From 7cd36b6d331d2f793c87ce1b3f2e2f5f8350011a Mon Sep 17 00:00:00 2001
From: Ryan McGee <ramtech51@comcast.net>
Date: Thu, 2 Apr 2020 12:07:30 -0400
Subject: [PATCH 001/243] Initial commit

---
 .gitignore | 32 ++++++++++++++++++++++++++++++++
 README.md  |  2 ++
 2 files changed, 34 insertions(+)
 create mode 100644 .gitignore
 create mode 100644 README.md

diff --git a/.gitignore b/.gitignore
new file mode 100644
index 0000000..259148f
--- /dev/null
+++ b/.gitignore
@@ -0,0 +1,32 @@
+# Prerequisites
+*.d
+
+# Compiled Object files
+*.slo
+*.lo
+*.o
+*.obj
+
+# Precompiled Headers
+*.gch
+*.pch
+
+# Compiled Dynamic libraries
+*.so
+*.dylib
+*.dll
+
+# Fortran module files
+*.mod
+*.smod
+
+# Compiled Static libraries
+*.lai
+*.la
+*.a
+*.lib
+
+# Executables
+*.exe
+*.out
+*.app
diff --git a/README.md b/README.md
new file mode 100644
index 0000000..8ce5935
--- /dev/null
+++ b/README.md
@@ -0,0 +1,2 @@
+# Core
+General robot code shared between the "BIG" and "LITTLE" repo's

From 191dc0531e9a981f083821c4c3c80c8a3df3989c Mon Sep 17 00:00:00 2001
From: superrm11 <ramtech51@comcast.net>
Date: Fri, 3 Apr 2020 17:16:35 -0400
Subject: [PATCH 002/243] Finished porting PID and TankDrive classes to VexCode

---
 include/subsystems/tank_drive.h |  74 ++++++++++++++++++++++
 include/utils/pid.h             |  74 ++++++++++++++++++++++
 src/subsystems/tank_drive.cpp   | 103 +++++++++++++++++++++++++++++++
 src/utils/pid.cpp               | 106 ++++++++++++++++++++++++++++++++
 4 files changed, 357 insertions(+)
 create mode 100644 include/subsystems/tank_drive.h
 create mode 100644 include/utils/pid.h
 create mode 100644 src/subsystems/tank_drive.cpp
 create mode 100644 src/utils/pid.cpp

diff --git a/include/subsystems/tank_drive.h b/include/subsystems/tank_drive.h
new file mode 100644
index 0000000..584cb07
--- /dev/null
+++ b/include/subsystems/tank_drive.h
@@ -0,0 +1,74 @@
+#ifndef _TANKDRIVE_
+#define _TANKDRIVE_
+
+#define PI 3.141592654
+
+#include "vex.h"
+#include "utils/pid.h"
+
+using namespace vex;
+
+class TankDrive
+{
+public:
+
+  struct tankdrive_config_t
+  {
+    PID::pid_config_t *drive_pid;
+    PID::pid_config_t *turn_pid;
+
+    double wheel_diam;
+  };
+
+  /**
+   * Create the TankDrive object 
+   */
+  TankDrive(motor_group *left_motors, motor_group *right_motors, gyro *gyro_sensor, tankdrive_config_t *config);
+
+  /**
+   * Drive the robot using differential style controls. left_motors controls the left motors,
+   * right_motors controls the right motors.
+   * 
+   * left_motors and right_motors are in "percent": -1.0 -> 1.0
+   */
+  void drive_tank(double left, double right);
+
+  /**
+   * Drive the robot using arcade style controls. forward_back controls the linear motion,
+   * left_right controls the turning.
+   * 
+   * left_motors and right_motors are in "percent": -1.0 -> 1.0
+   */
+  void drive_arcade(double forward_back, double left_right);
+
+  /**
+   * Autonomously drive the robot X inches forward (Negative for backwards), with a maximum speed
+   * of percent_speed (-1.0 -> 1.0).
+   * 
+   * Uses a PID loop for it's control.
+   */
+  bool drive_forward(double inches, double percent_speed);
+
+  /**
+   * Autonomously turn the robot X degrees to the right (negative for left), with a maximum motor speed
+   * of percent_speed (-1.0 -> 1.0)
+   * 
+   * Uses a PID loop for it's control.
+   */
+  bool turn_degrees(double degrees, double percent_speed);
+
+private:
+  tankdrive_config_t *config;
+
+  motor_group *left_motors;
+  motor_group *right_motors;
+
+  PID drive_pid;
+  PID turn_pid;
+
+  gyro *gyro_sensor;
+
+  bool initialize_func = true;
+};
+
+#endif
\ No newline at end of file
diff --git a/include/utils/pid.h b/include/utils/pid.h
new file mode 100644
index 0000000..8ea3178
--- /dev/null
+++ b/include/utils/pid.h
@@ -0,0 +1,74 @@
+#ifndef _PID_
+#define _PID_
+
+#include <cmath>
+#include "vex.h"
+
+using namespace vex;
+
+class PID
+{
+public:
+  struct pid_config_t
+  {
+    double p, i, d, f;
+    double deadband, on_target_time;
+  };
+
+  /**
+   * Create the PID object
+   */
+  PID(pid_config_t *config);
+
+  /**
+   * Update the PID loop by taking the time difference from last update,
+   * and running the PID formula with the new sensor data
+   */
+  void update(double sensorVal);
+
+  /**
+   * Reset the PID loop by resetting time since 0 and accumulated error.
+   */
+  void reset();
+
+  /**
+   * Gets the current PID out value, from when update() was last run
+   */
+  double get();
+
+  /**
+   * Get the delta between the current sensor data and the target
+   */
+  double get_error();
+
+  /**
+   * Set the target for the PID loop, where the robot is trying to end up
+   */
+  void set_target(double target);
+
+  /**
+   * Set the limits on the PID out. The PID out will "clip" itself to be 
+   * between the limits.
+   */
+  void set_limits(double lower, double upper);
+
+  /**
+   * Returns true if the loop is within [deadband] for [on_target_time]
+   * seconds
+   */
+  bool is_on_target();
+
+private:
+  pid_config_t *config;
+
+  double last_error = 0, accum_error = 0;
+  double last_time = 0, on_target_last_time = 0;
+  double lower_limit = 0, upper_limit = 0;
+
+  double target = 0, sensor_val = 0, out = 0;
+  bool is_checking_on_target = false;
+
+  timer pid_timer;
+};
+
+#endif
\ No newline at end of file
diff --git a/src/subsystems/tank_drive.cpp b/src/subsystems/tank_drive.cpp
new file mode 100644
index 0000000..54d75ce
--- /dev/null
+++ b/src/subsystems/tank_drive.cpp
@@ -0,0 +1,103 @@
+#include "subsystems/tank_drive.h"
+
+TankDrive::TankDrive(motor_group *left_motors, motor_group *right_motors, gyro *gyro_sensor, TankDrive::tankdrive_config_t *config)
+    : config(config), left_motors(left_motors), right_motors(right_motors), drive_pid(config->drive_pid), turn_pid(config->turn_pid), gyro_sensor(gyro_sensor)
+{
+}
+
+/**
+ * Drive the robot using differential style controls. left_motors controls the left motors,
+ * right_motors controls the right motors.
+ * 
+ * left_motors and right_motors are in "percent": -1.0 -> 1.0
+ */
+void TankDrive::drive_tank(double left, double right)
+{
+  left_motors->setVelocity(left * 100, velocityUnits::pct);
+  right_motors->setVelocity(right * 100, velocityUnits::pct);
+}
+
+/**
+ * Drive the robot using arcade style controls. forward_back controls the linear motion,
+ * left_right controls the turning.
+ * 
+ * left_motors and right_motors are in "percent": -1.0 -> 1.0
+ */
+void TankDrive::drive_arcade(double forward_back, double left_right)
+{
+  double left = forward_back + left_right;
+  double right = forward_back - left_right;
+
+  left_motors->setVelocity(left * 100, velocityUnits::pct);
+  right_motors->setVelocity(right * 100, velocityUnits::pct);
+}
+
+/**
+ * Autonomously drive the robot X inches forward (Negative for backwards), with a maximum speed
+ * of percent_speed (-1.0 -> 1.0).
+ * 
+ * Uses a PID loop for it's control.
+ */
+bool TankDrive::drive_forward(double inches, double percent_speed)
+{
+  // On the first run of the funciton, reset the motor position and PID
+  if (initialize_func)
+  {
+    left_motors->resetPosition();
+    drive_pid.reset();
+
+    drive_pid.set_limits(-fabs(percent_speed), fabs(percent_speed));
+    drive_pid.set_target(inches);
+
+    initialize_func = false;
+  }
+
+  // Update PID loop and drive the robot based on it's output
+  drive_pid.update(left_motors->position(rotationUnits::rev) * PI * config->wheel_diam);
+  drive_tank(drive_pid.get(), drive_pid.get());
+
+  // If the robot is at it's target, return true
+  if (drive_pid.is_on_target())
+  {
+    drive_tank(0, 0);
+    initialize_func = true;
+    return true;
+  }
+
+  return false;
+}
+
+/**
+ * Autonomously turn the robot X degrees to the right (negative for left), with a maximum motor speed
+ * of percent_speed (-1.0 -> 1.0)
+ * 
+ * Uses a PID loop for it's control.
+ */
+bool TankDrive::turn_degrees(double degrees, double percent_speed)
+{
+  // On the first run of the funciton, reset the gyro position and PID
+  if (initialize_func)
+  {
+    gyro_sensor->resetAngle();
+    turn_pid.reset();
+
+    turn_pid.set_limits(-fabs(percent_speed), fabs(percent_speed));
+    turn_pid.set_target(degrees);
+
+    initialize_func = false;
+  }
+
+  // Update PID loop and drive the robot based on it's output
+  turn_pid.update(gyro_sensor->angle(rotationUnits::deg));
+  drive_tank(turn_pid.get(), -turn_pid.get());
+
+  // If the robot is at it's target, return true
+  if (turn_pid.is_on_target())
+  {
+    drive_tank(0, 0);
+    initialize_func = true;
+    return true;
+  }
+
+  return false;
+}
\ No newline at end of file
diff --git a/src/utils/pid.cpp b/src/utils/pid.cpp
new file mode 100644
index 0000000..84331b6
--- /dev/null
+++ b/src/utils/pid.cpp
@@ -0,0 +1,106 @@
+#include "utils/pid.h"
+
+/**
+   * Create the PID object
+   */
+PID::PID(pid_config_t *config)
+    : config(config)
+{
+  pid_timer.reset();
+}
+
+/**
+   * Update the PID loop by taking the time difference from last update,
+   * and running the PID formula with the new sensor data
+   */
+void PID::update(double sensor_val)
+{
+  this->sensor_val = sensor_val;
+
+  double time_delta = pid_timer.value() - last_time;
+
+  accum_error += time_delta * get_error();
+
+  out = (config->f) + (config->p * get_error()) + (config->i * accum_error) + (config->d * (get_error() - last_error) / time_delta);
+
+  last_time = pid_timer.value();
+  last_error = get_error();
+
+  if (lower_limit != 0 || upper_limit != 0)
+    out = (out < lower_limit) ? lower_limit : (out > upper_limit) ? upper_limit : out;
+}
+
+/**
+   * Reset the PID loop by resetting time since 0 and accumulated error.
+   */
+void PID::reset()
+{
+  pid_timer.reset();
+
+  last_error = 0;
+  last_time = 0;
+  accum_error = 0;
+
+  is_checking_on_target = false;
+  on_target_last_time = 0;
+}
+
+/**
+   * Gets the current PID out value, from when update() was last run
+   */
+double PID::get()
+{
+  return out;
+}
+
+/**
+   * Get the delta between the current sensor data and the target
+   */
+double PID::get_error()
+{
+  return target - sensor_val;
+}
+
+/**
+   * Set the target for the PID loop, where the robot is trying to end up
+   */
+void PID::set_target(double target)
+{
+  this->target = target;
+}
+
+/**
+   * Set the limits on the PID out. The PID out will "clip" itself to be 
+   * between the limits.
+   */
+void PID::set_limits(double lower, double upper)
+{
+  lower_limit = lower;
+  upper_limit = upper;
+}
+
+/**
+   * Returns true if the loop is within [deadband] for [on_target_time]
+   * seconds
+   */
+bool PID::is_on_target()
+{
+  if (fabs(get_error()) < config->deadband)
+  {
+    if (is_checking_on_target == false)
+    {
+      on_target_last_time = pid_timer.value();
+      is_checking_on_target = true;
+    }
+    else if (pid_timer.value() - on_target_last_time > config->on_target_time)
+    {
+      return true;
+    }
+  }
+  else
+  {
+    is_checking_on_target = false;
+  }
+
+  return false;
+}
\ No newline at end of file

From 0c07c0e5b548116708fc03beaed8b13f57edb5c5 Mon Sep 17 00:00:00 2001
From: superrm11 <ramtech51@comcast.net>
Date: Mon, 6 Apr 2020 13:49:12 -0400
Subject: [PATCH 003/243] Ported Splines, RGBController. Updated TankDrive for
 Vex IMU. Update Makefile

---
 .gitignore                              |  15 -----
 include/pathfinder.h                    |  27 ++++++++
 include/pathfinder/fit.h                |  13 ++++
 include/pathfinder/followers/distance.h |  19 ++++++
 include/pathfinder/followers/encoder.h  |  19 ++++++
 include/pathfinder/io.h                 |  26 +++++++
 include/pathfinder/lib.h                |  10 +++
 include/pathfinder/mathutil.h           |  20 ++++++
 include/pathfinder/modifiers/swerve.h   |  13 ++++
 include/pathfinder/modifiers/tank.h     |   8 +++
 include/pathfinder/spline.h             |  18 +++++
 include/pathfinder/structs.h            |  43 ++++++++++++
 include/pathfinder/trajectory.h         |  17 +++++
 include/subsystems/rgb_controller.h     |  69 +++++++++++++++++++
 include/subsystems/tank_drive.h         |   9 ++-
 include/utils/spline_path.h             |  57 ++++++++++++++++
 lib/libpathfinder.a                     | Bin 0 -> 31010 bytes
 src/subsystems/tank_drive.cpp           |  15 ++++-
 src/utils/spline_path.cpp               |  86 ++++++++++++++++++++++++
 19 files changed, 464 insertions(+), 20 deletions(-)
 create mode 100644 include/pathfinder.h
 create mode 100644 include/pathfinder/fit.h
 create mode 100644 include/pathfinder/followers/distance.h
 create mode 100644 include/pathfinder/followers/encoder.h
 create mode 100644 include/pathfinder/io.h
 create mode 100644 include/pathfinder/lib.h
 create mode 100644 include/pathfinder/mathutil.h
 create mode 100644 include/pathfinder/modifiers/swerve.h
 create mode 100644 include/pathfinder/modifiers/tank.h
 create mode 100644 include/pathfinder/spline.h
 create mode 100644 include/pathfinder/structs.h
 create mode 100644 include/pathfinder/trajectory.h
 create mode 100644 include/subsystems/rgb_controller.h
 create mode 100644 include/utils/spline_path.h
 create mode 100644 lib/libpathfinder.a
 create mode 100644 src/utils/spline_path.cpp

diff --git a/.gitignore b/.gitignore
index 259148f..2a49557 100644
--- a/.gitignore
+++ b/.gitignore
@@ -7,25 +7,10 @@
 *.o
 *.obj
 
-# Precompiled Headers
-*.gch
-*.pch
-
-# Compiled Dynamic libraries
-*.so
-*.dylib
-*.dll
-
 # Fortran module files
 *.mod
 *.smod
 
-# Compiled Static libraries
-*.lai
-*.la
-*.a
-*.lib
-
 # Executables
 *.exe
 *.out
diff --git a/include/pathfinder.h b/include/pathfinder.h
new file mode 100644
index 0000000..3645908
--- /dev/null
+++ b/include/pathfinder.h
@@ -0,0 +1,27 @@
+#ifndef PATHFINDER_H_DEF
+#define PATHFINDER_H_DEF
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include "pathfinder/mathutil.h"
+#include "pathfinder/structs.h"
+
+#include "pathfinder/fit.h"
+#include "pathfinder/spline.h"
+#include "pathfinder/trajectory.h"
+
+#include "pathfinder/modifiers/tank.h"
+#include "pathfinder/modifiers/swerve.h"
+
+#include "pathfinder/followers/encoder.h"
+#include "pathfinder/followers/distance.h"
+
+#include "pathfinder/io.h"
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif
\ No newline at end of file
diff --git a/include/pathfinder/fit.h b/include/pathfinder/fit.h
new file mode 100644
index 0000000..9b19978
--- /dev/null
+++ b/include/pathfinder/fit.h
@@ -0,0 +1,13 @@
+#ifndef PATHFINDER_FIT_H_DEF
+#define PATHFINDER_FIT_H_DEF
+
+#include "pathfinder/lib.h"
+
+CAPI void pf_fit_hermite_pre(Waypoint a, Waypoint b, Spline *s);
+CAPI void pf_fit_hermite_cubic(Waypoint a, Waypoint b, Spline *s);
+CAPI void pf_fit_hermite_quintic(Waypoint a, Waypoint b, Spline *s);
+
+#define FIT_HERMITE_CUBIC   &pf_fit_hermite_cubic
+#define FIT_HERMITE_QUINTIC &pf_fit_hermite_quintic
+
+#endif
\ No newline at end of file
diff --git a/include/pathfinder/followers/distance.h b/include/pathfinder/followers/distance.h
new file mode 100644
index 0000000..b3b1ab5
--- /dev/null
+++ b/include/pathfinder/followers/distance.h
@@ -0,0 +1,19 @@
+#ifndef PATHFINDER_FOL_DISTANCE_H_DEF
+#define PATHFINDER_FOL_DISTANCE_H_DEF
+
+#include "pathfinder/lib.h"
+
+CAPI typedef struct {
+    double kp, ki, kd, kv, ka;
+} FollowerConfig;
+
+CAPI typedef struct {
+    double last_error, heading, output;
+    int segment, finished;
+} DistanceFollower;
+
+CAPI double pathfinder_follow_distance(FollowerConfig c, DistanceFollower *follower, Segment *trajectory, int trajectory_length, double distance);
+
+CAPI double pathfinder_follow_distance2(FollowerConfig c, DistanceFollower *follower, Segment segment, int trajectory_length, double distance);
+
+#endif
\ No newline at end of file
diff --git a/include/pathfinder/followers/encoder.h b/include/pathfinder/followers/encoder.h
new file mode 100644
index 0000000..7268d2d
--- /dev/null
+++ b/include/pathfinder/followers/encoder.h
@@ -0,0 +1,19 @@
+#ifndef PATHFINDER_FOL_ENCODER_H_DEF
+#define PATHFINDER_FOL_ENCODER_H_DEF
+
+typedef struct {
+    int initial_position, ticks_per_revolution;
+    double wheel_circumference;
+    double kp, ki, kd, kv, ka;
+} EncoderConfig;
+
+typedef struct {
+    double last_error, heading, output;
+    int segment, finished;
+} EncoderFollower;
+
+double pathfinder_follow_encoder(EncoderConfig c, EncoderFollower *follower, Segment *trajectory, int trajectory_length, int encoder_tick);
+
+double pathfinder_follow_encoder2(EncoderConfig c, EncoderFollower *follower, Segment segment, int trajectory_length, int encoder_tick);
+
+#endif
\ No newline at end of file
diff --git a/include/pathfinder/io.h b/include/pathfinder/io.h
new file mode 100644
index 0000000..bfd37ce
--- /dev/null
+++ b/include/pathfinder/io.h
@@ -0,0 +1,26 @@
+#ifndef PATHFINDER_IO_H_DEF
+#define PATHFINDER_IO_H_DEF
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include "pathfinder/lib.h"
+
+#define CSV_LEADING_STRING "dt,x,y,position,velocity,acceleration,jerk,heading\n"
+
+CAPI void intToBytes(int n, char *bytes);
+CAPI int bytesToInt(char *bytes);
+CAPI void longToBytes(unsigned long long n, char *bytes);
+CAPI unsigned long long bytesToLong(char *bytes);
+CAPI double longToDouble(unsigned long long l);
+CAPI unsigned long long doubleToLong(double d);
+CAPI void doubleToBytes(double n, char *bytes);
+CAPI double bytesToDouble(char *bytes);
+
+CAPI void pathfinder_serialize(FILE *fp, Segment *trajectory, int trajectory_length);
+CAPI int pathfinder_deserialize(FILE *fp, Segment *target);
+
+CAPI void pathfinder_serialize_csv(FILE *fp, Segment *trajectory, int trajectory_length);
+CAPI int pathfinder_deserialize_csv(FILE *fp, Segment *target);
+
+#endif
\ No newline at end of file
diff --git a/include/pathfinder/lib.h b/include/pathfinder/lib.h
new file mode 100644
index 0000000..4c15a58
--- /dev/null
+++ b/include/pathfinder/lib.h
@@ -0,0 +1,10 @@
+#ifndef PATHFINDER_LIB_H_DEF
+#define PATHFINDER_LIB_H_DEF
+
+#if defined(WIN32) || defined(_WIN32) || defined(__WIN32) && !defined(__CYGWIN__)
+    #define CAPI __declspec(dllexport)
+#else
+    #define CAPI
+#endif
+
+#endif
\ No newline at end of file
diff --git a/include/pathfinder/mathutil.h b/include/pathfinder/mathutil.h
new file mode 100644
index 0000000..99cad7d
--- /dev/null
+++ b/include/pathfinder/mathutil.h
@@ -0,0 +1,20 @@
+#include <math.h>
+
+#ifndef PATHFINDER_MATH_UTIL_H_DEF
+#define PATHFINDER_MATH_UTIL_H_DEF
+
+#include "pathfinder/lib.h"
+
+#define PI 3.14159265358979323846
+#define TAU PI*2
+
+#define MIN(a,b) (((a)<(b))?(a):(b))
+#define MAX(a,b) (((a)>(b))?(a):(b))
+
+CAPI double bound_radians(double angle);
+
+CAPI double r2d(double angleInRads);
+
+CAPI double d2r(double angleInDegrees);
+
+#endif
\ No newline at end of file
diff --git a/include/pathfinder/modifiers/swerve.h b/include/pathfinder/modifiers/swerve.h
new file mode 100644
index 0000000..0168e0d
--- /dev/null
+++ b/include/pathfinder/modifiers/swerve.h
@@ -0,0 +1,13 @@
+#ifndef PATHFINDER_MOD_SWERVE_H_DEF
+#define PATHFINDER_MOD_SWERVE_H_DEF
+
+#include "pathfinder/lib.h"
+
+CAPI typedef enum {
+    SWERVE_DEFAULT
+} SWERVE_MODE;
+
+CAPI void pathfinder_modify_swerve(Segment *original, int length, Segment *front_left, Segment *front_right,
+        Segment *back_left, Segment *back_right, double wheelbase_width, double wheelbase_depth, SWERVE_MODE mode);
+
+#endif
\ No newline at end of file
diff --git a/include/pathfinder/modifiers/tank.h b/include/pathfinder/modifiers/tank.h
new file mode 100644
index 0000000..1653b6c
--- /dev/null
+++ b/include/pathfinder/modifiers/tank.h
@@ -0,0 +1,8 @@
+#ifndef PATHFINDER_MOD_TANK_H_DEF
+#define PATHFINDER_MOD_TANK_H_DEF
+
+#include "pathfinder/lib.h"
+
+CAPI void pathfinder_modify_tank(Segment *original, int length, Segment *left, Segment *right, double wheelbase_width);
+
+#endif
\ No newline at end of file
diff --git a/include/pathfinder/spline.h b/include/pathfinder/spline.h
new file mode 100644
index 0000000..1bb980c
--- /dev/null
+++ b/include/pathfinder/spline.h
@@ -0,0 +1,18 @@
+#ifndef PATHFINDER_SPLINE_H_DEF
+#define PATHFINDER_SPLINE_H_DEF
+
+#include "pathfinder/lib.h"
+
+#define PATHFINDER_SAMPLES_FAST (int)1000
+#define PATHFINDER_SAMPLES_LOW  (int)PATHFINDER_SAMPLES_FAST*10
+#define PATHFINDER_SAMPLES_HIGH (int)PATHFINDER_SAMPLES_LOW*10
+
+CAPI Coord pf_spline_coords(Spline s, double percentage);
+CAPI double pf_spline_deriv(Spline s, double percentage);
+CAPI double pf_spline_deriv_2(double a, double b, double c, double d, double e, double k, double p);
+CAPI double pf_spline_angle(Spline s, double percentage);
+
+CAPI double pf_spline_distance(Spline *s, int sample_count);
+CAPI double pf_spline_progress_for_distance(Spline s, double distance, int sample_count);
+
+#endif
\ No newline at end of file
diff --git a/include/pathfinder/structs.h b/include/pathfinder/structs.h
new file mode 100644
index 0000000..89ecb8e
--- /dev/null
+++ b/include/pathfinder/structs.h
@@ -0,0 +1,43 @@
+#ifndef PATHFINDER_STRUCT_H_DEF
+#define PATHFINDER_STRUCT_H_DEF
+
+#include "pathfinder/lib.h"
+
+CAPI typedef struct {
+    double x, y, angle;
+} Waypoint;
+
+CAPI typedef struct {
+    double a, b, c, d, e;
+    double x_offset, y_offset, angle_offset, knot_distance, arc_length;
+} Spline;
+
+CAPI typedef struct {
+    double x, y;
+} Coord;
+
+CAPI typedef struct {
+    double dt, x, y, position, velocity, acceleration, jerk, heading;
+} Segment;
+
+CAPI typedef struct {
+    double dt, max_v, max_a, max_j, src_v, src_theta, dest_pos, dest_v, dest_theta;
+    int sample_count;
+} TrajectoryConfig;
+
+CAPI typedef struct {
+    int filter1, filter2, length;
+    double dt, u, v, impulse;
+} TrajectoryInfo;
+
+CAPI typedef struct {
+    Spline *saptr;
+    double *laptr;
+    double totalLength;
+    int length;
+    int path_length;
+    TrajectoryInfo info;
+    TrajectoryConfig config;
+} TrajectoryCandidate;
+
+#endif
\ No newline at end of file
diff --git a/include/pathfinder/trajectory.h b/include/pathfinder/trajectory.h
new file mode 100644
index 0000000..fe95373
--- /dev/null
+++ b/include/pathfinder/trajectory.h
@@ -0,0 +1,17 @@
+#ifndef PATHFINDER_TRAJECTORY_H_DEF
+#define PATHFINDER_TRAJECTORY_H_DEF
+
+#include "pathfinder/lib.h"
+
+CAPI int pathfinder_prepare(Waypoint *path, int path_length, void (*fit)(Waypoint,Waypoint,Spline*), int sample_count, double dt,
+        double max_velocity, double max_acceleration, double max_jerk, TrajectoryCandidate *cand);
+CAPI int pathfinder_generate(TrajectoryCandidate *c, Segment *segments);
+
+CAPI void pf_trajectory_copy(Segment *src, Segment *dest, int length);
+
+CAPI TrajectoryInfo pf_trajectory_prepare(TrajectoryConfig c);
+CAPI int pf_trajectory_create(TrajectoryInfo info, TrajectoryConfig c, Segment *seg);
+CAPI int pf_trajectory_fromSecondOrderFilter(int filter_1_l, int filter_2_l, 
+        double dt, double u, double v, double impulse, int len, Segment *t);
+
+#endif
\ No newline at end of file
diff --git a/include/subsystems/rgb_controller.h b/include/subsystems/rgb_controller.h
new file mode 100644
index 0000000..de9144b
--- /dev/null
+++ b/include/subsystems/rgb_controller.h
@@ -0,0 +1,69 @@
+#ifndef _RGB_CON_
+#define _RGB_CON_
+
+#include "vex.h"
+
+/**
+ * A simple rgb controller for controlling the arduino, which in turn controls the led strip.
+ * Sends binary over 3 seperate 3 wire ports for up to 7 color modes, and off.
+ */
+class RGBController
+{
+  private:
+    vex::digital_out port1, port2, port3;
+
+  public:
+
+  enum rgb_t
+  {
+    Off, Blue, Red, Green, OrangeWhite, Rainbow
+  };
+
+  RGBController(rgb_t starting_color, triport::port port1, triport::port port2, triport::port port3)
+  : port1(port1), port2(port2), port3(port3)
+  {
+    set(starting_color);
+  }
+
+  void set(rgb_t color)
+  {
+    switch(color)
+    {
+      case Blue:
+        port1.set(1);
+        port2.set(0);
+        port3.set(0);
+      break;
+      case Red:
+        port1.set(0);
+        port2.set(1);
+        port3.set(0);
+      break;
+      case Green:
+        port1.set(1);
+        port2.set(1);
+        port3.set(0);
+      break;
+      case OrangeWhite:
+        port1.set(0);
+        port2.set(0);
+        port3.set(1);
+      break;
+      case Rainbow:
+        port1.set(1);
+        port2.set(0);
+        port3.set(1);
+      break;
+
+      default:
+      case Off:
+        port1.set(0);
+        port2.set(0);
+        port3.set(0);
+      break;
+    }
+  }
+
+  
+};
+#endif
\ No newline at end of file
diff --git a/include/subsystems/tank_drive.h b/include/subsystems/tank_drive.h
index 584cb07..d667386 100644
--- a/include/subsystems/tank_drive.h
+++ b/include/subsystems/tank_drive.h
@@ -23,7 +23,12 @@ class TankDrive
   /**
    * Create the TankDrive object 
    */
-  TankDrive(motor_group *left_motors, motor_group *right_motors, gyro *gyro_sensor, tankdrive_config_t *config);
+  TankDrive(motor_group *left_motors, motor_group *right_motors, inertial *gyro_sensor, tankdrive_config_t *config);
+
+  /**
+   * Stops rotation of all the motors using their "brake mode"
+   */
+  void stop();
 
   /**
    * Drive the robot using differential style controls. left_motors controls the left motors,
@@ -66,7 +71,7 @@ class TankDrive
   PID drive_pid;
   PID turn_pid;
 
-  gyro *gyro_sensor;
+  inertial *gyro_sensor;
 
   bool initialize_func = true;
 };
diff --git a/include/utils/spline_path.h b/include/utils/spline_path.h
new file mode 100644
index 0000000..73de506
--- /dev/null
+++ b/include/utils/spline_path.h
@@ -0,0 +1,57 @@
+#ifndef _SPLINE_
+#define _SPLINE_
+
+#include "pathfinder.h"
+
+#include "subsystems/tank_drive.h"
+
+
+class SplinePath
+{
+public:
+  struct motion_profile_t
+  {
+    // drive_pid controls the speed at which the robot drives forward,
+    // turn_p is for turning the robot based on the desired heading
+    float drive_p = .1, drive_i = 0, drive_d = 0;
+    float turn_p = .05;
+
+    // Maximum velocity, acceleration, and jerk the robot is allowed to achieve (Jerk doesn't matter THAT much...)
+    double max_v = 10, max_a = 20, max_j = 100;
+
+    // kv and ka are constants fed into the spline system, and are multiplied by the
+    // velocity setpoint and acceleration setpoint inside the main pathfinder stuff.
+    // Generally 1/max_v is sufficient for kv (does NOT work for ka)
+    float kv = 1.0 / max_v, ka = 0;
+
+    // Time delta between loops inside the pathfinder calls
+    double dt = .01;
+
+    // Misc robot info
+    double wheel_diam = 4;
+    int ticks_per_rev = 900; // 300 with blues, 900 with greens, 1800 with reds
+    double wheelbase_width = 11.5;
+  };
+
+  SplinePath(TankDrive *drive_system, vex::inertial *imu, vex::motor *l_enc, vex::motor *r_enc, motion_profile_t *motion_profile);
+
+  bool run_path(Waypoint *point_list, int list_length);
+
+private:
+  bool run_path_init = true;
+  double reset_heading = 0;
+
+  TrajectoryCandidate candidate;
+  Segment *center_traj, *left_traj, *right_traj;
+
+  EncoderFollower *left_follower, *right_follower;
+  EncoderConfig enc_conf;
+
+  TankDrive *drive_system;
+  vex::motor *l_enc, *r_enc;
+  vex::inertial *imu;
+
+  motion_profile_t *motion_profile;
+};
+
+#endif
\ No newline at end of file
diff --git a/lib/libpathfinder.a b/lib/libpathfinder.a
new file mode 100644
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literal 0
HcmV?d00001

diff --git a/src/subsystems/tank_drive.cpp b/src/subsystems/tank_drive.cpp
index 54d75ce..b2940a1 100644
--- a/src/subsystems/tank_drive.cpp
+++ b/src/subsystems/tank_drive.cpp
@@ -1,10 +1,19 @@
 #include "subsystems/tank_drive.h"
 
-TankDrive::TankDrive(motor_group *left_motors, motor_group *right_motors, gyro *gyro_sensor, TankDrive::tankdrive_config_t *config)
+TankDrive::TankDrive(motor_group *left_motors, motor_group *right_motors, inertial *gyro_sensor, TankDrive::tankdrive_config_t *config)
     : config(config), left_motors(left_motors), right_motors(right_motors), drive_pid(config->drive_pid), turn_pid(config->turn_pid), gyro_sensor(gyro_sensor)
 {
 }
 
+/**
+ * Stops rotation of all the motors using their "brake mode"
+ */
+void TankDrive::stop()
+{
+  left_motors->stop();
+  right_motors->stop();
+}
+
 /**
  * Drive the robot using differential style controls. left_motors controls the left motors,
  * right_motors controls the right motors.
@@ -78,7 +87,7 @@ bool TankDrive::turn_degrees(double degrees, double percent_speed)
   // On the first run of the funciton, reset the gyro position and PID
   if (initialize_func)
   {
-    gyro_sensor->resetAngle();
+    gyro_sensor->resetRotation();
     turn_pid.reset();
 
     turn_pid.set_limits(-fabs(percent_speed), fabs(percent_speed));
@@ -88,7 +97,7 @@ bool TankDrive::turn_degrees(double degrees, double percent_speed)
   }
 
   // Update PID loop and drive the robot based on it's output
-  turn_pid.update(gyro_sensor->angle(rotationUnits::deg));
+  turn_pid.update(gyro_sensor->rotation(rotationUnits::deg));
   drive_tank(turn_pid.get(), -turn_pid.get());
 
   // If the robot is at it's target, return true
diff --git a/src/utils/spline_path.cpp b/src/utils/spline_path.cpp
new file mode 100644
index 0000000..705269f
--- /dev/null
+++ b/src/utils/spline_path.cpp
@@ -0,0 +1,86 @@
+#include "utils/spline_path.h"
+
+SplinePath::SplinePath(TankDrive *drive_system, vex::inertial *imu, vex::motor *l_enc, vex::motor *r_enc, motion_profile_t *motion_profile)
+: drive_system(drive_system), imu(imu), l_enc(l_enc), r_enc(r_enc), motion_profile(motion_profile)
+{
+}
+
+/**
+ * Makes the robot follow a predetermined path defined by point_list array,
+ * with list_length number of waypoints. The first waypoint should be the
+ * starting position.
+ * 
+ * Returns true when the path has finished
+ */
+bool SplinePath::run_path(Waypoint *point_list, int list_length)
+{
+  if (run_path_init)
+  {
+    // Set up Pathfinder's "EncoderConfig" struct that will be fed into the path generation
+    enc_conf.initial_position = 0;
+    enc_conf.ticks_per_revolution = motion_profile->ticks_per_rev;
+    enc_conf.wheel_circumference = motion_profile->wheel_diam * PI;
+    enc_conf.kp = motion_profile->drive_p;
+    enc_conf.ki = motion_profile->drive_i;
+    enc_conf.kd = motion_profile->drive_d;
+    enc_conf.kv = motion_profile->kv;
+    enc_conf.ka = motion_profile->ka;
+    
+    // Prepare the "trajectory candidate" with information about the curve (max velocities / accels, type of curve, etc)
+    pathfinder_prepare(point_list, list_length, FIT_HERMITE_CUBIC, PATHFINDER_SAMPLES_LOW, motion_profile->dt,
+                       motion_profile->max_v, motion_profile->max_a, motion_profile->max_j, &candidate);
+
+    // Allocate the memory for the center, left and right "trajectories", or paths.
+    center_traj = (Segment *)malloc(sizeof(Segment) * candidate.length);
+    left_traj = (Segment*) malloc(sizeof(Segment) * candidate.length);
+    right_traj = (Segment*) malloc(sizeof(Segment) * candidate.length);
+
+    // Generate the main center trajectory
+    pathfinder_generate(&candidate, center_traj);
+
+    // Generate the left wheel and right wheel paths from the center trajectory
+    pathfinder_modify_tank(center_traj, candidate.length, left_traj, right_traj, motion_profile->wheelbase_width);
+    
+    // Create the "follower" structs, which contains info about the current state of each path when it is running
+    // (e.g. current error for PID, whether it is finished)
+    left_follower = (EncoderFollower *)malloc(sizeof(EncoderFollower));
+    right_follower = (EncoderFollower *)malloc(sizeof(EncoderFollower));
+
+    reset_heading = imu->rotation();
+
+    // Make sure this only runs once per run
+    run_path_init = false;
+  }
+
+  double lout = pathfinder_follow_encoder(enc_conf, left_follower, left_traj, candidate.length, l_enc->position(rotationUnits::raw));
+  double rout = pathfinder_follow_encoder(enc_conf, right_follower, right_traj, candidate.length, r_enc->position(rotationUnits::raw));
+
+  double in_heading = r2d(left_follower->heading);
+  if(in_heading > 180)
+    in_heading -= 360;
+  double heading_error = in_heading + (imu->rotation() - reset_heading);
+
+  lout -= motion_profile->turn_p * heading_error;
+  rout += motion_profile->turn_p * heading_error;
+
+  drive_system->drive_tank(lout, rout);
+
+  if(left_follower->finished && right_follower->finished)
+  {
+    // Actively set all velocities of the wheels to 0
+    drive_system->stop();
+
+    // Free the memory allocated in the last run
+    free(center_traj);
+    free(left_traj);
+    free(right_traj);
+    free(left_follower);
+    free(right_follower);
+
+    // Re-run initialization for the next path
+    run_path_init = true;
+    return true;
+  }
+
+  return false;
+}
\ No newline at end of file

From d3cabe7ec2598e7923e0a467fa5b173049fd4eed Mon Sep 17 00:00:00 2001
From: Ryan McGee <ramtech51@comcast.net>
Date: Sun, 17 May 2020 14:36:43 -0400
Subject: [PATCH 004/243] Changed includes to relative paths, added core.h

---
 include/pathfinder.h                    | 20 ++++++++++----------
 include/pathfinder/fit.h                |  3 ++-
 include/pathfinder/followers/distance.h |  3 ++-
 include/pathfinder/followers/encoder.h  |  2 ++
 include/pathfinder/io.h                 |  3 ++-
 include/pathfinder/mathutil.h           |  2 +-
 include/pathfinder/modifiers/swerve.h   |  3 ++-
 include/pathfinder/modifiers/tank.h     |  3 ++-
 include/pathfinder/spline.h             |  4 +++-
 include/pathfinder/structs.h            |  2 +-
 include/pathfinder/trajectory.h         |  3 ++-
 include/subsystems/rgb_controller.h     |  2 +-
 include/subsystems/tank_drive.h         |  2 +-
 include/utils/auto_queue.h              |  0
 include/utils/spline_path.h             |  4 ++--
 src/subsystems/tank_drive.cpp           |  2 +-
 src/utils/pid.cpp                       |  2 +-
 src/utils/spline_path.cpp               |  4 ++--
 18 files changed, 37 insertions(+), 27 deletions(-)
 create mode 100644 include/utils/auto_queue.h

diff --git a/include/pathfinder.h b/include/pathfinder.h
index 3645908..e366d05 100644
--- a/include/pathfinder.h
+++ b/include/pathfinder.h
@@ -5,20 +5,20 @@
 extern "C" {
 #endif
 
-#include "pathfinder/mathutil.h"
-#include "pathfinder/structs.h"
+#include "../core/include/pathfinder/mathutil.h"
+#include "../core/include/pathfinder/structs.h"
 
-#include "pathfinder/fit.h"
-#include "pathfinder/spline.h"
-#include "pathfinder/trajectory.h"
+#include "../core/include/pathfinder/fit.h"
+#include "../core/include/pathfinder/spline.h"
+#include "../core/include/pathfinder/trajectory.h"
 
-#include "pathfinder/modifiers/tank.h"
-#include "pathfinder/modifiers/swerve.h"
+#include "../core/include/pathfinder/modifiers/tank.h"
+#include "../core/include/pathfinder/modifiers/swerve.h"
 
-#include "pathfinder/followers/encoder.h"
-#include "pathfinder/followers/distance.h"
+#include "../core/include/pathfinder/followers/encoder.h"
+#include "../core/include/pathfinder/followers/distance.h"
 
-#include "pathfinder/io.h"
+#include "../core/include/pathfinder/io.h"
 
 #ifdef __cplusplus
 }
diff --git a/include/pathfinder/fit.h b/include/pathfinder/fit.h
index 9b19978..66a10f8 100644
--- a/include/pathfinder/fit.h
+++ b/include/pathfinder/fit.h
@@ -1,7 +1,8 @@
 #ifndef PATHFINDER_FIT_H_DEF
 #define PATHFINDER_FIT_H_DEF
 
-#include "pathfinder/lib.h"
+#include "../core/include/pathfinder/lib.h"
+#include "../core/include/pathfinder/structs.h"
 
 CAPI void pf_fit_hermite_pre(Waypoint a, Waypoint b, Spline *s);
 CAPI void pf_fit_hermite_cubic(Waypoint a, Waypoint b, Spline *s);
diff --git a/include/pathfinder/followers/distance.h b/include/pathfinder/followers/distance.h
index b3b1ab5..3779549 100644
--- a/include/pathfinder/followers/distance.h
+++ b/include/pathfinder/followers/distance.h
@@ -1,7 +1,8 @@
 #ifndef PATHFINDER_FOL_DISTANCE_H_DEF
 #define PATHFINDER_FOL_DISTANCE_H_DEF
 
-#include "pathfinder/lib.h"
+#include "../core/include/pathfinder/lib.h"
+#include "../core/include/pathfinder/structs.h"
 
 CAPI typedef struct {
     double kp, ki, kd, kv, ka;
diff --git a/include/pathfinder/followers/encoder.h b/include/pathfinder/followers/encoder.h
index 7268d2d..7b42d8b 100644
--- a/include/pathfinder/followers/encoder.h
+++ b/include/pathfinder/followers/encoder.h
@@ -1,6 +1,8 @@
 #ifndef PATHFINDER_FOL_ENCODER_H_DEF
 #define PATHFINDER_FOL_ENCODER_H_DEF
 
+#include "../core/include/pathfinder/structs.h"
+
 typedef struct {
     int initial_position, ticks_per_revolution;
     double wheel_circumference;
diff --git a/include/pathfinder/io.h b/include/pathfinder/io.h
index bfd37ce..ef8d40f 100644
--- a/include/pathfinder/io.h
+++ b/include/pathfinder/io.h
@@ -4,7 +4,8 @@
 #include <stdio.h>
 #include <stdlib.h>
 #include <string.h>
-#include "pathfinder/lib.h"
+#include "../core/include/pathfinder/lib.h"
+#include "../core/include/pathfinder/structs.h"
 
