OkapiLib Versions Save

Features

• Minimize turns to 180 degrees (#441).
• Add strafe and strafeVector to XDriveModel (#443).
• Add common math functions for units (#445).

Bug Fixes

• Fix Pathfinder when used directly in C++ projects (#436).

Features

• Add OdomChassisController::getOdometry (#420).
• Add {set/get}Gains methods to AsyncPosPIDController and AsyncVelPIDController (#424, #425).

Bug Fixes

• Fix uninitialized member in Controller (#422).
• Make ChassisScales constructor parameter tpr a double to prevent loss in precision (#423).

Bug Fixes

• Fix ADIUltrasonic documentation (#414).
• Classes with internal tasks (like ChassisControllerPID) will stop the subsystem they control when their internal task exits (#412).

Features

• Add AsyncPositionController::setMaxVelocity(std::int32_t) (#415).

Bug Fixes

• Add ChassisController::setMaxVelocity so users don't try to set it on the underlying ChassisModel directly (which does not always work) (#409).

Features

• Odometry (#213).
• Saving and loading Pathfinder paths to files on the SD card (#358).
• ChassisControllerFactory replaced with ChassisControllerBuilder (#279).
• AsyncControllerFactory replaced with AsyncMotionProfileControllerBuilder, AsyncPosControllerBuilder, and AsyncVelControllerBuilder (#281).
• AsyncMotionProfileController can follow paths backwards without mirroring them (#290).
• Support HDrive configurations (#394).
• Lazy logging using lambdas and guarded log calls.
• ChassisControllerPID voltage mode (#338).
• ChassisControllerPID::setGains and ChassisControllerPID::getGains to update gains at runtime (#346).
• Per-path profile limits (#353).
• Change motion profile dt to 10 milliseconds (#362).
• Add AbstractMotor::getPositionError and AbstractMotor::getVelocityError (#364).
• Log warnings to catch common mistakes.
• Documentation using Doxygen (#375).
• Maintain Motor reversing in the motor (without vexOS calls).
• Update kernel to v3.2.0 (#384).
• Add ChassisController::isSettled (#386).
• Rename non-units moveDistance and turnAngle overloads to moveRaw and turnRaw to avoid confusion (#395).

Bug Fixes

• Use task notification changes in the kernel to handle killing internal tasks when the parent task is killed (#249, #321, #349).
• Fix IterativeVelPIDController::controllerSet (#291).
• Fix Motor instances overriding the gearset passed to a ChassisController (#296).
• Fix IterativePosPIDController derivative term (#298).
• Fix ADI update rate number (#304).
• Reset middle sensor in ThreeEncoderSkidSteerModel (#306).
• Fix ChassisControllerPID using the same Rate instance in multiple places (#332).
• Fix IterativePosPIDController::setGains (#333).
• Delete move constructors and move assignment operators for classes which contain internal tasks (#348).
• Fix partner controller overwriting master controller's internal buttonArray (#357).
• Fix segfault when removing an AsyncMotionProfileController or AsyncLinearMotionProfileController path while it was running (#360).
• Fix unsafe frees in AsyncMotionProfileController and AsyncLinearMotionProfileController destructors (#377).
• Remove Vision export (#405).

Thanks to @theol0403, @juliaschatz, @vexcat, @acetousk, @aDotInTheVoid for their contributions to this release.

Features

• Support for h-drives
• Support for three encoder x-drives
• Odometry checks the tick diffs it gets are within +-1000 and skips a cycle if they are not
• Add ClosedLoopController::getProcessValue()

Bug Fixes

• In three encoder models, the middle wheel distance can be zero
• Separate ChassisModel and Odometry ChassisScales
• More warnings about invalid builder configurations
• Errors for Odometry not getting enough members in the tick diff data structure
• Wait for the Odometry task to start running in DefaultOdomChassisController
• Remove confusing method AbstractRate::delay(int). Use delayUntil instead.
• Fix ChassisControllerBuilder sometimes computing TPR incorrectly
• Fix incorrect Odometry movements when using ADI encoders and ChassisControllerIntegrated

Other Notes

• Renamed moveDistance(double) to moveRaw(double), etc. to make the double vs. unitful method distinctions clearer

Features

• Enabled warning level logging by default (instead of no logging)

Bug Fixes

• ThreeEncoderOdometry uses the middleWheelDistance correctly now (if you had to double it, then change it back to the real measurement)
• Fix default logger initialization order

Features

• ChassisControllerBuilder got a withClosedLoopControllerTimeUtil method to simplify using custom SettledUtil parameters
• Builders that start internal tasks now have parentedToCurrentTask/notParentedToCurrentTask methods to control whether they will register a deletion notification from the current task to the internal task(s)
• Added ConfigurableTimeUtilFactory

Bug Fixes

• The ChassisControllerBuilder can be used in global scope again
• All builders can be used in initialize() again