Turning

Functions with Units

pid_turn_set()

Sets the robot to turn using PID relative to initial heading.

p_target target value in angle units
speed 0 to 127, max speed during motion

Prototype

void autonomous() {
  chassis.pid_targets_reset();                // Resets PID targets to 0
  chassis.drive_imu_reset();                  // Reset gyro position to 0
  chassis.drive_sensor_reset();               // Reset drive sensors to 0
  chassis.odom_xyt_set(0_in, 0_in, 0_deg);    // Set the current position, you can start at a specific position with this
  chassis.drive_brake_set(MOTOR_BRAKE_HOLD);  // Set motors to hold.  This helps autonomous consistency

  chassis.pid_turn_set(24_deg, 110);
  chassis.pid_wait();
}

Example

void pid_turn_set(ez::QAngle p_target, int speed);

pid_turn_set()

Sets the robot to turn using PID relative to initial heading.

p_target target value in angle units
speed 0 to 127, max speed during motion
behavior changes what direction the robot will turn. can be ez::ccw, ez::cw, ez::shortest, ez::longest, ez::raw

Prototype

void autonomous() {
  chassis.pid_targets_reset();                // Resets PID targets to 0
  chassis.drive_imu_reset();                  // Reset gyro position to 0
  chassis.drive_sensor_reset();               // Reset drive sensors to 0
  chassis.odom_xyt_set(0_in, 0_in, 0_deg);    // Set the current position, you can start at a specific position with this
  chassis.drive_brake_set(MOTOR_BRAKE_HOLD);  // Set motors to hold.  This helps autonomous consistency

  chassis.pid_turn_set(22.5_deg, 110, ez::longest);
  chassis.pid_wait();
}

Example

void pid_turn_set(ez::QAngle p_target, int speed, e_angle_behavior behavior);

pid_turn_set()

Sets the robot to turn using PID relative to initial heading.

p_target target value in angle units
speed 0 to 127, max speed during motion
slew_on ramp up from a lower speed to your target speed

Prototype

void autonomous() {
  chassis.pid_targets_reset();                // Resets PID targets to 0
  chassis.drive_imu_reset();                  // Reset gyro position to 0
  chassis.drive_sensor_reset();               // Reset drive sensors to 0
  chassis.odom_xyt_set(0_in, 0_in, 0_deg);    // Set the current position, you can start at a specific position with this
  chassis.drive_brake_set(MOTOR_BRAKE_HOLD);  // Set motors to hold.  This helps autonomous consistency

  chassis.pid_turn_set(24_deg, 110, true);
  chassis.pid_wait();
}

Example

void pid_turn_set(ez::QAngle p_target, int speed, bool slew_on);

pid_turn_set()

Sets the robot to turn using PID relative to initial heading.

p_target target value in angle units
speed 0 to 127, max speed during motion
behavior changes what direction the robot will turn. can be ez::ccw, ez::cw, ez::shortest, ez::longest, ez::raw
slew_on ramp up from a lower speed to your target speed

Prototype

void autonomous() {
  chassis.pid_targets_reset();                // Resets PID targets to 0
  chassis.drive_imu_reset();                  // Reset gyro position to 0
  chassis.drive_sensor_reset();               // Reset drive sensors to 0
  chassis.odom_xyt_set(0_in, 0_in, 0_deg);    // Set the current position, you can start at a specific position with this
  chassis.drive_brake_set(MOTOR_BRAKE_HOLD);  // Set motors to hold.  This helps autonomous consistency

  chassis.pid_turn_set(22.5_deg, 110, ez::longest, true);
  chassis.pid_wait();
}

Example

void pid_turn_set(ez::QAngle p_target, int speed, e_angle_behavior behavior, bool slew_on);

pid_turn_relative_set()

Sets the robot to turn using PID relative to the last heading target, not the robot's measured heading.

