Merge pull request #17 from purduesigbots/T971-turn-bug

Change turn to velocity, minor bugfixes, make new template
purduesigbots · Nov 5, 2020 · 8228082 · 8228082
2 parents afabbdb + 361daa6
commit 8228082
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Showing 4 changed files with 5 additions and 5 deletions.
diff --git a/[email protected] b/[email protected]
diff --git a/[email protected] b/[email protected]
diff --git a/Makefile b/Makefile
@@ -27,7 +27,7 @@ EXCLUDE_COLD_LIBRARIES:=
 IS_LIBRARY:=1
 
 LIBNAME:=ARMS
-VERSION:=1.1.2
+VERSION:=1.1.3
 # EXCLUDE_SRC_FROM_LIB= $(SRCDIR)/unpublishedfile.c
 # this line excludes opcontrol.c and similar files
 EXCLUDE_SRC_FROM_LIB+=$(foreach file, $(SRCDIR)/main,$(foreach cext,$(CEXTS),$(file).$(cext)) $(foreach cxxext,$(CXXEXTS),$(file).$(cxxext)))

diff --git a/src/ARMS/chassis.cpp b/src/ARMS/chassis.cpp
@@ -138,7 +138,7 @@ int difference() {
 		right_pos = rightMotors->getPosition();
 	}
 
-	return (mode == ANGULAR ? 0 : left_pos - right_pos);
+	return (mode == ANGULAR ? 0 : (left_pos - right_pos));
 }
 
 /**************************************************/
@@ -177,7 +177,7 @@ bool isDriving() {
 	int curr = position();
 
 	int target = turnTarget;
-	if (mode == ANGULAR)
+	if (mode == LINEAR)
 		target = linearTarget;
 
 	if (abs(last - curr) < 3)
@@ -507,8 +507,8 @@ int chassisTask() {
 		} else {
 			int dif = difference() * difKP;
 
-			motorVoltage(leftMotors, (speed - dif) * mode);
-			motorVoltage(rightMotors, speed + dif);
+			motorVelocity(leftMotors, (speed - dif) * mode);
+			motorVelocity(rightMotors, speed + dif);
 		}
 	}
 }