Drivetrain::faceDirection method implemented

[MrRedness]

No description provided.

[CrashTestCoder]

Add a function that will make the robot snap to the nearest (front or back)

[MrRedness]

Oh so it will check if the robot is closer to the front or back and then move to the closer one?

[CrashTestCoder]

Yes

[MrRedness]

@CrashTestCoder Does this work (I haven't linked it to a button or anything but I implemented it into the Drivetrain cpp & hpp).
(You can check commit or I'll copy paste here):

void Drivetrain::face_closest(units::meters_per_second_t dx, units::meters_per_second_t dy) { auto const currentRotation = units::degree_t { get_angle() }; units::angle::degree_t errorTheta; (ngr::fabs(currentRotation - 0) <= 90) ? errorTheta = currentRotation : errorTheta = currentRotation - 180; auto const rotateP = 1.5; auto pRotation = errorTheta * rotateP / 1_s; if(pRotation > 90_deg / 1_s) pRotation = 90_deg / 1_s; drive({ dx, dy, pRotation }); }

[MrRedness]

Yeah go ahead and look in the code since github completely messed up the formatting.

[CrashTestCoder]

Please clean up line 81, you can make errorTheta const If you move your ternary operator to line 80 (part of cleaning). You also don't need to make currentRotation degree_t as all that's accomplishing is making your code more complex in this circumstance and doesn't really add type safety because all you're doing is immediately converting back to a double

[MrRedness]

Uh btw the code in master branch doesn't compile...

[CrashTestCoder]

Why didn't you make face_closest call face_direction instead of copy pasting the code from there?

[MrRedness]

@CrashTestCoder Can we merge this now, or are we going to merge it along with velocity?