 #define CSV_LEADING_STRING "dt,x,y,position,velocity,acceleration,jerk,heading\n"
 
diff --git a/include/pathfinder/mathutil.h b/include/pathfinder/mathutil.h
index 99cad7d..170c625 100644
--- a/include/pathfinder/mathutil.h
+++ b/include/pathfinder/mathutil.h
@@ -3,7 +3,7 @@
 #ifndef PATHFINDER_MATH_UTIL_H_DEF
 #define PATHFINDER_MATH_UTIL_H_DEF
 
-#include "pathfinder/lib.h"
+#include "../core/include/pathfinder/lib.h"
 
 #define PI 3.14159265358979323846
 #define TAU PI*2
diff --git a/include/pathfinder/modifiers/swerve.h b/include/pathfinder/modifiers/swerve.h
index 0168e0d..58eaf28 100644
--- a/include/pathfinder/modifiers/swerve.h
+++ b/include/pathfinder/modifiers/swerve.h
@@ -1,7 +1,8 @@
 #ifndef PATHFINDER_MOD_SWERVE_H_DEF
 #define PATHFINDER_MOD_SWERVE_H_DEF
 
-#include "pathfinder/lib.h"
+#include "../core/include/pathfinder/lib.h"
+#include "../core/include/pathfinder/structs.h"
 
 CAPI typedef enum {
     SWERVE_DEFAULT
diff --git a/include/pathfinder/modifiers/tank.h b/include/pathfinder/modifiers/tank.h
index 1653b6c..1b8b8b5 100644
--- a/include/pathfinder/modifiers/tank.h
+++ b/include/pathfinder/modifiers/tank.h
@@ -1,7 +1,8 @@
 #ifndef PATHFINDER_MOD_TANK_H_DEF
 #define PATHFINDER_MOD_TANK_H_DEF
 
-#include "pathfinder/lib.h"
+#include "../core/include/pathfinder/lib.h"
+#include "../core/include/pathfinder/structs.h"
 
 CAPI void pathfinder_modify_tank(Segment *original, int length, Segment *left, Segment *right, double wheelbase_width);
 
diff --git a/include/pathfinder/spline.h b/include/pathfinder/spline.h
index 1bb980c..401cde7 100644
--- a/include/pathfinder/spline.h
+++ b/include/pathfinder/spline.h
@@ -1,7 +1,9 @@
 #ifndef PATHFINDER_SPLINE_H_DEF
 #define PATHFINDER_SPLINE_H_DEF
 
-#include "pathfinder/lib.h"
+#include "../core/include/pathfinder/lib.h"
+#include "../core/include/pathfinder/structs.h"
+
 
 #define PATHFINDER_SAMPLES_FAST (int)1000
 #define PATHFINDER_SAMPLES_LOW  (int)PATHFINDER_SAMPLES_FAST*10
diff --git a/include/pathfinder/structs.h b/include/pathfinder/structs.h
index 89ecb8e..63451c0 100644
--- a/include/pathfinder/structs.h
+++ b/include/pathfinder/structs.h
@@ -1,7 +1,7 @@
 #ifndef PATHFINDER_STRUCT_H_DEF
 #define PATHFINDER_STRUCT_H_DEF
 
-#include "pathfinder/lib.h"
+#include "../core/include/pathfinder/lib.h"
 
 CAPI typedef struct {
     double x, y, angle;
diff --git a/include/pathfinder/trajectory.h b/include/pathfinder/trajectory.h
index fe95373..b585167 100644
--- a/include/pathfinder/trajectory.h
+++ b/include/pathfinder/trajectory.h
@@ -1,7 +1,8 @@
 #ifndef PATHFINDER_TRAJECTORY_H_DEF
 #define PATHFINDER_TRAJECTORY_H_DEF
 
-#include "pathfinder/lib.h"
+#include "../core/include/pathfinder/lib.h"
+#include "../core/include/pathfinder/structs.h"
 
 CAPI int pathfinder_prepare(Waypoint *path, int path_length, void (*fit)(Waypoint,Waypoint,Spline*), int sample_count, double dt,
         double max_velocity, double max_acceleration, double max_jerk, TrajectoryCandidate *cand);
diff --git a/include/subsystems/rgb_controller.h b/include/subsystems/rgb_controller.h
index de9144b..0f4ce73 100644
--- a/include/subsystems/rgb_controller.h
+++ b/include/subsystems/rgb_controller.h
@@ -19,7 +19,7 @@ class RGBController
     Off, Blue, Red, Green, OrangeWhite, Rainbow
   };
 
-  RGBController(rgb_t starting_color, triport::port port1, triport::port port2, triport::port port3)
+  RGBController(rgb_t starting_color, vex::triport::port port1, vex::triport::port port2, vex::triport::port port3)
   : port1(port1), port2(port2), port3(port3)
   {
     set(starting_color);
diff --git a/include/subsystems/tank_drive.h b/include/subsystems/tank_drive.h
index d667386..7218ad1 100644
--- a/include/subsystems/tank_drive.h
+++ b/include/subsystems/tank_drive.h
@@ -4,7 +4,7 @@
 #define PI 3.141592654
 
 #include "vex.h"
-#include "utils/pid.h"
+#include "../core/include/utils/pid.h"
 
 using namespace vex;
 
diff --git a/include/utils/auto_queue.h b/include/utils/auto_queue.h
new file mode 100644
index 0000000..e69de29
diff --git a/include/utils/spline_path.h b/include/utils/spline_path.h
index 73de506..62c2631 100644
--- a/include/utils/spline_path.h
+++ b/include/utils/spline_path.h
@@ -1,9 +1,9 @@
 #ifndef _SPLINE_
 #define _SPLINE_
 
-#include "pathfinder.h"
+#include "../core/include/pathfinder.h"
 
-#include "subsystems/tank_drive.h"
+#include "../core/include/subsystems/tank_drive.h"
 
 
 class SplinePath
diff --git a/src/subsystems/tank_drive.cpp b/src/subsystems/tank_drive.cpp
index b2940a1..96f203f 100644
--- a/src/subsystems/tank_drive.cpp
+++ b/src/subsystems/tank_drive.cpp
@@ -1,4 +1,4 @@
-#include "subsystems/tank_drive.h"
+#include "../core/include/subsystems/tank_drive.h"
 
 TankDrive::TankDrive(motor_group *left_motors, motor_group *right_motors, inertial *gyro_sensor, TankDrive::tankdrive_config_t *config)
     : config(config), left_motors(left_motors), right_motors(right_motors), drive_pid(config->drive_pid), turn_pid(config->turn_pid), gyro_sensor(gyro_sensor)
diff --git a/src/utils/pid.cpp b/src/utils/pid.cpp
index 84331b6..bcc17fd 100644
--- a/src/utils/pid.cpp
+++ b/src/utils/pid.cpp
@@ -1,4 +1,4 @@
-#include "utils/pid.h"
+#include "../core/include/utils/pid.h"
 
 /**
    * Create the PID object
diff --git a/src/utils/spline_path.cpp b/src/utils/spline_path.cpp
index 705269f..7c9da0c 100644
--- a/src/utils/spline_path.cpp
+++ b/src/utils/spline_path.cpp
@@ -1,7 +1,7 @@
-#include "utils/spline_path.h"
+#include "../core/include/utils/spline_path.h"
 
 SplinePath::SplinePath(TankDrive *drive_system, vex::inertial *imu, vex::motor *l_enc, vex::motor *r_enc, motion_profile_t *motion_profile)
-: drive_system(drive_system), imu(imu), l_enc(l_enc), r_enc(r_enc), motion_profile(motion_profile)
+: drive_system(drive_system), l_enc(l_enc), r_enc(r_enc), imu(imu), motion_profile(motion_profile)
 {
 }
 

From d29f83f7dae71aac2c8cd86aba590daae1c4183e Mon Sep 17 00:00:00 2001
From: Ryan McGee <ramtech51@comcast.net>
Date: Sun, 17 May 2020 15:47:54 -0400
Subject: [PATCH 005/243] got rid of DUMB ERROR with WRONG PATHS

---
 src/subsystems/tank_drive.cpp | 2 +-
 src/utils/pid.cpp             | 2 +-
 src/utils/spline_path.cpp     | 2 +-
 3 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/src/subsystems/tank_drive.cpp b/src/subsystems/tank_drive.cpp
index 96f203f..1f5b412 100644
--- a/src/subsystems/tank_drive.cpp
+++ b/src/subsystems/tank_drive.cpp
@@ -1,4 +1,4 @@
-#include "../core/include/subsystems/tank_drive.h"
+#include "../Core/include/subsystems/tank_drive.h"
 
 TankDrive::TankDrive(motor_group *left_motors, motor_group *right_motors, inertial *gyro_sensor, TankDrive::tankdrive_config_t *config)
     : config(config), left_motors(left_motors), right_motors(right_motors), drive_pid(config->drive_pid), turn_pid(config->turn_pid), gyro_sensor(gyro_sensor)
diff --git a/src/utils/pid.cpp b/src/utils/pid.cpp
index bcc17fd..daa0816 100644
--- a/src/utils/pid.cpp
+++ b/src/utils/pid.cpp
@@ -1,4 +1,4 @@
-#include "../core/include/utils/pid.h"
+#include "../Core/include/utils/pid.h"
 
 /**
    * Create the PID object
diff --git a/src/utils/spline_path.cpp b/src/utils/spline_path.cpp
index 7c9da0c..991a479 100644
--- a/src/utils/spline_path.cpp
+++ b/src/utils/spline_path.cpp
@@ -1,4 +1,4 @@
-#include "../core/include/utils/spline_path.h"
+#include "../Core/include/utils/spline_path.h"
 
 SplinePath::SplinePath(TankDrive *drive_system, vex::inertial *imu, vex::motor *l_enc, vex::motor *r_enc, motion_profile_t *motion_profile)
 : drive_system(drive_system), l_enc(l_enc), r_enc(r_enc), imu(imu), motion_profile(motion_profile)

From 552ddc7a4e0d39c474621f427c8ea3c9b7e05ec6 Mon Sep 17 00:00:00 2001
From: Ryan McGee <ramtech51@comcast.net>
Date: Sun, 17 May 2020 18:30:13 -0400
Subject: [PATCH 006/243] Created example code for tasking in auto

---
 include/utils/auto_queue.h | 0
 1 file changed, 0 insertions(+), 0 deletions(-)
 delete mode 100644 include/utils/auto_queue.h

diff --git a/include/utils/auto_queue.h b/include/utils/auto_queue.h
deleted file mode 100644
index e69de29..0000000

From 9a1f054ee9ef856904637b71b265c60bfc0583ef Mon Sep 17 00:00:00 2001
From: Ryan McGee <ramtech51@comcast.net>
Date: Sun, 31 May 2020 20:01:47 -0400
Subject: [PATCH 007/243] Removed testing code, added generic_auto to core

---
 include/utils/generic_auto.h | 40 +++++++++++++++++++++++++++++++++
 src/utils/generic_auto.cpp   | 43 ++++++++++++++++++++++++++++++++++++
 2 files changed, 83 insertions(+)
 create mode 100644 include/utils/generic_auto.h
 create mode 100644 src/utils/generic_auto.cpp

diff --git a/include/utils/generic_auto.h b/include/utils/generic_auto.h
new file mode 100644
index 0000000..3674c68
--- /dev/null
+++ b/include/utils/generic_auto.h
@@ -0,0 +1,40 @@
+#ifndef _GENAUTO_
+#define _GENAUTO_
+
+#include <vector>
+
+typedef bool (*state_ptr)(void);
+
+class GenericAuto
+{
+  public:
+  
+  /**
+  * Create the GenericAuto object
+  *
+  * Example: GenericAuto auto1 = {func_ptr1, func_ptr2, ...};
+  */
+  GenericAuto(std::initializer_list<state_ptr> states);
+  
+  /**
+  * The method that runs the autonomous. If 'blocking' is true, then
+  * this method will run through every state until it finished.
+  *
+  * If blocking is false, then assuming every state is also non-blocking,
+  * the method will run through the current state in the list and return
+  * immediately.
+  *
+  * @param blocking
+  *     Whether or not to block the thread until all states have run
+  * @returns
+  *     true after all states have finished.
+  */
+  bool run(bool blocking);
+
+  private:
+
+  std::vector<state_ptr> state_list;
+
+};
+
+#endif
\ No newline at end of file
diff --git a/src/utils/generic_auto.cpp b/src/utils/generic_auto.cpp
new file mode 100644
index 0000000..f3d0976
--- /dev/null
+++ b/src/utils/generic_auto.cpp
@@ -0,0 +1,43 @@
+#include "../core/include/utils/generic_auto.h"
+
+/**
+* Create the GenericAuto object
+*
+* Example: GenericAuto auto1 = {func_ptr1, func_ptr2, ...};
+*/
+GenericAuto::GenericAuto(std::initializer_list<state_ptr> states)
+{
+  for (state_ptr s : states)
+    state_list.push_back(s);
+}
+
+/**
+* The method that runs the autonomous. If 'blocking' is true, then
+* this method will run through every state until it finished.
+*
+* If blocking is false, then assuming every state is also non-blocking,
+* the method will run through the current state in the list and return
+* immediately.
+*
+* @param blocking
+*     Whether or not to block the thread until all states have run
+* @returns
+*     true after all states have finished.
+*/
+bool GenericAuto::run(bool blocking)
+{
+  if(state_list.empty())
+    return true;
+
+  do
+  {
+
+    if((state_list.front())() == true)
+      state_list.erase(state_list.begin());
+
+  } while(blocking && !state_list.empty());
+
+  // If the method is blocking, return true because it's finished
+  // If non-blocking, return false because the list isn't empty yet
+  return blocking;
+}

From 054a3441a5a1461d4b4eaf138e5d2175968e3b50 Mon Sep 17 00:00:00 2001
From: superrm11 <ramtech51@comcast.net>
Date: Fri, 3 Jul 2020 13:04:14 -0700
Subject: [PATCH 008/243] +VS Code configuration; began removing pointers

---
 include/subsystems/tank_drive.h | 10 +++++-----
 src/subsystems/tank_drive.cpp   | 24 ++++++++++++------------
 2 files changed, 17 insertions(+), 17 deletions(-)

diff --git a/include/subsystems/tank_drive.h b/include/subsystems/tank_drive.h
index 7218ad1..7d300ad 100644
--- a/include/subsystems/tank_drive.h
+++ b/include/subsystems/tank_drive.h
@@ -23,7 +23,7 @@ class TankDrive
   /**
    * Create the TankDrive object 
    */
-  TankDrive(motor_group *left_motors, motor_group *right_motors, inertial *gyro_sensor, tankdrive_config_t *config);
+  TankDrive(motor_group &left_motors, motor_group &right_motors, inertial &gyro_sensor, tankdrive_config_t &config);
 
   /**
    * Stops rotation of all the motors using their "brake mode"
@@ -63,15 +63,15 @@ class TankDrive
   bool turn_degrees(double degrees, double percent_speed);
 
 private:
-  tankdrive_config_t *config;
+  tankdrive_config_t &config;
 
-  motor_group *left_motors;
-  motor_group *right_motors;
+  motor_group &left_motors;
+  motor_group &right_motors;
 
   PID drive_pid;
   PID turn_pid;
 
-  inertial *gyro_sensor;
+  inertial &gyro_sensor;
 
   bool initialize_func = true;
 };
diff --git a/src/subsystems/tank_drive.cpp b/src/subsystems/tank_drive.cpp
index 1f5b412..d6f548a 100644
--- a/src/subsystems/tank_drive.cpp
+++ b/src/subsystems/tank_drive.cpp
@@ -1,7 +1,7 @@
 #include "../Core/include/subsystems/tank_drive.h"
 
-TankDrive::TankDrive(motor_group *left_motors, motor_group *right_motors, inertial *gyro_sensor, TankDrive::tankdrive_config_t *config)
-    : config(config), left_motors(left_motors), right_motors(right_motors), drive_pid(config->drive_pid), turn_pid(config->turn_pid), gyro_sensor(gyro_sensor)
+TankDrive::TankDrive(motor_group &left_motors, motor_group &right_motors, inertial &gyro_sensor, TankDrive::tankdrive_config_t &config)
+    : config(config), left_motors(left_motors), right_motors(right_motors), drive_pid(config.drive_pid), turn_pid(config.turn_pid), gyro_sensor(gyro_sensor)
 {
 }
 
@@ -10,8 +10,8 @@ TankDrive::TankDrive(motor_group *left_motors, motor_group *right_motors, inerti
  */
 void TankDrive::stop()
 {
-  left_motors->stop();
-  right_motors->stop();
+  left_motors.stop();
+  right_motors.stop();
 }
 
 /**
@@ -22,8 +22,8 @@ void TankDrive::stop()
  */
 void TankDrive::drive_tank(double left, double right)
 {
-  left_motors->setVelocity(left * 100, velocityUnits::pct);
-  right_motors->setVelocity(right * 100, velocityUnits::pct);
+  left_motors.setVelocity(left * 100, velocityUnits::pct);
+  right_motors.setVelocity(right * 100, velocityUnits::pct);
 }
 
 /**
@@ -37,8 +37,8 @@ void TankDrive::drive_arcade(double forward_back, double left_right)
   double left = forward_back + left_right;
   double right = forward_back - left_right;
 
-  left_motors->setVelocity(left * 100, velocityUnits::pct);
-  right_motors->setVelocity(right * 100, velocityUnits::pct);
+  left_motors.setVelocity(left * 100, velocityUnits::pct);
+  right_motors.setVelocity(right * 100, velocityUnits::pct);
 }
 
 /**
@@ -52,7 +52,7 @@ bool TankDrive::drive_forward(double inches, double percent_speed)
   // On the first run of the funciton, reset the motor position and PID
   if (initialize_func)
   {
-    left_motors->resetPosition();
+    left_motors.resetPosition();
     drive_pid.reset();
 
     drive_pid.set_limits(-fabs(percent_speed), fabs(percent_speed));
@@ -62,7 +62,7 @@ bool TankDrive::drive_forward(double inches, double percent_speed)
   }
 
   // Update PID loop and drive the robot based on it's output
-  drive_pid.update(left_motors->position(rotationUnits::rev) * PI * config->wheel_diam);
+  drive_pid.update(left_motors.position(rotationUnits::rev) * PI * config.wheel_diam);
   drive_tank(drive_pid.get(), drive_pid.get());
 
   // If the robot is at it's target, return true
@@ -87,7 +87,7 @@ bool TankDrive::turn_degrees(double degrees, double percent_speed)
   // On the first run of the funciton, reset the gyro position and PID
   if (initialize_func)
   {
-    gyro_sensor->resetRotation();
+    gyro_sensor.resetRotation();
     turn_pid.reset();
 
     turn_pid.set_limits(-fabs(percent_speed), fabs(percent_speed));
@@ -97,7 +97,7 @@ bool TankDrive::turn_degrees(double degrees, double percent_speed)
   }
 
   // Update PID loop and drive the robot based on it's output
-  turn_pid.update(gyro_sensor->rotation(rotationUnits::deg));
+  turn_pid.update(gyro_sensor.rotation(rotationUnits::deg));
   drive_tank(turn_pid.get(), -turn_pid.get());
 
   // If the robot is at it's target, return true

From da407aa51acab39770b6f369cdc3138b158d6fb2 Mon Sep 17 00:00:00 2001
From: superrm11 <ramtech51@comcast.net>
Date: Fri, 3 Jul 2020 14:45:15 -0700
Subject: [PATCH 009/243] Split RGBController, changed ptrs to refs

---
 include/subsystems/rgb_controller.h | 45 ++--------------------------
 include/subsystems/tank_drive.h     |  4 +--
 include/utils/pid.h                 |  4 +--
 include/utils/spline_path.h         | 10 +++----
 src/subsystems/rgb_controller.cpp   | 46 +++++++++++++++++++++++++++++
 src/utils/pid.cpp                   |  8 ++---
 src/utils/spline_path.cpp           | 38 ++++++++++++------------
 7 files changed, 80 insertions(+), 75 deletions(-)
 create mode 100644 src/subsystems/rgb_controller.cpp

diff --git a/include/subsystems/rgb_controller.h b/include/subsystems/rgb_controller.h
index 0f4ce73..33dfb80 100644
--- a/include/subsystems/rgb_controller.h
+++ b/include/subsystems/rgb_controller.h
@@ -19,50 +19,9 @@ class RGBController
     Off, Blue, Red, Green, OrangeWhite, Rainbow
   };
 
-  RGBController(rgb_t starting_color, vex::triport::port port1, vex::triport::port port2, vex::triport::port port3)
-  : port1(port1), port2(port2), port3(port3)
-  {
-    set(starting_color);
-  }
-
-  void set(rgb_t color)
-  {
-    switch(color)
-    {
-      case Blue:
-        port1.set(1);
-        port2.set(0);
-        port3.set(0);
-      break;
-      case Red:
-        port1.set(0);
-        port2.set(1);
-        port3.set(0);
-      break;
-      case Green:
-        port1.set(1);
-        port2.set(1);
-        port3.set(0);
-      break;
-      case OrangeWhite:
-        port1.set(0);
-        port2.set(0);
-        port3.set(1);
-      break;
-      case Rainbow:
-        port1.set(1);
-        port2.set(0);
-        port3.set(1);
-      break;
+  RGBController(rgb_t starting_color, vex::triport::port port1, vex::triport::port port2, vex::triport::port port3);
 
-      default:
-      case Off:
-        port1.set(0);
-        port2.set(0);
-        port3.set(0);
-      break;
-    }
-  }
+  void set(rgb_t color);
 
   
 };
diff --git a/include/subsystems/tank_drive.h b/include/subsystems/tank_drive.h
index 7d300ad..28de064 100644
--- a/include/subsystems/tank_drive.h
+++ b/include/subsystems/tank_drive.h
@@ -14,8 +14,8 @@ class TankDrive
 
   struct tankdrive_config_t
   {
-    PID::pid_config_t *drive_pid;
-    PID::pid_config_t *turn_pid;
+    PID::pid_config_t drive_pid;
+    PID::pid_config_t turn_pid;
 
     double wheel_diam;
   };
diff --git a/include/utils/pid.h b/include/utils/pid.h
index 8ea3178..a2ef91d 100644
--- a/include/utils/pid.h
+++ b/include/utils/pid.h
@@ -18,7 +18,7 @@ class PID
   /**
    * Create the PID object
    */
-  PID(pid_config_t *config);
+  PID(pid_config_t &config);
 
   /**
    * Update the PID loop by taking the time difference from last update,
@@ -59,7 +59,7 @@ class PID
   bool is_on_target();
 
 private:
-  pid_config_t *config;
+  pid_config_t &config;
 
   double last_error = 0, accum_error = 0;
   double last_time = 0, on_target_last_time = 0;
diff --git a/include/utils/spline_path.h b/include/utils/spline_path.h
index 62c2631..05f0988 100644
--- a/include/utils/spline_path.h
+++ b/include/utils/spline_path.h
@@ -33,7 +33,7 @@ class SplinePath
     double wheelbase_width = 11.5;
   };
 
-  SplinePath(TankDrive *drive_system, vex::inertial *imu, vex::motor *l_enc, vex::motor *r_enc, motion_profile_t *motion_profile);
+  SplinePath(TankDrive &drive_system, vex::inertial &imu, vex::motor &l_enc, vex::motor &r_enc, motion_profile_t &motion_profile);
 
   bool run_path(Waypoint *point_list, int list_length);
 
@@ -47,11 +47,11 @@ class SplinePath
   EncoderFollower *left_follower, *right_follower;
   EncoderConfig enc_conf;
 
-  TankDrive *drive_system;
-  vex::motor *l_enc, *r_enc;
-  vex::inertial *imu;
+  TankDrive &drive_system;
+  vex::motor &l_enc, &r_enc;
+  vex::inertial &imu;
 
-  motion_profile_t *motion_profile;
+  motion_profile_t &motion_profile;
 };
 
 #endif
\ No newline at end of file
diff --git a/src/subsystems/rgb_controller.cpp b/src/subsystems/rgb_controller.cpp
new file mode 100644
index 0000000..17af7b2
--- /dev/null
+++ b/src/subsystems/rgb_controller.cpp
@@ -0,0 +1,46 @@
+#include "../Core/include/subsystems/rgb_controller.h"
+
+RGBController::RGBController(rgb_t starting_color, vex::triport::port port1, vex::triport::port port2, vex::triport::port port3)
+  : port1(port1), port2(port2), port3(port3)
+  {
+    set(starting_color);
+  }
+
+  void RGBController::set(rgb_t color)
+  {
+    switch(color)
+    {
+      case Blue:
+        port1.set(1);
+        port2.set(0);
+        port3.set(0);
+      break;
+      case Red:
+        port1.set(0);
+        port2.set(1);
+        port3.set(0);
+      break;
+      case Green:
+        port1.set(1);
+        port2.set(1);
+        port3.set(0);
+      break;
+      case OrangeWhite:
+        port1.set(0);
+        port2.set(0);
+        port3.set(1);
+      break;
+      case Rainbow:
+        port1.set(1);
+        port2.set(0);
+        port3.set(1);
+      break;
+
+      default:
+      case Off:
+        port1.set(0);
+        port2.set(0);
+        port3.set(0);
+      break;
+    }
+  }
\ No newline at end of file
diff --git a/src/utils/pid.cpp b/src/utils/pid.cpp
index daa0816..cfdffe4 100644
--- a/src/utils/pid.cpp
+++ b/src/utils/pid.cpp
@@ -3,7 +3,7 @@
 /**
    * Create the PID object
    */
-PID::PID(pid_config_t *config)
+PID::PID(pid_config_t &config)
     : config(config)
 {
   pid_timer.reset();
@@ -21,7 +21,7 @@ void PID::update(double sensor_val)
 
   accum_error += time_delta * get_error();
 
-  out = (config->f) + (config->p * get_error()) + (config->i * accum_error) + (config->d * (get_error() - last_error) / time_delta);
+  out = (config.f) + (config.p * get_error()) + (config.i * accum_error) + (config.d * (get_error() - last_error) / time_delta);
 
   last_time = pid_timer.value();
   last_error = get_error();
@@ -85,14 +85,14 @@ void PID::set_limits(double lower, double upper)
    */
 bool PID::is_on_target()
 {
-  if (fabs(get_error()) < config->deadband)
+  if (fabs(get_error()) < config.deadband)
   {
     if (is_checking_on_target == false)
     {
       on_target_last_time = pid_timer.value();
       is_checking_on_target = true;
     }
-    else if (pid_timer.value() - on_target_last_time > config->on_target_time)
+    else if (pid_timer.value() - on_target_last_time > config.on_target_time)
     {
       return true;
     }
diff --git a/src/utils/spline_path.cpp b/src/utils/spline_path.cpp
index 991a479..4485100 100644
--- a/src/utils/spline_path.cpp
+++ b/src/utils/spline_path.cpp
@@ -1,6 +1,6 @@
 #include "../Core/include/utils/spline_path.h"
 
-SplinePath::SplinePath(TankDrive *drive_system, vex::inertial *imu, vex::motor *l_enc, vex::motor *r_enc, motion_profile_t *motion_profile)
+SplinePath::SplinePath(TankDrive &drive_system, vex::inertial &imu, vex::motor &l_enc, vex::motor &r_enc, motion_profile_t &motion_profile)
 : drive_system(drive_system), l_enc(l_enc), r_enc(r_enc), imu(imu), motion_profile(motion_profile)
 {
 }
@@ -18,17 +18,17 @@ bool SplinePath::run_path(Waypoint *point_list, int list_length)
   {
     // Set up Pathfinder's "EncoderConfig" struct that will be fed into the path generation
     enc_conf.initial_position = 0;
-    enc_conf.ticks_per_revolution = motion_profile->ticks_per_rev;
-    enc_conf.wheel_circumference = motion_profile->wheel_diam * PI;
-    enc_conf.kp = motion_profile->drive_p;
-    enc_conf.ki = motion_profile->drive_i;
-    enc_conf.kd = motion_profile->drive_d;
-    enc_conf.kv = motion_profile->kv;
-    enc_conf.ka = motion_profile->ka;
+    enc_conf.ticks_per_revolution = motion_profile.ticks_per_rev;
+    enc_conf.wheel_circumference = motion_profile.wheel_diam * PI;
+    enc_conf.kp = motion_profile.drive_p;
+    enc_conf.ki = motion_profile.drive_i;
+    enc_conf.kd = motion_profile.drive_d;
+    enc_conf.kv = motion_profile.kv;
+    enc_conf.ka = motion_profile.ka;
     
     // Prepare the "trajectory candidate" with information about the curve (max velocities / accels, type of curve, etc)
-    pathfinder_prepare(point_list, list_length, FIT_HERMITE_CUBIC, PATHFINDER_SAMPLES_LOW, motion_profile->dt,
-                       motion_profile->max_v, motion_profile->max_a, motion_profile->max_j, &candidate);
+    pathfinder_prepare(point_list, list_length, FIT_HERMITE_CUBIC, PATHFINDER_SAMPLES_LOW, motion_profile.dt,
+                       motion_profile.max_v, motion_profile.max_a, motion_profile.max_j, &candidate);
 
     // Allocate the memory for the center, left and right "trajectories", or paths.
     center_traj = (Segment *)malloc(sizeof(Segment) * candidate.length);
@@ -39,36 +39,36 @@ bool SplinePath::run_path(Waypoint *point_list, int list_length)
     pathfinder_generate(&candidate, center_traj);
 
     // Generate the left wheel and right wheel paths from the center trajectory
-    pathfinder_modify_tank(center_traj, candidate.length, left_traj, right_traj, motion_profile->wheelbase_width);
+    pathfinder_modify_tank(center_traj, candidate.length, left_traj, right_traj, motion_profile.wheelbase_width);
     
     // Create the "follower" structs, which contains info about the current state of each path when it is running
     // (e.g. current error for PID, whether it is finished)
     left_follower = (EncoderFollower *)malloc(sizeof(EncoderFollower));
     right_follower = (EncoderFollower *)malloc(sizeof(EncoderFollower));
 
-    reset_heading = imu->rotation();
+    reset_heading = imu.rotation();
 
     // Make sure this only runs once per run
     run_path_init = false;
   }
 
-  double lout = pathfinder_follow_encoder(enc_conf, left_follower, left_traj, candidate.length, l_enc->position(rotationUnits::raw));
-  double rout = pathfinder_follow_encoder(enc_conf, right_follower, right_traj, candidate.length, r_enc->position(rotationUnits::raw));
+  double lout = pathfinder_follow_encoder(enc_conf, left_follower, left_traj, candidate.length, l_enc.position(rotationUnits::raw));
+  double rout = pathfinder_follow_encoder(enc_conf, right_follower, right_traj, candidate.length, r_enc.position(rotationUnits::raw));
 
   double in_heading = r2d(left_follower->heading);
   if(in_heading > 180)
     in_heading -= 360;
-  double heading_error = in_heading + (imu->rotation() - reset_heading);
+  double heading_error = in_heading + (imu.rotation() - reset_heading);
 
-  lout -= motion_profile->turn_p * heading_error;
-  rout += motion_profile->turn_p * heading_error;
+  lout -= motion_profile.turn_p * heading_error;
+  rout += motion_profile.turn_p * heading_error;
 
-  drive_system->drive_tank(lout, rout);
+  drive_system.drive_tank(lout, rout);
 
   if(left_follower->finished && right_follower->finished)
   {
     // Actively set all velocities of the wheels to 0
-    drive_system->stop();
+    drive_system.stop();
 
     // Free the memory allocated in the last run
     free(center_traj);

From 643614a5a595c0fb2149b881408c06f5ff8319c6 Mon Sep 17 00:00:00 2001
From: superrm11 <ramtech51@comcast.net>
Date: Sat, 4 Jul 2020 16:48:00 -0400
Subject: [PATCH 010/243] Began swerve drive integration / documentation

---
 include/subsystems/swerve_drive.h  | 38 ++++++++++++
 include/subsystems/swerve_module.h | 77 ++++++++++++++++++++++++
 include/utils/vector.h             | 75 +++++++++++++++++++++++
 src/subsystems/swerve_drive.cpp    | 61 +++++++++++++++++++
 src/subsystems/swerve_module.cpp   | 90 ++++++++++++++++++++++++++++
 src/utils/vector.cpp               | 96 ++++++++++++++++++++++++++++++
 6 files changed, 437 insertions(+)
 create mode 100644 include/subsystems/swerve_drive.h
 create mode 100644 include/subsystems/swerve_module.h
 create mode 100644 include/utils/vector.h
 create mode 100644 src/subsystems/swerve_drive.cpp
 create mode 100644 src/subsystems/swerve_module.cpp
 create mode 100644 src/utils/vector.cpp

diff --git a/include/subsystems/swerve_drive.h b/include/subsystems/swerve_drive.h
new file mode 100644
index 0000000..7b2afa2
--- /dev/null
+++ b/include/subsystems/swerve_drive.h
@@ -0,0 +1,38 @@
+#ifndef _SWERVEDRIVE_
+#define _SWERVEDRIVE_
+
+#include "../Core/include/subsystems/swerve_module.h"
+#include "../Core/include/utils/vector.h"
+
+#define ROT_DEADBAND 0.2
+#define LAT_DEADBAND 0.2
+
+class SwerveDrive
+{
+
+public:
+
+/**
+ * Construct the SwerveDrive object.
+ */
+SwerveDrive(SwerveModule &left_front, SwerveModule &left_rear, SwerveModule &right_front, SwerveModule &right_rear);
+
+/**
+ * Drive the robot using controller inputs. Deadbands are automatically taken into
+ * account before passing to the main control method.
+ */
+void drive(int32_t leftY, int32_t leftX, int32_t rightX);
+
+/**
+ * The main control method. Takes a vector and a rotation, and performs vector math to
+ * calculate the position/speed for each wheel.
+ */
+void drive(Vector lateral, double rotation);
+
+private:
+
+SwerveModule &left_front, &left_rear, &right_front, &right_rear;
+
+};
+
+#endif
\ No newline at end of file
diff --git a/include/subsystems/swerve_module.h b/include/subsystems/swerve_module.h
new file mode 100644
index 0000000..03ca41a
--- /dev/null
+++ b/include/subsystems/swerve_module.h
@@ -0,0 +1,77 @@
+#ifndef _SWERVEMODULE_
+#define _SWERVEMODULE_
+
+#include "vex.h"
+
+// Gear teeth (input to output): 16, 35
+#define DIR_GEAR_RATIO (16.0/35.0) // ~0.457
+
+// Gear teeth (input to output): 21, 10, 12, 30
+#define DRIVE_GEAR_RATIO ((21.0/10.0)*(12.0/30.0)) // 0.84
+
+#define MOTOR_MAX_RPM 3600
+
+class SwerveModule
+{
+    public:
+
+    /**
+     * Create a single swerve module, made up of a Drive motor and a Direction motor.
+     * 
+     * the Drive motor is the central one, with the Direction motor being offset.
+     */
+    SwerveModule(vex::motor &drive, vex::gearSetting drive_gearing, vex::motor &direction, vex::gearSetting dir_gearing);
+
+    /**
+     * Sets both the speed and direction of the module, taking into account how the motors are geared
+     * together, and each gear ratio.
+     * 
+     * @param direction_deg Degrees of rotation for the module's direction (clockwise positive, from top)
+     * @param speed_pct Speed of the wheel for the module, in percent (-1.0 -> 1.0, positive fwd)
+     */
+    void set(double direction_deg, double speed_pct);
+
+    private:
+
+    /**
+     * Sets the direction of the module to X degrees (clockwise positive, from top perspective).
+     * 
+     * If set_speed is not called (even when the robot is not moving), then the wheel WILL rotate
+     * despite not being set, due to how the motors are geared together.
+     * 
+     * Calling set_speed(0) will compensate for this.
+     * 
+     * @param deg position to set the motor, counter clockwise from the top.
+     */
+    void set_direction(double deg);
+
+    /**
+     * Sets the speed of the drive motor, taking into account the speed of the direction motor,
+     * in percent units (-1.0 -> 1.0)
+     */
+    void set_speed(double percent);
+
+    /**
+     * Grab the maximum RPM of a motor with a certain gearset
+     * 
+     * values are:
+     *  RED: 100
+     *  GREEN: 200
+     *  BLUE: 600
+     */
+    static double gearset_max_rpm(vex::gearSetting gearing);
+
+    /**
+     * Improved modulus which correctly calculates negatives
+     */
+    static int mod(int var1, int var2);
+
+    vex::motor &drive;
+    vex::gearSetting drive_gearing;
+
+    vex::motor &direction;
+    vex::gearSetting dir_gearing;
+
+};
+
+#endif
\ No newline at end of file
diff --git a/include/utils/vector.h b/include/utils/vector.h
new file mode 100644
index 0000000..8527b2a
--- /dev/null
+++ b/include/utils/vector.h
@@ -0,0 +1,75 @@
+#ifndef _VECTOR_
+#define _VECTOR_
+
+#include <cmath>
+
+#define PI 3.141592654
+
+class Vector
+{
+public:
+
+    struct point_t
+    {
+        double x, y;
+    };
+
+    /**
+     * Construct a vector object.
+     * 
+     * @param dir Direction, in radians. 'foward' is 0, clockwise positive when viewed from the top.
+     * @param mag Magnitude.
+     */ 
+    Vector(double dir, double mag);
+
+    /**
+     * Construct a vector object from a cartesian point.
+     * 
+     * @param p point_t.x , point_t.y
+     */
+    Vector(point_t &p);
+
+    /**
+     * Get the direction of the vector, in radians.
+     * '0' is forward, clockwise positive when viewed from the top.
+     * 
+     * Use r2d() to convert.
+     */
+    double get_dir() const;
+
+    /**
+     * Get the magnitude of the vector
+     */
+    double get_mag() const;
+
+    /**
+     * Get the X component of the vector; positive to the right.
+     */
+    double get_x() const;
+
+    /**
+     * Get the Y component of the vector, positive forward.
+     */
+    double get_y() const;
+
+
+    Vector operator+(const Vector &other);
+    Vector operator-(const Vector &other);
+
+private:
+
+    double dir, mag;
+
+};
+
+/**
+ * General function for converting degrees to radians
+ */
+double d2r(double deg);
+
+/**
+ * General function for converting radians to degrees
+ */
+double r2d(double r);
+
+#endif
\ No newline at end of file
diff --git a/src/subsystems/swerve_drive.cpp b/src/subsystems/swerve_drive.cpp
new file mode 100644
index 0000000..d32b052
--- /dev/null
+++ b/src/subsystems/swerve_drive.cpp
@@ -0,0 +1,61 @@
+#include "../Core/include/subsystems/swerve_drive.h"
+
+/**
+ * Construct the SwerveDrive object.
+ */
+SwerveDrive::SwerveDrive(SwerveModule &left_front, SwerveModule &left_rear, SwerveModule &right_front, SwerveModule &right_rear)
+:left_front(left_front), left_rear(left_rear), right_front(right_front), right_rear(right_rear)
+{
+
+}
+
+/**
+ * Drive the robot using controller inputs. Deadbands are automatically taken into
+ * account before passing to the main control method.
+ * 
+ * @param leftY Left joystick, Y axis (-100 -> 100)
+ * @param leftX Left joystick, X axis (-100 -> 100)
+ * @param rightX Right joystick, X axis(-100 -> 100)
+ */
+void SwerveDrive::drive(int32_t leftY, int32_t leftX, int32_t rightX)
+{
+    Vector::point_t p = {.x=(leftX / 100.0), .y=(leftY / 100.0)};
+
+    Vector input_lat(p);
+
+    // Lateral Deadband
+    if(fabs(input_lat.get_mag()) < LAT_DEADBAND)
+        Vector input_lat(0,0);
+
+    // Rotational Deadband
+    if(fabs(rightX / 100.0) < LAT_DEADBAND)
+        rightX = 0;
+
+    // Convert input to a vector, and pass into main control method
+    return this->drive(input_lat, rightX);    
+}
+
+/**
+ * The main control method. Takes a vector and a rotation, and performs vector math to
+ * calculate the position/speed for each wheel.
+ */
+void SwerveDrive::drive(Vector lateral, double rotation)
+{
+    // Each wheel has a different rotation vector
+    Vector rot_lf(d2r(45), rotation);
+    Vector rot_rf(d2r(45+90), rotation);
+    Vector rot_rr(d2r(45+180), rotation);
+    Vector rot_lr(d2r(45+270), rotation);
+
+    // Perform vector addition between the rotation vector and lateral vectors
+    Vector lf_out = rot_lf + lateral;
+    Vector rf_out = rot_rf + lateral;
+    Vector rr_out = rot_rr + lateral;
+    Vector lr_out = rot_lr + lateral;
+
+    // Set each swerve module to the respective direction / speed
+    left_front.set(r2d(lf_out.get_dir()), lf_out.get_mag());
+    right_front.set(r2d(rf_out.get_dir()), rf_out.get_mag());
+    right_rear.set(r2d(rr_out.get_dir()), rr_out.get_mag());
+    left_rear.set(r2d(lr_out.get_dir()), lr_out.get_mag());
+}
\ No newline at end of file
diff --git a/src/subsystems/swerve_module.cpp b/src/subsystems/swerve_module.cpp
new file mode 100644
index 0000000..d1f27e8
--- /dev/null
+++ b/src/subsystems/swerve_module.cpp
@@ -0,0 +1,90 @@
+#include "../Core/include/subsystems/swerve_module.h"
+
+/**
+ * Create a single swerve module, made up of a Drive motor and a Direction motor.
+ * 
+ * the Drive motor is the central one, with the Direction motor being offset.
+ */
+SwerveModule::SwerveModule(vex::motor &drive, vex::gearSetting drive_gearing, vex::motor &direction, vex::gearSetting dir_gearing)
+    : drive(drive), drive_gearing(drive_gearing), direction(direction), dir_gearing(dir_gearing)
+{
+}
+
+/**
+ * Sets both the speed and direction of the module, taking into account how the motors are geared
+ * together, and each gear ratio.
+ * 
+ * @param direction_deg Degrees of rotation for the module's direction (clockwise positive, from top)
+ * @param speed_pct Speed of the wheel for the module, in percent (-1.0 -> 1.0, positive fwd)
+ */
+void SwerveModule::set(double direction_deg, double speed_pct)
+{
+    set_direction(direction_deg);
+    set_speed(speed_pct);
+}
+
+/**
+ * Sets the direction of the module to X degrees (clockwise positive, from top perspective).
+ * 
+ * If set_speed is not called (even when the robot is not moving), then the wheel WILL rotate
+ * despite not being set, due to how the motors are geared together.
+ * 
+ * Calling set_speed(0) will compensate for this.
+ * 
+ * @param deg position to set the motor, counter clockwise from the top.
+ */
+void SwerveModule::set_direction(double deg)
+{
+
+    int modpos = mod(deg, 360);
+
+    // If the position is more than 180 degrees away, then turn the other way
+    if(fabs(modpos - direction.rotation(vex::rotationUnits::deg)) > 180)
+        modpos = mod(modpos + 180, 360);
+
+    direction.spinToPosition(modpos / DIR_GEAR_RATIO, vex::rotationUnits::deg, false);
+}
+
+/**
+ * Sets the speed of the drive motor, taking into account the speed of the direction motor,
+ * in percent units (-1.0 -> 1.0)
+ */
+void SwerveModule::set_speed(double percent)
+{
+    // The speed of the Drive motor is influenced by how fast the direciton motor is spinning,
+    // due to the way they are geared together. Therefore, subtract that RPM from what will be set.
+    double rpm = (percent * gearset_max_rpm(drive_gearing)) - (direction.rotation(vex::rotationUnits::rev) * DIR_GEAR_RATIO);
+
+    drive.spin(vex::directionType::fwd, rpm / gearset_max_rpm(drive_gearing), vex::percentUnits::pct);
+}
+
+/**
+ * Grab the maximum RPM of a motor with a certain gearset
+ * 
+ * values are:
+ *  RED: 100
+ *  GREEN: 200
+ *  BLUE: 600
+ */
+double SwerveModule::gearset_max_rpm(vex::gearSetting gearing)
+{
+    switch (gearing)
+    {
+    case vex::gearSetting::ratio36_1:
+        return (1.0 / 36.0) * MOTOR_MAX_RPM;
+    case vex::gearSetting::ratio18_1:
+        return (1.0 / 18.0) * MOTOR_MAX_RPM;
+    case vex::gearSetting::ratio6_1:
+        return (1.0 / 6.0) * MOTOR_MAX_RPM;
+    default:
+        return 0.0;
+    }
+}
+
+/**
+ * Improved modulus which correctly calculates negatives
+ */
+int SwerveModule::mod(int a, int b)
+{
+    return (b + (a % b)) % b;
+}
\ No newline at end of file
diff --git a/src/utils/vector.cpp b/src/utils/vector.cpp
new file mode 100644
index 0000000..5152024
--- /dev/null
+++ b/src/utils/vector.cpp
@@ -0,0 +1,96 @@
+#include "../Core/include/utils/vector.h"
+
+/**
+ * Construct a vector object.
+ * 
+ * @param dir Direction, in radians. 'foward' is 0, clockwise positive when viewed from the top.
+ * @param mag Magnitude.
+ */
+Vector::Vector(double dir, double mag)
+: dir(dir), mag(mag)
+{
+
+}
+
+/**
+ * Construct a vector object from a cartesian point.
+ * 
+ * @param p point_t.x , point_t.y
+ */
+Vector::Vector(point_t &p)
+{
+    this->dir = atan2(p.x, p.y);
+    this->mag = sqrt( (p.x*p.x) + (p.y*p.y) );
+}
+
+/**
+ * Get the direction of the vector, in radians.
+ * '0' is forward, clockwise positive when viewed from the top.
+ * 
+ * Use r2d() to convert.
+ */
+double Vector::get_dir() const { return dir;}
+
+/**
+ * Get the magnitude of the vector
+ */
+double Vector::get_mag() const { return mag; }
+
+/**
+ * Get the X component of the vector; positive to the right.
+ */
+double Vector::get_x() const
+{
+return mag * sin(dir);
+}
+
+/**
+ * Get the Y component of the vector, positive forward.
+ */
+double Vector::get_y() const
+{
+return mag * cos(dir);
+}
+
+/**
+ * Correctly add vectors together with the + operator
+ */
+Vector Vector::operator+(const Vector &other)
+{
+    point_t p = 
+    {
+        .x = this->get_x() + other.get_x(),
+        .y = this->get_y() + other.get_y()
+    };
+
+    return Vector( p );
+}
+
+/**
+ * Correctly subtract vectors with the - operator
+ */
+Vector Vector::operator-(const Vector &other)
+{
+    point_t p = 
+    {
+        .x = this->get_x() - other.get_x(),
+        .y = this->get_y() - other.get_y()
+    };
+    return Vector( p );
+}
+
+/**
+ * General function for converting degrees to radians
+ */
+double d2r(double deg)
+{
+    return deg * (PI / 180.0);
+}
+
+/**
+ * General function for converting radians to degrees
+ */
+double r2d(double rad)
+{
+    return rad * (180.0 / PI);
+}
\ No newline at end of file

From b61b99f186269a609906bae169f93c4e6b9070d2 Mon Sep 17 00:00:00 2001
From: superrm11 <ramtech51@comcast.net>
Date: Sun, 13 Sep 2020 14:16:08 -0400
Subject: [PATCH 011/243] Swerve driver control is now functional.

