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Add wait until settled #114

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Add wait until settled #114

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9f27087
change task_running to atomic bool and add wait_until_settled helper …
Rocky14683 Dec 17, 2024
4b261c9
add is_settled get function
Rocky14683 Dec 17, 2024
4b1d4dc
according to chatgpt, using implicit load and store is better
Rocky14683 Dec 17, 2024
e3b5cfb
make some minor changes
Rocky14683 Dec 23, 2024
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5 changes: 4 additions & 1 deletion include/VOSS/chassis/AbstractChassis.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -21,7 +21,7 @@ class AbstractChassis {
controller_ptr default_controller;
ec_ptr default_ec;
std::unique_ptr<pros::Task> task = nullptr;
bool task_running = false;
std::atomic_bool task_running = false;
pros::motor_brake_mode_e brakeMode;

void move_task(controller_ptr controller, ec_ptr ec, double max,
Expand All @@ -39,6 +39,9 @@ class AbstractChassis {
virtual bool execute(DiffChassisCommand cmd, double max) = 0;
virtual void set_brake_mode(pros::motor_brake_mode_e mode) = 0;

void wait_until_settled() const;
bool is_settled() const;

void move(double distance, double max = 100.0,
voss::Flags flags = voss::Flags::NONE);

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12 changes: 11 additions & 1 deletion src/VOSS/chassis/AbstractChassis.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -154,7 +154,7 @@ void AbstractChassis::turn_to(Point target, controller_ptr controller,
ec_ptr ec, double max, voss::Flags flags,
voss::AngularDirection direction) {
while (this->task_running) {
pros::delay(10);
pros::delay(constants::MOTOR_UPDATE_DELAY);
}
this->task_running = true;

Expand All @@ -165,4 +165,14 @@ void AbstractChassis::turn_to(Point target, controller_ptr controller,
direction);
}

void AbstractChassis::wait_until_settled() const {
while (this->task_running) {
pros::delay(constants::MOTOR_UPDATE_DELAY);
}
}

bool AbstractChassis::is_settled() const {
return this->task_running;
}

} // namespace voss::chassis
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