Version: 3.2.1

2.2.0 -> 3.0.0

danger

v3.x has breaking changes from v2.x. This document is intended to help migrate your existing v2.x project.

Function Names

Inspired by LVGL, all functions have been renamed for improved searchability with autocomplete. Instead of set_ showing you everything that can be set, you can now type drive_ and see everything possible with the drive. If you want to see input curve functions, you can type opcontrol_curve_ and autocomplete will show you those functions.

In VScode, ctrl + shift + F allows you to search for and replace every instance of a function call in your project across multiple files. This is the easiest way to upgrade your function calls.

warning

Be sure to check what you're replacing to avoid unintentionally breaking your code.

drive.hpp

v2.x Name	v3.x Name
`tank()`	`opcontrol_tank()`
`arcade_standard()`	`opcontrol_arcade_standard()`
`arcade_flipped()`	`opcontrol_arcade_flipped()`
`init_curve_sd()`	`opcontrol_curve_sd_initialize()`
`set_curve_default()`	`opcontrol_curve_default_set()`
`modify_curve_with_controller()`	`opcontrol_curve_buttons_iterate()`
`toggle_modify_curve_with_controller()`	`opcontrol_curve_buttons_toggle()`
`set_left_curve_buttons()`	`opcontrol_curve_buttons_left_set()`
`set_right_curve_buttons()`	`opcontrol_curve_buttons_right_set()`
`left_curve_function()`	`opcontrol_curve_left()`
`right_curve_function()`	`opcontrol_curve_right()`
`reset_drive_sensors_opcontrol()`	`opcontrol_drive_sensors_reset()`
`set_active_brake()`	`opcontrol_drive_activebrake_set()`
`set_joystick_threshold()`	`opcontrol_joystick_threshold_set()`
`joy_thresh_opcontrol()`	`opcontrol_joystick_threshold_opcontrol()`
`toggle_practice_mode()`	`opcontrol_joystick_practicemode_toggle()`
`set_tank()`	`drive_set()`
`set_drive_brake()`	`drive_brake_set()`
`reset_drive_sensor()`	`drive_sensor_reset()`
`right_sensor()`	`drive_sensor_right()`
`raw_right_sensor()`	`drive_sensor_right_raw()`
`left_sensor()`	`drive_sensor_left()`
`raw_left_sensor()`	`drive_sensor_left_raw()`
`right_velocity()`	`drive_velocity_right()`
`left_velocity()`	`drive_velocity_left()`
`right_mA()`	`drive_mA_right()`
`left_mA()`	`drive_mA_left()`
`right_over_current()`	`drive_current_right_over()`
`left_over_current()`	`drive_current_left_over()`
`reset_gyro()`	`drive_imu_reset()`
`get_gyro()`	`drive_imu_get()`
`set_mode()`	`drive_mode_set()`
`get_mode()`	`drive_mode_get()`
`imu_calibrate()`	`drive_imu_calibrate()`
`imu_loading_display()`	`drive_imu_display_loading()`
`set_angle()`	`drive_angle_set()`
`get_tick_per_inch()`	`drive_tick_per_inch()`
`set_defaults()`	`drive_defaults_set()`
`set_ratio()`	`drive_ratio_set()`
`set_drive_current_limit()`	`drive_current_limit_set()`
`set_drive_pid()`	`pid_drive_set()`
`set_turn_pid()`	`pid_turn_set()`
`set_swing_pid()`	`pid_swing_set()`
`reset_pid_targets()`	`pid_targets_reset()`
`wait_drive()`	`pid_wait()`
`wait_until()`	`pid_wait_until()`
`set_max_speed()`	`pid_speed_max_set()`
`set_swing_min()`	`pid_swing_min_set()`
`set_turn_min()`	`pid_turn_min_set()`
`toggle_auto_drive()`	`pid_drive_toggle()`
`toggle_auto_print()`	`pid_print_toggle()`
`set_drive_exit_condition()`	`pid_drive_exit_condition_set()`
`set_turn_exit_condition()`	`pid_durn_exit_condition_set()`
`set_swing_exit_condition()`	`pid_swing_exit_condition_set()`
`get_swing_min()`	`pid_swing_min_get()`
`get_turn_min()`	`pid_turn_min_get()`

pid.hpp

v2.x Name	v3.x Name
`set_constants()`	`constants_set()`
`get_constants()`	`constants_get()`
`set_target()`	`target_set()`
`get_target()`	`target_get()`
`set_name()`	`name_set()`
`is_name()`	`name_active()`
`print_exit()`	`exit_condition_print()`
`set_exit_condition()`	`exit_condition_set()`
`reset_variables()`	`variables_reset()`
`reset_timers()`	`timers_reset()`

auton_selector.hpp

v2.x Name	v3.x Name
`call_selected_auton()`	`selected_auton_call()`
`print_selected_auton()`	`selected_auton_print()`
`add_autons()`	`autons_add()`
`current_auton_page()`	`auton_page_current()`

Drive PID Constants

In v2.x, all sensor data for the drive was handled in raw ticks. This stopped the user from being able to add tracking wheels retroactively easily without completely retuning all constants. v3.x handles drive sensor data in inches. This means if a user adds tracking wheels retroactively, all PID constants will be transferable.

This means drive forward PID, backward PID, and active brake are not transferable to v3.x.

Set PID Constants

Setting PID constants has been changed to have a function per PID object.

void default_constants() {
  // Drive Constants
  chassis.pid_drive_constants_set(10, 0, 100); // Sets forward and backward
  chassis.pid_drive_constants_forward_set(10, 0, 100);
  chassis.pid_drive_constants_backward_set(10, 0, 100);
  chassis.pid_heading_constants_set(3, 0, 20);

  // Turn Constants
  chassis.pid_turn_constants_set(3, 0, 20);

  // Swing Constants
  chassis.pid_swing_constants_set(5, 0, 30); // Sets forward and backward
  chassis.pid_swing_constants_forward_set(5, 0, 30);
  chassis.pid_swing_constants_backward_set(5, 0, 30);
}

Set Slew Constants

Slew has been extracted into a class and has been implemented into every type of movement.

void default_constants() {
  // Drive Constants
  chassis.slew_drive_constants_set(7_in, 80); // Sets forward and backward
  chassis.slew_drive_constants_forward_set(7_in, 80);
  chassis.slew_drive_constants_backward_set(7_in, 80);

  // Turn Constants
  chassis.slew_turn_constants_set(5_deg, 50);

  // Swing Constants with Angle
  chassis.slew_swing_constants_set(5_deg, 50); // Sets forward and backward
  chassis.slew_swing_constants_forward_set(5_deg, 50);
  chassis.slew_swing_constants_backward_set(5_deg, 50);

  // Swing Constants with Distance
  chassis.slew_swing_constants_set(7_in, 50); // Sets forward and backward
  chassis.slew_swing_constants_forward_set(7_in, 50);
  chassis.slew_swing_constants_backward_set(5_in, 50);
}

Function Names​

drive.hpp​

pid.hpp​

auton_selector.hpp​

Drive PID Constants​

Set PID Constants​

Set Slew Constants​