---
 include/subsystems/swerve_module.h |  4 +++
 include/utils/vector.h             |  6 ++--
 src/subsystems/swerve_drive.cpp    | 22 +++++++-------
 src/subsystems/swerve_module.cpp   | 46 ++++++++++++++++++++++--------
 src/utils/vector.cpp               |  6 ++--
 5 files changed, 55 insertions(+), 29 deletions(-)

diff --git a/include/subsystems/swerve_module.h b/include/subsystems/swerve_module.h
index 03ca41a..723985f 100644
--- a/include/subsystems/swerve_module.h
+++ b/include/subsystems/swerve_module.h
@@ -72,6 +72,10 @@ class SwerveModule
     vex::motor &direction;
     vex::gearSetting dir_gearing;
 
+    double lastStoredHeading;
+    bool inverseDrive;
+    double driveMulitplier;
+
 };
 
 #endif
\ No newline at end of file
diff --git a/include/utils/vector.h b/include/utils/vector.h
index 8527b2a..b45227e 100644
--- a/include/utils/vector.h
+++ b/include/utils/vector.h
@@ -21,7 +21,7 @@ class Vector
      * @param mag Magnitude.
      */ 
     Vector(double dir, double mag);
-
+    
     /**
      * Construct a vector object from a cartesian point.
      * 
@@ -65,11 +65,11 @@ class Vector
 /**
  * General function for converting degrees to radians
  */
-double d2r(double deg);
+double deg2rad(double deg);
 
 /**
  * General function for converting radians to degrees
  */
-double r2d(double r);
+double rad2deg(double r);
 
 #endif
\ No newline at end of file
diff --git a/src/subsystems/swerve_drive.cpp b/src/subsystems/swerve_drive.cpp
index d32b052..a016850 100644
--- a/src/subsystems/swerve_drive.cpp
+++ b/src/subsystems/swerve_drive.cpp
@@ -1,4 +1,4 @@
-#include "../Core/include/subsystems/swerve_drive.h"
+#include "../core/include/subsystems/swerve_drive.h"
 
 /**
  * Construct the SwerveDrive object.
@@ -14,7 +14,7 @@ SwerveDrive::SwerveDrive(SwerveModule &left_front, SwerveModule &left_rear, Swer
  * account before passing to the main control method.
  * 
  * @param leftY Left joystick, Y axis (-100 -> 100)
- * @param leftX Left joystick, X axis (-100 -> 100)
+ * @param leftX Left joystick, X axis (-100 -> 100) 
  * @param rightX Right joystick, X axis(-100 -> 100)
  */
 void SwerveDrive::drive(int32_t leftY, int32_t leftX, int32_t rightX)
@@ -32,7 +32,7 @@ void SwerveDrive::drive(int32_t leftY, int32_t leftX, int32_t rightX)
         rightX = 0;
 
     // Convert input to a vector, and pass into main control method
-    return this->drive(input_lat, rightX);    
+    return this->drive(input_lat, rightX / 100.0);    
 }
 
 /**
@@ -42,10 +42,10 @@ void SwerveDrive::drive(int32_t leftY, int32_t leftX, int32_t rightX)
 void SwerveDrive::drive(Vector lateral, double rotation)
 {
     // Each wheel has a different rotation vector
-    Vector rot_lf(d2r(45), rotation);
-    Vector rot_rf(d2r(45+90), rotation);
-    Vector rot_rr(d2r(45+180), rotation);
-    Vector rot_lr(d2r(45+270), rotation);
+    Vector rot_lf(deg2rad(45), rotation);
+    Vector rot_rf(deg2rad(45+90), rotation);
+    Vector rot_rr(deg2rad(45+180), rotation);
+    Vector rot_lr(deg2rad(45+270), rotation);
 
     // Perform vector addition between the rotation vector and lateral vectors
     Vector lf_out = rot_lf + lateral;
@@ -54,8 +54,8 @@ void SwerveDrive::drive(Vector lateral, double rotation)
     Vector lr_out = rot_lr + lateral;
 
     // Set each swerve module to the respective direction / speed
-    left_front.set(r2d(lf_out.get_dir()), lf_out.get_mag());
-    right_front.set(r2d(rf_out.get_dir()), rf_out.get_mag());
-    right_rear.set(r2d(rr_out.get_dir()), rr_out.get_mag());
-    left_rear.set(r2d(lr_out.get_dir()), lr_out.get_mag());
+    left_front.set(rad2deg(lf_out.get_dir()), lf_out.get_mag());
+    right_front.set(rad2deg(rf_out.get_dir()), rf_out.get_mag());
+    right_rear.set(rad2deg(rr_out.get_dir()), rr_out.get_mag());
+    left_rear.set(rad2deg(lr_out.get_dir()), lr_out.get_mag());
 }
\ No newline at end of file
diff --git a/src/subsystems/swerve_module.cpp b/src/subsystems/swerve_module.cpp
index d1f27e8..fe76a21 100644
--- a/src/subsystems/swerve_module.cpp
+++ b/src/subsystems/swerve_module.cpp
@@ -1,4 +1,5 @@
-#include "../Core/include/subsystems/swerve_module.h"
+#include "../core/include/subsystems/swerve_module.h"
+#include "hardware.h"
 
 /**
  * Create a single swerve module, made up of a Drive motor and a Direction motor.
@@ -8,6 +9,9 @@
 SwerveModule::SwerveModule(vex::motor &drive, vex::gearSetting drive_gearing, vex::motor &direction, vex::gearSetting dir_gearing)
     : drive(drive), drive_gearing(drive_gearing), direction(direction), dir_gearing(dir_gearing)
 {
+  lastStoredHeading = 0.0;
+  inverseDrive = false;
+  driveMulitplier = 0.0;
 }
 
 /**
@@ -19,8 +23,14 @@ SwerveModule::SwerveModule(vex::motor &drive, vex::gearSetting drive_gearing, ve
  */
 void SwerveModule::set(double direction_deg, double speed_pct)
 {
-    set_direction(direction_deg);
-    set_speed(speed_pct);
+  // Don't move the direction wheel unless we need to
+  if(speed_pct == 0.0)
+    direction_deg = lastStoredHeading;
+  else
+    lastStoredHeading = direction_deg;
+
+  set_direction(direction_deg);
+  set_speed(speed_pct);
 }
 
 /**
@@ -35,14 +45,25 @@ void SwerveModule::set(double direction_deg, double speed_pct)
  */
 void SwerveModule::set_direction(double deg)
 {
+  double pos = direction.position(vex::rotationUnits::deg) * DIR_GEAR_RATIO;
+  
+  // Find the degrees of the direction module between -180 and +180, with 0 being forward.
+  int modpos = mod(pos, 360);
+  modpos -= (modpos > 180) ? 360 : 0;
+
+  // Delta between where we are (modpos) and where we need to be (deg)
+  // Normalize the delta to make sure the maximum movement of the direction motor is 90 degrees.
+  // If the delta is above 90, then the wheel will go to the nearest 180 from the target, and move the drive wheel backwards.
+  int delta = deg - modpos;
+  int normalizedDelta = delta + (abs(delta) > 90 ? (delta > 0 ? -180 : 180) : 0);
 
-    int modpos = mod(deg, 360);
+  inverseDrive = abs(delta) > 90 ? true : false;
 
-    // If the position is more than 180 degrees away, then turn the other way
-    if(fabs(modpos - direction.rotation(vex::rotationUnits::deg)) > 180)
-        modpos = mod(modpos + 180, 360);
+  // Slow down the drive if we aren't close to the set direction yet (use the cube of the error)
+  driveMulitplier = pow(1 - (abs(normalizedDelta) / 90.0), 3);
+  
+  direction.spinTo((normalizedDelta + pos) / DIR_GEAR_RATIO, vex::rotationUnits::deg, 100, vex::velocityUnits::pct, false);
 
-    direction.spinToPosition(modpos / DIR_GEAR_RATIO, vex::rotationUnits::deg, false);
 }
 
 /**
@@ -51,11 +72,12 @@ void SwerveModule::set_direction(double deg)
  */
 void SwerveModule::set_speed(double percent)
 {
-    // The speed of the Drive motor is influenced by how fast the direciton motor is spinning,
-    // due to the way they are geared together. Therefore, subtract that RPM from what will be set.
-    double rpm = (percent * gearset_max_rpm(drive_gearing)) - (direction.rotation(vex::rotationUnits::rev) * DIR_GEAR_RATIO);
+  //TODO take into account how the RPM of the direction motor affects the RPM of the drive wheel
+
+  drive.spin(vex::directionType::fwd, percent * 100.0 * (inverseDrive ? -1 : 1) * driveMulitplier, vex::percentUnits::pct);
+  //double rpm = (percent * gearset_max_rpm(drive_gearing)) - (direction.rotation(vex::rotationUnits::rev) * DIR_GEAR_RATIO);
 
-    drive.spin(vex::directionType::fwd, rpm / gearset_max_rpm(drive_gearing), vex::percentUnits::pct);
+  //drive.spin(vex::directionType::fwd, rpm / gearset_max_rpm(drive_gearing), vex::percentUnits::pct);
 }
 
 /**
diff --git a/src/utils/vector.cpp b/src/utils/vector.cpp
index 5152024..2600606 100644
--- a/src/utils/vector.cpp
+++ b/src/utils/vector.cpp
@@ -1,4 +1,4 @@
-#include "../Core/include/utils/vector.h"
+#include "../core/include/utils/vector.h"
 
 /**
  * Construct a vector object.
@@ -82,7 +82,7 @@ Vector Vector::operator-(const Vector &other)
 /**
  * General function for converting degrees to radians
  */
-double d2r(double deg)
+double deg2rad(double deg)
 {
     return deg * (PI / 180.0);
 }
@@ -90,7 +90,7 @@ double d2r(double deg)
 /**
  * General function for converting radians to degrees
  */
-double r2d(double rad)
+double rad2deg(double rad)
 {
     return rad * (180.0 / PI);
 }
\ No newline at end of file

From 6861165985388e6a2f6319d97ef6af6defbd5b9e Mon Sep 17 00:00:00 2001
From: superrm11 <ramtech51@comcast.net>
Date: Tue, 15 Sep 2020 19:07:44 -0400
Subject: [PATCH 012/243] Initial testing for autonomous swerve code

---
 include/subsystems/swerve_drive.h  | 14 +++++
 include/subsystems/swerve_module.h | 17 ++++--
 src/subsystems/swerve_drive.cpp    | 85 +++++++++++++++++++++++++++++-
 src/subsystems/swerve_module.cpp   | 45 +++++++++-------
 4 files changed, 137 insertions(+), 24 deletions(-)

diff --git a/include/subsystems/swerve_drive.h b/include/subsystems/swerve_drive.h
index 7b2afa2..54aa97e 100644
--- a/include/subsystems/swerve_drive.h
+++ b/include/subsystems/swerve_drive.h
@@ -3,6 +3,7 @@
 
 #include "../Core/include/subsystems/swerve_module.h"
 #include "../Core/include/utils/vector.h"
+#include "../Core/include/utils/pid.h"
 
 #define ROT_DEADBAND 0.2
 #define LAT_DEADBAND 0.2
@@ -29,9 +30,22 @@ void drive(int32_t leftY, int32_t leftX, int32_t rightX);
  */
 void drive(Vector lateral, double rotation);
 
+/**
+ * Autonomously drive the robot in (degrees) direction, at (-1.0 -> 1.0) speed, for (inches) distance.
+ * Indicate a negative speed or distance, or (preferably) a direction of +-180 degrees for backwards.
+ */
+bool auto_drive(double direction, double speed, double distance);
+
+void set_drive_pid(PID::pid_config_t &config);
+void set_turn_pid(PID::pid_config_t &config);
+
 private:
 
 SwerveModule &left_front, &left_rear, &right_front, &right_rear;
+bool auto_drive_init = true;
+double auto_drive_enc_reset = 0.0;
+
+PID *drive_pid, *turn_pid;
 
 };
 
diff --git a/include/subsystems/swerve_module.h b/include/subsystems/swerve_module.h
index 723985f..4502e6b 100644
--- a/include/subsystems/swerve_module.h
+++ b/include/subsystems/swerve_module.h
@@ -11,6 +11,8 @@
 
 #define MOTOR_MAX_RPM 3600
 
+#define WHEEL_DIAM 4 //inches
+
 class SwerveModule
 {
     public:
@@ -29,9 +31,7 @@ class SwerveModule
      * @param direction_deg Degrees of rotation for the module's direction (clockwise positive, from top)
      * @param speed_pct Speed of the wheel for the module, in percent (-1.0 -> 1.0, positive fwd)
      */
-    void set(double direction_deg, double speed_pct);
-
-    private:
+    void set(double direction_deg, double speed_pct, int power=2);
 
     /**
      * Sets the direction of the module to X degrees (clockwise positive, from top perspective).
@@ -43,7 +43,7 @@ class SwerveModule
      * 
      * @param deg position to set the motor, counter clockwise from the top.
      */
-    void set_direction(double deg);
+    bool set_direction(double deg);
 
     /**
      * Sets the speed of the drive motor, taking into account the speed of the direction motor,
@@ -51,6 +51,13 @@ class SwerveModule
      */
     void set_speed(double percent);
 
+    /**
+     * Get 'distance' from the drive motor
+     */
+    double get_distance_driven();
+    
+    private:
+
     /**
      * Grab the maximum RPM of a motor with a certain gearset
      * 
@@ -59,7 +66,7 @@ class SwerveModule
      *  GREEN: 200
      *  BLUE: 600
      */
-    static double gearset_max_rpm(vex::gearSetting gearing);
+    static double gearset_dps(vex::gearSetting gearing);
 
     /**
      * Improved modulus which correctly calculates negatives
diff --git a/src/subsystems/swerve_drive.cpp b/src/subsystems/swerve_drive.cpp
index a016850..1c6f99b 100644
--- a/src/subsystems/swerve_drive.cpp
+++ b/src/subsystems/swerve_drive.cpp
@@ -32,7 +32,7 @@ void SwerveDrive::drive(int32_t leftY, int32_t leftX, int32_t rightX)
         rightX = 0;
 
     // Convert input to a vector, and pass into main control method
-    return this->drive(input_lat, rightX / 100.0);    
+    this->drive(input_lat, rightX / 100.0);    
 }
 
 /**
@@ -58,4 +58,87 @@ void SwerveDrive::drive(Vector lateral, double rotation)
     right_front.set(rad2deg(rf_out.get_dir()), rf_out.get_mag());
     right_rear.set(rad2deg(rr_out.get_dir()), rr_out.get_mag());
     left_rear.set(rad2deg(lr_out.get_dir()), lr_out.get_mag());
+}
+
+/**
+ * Set the PID configuration for the "auto_drive" function
+ */
+void SwerveDrive::set_drive_pid(PID::pid_config_t &config) 
+{
+  if(drive_pid != NULL)
+    delete drive_pid;
+
+  this->drive_pid = new PID(config);
+}
+
+/**
+ * Set the PID configuration for the "auto_turn" function
+ */
+void SwerveDrive::set_turn_pid(PID::pid_config_t &config) 
+{ 
+  if(turn_pid != NULL)
+    delete turn_pid;
+
+  this->turn_pid = new PID(config);
+}
+
+/**
+ * Autonomously drive the robot in (degrees) direction, at (-1.0 -> 1.0) speed, for (inches) distance.
+ * Indicate a negative speed or distance, or (preferably) a direction of +-180 degrees for backwards.
+ */
+bool SwerveDrive::auto_drive(double direction, double speed, double distance)
+{
+  // Null check the PID config
+  if(drive_pid == NULL)
+  {
+    fprintf(stderr, "Failed to run auto_drive: Missing PID config\n");
+    return true; // true to indicate 'finished'
+  }
+
+  // INITIALIZATION
+  if(auto_drive_init)
+  {
+    // Turn all the wheels in the correct direction before running
+    bool all_wheels_done = true;
+    all_wheels_done = all_wheels_done & left_front.set_direction(direction);
+    all_wheels_done = all_wheels_done & right_front.set_direction(direction);
+    all_wheels_done = all_wheels_done & left_rear.set_direction(direction);
+    all_wheels_done = all_wheels_done & right_rear.set_direction(direction);
+
+    // Setting the speed of all wheels to zero will still slowly run the motor, to make sure the wheel is stopped.
+    // (running the direction motor affects the speed of the wheel due to how it's geared together)
+    left_front.set_speed(0);
+    right_front.set_speed(0);
+    left_rear.set_speed(0);
+    right_rear.set_speed(0);
+
+    // Make sure all the wheels are done turning before continuing with the 'init' phase
+    if(!all_wheels_done)
+      return false;
+
+    // We're using the left front encoder for distance travelled.
+    auto_drive_enc_reset = left_front.get_distance_driven();
+
+    // set up the PID
+    drive_pid->reset();
+    drive_pid->set_target(distance);
+    drive_pid->set_limits(-fabs(speed), fabs(speed));
+
+    auto_drive_init = false;
+  }
+
+  // PERIODIC
+
+  drive_pid->update( left_front.get_distance_driven() - auto_drive_enc_reset );
+  this->drive(Vector(deg2rad(direction), drive_pid->get()), 0);
+
+  // Check if the driving is complete
+  if(drive_pid->is_on_target())
+  {
+    this->drive(Vector(0,0), 0); // stop the robot
+    auto_drive_init = true;
+    return true;
+  }
+
+  return false;
 }
\ No newline at end of file
diff --git a/src/subsystems/swerve_module.cpp b/src/subsystems/swerve_module.cpp
index fe76a21..18bceb2 100644
--- a/src/subsystems/swerve_module.cpp
+++ b/src/subsystems/swerve_module.cpp
@@ -20,8 +20,9 @@ SwerveModule::SwerveModule(vex::motor &drive, vex::gearSetting drive_gearing, ve
  * 
  * @param direction_deg Degrees of rotation for the module's direction (clockwise positive, from top)
  * @param speed_pct Speed of the wheel for the module, in percent (-1.0 -> 1.0, positive fwd)
+ * @param power=2 Square / Cube the input for a exponential curve for more lower speed control
  */
-void SwerveModule::set(double direction_deg, double speed_pct)
+void SwerveModule::set(double direction_deg, double speed_pct, int power)
 {
   // Don't move the direction wheel unless we need to
   if(speed_pct == 0.0)
@@ -30,7 +31,10 @@ void SwerveModule::set(double direction_deg, double speed_pct)
     lastStoredHeading = direction_deg;
 
   set_direction(direction_deg);
-  set_speed(speed_pct);
+  if(power % 2 == 0)
+    set_speed((speed_pct > 0 ? 1.0 : -1.0) * pow(speed_pct, power));
+  else
+    set_speed(pow(speed_pct, power));
 }
 
 /**
@@ -43,7 +47,7 @@ void SwerveModule::set(double direction_deg, double speed_pct)
  * 
  * @param deg position to set the motor, counter clockwise from the top.
  */
-void SwerveModule::set_direction(double deg)
+bool SwerveModule::set_direction(double deg)
 {
   double pos = direction.position(vex::rotationUnits::deg) * DIR_GEAR_RATIO;
   
@@ -62,7 +66,7 @@ void SwerveModule::set_direction(double deg)
   // Slow down the drive if we aren't close to the set direction yet (use the cube of the error)
   driveMulitplier = pow(1 - (abs(normalizedDelta) / 90.0), 3);
   
-  direction.spinTo((normalizedDelta + pos) / DIR_GEAR_RATIO, vex::rotationUnits::deg, 100, vex::velocityUnits::pct, false);
+  return direction.spinTo((normalizedDelta + pos) / DIR_GEAR_RATIO, vex::rotationUnits::deg, 100, vex::velocityUnits::pct, false);
 
 }
 
@@ -72,32 +76,37 @@ void SwerveModule::set_direction(double deg)
  */
 void SwerveModule::set_speed(double percent)
 {
-  //TODO take into account how the RPM of the direction motor affects the RPM of the drive wheel
+  // take into account how the RPM of the direction motor affects the RPM of the drive wheel
+  //double speed_diff_dps = 0;//direction.velocity(vex::velocityUnits::dps) * DIR_GEAR_RATIO * -.2;
+  // Difference is negligable. Not worth the effort of getting it right.
 
-  drive.spin(vex::directionType::fwd, percent * 100.0 * (inverseDrive ? -1 : 1) * driveMulitplier, vex::percentUnits::pct);
-  //double rpm = (percent * gearset_max_rpm(drive_gearing)) - (direction.rotation(vex::rotationUnits::rev) * DIR_GEAR_RATIO);
+  drive.spin(vex::directionType::fwd, percent * 100.0 * (inverseDrive ? -1 : 1), vex::velocityUnits::pct);
+}
 
-  //drive.spin(vex::directionType::fwd, rpm / gearset_max_rpm(drive_gearing), vex::percentUnits::pct);
+/**
+ * Get 'distance' from the drive motor
+ */
+double SwerveModule::get_distance_driven()
+{
+  return WHEEL_DIAM * PI * drive.position(vex::rotationUnits::rev) * DRIVE_GEAR_RATIO;
 }
 
 /**
- * Grab the maximum RPM of a motor with a certain gearset
- * 
- * values are:
- *  RED: 100
- *  GREEN: 200
- *  BLUE: 600
+ * Grab the maximum degrees per second of a motor with a certain gearset
+ * 36 : 1 = reds
+ * 18 : 1 = greens
+ * 6 : 1 = blues
  */
-double SwerveModule::gearset_max_rpm(vex::gearSetting gearing)
+double SwerveModule::gearset_dps(vex::gearSetting gearing)
 {
     switch (gearing)
     {
     case vex::gearSetting::ratio36_1:
-        return (1.0 / 36.0) * MOTOR_MAX_RPM;
+        return (1.0 / 36.0) * MOTOR_MAX_RPM * 360.0;
     case vex::gearSetting::ratio18_1:
-        return (1.0 / 18.0) * MOTOR_MAX_RPM;
+        return (1.0 / 18.0) * MOTOR_MAX_RPM * 360.0;
     case vex::gearSetting::ratio6_1:
-        return (1.0 / 6.0) * MOTOR_MAX_RPM;
+        return (1.0 / 6.0) * MOTOR_MAX_RPM * 360.0;
     default:
         return 0.0;
     }

From 6be79ddf6606e67730f3a1724fd0f78c933b533d Mon Sep 17 00:00:00 2001
From: superrm11 <ramtech51@comcast.net>
Date: Tue, 15 Sep 2020 19:38:19 -0400
Subject: [PATCH 013/243] Added mecanum drive to the project based on '18-19

---
 include/subsystems/mecanum_drive.h | 26 +++++++++++++++
 src/subsystems/mecanum_drive.cpp   | 51 ++++++++++++++++++++++++++++++
 2 files changed, 77 insertions(+)
 create mode 100644 include/subsystems/mecanum_drive.h
 create mode 100644 src/subsystems/mecanum_drive.cpp

diff --git a/include/subsystems/mecanum_drive.h b/include/subsystems/mecanum_drive.h
new file mode 100644
index 0000000..84bbd9b
--- /dev/null
+++ b/include/subsystems/mecanum_drive.h
@@ -0,0 +1,26 @@
+#ifndef _MECANUMDRIVE_
+#define _MECANUMDRIVE_
+
+#include "vex.h"
+
+#ifndef PI
+#define PI 3.141592654
+#endif
+
+class MecanumDrive
+{
+
+  public:
+
+  MecanumDrive(vex::motor &left_front, vex::motor &right_front, vex::motor &left_rear, vex::motor &right_rear);
+
+  void drive(double left_y, double left_x, double right_x, int power=2);
+
+  private:
+
+
+  vex::motor &left_front, &right_front, &left_rear, &right_rear;
+
+};
+
+#endif
\ No newline at end of file
diff --git a/src/subsystems/mecanum_drive.cpp b/src/subsystems/mecanum_drive.cpp
new file mode 100644
index 0000000..8f60a91
--- /dev/null
+++ b/src/subsystems/mecanum_drive.cpp
@@ -0,0 +1,51 @@
+#include "../core/include/subsystems/mecanum_drive.h"
+
+MecanumDrive::MecanumDrive(vex::motor &left_front, vex::motor &right_front, vex::motor &left_rear, vex::motor &right_rear)
+: left_front(left_front), right_front(right_front), left_rear(left_rear), right_rear(right_rear)
+{
+
+}
+
+/**
+ * Drive the robot with a mecanum-style / arcade drive. Inputs are in percent (-100.0 -> 100.0) straight from the controller.
+ * Controls are mixed, so the robot can drive forward / strafe / rotate all at the same time. 
+ *
+ * @param left_y left joystick, Y axis (forward / backwards)
+ * @param left_x left joystick, X axis (strafe left / right)
+ * @param right_x right joystick, X axis (rotation left / right)
+ * @param power=2 how much of a "curve" there should be on drive controls; better for low speed maneuvers.
+ *                Leave blank for a default curve of 2 (higher means more fidelity)
+ */
+void MecanumDrive::drive(double left_y, double left_x, double right_x, int power)
+{
+  // LATERAL CONTROLS - convert cartesion to a vector
+  double magnitude = sqrt(pow(left_y / 100.0, 2) + pow(left_x / 100.0, 2));
+  magnitude = pow(magnitude, power);
+
+  double direction = atan2(left_x / 100.0, left_y / 100.0);
+
+  // ROTATIONAL CONTROLS - just the right x joystick
+  // Ternary makes sure that if the "power" is even, the rotation keeps it's sign
+  double rotation = right_x / 100.0;
+  rotation = (power%2 == 0 ? rotation < 0 ? -1.0 : 1.0 : 1.0) * pow(rotation, power);
+
+
+  // ALGORITHM - "rotate" the vector by 45 degrees and apply each corner to a wheel
+  // .. Oh, and mix rotation too
+  double lf = (magnitude * cos(direction - (PI / 4.0))) + rotation;
+  double rf = (magnitude * cos(direction + (PI / 4.0))) - rotation;
+  double lr = (magnitude * cos(direction + (PI / 4.0))) + rotation;
+  double rr = (magnitude * cos(direction - (PI / 4.0))) - rotation;
+
+  // Limit the output between -1.0 and +1.0
+  lf = lf > 1.0 ? 1.0 : (lf < -1.0 ? -1.0 : lf);
+  rf = rf > 1.0 ? 1.0 : (rf < -1.0 ? -1.0 : rf);
+  lr = lr > 1.0 ? 1.0 : (lr < -1.0 ? -1.0 : lr);
+  rr = rr > 1.0 ? 1.0 : (rr < -1.0 ? -1.0 : rr);
+
+  // Finally, spin the motors
+  left_front.spin(vex::directionType::fwd, lf * 100.0, vex::velocityUnits::pct);
+  right_front.spin(vex::directionType::fwd, rf * 100.0, vex::velocityUnits::pct);
+  left_rear.spin(vex::directionType::fwd, lr * 100.0, vex::velocityUnits::pct);
+  right_rear.spin(vex::directionType::fwd, rr * 100.0, vex::velocityUnits::pct);
+}
\ No newline at end of file

From b0191cbe0254fc492961f9829b2bd2b58c5c00d3 Mon Sep 17 00:00:00 2001
From: superrm11 <ramtech51@comcast.net>
Date: Thu, 1 Oct 2020 20:35:11 -0400
Subject: [PATCH 014/243] Quick commit before I break anything

---
 include/subsystems/swerve_drive.h  | 10 ++++-
 include/subsystems/swerve_module.h |  2 +-
 include/utils/generic_auto.h       | 19 ++++------
 src/subsystems/rgb_controller.cpp  |  2 +-
 src/subsystems/swerve_drive.cpp    | 61 ++++++++++++++++++++++++++++--
 src/subsystems/swerve_module.cpp   |  1 +
 src/subsystems/tank_drive.cpp      |  2 +-
 src/utils/generic_auto.cpp         | 23 +++++------
 src/utils/pid.cpp                  |  2 +-
 src/utils/spline_path.cpp          |  2 +-
 10 files changed, 91 insertions(+), 33 deletions(-)

diff --git a/include/subsystems/swerve_drive.h b/include/subsystems/swerve_drive.h
index 54aa97e..c0e97a9 100644
--- a/include/subsystems/swerve_drive.h
+++ b/include/subsystems/swerve_drive.h
@@ -16,7 +16,7 @@ class SwerveDrive
 /**
  * Construct the SwerveDrive object.
  */
-SwerveDrive(SwerveModule &left_front, SwerveModule &left_rear, SwerveModule &right_front, SwerveModule &right_rear);
+SwerveDrive(SwerveModule &left_front, SwerveModule &left_rear, SwerveModule &right_front, SwerveModule &right_rear, vex::inertial &imu);
 
 /**
  * Drive the robot using controller inputs. Deadbands are automatically taken into
@@ -36,6 +36,12 @@ void drive(Vector lateral, double rotation);
  */
 bool auto_drive(double direction, double speed, double distance);
 
+/**
+ * Autonomously turn the robot over it's center axis in degrees. Positive degrees is clockwise, Negative is counter-clockwise
+ * Speed is in percent (-1.0 -> 1.0)
+ */
+bool auto_turn(double degrees, double speed);
+
 void set_drive_pid(PID::pid_config_t &config);
 void set_turn_pid(PID::pid_config_t &config);
 
@@ -43,9 +49,11 @@ void set_turn_pid(PID::pid_config_t &config);
 
 SwerveModule &left_front, &left_rear, &right_front, &right_rear;
 bool auto_drive_init = true;
+bool auto_turn_init = true;
 double auto_drive_enc_reset = 0.0;
 
 PID *drive_pid, *turn_pid;
+vex::inertial &imu;
 
 };
 
diff --git a/include/subsystems/swerve_module.h b/include/subsystems/swerve_module.h
index 4502e6b..41bd40d 100644
--- a/include/subsystems/swerve_module.h
+++ b/include/subsystems/swerve_module.h
@@ -11,7 +11,7 @@
 
 #define MOTOR_MAX_RPM 3600
 
-#define WHEEL_DIAM 4 //inches
+#define WHEEL_DIAM 2.75 //inches
 
 class SwerveModule
 {
diff --git a/include/utils/generic_auto.h b/include/utils/generic_auto.h
index 3674c68..80e4123 100644
--- a/include/utils/generic_auto.h
+++ b/include/utils/generic_auto.h
@@ -1,21 +1,16 @@
 #ifndef _GENAUTO_
 #define _GENAUTO_
 
-#include <vector>
+#include <queue>
+#include <map>
+#include "vex.h"
 
-typedef bool (*state_ptr)(void);
+typedef bool (*state_ptr)();
 
 class GenericAuto
 {
   public:
-  
-  /**
-  * Create the GenericAuto object
-  *
-  * Example: GenericAuto auto1 = {func_ptr1, func_ptr2, ...};
-  */
-  GenericAuto(std::initializer_list<state_ptr> states);
-  
+
   /**
   * The method that runs the autonomous. If 'blocking' is true, then
   * this method will run through every state until it finished.
@@ -31,9 +26,11 @@ class GenericAuto
   */
   bool run(bool blocking);
 
+  void add(state_ptr);
+
   private:
 
-  std::vector<state_ptr> state_list;
+  std::queue<state_ptr> state_list;
 
 };
 
diff --git a/src/subsystems/rgb_controller.cpp b/src/subsystems/rgb_controller.cpp
index 17af7b2..63b8f73 100644
--- a/src/subsystems/rgb_controller.cpp
+++ b/src/subsystems/rgb_controller.cpp
@@ -1,4 +1,4 @@
-#include "../Core/include/subsystems/rgb_controller.h"
+#include "../core/include/subsystems/rgb_controller.h"
 
 RGBController::RGBController(rgb_t starting_color, vex::triport::port port1, vex::triport::port port2, vex::triport::port port3)
   : port1(port1), port2(port2), port3(port3)
diff --git a/src/subsystems/swerve_drive.cpp b/src/subsystems/swerve_drive.cpp
index 1c6f99b..7907d50 100644
--- a/src/subsystems/swerve_drive.cpp
+++ b/src/subsystems/swerve_drive.cpp
@@ -1,10 +1,13 @@
 #include "../core/include/subsystems/swerve_drive.h"
+#include <iostream>
+
+using namespace std;
 
 /**
  * Construct the SwerveDrive object.
  */
-SwerveDrive::SwerveDrive(SwerveModule &left_front, SwerveModule &left_rear, SwerveModule &right_front, SwerveModule &right_rear)
-:left_front(left_front), left_rear(left_rear), right_front(right_front), right_rear(right_rear)
+SwerveDrive::SwerveDrive(SwerveModule &left_front, SwerveModule &left_rear, SwerveModule &right_front, SwerveModule &right_rear, vex::inertial &imu)
+:left_front(left_front), left_rear(left_rear), right_front(right_front), right_rear(right_rear), imu(imu)
 {
 
 }
@@ -31,6 +34,8 @@ void SwerveDrive::drive(int32_t leftY, int32_t leftX, int32_t rightX)
     if(fabs(rightX / 100.0) < LAT_DEADBAND)
         rightX = 0;
 
+    printf("distance: %f\n", left_front.get_distance_driven());
+
     // Convert input to a vector, and pass into main control method
     this->drive(input_lat, rightX / 100.0);    
 }
@@ -127,7 +132,7 @@ bool SwerveDrive::auto_drive(double direction, double speed, double distance)
     auto_drive_init = false;
   }
 
-  // PERIODIC
+  // LOOP
 
   drive_pid->update( left_front.get_distance_driven() - auto_drive_enc_reset );
   this->drive(Vector(deg2rad(direction), drive_pid->get()), 0);
@@ -140,5 +145,55 @@ bool SwerveDrive::auto_drive(double direction, double speed, double distance)
     return true;
   }
 
+  return false;
+}
+
+/**
+ * Autonomously turn the robot over it's center axis in degrees. Positive degrees is clockwise, Negative is counter-clockwise
+ * Function is non-blocking, and returns true when it has finished turning.
+ */
+bool SwerveDrive::auto_turn(double degrees, double speed)
+{
+  if(turn_pid == NULL)
+  {
+    fprintf(stderr, "Failed to run auto_turn: missing PID config!");
+    return true;
+  }
+
+  // INIT
+  if(auto_turn_init)
+  {
+    // Wait until all the modules are at their 45's before continuing
+    bool all_wheels_done = true;
+    all_wheels_done = all_wheels_done && left_front.set_direction(45);
+    all_wheels_done = all_wheels_done && right_front.set_direction(45 + 90);
+    all_wheels_done = all_wheels_done && right_rear.set_direction(45 + 180);
+    all_wheels_done = all_wheels_done && left_rear.set_direction(45 + 270);
+    if(!all_wheels_done)
+      return false;
+
+    // Reset the IMU rotation and configure the PID loop
+    imu.resetRotation();
+    
+    turn_pid->reset();
+    turn_pid->set_limits(-fabs(speed), fabs(speed));
+    turn_pid->set_target(degrees);
+
+    auto_turn_init = false;
+  }
+
+  // LOOP
+
+  turn_pid->update(imu.rotation());
+  drive(Vector(0,0) , turn_pid->get());
+
+  // when the robot is on target, we are done. return true.
+  if(turn_pid->is_on_target())
+  {
+    drive(Vector(0,0), 0);
+    auto_turn_init = true;
+    return true;
+  }
+
   return false;
 }
\ No newline at end of file
diff --git a/src/subsystems/swerve_module.cpp b/src/subsystems/swerve_module.cpp
index 18bceb2..25e1e74 100644
--- a/src/subsystems/swerve_module.cpp
+++ b/src/subsystems/swerve_module.cpp
@@ -88,6 +88,7 @@ void SwerveModule::set_speed(double percent)
  */
 double SwerveModule::get_distance_driven()
 {
+  // return drive.position(vex::rotationUnits::rev);
   return WHEEL_DIAM * PI * drive.position(vex::rotationUnits::rev) * DRIVE_GEAR_RATIO;
 }
 
diff --git a/src/subsystems/tank_drive.cpp b/src/subsystems/tank_drive.cpp
index d6f548a..12e5805 100644
--- a/src/subsystems/tank_drive.cpp
+++ b/src/subsystems/tank_drive.cpp
@@ -1,4 +1,4 @@
-#include "../Core/include/subsystems/tank_drive.h"
+#include "../core/include/subsystems/tank_drive.h"
 
 TankDrive::TankDrive(motor_group &left_motors, motor_group &right_motors, inertial &gyro_sensor, TankDrive::tankdrive_config_t &config)
     : config(config), left_motors(left_motors), right_motors(right_motors), drive_pid(config.drive_pid), turn_pid(config.turn_pid), gyro_sensor(gyro_sensor)
diff --git a/src/utils/generic_auto.cpp b/src/utils/generic_auto.cpp
index f3d0976..b74804c 100644
--- a/src/utils/generic_auto.cpp
+++ b/src/utils/generic_auto.cpp
@@ -1,16 +1,5 @@
 #include "../core/include/utils/generic_auto.h"
 
-/**
-* Create the GenericAuto object
-*
-* Example: GenericAuto auto1 = {func_ptr1, func_ptr2, ...};
-*/
-GenericAuto::GenericAuto(std::initializer_list<state_ptr> states)
-{
-  for (state_ptr s : states)
-    state_list.push_back(s);
-}
-
 /**
 * The method that runs the autonomous. If 'blocking' is true, then
 * this method will run through every state until it finished.
@@ -31,9 +20,11 @@ bool GenericAuto::run(bool blocking)
 
   do
   {
+    if( state_list.front()() )
+      state_list.pop();
 
-    if((state_list.front())() == true)
-      state_list.erase(state_list.begin());
+    if(blocking)
+      vexDelay(50);
 
   } while(blocking && !state_list.empty());
 
@@ -41,3 +32,9 @@ bool GenericAuto::run(bool blocking)
   // If non-blocking, return false because the list isn't empty yet
   return blocking;
 }
+
+void GenericAuto::add(state_ptr newState)
+{
+  state_list.push(newState);
+}
+
diff --git a/src/utils/pid.cpp b/src/utils/pid.cpp
index cfdffe4..028e2b4 100644
--- a/src/utils/pid.cpp
+++ b/src/utils/pid.cpp
@@ -1,4 +1,4 @@
-#include "../Core/include/utils/pid.h"
+#include "../core/include/utils/pid.h"
 
 /**
    * Create the PID object
diff --git a/src/utils/spline_path.cpp b/src/utils/spline_path.cpp
index 4485100..aedbb57 100644
--- a/src/utils/spline_path.cpp
+++ b/src/utils/spline_path.cpp
@@ -1,4 +1,4 @@
-#include "../Core/include/utils/spline_path.h"
+#include "../core/include/utils/spline_path.h"
 
 SplinePath::SplinePath(TankDrive &drive_system, vex::inertial &imu, vex::motor &l_enc, vex::motor &r_enc, motion_profile_t &motion_profile)
 : drive_system(drive_system), l_enc(l_enc), r_enc(r_enc), imu(imu), motion_profile(motion_profile)

From ee5fa13baddf029850bff5557966baa5d8102ee1 Mon Sep 17 00:00:00 2001
From: superrm11 <ramtech51@comcast.net>
Date: Sat, 3 Oct 2020 14:50:19 -0400
Subject: [PATCH 015/243] Fixed more include problems and vscode building