p_target target value in angle units
speed 0 to 127, max speed during motion

Prototype

void autonomous() {
  chassis.pid_targets_reset();                // Resets PID targets to 0
  chassis.drive_imu_reset();                  // Reset gyro position to 0
  chassis.drive_sensor_reset();               // Reset drive sensors to 0
  chassis.odom_xyt_set(0_in, 0_in, 0_deg);    // Set the current position, you can start at a specific position with this
  chassis.drive_brake_set(MOTOR_BRAKE_HOLD);  // Set motors to hold.  This helps autonomous consistency

  // Turns to 90 deg
  chassis.pid_turn_relative_set(90_deg, 110);
  chassis.pid_wait();

  // Turns backwards by 45 degrees
  chassis.pid_turn_relative_set(-45_deg, 110);
  chassis.pid_wait();
}

Example

void pid_turn_relative_set(ez::QAngle p_target, int speed);

pid_turn_relative_set()

Sets the robot to turn using PID relative to the last heading target, not the robot's measured heading.

p_target target value in angle units
speed 0 to 127, max speed during motion
slew_on ramp up from a lower speed to your target speed

Prototype

void autonomous() {
  chassis.pid_targets_reset();                // Resets PID targets to 0
  chassis.drive_imu_reset();                  // Reset gyro position to 0
  chassis.drive_sensor_reset();               // Reset drive sensors to 0
  chassis.odom_xyt_set(0_in, 0_in, 0_deg);    // Set the current position, you can start at a specific position with this
  chassis.drive_brake_set(MOTOR_BRAKE_HOLD);  // Set motors to hold.  This helps autonomous consistency

  // Turns to 90 deg
  chassis.pid_turn_relative_set(90_deg, 110, true);
  chassis.pid_wait();

  // Turns backwards by 45 degrees
  chassis.pid_turn_relative_set(-45_deg, 110, true);
  chassis.pid_wait();
}

Example

void pid_turn_relative_set(ez::QAngle p_target, int speed, bool slew_on);

pid_turn_relative_set()

Sets the robot to turn using PID relative to the last heading target, not the robot's measured heading.

p_target target value in angle units
speed 0 to 127, max speed during motion
behavior changes what direction the robot will turn. can be ez::ccw, ez::cw, ez::shortest, ez::longest, ez::raw

Prototype

void autonomous() {
  chassis.pid_targets_reset();                // Resets PID targets to 0
  chassis.drive_imu_reset();                  // Reset gyro position to 0
  chassis.drive_sensor_reset();               // Reset drive sensors to 0
  chassis.odom_xyt_set(0_in, 0_in, 0_deg);    // Set the current position, you can start at a specific position with this
  chassis.drive_brake_set(MOTOR_BRAKE_HOLD);  // Set motors to hold.  This helps autonomous consistency

  // Turns to 90 deg
  chassis.pid_turn_relative_set(90_deg, 110, ez::shortest);
  chassis.pid_wait();

  // Turns the long way around to go -45 from where it started
  chassis.pid_turn_relative_set(-45_deg, 110, ez::longest);
  chassis.pid_wait();
}

Example

void pid_turn_relative_set(ez::QAngle p_target, int speed, e_angle_behavior behavior);

pid_turn_relative_set()

Sets the robot to turn using PID relative to the last heading target, not the robot's measured heading.

p_target target value in angle units
speed 0 to 127, max speed during motion
behavior changes what direction the robot will turn. can be ez::ccw, ez::cw, ez::shortest, ez::longest, ez::raw
slew_on ramp up from a lower speed to your target speed

Prototype

void autonomous() {
  chassis.pid_targets_reset();                // Resets PID targets to 0
  chassis.drive_imu_reset();                  // Reset gyro position to 0
  chassis.drive_sensor_reset();               // Reset drive sensors to 0
  chassis.odom_xyt_set(0_in, 0_in, 0_deg);    // Set the current position, you can start at a specific position with this
  chassis.drive_brake_set(MOTOR_BRAKE_HOLD);  // Set motors to hold.  This helps autonomous consistency

