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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
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🐛[BUG] - `wait_` functions don't correctly work with odom #155

Open ssejrog opened 3 months ago

ssejrog commented 3 months ago

wait_until_line_crossed or something similar needs to be added. This should then get implemented with wait_until_pp_index, and the parent point for boomerang should move back to being the boomerang point instead of the injected farther point.

Motion chaining needs to work with odom stuff and move the target x distance away. This can be the same values used for normal drive motion chaining.

ssejrog commented 3 months ago

Logic for motion chaining, and other things that interact with the pure pursuit points, will be significantly simpler if we can just distinguish between POINT_TO_POINT and PURE_PURSUIT. BOOMERANG is literally PURE_PURSUIT in disguise, so internally BOOMERANG should be removed. The function name can stay the same, but now it'll be treated like injected pure pursuit. Just another flavor of pure pursuit.