---
 include/subsystems/swerve_drive.h | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/include/subsystems/swerve_drive.h b/include/subsystems/swerve_drive.h
index c0e97a9..2427458 100644
--- a/include/subsystems/swerve_drive.h
+++ b/include/subsystems/swerve_drive.h
@@ -1,9 +1,9 @@
 #ifndef _SWERVEDRIVE_
 #define _SWERVEDRIVE_
 
-#include "../Core/include/subsystems/swerve_module.h"
-#include "../Core/include/utils/vector.h"
-#include "../Core/include/utils/pid.h"
+#include "../core/include/subsystems/swerve_module.h"
+#include "../core/include/utils/vector.h"
+#include "../core/include/utils/pid.h"
 
 #define ROT_DEADBAND 0.2
 #define LAT_DEADBAND 0.2

From 4307fc84de7f9217ac395e6711b2fa9d23d38b27 Mon Sep 17 00:00:00 2001
From: superrm11 <ramtech51@comcast.net>
Date: Sun, 4 Oct 2020 18:31:10 -0400
Subject: [PATCH 016/243] SwerveDrive::auto_drive done, base PID tuning

---
 include/subsystems/swerve_drive.h  |  1 -
 include/subsystems/swerve_module.h | 12 +++++++++---
 src/subsystems/swerve_drive.cpp    | 15 ++++++++++-----
 src/subsystems/swerve_module.cpp   | 13 +++++++++++--
 4 files changed, 30 insertions(+), 11 deletions(-)

diff --git a/include/subsystems/swerve_drive.h b/include/subsystems/swerve_drive.h
index 2427458..286c385 100644
--- a/include/subsystems/swerve_drive.h
+++ b/include/subsystems/swerve_drive.h
@@ -50,7 +50,6 @@ void set_turn_pid(PID::pid_config_t &config);
 SwerveModule &left_front, &left_rear, &right_front, &right_rear;
 bool auto_drive_init = true;
 bool auto_turn_init = true;
-double auto_drive_enc_reset = 0.0;
 
 PID *drive_pid, *turn_pid;
 vex::inertial &imu;
diff --git a/include/subsystems/swerve_module.h b/include/subsystems/swerve_module.h
index 41bd40d..171b231 100644
--- a/include/subsystems/swerve_module.h
+++ b/include/subsystems/swerve_module.h
@@ -51,11 +51,18 @@ class SwerveModule
      */
     void set_speed(double percent);
 
+    /**
+    * Reset the drive encoder to zero
+    */
+    void reset_distance_driven();
+
     /**
      * Get 'distance' from the drive motor
      */
     double get_distance_driven();
-    
+
+    bool auto_reverse = false;
+
     private:
 
     /**
@@ -78,9 +85,8 @@ class SwerveModule
 
     vex::motor &direction;
     vex::gearSetting dir_gearing;
-
-    double lastStoredHeading;
     bool inverseDrive;
+    double lastStoredHeading;
     double driveMulitplier;
 
 };
diff --git a/src/subsystems/swerve_drive.cpp b/src/subsystems/swerve_drive.cpp
index 7907d50..4b1a3a1 100644
--- a/src/subsystems/swerve_drive.cpp
+++ b/src/subsystems/swerve_drive.cpp
@@ -103,6 +103,7 @@ bool SwerveDrive::auto_drive(double direction, double speed, double distance)
   // INITIALIZATION
   if(auto_drive_init)
   {
+    // std::cout << "Init-ing" << std::endl;
     // Turn all the wheels in the correct direction before running
     bool all_wheels_done = true;
     all_wheels_done = all_wheels_done & left_front.set_direction(direction);
@@ -122,8 +123,7 @@ bool SwerveDrive::auto_drive(double direction, double speed, double distance)
       return false;
 
     // We're using the left front encoder for distance travelled.
-    auto_drive_enc_reset = left_front.get_distance_driven();
-
+    left_front.reset_distance_driven();
     // set up the PID
     drive_pid->reset();
     drive_pid->set_target(distance);
@@ -133,9 +133,14 @@ bool SwerveDrive::auto_drive(double direction, double speed, double distance)
   }
 
   // LOOP
-
-  drive_pid->update( left_front.get_distance_driven() - auto_drive_enc_reset );
-  this->drive(Vector(deg2rad(direction), drive_pid->get()), 0);
+  drive_pid->update( left_front.get_distance_driven());
+
+  fprintf(stderr, "Distance Driven: %f\n", left_front.get_distance_driven());
+  
+  left_front.set_speed(drive_pid->get());
+  right_front.set_speed(drive_pid->get());
+  left_rear.set_speed(drive_pid->get());
+  right_rear.set_speed(drive_pid->get());
 
   // Check if the driving is complete
   if(drive_pid->is_on_target())
diff --git a/src/subsystems/swerve_module.cpp b/src/subsystems/swerve_module.cpp
index 25e1e74..7e143f5 100644
--- a/src/subsystems/swerve_module.cpp
+++ b/src/subsystems/swerve_module.cpp
@@ -66,8 +66,9 @@ bool SwerveModule::set_direction(double deg)
   // Slow down the drive if we aren't close to the set direction yet (use the cube of the error)
   driveMulitplier = pow(1 - (abs(normalizedDelta) / 90.0), 3);
   
-  return direction.spinTo((normalizedDelta + pos) / DIR_GEAR_RATIO, vex::rotationUnits::deg, 100, vex::velocityUnits::pct, false);
+  direction.spinTo((normalizedDelta + pos) / DIR_GEAR_RATIO, vex::rotationUnits::deg, 100, vex::velocityUnits::pct, false);
 
+  return direction.isDone();
 }
 
 /**
@@ -83,13 +84,21 @@ void SwerveModule::set_speed(double percent)
   drive.spin(vex::directionType::fwd, percent * 100.0 * (inverseDrive ? -1 : 1), vex::velocityUnits::pct);
 }
 
+/**
+ * Reset the drive encoder to zero
+ */
+void SwerveModule::reset_distance_driven()
+{
+  drive.resetPosition();
+}
+
 /**
  * Get 'distance' from the drive motor
  */
 double SwerveModule::get_distance_driven()
 {
   // return drive.position(vex::rotationUnits::rev);
-  return WHEEL_DIAM * PI * drive.position(vex::rotationUnits::rev) * DRIVE_GEAR_RATIO;
+  return WHEEL_DIAM * PI * drive.position(vex::rotationUnits::rev) * DRIVE_GEAR_RATIO * (inverseDrive ? -1 : 1);
 }
 
 /**

From 7c1753ae3606109d4ea1b8d9330fa01e17b2a022 Mon Sep 17 00:00:00 2001
From: superrm11 <ramtech51@comcast.net>
Date: Sun, 4 Oct 2020 21:43:32 -0400
Subject: [PATCH 017/243] re-tuned for floor mat, fixed auto_turn for swerve

---
 src/subsystems/swerve_drive.cpp  | 30 +++++++++++++++++++++---------
 src/subsystems/swerve_module.cpp | 13 ++++++++-----
 2 files changed, 29 insertions(+), 14 deletions(-)

diff --git a/src/subsystems/swerve_drive.cpp b/src/subsystems/swerve_drive.cpp
index 4b1a3a1..c916e8c 100644
--- a/src/subsystems/swerve_drive.cpp
+++ b/src/subsystems/swerve_drive.cpp
@@ -34,7 +34,7 @@ void SwerveDrive::drive(int32_t leftY, int32_t leftX, int32_t rightX)
     if(fabs(rightX / 100.0) < LAT_DEADBAND)
         rightX = 0;
 
-    printf("distance: %f\n", left_front.get_distance_driven());
+    // printf("distance: %f\n", left_front.get_distance_driven());
 
     // Convert input to a vector, and pass into main control method
     this->drive(input_lat, rightX / 100.0);    
@@ -122,8 +122,11 @@ bool SwerveDrive::auto_drive(double direction, double speed, double distance)
     if(!all_wheels_done)
       return false;
 
-    // We're using the left front encoder for distance travelled.
     left_front.reset_distance_driven();
+    right_front.reset_distance_driven();
+    left_rear.reset_distance_driven();
+    right_rear.reset_distance_driven();
+
     // set up the PID
     drive_pid->reset();
     drive_pid->set_target(distance);
@@ -132,10 +135,13 @@ bool SwerveDrive::auto_drive(double direction, double speed, double distance)
     auto_drive_init = false;
   }
 
+  double average = (left_front.get_distance_driven() + right_front.get_distance_driven() 
+                  + left_rear.get_distance_driven() + right_rear.get_distance_driven()) / 4.0;
+
   // LOOP
-  drive_pid->update( left_front.get_distance_driven());
+  drive_pid->update(average);
 
-  fprintf(stderr, "Distance Driven: %f\n", left_front.get_distance_driven());
+  fprintf(stderr, "Distance Driven: %f\n", average);
   
   left_front.set_speed(drive_pid->get());
   right_front.set_speed(drive_pid->get());
@@ -170,10 +176,10 @@ bool SwerveDrive::auto_turn(double degrees, double speed)
   {
     // Wait until all the modules are at their 45's before continuing
     bool all_wheels_done = true;
-    all_wheels_done = all_wheels_done && left_front.set_direction(45);
-    all_wheels_done = all_wheels_done && right_front.set_direction(45 + 90);
-    all_wheels_done = all_wheels_done && right_rear.set_direction(45 + 180);
-    all_wheels_done = all_wheels_done && left_rear.set_direction(45 + 270);
+    all_wheels_done = all_wheels_done & left_front.set_direction(45);
+    all_wheels_done = all_wheels_done & right_front.set_direction(45 + 90);
+    all_wheels_done = all_wheels_done & right_rear.set_direction(-45 - 90);
+    all_wheels_done = all_wheels_done & left_rear.set_direction(-45);
     if(!all_wheels_done)
       return false;
 
@@ -190,7 +196,13 @@ bool SwerveDrive::auto_turn(double degrees, double speed)
   // LOOP
 
   turn_pid->update(imu.rotation());
-  drive(Vector(0,0) , turn_pid->get());
+  left_front.set_speed(turn_pid->get());
+  right_front.set_speed(turn_pid->get());
+  left_rear.set_speed(turn_pid->get());
+  right_rear.set_speed(turn_pid->get());
+
+  fprintf(stderr, "Angle: %f  ", imu.rotation());
+  fprintf(stderr, "Out: %f \n", turn_pid->get());
 
   // when the robot is on target, we are done. return true.
   if(turn_pid->is_on_target())
diff --git a/src/subsystems/swerve_module.cpp b/src/subsystems/swerve_module.cpp
index 7e143f5..613a2c3 100644
--- a/src/subsystems/swerve_module.cpp
+++ b/src/subsystems/swerve_module.cpp
@@ -65,10 +65,11 @@ bool SwerveModule::set_direction(double deg)
 
   // Slow down the drive if we aren't close to the set direction yet (use the cube of the error)
   driveMulitplier = pow(1 - (abs(normalizedDelta) / 90.0), 3);
+  double setpnt = (normalizedDelta + pos) / DIR_GEAR_RATIO;
   
-  direction.spinTo((normalizedDelta + pos) / DIR_GEAR_RATIO, vex::rotationUnits::deg, 100, vex::velocityUnits::pct, false);
+  direction.spinTo(setpnt, vex::rotationUnits::deg, 100, vex::velocityUnits::pct, false);
 
-  return direction.isDone();
+  return fabs(setpnt - direction.rotation(rotationUnits::deg)) < 2;
 }
 
 /**
@@ -80,8 +81,9 @@ void SwerveModule::set_speed(double percent)
   // take into account how the RPM of the direction motor affects the RPM of the drive wheel
   //double speed_diff_dps = 0;//direction.velocity(vex::velocityUnits::dps) * DIR_GEAR_RATIO * -.2;
   // Difference is negligable. Not worth the effort of getting it right.
+  drive.setReversed(inverseDrive);
 
-  drive.spin(vex::directionType::fwd, percent * 100.0 * (inverseDrive ? -1 : 1), vex::velocityUnits::pct);
+  drive.spin(vex::directionType::fwd, percent * 100.0, vex::velocityUnits::pct);
 }
 
 /**
@@ -93,12 +95,13 @@ void SwerveModule::reset_distance_driven()
 }
 
 /**
- * Get 'distance' from the drive motor
+ * Get 'distance' from the drive motor.
+ * Will ALWAYS be positive.
  */
 double SwerveModule::get_distance_driven()
 {
   // return drive.position(vex::rotationUnits::rev);
-  return WHEEL_DIAM * PI * drive.position(vex::rotationUnits::rev) * DRIVE_GEAR_RATIO * (inverseDrive ? -1 : 1);
+  return fabs(WHEEL_DIAM * PI * drive.position(vex::rotationUnits::rev) * DRIVE_GEAR_RATIO);
 }
 
 /**

From 7afd089f008ccd932e60bc13dedee54213a7580b Mon Sep 17 00:00:00 2001
From: superrm11 <ramtech51@comcast.net>
Date: Tue, 3 Nov 2020 22:52:12 -0500
Subject: [PATCH 018/243] Added auto_drive to Mecanum. No promises.

---
 include/subsystems/mecanum_drive.h |  30 ++++-
 src/subsystems/mecanum_drive.cpp   | 184 ++++++++++++++++++++++++++---
 2 files changed, 194 insertions(+), 20 deletions(-)

diff --git a/include/subsystems/mecanum_drive.h b/include/subsystems/mecanum_drive.h
index 84bbd9b..6472b5a 100644
--- a/include/subsystems/mecanum_drive.h
+++ b/include/subsystems/mecanum_drive.h
@@ -2,6 +2,7 @@
 #define _MECANUMDRIVE_
 
 #include "vex.h"
+#include "../core/include/utils/pid.h"
 
 #ifndef PI
 #define PI 3.141592654
@@ -12,15 +13,40 @@ class MecanumDrive
 
   public:
 
-  MecanumDrive(vex::motor &left_front, vex::motor &right_front, vex::motor &left_rear, vex::motor &right_rear);
+  struct mecanumdrive_config_t
+  {
+    PID::pid_config_t drive_pid_conf;
+    PID::pid_config_t drive_gyro_pid_conf;
+    PID::pid_config_t turn_pid_conf;
+
+    double drive_wheel_diam;
+    double lateral_wheel_diam;
+
+  };
+
+  MecanumDrive(vex::motor &left_front, vex::motor &right_front, vex::motor &left_rear, vex::motor &right_rear, 
+               vex::rotation *lateral_wheel=NULL, vex::inertial *imu=NULL, mecanumdrive_config_t *config=NULL);
+
+  void drive_raw(double direction_deg, double magnitude, double rotation);
 
   void drive(double left_y, double left_x, double right_x, int power=2);
 
-  private:
+  bool auto_drive(double inches, double direction, double speed, bool gyro_correction=true);
 
+  private:
 
   vex::motor &left_front, &right_front, &left_rear, &right_rear;
 
+  mecanumdrive_config_t *config;
+  vex::rotation *lateral_wheel;
+  vex::inertial *imu;
+
+  PID *drive_pid = NULL;
+  PID *drive_gyro_pid = NULL;
+  PID *turn_pid = NULL;
+
+  bool init = true;
+
 };
 
 #endif
\ No newline at end of file
diff --git a/src/subsystems/mecanum_drive.cpp b/src/subsystems/mecanum_drive.cpp
index 8f60a91..d0873d1 100644
--- a/src/subsystems/mecanum_drive.cpp
+++ b/src/subsystems/mecanum_drive.cpp
@@ -1,9 +1,53 @@
 #include "../core/include/subsystems/mecanum_drive.h"
 
-MecanumDrive::MecanumDrive(vex::motor &left_front, vex::motor &right_front, vex::motor &left_rear, vex::motor &right_rear)
-: left_front(left_front), right_front(right_front), left_rear(left_rear), right_rear(right_rear)
+MecanumDrive::MecanumDrive(vex::motor &left_front, vex::motor &right_front, vex::motor &left_rear, vex::motor &right_rear, 
+                           vex::rotation *lateral_wheel, vex::inertial *imu, mecanumdrive_config_t *config)
+: left_front(left_front), right_front(right_front), left_rear(left_rear), right_rear(right_rear), // MOTOR CONFIG
+  config(config), // CONFIG ...uh... config
+  lateral_wheel(lateral_wheel), // NON-DRIVEN WHEEL CONFIG
+  imu(imu) //IMU CONFIG
 {
 
+  // If the configuration exists, then allocate memory for the drive and turn pids
+  if(config != NULL)
+  {
+    drive_pid = new PID(config->drive_pid_conf);
+    drive_gyro_pid = new PID(config->drive_gyro_pid_conf);
+    turn_pid = new PID(config->turn_pid_conf);
+  }
+
+}
+
+/**
+  * Drive the robot using vectors. This handles all the math required for mecanum control.
+  *
+  * @param direction_deg  the direction to drive the robot, in degrees. 0 is forward,
+  *                       180 is back, clockwise is positive, counterclockwise is negative.
+  * @param magnitude      How fast the robot should drive, in percent: 0.0->1.0
+  * @param rotation       How fast the robot should rotate, in percent: -1.0->+1.0
+  */
+void MecanumDrive::drive_raw(double direction_deg, double magnitude, double rotation)
+{
+  double direction = (PI / 180.0) * direction_deg;
+
+  // ALGORITHM - "rotate" the vector by 45 degrees and apply each corner to a wheel
+  // .. Oh, and mix rotation too
+  double lf = (magnitude * cos(direction - (PI / 4.0))) + rotation;
+  double rf = (magnitude * cos(direction + (PI / 4.0))) - rotation;
+  double lr = (magnitude * cos(direction + (PI / 4.0))) + rotation;
+  double rr = (magnitude * cos(direction - (PI / 4.0))) - rotation;
+
+  // Limit the output between -1.0 and +1.0
+  lf = lf > 1.0 ? 1.0 : (lf < -1.0 ? -1.0 : lf);
+  rf = rf > 1.0 ? 1.0 : (rf < -1.0 ? -1.0 : rf);
+  lr = lr > 1.0 ? 1.0 : (lr < -1.0 ? -1.0 : lr);
+  rr = rr > 1.0 ? 1.0 : (rr < -1.0 ? -1.0 : rr);
+
+  // Finally, spin the motors
+  left_front.spin(vex::directionType::fwd, lf * 100.0, vex::velocityUnits::pct);
+  right_front.spin(vex::directionType::fwd, rf * 100.0, vex::velocityUnits::pct);
+  left_rear.spin(vex::directionType::fwd, lr * 100.0, vex::velocityUnits::pct);
+  right_rear.spin(vex::directionType::fwd, rr * 100.0, vex::velocityUnits::pct);
 }
 
 /**
@@ -29,23 +73,127 @@ void MecanumDrive::drive(double left_y, double left_x, double right_x, int power
   double rotation = right_x / 100.0;
   rotation = (power%2 == 0 ? rotation < 0 ? -1.0 : 1.0 : 1.0) * pow(rotation, power);
 
+  return this->drive_raw(direction * (180.0 / PI), magnitude, rotation);  
+}
 
-  // ALGORITHM - "rotate" the vector by 45 degrees and apply each corner to a wheel
-  // .. Oh, and mix rotation too
-  double lf = (magnitude * cos(direction - (PI / 4.0))) + rotation;
-  double rf = (magnitude * cos(direction + (PI / 4.0))) - rotation;
-  double lr = (magnitude * cos(direction + (PI / 4.0))) + rotation;
-  double rr = (magnitude * cos(direction - (PI / 4.0))) - rotation;
+/**
+  * Drive the robot in a straight line automatically.
+  * If the inertial was declared in the constructor, use it to correct while driving.
+  * If the lateral wheel was declared in the constructor, use it for more accurate positioning while strafing.
+  *
+  * @param inches   How far the robot should drive, in inches
+  * @param direction    What direction the robot should travel in, in degrees.
+  *                     0 is forward, +/-180 is reverse, clockwise is positive.
+  * @param speed    The maximum speed the robot should travel, in percent: -1.0->+1.0
+  * @param gyro_correction=true   Whether or not to use the gyro to help correct while driving.
+  *                               Will always be false if no gyro was declared in the constructor.
+  */
+bool MecanumDrive::auto_drive(double inches, double direction, double speed, bool gyro_correction)
+{
+  if(config == NULL || drive_pid == NULL)
+  {
+    fprintf(stderr, "Failed to run MecanumDrive::auto_drive - Missing mecanumdrive_config_t in constructor");
+    return true; // avoid an infinte loop within auto
+  }
 
-  // Limit the output between -1.0 and +1.0
-  lf = lf > 1.0 ? 1.0 : (lf < -1.0 ? -1.0 : lf);
-  rf = rf > 1.0 ? 1.0 : (rf < -1.0 ? -1.0 : rf);
-  lr = lr > 1.0 ? 1.0 : (lr < -1.0 ? -1.0 : lr);
-  rr = rr > 1.0 ? 1.0 : (rr < -1.0 ? -1.0 : rr);
+  bool enable_gyro = gyro_correction && (imu != NULL);
+  bool enable_wheel = (lateral_wheel != NULL);
 
-  // Finally, spin the motors
-  left_front.spin(vex::directionType::fwd, lf * 100.0, vex::velocityUnits::pct);
-  right_front.spin(vex::directionType::fwd, rf * 100.0, vex::velocityUnits::pct);
-  left_rear.spin(vex::directionType::fwd, lr * 100.0, vex::velocityUnits::pct);
-  right_rear.spin(vex::directionType::fwd, rr * 100.0, vex::velocityUnits::pct);
+
+  // INITIALIZE - only run ONCE "per drive" on startup
+  if(init == true)
+  {
+
+    // Reset all driven encoders, and PID
+    left_front.resetPosition();
+    right_front.resetPosition();
+    left_rear.resetPosition();
+    right_rear.resetPosition();
+
+    drive_pid->reset();
+
+    // Reset only if gyro exists
+    if(enable_gyro)
+    {
+      imu->resetRotation();
+      drive_gyro_pid->reset();
+      drive_gyro_pid->set_target(0.0);
+    }
+    // reset only if lateral wheel exists
+    if(enable_wheel)
+      lateral_wheel->resetPosition();
+
+    // Finish setting up the PID loop - max speed and position target
+    drive_pid->set_limits(-fabs(speed), fabs(speed));
+    drive_pid->set_target(fabs(inches));
+
+    init = false;
+  }
+
+  double dist_avg = 0.0;
+  double drive_avg = 0.0;
+
+  // This algorithm should be DEFINITELY good for forward/back, left/right.
+  // Directions other than 0, 180, -90 and 90 will be hit or miss, but should be mostly right.
+  // Recommend THOUROUGH testing at many angles.
+
+  // IF in quadrant 1 or 3, use left front and right rear wheels as "drive" movement
+  // ELSE in quadrant 2 or 4, use left rear and right front wheels as "drive" movement
+  // Some wheels are NOT being averaged at any given time since the general mecanum algorithm makes them go slower than our robot speed
+  // somewhat of a nasty hack, but wheel slippage should make up for it, and multivariable calc is hard.
+  if( (direction > 0 && direction <= 90) || (direction < -90 && direction > -180))
+  {
+    drive_avg = fabs(left_front.position(rotationUnits::rev) * config->drive_wheel_diam * PI)
+              + fabs(right_rear.position(rotationUnits::rev) * config->drive_wheel_diam * PI)
+              / 2.0;
+  } else
+  {
+    drive_avg = fabs(left_rear.position(rotationUnits::rev) * config->drive_wheel_diam * PI)
+              + fabs(right_front.position(rotationUnits::rev) * config->drive_wheel_diam * PI)
+              / 2.0;
+  }
+
+  // Only use the encoder wheel if it exists.
+  // Without the wheel should be usable, but with it will be muuuuch more accurate.
+  if(enable_wheel)
+  {
+    // Distance driven = Magnitude = sqrt(x^2 + y^2)
+    // Since drive_avg is already a polar magnitude, turn it into "Y" with cos(theta)
+    dist_avg = sqrt(
+      pow(lateral_wheel->position(rotationUnits::rev) * config->lateral_wheel_diam * PI, 2)
+      + pow(drive_avg * cos(direction * (PI / 180.0)), 2)
+    );
+  }else
+  {
+    dist_avg = drive_avg;
+  }
+
+  // ...double check to avoid an infinite loop
+  dist_avg = fabs(dist_avg);
+
+
+  // ROTATION CORRECTION
+  double rot = 0;
+
+  if(enable_gyro)
+  {
+    drive_gyro_pid->update(imu->rotation());
+    rot = drive_gyro_pid->get();
+  }
+
+  // Update the PID and drive
+  drive_pid->update(drive_avg);
+
+  this->drive_raw(direction, drive_pid->get(), rot);
+
+  // Stop and return true whenever the robot has completed it's drive.
+  if(drive_pid->is_on_target())
+  {
+    drive_raw(0, 0, 0);
+    init = true;
+    return true;
+  }
+
+  // Return false while the robot is still driving.
+  return false;
 }
\ No newline at end of file

From 34ce775d4456298c0592f6065183f937df5a1ce7 Mon Sep 17 00:00:00 2001
From: superrm11 <ramtech51@comcast.net>
Date: Fri, 6 Nov 2020 14:42:59 -0500
Subject: [PATCH 019/243] Added auto_turn to MecanumDrive class

---
 include/subsystems/mecanum_drive.h | 59 ++++++++++++++++++++++
 src/subsystems/mecanum_drive.cpp   | 79 +++++++++++++++++++++++++++++-
 2 files changed, 137 insertions(+), 1 deletion(-)

diff --git a/include/subsystems/mecanum_drive.h b/include/subsystems/mecanum_drive.h
index 6472b5a..398b821 100644
--- a/include/subsystems/mecanum_drive.h
+++ b/include/subsystems/mecanum_drive.h
@@ -8,31 +8,90 @@
 #define PI 3.141592654
 #endif
 
+/**
+  * A class representing the Mecanum drivetrain.
+  * Contains 4 motors, a possible IMU (intertial), and a possible undriven perpendicular wheel.
+  */
 class MecanumDrive
 {
 
   public:
 
+  /**
+    * Configure the Mecanum drive PID tunings and robot configurations
+    */
   struct mecanumdrive_config_t
   {
+    // PID configurations for autonomous driving
     PID::pid_config_t drive_pid_conf;
     PID::pid_config_t drive_gyro_pid_conf;
     PID::pid_config_t turn_pid_conf;
 
+    // Diameter of the mecanum wheels
     double drive_wheel_diam;
+
+    // Diameter of the perpendicular undriven encoder wheel
     double lateral_wheel_diam;
 
+    // Width between the center of the left and right wheels
+    double wheelbase_width;
+
   };
 
+  /**
+  * Create the Mecanum drivetrain object
+  */
   MecanumDrive(vex::motor &left_front, vex::motor &right_front, vex::motor &left_rear, vex::motor &right_rear, 
                vex::rotation *lateral_wheel=NULL, vex::inertial *imu=NULL, mecanumdrive_config_t *config=NULL);
 
+  /**
+  * Drive the robot using vectors. This handles all the math required for mecanum control.
+  *
+  * @param direction_deg  the direction to drive the robot, in degrees. 0 is forward,
+  *                       180 is back, clockwise is positive, counterclockwise is negative.
+  * @param magnitude      How fast the robot should drive, in percent: 0.0->1.0
+  * @param rotation       How fast the robot should rotate, in percent: -1.0->+1.0
+  */
   void drive_raw(double direction_deg, double magnitude, double rotation);
 
+  /**
+  * Drive the robot with a mecanum-style / arcade drive. Inputs are in percent (-100.0 -> 100.0) straight from the controller.
+  * Controls are mixed, so the robot can drive forward / strafe / rotate all at the same time. 
+  *
+  * @param left_y left joystick, Y axis (forward / backwards)
+  * @param left_x left joystick, X axis (strafe left / right)
+  * @param right_x right joystick, X axis (rotation left / right)
+  * @param power=2 how much of a "curve" there should be on drive controls; better for low speed maneuvers.
+  *                Leave blank for a default curve of 2 (higher means more fidelity)
+  */
   void drive(double left_y, double left_x, double right_x, int power=2);
 
+  /**
+  * Drive the robot in a straight line automatically.
+  * If the inertial was declared in the constructor, use it to correct while driving.
+  * If the lateral wheel was declared in the constructor, use it for more accurate positioning while strafing.
+  *
+  * @param inches   How far the robot should drive, in inches
+  * @param direction    What direction the robot should travel in, in degrees.
+  *                     0 is forward, +/-180 is reverse, clockwise is positive.
+  * @param speed    The maximum speed the robot should travel, in percent: -1.0->+1.0
+  * @param gyro_correction=true   Whether or not to use the gyro to help correct while driving.
+  *                               Will always be false if no gyro was declared in the constructor.
+  */
   bool auto_drive(double inches, double direction, double speed, bool gyro_correction=true);
 
+  /**
+  * Autonomously turn the robot X degrees over it's center point. Uses a closed loop
+  * for control.
+  * @param degrees How many degrees to rotate the robot. Clockwise postive.
+  * @param speed What percentage to run the motors at: 0.0 -> 1.0
+  * @param ignore_imu=false Whether or not to use the Inertial for determining angle.
+  *        Will instead use circumference formula + robot's wheelbase + encoders to determine.
+  * 
+  * @return whether or not the robot has finished the maneuver
+  */
+  bool auto_turn(double degrees, double speed, bool ignore_imu=false);
+
   private:
 
   vex::motor &left_front, &right_front, &left_rear, &right_rear;
diff --git a/src/subsystems/mecanum_drive.cpp b/src/subsystems/mecanum_drive.cpp
index d0873d1..962a3bc 100644
--- a/src/subsystems/mecanum_drive.cpp
+++ b/src/subsystems/mecanum_drive.cpp
@@ -1,5 +1,8 @@
 #include "../core/include/subsystems/mecanum_drive.h"
 
+/**
+* Create the Mecanum drivetrain object
+*/
 MecanumDrive::MecanumDrive(vex::motor &left_front, vex::motor &right_front, vex::motor &left_rear, vex::motor &right_rear, 
                            vex::rotation *lateral_wheel, vex::inertial *imu, mecanumdrive_config_t *config)
 : left_front(left_front), right_front(right_front), left_rear(left_rear), right_rear(right_rear), // MOTOR CONFIG
@@ -87,12 +90,13 @@ void MecanumDrive::drive(double left_y, double left_x, double right_x, int power
   * @param speed    The maximum speed the robot should travel, in percent: -1.0->+1.0
   * @param gyro_correction=true   Whether or not to use the gyro to help correct while driving.
   *                               Will always be false if no gyro was declared in the constructor.
+  * @return Whether or not the maneuver is complete.
   */
 bool MecanumDrive::auto_drive(double inches, double direction, double speed, bool gyro_correction)
 {
   if(config == NULL || drive_pid == NULL)
   {
-    fprintf(stderr, "Failed to run MecanumDrive::auto_drive - Missing mecanumdrive_config_t in constructor");
+    fprintf(stderr, "Failed to run MecanumDrive::auto_drive - Missing mecanumdrive_config_t in constructor\n");
     return true; // avoid an infinte loop within auto
   }
 
@@ -195,5 +199,78 @@ bool MecanumDrive::auto_drive(double inches, double direction, double speed, boo
   }
 
   // Return false while the robot is still driving.
+  return false;
+}
+
+/**
+* Autonomously turn the robot X degrees over it's center point. Uses a closed loop
+* for control.
+* @param degrees How many degrees to rotate the robot. Clockwise postive.
+* @param speed What percentage to run the motors at: 0.0 -> 1.0
+* @param ignore_imu=false Whether or not to use the Inertial for determining angle.
+*        Will instead use circumference formula + robot's wheelbase + encoders to determine.
+* 
+* @return whether or not the robot has finished the maneuver
+*/
+bool MecanumDrive::auto_turn(double degrees, double speed, bool ignore_imu)
+{
+  // Make sure the configurations exist before continuing
+  if(config == NULL || turn_pid == NULL)
+  {
+    fprintf(stderr, "Failed to run MecanumDrive::auto_turn - Missing mecanumdrive_config_t in constructor\n");
+    return true;
+  }
+
+  // Decide whether or not to use the Inertial
+  ignore_imu = ignore_imu || (this->imu == NULL);
+
+  // INITIALIZE - clear encoders / imu / pid loops
+  if(init == true)
+  {
+    if(ignore_imu)
+    {
+      this->left_front.resetPosition();
+      this->right_front.resetPosition();
+      this->left_rear.resetPosition();
+      this->right_rear.resetPosition();
+    }else
+    {
+      this->imu->resetRotation();
+    }
+
+    this->turn_pid->reset();
+    this->turn_pid->set_limits(-fabs(speed), fabs(speed));
+    this->turn_pid->set_target(degrees);
+
+    init = false;
+  }
+
+  // RUN PERIODICALLY
+
+  double current_angle = 0.0;
+
+  if(ignore_imu)
+  {
+    double avg = (left_front.position(rotationUnits::rev) + left_rear.position(rotationUnits::rev) 
+                - right_front.position(rotationUnits::rev) - right_rear.position(rotationUnits::rev)) / 4.0;
+
+    // Current arclength = (avg * wheel_diam * PI) = (theta * (wheelbase / 2.0)). then convert to degrees
+    current_angle = (360.0 * avg * config->drive_wheel_diam) / config->wheelbase_width;
+  } else
+  {
+    current_angle = imu->rotation();
+  }
+
+  this->turn_pid->update(current_angle);
+  this->drive_raw(0, 0, turn_pid->get());
+
+  // We have reached the target.
+  if(this->turn_pid->is_on_target())
+  {
+    this->drive_raw(0, 0, 0);
+    init = true;
+    return true;
+  }
+
   return false;
 }
\ No newline at end of file

From af78569170a0cf1776b1ac7032505f5ba3595a20 Mon Sep 17 00:00:00 2001
From: superrm11 <ramtech51@comcast.net>
Date: Fri, 6 Nov 2020 14:45:09 -0500
Subject: [PATCH 020/243] Fixed feed-forward issue in PID

---
 src/utils/pid.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/utils/pid.cpp b/src/utils/pid.cpp
index 028e2b4..c0c8727 100644
--- a/src/utils/pid.cpp
+++ b/src/utils/pid.cpp
@@ -21,7 +21,7 @@ void PID::update(double sensor_val)
 
   accum_error += time_delta * get_error();
 
-  out = (config.f) + (config.p * get_error()) + (config.i * accum_error) + (config.d * (get_error() - last_error) / time_delta);
+  out = (config.f * target) + (config.p * get_error()) + (config.i * accum_error) + (config.d * (get_error() - last_error) / time_delta);
 
   last_time = pid_timer.value();
   last_error = get_error();

From 59f2125712287b13066b6a0b4057eaa429170f67 Mon Sep 17 00:00:00 2001
From: Ryan McGee <ramtech51@comcast.net>
Date: Mon, 24 May 2021 22:06:16 -0400
Subject: [PATCH 021/243] Added the Core build system

---
 include/subsystems/swerve_module.h | 4 ++++
 src/subsystems/swerve_module.cpp   | 2 +-
 2 files changed, 5 insertions(+), 1 deletion(-)

diff --git a/include/subsystems/swerve_module.h b/include/subsystems/swerve_module.h
index 171b231..e93d077 100644
--- a/include/subsystems/swerve_module.h
+++ b/include/subsystems/swerve_module.h
@@ -3,6 +3,10 @@
 
 #include "vex.h"
 
+#ifndef PI
+#define PI 3.141592654
+#endif
+
 // Gear teeth (input to output): 16, 35
 #define DIR_GEAR_RATIO (16.0/35.0) // ~0.457
 
diff --git a/src/subsystems/swerve_module.cpp b/src/subsystems/swerve_module.cpp
index 613a2c3..570c6d4 100644
--- a/src/subsystems/swerve_module.cpp
+++ b/src/subsystems/swerve_module.cpp
@@ -1,5 +1,5 @@
 #include "../core/include/subsystems/swerve_module.h"
-#include "hardware.h"
+
 
 /**
  * Create a single swerve module, made up of a Drive motor and a Direction motor.

From dcb96b3fab76c8919b52a1f619c0391720657a30 Mon Sep 17 00:00:00 2001
From: Ryan McGee <ramtech51@comcast.net>
Date: Mon, 24 May 2021 22:06:16 -0400
Subject: [PATCH 022/243] Added the Core build system

---
 include/subsystems/swerve_module.h | 4 ++++
 src/subsystems/swerve_module.cpp   | 2 +-
 2 files changed, 5 insertions(+), 1 deletion(-)

diff --git a/include/subsystems/swerve_module.h b/include/subsystems/swerve_module.h
index 171b231..e93d077 100644
--- a/include/subsystems/swerve_module.h
+++ b/include/subsystems/swerve_module.h
@@ -3,6 +3,10 @@
 
 #include "vex.h"
 
+#ifndef PI
+#define PI 3.141592654
+#endif
+
 // Gear teeth (input to output): 16, 35
 #define DIR_GEAR_RATIO (16.0/35.0) // ~0.457
 
diff --git a/src/subsystems/swerve_module.cpp b/src/subsystems/swerve_module.cpp
index 613a2c3..570c6d4 100644
--- a/src/subsystems/swerve_module.cpp
+++ b/src/subsystems/swerve_module.cpp
@@ -1,5 +1,5 @@
 #include "../core/include/subsystems/swerve_module.h"
-#include "hardware.h"
+
 
 /**
  * Create a single swerve module, made up of a Drive motor and a Direction motor.