  // Turns to 90 deg
  chassis.pid_turn_relative_set(90_deg, 110, ez::shortest, true);
  chassis.pid_wait();

  // Turns the long way around to go -45 from where it started
  chassis.pid_turn_relative_set(-45_deg, 110, ez::longest, true);
  chassis.pid_wait();
}

Example

void pid_turn_relative_set(ez::QAngle p_target, int speed, e_angle_behavior behavior, bool slew_on);

pid_turn_exit_condition_set()

Set's constants for turn exit conditions.

p_small_exit_time time to exit when within small_error, in units
p_small_error small timer will start when error is within this, in units
p_big_exit_time time to exit when within big_error, in units
p_big_error big timer will start when error is within this, in units
p_velocity_exit_time velocity timer will start when velocity is 0 after the robot has moved (or after 1 second if it never moves), in units
p_mA_timeout mA timer will start when the first motor on the side(s) being driven is over its current limit, in units
use_imu true adds a second velocity exit timer based on the imu's acceleration (exits if either the main sensor or the imu reports no movement for p_velocity_exit_time), false uses only the main sensor

Prototype

void initialize() {
  chassis.pid_turn_exit_condition_set(300_ms, 3_deg, 500_ms, 7_deg, 750_ms, 750_ms);
}

Example

void pid_turn_exit_condition_set(ez::QTime p_small_exit_time, ez::QAngle p_small_error, ez::QTime p_big_exit_time, ez::QAngle p_big_error, ez::QTime p_velocity_exit_time, ez::QTime p_mA_timeout, bool use_imu = true);

pid_turn_chain_constant_set()

Sets the amount that the PID will overshoot target by to maintain momentum into the next motion.

This sets turning constants.

input angle unit

Prototype

void initialize() {
  chassis.pid_turn_chain_constant_set(3_deg);
}

Example

void pid_turn_chain_constant_set(ez::QAngle input);

slew_turn_constants_set()

Sets constants for slew for turns.

Slew ramps up the speed of the robot from min_speed to full speed (127) over the set distance. A motion with a lower max speed is capped at that speed, so it stops ramping sooner.

distance the distance the robot travels to ramp up to full speed (127), an angle unit
min_speed the starting speed for the movement, 0 - 127

Prototype

void autonomous() {
  chassis.pid_targets_reset();                // Resets PID targets to 0
  chassis.drive_imu_reset();                  // Reset gyro position to 0
  chassis.drive_sensor_reset();               // Reset drive sensors to 0
  chassis.odom_xyt_set(0_in, 0_in, 0_deg);    // Set the current position, you can start at a specific position with this
  chassis.drive_brake_set(MOTOR_BRAKE_HOLD);  // Set motors to hold.  This helps autonomous consistency 

  chassis.slew_turn_constants_set(5_deg, 50);

  chassis.pid_turn_set(-90_deg, 110, true);
  chassis.pid_wait();
}

Example

void slew_turn_constants_set(ez::QAngle distance, int min_speed);

Functions without Units

pid_turn_set()

Sets the robot to turn using PID relative to initial heading.

target target value in degrees
speed 0 to 127, max speed during motion

Prototype

void autonomous() {
  chassis.pid_targets_reset();                // Resets PID targets to 0
  chassis.drive_imu_reset();                  // Reset gyro position to 0
  chassis.drive_sensor_reset();               // Reset drive sensors to 0
  chassis.odom_xyt_set(0_in, 0_in, 0_deg);    // Set the current position, you can start at a specific position with this
  chassis.drive_brake_set(MOTOR_BRAKE_HOLD);  // Set motors to hold.  This helps autonomous consistency

  chassis.pid_turn_set(24, 110);
  chassis.pid_wait();
}

Example

void pid_turn_set(double target, int speed);

pid_turn_set()

Sets the robot to turn using PID relative to initial heading.

