Expander & Encoder Update

Pog Update

Switch to velocity control

• bug fixing for turns
• switch to velocity for movements

Hotfix for chassis turns

• Fixed a bug which caused turns to exit early

Hotfix for differential PID

• Fixed a bug that caused the differential PID to compare the left motors to themselves instead of the right motors, which meant error was always zero.

Holonomic Support

• Improvements and bug fixes to the way ARMS interfaces with external quad encoders
• Holonomic chassis movement support
• Updating more parts of the codebase to follow the naming convention

Initial release of ARMS

Greenhat has been fully converted to the new and improved ARMS library. This combines the entire SIGBots codebase into one single repository.

Complex S-Curve Support

S-curves can now be generated using a series of arc movements. This allows for more complex and longer paths.

Fixed a bug that prevented configuration of the library

• The ability to use a gyro was removed.
• The ability to modify config.h and have it do anything was added.

Custom S-curves

This version brings fully customizable s-curve paths. Radius can now be changes for each individual curve rather than just length.