From 24f62629fc2c999d44df9c1471a50f4007120bc2 Mon Sep 17 00:00:00 2001
From: Ryan McGee <ramtech51@comcast.net>
Date: Mon, 31 May 2021 18:06:23 -0400
Subject: [PATCH 023/243] Finished async calculations

---
 include/subsystems/odometry.h |  87 ++++++++++++++++++
 src/subsystems/odometry.cpp   | 167 ++++++++++++++++++++++++++++++++++
 2 files changed, 254 insertions(+)
 create mode 100644 include/subsystems/odometry.h
 create mode 100644 src/subsystems/odometry.cpp

diff --git a/include/subsystems/odometry.h b/include/subsystems/odometry.h
new file mode 100644
index 0000000..5481146
--- /dev/null
+++ b/include/subsystems/odometry.h
@@ -0,0 +1,87 @@
+#ifndef _ODOMETRY_
+#define _ODOMETRY_
+
+#include "vex.h"
+#include "../core/include/utils/vector.h"
+
+#define DOWNTIME 50 //milliseconds
+
+#ifndef PI
+#define PI 3.141592654
+#endif
+
+/**
+ * The background task constantly polling the motors and updating the position.
+ */
+static int background_task(void* pos_ptr);
+
+// Describes a single position and rotation
+typedef struct
+{
+    double x;
+    double y;
+    double rot;
+} position_t;
+
+typedef struct
+{
+    double dist_between_wheels;
+    double wheel_diam;
+} odometry_config_t;
+
+class Odometry
+{
+    public:
+
+    /**
+     * Initialize the Odometry module, using the IMU to get rotation
+     * @param left_side The left motors 
+     * @param right_side The right motors
+     * @param imu The robot's inertial sensor
+     */
+    Odometry(vex::motor_group &left_side, vex::motor_group &right_side, vex::inertial &imu, odometry_config_t &config);
+
+    /**
+     * Initialize the Odometry module, calculating the rotation from encoders
+     * @param left_side The left motors 
+     * @param right_side The right motors
+     * @param imu The robot's inertial sensor
+     */
+    Odometry(vex::motor_group &left_side, vex::motor_group &right_side, odometry_config_t &config);
+
+    /**
+     * Gets the current position and rotation
+     */
+    position_t get_position();
+
+    /**
+     * Sets the current position of the robot
+     */
+    void set_position(position_t &newpos);
+
+    /**
+     * Get the distance between two points
+     */
+    static double pos_diff(position_t &pos1, position_t &pos2);
+
+    /**
+     * Get the change in rotation between two points
+     */
+    static double rot_diff(position_t &pos1, position_t &pos2);
+
+    private:
+
+    vex::mutex mut;
+    position_t current_pos;
+
+    vex::motor_group *left_side, *right_side;
+    vex::inertial *imu;
+    odometry_config_t *config;
+
+    vex::task *handle;
+
+    
+    
+};
+
+#endif
\ No newline at end of file
diff --git a/src/subsystems/odometry.cpp b/src/subsystems/odometry.cpp
new file mode 100644
index 0000000..2a3197b
--- /dev/null
+++ b/src/subsystems/odometry.cpp
@@ -0,0 +1,167 @@
+#include "../core/include/subsystems/odometry.h"
+
+/**
+ * Initialize the Odometry module, using the IMU to get rotation
+ * @param left_side The left motors 
+ * @param right_side The right motors
+ * @param imu The robot's inertial sensor
+ */
+Odometry::Odometry(vex::motor_group &left_side, vex::motor_group &right_side, vex::inertial &imu, odometry_config_t &config)
+: left_side(&left_side), right_side(&right_side), imu(&imu), config(&config)
+{
+    // Create a raw pointer containing a list of all the hardware pointers needed to run the thread.
+    // This is done because callbacks do not allow class member functions
+    void* list[] = {this->left_side, this->right_side, this->imu, this->config, &mut, &current_pos};
+
+    // Initialize and start the background task
+    handle = new vex::task(background_task, list);
+}
+
+/**
+ * Initialize the Odometry module, calculating the rotation from encoders
+ * @param left_side The left motors 
+ * @param right_side The right motors
+ * @param imu The robot's inertial sensor
+ */
+Odometry::Odometry(vex::motor_group &left_side, vex::motor_group &right_side, odometry_config_t &config)
+: left_side(&left_side), right_side(&right_side), imu(NULL), config(&config)
+{
+    // Create a raw pointer containing a list of all the hardware pointers needed to run the thread.
+    // This is done because callbacks do not allow class member functions
+    void* list[] = {this->left_side, this->right_side, this->imu, this->config, &mut, &current_pos};
+
+    // Initialize and start the background task
+    handle = new vex::task(background_task, list);
+ 
+}
+
+/**
+ * The background task constantly polling the motors and updating the position.
+ */
+int background_task(void* obj_ptrs)
+{
+    // Parse the hardware passed into the function
+    void** list = (void**) obj_ptrs;
+
+    // Dereference the pointers and store as object references to make it cleaner later
+    vex::motor_group &left_side = *((vex::motor_group*) list[0]);
+    vex::motor_group &right_side = *((vex::motor_group*) list[1]);
+    vex::inertial *imu = (vex::inertial*) list[2]; // (keep as pointer to check for NULL)
+    odometry_config_t &config = *((odometry_config_t*) list[3]);
+    vex::mutex &mut = *((vex::mutex*) list[4]);
+    position_t &current_pos = *((position_t*) list[5]);
+
+    double last_lside = 0, last_rside = 0;
+
+    while(true)
+    {
+        double angle = 0;
+
+        // If the IMU was passed in, use it for rotational data
+        if(imu != NULL)
+            angle = imu->heading();
+        else
+        {
+            // Get the difference in distance driven between the two sides
+            double distance_diff = (left_side.position(rotationUnits::rev) - right_side.position(rotationUnits::rev)) * PI * config.wheel_diam;
+
+            //Use the arclength formula to calculate the angle.
+            angle = (180.0 / PI) * (distance_diff / config.dist_between_wheels);
+            
+            //Limit the angle betwen 0 and 360. 
+            //fmod (floating-point modulo) gets it between -359 and +359, so tack on another 360 if it's negative.
+            angle = fmod(angle, 360.0);
+            if(angle < 0)
+                angle += 360;
+        }
+
+        angle *= PI / 180.0; // Degrees to radians
+
+        // Get the encoder values in revolutions (Make sure the gearsetting is set)
+        double curr_lside = left_side.position(rotationUnits::rev);
+        double curr_rside = right_side.position(rotationUnits::rev);
+
+        // Convert the revolutions into "change in distance", and average the values for a "distance driven"
+        double lside_diff = (curr_lside - last_lside) * config.wheel_diam;
+        double rside_diff = (curr_rside - last_rside) * config.wheel_diam;
+        double dist_driven = (lside_diff + rside_diff) / 2.0;
+
+        // Create a vector from the change in distance in the current direction of the robot
+        Vector chg_vec(angle, dist_driven);
+        
+        // Create a vector from the current position in reference to X,Y=0,0
+        Vector::point_t curr_point = {.x = current_pos.x, .y = current_pos.y};
+        Vector curr_vec(curr_point);
+
+        // Tack on the "difference" vector to the current vector
+        Vector new_vec = curr_vec + chg_vec;
+
+        // Store the left and right encoder values to find the difference in the next iteration
+        last_lside = curr_lside;
+        last_rside = curr_rside;
+
+        // Avoid race conditions by locking the mutex
+        mut.lock();
+
+        // Get the X and Y coordinates from the vector and save them to the "current position"
+        current_pos.x = new_vec.get_x();
+        current_pos.y = new_vec.get_y();
+        current_pos.rot = angle;
+
+        mut.unlock();
+
+        vexDelay(DOWNTIME);
+    }
+}
+
+/**
+ * Gets the current position and rotation
+ */
+position_t Odometry::get_position()
+{
+    mut.lock();
+
+    position_t out = 
+    {
+        .x = current_pos.x,
+        .y = current_pos.y,
+        .rot = current_pos.rot
+    };
+
+    mut.unlock();
+
+    return out;   
+}
+
+/**
+ * Sets the current position of the robot
+ */
+void Odometry::set_position(position_t &newpos)
+{
+    mut.lock();
+
+    current_pos.x = newpos.x;
+    current_pos.y = newpos.y;
+    current_pos.rot = newpos.rot;
+
+    mut.unlock();
+}
+
+/**
+ * Get the distance between two points
+ */
+double Odometry::pos_diff(position_t &pos1, position_t &pos2)
+{
+    // Use the pythagorean theorem
+    return sqrt(pow(pos2.x - pos1.x, 2) + pow(pos2.y - pos1.y, 2));
+
+}
+
+/**
+ * Get the change in rotation between two points
+ */
+double Odometry::rot_diff(position_t &pos1, position_t &pos2)
+{
+    return pos2.rot - pos1.rot;
+}
+

From 3c0bbe6327c654452bc601ecb30e35261d8a9477 Mon Sep 17 00:00:00 2001
From: Ryan McGee <ramtech51@comcast.net>
Date: Fri, 2 Jul 2021 11:26:05 -0400
Subject: [PATCH 024/243] Restructured calculations, fixed async and added
 update()

---
 include/subsystems/odometry.h |  35 ++++++-
 src/subsystems/odometry.cpp   | 192 ++++++++++++++++++++--------------
 2 files changed, 143 insertions(+), 84 deletions(-)

diff --git a/include/subsystems/odometry.h b/include/subsystems/odometry.h
index 5481146..3c2522d 100644
--- a/include/subsystems/odometry.h
+++ b/include/subsystems/odometry.h
@@ -29,6 +29,13 @@ typedef struct
     double wheel_diam;
 } odometry_config_t;
 
+// Contains information stored between update()s required for calculating posiion
+typedef struct
+{
+    position_t pos;
+    double lside, rside;
+} stored_info_t;
+
 class Odometry
 {
     public:
@@ -38,16 +45,20 @@ class Odometry
      * @param left_side The left motors 
      * @param right_side The right motors
      * @param imu The robot's inertial sensor
+     * @param is_async If true, the robot will automatically poll it's position and update it in the background.
+     *      If false, the update() function must be called periodically.
      */
-    Odometry(vex::motor_group &left_side, vex::motor_group &right_side, vex::inertial &imu, odometry_config_t &config);
+    Odometry(vex::motor_group &left_side, vex::motor_group &right_side, vex::inertial &imu, odometry_config_t &config, bool is_async);
 
     /**
      * Initialize the Odometry module, calculating the rotation from encoders
      * @param left_side The left motors 
      * @param right_side The right motors
      * @param imu The robot's inertial sensor
+     * @param is_async If true, the robot will automatically poll it's position and update it in the background.
+     *      If false, the update() function must be called periodically.
      */
-    Odometry(vex::motor_group &left_side, vex::motor_group &right_side, odometry_config_t &config);
+    Odometry(vex::motor_group &left_side, vex::motor_group &right_side, odometry_config_t &config, bool is_async);
 
     /**
      * Gets the current position and rotation
@@ -59,6 +70,15 @@ class Odometry
      */
     void set_position(position_t &newpos);
 
+    /**
+     * Update the current position on the field based on the sensors
+     */
+    position_t update();
+
+    void end_async();
+
+    bool end_task = false;
+
     /**
      * Get the distance between two points
      */
@@ -71,16 +91,21 @@ class Odometry
 
     private:
 
+    /**
+     * Get information from the input hardware and an existing position, and calculate a new current position
+     */
+    static position_t calculate_new_pos(odometry_config_t &config, stored_info_t &stored_info, double lside_revs, double rside_revs, double *gyro_angle_deg=NULL);
+
     vex::mutex mut;
     position_t current_pos;
 
-    vex::motor_group *left_side, *right_side;
+    vex::motor_group &left_side, &right_side;
     vex::inertial *imu;
-    odometry_config_t *config;
+    odometry_config_t &config;
 
     vex::task *handle;
 
-    
+    stored_info_t stored_info;
     
 };
 
diff --git a/src/subsystems/odometry.cpp b/src/subsystems/odometry.cpp
index 2a3197b..1b58dcf 100644
--- a/src/subsystems/odometry.cpp
+++ b/src/subsystems/odometry.cpp
@@ -6,15 +6,15 @@
  * @param right_side The right motors
  * @param imu The robot's inertial sensor
  */
-Odometry::Odometry(vex::motor_group &left_side, vex::motor_group &right_side, vex::inertial &imu, odometry_config_t &config)
-: left_side(&left_side), right_side(&right_side), imu(&imu), config(&config)
+Odometry::Odometry(vex::motor_group &left_side, vex::motor_group &right_side, vex::inertial &imu, odometry_config_t &config, bool is_async)
+: left_side(left_side), right_side(right_side), imu(&imu), config(config)
 {
-    // Create a raw pointer containing a list of all the hardware pointers needed to run the thread.
-    // This is done because callbacks do not allow class member functions
-    void* list[] = {this->left_side, this->right_side, this->imu, this->config, &mut, &current_pos};
+    // Make sure the last known info starts zeroed
+    memset(&stored_info, 0, sizeof(stored_info_t));
 
-    // Initialize and start the background task
-    handle = new vex::task(background_task, list);
+    // Start the asynchronous background thread
+    if (is_async)
+        handle = new vex::task(background_task, this);
 }
 
 /**
@@ -23,95 +23,70 @@ Odometry::Odometry(vex::motor_group &left_side, vex::motor_group &right_side, ve
  * @param right_side The right motors
  * @param imu The robot's inertial sensor
  */
-Odometry::Odometry(vex::motor_group &left_side, vex::motor_group &right_side, odometry_config_t &config)
-: left_side(&left_side), right_side(&right_side), imu(NULL), config(&config)
+Odometry::Odometry(vex::motor_group &left_side, vex::motor_group &right_side, odometry_config_t &config, bool is_async)
+: left_side(left_side), right_side(right_side), imu(NULL), config(config)
 {
-    // Create a raw pointer containing a list of all the hardware pointers needed to run the thread.
-    // This is done because callbacks do not allow class member functions
-    void* list[] = {this->left_side, this->right_side, this->imu, this->config, &mut, &current_pos};
+    // Make sure the last known info starts zeroed
+    memset(&stored_info, 0, sizeof(stored_info_t));
 
-    // Initialize and start the background task
-    handle = new vex::task(background_task, list);
+    // Start the asynchronous background thread
+    if (is_async)
+        handle = new vex::task(background_task, this);
  
 }
 
 /**
  * The background task constantly polling the motors and updating the position.
  */
-int background_task(void* obj_ptrs)
+int background_task(void* odom_obj)
 {
-    // Parse the hardware passed into the function
-    void** list = (void**) obj_ptrs;
-
-    // Dereference the pointers and store as object references to make it cleaner later
-    vex::motor_group &left_side = *((vex::motor_group*) list[0]);
-    vex::motor_group &right_side = *((vex::motor_group*) list[1]);
-    vex::inertial *imu = (vex::inertial*) list[2]; // (keep as pointer to check for NULL)
-    odometry_config_t &config = *((odometry_config_t*) list[3]);
-    vex::mutex &mut = *((vex::mutex*) list[4]);
-    position_t &current_pos = *((position_t*) list[5]);
-
-    double last_lside = 0, last_rside = 0;
-
-    while(true)
+    Odometry &odom = *((Odometry*) odom_obj);
+    while(!odom.end_task)
     {
-        double angle = 0;
-
-        // If the IMU was passed in, use it for rotational data
-        if(imu != NULL)
-            angle = imu->heading();
-        else
-        {
-            // Get the difference in distance driven between the two sides
-            double distance_diff = (left_side.position(rotationUnits::rev) - right_side.position(rotationUnits::rev)) * PI * config.wheel_diam;
-
-            //Use the arclength formula to calculate the angle.
-            angle = (180.0 / PI) * (distance_diff / config.dist_between_wheels);
-            
-            //Limit the angle betwen 0 and 360. 
-            //fmod (floating-point modulo) gets it between -359 and +359, so tack on another 360 if it's negative.
-            angle = fmod(angle, 360.0);
-            if(angle < 0)
-                angle += 360;
-        }
-
-        angle *= PI / 180.0; // Degrees to radians
-
-        // Get the encoder values in revolutions (Make sure the gearsetting is set)
-        double curr_lside = left_side.position(rotationUnits::rev);
-        double curr_rside = right_side.position(rotationUnits::rev);
-
-        // Convert the revolutions into "change in distance", and average the values for a "distance driven"
-        double lside_diff = (curr_lside - last_lside) * config.wheel_diam;
-        double rside_diff = (curr_rside - last_rside) * config.wheel_diam;
-        double dist_driven = (lside_diff + rside_diff) / 2.0;
+        odom.update();
 
-        // Create a vector from the change in distance in the current direction of the robot
-        Vector chg_vec(angle, dist_driven);
-        
-        // Create a vector from the current position in reference to X,Y=0,0
-        Vector::point_t curr_point = {.x = current_pos.x, .y = current_pos.y};
-        Vector curr_vec(curr_point);
-
-        // Tack on the "difference" vector to the current vector
-        Vector new_vec = curr_vec + chg_vec;
+        vexDelay(DOWNTIME);
+    }
 
-        // Store the left and right encoder values to find the difference in the next iteration
-        last_lside = curr_lside;
-        last_rside = curr_rside;
+    return 0;
+}
 
-        // Avoid race conditions by locking the mutex
-        mut.lock();
+/**
+ * End the background task. Cannot be restarted.
+ * If the user wants to end the thread but keep the data up to date,
+ * they must run the update() function manually from then on.
+ */
+void Odometry::end_async()
+{
+    this->end_task = true;
+}
 
-        // Get the X and Y coordinates from the vector and save them to the "current position"
-        current_pos.x = new_vec.get_x();
-        current_pos.y = new_vec.get_y();
-        current_pos.rot = angle;
+/**
+ * Update, store and return the current position of the robot. Only use if not initializing
+ * with a separate thread.
+ */
+position_t Odometry::update()
+{
+    position_t updated_pos;
 
-        mut.unlock();
+    double lside_revs = left_side.position(rotationUnits::rev);
+    double rside_revs = right_side.position(rotationUnits::rev);
 
-        vexDelay(DOWNTIME);
+    if(imu == NULL)
+    {
+        updated_pos = calculate_new_pos(config, stored_info, lside_revs, rside_revs);
+    } else
+    {
+        double angle = imu->rotation(rotationUnits::deg);
+        updated_pos = calculate_new_pos(config, stored_info, lside_revs, rside_revs, &angle);
     }
+    
+    // Update the class' stored position
+    mut.lock();
+    this->current_pos = updated_pos;
+    mut.unlock();
+
+    return updated_pos;
 }
 
 /**
@@ -121,6 +96,7 @@ position_t Odometry::get_position()
 {
     mut.lock();
 
+    // Create a new struct to pass-by-value
     position_t out = 
     {
         .x = current_pos.x,
@@ -165,3 +141,61 @@ double Odometry::rot_diff(position_t &pos1, position_t &pos2)
     return pos2.rot - pos1.rot;
 }
 
+/**
+ * Using information about the robot's mechanical structure and sensors, calculate a new position
+ * of the robot, relative to when this method was previously ran.
+ */
+position_t Odometry::calculate_new_pos(odometry_config_t &config, stored_info_t &stored_info, double lside_revs, double rside_revs, double *gyro_angle_deg)
+{
+    position_t new_pos;
+
+    double angle = 0;
+
+        // If the IMU data was passed in, use it for rotational data
+        if(gyro_angle_deg != NULL)
+            angle = *gyro_angle_deg;
+        else
+        {
+            // Get the difference in distance driven between the two sides
+            // Uses the absolute position of the encoders, so resetting them will result in
+            // a bad angle.
+            double distance_diff = (lside_revs - rside_revs) * PI * config.wheel_diam;
+
+            //Use the arclength formula to calculate the angle.
+            angle = (180.0 / PI) * (distance_diff / config.dist_between_wheels);
+            
+            //Limit the angle betwen 0 and 360. 
+            //fmod (floating-point modulo) gets it between -359 and +359, so tack on another 360 if it's negative.
+            angle = fmod(angle, 360.0);
+            if(angle < 0)
+                angle += 360;
+        }
+
+        angle *= PI / 180.0; // Degrees to radians
+
+        // Convert the revolutions into "change in distance", and average the values for a "distance driven"
+        double lside_diff = (lside_revs - stored_info.lside) * PI * config.wheel_diam;
+        double rside_diff = (rside_revs - stored_info.rside) * PI * config.wheel_diam;
+        double dist_driven = (lside_diff + rside_diff) / 2.0;
+
+        // Create a vector from the change in distance in the current direction of the robot
+        Vector chg_vec(angle, dist_driven);
+        
+        // Create a vector from the current position in reference to X,Y=0,0
+        Vector::point_t curr_point = {.x = stored_info.pos.x, .y = stored_info.pos.y};
+        Vector curr_vec(curr_point);
+
+        // Tack on the "difference" vector to the current vector
+        Vector new_vec = curr_vec + chg_vec;
+
+        new_pos.x = new_vec.get_x();
+        new_pos.y = new_vec.get_y();
+        new_pos.rot = angle * (180.0 / PI);
+
+        // Store the left and right encoder values to find the difference in the next iteration
+        stored_info.lside = lside_revs;
+        stored_info.rside = rside_revs;
+        stored_info.pos = new_pos;
+
+    return new_pos;
+}
\ No newline at end of file

From 5c83d13dbbd7539b266ea6a597544e3d16c70719 Mon Sep 17 00:00:00 2001
From: Ryan McGee <ramtech51@comcast.net>
Date: Wed, 11 Aug 2021 22:42:35 -0400
Subject: [PATCH 025/243] Restructured odometry to an object model

---
 include/subsystems/odometry/odometry_base.h   | 66 +++++++++++++++++++
 .../{odometry.h => odometry/odometry_tank.h}  | 53 +++------------
 include/subsystems/tank_drive.h               |  2 +
 src/subsystems/odometry/odometry_base.cpp     | 62 +++++++++++++++++
 .../odometry_tank.cpp}                        | 64 +-----------------
 5 files changed, 141 insertions(+), 106 deletions(-)
 create mode 100644 include/subsystems/odometry/odometry_base.h
 rename include/subsystems/{odometry.h => odometry/odometry_tank.h} (73%)
 create mode 100644 src/subsystems/odometry/odometry_base.cpp
 rename src/subsystems/{odometry.cpp => odometry/odometry_tank.cpp} (79%)

diff --git a/include/subsystems/odometry/odometry_base.h b/include/subsystems/odometry/odometry_base.h
new file mode 100644
index 0000000..9081107
--- /dev/null
+++ b/include/subsystems/odometry/odometry_base.h
@@ -0,0 +1,66 @@
+#ifndef _ODOMETRY_
+#define _ODOMETRY_
+
+#include "vex.h"
+
+#ifndef PI
+#define PI 3.141592654
+#endif
+
+#define DOWNTIME 50 //milliseconds
+
+// Describes a single position and rotation
+typedef struct
+{
+    double x;
+    double y;
+    double rot;
+} position_t;
+
+/**
+ * Base odometry class to simplify implementations of multiple drivetrains.
+ */
+class OdometryBase
+{
+public:
+    /**
+    * Gets the current position and rotation
+    */
+    position_t get_position(void);
+
+    /**
+     * Sets the current position of the robot
+     */
+    void set_position(position_t &newpos);
+
+    /**
+     * Update the current position on the field based on the sensors
+     */
+    virtual position_t update() = 0;
+
+    /**
+     * End the background task. Cannot be restarted.
+     * If the user wants to end the thread but keep the data up to date,
+     * they must run the update() function manually from then on.
+     */
+    void end_async();
+
+    /**
+     * Get the distance between two points
+     */
+    static double pos_diff(position_t &pos1, position_t &pos2);
+
+    /**
+     * Get the change in rotation between two points
+     */
+    static double rot_diff(position_t &pos1, position_t &pos2);
+
+    bool end_task = false;
+
+protected:
+    vex::task *handle;
+    vex::mutex mut;
+    position_t current_pos;
+};
+
+#endif
\ No newline at end of file
diff --git a/include/subsystems/odometry.h b/include/subsystems/odometry/odometry_tank.h
similarity index 73%
rename from include/subsystems/odometry.h
rename to include/subsystems/odometry/odometry_tank.h
index 3c2522d..49496e5 100644
--- a/include/subsystems/odometry.h
+++ b/include/subsystems/odometry/odometry_tank.h
@@ -1,27 +1,13 @@
-#ifndef _ODOMETRY_
-#define _ODOMETRY_
+#ifndef _ODOMETRY_TANK_
+#define _ODOMETRY_TANK_
 
-#include "vex.h"
+#include "../core/include/subsystems/odometry/odometry_base.h"
 #include "../core/include/utils/vector.h"
 
-#define DOWNTIME 50 //milliseconds
-
-#ifndef PI
-#define PI 3.141592654
-#endif
-
 /**
  * The background task constantly polling the motors and updating the position.
  */
-static int background_task(void* pos_ptr);
-
-// Describes a single position and rotation
-typedef struct
-{
-    double x;
-    double y;
-    double rot;
-} position_t;
+static int background_task(void *pos_ptr);
 
 typedef struct
 {
@@ -36,14 +22,14 @@ typedef struct
     double lside, rside;
 } stored_info_t;
 
-class Odometry
+class Odometry : public OdometryBase
 {
-    public:
-
+public:
     /**
      * Initialize the Odometry module, using the IMU to get rotation
      * @param left_side The left motors 
-     * @param right_side The right motors
+     * @param right_
+     * side The right motors
      * @param imu The robot's inertial sensor
      * @param is_async If true, the robot will automatically poll it's position and update it in the background.
      *      If false, the update() function must be called periodically.
@@ -77,36 +63,17 @@ class Odometry
 
     void end_async();
 
-    bool end_task = false;
-
-    /**
-     * Get the distance between two points
-     */
-    static double pos_diff(position_t &pos1, position_t &pos2);
-
-    /**
-     * Get the change in rotation between two points
-     */
-    static double rot_diff(position_t &pos1, position_t &pos2);
-
-    private:
-
+private:
     /**
      * Get information from the input hardware and an existing position, and calculate a new current position
      */
-    static position_t calculate_new_pos(odometry_config_t &config, stored_info_t &stored_info, double lside_revs, double rside_revs, double *gyro_angle_deg=NULL);
-
-    vex::mutex mut;
-    position_t current_pos;
+    static position_t calculate_new_pos(odometry_config_t &config, stored_info_t &stored_info, double lside_revs, double rside_revs, double *gyro_angle_deg = NULL);
 
     vex::motor_group &left_side, &right_side;
     vex::inertial *imu;
     odometry_config_t &config;
 
-    vex::task *handle;
-
     stored_info_t stored_info;
-    
 };
 
 #endif
\ No newline at end of file
diff --git a/include/subsystems/tank_drive.h b/include/subsystems/tank_drive.h
index 28de064..f442428 100644
--- a/include/subsystems/tank_drive.h
+++ b/include/subsystems/tank_drive.h
@@ -1,7 +1,9 @@
 #ifndef _TANKDRIVE_
 #define _TANKDRIVE_
 
+#ifndef PI
 #define PI 3.141592654
+#endif
 
 #include "vex.h"
 #include "../core/include/utils/pid.h"
diff --git a/src/subsystems/odometry/odometry_base.cpp b/src/subsystems/odometry/odometry_base.cpp
new file mode 100644
index 0000000..b4846ad
--- /dev/null
+++ b/src/subsystems/odometry/odometry_base.cpp
@@ -0,0 +1,62 @@
+#include "../core/include/subsystems/odometry/odometry_base.h"
+
+/**
+* Gets the current position and rotation
+*/
+position_t OdometryBase::get_position(void)
+{
+    mut.lock();
+
+    // Create a new struct to pass-by-value
+    position_t out =
+    {
+        .x = current_pos.x,
+        .y = current_pos.y,
+        .rot = current_pos.rot
+    };
+
+    mut.unlock();
+
+    return out;
+}
+
+/**
+ * Sets the current position of the robot
+ */
+void OdometryBase::set_position(position_t &newpos)
+{
+    mut.lock();
+
+    current_pos.x = newpos.x;
+    current_pos.y = newpos.y;
+    current_pos.rot = newpos.rot;
+
+    mut.unlock();
+}
+
+/**
+ * End the background task. Cannot be restarted.
+ * If the user wants to end the thread but keep the data up to date,
+ * they must run the update() function manually from then on.
+ */
+void OdometryBase::end_async()
+{
+    this->end_task = true;
+}
+
+/**
+ * Get the distance between two points
+ */
+double OdometryBase::pos_diff(position_t &pos1, position_t &pos2)
+{
+    // Use the pythagorean theorem
+    return sqrt(pow(pos2.x - pos1.x, 2) + pow(pos2.y - pos1.y, 2));
+}
+
+/**
+ * Get the change in rotation between two points
+ */
+double OdometryBase::rot_diff(position_t &pos1, position_t &pos2)
+{
+    return pos2.rot - pos1.rot;
+}
\ No newline at end of file
diff --git a/src/subsystems/odometry.cpp b/src/subsystems/odometry/odometry_tank.cpp
similarity index 79%
rename from src/subsystems/odometry.cpp
rename to src/subsystems/odometry/odometry_tank.cpp
index 1b58dcf..3de6224 100644
--- a/src/subsystems/odometry.cpp
+++ b/src/subsystems/odometry/odometry_tank.cpp
@@ -1,4 +1,4 @@
-#include "../core/include/subsystems/odometry.h"
+#include "../core/include/subsystems/odometry/odometry_tank.h"
 
 /**
  * Initialize the Odometry module, using the IMU to get rotation
@@ -51,16 +51,6 @@ int background_task(void* odom_obj)
     return 0;
 }
 
-/**
- * End the background task. Cannot be restarted.
- * If the user wants to end the thread but keep the data up to date,
- * they must run the update() function manually from then on.
- */
-void Odometry::end_async()
-{
-    this->end_task = true;
-}
-
 /**
  * Update, store and return the current position of the robot. Only use if not initializing
  * with a separate thread.
@@ -89,58 +79,6 @@ position_t Odometry::update()
     return updated_pos;
 }
 
-/**
- * Gets the current position and rotation
- */
-position_t Odometry::get_position()
-{
-    mut.lock();
-
-    // Create a new struct to pass-by-value
-    position_t out = 
-    {
-        .x = current_pos.x,
-        .y = current_pos.y,
-        .rot = current_pos.rot
-    };
-
-    mut.unlock();
-
-    return out;   
-}
-
-/**
- * Sets the current position of the robot
- */
-void Odometry::set_position(position_t &newpos)
-{
-    mut.lock();
-
-    current_pos.x = newpos.x;
-    current_pos.y = newpos.y;
-    current_pos.rot = newpos.rot;
-
-    mut.unlock();
-}
-
-/**
- * Get the distance between two points
- */
-double Odometry::pos_diff(position_t &pos1, position_t &pos2)
-{
-    // Use the pythagorean theorem
-    return sqrt(pow(pos2.x - pos1.x, 2) + pow(pos2.y - pos1.y, 2));
-
-}
-
-/**
- * Get the change in rotation between two points
- */
-double Odometry::rot_diff(position_t &pos1, position_t &pos2)
-{
-    return pos2.rot - pos1.rot;
-}
-
 /**
  * Using information about the robot's mechanical structure and sensors, calculate a new position
  * of the robot, relative to when this method was previously ran.

From 55cf4fb312f19dcfa2c7f253022d958935b9080a Mon Sep 17 00:00:00 2001
From: Ryan McGee <ramtech51@comcast.net>
Date: Sun, 15 Aug 2021 20:42:31 -0400
Subject: [PATCH 026/243] Added Swerve Drive odometry

---
 include/subsystems/odometry/odometry_swerve.h | 52 +++++++++++
 include/subsystems/odometry/odometry_tank.h   | 18 +---
 include/subsystems/swerve_drive.h             | 10 +++
 include/subsystems/swerve_module.h            | 16 ++--
 src/subsystems/odometry/odometry_swerve.cpp   | 89 +++++++++++++++++++
 src/subsystems/odometry/odometry_tank.cpp     | 10 +--
 src/subsystems/swerve_drive.cpp               | 20 +++++
 src/subsystems/swerve_module.cpp              | 13 ++-
 8 files changed, 201 insertions(+), 27 deletions(-)
 create mode 100644 include/subsystems/odometry/odometry_swerve.h
 create mode 100644 src/subsystems/odometry/odometry_swerve.cpp

diff --git a/include/subsystems/odometry/odometry_swerve.h b/include/subsystems/odometry/odometry_swerve.h
new file mode 100644
index 0000000..1cc3f62
--- /dev/null
+++ b/include/subsystems/odometry/odometry_swerve.h
@@ -0,0 +1,52 @@
+#ifndef _ODOMETRY_SWERVE_
+#define _ODOMETRY_SWERVE_
+
+#include "vex.h"
+#include "../core/include/subsystems/odometry/odometry_base.h"
+#include "../core/include/subsystems/swerve_drive.h"
+
+/**
+ * Function containing the code running in the background, if this odometry is running 
+ * asynchronously.
+ */
+static int background_task(void *obj);
+
+typedef struct
+{
+    double lf_dist, rf_dist, lr_dist, rr_dist;
+} stored_info_t;
+
+/**
+ * Odometry controller for a 4x module swerve drivetrain. Can either run in the background or 
+ * called manually via the update() function.
+ */
+class OdometrySwerve : public OdometryBase
+{
+public:
+
+    /**
+     * Create the odometry object, decide whether to keep it in the background or foreground.
+     */
+    OdometrySwerve(SwerveDrive &drive_system, vex::inertial &imu, bool is_async=true);
+
+    /**
+     * Manually update the position of the robot. Must be called many times each second for an accurate position.
+     * Returns the new posiiton.
+     */
+    position_t update();
+
+private:
+
+    /**
+     * Run the calculations required to find a new position based on a stored old position, stored information
+     * on each swerve module, and information from the sensors stored in the drive_system / imu
+     */
+    static position_t calculate_new_pos(stored_info_t &stored_info, position_t &cur_pos, SwerveDrive &drive_system, vex::inertial &imu);
+
+    SwerveDrive &drive_system;
+    vex::inertial &imu;
+
+    stored_info_t stored_info;
+};
+
+#endif
\ No newline at end of file
diff --git a/include/subsystems/odometry/odometry_tank.h b/include/subsystems/odometry/odometry_tank.h
index 49496e5..4318151 100644
--- a/include/subsystems/odometry/odometry_tank.h
+++ b/include/subsystems/odometry/odometry_tank.h
@@ -22,7 +22,7 @@ typedef struct
     double lside, rside;
 } stored_info_t;
 
-class Odometry : public OdometryBase
+class OdometryTank : public OdometryBase
 {
 public:
     /**
@@ -34,7 +34,7 @@ class Odometry : public OdometryBase
      * @param is_async If true, the robot will automatically poll it's position and update it in the background.
      *      If false, the update() function must be called periodically.
      */
-    Odometry(vex::motor_group &left_side, vex::motor_group &right_side, vex::inertial &imu, odometry_config_t &config, bool is_async);
+    OdometryTank(vex::motor_group &left_side, vex::motor_group &right_side, vex::inertial &imu, odometry_config_t &config, bool is_async);
 
     /**
      * Initialize the Odometry module, calculating the rotation from encoders
@@ -44,25 +44,13 @@ class Odometry : public OdometryBase
      * @param is_async If true, the robot will automatically poll it's position and update it in the background.
      *      If false, the update() function must be called periodically.
      */
-    Odometry(vex::motor_group &left_side, vex::motor_group &right_side, odometry_config_t &config, bool is_async);
-
-    /**
-     * Gets the current position and rotation
-     */
-    position_t get_position();
-
-    /**
-     * Sets the current position of the robot
-     */
-    void set_position(position_t &newpos);
+    OdometryTank(vex::motor_group &left_side, vex::motor_group &right_side, odometry_config_t &config, bool is_async);
 
     /**
      * Update the current position on the field based on the sensors
      */
     position_t update();
 
-    void end_async();
-
 private:
     /**
      * Get information from the input hardware and an existing position, and calculate a new current position
diff --git a/include/subsystems/swerve_drive.h b/include/subsystems/swerve_drive.h
index 286c385..e301855 100644
--- a/include/subsystems/swerve_drive.h
+++ b/include/subsystems/swerve_drive.h
@@ -8,6 +8,11 @@
 #define ROT_DEADBAND 0.2
 #define LAT_DEADBAND 0.2
 
+enum ModulePosition
+{
+    LEFT_FRONT, RIGHT_FRONT, LEFT_REAR, RIGHT_REAR
+};
+
 class SwerveDrive
 {
 
@@ -45,6 +50,11 @@ bool auto_turn(double degrees, double speed);
 void set_drive_pid(PID::pid_config_t &config);
 void set_turn_pid(PID::pid_config_t &config);
 
+/**
+ * Return the corresponding module to this swerve drive system
+ */
+SwerveModule& get_module(ModulePosition pos);
+
 private:
 
 SwerveModule &left_front, &left_rear, &right_front, &right_rear;
diff --git a/include/subsystems/swerve_module.h b/include/subsystems/swerve_module.h
index e93d077..3ffd88a 100644
--- a/include/subsystems/swerve_module.h
+++ b/include/subsystems/swerve_module.h
@@ -26,7 +26,7 @@ class SwerveModule
      * 
      * the Drive motor is the central one, with the Direction motor being offset.
      */
-    SwerveModule(vex::motor &drive, vex::gearSetting drive_gearing, vex::motor &direction, vex::gearSetting dir_gearing);
+    SwerveModule(vex::motor &drive, vex::motor &direction);
 
     /**
      * Sets both the speed and direction of the module, taking into account how the motors are geared
@@ -57,14 +57,23 @@ class SwerveModule
 
     /**
     * Reset the drive encoder to zero
+    * 
+    * @deprecated Resetting encoders will screw up OdometrySwerve; do not use with odometry.
     */
     void reset_distance_driven();
 
     /**
      * Get 'distance' from the drive motor
+     * 
+     * TODO take into account the effect of the direction motor on the driven distance
      */
     double get_distance_driven();
 
+    /**
+     * Return the direction that the module is pointing
+     */
+    double get_module_angle();
+
     bool auto_reverse = false;
 
     private:
@@ -84,11 +93,8 @@ class SwerveModule
      */
     static int mod(int var1, int var2);
 
-    vex::motor &drive;
-    vex::gearSetting drive_gearing;
+    vex::motor &drive, &direction;
 
-    vex::motor &direction;
-    vex::gearSetting dir_gearing;
     bool inverseDrive;
     double lastStoredHeading;
     double driveMulitplier;
diff --git a/src/subsystems/odometry/odometry_swerve.cpp b/src/subsystems/odometry/odometry_swerve.cpp
new file mode 100644
index 0000000..4895c29
--- /dev/null
+++ b/src/subsystems/odometry/odometry_swerve.cpp
@@ -0,0 +1,89 @@
+#include "../core/include/subsystems/odometry/odometry_swerve.h"
+#include "../core/include/utils/vector.h"
+
+OdometrySwerve::OdometrySwerve(SwerveDrive &drive_system, vex::inertial &imu, bool is_async=true)
+: drive_system(drive_system), imu(imu)
+{
+    memset(&stored_info, 0, sizeof(stored_info_t));
+
+    if(is_async)
+        handle = new vex::task(background_task, this);
+}
+
+/**
+ * Manually update the position of the robot. Must be called many times each second for an accurate position.
+ * Returns the new posiiton.
+ */
+position_t OdometrySwerve::update()
+{
+    position_t new_pos = calculate_new_pos(stored_info,current_pos, drive_system, imu);
+
+    mut.lock();
+    this->current_pos = new_pos;
+    mut.unlock();
+
+    return current_pos;
+}
+
+/**
+ * Function containing the code running in the background, if this odometry is running 
+ * asynchronously.
+ */
+int background_task(void *obj)
+{
+    OdometrySwerve &odom = *((OdometrySwerve*)obj);
+
+    while(!odom.end_task)
+    {
+        odom.update();
+        vexDelay(DOWNTIME);
+    }
+
+    return 0;
+}
+
+/**
+ * Run the calculations required to find a new position based on a stored old position, stored information
+ * on each swerve module, and information from the sensors stored in the drive_system / imu
+ */
+position_t OdometrySwerve::calculate_new_pos(stored_info_t &stored_info, position_t &cur_pos, SwerveDrive &drive_system, vex::inertial &imu)
+{
+    // Get the change in distance for each drive motor
+    double lf_delta = drive_system.get_module(LEFT_FRONT).get_distance_driven() - stored_info.lf_dist;
+    double rf_delta = drive_system.get_module(RIGHT_FRONT).get_distance_driven() - stored_info.rf_dist;
+    double lr_delta = drive_system.get_module(LEFT_REAR).get_distance_driven() - stored_info.lr_dist;
+    double rr_delta = drive_system.get_module(RIGHT_REAR).get_distance_driven() - stored_info.rr_dist;
+
+    // Store the vector displacement
+    Vector lf_disp(drive_system.get_module(LEFT_FRONT).get_module_angle(), lf_delta);
+    Vector rf_disp(drive_system.get_module(RIGHT_FRONT).get_module_angle(), rf_delta);
+    Vector lr_disp(drive_system.get_module(LEFT_REAR).get_module_angle(), lr_delta);
+    Vector rr_disp(drive_system.get_module(RIGHT_REAR).get_module_angle(), rr_delta);
+
+    // Get an overall displacement of the robot
+    // Adding the vectors cancels out rotation, and leaves the robots actual displacement
+    Vector delta_displacement = lf_disp + rf_disp + lr_disp + rr_disp;
+
+    // Create a vector from the robot's current position,
+    // representing the displacement from the origin
+    Vector::point_t pt = {.x = cur_pos.x, .y = cur_pos.y};
+    Vector old_displacement(pt);
+
+    // Add the "change in displacement" to the existing displacement (from 0,0)
+    Vector new_displacement = old_displacement + delta_displacement;
+
+    position_t out = 
+    {
+    .x = new_displacement.get_x(),
+    .y = new_displacement.get_y(),
+    .rot = imu.heading()
+    };
+
+    // Store each module's previous distance driven for the next update
+    stored_info.lf_dist = drive_system.get_module(LEFT_FRONT).get_distance_driven();
+    stored_info.rf_dist = drive_system.get_module(RIGHT_FRONT).get_distance_driven();
+    stored_info.lr_dist = drive_system.get_module(LEFT_REAR).get_distance_driven();
+    stored_info.rr_dist = drive_system.get_module(RIGHT_REAR).get_distance_driven();
+
+    return out;
+}
\ No newline at end of file
diff --git a/src/subsystems/odometry/odometry_tank.cpp b/src/subsystems/odometry/odometry_tank.cpp
index 3de6224..65de254 100644
--- a/src/subsystems/odometry/odometry_tank.cpp
+++ b/src/subsystems/odometry/odometry_tank.cpp
@@ -6,7 +6,7 @@
  * @param right_side The right motors
  * @param imu The robot's inertial sensor
  */
-Odometry::Odometry(vex::motor_group &left_side, vex::motor_group &right_side, vex::inertial &imu, odometry_config_t &config, bool is_async)
+OdometryTank::OdometryTank(vex::motor_group &left_side, vex::motor_group &right_side, vex::inertial &imu, odometry_config_t &config, bool is_async)
 : left_side(left_side), right_side(right_side), imu(&imu), config(config)
 {
     // Make sure the last known info starts zeroed
@@ -23,7 +23,7 @@ Odometry::Odometry(vex::motor_group &left_side, vex::motor_group &right_side, ve
  * @param right_side The right motors
  * @param imu The robot's inertial sensor
  */
-Odometry::Odometry(vex::motor_group &left_side, vex::motor_group &right_side, odometry_config_t &config, bool is_async)
+OdometryTank::OdometryTank(vex::motor_group &left_side, vex::motor_group &right_side, odometry_config_t &config, bool is_async)
 : left_side(left_side), right_side(right_side), imu(NULL), config(config)
 {
     // Make sure the last known info starts zeroed
@@ -40,7 +40,7 @@ Odometry::Odometry(vex::motor_group &left_side, vex::motor_group &right_side, od
  */
 int background_task(void* odom_obj)
 {
-    Odometry &odom = *((Odometry*) odom_obj);
+    OdometryTank &odom = *((OdometryTank*) odom_obj);
     while(!odom.end_task)
     {
         odom.update();
@@ -55,7 +55,7 @@ int background_task(void* odom_obj)
  * Update, store and return the current position of the robot. Only use if not initializing
  * with a separate thread.
  */
-position_t Odometry::update()
+position_t OdometryTank::update()
 {
     position_t updated_pos;
 
@@ -83,7 +83,7 @@ position_t Odometry::update()
  * Using information about the robot's mechanical structure and sensors, calculate a new position
  * of the robot, relative to when this method was previously ran.
  */
-position_t Odometry::calculate_new_pos(odometry_config_t &config, stored_info_t &stored_info, double lside_revs, double rside_revs, double *gyro_angle_deg)
+position_t OdometryTank::calculate_new_pos(odometry_config_t &config, stored_info_t &stored_info, double lside_revs, double rside_revs, double *gyro_angle_deg)
 {
     position_t new_pos;
 
diff --git a/src/subsystems/swerve_drive.cpp b/src/subsystems/swerve_drive.cpp
index c916e8c..9722440 100644
--- a/src/subsystems/swerve_drive.cpp
+++ b/src/subsystems/swerve_drive.cpp
@@ -213,4 +213,24 @@ bool SwerveDrive::auto_turn(double degrees, double speed)
   }
 
   return false;
+}
+
+/**
+ * Return the corresponding module to this swerve drive system
+ */
+SwerveModule& SwerveDrive::get_module(ModulePosition pos)
+{
+  switch(pos)
+  {
+    case LEFT_FRONT:
+      return left_front;
+    case RIGHT_FRONT:
+      return right_front;
+    case LEFT_REAR:
+      return left_rear;
+
+    default: // ONLY if something goes horribly wrong, return the right rear
+    case RIGHT_REAR:
+      return right_rear;
+  }
 }
\ No newline at end of file
diff --git a/src/subsystems/swerve_module.cpp b/src/subsystems/swerve_module.cpp
index 570c6d4..a1e2711 100644
--- a/src/subsystems/swerve_module.cpp
+++ b/src/subsystems/swerve_module.cpp
@@ -6,8 +6,8 @@
  * 
  * the Drive motor is the central one, with the Direction motor being offset.
  */
-SwerveModule::SwerveModule(vex::motor &drive, vex::gearSetting drive_gearing, vex::motor &direction, vex::gearSetting dir_gearing)
-    : drive(drive), drive_gearing(drive_gearing), direction(direction), dir_gearing(dir_gearing)
+SwerveModule::SwerveModule(vex::motor &drive, vex::motor &direction)
+    : drive(drive), direction(direction)
 {
   lastStoredHeading = 0.0;
   inverseDrive = false;
@@ -104,6 +104,15 @@ double SwerveModule::get_distance_driven()
   return fabs(WHEEL_DIAM * PI * drive.position(vex::rotationUnits::rev) * DRIVE_GEAR_RATIO);
 }
 
+/**
+ * Return the direction that the module is pointing
+ */
+double SwerveModule::get_module_angle()
+{
+  // Limit to 0->360
+  return fmod(direction.rotation(vex::rotationUnits::deg) * DIR_GEAR_RATIO, 360);
+}
+
 /**
  * Grab the maximum degrees per second of a motor with a certain gearset
  * 36 : 1 = reds

From a0ffb43ad55bf0627d32fb3cd9ebf80252c7902f Mon Sep 17 00:00:00 2001
From: Ryan McGee <ramtech51@comcast.net>
Date: Sun, 15 Aug 2021 21:34:25 -0400
Subject: [PATCH 027/243] Fixed tank_drive to use the odometry class

---
 include/subsystems/odometry/odometry_base.h   |  2 +-
 include/subsystems/odometry/odometry_swerve.h |  6 -----
 include/subsystems/odometry/odometry_tank.h   |  5 ----
 include/subsystems/tank_drive.h               |  8 ++++---
 include/utils/vector.h                        |  2 ++
 src/subsystems/odometry/odometry_base.cpp     | 23 ++++++++++++++++--
 src/subsystems/tank_drive.cpp                 | 24 +++++++++++++++----
 7 files changed, 48 insertions(+), 22 deletions(-)

diff --git a/include/subsystems/odometry/odometry_base.h b/include/subsystems/odometry/odometry_base.h
index 9081107..59d263c 100644
--- a/include/subsystems/odometry/odometry_base.h
+++ b/include/subsystems/odometry/odometry_base.h
@@ -48,7 +48,7 @@ class OdometryBase
     /**
      * Get the distance between two points
      */
-    static double pos_diff(position_t &pos1, position_t &pos2);
+    static double pos_diff(position_t pos1, position_t pos2, bool use_negatives=false);
 
