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Organize Chassis object instantiation with comments and separate lines #20

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4ec8077
Initial plan
Copilot Sep 24, 2025
d7e7272
Initial assessment and planning for Chassis object organization
Copilot Sep 24, 2025
d5279e8
Organize Chassis object instantiation with comments and separate lines
Copilot Sep 24, 2025
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2 changes: 1 addition & 1 deletion include/types/angle.h
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Original file line number Diff line number Diff line change
Expand Up @@ -3,7 +3,7 @@

#define RADIANS (180.0 / M_PI)

#include "math.h"
#include <math.h>

using namespace std;

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14 changes: 13 additions & 1 deletion src/main.cpp
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Expand Up @@ -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, {
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