Version: 3.0.1

EZ-Template

EZ-Template is a simple plug-and-play PROS template that handles drive base functions, autonomous selector, input curves, and active brake with PTO support.

Features

Simple to setup
PID for driving, turning, swing turns, and arcs
Easy to use PID tuner
Speed ramp-up for driving
Asynchronous PID with blocking functions until settled and until a specific position has come
Joystick input curves
Live adjustment of input curves
Basic autonomous selector
SD card saving of autonomous selector and joystick curves
"Tug of war" detection for autonomous
PID exit conditions for when drive motors overheat
Tank drive, single stick arcade, and dual stick arcade
Loading animation during IMU calibration
3 wire encoder and rotation sensor support
Add / remove motors from the drive dynamically to allow for PTO use
Exposed PID class for use with your other subsystems
Exposed slew class for gradual speed ramp-up for your other subsystems