     /**
      * Get the change in rotation between two points
diff --git a/include/subsystems/odometry/odometry_swerve.h b/include/subsystems/odometry/odometry_swerve.h
index 1cc3f62..a38a947 100644
--- a/include/subsystems/odometry/odometry_swerve.h
+++ b/include/subsystems/odometry/odometry_swerve.h
@@ -5,12 +5,6 @@
 #include "../core/include/subsystems/odometry/odometry_base.h"
 #include "../core/include/subsystems/swerve_drive.h"
 
-/**
- * Function containing the code running in the background, if this odometry is running 
- * asynchronously.
- */
-static int background_task(void *obj);
-
 typedef struct
 {
     double lf_dist, rf_dist, lr_dist, rr_dist;
diff --git a/include/subsystems/odometry/odometry_tank.h b/include/subsystems/odometry/odometry_tank.h
index 4318151..4b215ef 100644
--- a/include/subsystems/odometry/odometry_tank.h
+++ b/include/subsystems/odometry/odometry_tank.h
@@ -4,11 +4,6 @@
 #include "../core/include/subsystems/odometry/odometry_base.h"
 #include "../core/include/utils/vector.h"
 
-/**
- * The background task constantly polling the motors and updating the position.
- */
-static int background_task(void *pos_ptr);
-
 typedef struct
 {
     double dist_between_wheels;
diff --git a/include/subsystems/tank_drive.h b/include/subsystems/tank_drive.h
index f442428..6922c96 100644
--- a/include/subsystems/tank_drive.h
+++ b/include/subsystems/tank_drive.h
@@ -7,6 +7,7 @@
 
 #include "vex.h"
 #include "../core/include/utils/pid.h"
+#include "../core/include/subsystems/odometry/odometry_tank.h"
 
 using namespace vex;
 
@@ -19,6 +20,7 @@ class TankDrive
     PID::pid_config_t drive_pid;
     PID::pid_config_t turn_pid;
 
+    double dist_between_wheels;
     double wheel_diam;
   };
 
@@ -65,15 +67,15 @@ class TankDrive
   bool turn_degrees(double degrees, double percent_speed);
 
 private:
-  tankdrive_config_t &config;
-
   motor_group &left_motors;
   motor_group &right_motors;
 
   PID drive_pid;
   PID turn_pid;
 
-  inertial &gyro_sensor;
+  OdometryTank *odometry;
+
+  position_t saved_pos;
 
   bool initialize_func = true;
 };
diff --git a/include/utils/vector.h b/include/utils/vector.h
index b45227e..45ec32c 100644
--- a/include/utils/vector.h
+++ b/include/utils/vector.h
@@ -3,7 +3,9 @@
 
 #include <cmath>
 
+#ifndef PI
 #define PI 3.141592654
+#endif
 
 class Vector
 {
diff --git a/src/subsystems/odometry/odometry_base.cpp b/src/subsystems/odometry/odometry_base.cpp
index b4846ad..c5ab0a9 100644
--- a/src/subsystems/odometry/odometry_base.cpp
+++ b/src/subsystems/odometry/odometry_base.cpp
@@ -1,4 +1,5 @@
 #include "../core/include/subsystems/odometry/odometry_base.h"
+#include "../core/include/utils/vector.h"
 
 /**
 * Gets the current position and rotation
@@ -47,10 +48,28 @@ void OdometryBase::end_async()
 /**
  * Get the distance between two points
  */
-double OdometryBase::pos_diff(position_t &pos1, position_t &pos2)
+double OdometryBase::pos_diff(position_t pos1, position_t pos2, bool use_negatives)
 {
+    int negative_multiplier = 1;
+
+    // If we are using negative distances, define a "negative distance" as when the angle
+    // of a vector made from those two points is between 3PI/4 and 7PI/4
+    if(use_negatives)
+    {
+        Vector::point_t point_diff = {
+            .x = pos1.x - pos2.x,
+            .y = pos1.y - pos2.y
+        };
+
+        Vector v_diff(point_diff);
+        double angle = rad2deg(v_diff.get_dir());
+
+        if(angle > 135 && angle < 315)
+            negative_multiplier = -1;
+    }
+
     // Use the pythagorean theorem
-    return sqrt(pow(pos2.x - pos1.x, 2) + pow(pos2.y - pos1.y, 2));
+    return negative_multiplier * sqrt(pow(pos1.x - pos2.x, 2) + pow(pos1.y - pos2.y, 2));
 }
 
 /**
diff --git a/src/subsystems/tank_drive.cpp b/src/subsystems/tank_drive.cpp
index 12e5805..9604916 100644
--- a/src/subsystems/tank_drive.cpp
+++ b/src/subsystems/tank_drive.cpp
@@ -1,8 +1,16 @@
 #include "../core/include/subsystems/tank_drive.h"
 
 TankDrive::TankDrive(motor_group &left_motors, motor_group &right_motors, inertial &gyro_sensor, TankDrive::tankdrive_config_t &config)
-    : config(config), left_motors(left_motors), right_motors(right_motors), drive_pid(config.drive_pid), turn_pid(config.turn_pid), gyro_sensor(gyro_sensor)
+    : left_motors(left_motors), right_motors(right_motors),
+     drive_pid(config.drive_pid), turn_pid(config.turn_pid)
 {
+
+  odometry_config_t cfg = {
+    .dist_between_wheels = config.dist_between_wheels,
+    .wheel_diam = config.wheel_diam,
+  };
+
+  this->odometry = new OdometryTank(left_motors, right_motors, cfg, true);
 }
 
 /**
@@ -46,13 +54,15 @@ void TankDrive::drive_arcade(double forward_back, double left_right)
  * of percent_speed (-1.0 -> 1.0).
  * 
  * Uses a PID loop for it's control.
+ * 
+ * NOTE: uses relative positioning, so after a few drive_forward's, position may be lost!
  */
 bool TankDrive::drive_forward(double inches, double percent_speed)
 {
   // On the first run of the funciton, reset the motor position and PID
   if (initialize_func)
   {
-    left_motors.resetPosition();
+    saved_pos = odometry->get_position();
     drive_pid.reset();
 
     drive_pid.set_limits(-fabs(percent_speed), fabs(percent_speed));
@@ -61,8 +71,12 @@ bool TankDrive::drive_forward(double inches, double percent_speed)
     initialize_func = false;
   }
 
+  double position_diff = OdometryBase::pos_diff(odometry->get_position(), saved_pos, true);
+
   // Update PID loop and drive the robot based on it's output
-  drive_pid.update(left_motors.position(rotationUnits::rev) * PI * config.wheel_diam);
+  drive_pid.update(position_diff);
+
+  // Drive backwards if we input negative inches, forward for positive
   drive_tank(drive_pid.get(), drive_pid.get());
 
   // If the robot is at it's target, return true
@@ -87,7 +101,7 @@ bool TankDrive::turn_degrees(double degrees, double percent_speed)
   // On the first run of the funciton, reset the gyro position and PID
   if (initialize_func)
   {
-    gyro_sensor.resetRotation();
+    saved_pos = odometry->get_position();
     turn_pid.reset();
 
     turn_pid.set_limits(-fabs(percent_speed), fabs(percent_speed));
@@ -97,7 +111,7 @@ bool TankDrive::turn_degrees(double degrees, double percent_speed)
   }
 
   // Update PID loop and drive the robot based on it's output
-  turn_pid.update(gyro_sensor.rotation(rotationUnits::deg));
+  turn_pid.update(odometry->get_position().rot - saved_pos.rot);
   drive_tank(turn_pid.get(), -turn_pid.get());
 
   // If the robot is at it's target, return true

From 9712bc0a268cf9cb5b3f70954ba954586b21fa4b Mon Sep 17 00:00:00 2001
From: Ryan McGee <ramtech51@comcast.net>
Date: Mon, 23 Aug 2021 23:20:12 -0400
Subject: [PATCH 028/243] Changed SwerveDrive to use odometry

---
 include/subsystems/swerve_drive.h |  4 ++++
 src/subsystems/swerve_drive.cpp   | 29 ++++++++++++-----------------
 2 files changed, 16 insertions(+), 17 deletions(-)

diff --git a/include/subsystems/swerve_drive.h b/include/subsystems/swerve_drive.h
index e301855..5578465 100644
--- a/include/subsystems/swerve_drive.h
+++ b/include/subsystems/swerve_drive.h
@@ -2,6 +2,7 @@
 #define _SWERVEDRIVE_
 
 #include "../core/include/subsystems/swerve_module.h"
+#include "../core/include/subsystems/odometry/odometry_swerve.h"
 #include "../core/include/utils/vector.h"
 #include "../core/include/utils/pid.h"
 
@@ -64,6 +65,9 @@ bool auto_turn_init = true;
 PID *drive_pid, *turn_pid;
 vex::inertial &imu;
 
+OdometrySwerve *odometry;
+position_t saved_pos;
+
 };
 
 #endif
\ No newline at end of file
diff --git a/src/subsystems/swerve_drive.cpp b/src/subsystems/swerve_drive.cpp
index 9722440..4c8ca42 100644
--- a/src/subsystems/swerve_drive.cpp
+++ b/src/subsystems/swerve_drive.cpp
@@ -9,7 +9,7 @@ using namespace std;
 SwerveDrive::SwerveDrive(SwerveModule &left_front, SwerveModule &left_rear, SwerveModule &right_front, SwerveModule &right_rear, vex::inertial &imu)
 :left_front(left_front), left_rear(left_rear), right_front(right_front), right_rear(right_rear), imu(imu)
 {
-
+  // odometry = new OdometrySwerve(*this, imu, true);
 }
 
 /**
@@ -90,6 +90,8 @@ void SwerveDrive::set_turn_pid(PID::pid_config_t &config)
 /**
  * Autonomously drive the robot in (degrees) direction, at (-1.0 -> 1.0) speed, for (inches) distance.
  * Indicate a negative speed or distance, or (preferably) a direction of +-180 degrees for backwards.
+ * 
+ * NOTE: This function uses relative positioning, and a few calls to it may cause it to drift!
  */
 bool SwerveDrive::auto_drive(double direction, double speed, double distance)
 {
@@ -122,10 +124,7 @@ bool SwerveDrive::auto_drive(double direction, double speed, double distance)
     if(!all_wheels_done)
       return false;
 
-    left_front.reset_distance_driven();
-    right_front.reset_distance_driven();
-    left_rear.reset_distance_driven();
-    right_rear.reset_distance_driven();
+    saved_pos = odometry->get_position();
 
     // set up the PID
     drive_pid->reset();
@@ -135,13 +134,10 @@ bool SwerveDrive::auto_drive(double direction, double speed, double distance)
     auto_drive_init = false;
   }
 
-  double average = (left_front.get_distance_driven() + right_front.get_distance_driven() 
-                  + left_rear.get_distance_driven() + right_rear.get_distance_driven()) / 4.0;
+  double pos_diff = OdometryBase::pos_diff(odometry->get_position(), saved_pos, true);
 
   // LOOP
-  drive_pid->update(average);
-
-  fprintf(stderr, "Distance Driven: %f\n", average);
+  drive_pid->update(pos_diff);
   
   left_front.set_speed(drive_pid->get());
   right_front.set_speed(drive_pid->get());
@@ -162,6 +158,8 @@ bool SwerveDrive::auto_drive(double direction, double speed, double distance)
 /**
  * Autonomously turn the robot over it's center axis in degrees. Positive degrees is clockwise, Negative is counter-clockwise
  * Function is non-blocking, and returns true when it has finished turning.
+ * 
+ * NOTE: this uses relative positioning, and a few calls may cause it to lose it's desired angle!
  */
 bool SwerveDrive::auto_turn(double degrees, double speed)
 {
@@ -183,9 +181,8 @@ bool SwerveDrive::auto_turn(double degrees, double speed)
     if(!all_wheels_done)
       return false;
 
-    // Reset the IMU rotation and configure the PID loop
-    imu.resetRotation();
-    
+    saved_pos = odometry->get_position();
+
     turn_pid->reset();
     turn_pid->set_limits(-fabs(speed), fabs(speed));
     turn_pid->set_target(degrees);
@@ -195,15 +192,13 @@ bool SwerveDrive::auto_turn(double degrees, double speed)
 
   // LOOP
 
-  turn_pid->update(imu.rotation());
+  turn_pid->update(odometry->get_position().rot);
+
   left_front.set_speed(turn_pid->get());
   right_front.set_speed(turn_pid->get());
   left_rear.set_speed(turn_pid->get());
   right_rear.set_speed(turn_pid->get());
 
-  fprintf(stderr, "Angle: %f  ", imu.rotation());
-  fprintf(stderr, "Out: %f \n", turn_pid->get());
-
   // when the robot is on target, we are done. return true.
   if(turn_pid->is_on_target())
   {

From b7251f5e834bcfff9e33d18238bb5010fe2226b6 Mon Sep 17 00:00:00 2001
From: Ryan McGee <ramtech51@comcast.net>
Date: Mon, 13 Sep 2021 23:05:57 -0400
Subject: [PATCH 029/243] Finished testing OdometryTank without imu

---
 include/subsystems/odometry/odometry_swerve.h |  9 +++++----
 include/subsystems/odometry/odometry_tank.h   |  7 +++++--
 include/subsystems/swerve_drive.h             |  7 +++----
 include/subsystems/swerve_module.h            |  1 +
 include/subsystems/tank_drive.h               |  7 ++-----
 src/subsystems/odometry/odometry_swerve.cpp   |  2 +-
 src/subsystems/odometry/odometry_tank.cpp     |  6 +++---
 src/subsystems/tank_drive.cpp                 | 19 ++++++++-----------
 8 files changed, 28 insertions(+), 30 deletions(-)

diff --git a/include/subsystems/odometry/odometry_swerve.h b/include/subsystems/odometry/odometry_swerve.h
index a38a947..fe73180 100644
--- a/include/subsystems/odometry/odometry_swerve.h
+++ b/include/subsystems/odometry/odometry_swerve.h
@@ -1,15 +1,18 @@
-#ifndef _ODOMETRY_SWERVE_
-#define _ODOMETRY_SWERVE_
+#pragma once
 
 #include "vex.h"
 #include "../core/include/subsystems/odometry/odometry_base.h"
 #include "../core/include/subsystems/swerve_drive.h"
 
+class SwerveDrive;
+
 typedef struct
 {
     double lf_dist, rf_dist, lr_dist, rr_dist;
 } stored_info_t;
 
+static int background_task(void *obj);
+
 /**
  * Odometry controller for a 4x module swerve drivetrain. Can either run in the background or 
  * called manually via the update() function.
@@ -42,5 +45,3 @@ class OdometrySwerve : public OdometryBase
 
     stored_info_t stored_info;
 };
-
-#endif
\ No newline at end of file
diff --git a/include/subsystems/odometry/odometry_tank.h b/include/subsystems/odometry/odometry_tank.h
index 4b215ef..62a25c8 100644
--- a/include/subsystems/odometry/odometry_tank.h
+++ b/include/subsystems/odometry/odometry_tank.h
@@ -8,8 +8,11 @@ typedef struct
 {
     double dist_between_wheels;
     double wheel_diam;
+    double gear_ratio;
 } odometry_config_t;
 
+static int background_task(void* odom_obj);
+
 // Contains information stored between update()s required for calculating posiion
 typedef struct
 {
@@ -29,7 +32,7 @@ class OdometryTank : public OdometryBase
      * @param is_async If true, the robot will automatically poll it's position and update it in the background.
      *      If false, the update() function must be called periodically.
      */
-    OdometryTank(vex::motor_group &left_side, vex::motor_group &right_side, vex::inertial &imu, odometry_config_t &config, bool is_async);
+    OdometryTank(vex::motor_group &left_side, vex::motor_group &right_side, vex::inertial &imu, odometry_config_t &config, bool is_async=true);
 
     /**
      * Initialize the Odometry module, calculating the rotation from encoders
@@ -39,7 +42,7 @@ class OdometryTank : public OdometryBase
      * @param is_async If true, the robot will automatically poll it's position and update it in the background.
      *      If false, the update() function must be called periodically.
      */
-    OdometryTank(vex::motor_group &left_side, vex::motor_group &right_side, odometry_config_t &config, bool is_async);
+    OdometryTank(vex::motor_group &left_side, vex::motor_group &right_side, odometry_config_t &config, bool is_async=true);
 
     /**
      * Update the current position on the field based on the sensors
diff --git a/include/subsystems/swerve_drive.h b/include/subsystems/swerve_drive.h
index 5578465..c967cea 100644
--- a/include/subsystems/swerve_drive.h
+++ b/include/subsystems/swerve_drive.h
@@ -1,5 +1,4 @@
-#ifndef _SWERVEDRIVE_
-#define _SWERVEDRIVE_
+#pragma once
 
 #include "../core/include/subsystems/swerve_module.h"
 #include "../core/include/subsystems/odometry/odometry_swerve.h"
@@ -9,6 +8,8 @@
 #define ROT_DEADBAND 0.2
 #define LAT_DEADBAND 0.2
 
+class OdometrySwerve;
+
 enum ModulePosition
 {
     LEFT_FRONT, RIGHT_FRONT, LEFT_REAR, RIGHT_REAR
@@ -69,5 +70,3 @@ OdometrySwerve *odometry;
 position_t saved_pos;
 
 };
-
-#endif
\ No newline at end of file
diff --git a/include/subsystems/swerve_module.h b/include/subsystems/swerve_module.h
index 3ffd88a..6f145c8 100644
--- a/include/subsystems/swerve_module.h
+++ b/include/subsystems/swerve_module.h
@@ -2,6 +2,7 @@
 #define _SWERVEMODULE_
 
 #include "vex.h"
+using namespace vex;
 
 #ifndef PI
 #define PI 3.141592654
diff --git a/include/subsystems/tank_drive.h b/include/subsystems/tank_drive.h
index 6922c96..aa64063 100644
--- a/include/subsystems/tank_drive.h
+++ b/include/subsystems/tank_drive.h
@@ -1,5 +1,4 @@
-#ifndef _TANKDRIVE_
-#define _TANKDRIVE_
+#pragma once
 
 #ifndef PI
 #define PI 3.141592654
@@ -27,7 +26,7 @@ class TankDrive
   /**
    * Create the TankDrive object 
    */
-  TankDrive(motor_group &left_motors, motor_group &right_motors, inertial &gyro_sensor, tankdrive_config_t &config);
+  TankDrive(motor_group &left_motors, motor_group &right_motors, inertial &gyro_sensor, tankdrive_config_t &config, OdometryTank *odom=NULL);
 
   /**
    * Stops rotation of all the motors using their "brake mode"
@@ -79,5 +78,3 @@ class TankDrive
 
   bool initialize_func = true;
 };
-
-#endif
\ No newline at end of file
diff --git a/src/subsystems/odometry/odometry_swerve.cpp b/src/subsystems/odometry/odometry_swerve.cpp
index 4895c29..cf13a95 100644
--- a/src/subsystems/odometry/odometry_swerve.cpp
+++ b/src/subsystems/odometry/odometry_swerve.cpp
@@ -1,7 +1,7 @@
 #include "../core/include/subsystems/odometry/odometry_swerve.h"
 #include "../core/include/utils/vector.h"
 
-OdometrySwerve::OdometrySwerve(SwerveDrive &drive_system, vex::inertial &imu, bool is_async=true)
+OdometrySwerve::OdometrySwerve(SwerveDrive &drive_system, vex::inertial &imu, bool is_async)
 : drive_system(drive_system), imu(imu)
 {
     memset(&stored_info, 0, sizeof(stored_info_t));
diff --git a/src/subsystems/odometry/odometry_tank.cpp b/src/subsystems/odometry/odometry_tank.cpp
index 65de254..d7e4c13 100644
--- a/src/subsystems/odometry/odometry_tank.cpp
+++ b/src/subsystems/odometry/odometry_tank.cpp
@@ -59,15 +59,15 @@ position_t OdometryTank::update()
 {
     position_t updated_pos;
 
-    double lside_revs = left_side.position(rotationUnits::rev);
-    double rside_revs = right_side.position(rotationUnits::rev);
+    double lside_revs = left_side.position(vex::rotationUnits::rev) / config.gear_ratio;
+    double rside_revs = right_side.position(vex::rotationUnits::rev) / config.gear_ratio;
 
     if(imu == NULL)
     {
         updated_pos = calculate_new_pos(config, stored_info, lside_revs, rside_revs);
     } else
     {
-        double angle = imu->rotation(rotationUnits::deg);
+        double angle = imu->rotation(vex::rotationUnits::deg);
         updated_pos = calculate_new_pos(config, stored_info, lside_revs, rside_revs, &angle);
     }
     
diff --git a/src/subsystems/tank_drive.cpp b/src/subsystems/tank_drive.cpp
index 9604916..89ca7f2 100644
--- a/src/subsystems/tank_drive.cpp
+++ b/src/subsystems/tank_drive.cpp
@@ -1,16 +1,10 @@
 #include "../core/include/subsystems/tank_drive.h"
 
-TankDrive::TankDrive(motor_group &left_motors, motor_group &right_motors, inertial &gyro_sensor, TankDrive::tankdrive_config_t &config)
+TankDrive::TankDrive(motor_group &left_motors, motor_group &right_motors, inertial &gyro_sensor, TankDrive::tankdrive_config_t &config, OdometryTank *odom)
     : left_motors(left_motors), right_motors(right_motors),
-     drive_pid(config.drive_pid), turn_pid(config.turn_pid)
+     drive_pid(config.drive_pid), turn_pid(config.turn_pid), odometry(odom)
 {
 
-  odometry_config_t cfg = {
-    .dist_between_wheels = config.dist_between_wheels,
-    .wheel_diam = config.wheel_diam,
-  };
-
-  this->odometry = new OdometryTank(left_motors, right_motors, cfg, true);
 }
 
 /**
@@ -30,8 +24,8 @@ void TankDrive::stop()
  */
 void TankDrive::drive_tank(double left, double right)
 {
-  left_motors.setVelocity(left * 100, velocityUnits::pct);
-  right_motors.setVelocity(right * 100, velocityUnits::pct);
+  left_motors.spin(directionType::fwd, left * 100, velocityUnits::pct);
+  right_motors.spin(directionType::fwd, right * 100, velocityUnits::pct);
 }
 
 /**
@@ -71,7 +65,10 @@ bool TankDrive::drive_forward(double inches, double percent_speed)
     initialize_func = false;
   }
 
-  double position_diff = OdometryBase::pos_diff(odometry->get_position(), saved_pos, true);
+  double position_diff = odometry->get_position().y - saved_pos.y;
+
+  // printf("Pos diff: %f Saved pos: %f  ", position_diff, saved_pos.y);
+  printf("Tank X: %f   Tank Y: %f  ", odometry->get_position().y, odometry->get_position().x);
 
   // Update PID loop and drive the robot based on it's output
   drive_pid.update(position_diff);

From f171440675b53828e66928a070061c3eaddeefe0 Mon Sep 17 00:00:00 2001
From: Ryan McGee <ramtech51@comcast.net>
Date: Sun, 19 Sep 2021 11:07:27 -0400
Subject: [PATCH 030/243] Odometry is slightly broken; worked on resetting
 position

---
 include/subsystems/odometry/odometry_base.h |   4 +-
 include/subsystems/odometry/odometry_tank.h |  17 ++-
 include/subsystems/tank_drive.h             |  17 ++-
 src/subsystems/odometry/odometry_base.cpp   |   2 +-
 src/subsystems/odometry/odometry_tank.cpp   | 117 +++++++++++---------
 src/subsystems/tank_drive.cpp               |  82 ++++++++++++--
 6 files changed, 160 insertions(+), 79 deletions(-)

diff --git a/include/subsystems/odometry/odometry_base.h b/include/subsystems/odometry/odometry_base.h
index 59d263c..9866317 100644
--- a/include/subsystems/odometry/odometry_base.h
+++ b/include/subsystems/odometry/odometry_base.h
@@ -31,7 +31,7 @@ class OdometryBase
     /**
      * Sets the current position of the robot
      */
-    void set_position(position_t &newpos);
+    virtual void set_position(const position_t &newpos=zero_pos);
 
     /**
      * Update the current position on the field based on the sensors
@@ -57,6 +57,8 @@ class OdometryBase
 
     bool end_task = false;
 
+    static constexpr position_t zero_pos = {0, 0, 0};
+
 protected:
     vex::task *handle;
     vex::mutex mut;
diff --git a/include/subsystems/odometry/odometry_tank.h b/include/subsystems/odometry/odometry_tank.h
index 62a25c8..2caa894 100644
--- a/include/subsystems/odometry/odometry_tank.h
+++ b/include/subsystems/odometry/odometry_tank.h
@@ -13,13 +13,6 @@ typedef struct
 
 static int background_task(void* odom_obj);
 
-// Contains information stored between update()s required for calculating posiion
-typedef struct
-{
-    position_t pos;
-    double lside, rside;
-} stored_info_t;
-
 class OdometryTank : public OdometryBase
 {
 public:
@@ -47,19 +40,23 @@ class OdometryTank : public OdometryBase
     /**
      * Update the current position on the field based on the sensors
      */
-    position_t update();
+    position_t update() override;
+
+
+    void set_position(const position_t &newpos=zero_pos) override;
 
 private:
     /**
      * Get information from the input hardware and an existing position, and calculate a new current position
      */
-    static position_t calculate_new_pos(odometry_config_t &config, stored_info_t &stored_info, double lside_revs, double rside_revs, double *gyro_angle_deg = NULL);
+    static position_t calculate_new_pos(odometry_config_t &config, position_t &stored_info, double lside_diff, double rside_diff, double angle_deg);
 
     vex::motor_group &left_side, &right_side;
     vex::inertial *imu;
     odometry_config_t &config;
 
-    stored_info_t stored_info;
+    double rotation_offset = 0;
+    
 };
 
 #endif
\ No newline at end of file
diff --git a/include/subsystems/tank_drive.h b/include/subsystems/tank_drive.h
index aa64063..143e211 100644
--- a/include/subsystems/tank_drive.h
+++ b/include/subsystems/tank_drive.h
@@ -18,9 +18,6 @@ class TankDrive
   {
     PID::pid_config_t drive_pid;
     PID::pid_config_t turn_pid;
-
-    double dist_between_wheels;
-    double wheel_diam;
   };
 
   /**
@@ -39,7 +36,7 @@ class TankDrive
    * 
    * left_motors and right_motors are in "percent": -1.0 -> 1.0
    */
-  void drive_tank(double left, double right);
+  void drive_tank(double left, double right, int power=1);
 
   /**
    * Drive the robot using arcade style controls. forward_back controls the linear motion,
@@ -47,7 +44,7 @@ class TankDrive
    * 
    * left_motors and right_motors are in "percent": -1.0 -> 1.0
    */
-  void drive_arcade(double forward_back, double left_right);
+  void drive_arcade(double forward_back, double left_right, int power=1);
 
   /**
    * Autonomously drive the robot X inches forward (Negative for backwards), with a maximum speed
@@ -65,6 +62,16 @@ class TankDrive
    */
   bool turn_degrees(double degrees, double percent_speed);
 
+  /**
+   * Use odometry to automatically drive the robot to a point on the field.
+   * X, Y and Rotation are the final point and orientation we want the robot.
+   *
+   * Combing multiple drive_to_point's gives a pure pursuit system.
+   */
+  bool drive_to_point(double x, double y, double rot_deg, double speed);
+
+  static double modify_inputs(double input, int power=2);
+
 private:
   motor_group &left_motors;
   motor_group &right_motors;
diff --git a/src/subsystems/odometry/odometry_base.cpp b/src/subsystems/odometry/odometry_base.cpp
index c5ab0a9..fc60016 100644
--- a/src/subsystems/odometry/odometry_base.cpp
+++ b/src/subsystems/odometry/odometry_base.cpp
@@ -24,7 +24,7 @@ position_t OdometryBase::get_position(void)
 /**
  * Sets the current position of the robot
  */
-void OdometryBase::set_position(position_t &newpos)
+void OdometryBase::set_position(const position_t &newpos)
 {
     mut.lock();
 
diff --git a/src/subsystems/odometry/odometry_tank.cpp b/src/subsystems/odometry/odometry_tank.cpp
index d7e4c13..508d53d 100644
--- a/src/subsystems/odometry/odometry_tank.cpp
+++ b/src/subsystems/odometry/odometry_tank.cpp
@@ -10,13 +10,24 @@ OdometryTank::OdometryTank(vex::motor_group &left_side, vex::motor_group &right_
 : left_side(left_side), right_side(right_side), imu(&imu), config(config)
 {
     // Make sure the last known info starts zeroed
-    memset(&stored_info, 0, sizeof(stored_info_t));
+    memset(&current_pos, 0, sizeof(position_t));
 
     // Start the asynchronous background thread
     if (is_async)
         handle = new vex::task(background_task, this);
 }
 
+/**
+ * Resets the position and rotational data to the input.
+ * 
+ */
+void OdometryTank::set_position(const position_t &newpos)
+{
+  rotation_offset = newpos.rot - (current_pos.rot - rotation_offset);
+
+  OdometryBase::set_position(newpos);
+}
+
 /**
  * Initialize the Odometry module, calculating the rotation from encoders
  * @param left_side The left motors 
@@ -27,7 +38,7 @@ OdometryTank::OdometryTank(vex::motor_group &left_side, vex::motor_group &right_
 : left_side(left_side), right_side(right_side), imu(NULL), config(config)
 {
     // Make sure the last known info starts zeroed
-    memset(&stored_info, 0, sizeof(stored_info_t));
+    memset(&current_pos, 0, sizeof(position_t));
 
     // Start the asynchronous background thread
     if (is_async)
@@ -62,15 +73,35 @@ position_t OdometryTank::update()
     double lside_revs = left_side.position(vex::rotationUnits::rev) / config.gear_ratio;
     double rside_revs = right_side.position(vex::rotationUnits::rev) / config.gear_ratio;
 
+    double angle = 0;
+
+    // If the IMU data was passed in, use it for rotational data
     if(imu == NULL)
     {
-        updated_pos = calculate_new_pos(config, stored_info, lside_revs, rside_revs);
+      // Get the difference in distance driven between the two sides
+      // Uses the absolute position of the encoders, so resetting them will result in
+      // a bad angle.
+      double distance_diff = (lside_revs - rside_revs) * PI * config.wheel_diam;
+
+      //Use the arclength formula to calculate the angle.
+      angle = (180.0 / PI) * (distance_diff / config.dist_between_wheels);
+
     } else
     {
-        double angle = imu->rotation(vex::rotationUnits::deg);
-        updated_pos = calculate_new_pos(config, stored_info, lside_revs, rside_revs, &angle);
+        angle = imu->rotation(vex::rotationUnits::deg);
     }
-    
+
+    // Offset the angle, if we've done a set_position
+    angle += rotation_offset;
+
+    //Limit the angle betwen 0 and 360. 
+    //fmod (floating-point modulo) gets it between -359 and +359, so tack on another 360 if it's negative.
+    angle = fmod(angle, 360.0);
+    if(angle < 0)
+        angle += 360;
+
+    updated_pos = calculate_new_pos(config, current_pos, lside_revs, rside_revs, angle);
+
     // Update the class' stored position
     mut.lock();
     this->current_pos = updated_pos;
@@ -83,57 +114,37 @@ position_t OdometryTank::update()
  * Using information about the robot's mechanical structure and sensors, calculate a new position
  * of the robot, relative to when this method was previously ran.
  */
-position_t OdometryTank::calculate_new_pos(odometry_config_t &config, stored_info_t &stored_info, double lside_revs, double rside_revs, double *gyro_angle_deg)
+position_t OdometryTank::calculate_new_pos(odometry_config_t &config, position_t &curr_pos, double lside_revs, double rside_revs, double angle_deg)
 {
     position_t new_pos;
 
-    double angle = 0;
+    static double stored_lside_revs = lside_revs;
+    static double stored_rside_revs = rside_revs;
+
+    // Convert the revolutions into "change in distance", and average the values for a "distance driven"
+    double lside_diff = (lside_revs - stored_lside_revs) * PI * config.wheel_diam;
+    double rside_diff = (rside_revs - stored_rside_revs) * PI * config.wheel_diam;
+    double dist_driven = (lside_diff + rside_diff) / 2.0;
+
+    double angle = angle_deg * PI / 180.0; // Degrees to radians
+
+    // Create a vector from the change in distance in the current direction of the robot
+    Vector chg_vec(angle_deg, dist_driven);
+    
+    // Create a vector from the current position in reference to X,Y=0,0
+    Vector::point_t curr_point = {.x = curr_pos.x, .y = curr_pos.y};
+    Vector curr_vec(curr_point);
+
+    // Tack on the "difference" vector to the current vector
+    Vector new_vec = curr_vec + chg_vec;
+
+    new_pos.x = new_vec.get_x();
+    new_pos.y = new_vec.get_y();
+    new_pos.rot = angle * (180.0 / PI);
 
-        // If the IMU data was passed in, use it for rotational data
-        if(gyro_angle_deg != NULL)
-            angle = *gyro_angle_deg;
-        else
-        {
-            // Get the difference in distance driven between the two sides
-            // Uses the absolute position of the encoders, so resetting them will result in
-            // a bad angle.
-            double distance_diff = (lside_revs - rside_revs) * PI * config.wheel_diam;
-
-            //Use the arclength formula to calculate the angle.
-            angle = (180.0 / PI) * (distance_diff / config.dist_between_wheels);
-            
-            //Limit the angle betwen 0 and 360. 
-            //fmod (floating-point modulo) gets it between -359 and +359, so tack on another 360 if it's negative.
-            angle = fmod(angle, 360.0);
-            if(angle < 0)
-                angle += 360;
-        }
-
-        angle *= PI / 180.0; // Degrees to radians
-
-        // Convert the revolutions into "change in distance", and average the values for a "distance driven"
-        double lside_diff = (lside_revs - stored_info.lside) * PI * config.wheel_diam;
-        double rside_diff = (rside_revs - stored_info.rside) * PI * config.wheel_diam;
-        double dist_driven = (lside_diff + rside_diff) / 2.0;
-
-        // Create a vector from the change in distance in the current direction of the robot
-        Vector chg_vec(angle, dist_driven);
-        
-        // Create a vector from the current position in reference to X,Y=0,0
-        Vector::point_t curr_point = {.x = stored_info.pos.x, .y = stored_info.pos.y};
-        Vector curr_vec(curr_point);
-
-        // Tack on the "difference" vector to the current vector
-        Vector new_vec = curr_vec + chg_vec;
-
-        new_pos.x = new_vec.get_x();
-        new_pos.y = new_vec.get_y();
-        new_pos.rot = angle * (180.0 / PI);
-
-        // Store the left and right encoder values to find the difference in the next iteration
-        stored_info.lside = lside_revs;
-        stored_info.rside = rside_revs;
-        stored_info.pos = new_pos;
+    // Store the left and right encoder values to find the difference in the next iteration
+    stored_lside_revs = lside_revs;
+    stored_rside_revs = rside_revs;
 
     return new_pos;
 }
\ No newline at end of file
diff --git a/src/subsystems/tank_drive.cpp b/src/subsystems/tank_drive.cpp
index 89ca7f2..5336fc7 100644
--- a/src/subsystems/tank_drive.cpp
+++ b/src/subsystems/tank_drive.cpp
@@ -22,10 +22,13 @@ void TankDrive::stop()
  * 
  * left_motors and right_motors are in "percent": -1.0 -> 1.0
  */
-void TankDrive::drive_tank(double left, double right)
+void TankDrive::drive_tank(double left, double right, int power)
 {
-  left_motors.spin(directionType::fwd, left * 100, velocityUnits::pct);
-  right_motors.spin(directionType::fwd, right * 100, velocityUnits::pct);
+  left = modify_inputs(left, power);
+  right = modify_inputs(right, power);
+
+  left_motors.spin(directionType::fwd, left * 12, voltageUnits::volt);
+  right_motors.spin(directionType::fwd, right * 12, voltageUnits::volt);
 }
 
 /**
@@ -34,13 +37,16 @@ void TankDrive::drive_tank(double left, double right)
  * 
  * left_motors and right_motors are in "percent": -1.0 -> 1.0
  */
-void TankDrive::drive_arcade(double forward_back, double left_right)
+void TankDrive::drive_arcade(double forward_back, double left_right, int power)
 {
+  forward_back = modify_inputs(forward_back, power);
+  left_right = modify_inputs(left_right, power);
+
   double left = forward_back + left_right;
   double right = forward_back - left_right;
 
-  left_motors.setVelocity(left * 100, velocityUnits::pct);
-  right_motors.setVelocity(right * 100, velocityUnits::pct);
+  left_motors.spin(directionType::fwd, left * 12, voltageUnits::volt);
+  right_motors.spin(directionType::fwd, right * 12, voltageUnits::volt);
 }
 
 /**
@@ -67,9 +73,6 @@ bool TankDrive::drive_forward(double inches, double percent_speed)
 
   double position_diff = odometry->get_position().y - saved_pos.y;
 
-  // printf("Pos diff: %f Saved pos: %f  ", position_diff, saved_pos.y);
-  printf("Tank X: %f   Tank Y: %f  ", odometry->get_position().y, odometry->get_position().x);
-
   // Update PID loop and drive the robot based on it's output
   drive_pid.update(position_diff);
 
@@ -120,4 +123,65 @@ bool TankDrive::turn_degrees(double degrees, double percent_speed)
   }
 
   return false;
+}
+
+bool TankDrive::drive_to_point(double x, double y, double rot_deg, double speed)
+{
+  static bool initialized = false;
+
+  if(!initialized)
+  {
+    // Reset the control loops
+    drive_pid.reset();
+    turn_pid.reset();
+
+    drive_pid.set_limits(-fabs(speed), fabs(speed));
+    turn_pid.set_limits(-fabs(speed), fabs(speed));
+
+    // Set the distance target to 0, because we update with the change in distance between the current point
+    // and the new point.
+    drive_pid.set_target(0);
+
+    initialized = true;
+  }
+
+  position_t end_pos = 
+  {
+    .x = x,
+    .y = y,
+    .rot = rot_deg
+  };
+
+  // Store the initial position of the robot
+  position_t current_pos = odometry->get_position();
+
+  // Set the rotational target of the PID loop.
+  // Every loop this gets updated, to make sure we are pointing in the right direction
+  turn_pid.set_target(OdometryBase::rot_diff(end_pos, current_pos));
+
+  // Update the PID controllers with new information
+  turn_pid.update(current_pos.rot);
+  drive_pid.update(OdometryBase::pos_diff(current_pos, end_pos));
+
+  // Combine the two pid outputs
+  double lside = drive_pid.get() + turn_pid.get();
+  double rside = drive_pid.get() - turn_pid.get();
+
+  // limit the outputs between -1 and +1
+  lside = (lside > 1) ? 1 : (lside < -1) ? -1 : lside;
+  rside = (rside > 1) ? 1 : (rside < -1) ? -1 : rside;
+
+  drive_tank(lside, rside);
+
+
+  return false;
+}
+
+/**
+ * Modify the inputs from the controller by squaring / cubing, etc
+ * Allows for better control of the robot at slower speeds
+ */
+double TankDrive::modify_inputs(double input, int power)
+{
+  return (power % 2 == 0 ? (input < 0 ? -1 : 1) : 1) * pow(input, power);
 }
\ No newline at end of file

From 8fe7b1a4d6c1de902f2555340dca56c794bfdcfd Mon Sep 17 00:00:00 2001
From: Jacob To <jtt4457@rit.edu>
Date: Sun, 19 Sep 2021 20:36:30 -0400
Subject: [PATCH 031/243] Find intersections of line segment and circle

Will be used to find the pure pursuit target
---
 include/subsystems/tank_drive.h |  7 +++++
 src/subsystems/tank_drive.cpp   | 51 ++++++++++++++++++++++++++++++++-
 2 files changed, 57 insertions(+), 1 deletion(-)

diff --git a/include/subsystems/tank_drive.h b/include/subsystems/tank_drive.h
index 143e211..9bee583 100644
--- a/include/subsystems/tank_drive.h
+++ b/include/subsystems/tank_drive.h
@@ -7,6 +7,7 @@
 #include "vex.h"
 #include "../core/include/utils/pid.h"
 #include "../core/include/subsystems/odometry/odometry_tank.h"
+#include <vector>
 
 using namespace vex;
 
@@ -72,6 +73,12 @@ class TankDrive
 
   static double modify_inputs(double input, int power=2);
 
+  /**
+    * Returns points of the intersections of a line segment and a circle. The line 
+    * segment is defined by two points, and the circle is defined by a center and radius.
+    */
+  std::vector<Vector::point_t> line_circle_intersections(Vector::point_t center, double r, Vector::point_t point1, Vector::point_t point2);
+
 private:
   motor_group &left_motors;
   motor_group &right_motors;
diff --git a/src/subsystems/tank_drive.cpp b/src/subsystems/tank_drive.cpp
index 5336fc7..d46afba 100644
--- a/src/subsystems/tank_drive.cpp
+++ b/src/subsystems/tank_drive.cpp
@@ -184,4 +184,53 @@ bool TankDrive::drive_to_point(double x, double y, double rot_deg, double speed)
 double TankDrive::modify_inputs(double input, int power)
 {
   return (power % 2 == 0 ? (input < 0 ? -1 : 1) : 1) * pow(input, power);
-}
\ No newline at end of file
+}
+
+/**
+  * Returns points of the intersections of a line segment and a circle. The line 
+  * segment is defined by two points, and the circle is defined by a center and radius.
+  */
+std::vector<Vector::point_t> TankDrive::line_circle_intersections(Vector::point_t center, double r, Vector::point_t point1, Vector::point_t point2)
+{
+  std::vector<Vector::point_t> intersections = {};
+
+  //Do future calculations relative to the circle's center
+  point1.y -= center.y;
+  point1.x -= center.x;
+  point2.y -= center.y;
+  point2.x -= center.x;
+
+  double x1, x2, y1, y2;
+  //Handling an infinite slope using mx+b and x^2 + y^2 = r^2
+  if(point1.x - point2.x == 0)
+  {
+    y1 = point1.y;
+    x1 = sqrt(pow(r, 2) - pow(y1, 2));
+    y2 = point1.y; 
+    x2 = -sqrt(pow(r, 2) - pow(y1, 2));
+  }
+  //Non-infinite slope using mx+b and x^2 + y^2 = r^2
+  else
+  {
+    double m = (point1.y - point2.y) / (point1.x - point2.x);
+    double b = point1.y - (m * point1.x);
+
+    x1 = ((-m * b) + sqrt(pow(r, 2) + (pow(m, 2) * pow(r, 2)) - pow(b, 2))) / (1 + pow(m,2));
+    y1 = m * x1 + b;
+    x2 = ((-m * b) - sqrt(pow(r, 2) + (pow(m, 2) * pow(r, 2)) - pow(b, 2))) / (1 + pow(m,2));
+    y2 = m * x2 + b;
+  }
+
+  //The equations used define an infinitely long line, so we check if the detected intersection falls on the line segment.
+  if(x1 >= fmin(point1.x, point2.x) && x1 <= fmax(point1.x, point2.x) && y1 >= fmin(point1.y, point2.y) && y1 <= fmax(point1.y, point2.y))
+  {
+    intersections.push_back(Vector::point_t{.x = x1 + center.x, .y = y1 + center.y});
+  }
+
+  if(x2 >= fmin(point1.x, point2.x) && x2 <= fmax(point1.x, point2.x) && y2 >= fmin(point1.y, point2.y) && y2 <= fmax(point1.y, point2.y))
+  {
+    intersections.push_back(Vector::point_t{.x = x2 + center.x, .y = y2 + center.y});
+  }
+
+  return intersections;
+}

