Control Schemes

There are multiple ways of controlling your drive, split into three categories; tank, arcade, and curvature. EZ-Template supports all of them. Tank and arcade are listed in the example project and you can pick which one you'd like to use by uncommenting it. Curvature isn't listed there, but you use it the same way; swap the call for one of the curvature functions.

void opcontrol() {
  // . . .
  while (true) {
    // . . .

    chassis.opcontrol_tank();  // Tank control
    // chassis.opcontrol_arcade_standard(ez::SPLIT);  // Standard split arcade
    // chassis.opcontrol_arcade_standard(ez::SINGLE);  // Standard single arcade
    // chassis.opcontrol_arcade_flipped(ez::SPLIT);  // Flipped split arcade
    // chassis.opcontrol_arcade_flipped(ez::SINGLE);  // Flipped single arcade

    // . . .
    pros::delay(ez::util::DELAY_TIME);  // This is used for timer calculations!  Keep this ez::util::DELAY_TIME
  }
}

Tank

Tank lets you control each side of the drive.  The left stick controls the left side of the drive, and the right stick controls the right side of the drive.  This can be called in EZ-Template with chassis.opcontrol_tank();.  This is the default in the example project.  

chassis.opcontrol_tank();

Arcade

Arcade drive is where you have control over "forward" and "turning".  

Split Arcade

EZ-Template lets you call "standard" arcade or "flipped" arcade.  Standard is where the left stick does fwd/rev and flipped is where the right stick does fwd/rev.  With split arcade, the other joystick is used for turning.  

Standard

chassis.opcontrol_arcade_standard(ez::SPLIT); // Standard split arcade

Flipped

chassis.opcontrol_arcade_flipped(ez::SPLIT); // Flipped split arcade

Single Stick Arcade

EZ-Template lets you call "standard" arcade or "flipped" arcade.  Standard is where the left stick does fwd/rev and flipped is where the right stick does fwd/rev.  With single stick arcade, turning is done on the same joystick as fwd/rev.  

Standard

chassis.opcontrol_arcade_standard(ez::SINGLE); // Standard single arcade

Flipped

chassis.opcontrol_arcade_flipped(ez::SINGLE); // Flipped single arcade

Curvature

Curvature is a variation of arcade that is sometimes called "cheesy drive". Just like arcade you control "forward" and "turning", but the turning stick sets the curvature of the arc the robot drives instead of how fast the robot turns. The robot follows the same arc no matter how fast you're going, like turning a steering wheel.

In arcade, a turn that feels good at low speed can be too twitchy at high speed. Curvature fixes this by scaling the turn by how fast you're driving. The downside is that when you aren't driving forward or backward the robot can't turn at all, since the turn is scaled to 0. EZ-Template gets around this by never scaling the turn below opcontrol_curvature_point_turn_gain_set(), so you can still turn on a point without pressing any buttons.

• 0 is pure curvature, the robot cannot turn on a point
• 1 is the same as arcade
• 0.8 is the default, which turns on a point at reduced sensitivity and becomes true curvature once you're driving at 80% speed or faster

chassis.opcontrol_curvature_point_turn_gain_set(0.8);  // Put this in initialize()

Curvature has the same split / single and standard / flipped options as arcade. The joysticks go through the same curves, deadband, active brake, and opcontrol_speed_max as arcade.

Split

chassis.opcontrol_arcade_curvature_standard(ez::SPLIT); // Standard split curvature
// chassis.opcontrol_arcade_curvature_flipped(ez::SPLIT); // Flipped split curvature

Single

chassis.opcontrol_arcade_curvature_standard(ez::SINGLE); // Standard single curvature
// chassis.opcontrol_arcade_curvature_flipped(ez::SINGLE); // Flipped single curvature