << updated_pos.y << " rot: " << updated_pos.rot << std::endl; | |||
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Can you remove this print?
| @@ -9,6 +9,7 @@ | |||
| #include "../core/include/subsystems/custom_encoder.h" | |||
| #include "../core/include/subsystems/odometry/odometry_base.h" | |||
| #include "../core/include/utils/math_util.h" | |||
| #include <iostream> | |||
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No longer needed i dont think
Rabinvic
approved these changes
Jan 22, 2025
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Description
A braking type that switches between the zerovelocity and None braking types depending on whether or not the robot is turning
Usage
Simply use TankDrive::BrakeType::TurnOnly when passing a braking type to the drive_arcade or drive_tank function
How to use this feature:
// A code sample for how to use the feature
drive_sys.drive_arcade(l, r * 0.7, 1, TankDrive::BrakeType::TurnOnly);
Set up:
Robot just needs to be set up how it usually is when driving
Testing:
Made sure it was braking for more precise movement when turning but not doing so when moving forwards and backwards