From 5db01f586931495cbd0141f46975e9b136aa9929 Mon Sep 17 00:00:00 2001
From: Ryan McGee <ramtech51@comcast.net>
Date: Mon, 20 Sep 2021 14:08:07 -0400
Subject: [PATCH 032/243] Fixed odometry angle error, worked on tank_drive

---
 include/subsystems/odometry/odometry_base.h |  7 ++
 include/subsystems/tank_drive.h             | 12 ++--
 src/subsystems/odometry/odometry_base.cpp   | 20 ++++++
 src/subsystems/odometry/odometry_tank.cpp   |  4 +-
 src/subsystems/tank_drive.cpp               | 74 ++++++++++++++++++---
 5 files changed, 100 insertions(+), 17 deletions(-)

diff --git a/include/subsystems/odometry/odometry_base.h b/include/subsystems/odometry/odometry_base.h
index 9866317..12d62de 100644
--- a/include/subsystems/odometry/odometry_base.h
+++ b/include/subsystems/odometry/odometry_base.h
@@ -55,6 +55,13 @@ class OdometryBase
      */
     static double rot_diff(position_t &pos1, position_t &pos2);
 
+    /**
+     * Get the smallest difference in angle between a start heading and end heading.
+     * Returns the difference between -180 degrees and +180 degrees, representing the robot
+     * turning left or right, respectively.
+     */
+    static double smallest_angle(double start_deg, double end_deg);
+
     bool end_task = false;
 
     static constexpr position_t zero_pos = {0, 0, 0};
diff --git a/include/subsystems/tank_drive.h b/include/subsystems/tank_drive.h
index 9bee583..9404bff 100644
--- a/include/subsystems/tank_drive.h
+++ b/include/subsystems/tank_drive.h
@@ -65,11 +65,15 @@ class TankDrive
 
   /**
    * Use odometry to automatically drive the robot to a point on the field.
-   * X, Y and Rotation are the final point and orientation we want the robot.
-   *
-   * Combing multiple drive_to_point's gives a pure pursuit system.
+   * X and Y is the final point we want the robot.
    */
-  bool drive_to_point(double x, double y, double rot_deg, double speed);
+  bool drive_to_point(double x, double y, double speed);
+
+  /**
+   * Turn the robot in place to an exact heading relative to the field.
+   * 0 is forward, and 0->360 is clockwise.
+   */
+  bool turn_to_heading(double heading_deg, double speed);
 
   static double modify_inputs(double input, int power=2);
 
diff --git a/src/subsystems/odometry/odometry_base.cpp b/src/subsystems/odometry/odometry_base.cpp
index fc60016..852f8f6 100644
--- a/src/subsystems/odometry/odometry_base.cpp
+++ b/src/subsystems/odometry/odometry_base.cpp
@@ -78,4 +78,24 @@ double OdometryBase::pos_diff(position_t pos1, position_t pos2, bool use_negativ
 double OdometryBase::rot_diff(position_t &pos1, position_t &pos2)
 {
     return pos2.rot - pos1.rot;
+}
+
+/**
+ * Get the smallest difference in angle between a start heading and end heading.
+ * Returns the difference between -180 degrees and +180 degrees, representing the robot
+ * turning left or right, respectively.
+ */
+double OdometryBase::smallest_angle(double start_deg, double end_deg)
+{
+  double retval;
+  // get the difference between 0 and 360
+  retval = fmod(end_deg - start_deg, 360.0);
+  if(retval < 0)
+    retval += 360.0;
+
+  // Get the closest angle, now between -180 (turn left) and +180 (turn right)
+  if(retval > 180)
+    retval -= 360;
+
+  return retval;
 }
\ No newline at end of file
diff --git a/src/subsystems/odometry/odometry_tank.cpp b/src/subsystems/odometry/odometry_tank.cpp
index 508d53d..5ebae0a 100644
--- a/src/subsystems/odometry/odometry_tank.cpp
+++ b/src/subsystems/odometry/odometry_tank.cpp
@@ -129,7 +129,7 @@ position_t OdometryTank::calculate_new_pos(odometry_config_t &config, position_t
     double angle = angle_deg * PI / 180.0; // Degrees to radians
 
     // Create a vector from the change in distance in the current direction of the robot
-    Vector chg_vec(angle_deg, dist_driven);
+    Vector chg_vec(angle, dist_driven);
     
     // Create a vector from the current position in reference to X,Y=0,0
     Vector::point_t curr_point = {.x = curr_pos.x, .y = curr_pos.y};
@@ -140,7 +140,7 @@ position_t OdometryTank::calculate_new_pos(odometry_config_t &config, position_t
 
     new_pos.x = new_vec.get_x();
     new_pos.y = new_vec.get_y();
-    new_pos.rot = angle * (180.0 / PI);
+    new_pos.rot = angle_deg;
 
     // Store the left and right encoder values to find the difference in the next iteration
     stored_lside_revs = lside_revs;
diff --git a/src/subsystems/tank_drive.cpp b/src/subsystems/tank_drive.cpp
index d46afba..ab5ae26 100644
--- a/src/subsystems/tank_drive.cpp
+++ b/src/subsystems/tank_drive.cpp
@@ -125,7 +125,13 @@ bool TankDrive::turn_degrees(double degrees, double percent_speed)
   return false;
 }
 
-bool TankDrive::drive_to_point(double x, double y, double rot_deg, double speed)
+/**
+  * Use odometry to automatically drive the robot to a point on the field.
+  * X and Y is the final point we want the robot.
+  *
+  * Returns whether or not the robot has reached it's destination.
+  */
+bool TankDrive::drive_to_point(double x, double y, double speed)
 {
   static bool initialized = false;
 
@@ -138,9 +144,10 @@ bool TankDrive::drive_to_point(double x, double y, double rot_deg, double speed)
     drive_pid.set_limits(-fabs(speed), fabs(speed));
     turn_pid.set_limits(-fabs(speed), fabs(speed));
 
-    // Set the distance target to 0, because we update with the change in distance between the current point
+    // Set the targets to 0, because we update with the change in distance and angle between the current point
     // and the new point.
     drive_pid.set_target(0);
+    turn_pid.set_target(0);
 
     initialized = true;
   }
@@ -148,24 +155,27 @@ bool TankDrive::drive_to_point(double x, double y, double rot_deg, double speed)
   position_t end_pos = 
   {
     .x = x,
-    .y = y,
-    .rot = rot_deg
+    .y = y
   };
 
   // Store the initial position of the robot
   position_t current_pos = odometry->get_position();
 
-  // Set the rotational target of the PID loop.
-  // Every loop this gets updated, to make sure we are pointing in the right direction
-  turn_pid.set_target(OdometryBase::rot_diff(end_pos, current_pos));
+  // Get the distance between 2 points
+  double dist_left = OdometryBase::pos_diff(current_pos, end_pos);
+
+  // Get the heading difference between where we are and where we want to be
+  // Optimize that heading so we don't turn clockwise all the time
+  double heading = OdometryBase::rot_diff(current_pos, end_pos);
+  double delta_heading = OdometryBase::smallest_angle(current_pos.rot, heading);
 
   // Update the PID controllers with new information
-  turn_pid.update(current_pos.rot);
-  drive_pid.update(OdometryBase::pos_diff(current_pos, end_pos));
+  turn_pid.update(delta_heading);
+  drive_pid.update(dist_left);
 
   // Combine the two pid outputs
-  double lside = drive_pid.get() + turn_pid.get();
-  double rside = drive_pid.get() - turn_pid.get();
+  double lside = drive_pid.get() - turn_pid.get();
+  double rside = drive_pid.get() + turn_pid.get();
 
   // limit the outputs between -1 and +1
   lside = (lside > 1) ? 1 : (lside < -1) ? -1 : lside;
@@ -173,6 +183,48 @@ bool TankDrive::drive_to_point(double x, double y, double rot_deg, double speed)
 
   drive_tank(lside, rside);
 
+  // Check if the robot has reached it's destination
+  if(drive_pid.is_on_target())
+  {
+    stop();
+    initialized = false;
+    return true;
+  }
+
+  return false;
+}
+
+/**
+ * Turn the robot in place to an exact heading relative to the field.
+ * 0 is forward, and 0->360 is clockwise.
+ */
+bool TankDrive::turn_to_heading(double heading_deg, double speed)
+{
+  bool initialized = false;
+  if(!initialized)
+  {
+    turn_pid.reset();
+    turn_pid.set_limits(-fabs(speed), fabs(speed));
+
+    // Set the target to zero, and the input will be a delta.
+    turn_pid.set_target(0);
+
+    initialized = true;
+  }
+
+  // Get the difference between the new heading and the current, and decide whether to turn left or right.
+  double delta_heading = OdometryBase::smallest_angle(odometry->get_position().rot, heading_deg);
+  turn_pid.update(delta_heading);
+
+  drive_tank(-turn_pid.get(), turn_pid.get());
+
+  // When the robot has reached it's angle, return true.
+  if(turn_pid.is_on_target())
+  {
+    initialized = false;
+    stop();
+    return true;
+  }
 
   return false;
 }

From df86d4021b1ac28149add96a45d04c9fa3528a98 Mon Sep 17 00:00:00 2001
From: Ryan McGee <ramtech51@comcast.net>
Date: Thu, 23 Sep 2021 20:07:04 -0400
Subject: [PATCH 033/243] upgrading drive_to_point

---
 include/subsystems/tank_drive.h           |  9 ++-
 src/subsystems/odometry/odometry_base.cpp | 24 +++----
 src/subsystems/tank_drive.cpp             | 77 ++++++++++++++---------
 src/utils/pid.cpp                         |  1 +
 4 files changed, 68 insertions(+), 43 deletions(-)

diff --git a/include/subsystems/tank_drive.h b/include/subsystems/tank_drive.h
index 9404bff..775fc96 100644
--- a/include/subsystems/tank_drive.h
+++ b/include/subsystems/tank_drive.h
@@ -19,6 +19,7 @@ class TankDrive
   {
     PID::pid_config_t drive_pid;
     PID::pid_config_t turn_pid;
+    PID::pid_config_t correction_pid;
   };
 
   /**
@@ -75,6 +76,11 @@ class TankDrive
    */
   bool turn_to_heading(double heading_deg, double speed);
 
+  /**
+   * Reset the initialization for autonomous drive functions
+   */
+  void reset_auto();
+
   static double modify_inputs(double input, int power=2);
 
   /**
@@ -89,10 +95,11 @@ class TankDrive
 
   PID drive_pid;
   PID turn_pid;
+  PID correction_pid;
 
   OdometryTank *odometry;
 
   position_t saved_pos;
 
-  bool initialize_func = true;
+  bool func_initialized = false;
 };
diff --git a/src/subsystems/odometry/odometry_base.cpp b/src/subsystems/odometry/odometry_base.cpp
index 852f8f6..8f1db89 100644
--- a/src/subsystems/odometry/odometry_base.cpp
+++ b/src/subsystems/odometry/odometry_base.cpp
@@ -48,28 +48,30 @@ void OdometryBase::end_async()
 /**
  * Get the distance between two points
  */
-double OdometryBase::pos_diff(position_t pos1, position_t pos2, bool use_negatives)
+double OdometryBase::pos_diff(position_t start_pos, position_t end_pos, bool use_negatives)
 {
     int negative_multiplier = 1;
 
     // If we are using negative distances, define a "negative distance" as when the angle
-    // of a vector made from those two points is between 3PI/4 and 7PI/4
+    // of a vector made from those two points is between PI/2 and 3PI/2
     if(use_negatives)
     {
-        Vector::point_t point_diff = {
-            .x = pos1.x - pos2.x,
-            .y = pos1.y - pos2.y
-        };
+        // use atan2(x,y) instead of the documented (y,x), so 0 degrees is forwards, and positive angle is clockwise.
+        double angle = rad2deg(atan2(end_pos.x - start_pos.x, end_pos.y - start_pos.y));
 
-        Vector v_diff(point_diff);
-        double angle = rad2deg(v_diff.get_dir());
+        printf("Start: %f, %f End: %f, %f, Old Angle: %f, Odom angle: %f, ",start_pos.x, start_pos.y, end_pos.x, end_pos.y, angle, start_pos.rot);
 
-        if(angle > 135 && angle < 315)
+        // Get the angle in relation to the robot
+        angle = fmod(angle - start_pos.rot, 180.0);
+
+        printf("Angle: %f\n", angle);
+
+        if(angle > 90 || angle < -90)
             negative_multiplier = -1;
     }
 
     // Use the pythagorean theorem
-    return negative_multiplier * sqrt(pow(pos1.x - pos2.x, 2) + pow(pos1.y - pos2.y, 2));
+    return negative_multiplier * sqrt(pow(end_pos.x - start_pos.x, 2) + pow(end_pos.y - start_pos.y, 2));
 }
 
 /**
@@ -77,7 +79,7 @@ double OdometryBase::pos_diff(position_t pos1, position_t pos2, bool use_negativ
  */
 double OdometryBase::rot_diff(position_t &pos1, position_t &pos2)
 {
-    return pos2.rot - pos1.rot;
+    return pos1.rot - pos2.rot;
 }
 
 /**
diff --git a/src/subsystems/tank_drive.cpp b/src/subsystems/tank_drive.cpp
index ab5ae26..970d93f 100644
--- a/src/subsystems/tank_drive.cpp
+++ b/src/subsystems/tank_drive.cpp
@@ -2,11 +2,19 @@
 
 TankDrive::TankDrive(motor_group &left_motors, motor_group &right_motors, inertial &gyro_sensor, TankDrive::tankdrive_config_t &config, OdometryTank *odom)
     : left_motors(left_motors), right_motors(right_motors),
-     drive_pid(config.drive_pid), turn_pid(config.turn_pid), odometry(odom)
+     drive_pid(config.drive_pid), turn_pid(config.turn_pid), correction_pid(config.correction_pid), odometry(odom)
 {
 
 }
 
+/**
+ * Reset the initialization for autonomous drive functions
+ */
+void TankDrive::reset_auto()
+{
+  func_initialized = false;
+}
+
 /**
  * Stops rotation of all the motors using their "brake mode"
  */
@@ -60,7 +68,7 @@ void TankDrive::drive_arcade(double forward_back, double left_right, int power)
 bool TankDrive::drive_forward(double inches, double percent_speed)
 {
   // On the first run of the funciton, reset the motor position and PID
-  if (initialize_func)
+  if (!func_initialized)
   {
     saved_pos = odometry->get_position();
     drive_pid.reset();
@@ -68,7 +76,7 @@ bool TankDrive::drive_forward(double inches, double percent_speed)
     drive_pid.set_limits(-fabs(percent_speed), fabs(percent_speed));
     drive_pid.set_target(inches);
 
-    initialize_func = false;
+    func_initialized = true;
   }
 
   double position_diff = odometry->get_position().y - saved_pos.y;
@@ -83,7 +91,7 @@ bool TankDrive::drive_forward(double inches, double percent_speed)
   if (drive_pid.is_on_target())
   {
     drive_tank(0, 0);
-    initialize_func = true;
+    func_initialized = false;
     return true;
   }
 
@@ -99,26 +107,29 @@ bool TankDrive::drive_forward(double inches, double percent_speed)
 bool TankDrive::turn_degrees(double degrees, double percent_speed)
 {
   // On the first run of the funciton, reset the gyro position and PID
-  if (initialize_func)
+  if (!func_initialized)
   {
     saved_pos = odometry->get_position();
     turn_pid.reset();
 
     turn_pid.set_limits(-fabs(percent_speed), fabs(percent_speed));
-    turn_pid.set_target(degrees);
+    turn_pid.set_target(0);
 
-    initialize_func = false;
+    func_initialized = true;
   }
+  double heading = odometry->get_position().rot - saved_pos.rot;
+  double delta_heading = OdometryBase::smallest_angle(heading, degrees);
+  turn_pid.update(delta_heading);
 
-  // Update PID loop and drive the robot based on it's output
-  turn_pid.update(odometry->get_position().rot - saved_pos.rot);
-  drive_tank(turn_pid.get(), -turn_pid.get());
+  printf("heading: %f, delta_heading: %f\n", heading, delta_heading);
+
+  drive_tank(-turn_pid.get(), turn_pid.get());
 
   // If the robot is at it's target, return true
   if (turn_pid.is_on_target())
   {
     drive_tank(0, 0);
-    initialize_func = true;
+    func_initialized = false;
     return true;
   }
 
@@ -133,49 +144,51 @@ bool TankDrive::turn_degrees(double degrees, double percent_speed)
   */
 bool TankDrive::drive_to_point(double x, double y, double speed)
 {
-  static bool initialized = false;
-
-  if(!initialized)
+  if(!func_initialized)
   {
     // Reset the control loops
     drive_pid.reset();
-    turn_pid.reset();
+    correction_pid.reset();
 
     drive_pid.set_limits(-fabs(speed), fabs(speed));
-    turn_pid.set_limits(-fabs(speed), fabs(speed));
+    correction_pid.set_limits(-fabs(speed), fabs(speed));
 
     // Set the targets to 0, because we update with the change in distance and angle between the current point
     // and the new point.
     drive_pid.set_target(0);
-    turn_pid.set_target(0);
+    correction_pid.set_target(0);
 
-    initialized = true;
+    func_initialized = true;
   }
 
-  position_t end_pos = 
+  // Store the initial position of the robot
+  position_t current_pos = odometry->get_position();
+  position_t end_pos = {.x=x, .y=y};
+
+  // Create a point (and vector) to get the direction
+  Vector::point_t pos_diff_pt = 
   {
-    .x = x,
-    .y = y
+    .x = x - current_pos.x,
+    .y = y - current_pos.y
   };
 
-  // Store the initial position of the robot
-  position_t current_pos = odometry->get_position();
+  Vector point_vec(pos_diff_pt);
 
   // Get the distance between 2 points
-  double dist_left = OdometryBase::pos_diff(current_pos, end_pos);
+  double dist_left = -OdometryBase::pos_diff(current_pos, end_pos, true);
 
   // Get the heading difference between where we are and where we want to be
   // Optimize that heading so we don't turn clockwise all the time
-  double heading = OdometryBase::rot_diff(current_pos, end_pos);
-  double delta_heading = OdometryBase::smallest_angle(current_pos.rot, heading);
+  double heading = rad2deg(point_vec.get_dir());
+  double delta_heading = -OdometryBase::smallest_angle(current_pos.rot, heading);
 
   // Update the PID controllers with new information
-  turn_pid.update(delta_heading);
+  correction_pid.update(delta_heading);
   drive_pid.update(dist_left);
 
   // Combine the two pid outputs
-  double lside = drive_pid.get() - turn_pid.get();
-  double rside = drive_pid.get() + turn_pid.get();
+  double lside = drive_pid.get() + correction_pid.get();
+  double rside = drive_pid.get() - correction_pid.get();
 
   // limit the outputs between -1 and +1
   lside = (lside > 1) ? 1 : (lside < -1) ? -1 : lside;
@@ -187,7 +200,7 @@ bool TankDrive::drive_to_point(double x, double y, double speed)
   if(drive_pid.is_on_target())
   {
     stop();
-    initialized = false;
+    func_initialized = false;
     return true;
   }
 
@@ -200,7 +213,7 @@ bool TankDrive::drive_to_point(double x, double y, double speed)
  */
 bool TankDrive::turn_to_heading(double heading_deg, double speed)
 {
-  bool initialized = false;
+  static bool initialized = false;
   if(!initialized)
   {
     turn_pid.reset();
@@ -216,6 +229,8 @@ bool TankDrive::turn_to_heading(double heading_deg, double speed)
   double delta_heading = OdometryBase::smallest_angle(odometry->get_position().rot, heading_deg);
   turn_pid.update(delta_heading);
 
+  printf("delta heading: %f, pid: %f, ", delta_heading, turn_pid.get());
+
   drive_tank(-turn_pid.get(), turn_pid.get());
 
   // When the robot has reached it's angle, return true.
diff --git a/src/utils/pid.cpp b/src/utils/pid.cpp
index c0c8727..d4e38e3 100644
--- a/src/utils/pid.cpp
+++ b/src/utils/pid.cpp
@@ -15,6 +15,7 @@ PID::PID(pid_config_t &config)
    */
 void PID::update(double sensor_val)
 {
+
   this->sensor_val = sensor_val;
 
   double time_delta = pid_timer.value() - last_time;

From 596b9682ee8565f9aa535e1374efcf0c7b0624b9 Mon Sep 17 00:00:00 2001
From: Ryan McGee <ramtech51@comcast.net>
Date: Thu, 23 Sep 2021 20:33:57 -0400
Subject: [PATCH 034/243] Finished drive_to_point

---
 src/subsystems/odometry/odometry_base.cpp | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/src/subsystems/odometry/odometry_base.cpp b/src/subsystems/odometry/odometry_base.cpp
index 8f1db89..281952f 100644
--- a/src/subsystems/odometry/odometry_base.cpp
+++ b/src/subsystems/odometry/odometry_base.cpp
@@ -62,7 +62,9 @@ double OdometryBase::pos_diff(position_t start_pos, position_t end_pos, bool use
         printf("Start: %f, %f End: %f, %f, Old Angle: %f, Odom angle: %f, ",start_pos.x, start_pos.y, end_pos.x, end_pos.y, angle, start_pos.rot);
 
         // Get the angle in relation to the robot
-        angle = fmod(angle - start_pos.rot, 180.0);
+        angle = fmod(angle - start_pos.rot, 360);
+        if(angle < -180) angle += 360;
+        if(angle > 180) angle -= 360;
 
         printf("Angle: %f\n", angle);
 

From 1817a7ae7ea6c8476a085995832bfb576abc67d1 Mon Sep 17 00:00:00 2001
From: Ryan McGee <ramtech51@comcast.net>
Date: Thu, 23 Sep 2021 20:37:24 -0400
Subject: [PATCH 035/243] Merge remote-tracking branch
 'refs/remotes/origin/odometry' into odometry

---
 include/subsystems/tank_drive.h | 11 +++++
 include/utils/vector.h          | 30 ++++++++++++++
 src/subsystems/tank_drive.cpp   | 73 ++++++++++++++++++++++++++++++++-
 src/utils/vector.cpp            | 31 +++++++++++++-
 4 files changed, 143 insertions(+), 2 deletions(-)

diff --git a/include/subsystems/tank_drive.h b/include/subsystems/tank_drive.h
index 775fc96..f34e577 100644
--- a/include/subsystems/tank_drive.h
+++ b/include/subsystems/tank_drive.h
@@ -89,6 +89,17 @@ class TankDrive
     */
   std::vector<Vector::point_t> line_circle_intersections(Vector::point_t center, double r, Vector::point_t point1, Vector::point_t point2);
 
+  /**
+    * Selects a look ahead from all the intersections in the path.
+    */
+  Vector::point_t get_lookahead(std::vector<Vector::point_t> path, Vector::point_t robot_loc, double radius);
+
+  /**
+   * Injects points in a path without changing the curvature with a certain spacing.
+   */
+  std::vector<Vector::point_t> inject_path(std::vector<Vector::point_t> path, double spacing);
+
+
 private:
   motor_group &left_motors;
   motor_group &right_motors;
diff --git a/include/utils/vector.h b/include/utils/vector.h
index 45ec32c..e7b204c 100644
--- a/include/utils/vector.h
+++ b/include/utils/vector.h
@@ -14,6 +14,26 @@ class Vector
     struct point_t
     {
         double x, y;
+
+        point_t operator+(const point_t &other)
+        {
+          point_t p 
+          {
+            .x = this->x + other.x,
+            .y = this->y + other.y
+          };
+          return p;
+        }
+
+        point_t operator-(const point_t &other)
+        {
+          point_t p 
+          {
+            .x = this->x - other.x,
+            .y = this->y - other.y
+          };
+          return p;
+        }
     };
 
     /**
@@ -54,7 +74,17 @@ class Vector
      */
     double get_y() const;
 
+    /**
+     * Changes the magnetude of the vector to 1
+    */
+    Vector normalize();
+
+    /**
+    * Returns a point from the vector
+    */
+    Vector::point_t point();
 
+    Vector operator*(const double &x);
     Vector operator+(const Vector &other);
     Vector operator-(const Vector &other);
 
diff --git a/src/subsystems/tank_drive.cpp b/src/subsystems/tank_drive.cpp
index 970d93f..32f5791 100644
--- a/src/subsystems/tank_drive.cpp
+++ b/src/subsystems/tank_drive.cpp
@@ -257,7 +257,7 @@ double TankDrive::modify_inputs(double input, int power)
   * Returns points of the intersections of a line segment and a circle. The line 
   * segment is defined by two points, and the circle is defined by a center and radius.
   */
-std::vector<Vector::point_t> TankDrive::line_circle_intersections(Vector::point_t center, double r, Vector::point_t point1, Vector::point_t point2)
+std::vector<Vector::point_t> line_circle_intersections(Vector::point_t center, double r, Vector::point_t point1, Vector::point_t point2)
 {
   std::vector<Vector::point_t> intersections = {};
 
@@ -301,3 +301,74 @@ std::vector<Vector::point_t> TankDrive::line_circle_intersections(Vector::point_
 
   return intersections;
 }
+
+/**
+ * Selects a look ahead from all the intersections in the path.
+ */
+Vector::point_t get_lookahead(std::vector<Vector::point_t> path, Vector::point_t robot_loc, double radius)
+{
+  //Default: the end of the path
+  Vector::point_t target = path.back();
+  
+  //Check each line segment of the path for potential targets
+  for(int i = 0; i < path.size() - 1; i++)
+  {
+    Vector::point_t start = path[i];
+    Vector::point_t end = path[i+1];
+
+    std::vector<Vector::point_t> intersections = line_circle_intersections(robot_loc, radius, start, end);
+    //Choose the intersection that is closest to the end of the line segment
+    //This prioritizes the closest intersection to the end of the path
+    for(Vector::point_t intersection: intersections)
+    {
+      double intersection_dist_to_end = sqrt(pow(intersection.x - end.x, 2) + pow(intersection.y - end.y, 2));
+      double target_dist_to_end = sqrt(pow(target.x - end.x, 2) + pow(target.y - end.y, 2));
+      if(intersection_dist_to_end < target_dist_to_end)
+        target = intersection;
+    }
+  }
+
+  return target;
+}
+
+/**
+ Injects points in a path without changing the curvature with a certain spacing.
+*/
+std::vector<Vector::point_t> inject_path(std::vector<Vector::point_t> path, double spacing)
+{
+  std::vector<Vector::point_t> new_path;
+
+  //Injecting points for each line segment
+  for(int i = 0; i < path.size() - 1; i++)
+  {
+    Vector::point_t start = path[i];
+    Vector::point_t end = path[i+1];
+
+    Vector::point_t diff = end - start;
+    Vector vector = Vector(diff);
+    
+    int num_points = ceil(vector.get_mag() / spacing);
+
+    //This is the vector between each point
+    vector = vector.normalize() * spacing;
+
+    for(int j = 0; j < num_points; j++)
+    {
+      //We take the start point and add additional vectors
+      Vector::point_t path_point = (Vector(start) + vector * j).point();
+      new_path.push_back(path_point);
+    }
+  }
+  //Adds the last point
+  new_path.push_back(path.back());
+  return new_path;
+}
+
+/**
+  Drives through a path using pure pursuit.
+*/
+void pure_pursuit(std::vector<Vector::point_t> path, Vector::point_t robot_loc, double radius, double speed)
+{
+  Vector::point_t lookahead = get_lookahead(path, robot_loc, radius);
+  // Travel towards target :)
+}
diff --git a/src/utils/vector.cpp b/src/utils/vector.cpp
index 2600606..dacd865 100644
--- a/src/utils/vector.cpp
+++ b/src/utils/vector.cpp
@@ -52,6 +52,27 @@ double Vector::get_y() const
 return mag * cos(dir);
 }
 
+/**
+ * Changes the magnetude of the vector to 1
+*/
+Vector Vector::normalize()
+{
+  return Vector(this->dir, 1);
+}
+
+/**
+ * Returns a point from the vector
+*/
+Vector::point_t Vector::point()
+{
+  point_t p = 
+  {
+    .x = this->mag * cos(this->dir),
+    .y = this->mag * sin(this->dir)
+  };
+  return p;
+}
+
 /**
  * Correctly add vectors together with the + operator
  */
@@ -79,6 +100,14 @@ Vector Vector::operator-(const Vector &other)
     return Vector( p );
 }
 
+/**
+ * Multiplies a vector by a double with the * operator
+*/
+Vector Vector::operator*(const double &x)
+{
+  return Vector(this->dir, this->mag * x);
+}
+
 /**
  * General function for converting degrees to radians
  */
@@ -93,4 +122,4 @@ double deg2rad(double deg)
 double rad2deg(double rad)
 {
     return rad * (180.0 / PI);
-}
\ No newline at end of file
+}

From 6a291de4a1b0abe17f59f0c0b31e3dfc76bee957 Mon Sep 17 00:00:00 2001
From: Ryan McGee <ramtech51@comcast.net>
Date: Sun, 26 Sep 2021 13:02:28 -0400
Subject: [PATCH 036/243] Finished integral clamping

---
 src/utils/pid.cpp | 30 +++++++++++++++++++++++++++++-
 1 file changed, 29 insertions(+), 1 deletion(-)

diff --git a/src/utils/pid.cpp b/src/utils/pid.cpp
index d4e38e3..2d313b9 100644
--- a/src/utils/pid.cpp
+++ b/src/utils/pid.cpp
@@ -22,13 +22,41 @@ void PID::update(double sensor_val)
 
   accum_error += time_delta * get_error();
 
-  out = (config.f * target) + (config.p * get_error()) + (config.i * accum_error) + (config.d * (get_error() - last_error) / time_delta);
+  double i_term = config.i * accum_error;
+
+  // Avoid a divide by zero error
+  double d_term = 0;
+  if(time_delta != 0)
+    d_term = config.d * (get_error() - last_error) / time_delta;
+  else
+    printf("(pid.cpp): Warning - running PID without a delay is just a P loop!\n");
+
+  out = (config.f * target) + (config.p * get_error()) + i_term + d_term;
 
   last_time = pid_timer.value();
   last_error = get_error();
 
+  // Enable clamping if the limit is not 0
   if (lower_limit != 0 || upper_limit != 0)
+  {
+    // Integral back-calculation 
+    // If the PID is oversaturated and the integrated term is not pushing it in the right direction,
+    // then "turn off" the integral until it's actually helping.
+    bool clamping_upper = (out > upper_limit) && ((out - i_term) > upper_limit);
+    bool clamping_lower = (out < lower_limit) && ((out - i_term) < lower_limit);
+
+    if(clamping_upper || clamping_lower)
+    {
+      out -= i_term;
+      printf("out: %f, out-iterm: %f, Integral clamping!\n", out, out-i_term);
+    }else
+    {
+      printf("out: %f, out-iterm: %f, NOT Integral clamping!\n", out, out-i_term);
+    }
+
+    // Actually clamp the value
     out = (out < lower_limit) ? lower_limit : (out > upper_limit) ? upper_limit : out;
+  }
 }
 
 /**

From 9c1b5c0e8bcfa96184028ca7bc1467dd1df01211 Mon Sep 17 00:00:00 2001
From: Ryan McGee <ramtech51@comcast.net>
Date: Sun, 26 Sep 2021 13:12:07 -0400
Subject: [PATCH 037/243] Removed comments

---
 src/utils/pid.cpp | 6 ------
 1 file changed, 6 deletions(-)

diff --git a/src/utils/pid.cpp b/src/utils/pid.cpp
index 2d313b9..3754a89 100644
--- a/src/utils/pid.cpp
+++ b/src/utils/pid.cpp
@@ -46,13 +46,7 @@ void PID::update(double sensor_val)
     bool clamping_lower = (out < lower_limit) && ((out - i_term) < lower_limit);
 
     if(clamping_upper || clamping_lower)
-    {
       out -= i_term;
-      printf("out: %f, out-iterm: %f, Integral clamping!\n", out, out-i_term);
-    }else
-    {
-      printf("out: %f, out-iterm: %f, NOT Integral clamping!\n", out, out-i_term);
-    }
 
     // Actually clamp the value
     out = (out < lower_limit) ? lower_limit : (out > upper_limit) ? upper_limit : out;

From b1b2b1eef3fe1389252c07bd483849bf5b5f91cf Mon Sep 17 00:00:00 2001
From: Ryan McGee <ramtech51@comcast.net>
Date: Sun, 26 Sep 2021 13:18:06 -0400
Subject: [PATCH 038/243] added correction speed

---
 include/subsystems/tank_drive.h | 2 +-
 src/subsystems/tank_drive.cpp   | 4 ++--
 2 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/include/subsystems/tank_drive.h b/include/subsystems/tank_drive.h
index f34e577..c836c53 100644
--- a/include/subsystems/tank_drive.h
+++ b/include/subsystems/tank_drive.h
@@ -68,7 +68,7 @@ class TankDrive
    * Use odometry to automatically drive the robot to a point on the field.
    * X and Y is the final point we want the robot.
    */
-  bool drive_to_point(double x, double y, double speed);
+  bool drive_to_point(double x, double y, double speed, double correction_speed);
 
   /**
    * Turn the robot in place to an exact heading relative to the field.
diff --git a/src/subsystems/tank_drive.cpp b/src/subsystems/tank_drive.cpp
index 32f5791..fc3c3d1 100644
--- a/src/subsystems/tank_drive.cpp
+++ b/src/subsystems/tank_drive.cpp
@@ -142,7 +142,7 @@ bool TankDrive::turn_degrees(double degrees, double percent_speed)
   *
   * Returns whether or not the robot has reached it's destination.
   */
-bool TankDrive::drive_to_point(double x, double y, double speed)
+bool TankDrive::drive_to_point(double x, double y, double speed, double correction_speed)
 {
   if(!func_initialized)
   {
@@ -151,7 +151,7 @@ bool TankDrive::drive_to_point(double x, double y, double speed)
     correction_pid.reset();
 
     drive_pid.set_limits(-fabs(speed), fabs(speed));
-    correction_pid.set_limits(-fabs(speed), fabs(speed));
+    correction_pid.set_limits(-fabs(correction_speed), fabs(correction_speed));
 
     // Set the targets to 0, because we update with the change in distance and angle between the current point
     // and the new point.

From 4782af55b84d76b99e13b455a9c670a4805b71a3 Mon Sep 17 00:00:00 2001
From: Ryan McGee <ramtech51@comcast.net>
Date: Sun, 26 Sep 2021 14:54:31 -0400
Subject: [PATCH 039/243] fixed vector class

---
 include/utils/vector.h | 5 +++++
 src/utils/vector.cpp   | 2 +-
 2 files changed, 6 insertions(+), 1 deletion(-)

diff --git a/include/utils/vector.h b/include/utils/vector.h
index e7b204c..a8a8cc4 100644
--- a/include/utils/vector.h
+++ b/include/utils/vector.h
@@ -11,10 +11,14 @@ class Vector
 {
 public:
 
+    /**
+     * Data structure representing an X,Y coordinate
+     */
     struct point_t
     {
         double x, y;
 
+        // Vector addition operation on points
         point_t operator+(const point_t &other)
         {
           point_t p 
@@ -25,6 +29,7 @@ class Vector
           return p;
         }
 
+        // Vector subtraction operation on points
         point_t operator-(const point_t &other)
         {
           point_t p 
diff --git a/src/utils/vector.cpp b/src/utils/vector.cpp
index dacd865..2badd84 100644
--- a/src/utils/vector.cpp
+++ b/src/utils/vector.cpp
@@ -19,7 +19,7 @@ Vector::Vector(double dir, double mag)
  */
 Vector::Vector(point_t &p)
 {
-    this->dir = atan2(p.x, p.y);
+    this->dir = atan2(p.y, p.x);
     this->mag = sqrt( (p.x*p.x) + (p.y*p.y) );
 }
 

From 7e2514eeed9015ded83fd1023cd579fa6d6c5f3e Mon Sep 17 00:00:00 2001
From: Ryan McGee <ramtech51@comcast.net>
Date: Sun, 26 Sep 2021 15:31:46 -0400
Subject: [PATCH 040/243] Fixed tank odometry

---
 include/subsystems/tank_drive.h           |  2 +-
 src/subsystems/odometry/odometry_base.cpp |  7 +------
 src/subsystems/odometry/odometry_tank.cpp | 14 ++++++++++----
 src/subsystems/tank_drive.cpp             |  2 +-
 4 files changed, 13 insertions(+), 12 deletions(-)

diff --git a/include/subsystems/tank_drive.h b/include/subsystems/tank_drive.h
index c836c53..1bb8a91 100644
--- a/include/subsystems/tank_drive.h
+++ b/include/subsystems/tank_drive.h
@@ -25,7 +25,7 @@ class TankDrive
   /**
    * Create the TankDrive object 
    */
-  TankDrive(motor_group &left_motors, motor_group &right_motors, inertial &gyro_sensor, tankdrive_config_t &config, OdometryTank *odom=NULL);
+  TankDrive(motor_group &left_motors, motor_group &right_motors, tankdrive_config_t &config, OdometryTank *odom=NULL);
 
   /**
    * Stops rotation of all the motors using their "brake mode"
diff --git a/src/subsystems/odometry/odometry_base.cpp b/src/subsystems/odometry/odometry_base.cpp
index 281952f..d2e01c3 100644
--- a/src/subsystems/odometry/odometry_base.cpp
+++ b/src/subsystems/odometry/odometry_base.cpp
@@ -56,18 +56,13 @@ double OdometryBase::pos_diff(position_t start_pos, position_t end_pos, bool use
     // of a vector made from those two points is between PI/2 and 3PI/2
     if(use_negatives)
     {
-        // use atan2(x,y) instead of the documented (y,x), so 0 degrees is forwards, and positive angle is clockwise.
-        double angle = rad2deg(atan2(end_pos.x - start_pos.x, end_pos.y - start_pos.y));
-
-        printf("Start: %f, %f End: %f, %f, Old Angle: %f, Odom angle: %f, ",start_pos.x, start_pos.y, end_pos.x, end_pos.y, angle, start_pos.rot);
+        double angle = rad2deg(atan2(end_pos.y - start_pos.y, end_pos.x - start_pos.x));
 
         // Get the angle in relation to the robot
         angle = fmod(angle - start_pos.rot, 360);
         if(angle < -180) angle += 360;
         if(angle > 180) angle -= 360;
 
-        printf("Angle: %f\n", angle);
-
         if(angle > 90 || angle < -90)
             negative_multiplier = -1;
     }
diff --git a/src/subsystems/odometry/odometry_tank.cpp b/src/subsystems/odometry/odometry_tank.cpp
index 5ebae0a..39b7998 100644
--- a/src/subsystems/odometry/odometry_tank.cpp
+++ b/src/subsystems/odometry/odometry_tank.cpp
@@ -81,14 +81,20 @@ position_t OdometryTank::update()
       // Get the difference in distance driven between the two sides
       // Uses the absolute position of the encoders, so resetting them will result in
       // a bad angle.
-      double distance_diff = (lside_revs - rside_revs) * PI * config.wheel_diam;
+      // Get the arclength of the turning circle of the robot
+      double distance_diff = (rside_revs - lside_revs) * PI * config.wheel_diam;
 
-      //Use the arclength formula to calculate the angle.
-      angle = (180.0 / PI) * (distance_diff / config.dist_between_wheels);
+      printf("dist_diff: %f, ", distance_diff);
+
+      //Use the arclength formula to calculate the angle. Add 90 to make "0 degrees" to starboard
+      angle = ((180.0 / PI) * (distance_diff / config.dist_between_wheels)) + 90;
+
+      printf("angle: %f, ", (180.0 / PI) * (distance_diff / config.dist_between_wheels));
 
     } else
     {
-        angle = imu->rotation(vex::rotationUnits::deg);
+        // Translate "0 forward and clockwise positive" to "90 forward and CCW negative"
+        angle = -imu->rotation(vex::rotationUnits::deg) + 90;
     }
 
     // Offset the angle, if we've done a set_position
diff --git a/src/subsystems/tank_drive.cpp b/src/subsystems/tank_drive.cpp
index fc3c3d1..2ce61be 100644
--- a/src/subsystems/tank_drive.cpp
+++ b/src/subsystems/tank_drive.cpp
@@ -1,6 +1,6 @@
 #include "../core/include/subsystems/tank_drive.h"
 
-TankDrive::TankDrive(motor_group &left_motors, motor_group &right_motors, inertial &gyro_sensor, TankDrive::tankdrive_config_t &config, OdometryTank *odom)
+TankDrive::TankDrive(motor_group &left_motors, motor_group &right_motors, TankDrive::tankdrive_config_t &config, OdometryTank *odom)
     : left_motors(left_motors), right_motors(right_motors),
      drive_pid(config.drive_pid), turn_pid(config.turn_pid), correction_pid(config.correction_pid), odometry(odom)
 {

From f2a4665887065b763b8382672c121df94fe6d841 Mon Sep 17 00:00:00 2001
From: Ryan McGee <ramtech51@comcast.net>
Date: Tue, 28 Sep 2021 20:39:28 -0400
Subject: [PATCH 041/243] fixed warning message in PID

---
 include/subsystems/odometry/odometry_base.h | 2 +-
 src/subsystems/tank_drive.cpp               | 8 ++++----
 src/utils/pid.cpp                           | 2 +-
 3 files changed, 6 insertions(+), 6 deletions(-)

diff --git a/include/subsystems/odometry/odometry_base.h b/include/subsystems/odometry/odometry_base.h
index 12d62de..70853b9 100644
--- a/include/subsystems/odometry/odometry_base.h
+++ b/include/subsystems/odometry/odometry_base.h
@@ -64,7 +64,7 @@ class OdometryBase
 
     bool end_task = false;
 
-    static constexpr position_t zero_pos = {0, 0, 0};
+    inline static constexpr position_t zero_pos = {.x=0, .y=0, .rot=90};
 
 protected:
     vex::task *handle;
diff --git a/src/subsystems/tank_drive.cpp b/src/subsystems/tank_drive.cpp
index 2ce61be..b573c9d 100644
--- a/src/subsystems/tank_drive.cpp
+++ b/src/subsystems/tank_drive.cpp
@@ -121,7 +121,7 @@ bool TankDrive::turn_degrees(double degrees, double percent_speed)
   double delta_heading = OdometryBase::smallest_angle(heading, degrees);
   turn_pid.update(delta_heading);
 
-  printf("heading: %f, delta_heading: %f\n", heading, delta_heading);
+  // printf("heading: %f, delta_heading: %f\n", heading, delta_heading);
 
   drive_tank(-turn_pid.get(), turn_pid.get());
 
@@ -180,7 +180,7 @@ bool TankDrive::drive_to_point(double x, double y, double speed, double correcti
   // Get the heading difference between where we are and where we want to be
   // Optimize that heading so we don't turn clockwise all the time
   double heading = rad2deg(point_vec.get_dir());
-  double delta_heading = -OdometryBase::smallest_angle(current_pos.rot, heading);
+  double delta_heading = OdometryBase::smallest_angle(current_pos.rot, heading);
 
