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EZ-Robotics / EZ-Template

Simple plug-and-play PROS template that handles drive base functions for VEX robots.
https://ez-robotics.github.io/EZ-Template/
Mozilla Public License 2.0
69 stars 27 forks source link

Exit conditions don't seem to work #101

Closed ssejrog closed 3 months ago

ssejrog commented 3 months ago

Expected Behavior

The code below should modify the turn exit conditions to take 10 seconds to exit. 

void default_constants() {
  chassis.pid_heading_constants_set(3, 0, 20);
  chassis.pid_drive_constants_set(10, 0, 100);
  chassis.pid_turn_constants_set(3, 0, 20);
  chassis.pid_swing_constants_set(5, 0, 30);

  chassis.pid_turn_exit_condition_set(300_ms, 3_deg, 10_s, 7_deg, 10_s, 10_s);
  chassis.pid_swing_exit_condition_set(300_ms, 3_deg, 500_ms, 7_deg, 750_ms, 750_ms);
  chassis.pid_drive_exit_condition_set(300_ms, 1_in, 500_ms, 3_in, 750_ms, 750_ms);

  chassis.slew_drive_constants_set(7_in, 80);
}

Actual Behavior

It does not ;(