target target value in degrees
speed 0 to 127, max speed during motion
behavior changes what direction the robot will turn. can be ez::ccw, ez::cw, ez::shortest, ez::longest, ez::raw

Prototype

void autonomous() {
  chassis.pid_targets_reset();                // Resets PID targets to 0
  chassis.drive_imu_reset();                  // Reset gyro position to 0
  chassis.drive_sensor_reset();               // Reset drive sensors to 0
  chassis.odom_xyt_set(0_in, 0_in, 0_deg);    // Set the current position, you can start at a specific position with this
  chassis.drive_brake_set(MOTOR_BRAKE_HOLD);  // Set motors to hold.  This helps autonomous consistency

  chassis.pid_turn_set(22.5, 110, ez::longest);
  chassis.pid_wait();
}

Example

void pid_turn_set(double target, int speed, e_angle_behavior behavior);

pid_turn_set()

Sets the robot to turn using PID relative to initial heading.

target target value in degrees
speed 0 to 127, max speed during motion
slew_on ramp up from a lower speed to your target speed

Prototype

void autonomous() {
  chassis.pid_targets_reset();                // Resets PID targets to 0
  chassis.drive_imu_reset();                  // Reset gyro position to 0
  chassis.drive_sensor_reset();               // Reset drive sensors to 0
  chassis.odom_xyt_set(0_in, 0_in, 0_deg);    // Set the current position, you can start at a specific position with this
  chassis.drive_brake_set(MOTOR_BRAKE_HOLD);  // Set motors to hold.  This helps autonomous consistency

  chassis.pid_turn_set(24, 110, true);
  chassis.pid_wait();
}

Example

void pid_turn_set(double target, int speed, bool slew_on);

pid_turn_set()

Sets the robot to turn using PID relative to initial heading.

target target value in degrees
speed 0 to 127, max speed during motion
behavior changes what direction the robot will turn. can be ez::ccw, ez::cw, ez::shortest, ez::longest, ez::raw
slew_on ramp up from a lower speed to your target speed

Prototype

void autonomous() {
  chassis.pid_targets_reset();                // Resets PID targets to 0
  chassis.drive_imu_reset();                  // Reset gyro position to 0
  chassis.drive_sensor_reset();               // Reset drive sensors to 0
  chassis.odom_xyt_set(0_in, 0_in, 0_deg);    // Set the current position, you can start at a specific position with this
  chassis.drive_brake_set(MOTOR_BRAKE_HOLD);  // Set motors to hold.  This helps autonomous consistency

  chassis.pid_turn_set(22.5, 110, ez::longest, true);
  chassis.pid_wait();
}

Example

void pid_turn_set(double target, int speed, e_angle_behavior behavior, bool slew_on);

pid_turn_relative_set()

Sets the robot to turn using PID relative to the last heading target, not the robot's measured heading.

target target value in degrees
speed 0 to 127, max speed during motion

Prototype

void autonomous() {
  chassis.pid_targets_reset();                // Resets PID targets to 0
  chassis.drive_imu_reset();                  // Reset gyro position to 0
  chassis.drive_sensor_reset();               // Reset drive sensors to 0
  chassis.odom_xyt_set(0_in, 0_in, 0_deg);    // Set the current position, you can start at a specific position with this
  chassis.drive_brake_set(MOTOR_BRAKE_HOLD);  // Set motors to hold.  This helps autonomous consistency

  // Turns to 90 deg
  chassis.pid_turn_relative_set(90, 110);
  chassis.pid_wait();

  // Turns backwards by 45 degrees
  chassis.pid_turn_relative_set(-45, 110);
  chassis.pid_wait();
}

Example

void pid_turn_relative_set(double target, int speed);

pid_turn_relative_set()

Sets the robot to turn using PID relative to the last heading target, not the robot's measured heading.

target target value in degrees
speed 0 to 127, max speed during motion
slew_on ramp up from a lower speed to your target speed

