✨[FEATURE] - More Tracking Wheel Support

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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✨[FEATURE] - More Tracking Wheel Support #165

Open ssejrog opened 2 weeks ago

ssejrog commented 2 weeks ago

Is this feature related to a problem?

EZ-Template only supports 0 tracking wheels or 2 tracking wheels.

What should be added?

Teams have been using an IMU+1 tracking wheel for odometry. EZ-Template should support this, as well as one parallel tracker and one perpendicular tracker.

OPTIONAL: Describe any solutions you've considered

OPTIONAL: Additional context

ssejrog commented 2 weeks ago

This needs to account for having a single parallel tracker in normal drive motions. This tracker should only be used for odom motions and should not be used for driving motions, as there is independent PID for the left and right sides of the drive. EZ-Template can already handle two parallel trackers.