Autonomous & Drive Commands

[chrismeinz1516]

I am currently working on the commands for simply the driving during autonomous.

[chrismeinz1516]

DriveStraight(DriveSystem, DistanceInMeters, SpeedPercentPerThrottle)
-- drives straight for a given distance and speed

Turn(DriveSystem, Angle, Speed)
-- turns until the angle given is reached at a certain speed

Arc(DriveSystem, Speed[MetersPerSecond], Angle, Radius)
-- drives in an arc motion until the given angle is completed for a certain radius.
-- possibly create a MetersPerSecond class instead of using a regular double

[JacobFreakingHarris]

Doesn't my drive command cover these?

[agausmann]

Not necessarily. Your drive command is time-based. These are used to move the robot a certain distance or angle, which is much different than running for a specific amount of time. We cannot reliably use a time-based command for distance unless we know our velocity is constant (which it is not).

Welcome to the world of physics :)

[JacobFreakingHarris]

Ok. I thought it was constant.