Prototype

void autonomous() {
  chassis.pid_targets_reset();                // Resets PID targets to 0
  chassis.drive_imu_reset();                  // Reset gyro position to 0
  chassis.drive_sensor_reset();               // Reset drive sensors to 0
  chassis.odom_xyt_set(0_in, 0_in, 0_deg);    // Set the current position, you can start at a specific position with this
  chassis.drive_brake_set(MOTOR_BRAKE_HOLD);  // Set motors to hold.  This helps autonomous consistency

  // Turns to 90 deg
  chassis.pid_turn_relative_set(90, 110, true);
  chassis.pid_wait();

  // Turns backwards by 45 degrees
  chassis.pid_turn_relative_set(-45, 110, true);
  chassis.pid_wait();
}

Example

void pid_turn_relative_set(double target, int speed, bool slew_on);

pid_turn_relative_set()

Sets the robot to turn using PID relative to the last heading target, not the robot's measured heading.

target target value in degrees
speed 0 to 127, max speed during motion
behavior changes what direction the robot will turn. can be ez::ccw, ez::cw, ez::shortest, ez::longest, ez::raw

Prototype

void autonomous() {
  chassis.pid_targets_reset();                // Resets PID targets to 0
  chassis.drive_imu_reset();                  // Reset gyro position to 0
  chassis.drive_sensor_reset();               // Reset drive sensors to 0
  chassis.odom_xyt_set(0_in, 0_in, 0_deg);    // Set the current position, you can start at a specific position with this
  chassis.drive_brake_set(MOTOR_BRAKE_HOLD);  // Set motors to hold.  This helps autonomous consistency

  // Turns to 90 deg
  chassis.pid_turn_relative_set(90, 110, ez::shortest);
  chassis.pid_wait();

  // Turns the long way around to go -45 from where it started
  chassis.pid_turn_relative_set(-45, 110, ez::longest);
  chassis.pid_wait();
}

Example

void pid_turn_relative_set(double target, int speed, e_angle_behavior behavior);

pid_turn_relative_set()

Sets the robot to turn using PID relative to the last heading target, not the robot's measured heading.

target target value in degrees
speed 0 to 127, max speed during motion
behavior changes what direction the robot will turn. can be ez::ccw, ez::cw, ez::shortest, ez::longest, ez::raw
slew_on ramp up from a lower speed to your target speed

Prototype

void autonomous() {
  chassis.pid_targets_reset();                // Resets PID targets to 0
  chassis.drive_imu_reset();                  // Reset gyro position to 0
  chassis.drive_sensor_reset();               // Reset drive sensors to 0
  chassis.odom_xyt_set(0_in, 0_in, 0_deg);    // Set the current position, you can start at a specific position with this
  chassis.drive_brake_set(MOTOR_BRAKE_HOLD);  // Set motors to hold.  This helps autonomous consistency

  // Turns to 90 deg
  chassis.pid_turn_relative_set(90, 110, ez::shortest, true);
  chassis.pid_wait();

  // Turns the long way around to go -45 from where it started
  chassis.pid_turn_relative_set(-45, 110, ez::longest, true);
  chassis.pid_wait();
}

Example

void pid_turn_relative_set(double target, int speed, e_angle_behavior behavior, bool slew_on);

pid_turn_exit_condition_set()

Set's constants for turn exit conditions.

p_small_exit_time time to exit when within small_error, in ms
p_small_error small timer will start when error is within this, in degrees p_big_exit_time time to exit when within big_error, in ms p_big_error big timer will start when error is within this, in degrees p_velocity_exit_time velocity timer will start when velocity is 0 after the robot has moved (or after 1 second if it never moves), in ms p_mA_timeout mA timer will start when the first motor on the side(s) being driven is over its current limit, in ms
use_imu true adds a second velocity exit timer based on the imu's acceleration (exits if either the main sensor or the imu reports no movement for p_velocity_exit_time), false uses only the main sensor

