#include <flags.h>

Public Attributes
bool	async

bool	relative

bool	thru

bool	reverse

Detailed Description

This struct contains the flags that are used to control the movement of the robot.
There are 4 different flags for this struct, each of which is a boolean value.
The ASYNC flag will cause the movement to be asynchronous, meaning that the robot will not wait for the movement to finish before continuing the code.
The RELATIVE flag will cause the movement to be relative to the robot's current position, instead of global to where the last odom::reset() call was made
The THRU flag will disable PID control for the movement, causing the robot to move at maximum speed for the entire movement. This results in slightly less accurate movement, but you get a higher acceleration/deceleration
The REVERSE flag will cause the robot to move towards the movement using it's "back" instead of it's "front". If you tell the robot to move to a point behind it without this flag, it will turn around and move to the point instead of just moving backwards to it.

Example 1:

// create a MoveFlags object that is asynchronous and relative
MoveFlags option_1 = {true, true, false, false}; // create with vector
MoveFlags option_2 = arms::ASYNC | arms::RELATIVE; // create with flags

Example 2:

// perform a chassis movement that is reverse, relative, and asynchronous
chassis.move({0, 0}, 100, {true, true, false, true}); // move with vector
chassis.move({0, 0}, 100, arms::REVERSE | arms::RELATIVE | arms::ASYNC); // move with flags

Member Data Documentation

◆ async

boolean arms::MoveFlags::async

Determines if the movement is asynchronous or not.

◆ relative

boolean arms::MoveFlags::relative

Determines if the movement is relative or not.

◆ reverse

boolean arms::MoveFlags::reverse

Determines if the movement is reverse or not.

◆ thru

boolean arms::MoveFlags::thru

Determines if the movement should use PID or not.

The documentation for this struct was generated from the following file: