1.2.0 - Boomerang Controller!

• Added boomerang control to move to poses.
• Added motion chaining ability through the minspeed parameter.
• Inline documentation for all methods.
• Revamped auton selector.
• Bug fix for port access error.

1.1.2 - Added Zero Tracker Odom!

• Added support for no-tracker odom for tank drive!
• Updated instructions within the template.
• Added a controller deadband for usercontrol driving.
• Bug fixes related to memory permission and odom-enabling.

1.0.1 - PL Error Bug Fix

Fixed the bug in rotation sensor odom setups that printed a PL Access Error to the brain screen.

1.0.0 - Beta Release

Installation

1. Download the project by downloading the .zip file below.

2. Extract the zipped file (perhaps to a folder such as documents, or vexcode-projects).

3. Open the project in VexCode by choosing "Open" (not "Import") from the file menu and selecting the JAR-Template.v5code file.

4. First configure your robot using the graphical configurer, then follow the instructions in main.cpp to configure the template to your robot specs.

Usage

1. To make a new auton function, you must both write the function in autons.cpp and a declaration of the function in autons.h. The example autons show how this can be done.
2. In order to select autons from the Brain, you must add each to the pre_auton loop and the autonomous function, both in main.cpp. Again, the example autons show how to do this.
3. The PID gains are tuned to a six motor 360RPM drivetrain. You may wish to tune the PID gains to your robot. The gains are found in autons.cpp in the function default_constants(). Each set of constants is max voltage, then kP, then kI, then kD, then startI. StartI is the maximum error at which the I term begins to wind up. For turning, this value is best set at 15 degrees.
4. You can use a multitude of functions to control your drivebase. Every function will be prefixed with "chassis." and followed by the function name. If you want to drive to the point (36,36), then call the method "chassis.drive_to_point(36, 36);".

Features

• PID class
• Odometry class
• Motion algorithms for driving to a point with holonomic and non-holonomic drivetrains
• Basic auton selection

v0.0.1 First Release

This code is yet untested, but the library compiles and the functions are all there.