Prototype

void initialize() {
  chassis.pid_turn_exit_condition_set(300, 3, 500, 7, 750, 750);
}

Example

void pid_turn_exit_condition_set(int p_small_exit_time, double p_small_error, int p_big_exit_time, double p_big_error, int p_velocity_exit_time, int p_mA_timeout, bool use_imu = true);

pid_turn_constants_set()

Set PID constants for turns.

p proportional term
i integral term
d derivative term
p_start_i error threshold to start integral

Prototype

void initialize() {
  chassis.pid_turn_constants_set(3, 0, 20);
}

Example

void pid_turn_constants_set(double p, double i = 0.0, double d = 0.0, double p_start_i = 0.0);

pid_turn_chain_constant_set()

Sets the amount that the PID will overshoot target by to maintain momentum into the next motion.

This sets turning constants.

input angle in degrees

Prototype

void initialize() {
  chassis.pid_turn_chain_constant_set(3);
}

Example

void pid_turn_chain_constant_set(double input);

slew_turn_set()

Sets the default slew for turn motions, can be overwritten in movement functions.

slew_on true enables, false disables

Prototype

void slew_turn_set(bool slew_on);

Example

void autonomous() {
  chassis.pid_targets_reset();                // Resets PID targets to 0
  chassis.drive_imu_reset();                  // Reset gyro position to 0
  chassis.drive_sensor_reset();               // Reset drive sensors to 0
  chassis.odom_xyt_set(0_in, 0_in, 0_deg);    // Set the current position, you can start at a specific position with this
  chassis.drive_brake_set(MOTOR_BRAKE_HOLD);  // Set motors to hold.  This helps autonomous consistency

  // Set the default slew state to true
  chassis.slew_turn_set(true);

  // This will not use slew because we explicitly told the robot to not slew
  chassis.pid_turn_set(90_deg, 90, false);
  chassis.pid_wait();

  // This will slew because it's the default state
  chassis.pid_turn_set(0_deg, 90);
  chassis.pid_wait();
}

pid_turn_min_set()

When kI and startI are enabled, sets the maximum output allowed while error is inside startI, for turns larger than startI. This lets I accumulate without overshoot. Despite the name this is a cap on the output, not a floor.

min new clipped speed

Prototype

void autonomous() {
  chassis.pid_targets_reset();                // Resets PID targets to 0
  chassis.drive_imu_reset();                  // Reset gyro position to 0
  chassis.drive_sensor_reset();               // Reset drive sensors to 0
  chassis.odom_xyt_set(0_in, 0_in, 0_deg);    // Set the current position, you can start at a specific position with this
  chassis.drive_brake_set(MOTOR_BRAKE_HOLD);  // Set motors to hold.  This helps autonomous consistency

  chassis.pid_turn_min_set(30);

  chassis.pid_turn_set(45, 110);
  chassis.pid_wait();
}

Example

void pid_turn_min_set(int min);

pid_turn_behavior_set()

Sets the default behavior for turns in turning movements.

behavior ez::shortest, ez::longest, ez::ccw, ez::cw, ez::raw

Prototype

void autonomous() {
  chassis.pid_targets_reset();                // Resets PID targets to 0
  chassis.drive_imu_reset();                  // Reset gyro position to 0
  chassis.drive_sensor_reset();               // Reset drive sensors to 0
  chassis.odom_xyt_set(0_in, 0_in, 0_deg);    // Set the current position, you can start at a specific position with this
  chassis.drive_brake_set(MOTOR_BRAKE_HOLD);  // Set motors to hold.  This helps autonomous consistency

  chassis.pid_turn_behavior_set(ez::longest);  // Set the robot to take the longest path there

  // This will make the robot go the long way around to get to 90 degrees
  chassis.pid_turn_set(90_deg, 110);
  chassis.pid_wait();
}

Example

void pid_turn_behavior_set(e_angle_behavior behavior);

Getter

pid_turn_constants_get()

Returns the PID constants for turns, as a PID::Constants with kp, ki, kd and start_i.

