Inspired by LemLib, constructors should take in wheel rpm instead of cartridge and ratio. This can be retrofitted into EZ-Template by defaulting the ratio to 1, and wheel rpm is used for cartidge rpm.
// Chassis constructor
ez::Drive chassis(
// These are your drive motors, the first motor is used for sensing!
{-5, -6, -7, -8}, // Left Chassis Ports (negative port will reverse it!)
{11, 15, 16, 17}, // Right Chassis Ports (negative port will reverse it!)
21, // IMU Port
4.125, // Wheel Diameter (Remember, 4" wheels without screw holes are actually 4.125!)
420); // Wheel RPM
To support transmissions, a new function will need to be added to change the wheel rpm on the fly. This is already supported for changing ratio.
Inspired by LemLib, constructors should take in wheel rpm instead of cartridge and ratio. This can be retrofitted into EZ-Template by defaulting the ratio to 1, and wheel rpm is used for cartidge rpm.
To support transmissions, a new function will need to be added to change the wheel rpm on the fly. This is already supported for changing ratio.