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Turns shortest angle in OdomChassisController#485
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Co-authored-by: Octogonapus <firey45@gmail.com>
Co-authored-by: Octogonapus <firey45@gmail.com>
Codecov Report
@@ Coverage Diff @@
## master #485 +/- ##
==========================================
- Coverage 89.36% 89.11% -0.26%
==========================================
Files 139 139
Lines 6140 6143 +3
==========================================
- Hits 5487 5474 -13
- Misses 653 669 +16 |
Member
|
Please allow edits from maintainers. |
Contributor
Author
They should be allowed.... |
Member
|
I get this error when pushing to your branch |
Contributor
Author
That's odd. I'm trying to merge changes from Yessir120/OkapiLib. Is it possible that there is a problem on my side? |
Member
|
I'm not convinced the PR is set up correctly, but regardless, it's now just faster for me to request changes instead |
Octogonapus
suggested changes
Jun 7, 2022
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Octogonapus
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Please also add a test. Like this one:
diff --git a/test/defaultOdomChassisControllerTest.cpp b/test/defaultOdomChassisControllerTest.cpp
index f4de0276..faf0a8f9 100644
--- a/test/defaultOdomChassisControllerTest.cpp
+++ b/test/defaultOdomChassisControllerTest.cpp
@@ -158,6 +158,11 @@ TEST_F(DefaultOdomChassisControllerTest, TurnAboveThreshold) {
EXPECT_EQ(controller->lastTurnAngleTargetQAngle, 6_deg);
}
+TEST_F(DefaultOdomChassisControllerTest, BoundTurn) {
+ drive->turnToAngle(270_deg);
+ EXPECT_EQ(controller->lastTurnAngleTargetQAngle, -90_deg);
+}
+
TEST_F(DefaultOdomChassisControllerTest, SetStateTest) {
auto stateBefore = drive->getState();
assertOdomStateEquals(0, 0, 0, stateBefore);
Octogonapus
approved these changes
Jun 8, 2022
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Description of the Change
OdomChassisController will now turn the shortest turn when
turnToAngleis called.Motivation
Currently, turnToAngle will only turn clockwise. For example, if I wanted to turn to 270_deg, it would turn 270 degrees clockwise instead of turning 90 degrees counterclockwise.
Possible Drawbacks
None that I can think of right now
Verification Process
The
turnToPointfunction uses a similar method of constraining the desired turn angle to [-180, 180], and it works, so this change forturnToAngleshould work too.Applicable Issues
#468