Prototype

void initialize() {
  chassis.pid_turn_constants_set(3.0, 0.05, 20.0, 15.0);
  ez::PID::Constants c = chassis.pid_turn_constants_get();
  printf("kp %.2f  ki %.2f  kd %.2f  start_i %.2f\n", c.kp, c.ki, c.kd, c.start_i);  // Prints kp 3.00  ki 0.05  kd 20.00  start_i 15.00
}

Example

PID::Constants pid_turn_constants_get();

pid_turn_chain_constant_get()

Returns the amount that the PID will overshoot target by to maintain momentum into the next motion for turning.

Prototype

void initialize() {
  chassis.pid_turn_chain_constant_set(3_deg);
  printf("%.2f\n", chassis.pid_turn_chain_constant_get());
}

Example

double pid_turn_chain_constant_get();

slew_turn_get()

Returns true if slew is enabled for all turn motions, false otherwise.

Prototype

bool slew_turn_get();

Example

void autonomous() {
  chassis.pid_targets_reset();                // Resets PID targets to 0
  chassis.drive_imu_reset();                  // Reset gyro position to 0
  chassis.drive_sensor_reset();               // Reset drive sensors to 0
  chassis.odom_xyt_set(0_in, 0_in, 0_deg);    // Set the current position, you can start at a specific position with this
  chassis.drive_brake_set(MOTOR_BRAKE_HOLD);  // Set motors to hold.  This helps autonomous consistency

  // Set the default slew state to true
  chassis.slew_turn_set(true);
  if (chassis.slew_turn_get())
    printf("Turn Slew is Enabled!\n");

  // This will not use slew because we explicitly told the robot to not slew
  chassis.pid_turn_set(90_deg, 90, false);
  chassis.pid_wait();

  // This will slew because it's the default state
  chassis.pid_turn_set(0_deg, 90);
  chassis.pid_wait();
}

pid_turn_min_get()

Returns the maximum output allowed while error is inside startI, for turns larger than startI, when kI and startI are enabled.

Prototype

void autonomous() {
  chassis.pid_targets_reset();                // Resets PID targets to 0
  chassis.drive_imu_reset();                  // Reset gyro position to 0
  chassis.drive_sensor_reset();               // Reset drive sensors to 0
  chassis.odom_xyt_set(0_in, 0_in, 0_deg);    // Set the current position, you can start at a specific position with this
  chassis.drive_brake_set(MOTOR_BRAKE_HOLD);  // Set motors to hold.  This helps autonomous consistency

  chassis.pid_turn_min_set(30);

  printf("Turn Min: %i", chassis.pid_turn_min_get());
}

Example

int pid_turn_min_get();

pid_turn_behavior_get()

Returns the turn behavior for turns.

Prototype

void autonomous() {
  chassis.pid_targets_reset();                // Resets PID targets to 0
  chassis.drive_imu_reset();                  // Reset gyro position to 0
  chassis.drive_sensor_reset();               // Reset drive sensors to 0
  chassis.odom_xyt_set(0_in, 0_in, 0_deg);    // Set the current position, you can start at a specific position with this
  chassis.drive_brake_set(MOTOR_BRAKE_HOLD);  // Set motors to hold.  This helps autonomous consistency

  chassis.pid_turn_behavior_set(ez::longest);  // Set the robot to take the longest path there

  if (chassis.pid_turn_behavior_get() == ez::longest) {
    printf("Current behavior is ez::longest!\n");
  } else {
    printf("Current behavior is not ez::longest!\n");
  }

  // This will make the robot go the long way around to get to 90 degrees
  chassis.pid_turn_set(90_deg, 110);
  chassis.pid_wait();
}

Example

e_angle_behavior pid_turn_behavior_get();