From 4ec807723a358d3f3490699a6fd13398df0ca538 Mon Sep 17 00:00:00 2001 From: "copilot-swe-agent[bot]" <198982749+Copilot@users.noreply.github.com> Date: Wed, 24 Sep 2025 22:57:37 +0000 Subject: [PATCH 1/3] Initial plan From d7e72720b382453e7277895a759d88d135aaf9f9 Mon Sep 17 00:00:00 2001 From: "copilot-swe-agent[bot]" <198982749+Copilot@users.noreply.github.com> Date: Wed, 24 Sep 2025 23:00:40 +0000 Subject: [PATCH 2/3] Initial assessment and planning for Chassis object organization Co-authored-by: Github11200 <78944617+Github11200@users.noreply.github.com> --- include/types/angle.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/include/types/angle.h b/include/types/angle.h index 1a30705..cfe262f 100644 --- a/include/types/angle.h +++ b/include/types/angle.h @@ -3,7 +3,7 @@ #define RADIANS (180.0 / M_PI) -#include "math.h" +#include using namespace std; From d5279e8c145152ac4df2ce7cf6ddc6d039ddf5df Mon Sep 17 00:00:00 2001 From: "copilot-swe-agent[bot]" <198982749+Copilot@users.noreply.github.com> Date: Wed, 24 Sep 2025 23:01:38 +0000 Subject: [PATCH 3/3] Organize Chassis object instantiation with comments and separate lines Co-authored-by: Github11200 <78944617+Github11200@users.noreply.github.com> --- src/main.cpp | 14 +++++++++++++- 1 file changed, 13 insertions(+), 1 deletion(-) diff --git a/src/main.cpp b/src/main.cpp index a63922a..67f65cb 100644 --- a/src/main.cpp +++ b/src/main.cpp @@ -80,7 +80,19 @@ void usercontrol(void) { stopPlease = true; }); // Testing::runAllTests(); - Chassis *chassis = new Chassis(PORT19, PORT14, PORT13, Left, Right, ((M_PI * 1.98298) / 360.0), -0.640625, 1.625, true); + + // Create chassis object with sensor ports and configuration + Chassis *chassis = new Chassis( + PORT19, // Inertial sensor port + PORT14, // Forward tracking wheel port + PORT13, // Sideways tracking wheel port + Left, // Left motor group (FrontLeft, MiddleLeft, BackLeft) + Right, // Right motor group (FrontRight, MiddleRight, BackRight) + ((M_PI * 1.98298) / 360.0), // Inches to degrees conversion ratio for tracking wheels + -0.640625, // Forward tracking wheel distance from center (inches) + 1.625, // Sideways tracking wheel distance from center (inches) + true // Enable debug logging + ); chassis->odometry->startPositionTrackThread(true); // chassis->trapezoidalMotionProfile(20, {