   // Update the PID controllers with new information
   correction_pid.update(delta_heading);
@@ -229,9 +229,9 @@ bool TankDrive::turn_to_heading(double heading_deg, double speed)
   double delta_heading = OdometryBase::smallest_angle(odometry->get_position().rot, heading_deg);
   turn_pid.update(delta_heading);
 
-  printf("delta heading: %f, pid: %f, ", delta_heading, turn_pid.get());
+  // printf("delta heading: %f, pid: %f, ", delta_heading, turn_pid.get());
 
-  drive_tank(-turn_pid.get(), turn_pid.get());
+  drive_tank(turn_pid.get(), -turn_pid.get());
 
   // When the robot has reached it's angle, return true.
   if(turn_pid.is_on_target())
diff --git a/src/utils/pid.cpp b/src/utils/pid.cpp
index 3754a89..4e8dd5d 100644
--- a/src/utils/pid.cpp
+++ b/src/utils/pid.cpp
@@ -28,7 +28,7 @@ void PID::update(double sensor_val)
   double d_term = 0;
   if(time_delta != 0)
     d_term = config.d * (get_error() - last_error) / time_delta;
-  else
+  else if(last_time != 0)
     printf("(pid.cpp): Warning - running PID without a delay is just a P loop!\n");
 
   out = (config.f * target) + (config.p * get_error()) + i_term + d_term;

From 820683c4c645282f7054df01f114d239fd73472a Mon Sep 17 00:00:00 2001
From: Ryan McGee <ramtech51@comcast.net>
Date: Sun, 3 Oct 2021 14:08:29 -0400
Subject: [PATCH 042/243] fixed tank_drive, added dist across axis

---
 include/subsystems/odometry/odometry_base.h |  2 +-
 src/subsystems/odometry/odometry_base.cpp   | 14 ++++++++++++--
 src/subsystems/tank_drive.cpp               | 14 ++++++++++----
 src/utils/generic_auto.cpp                  |  2 +-
 4 files changed, 24 insertions(+), 8 deletions(-)

diff --git a/include/subsystems/odometry/odometry_base.h b/include/subsystems/odometry/odometry_base.h
index 70853b9..d1c20d6 100644
--- a/include/subsystems/odometry/odometry_base.h
+++ b/include/subsystems/odometry/odometry_base.h
@@ -48,7 +48,7 @@ class OdometryBase
     /**
      * Get the distance between two points
      */
-    static double pos_diff(position_t pos1, position_t pos2, bool use_negatives=false);
+    static double pos_diff(position_t pos1, position_t pos2, bool use_negatives=false, bool along_axis=false);
 
     /**
      * Get the change in rotation between two points
diff --git a/src/subsystems/odometry/odometry_base.cpp b/src/subsystems/odometry/odometry_base.cpp
index d2e01c3..e35c307 100644
--- a/src/subsystems/odometry/odometry_base.cpp
+++ b/src/subsystems/odometry/odometry_base.cpp
@@ -48,7 +48,7 @@ void OdometryBase::end_async()
 /**
  * Get the distance between two points
  */
-double OdometryBase::pos_diff(position_t start_pos, position_t end_pos, bool use_negatives)
+double OdometryBase::pos_diff(position_t start_pos, position_t end_pos, bool use_negatives, bool along_axis)
 {
     int negative_multiplier = 1;
 
@@ -68,7 +68,17 @@ double OdometryBase::pos_diff(position_t start_pos, position_t end_pos, bool use
     }
 
     // Use the pythagorean theorem
-    return negative_multiplier * sqrt(pow(end_pos.x - start_pos.x, 2) + pow(end_pos.y - start_pos.y, 2));
+    double retval = negative_multiplier * sqrt(pow(end_pos.x - start_pos.x, 2) + pow(end_pos.y - start_pos.y, 2));
+
+    // If requested, only find the distance along the robot's forward axis
+    if(along_axis)
+    {
+      double angle = start_pos.rot - rad2deg(atan2(end_pos.y - start_pos.y, end_pos.x - start_pos.x));
+      // printf("theta: %f, ", angle);
+      retval *= fabs(cos(deg2rad(angle)));
+    }
+    
+    return retval;
 }
 
 /**
diff --git a/src/subsystems/tank_drive.cpp b/src/subsystems/tank_drive.cpp
index b573c9d..e27546b 100644
--- a/src/subsystems/tank_drive.cpp
+++ b/src/subsystems/tank_drive.cpp
@@ -175,7 +175,7 @@ bool TankDrive::drive_to_point(double x, double y, double speed, double correcti
   Vector point_vec(pos_diff_pt);
 
   // Get the distance between 2 points
-  double dist_left = -OdometryBase::pos_diff(current_pos, end_pos, true);
+  double dist_left = -OdometryBase::pos_diff(current_pos, end_pos, true, true);
 
   // Get the heading difference between where we are and where we want to be
   // Optimize that heading so we don't turn clockwise all the time
@@ -186,9 +186,13 @@ bool TankDrive::drive_to_point(double x, double y, double speed, double correcti
   correction_pid.update(delta_heading);
   drive_pid.update(dist_left);
 
+  printf("~DRIVE~ ");
+  printf("Correction: %f, Drive: %f, Corr_PID: %f, Drive_PID: %f \n", delta_heading, dist_left, correction_pid.get(), drive_pid.get());
+  fflush(stdout);
+
   // Combine the two pid outputs
-  double lside = drive_pid.get() + correction_pid.get();
-  double rside = drive_pid.get() - correction_pid.get();
+  double lside = drive_pid.get() + ((fabs(dist_left) > 2) ? correction_pid.get() : 0);
+  double rside = drive_pid.get() - ((fabs(dist_left) > 2) ? correction_pid.get() : 0);
 
   // limit the outputs between -1 and +1
   lside = (lside > 1) ? 1 : (lside < -1) ? -1 : lside;
@@ -229,7 +233,9 @@ bool TankDrive::turn_to_heading(double heading_deg, double speed)
   double delta_heading = OdometryBase::smallest_angle(odometry->get_position().rot, heading_deg);
   turn_pid.update(delta_heading);
 
-  // printf("delta heading: %f, pid: %f, ", delta_heading, turn_pid.get());
+  printf("~TURN~ delta: %f\n", delta_heading);
+  // printf("delta heading: %f, pid: %f\n", delta_heading, turn_pid.get());
+  fflush(stdout);
 
   drive_tank(turn_pid.get(), -turn_pid.get());
 
diff --git a/src/utils/generic_auto.cpp b/src/utils/generic_auto.cpp
index b74804c..5c5c7ab 100644
--- a/src/utils/generic_auto.cpp
+++ b/src/utils/generic_auto.cpp
@@ -24,7 +24,7 @@ bool GenericAuto::run(bool blocking)
       state_list.pop();
 
     if(blocking)
-      vexDelay(50);
+      vexDelay(20);
 
   } while(blocking && !state_list.empty());
 

From d5b7717a637a8d837ee73e8d4f61d144f81ab6b1 Mon Sep 17 00:00:00 2001
From: Ryan McGee <ramtech51@comcast.net>
Date: Sun, 3 Oct 2021 14:20:03 -0400
Subject: [PATCH 043/243] Fixed sin/cos in vector

---
 src/utils/vector.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/src/utils/vector.cpp b/src/utils/vector.cpp
index 2badd84..b29cb14 100644
--- a/src/utils/vector.cpp
+++ b/src/utils/vector.cpp
@@ -41,7 +41,7 @@ double Vector::get_mag() const { return mag; }
  */
 double Vector::get_x() const
 {
-return mag * sin(dir);
+return mag * cos(dir);
 }
 
 /**
@@ -49,7 +49,7 @@ return mag * sin(dir);
  */
 double Vector::get_y() const
 {
-return mag * cos(dir);
+return mag * sin(dir);
 }
 
 /**

From 1364e2359e535ddb3815974f4749f053d0bfb25a Mon Sep 17 00:00:00 2001
From: Ryan McGee <ramtech51@comcast.net>
Date: Thu, 7 Oct 2021 19:13:40 -0400
Subject: [PATCH 044/243] Fixed pid stuff and backwards turning

---
 src/subsystems/tank_drive.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/subsystems/tank_drive.cpp b/src/subsystems/tank_drive.cpp
index e27546b..b0851b6 100644
--- a/src/subsystems/tank_drive.cpp
+++ b/src/subsystems/tank_drive.cpp
@@ -123,7 +123,7 @@ bool TankDrive::turn_degrees(double degrees, double percent_speed)
 
   // printf("heading: %f, delta_heading: %f\n", heading, delta_heading);
 
-  drive_tank(-turn_pid.get(), turn_pid.get());
+  drive_tank(turn_pid.get(), -turn_pid.get());
 
   // If the robot is at it's target, return true
   if (turn_pid.is_on_target())

From caf259519868b4f20247e3ac66af2ea59eb4dd00 Mon Sep 17 00:00:00 2001
From: Ryan McGee <ramtech51@comcast.net>
Date: Wed, 15 Dec 2021 12:53:31 -0800
Subject: [PATCH 045/243] Merge branch 'odometry'

---
 include/robot_specs.h                       |  24 ++
 include/subsystems/odometry/odometry_base.h |   5 +-
 include/subsystems/odometry/odometry_tank.h |  46 ++--
 include/subsystems/tank_drive.h             |  45 ++--
 include/utils/pure_pursuit.h                |  78 +++++++
 include/utils/vector.h                      |   7 +-
 src/subsystems/odometry/odometry_base.cpp   |  39 +---
 src/subsystems/odometry/odometry_tank.cpp   |  60 ++---
 src/subsystems/swerve_drive.cpp             |   3 +-
 src/subsystems/tank_drive.cpp               | 232 +++++++------------
 src/utils/pure_pursuit.cpp                  | 236 ++++++++++++++++++++
 11 files changed, 501 insertions(+), 274 deletions(-)
 create mode 100644 include/robot_specs.h
 create mode 100644 include/utils/pure_pursuit.h
 create mode 100644 src/utils/pure_pursuit.cpp

diff --git a/include/robot_specs.h b/include/robot_specs.h
new file mode 100644
index 0000000..95dae0a
--- /dev/null
+++ b/include/robot_specs.h
@@ -0,0 +1,24 @@
+#pragma once
+#include "../core/include/utils/pid.h"
+
+/**
+ * Main robot characterization struct.
+ * This will be passed to all the major subsystems 
+ * that require info about the robot.
+ * All distance measurements are in inches.
+ */
+typedef struct 
+{
+  double robot_radius;
+
+  double odom_wheel_diam;
+  double odom_gear_ratio;
+  double dist_between_wheels;
+
+  double drive_correction_cutoff;
+
+  PID::pid_config_t drive_pid;
+  PID::pid_config_t turn_pid;
+  PID::pid_config_t correction_pid;
+
+} robot_specs_t;
\ No newline at end of file
diff --git a/include/subsystems/odometry/odometry_base.h b/include/subsystems/odometry/odometry_base.h
index d1c20d6..daf1692 100644
--- a/include/subsystems/odometry/odometry_base.h
+++ b/include/subsystems/odometry/odometry_base.h
@@ -2,12 +2,13 @@
 #define _ODOMETRY_
 
 #include "vex.h"
+#include "../core/include/robot_specs.h"
 
 #ifndef PI
 #define PI 3.141592654
 #endif
 
-#define DOWNTIME 50 //milliseconds
+#define DOWNTIME 0 //milliseconds
 
 // Describes a single position and rotation
 typedef struct
@@ -48,7 +49,7 @@ class OdometryBase
     /**
      * Get the distance between two points
      */
-    static double pos_diff(position_t pos1, position_t pos2, bool use_negatives=false, bool along_axis=false);
+    static double pos_diff(position_t pos1, position_t pos2);
 
     /**
      * Get the change in rotation between two points
diff --git a/include/subsystems/odometry/odometry_tank.h b/include/subsystems/odometry/odometry_tank.h
index 2caa894..e40daff 100644
--- a/include/subsystems/odometry/odometry_tank.h
+++ b/include/subsystems/odometry/odometry_tank.h
@@ -3,13 +3,7 @@
 
 #include "../core/include/subsystems/odometry/odometry_base.h"
 #include "../core/include/utils/vector.h"
-
-typedef struct
-{
-    double dist_between_wheels;
-    double wheel_diam;
-    double gear_ratio;
-} odometry_config_t;
+#include "../core/include/robot_specs.h"
 
 static int background_task(void* odom_obj);
 
@@ -17,25 +11,22 @@ class OdometryTank : public OdometryBase
 {
 public:
     /**
-     * Initialize the Odometry module, using the IMU to get rotation
-     * @param left_side The left motors 
-     * @param right_
-     * side The right motors
-     * @param imu The robot's inertial sensor
-     * @param is_async If true, the robot will automatically poll it's position and update it in the background.
-     *      If false, the update() function must be called periodically.
-     */
-    OdometryTank(vex::motor_group &left_side, vex::motor_group &right_side, vex::inertial &imu, odometry_config_t &config, bool is_async=true);
+    * Initialize the Odometry module, calculating position from the drive motors.
+    * @param left_side The left motors 
+    * @param right_side The right motors
+    * @param imu The robot's inertial sensor. If not included, rotation is calculated from the encoders.
+    * @param is_async If true, position will be updated in the background continuously. If false, the programmer will have to manually call update().
+    */
+    OdometryTank(vex::motor_group &left_side, vex::motor_group &right_side, robot_specs_t &config, vex::inertial *imu=NULL, bool is_async=true);
 
     /**
-     * Initialize the Odometry module, calculating the rotation from encoders
-     * @param left_side The left motors 
-     * @param right_side The right motors
-     * @param imu The robot's inertial sensor
-     * @param is_async If true, the robot will automatically poll it's position and update it in the background.
-     *      If false, the update() function must be called periodically.
-     */
-    OdometryTank(vex::motor_group &left_side, vex::motor_group &right_side, odometry_config_t &config, bool is_async=true);
+    * Initialize the Odometry module, calculating posiiton from encoders on "dead wheels"
+    * @param left_side The left motors 
+    * @param right_side The right motors
+    * @param imu The robot's inertial sensor. If not included, rotation is calculated from the encoders.
+    * @param is_async If true, position will be updated in the background continuously. If false, the programmer will have to manually call update().
+    */
+    OdometryTank(vex::encoder &left_enc, vex::encoder &right_enc, robot_specs_t &config, vex::inertial *imu=NULL, bool is_async=true);
 
     /**
      * Update the current position on the field based on the sensors
@@ -49,11 +40,12 @@ class OdometryTank : public OdometryBase
     /**
      * Get information from the input hardware and an existing position, and calculate a new current position
      */
-    static position_t calculate_new_pos(odometry_config_t &config, position_t &stored_info, double lside_diff, double rside_diff, double angle_deg);
+    static position_t calculate_new_pos(robot_specs_t &config, position_t &stored_info, double lside_diff, double rside_diff, double angle_deg);
 
-    vex::motor_group &left_side, &right_side;
+    vex::motor_group *left_side, *right_side;
+    vex::encoder *left_enc, *right_enc;
     vex::inertial *imu;
-    odometry_config_t &config;
+    robot_specs_t &config;
 
     double rotation_offset = 0;
     
diff --git a/include/subsystems/tank_drive.h b/include/subsystems/tank_drive.h
index 1bb8a91..16bd27d 100644
--- a/include/subsystems/tank_drive.h
+++ b/include/subsystems/tank_drive.h
@@ -7,7 +7,9 @@
 #include "vex.h"
 #include "../core/include/utils/pid.h"
 #include "../core/include/subsystems/odometry/odometry_tank.h"
+#include "../core/include/robot_specs.h"
 #include <vector>
+#include "../core/src/utils/pure_pursuit.cpp"
 
 using namespace vex;
 
@@ -15,17 +17,10 @@ class TankDrive
 {
 public:
 
-  struct tankdrive_config_t
-  {
-    PID::pid_config_t drive_pid;
-    PID::pid_config_t turn_pid;
-    PID::pid_config_t correction_pid;
-  };
-
   /**
    * Create the TankDrive object 
    */
-  TankDrive(motor_group &left_motors, motor_group &right_motors, tankdrive_config_t &config, OdometryTank *odom=NULL);
+  TankDrive(motor_group &left_motors, motor_group &right_motors, robot_specs_t &config, OdometryTank *odom=NULL);
 
   /**
    * Stops rotation of all the motors using their "brake mode"
@@ -49,12 +44,15 @@ class TankDrive
   void drive_arcade(double forward_back, double left_right, int power=1);
 
   /**
-   * Autonomously drive the robot X inches forward (Negative for backwards), with a maximum speed
-   * of percent_speed (-1.0 -> 1.0).
-   * 
-   * Uses a PID loop for it's control.
+   * Autonomously drive forward or backwards, X inches infront or behind the robot's current position.
+   * This driving method is relative, so excessive use may cause the robot to get off course!
+   *
+   * @param inches Distance to drive in a straight line
+   * @param speed How fast the robot should travel, 0 -> 1.0
+   * @param correction How much the robot should correct for being off angle
+   * @param dir Whether the robot is travelling forwards or backwards
    */
-  bool drive_forward(double inches, double percent_speed);
+  bool drive_forward(double inches, double speed, double correction, directionType dir);
 
   /**
    * Autonomously turn the robot X degrees to the right (negative for left), with a maximum motor speed
@@ -68,7 +66,7 @@ class TankDrive
    * Use odometry to automatically drive the robot to a point on the field.
    * X and Y is the final point we want the robot.
    */
-  bool drive_to_point(double x, double y, double speed, double correction_speed);
+  bool drive_to_point(double x, double y, double speed, double correction_speed, vex::directionType direction=vex::directionType::fwd);
 
   /**
    * Turn the robot in place to an exact heading relative to the field.
@@ -83,22 +81,7 @@ class TankDrive
 
   static double modify_inputs(double input, int power=2);
 
-  /**
-    * Returns points of the intersections of a line segment and a circle. The line 
-    * segment is defined by two points, and the circle is defined by a center and radius.
-    */
-  std::vector<Vector::point_t> line_circle_intersections(Vector::point_t center, double r, Vector::point_t point1, Vector::point_t point2);
-
-  /**
-    * Selects a look ahead from all the intersections in the path.
-    */
-  Vector::point_t get_lookahead(std::vector<Vector::point_t> path, Vector::point_t robot_loc, double radius);
-
-  /**
-   * Injects points in a path without changing the curvature with a certain spacing.
-   */
-  std::vector<Vector::point_t> inject_path(std::vector<Vector::point_t> path, double spacing);
-
+  bool pure_pursuit(std::vector<PurePursuit::hermite_point> path, double radius, double speed, double res);
 
 private:
   motor_group &left_motors;
@@ -112,5 +95,7 @@ class TankDrive
 
   position_t saved_pos;
 
+  robot_specs_t &config;
+
   bool func_initialized = false;
 };
diff --git a/include/utils/pure_pursuit.h b/include/utils/pure_pursuit.h
new file mode 100644
index 0000000..818fa2f
--- /dev/null
+++ b/include/utils/pure_pursuit.h
@@ -0,0 +1,78 @@
+#pragma once
+
+#include <vector>
+#include "../core/include/utils/vector.h"
+#include "vex.h"
+
+using namespace vex;
+
+namespace PurePursuit {
+  /**
+   * Represents a piece of a cubic spline with s(x) = a(x-xi)^3 + b(x-xi)^2 + c(x-xi) + d
+   * The x_start and x_end shows where the equation is valid.
+   */
+  struct spline
+  {
+    double a, b, c, d, x_start, x_end; 
+
+    double getY(double x) {
+      return a * pow((x - x_start), 3) + b * pow((x - x_start), 2) + c * (x - x_start) + d;
+    }
+  };
+
+  struct hermite_point
+  {
+    double x;
+    double y;
+    double dir;
+    double mag;
+
+    Vector::point_t getPoint() {
+      return {x, y};
+    }
+
+    Vector getTangent() {
+      return Vector(dir, mag);
+    }
+  };
+
+  /**
+    * Returns points of the intersections of a line segment and a circle. The line 
+    * segment is defined by two points, and the circle is defined by a center and radius.
+    */
+  static std::vector<Vector::point_t> line_circle_intersections(Vector::point_t center, double r, Vector::point_t point1, Vector::point_t point2);
+  /**
+    * Selects a look ahead from all the intersections in the path.
+    */
+  static Vector::point_t get_lookahead(std::vector<Vector::point_t> path, Vector::point_t robot_loc, double radius);
+
+  /**
+    * Injects points in a path without changing the curvature with a certain spacing.
+    */
+  static std::vector<Vector::point_t> inject_path(std::vector<Vector::point_t> path, double spacing);
+
+  /**
+  * Returns a smoothed path maintaining the start and end of the path.
+  *
+  * Weight data is how much weight to update the data (alpha)
+  * Weight smooth is how much weight to smooth the coordinates (beta)
+  * Tolerance is how much change per iteration is necessary to continue iterating.
+  *
+  * Honestly have no idea if/how this works.
+  * https://medium.com/@jaems33/understanding-robot-motion-path-smoothing-5970c8363bc4
+  */
+
+  static std::vector<Vector::point_t> smooth_path(std::vector<Vector::point_t> path, double weight_data, double weight_smooth, double tolerance);
+
+  static std::vector<Vector::point_t> smooth_path_cubic(std::vector<Vector::point_t> path, double res);
+
+  /**
+   * Interpolates a smooth path given a list of waypoints using hermite splines.
+   * For more information: https://www.youtube.com/watch?v=hG0p4XgePSA.
+   *
+   * @param path The path of hermite points to interpolate.
+   * @param steps The number of points interpolated between points.
+   * @return The smoothed path.
+   */
+  static std::vector<Vector::point_t> smooth_path_hermite(std::vector<hermite_point> path, double step);
+}
\ No newline at end of file
diff --git a/include/utils/vector.h b/include/utils/vector.h
index a8a8cc4..48d0d05 100644
--- a/include/utils/vector.h
+++ b/include/utils/vector.h
@@ -18,6 +18,11 @@ class Vector
     {
         double x, y;
 
+        double dist(const point_t other)
+        {
+          return sqrt(pow(this->x - other.x, 2) + pow(this->y - other.y, 2));
+        }
+
         // Vector addition operation on points
         point_t operator+(const point_t &other)
         {
@@ -109,4 +114,4 @@ double deg2rad(double deg);
  */
 double rad2deg(double r);
 
-#endif
\ No newline at end of file
+#endif
diff --git a/src/subsystems/odometry/odometry_base.cpp b/src/subsystems/odometry/odometry_base.cpp
index e35c307..ffa872c 100644
--- a/src/subsystems/odometry/odometry_base.cpp
+++ b/src/subsystems/odometry/odometry_base.cpp
@@ -42,43 +42,18 @@ void OdometryBase::set_position(const position_t &newpos)
  */
 void OdometryBase::end_async()
 {
-    this->end_task = true;
+  this->end_task = true;
 }
 
 /**
  * Get the distance between two points
  */
-double OdometryBase::pos_diff(position_t start_pos, position_t end_pos, bool use_negatives, bool along_axis)
+double OdometryBase::pos_diff(position_t start_pos, position_t end_pos)
 {
-    int negative_multiplier = 1;
-
-    // If we are using negative distances, define a "negative distance" as when the angle
-    // of a vector made from those two points is between PI/2 and 3PI/2
-    if(use_negatives)
-    {
-        double angle = rad2deg(atan2(end_pos.y - start_pos.y, end_pos.x - start_pos.x));
-
-        // Get the angle in relation to the robot
-        angle = fmod(angle - start_pos.rot, 360);
-        if(angle < -180) angle += 360;
-        if(angle > 180) angle -= 360;
-
-        if(angle > 90 || angle < -90)
-            negative_multiplier = -1;
-    }
-
-    // Use the pythagorean theorem
-    double retval = negative_multiplier * sqrt(pow(end_pos.x - start_pos.x, 2) + pow(end_pos.y - start_pos.y, 2));
-
-    // If requested, only find the distance along the robot's forward axis
-    if(along_axis)
-    {
-      double angle = start_pos.rot - rad2deg(atan2(end_pos.y - start_pos.y, end_pos.x - start_pos.x));
-      // printf("theta: %f, ", angle);
-      retval *= fabs(cos(deg2rad(angle)));
-    }
-    
-    return retval;
+  // Use the pythagorean theorem
+  double retval = sqrt(pow(end_pos.x - start_pos.x, 2) + pow(end_pos.y - start_pos.y, 2));
+  
+  return retval;
 }
 
 /**
@@ -86,7 +61,7 @@ double OdometryBase::pos_diff(position_t start_pos, position_t end_pos, bool use
  */
 double OdometryBase::rot_diff(position_t &pos1, position_t &pos2)
 {
-    return pos1.rot - pos2.rot;
+  return pos1.rot - pos2.rot;
 }
 
 /**
diff --git a/src/subsystems/odometry/odometry_tank.cpp b/src/subsystems/odometry/odometry_tank.cpp
index 39b7998..2db44bd 100644
--- a/src/subsystems/odometry/odometry_tank.cpp
+++ b/src/subsystems/odometry/odometry_tank.cpp
@@ -1,13 +1,13 @@
 #include "../core/include/subsystems/odometry/odometry_tank.h"
 
 /**
- * Initialize the Odometry module, using the IMU to get rotation
+ * Initialize the Odometry module, calculating position from the drive motors.
  * @param left_side The left motors 
  * @param right_side The right motors
- * @param imu The robot's inertial sensor
+ * @param imu The robot's inertial sensor. If not included, rotation is calculated from the encoders.
  */
-OdometryTank::OdometryTank(vex::motor_group &left_side, vex::motor_group &right_side, vex::inertial &imu, odometry_config_t &config, bool is_async)
-: left_side(left_side), right_side(right_side), imu(&imu), config(config)
+OdometryTank::OdometryTank(vex::motor_group &left_side, vex::motor_group &right_side, robot_specs_t &config, vex::inertial *imu, bool is_async)
+: left_side(&left_side), right_side(&right_side), left_enc(NULL), right_enc(NULL), imu(imu), config(config)
 {
     // Make sure the last known info starts zeroed
     memset(&current_pos, 0, sizeof(position_t));
@@ -18,24 +18,13 @@ OdometryTank::OdometryTank(vex::motor_group &left_side, vex::motor_group &right_
 }
 
 /**
- * Resets the position and rotational data to the input.
- * 
- */
-void OdometryTank::set_position(const position_t &newpos)
-{
-  rotation_offset = newpos.rot - (current_pos.rot - rotation_offset);
-
-  OdometryBase::set_position(newpos);
-}
-
-/**
- * Initialize the Odometry module, calculating the rotation from encoders
+ * Initialize the Odometry module, calculating posiiton from encoders on "dead wheels"
  * @param left_side The left motors 
  * @param right_side The right motors
- * @param imu The robot's inertial sensor
+ * @param imu The robot's inertial sensor. If not included, rotation is calculated from the encoders.
  */
-OdometryTank::OdometryTank(vex::motor_group &left_side, vex::motor_group &right_side, odometry_config_t &config, bool is_async)
-: left_side(left_side), right_side(right_side), imu(NULL), config(config)
+OdometryTank::OdometryTank(vex::encoder &left_enc, vex::encoder &right_enc, robot_specs_t &config, vex::inertial *imu, bool is_async)
+: left_side(NULL), right_side(NULL), left_enc(&left_enc), right_enc(&right_enc), imu(imu), config(config)
 {
     // Make sure the last known info starts zeroed
     memset(&current_pos, 0, sizeof(position_t));
@@ -43,7 +32,17 @@ OdometryTank::OdometryTank(vex::motor_group &left_side, vex::motor_group &right_
     // Start the asynchronous background thread
     if (is_async)
         handle = new vex::task(background_task, this);
- 
+}
+
+/**
+ * Resets the position and rotational data to the input.
+ * 
+ */
+void OdometryTank::set_position(const position_t &newpos)
+{
+  rotation_offset = newpos.rot - (current_pos.rot - rotation_offset);
+
+  OdometryBase::set_position(newpos);
 }
 
 /**
@@ -70,8 +69,17 @@ position_t OdometryTank::update()
 {
     position_t updated_pos;
 
-    double lside_revs = left_side.position(vex::rotationUnits::rev) / config.gear_ratio;
-    double rside_revs = right_side.position(vex::rotationUnits::rev) / config.gear_ratio;
+    double lside_revs = 0, rside_revs = 0;
+
+    if(left_side != NULL && right_side != NULL)
+    {
+      lside_revs = left_side->position(vex::rotationUnits::rev) / config.odom_gear_ratio;
+      rside_revs = right_side->position(vex::rotationUnits::rev) / config.odom_gear_ratio;
+    }else if(left_enc != NULL && right_enc != NULL)
+    {
+      lside_revs = left_enc->position(vex::rotationUnits::rev) / config.odom_gear_ratio;
+      rside_revs = right_enc->position(vex::rotationUnits::rev) / config.odom_gear_ratio;
+    }
 
     double angle = 0;
 
@@ -82,7 +90,7 @@ position_t OdometryTank::update()
       // Uses the absolute position of the encoders, so resetting them will result in
       // a bad angle.
       // Get the arclength of the turning circle of the robot
-      double distance_diff = (rside_revs - lside_revs) * PI * config.wheel_diam;
+      double distance_diff = (rside_revs - lside_revs) * PI * config.odom_wheel_diam;
 
       printf("dist_diff: %f, ", distance_diff);
 
@@ -120,7 +128,7 @@ position_t OdometryTank::update()
  * Using information about the robot's mechanical structure and sensors, calculate a new position
  * of the robot, relative to when this method was previously ran.
  */
-position_t OdometryTank::calculate_new_pos(odometry_config_t &config, position_t &curr_pos, double lside_revs, double rside_revs, double angle_deg)
+position_t OdometryTank::calculate_new_pos(robot_specs_t &config, position_t &curr_pos, double lside_revs, double rside_revs, double angle_deg)
 {
     position_t new_pos;
 
@@ -128,8 +136,8 @@ position_t OdometryTank::calculate_new_pos(odometry_config_t &config, position_t
     static double stored_rside_revs = rside_revs;
 
     // Convert the revolutions into "change in distance", and average the values for a "distance driven"
-    double lside_diff = (lside_revs - stored_lside_revs) * PI * config.wheel_diam;
-    double rside_diff = (rside_revs - stored_rside_revs) * PI * config.wheel_diam;
+    double lside_diff = (lside_revs - stored_lside_revs) * PI * config.odom_wheel_diam;
+    double rside_diff = (rside_revs - stored_rside_revs) * PI * config.odom_wheel_diam;
     double dist_driven = (lside_diff + rside_diff) / 2.0;
 
     double angle = angle_deg * PI / 180.0; // Degrees to radians
diff --git a/src/subsystems/swerve_drive.cpp b/src/subsystems/swerve_drive.cpp
index 4c8ca42..ca59f6f 100644
--- a/src/subsystems/swerve_drive.cpp
+++ b/src/subsystems/swerve_drive.cpp
@@ -134,7 +134,8 @@ bool SwerveDrive::auto_drive(double direction, double speed, double distance)
     auto_drive_init = false;
   }
 
-  double pos_diff = OdometryBase::pos_diff(odometry->get_position(), saved_pos, true);
+  // TODO fix negatives
+  double pos_diff = OdometryBase::pos_diff(odometry->get_position(), saved_pos);
 
   // LOOP
   drive_pid->update(pos_diff);
diff --git a/src/subsystems/tank_drive.cpp b/src/subsystems/tank_drive.cpp
index b0851b6..b531ee1 100644
--- a/src/subsystems/tank_drive.cpp
+++ b/src/subsystems/tank_drive.cpp
@@ -1,8 +1,8 @@
 #include "../core/include/subsystems/tank_drive.h"
 
-TankDrive::TankDrive(motor_group &left_motors, motor_group &right_motors, TankDrive::tankdrive_config_t &config, OdometryTank *odom)
+TankDrive::TankDrive(motor_group &left_motors, motor_group &right_motors, robot_specs_t &config, OdometryTank *odom)
     : left_motors(left_motors), right_motors(right_motors),
-     drive_pid(config.drive_pid), turn_pid(config.turn_pid), correction_pid(config.correction_pid), odometry(odom)
+     drive_pid(config.drive_pid), turn_pid(config.turn_pid), correction_pid(config.correction_pid), odometry(odom), config(config)
 {
 
 }
@@ -58,44 +58,37 @@ void TankDrive::drive_arcade(double forward_back, double left_right, int power)
 }
 
 /**
- * Autonomously drive the robot X inches forward (Negative for backwards), with a maximum speed
- * of percent_speed (-1.0 -> 1.0).
- * 
- * Uses a PID loop for it's control.
- * 
- * NOTE: uses relative positioning, so after a few drive_forward's, position may be lost!
+ * Autonomously drive forward or backwards, X inches infront or behind the robot's current position.
+ * This driving method is relative, so excessive use may cause the robot to get off course!
+ *
+ * @param inches Distance to drive in a straight line
+ * @param speed How fast the robot should travel, 0 -> 1.0
+ * @param correction How much the robot should correct for being off angle
+ * @param dir Whether the robot is travelling forwards or backwards
  */
-bool TankDrive::drive_forward(double inches, double percent_speed)
+bool TankDrive::drive_forward(double inches, double speed, double correction, directionType dir)
 {
-  // On the first run of the funciton, reset the motor position and PID
+  static position_t pos_setpt;
+
+  // Generate a point X inches forward of the current position, on first startup
   if (!func_initialized)
   {
     saved_pos = odometry->get_position();
     drive_pid.reset();
 
-    drive_pid.set_limits(-fabs(percent_speed), fabs(percent_speed));
-    drive_pid.set_target(inches);
-
-    func_initialized = true;
-  }
-
-  double position_diff = odometry->get_position().y - saved_pos.y;
+    // Use vector math to get an X and Y
+    Vector current_pos({saved_pos.x , saved_pos.y});
+    Vector delta_pos(deg2rad(saved_pos.rot), inches);
+    Vector setpt_vec = current_pos + delta_pos;
 
-  // Update PID loop and drive the robot based on it's output
-  drive_pid.update(position_diff);
+    // Save the new X and Y values
+    pos_setpt = {.x=setpt_vec.get_x(), .y=setpt_vec.get_y()};
 
-  // Drive backwards if we input negative inches, forward for positive
-  drive_tank(drive_pid.get(), drive_pid.get());
-
-  // If the robot is at it's target, return true
-  if (drive_pid.is_on_target())
-  {
-    drive_tank(0, 0);
-    func_initialized = false;
-    return true;
+    func_initialized = true;
   }
 
-  return false;
+  // Call the drive_to_point with updated point values
+  return drive_to_point(pos_setpt.x, pos_setpt.y, speed, correction, dir);
 }
 
 /**
@@ -142,8 +135,9 @@ bool TankDrive::turn_degrees(double degrees, double percent_speed)
   *
   * Returns whether or not the robot has reached it's destination.
   */
-bool TankDrive::drive_to_point(double x, double y, double speed, double correction_speed)
+bool TankDrive::drive_to_point(double x, double y, double speed, double correction_speed, vex::directionType dir)
 {
+
   if(!func_initialized)
   {
     // Reset the control loops
@@ -158,6 +152,8 @@ bool TankDrive::drive_to_point(double x, double y, double speed, double correcti
     drive_pid.set_target(0);
     correction_pid.set_target(0);
 
+    // point_orientation_deg = atan2(y - odometry->get_position().y, x - odometry->get_position().x) * 180.0 / PI;
+
     func_initialized = true;
   }
 
@@ -175,24 +171,61 @@ bool TankDrive::drive_to_point(double x, double y, double speed, double correcti
   Vector point_vec(pos_diff_pt);
 
   // Get the distance between 2 points
-  double dist_left = -OdometryBase::pos_diff(current_pos, end_pos, true, true);
+  double dist_left = OdometryBase::pos_diff(current_pos, end_pos);
+  
+  int sign = 1;
+
+  if (fabs(dist_left) < config.drive_correction_cutoff) 
+  {
+    // Make an imaginary perpendicualar line to that between the bot and the point. If the point is behind that line,
+    // and the point is within the robot's radius, use negatives for feedback control.
+
+    double angle_to_point = atan2(y - current_pos.y, x - current_pos.x) * 180.0 / PI;
+    double angle = fmod(current_pos.rot - angle_to_point, 360.0);
+    // Normalize the angle between 0 and 360
+    if (angle > 360) angle -= 360;
+    if (angle < 0) angle += 360; 
+    // If the angle is behind the robot, report negative.
+    if (dir == directionType::fwd && angle > 90 && angle < 270)
+      sign = -1;
+    else if(dir == directionType::rev && (angle < 90 || angle > 270))
+      sign = -1;
+
+    // When inside the robot's cutoff radius, report the distance to the point along the robot's forward axis,
+    // so we always "reach" the point without having to do a lateral translation
+    dist_left *= fabs(cos(angle * PI / 180.0));
+  }
 
   // Get the heading difference between where we are and where we want to be
   // Optimize that heading so we don't turn clockwise all the time
   double heading = rad2deg(point_vec.get_dir());
-  double delta_heading = OdometryBase::smallest_angle(current_pos.rot, heading);
+  double delta_heading = 0;
+
+  // Going backwards "flips" the robot's current heading
+  if (dir == directionType::fwd)
+    delta_heading = OdometryBase::smallest_angle(current_pos.rot, heading);
+  else
+    delta_heading = OdometryBase::smallest_angle(current_pos.rot - 180, heading);
 
   // Update the PID controllers with new information
   correction_pid.update(delta_heading);
-  drive_pid.update(dist_left);
+  drive_pid.update(sign * -1 * dist_left);
 
-  printf("~DRIVE~ ");
-  printf("Correction: %f, Drive: %f, Corr_PID: %f, Drive_PID: %f \n", delta_heading, dist_left, correction_pid.get(), drive_pid.get());
-  fflush(stdout);
+  // Disable correction when we're close enough to the point
+  double correction = 0;
+  if(fabs(dist_left) > config.drive_correction_cutoff)
+    correction = correction_pid.get();
+
+  // Reverse the drive_pid output if we're going backwards
+  double drive_pid_rval;
+  if(dir == directionType::rev)
+    drive_pid_rval = drive_pid.get() * -1;
+  else
+    drive_pid_rval = drive_pid.get();
 
   // Combine the two pid outputs
-  double lside = drive_pid.get() + ((fabs(dist_left) > 2) ? correction_pid.get() : 0);
-  double rside = drive_pid.get() - ((fabs(dist_left) > 2) ? correction_pid.get() : 0);
+  double lside = drive_pid_rval + correction;
+  double rside = drive_pid_rval - correction;
 
   // limit the outputs between -1 and +1
   lside = (lside > 1) ? 1 : (lside < -1) ? -1 : lside;
@@ -259,122 +292,11 @@ double TankDrive::modify_inputs(double input, int power)
   return (power % 2 == 0 ? (input < 0 ? -1 : 1) : 1) * pow(input, power);
 }
 
-/**
-  * Returns points of the intersections of a line segment and a circle. The line 
-  * segment is defined by two points, and the circle is defined by a center and radius.
-  */
-std::vector<Vector::point_t> line_circle_intersections(Vector::point_t center, double r, Vector::point_t point1, Vector::point_t point2)
-{
-  std::vector<Vector::point_t> intersections = {};
-
-  //Do future calculations relative to the circle's center
-  point1.y -= center.y;
-  point1.x -= center.x;
-  point2.y -= center.y;
-  point2.x -= center.x;
-
-  double x1, x2, y1, y2;
-  //Handling an infinite slope using mx+b and x^2 + y^2 = r^2
-  if(point1.x - point2.x == 0)
-  {
-    y1 = point1.y;
-    x1 = sqrt(pow(r, 2) - pow(y1, 2));
-    y2 = point1.y; 
-    x2 = -sqrt(pow(r, 2) - pow(y1, 2));
-  }
-  //Non-infinite slope using mx+b and x^2 + y^2 = r^2
-  else
-  {
-    double m = (point1.y - point2.y) / (point1.x - point2.x);
-    double b = point1.y - (m * point1.x);
-
-    x1 = ((-m * b) + sqrt(pow(r, 2) + (pow(m, 2) * pow(r, 2)) - pow(b, 2))) / (1 + pow(m,2));
-    y1 = m * x1 + b;
-    x2 = ((-m * b) - sqrt(pow(r, 2) + (pow(m, 2) * pow(r, 2)) - pow(b, 2))) / (1 + pow(m,2));
-    y2 = m * x2 + b;
-  }
-
-  //The equations used define an infinitely long line, so we check if the detected intersection falls on the line segment.
-  if(x1 >= fmin(point1.x, point2.x) && x1 <= fmax(point1.x, point2.x) && y1 >= fmin(point1.y, point2.y) && y1 <= fmax(point1.y, point2.y))
-  {
-    intersections.push_back(Vector::point_t{.x = x1 + center.x, .y = y1 + center.y});
-  }
-
-  if(x2 >= fmin(point1.x, point2.x) && x2 <= fmax(point1.x, point2.x) && y2 >= fmin(point1.y, point2.y) && y2 <= fmax(point1.y, point2.y))
-  {
-    intersections.push_back(Vector::point_t{.x = x2 + center.x, .y = y2 + center.y});
-  }
-
-  return intersections;
-}
-
-/**
- * Selects a look ahead from all the intersections in the path.
- */
-Vector::point_t get_lookahead(std::vector<Vector::point_t> path, Vector::point_t robot_loc, double radius)
-{
-  //Default: the end of the path
-  Vector::point_t target = path.back();
-  
-  //Check each line segment of the path for potential targets
-  for(int i = 0; i < path.size() - 1; i++)
-  {
-    Vector::point_t start = path[i];
-    Vector::point_t end = path[i+1];
-
-    std::vector<Vector::point_t> intersections = line_circle_intersections(robot_loc, radius, start, end);
-    //Choose the intersection that is closest to the end of the line segment
-    //This prioritizes the closest intersection to the end of the path
-    for(Vector::point_t intersection: intersections)
-    {
-      double intersection_dist_to_end = sqrt(pow(intersection.x - end.x, 2) + pow(intersection.y - end.y, 2));
-      double target_dist_to_end = sqrt(pow(target.x - end.x, 2) + pow(target.y - end.y, 2));
-      if(intersection_dist_to_end < target_dist_to_end)
-        target = intersection;
-    }
-  }
-
-  return target;
-}
-
-/**
- Injects points in a path without changing the curvature with a certain spacing.
-*/
-std::vector<Vector::point_t> inject_path(std::vector<Vector::point_t> path, double spacing)
-{
-  std::vector<Vector::point_t> new_path;
-
-  //Injecting points for each line segment
-  for(int i = 0; i < path.size() - 1; i++)
-  {
-    Vector::point_t start = path[i];
-    Vector::point_t end = path[i+1];
-
-    Vector::point_t diff = end - start;
-    Vector vector = Vector(diff);
-    
-    int num_points = ceil(vector.get_mag() / spacing);
-
-    //This is the vector between each point
-    vector = vector.normalize() * spacing;
-
-    for(int j = 0; j < num_points; j++)
-    {
-      //We take the start point and add additional vectors
-      Vector::point_t path_point = (Vector(start) + vector * j).point();
-      new_path.push_back(path_point);
-    }
-  }
-  //Adds the last point
-  new_path.push_back(path.back());
-  return new_path;
-}
+bool TankDrive::pure_pursuit(std::vector<PurePursuit::hermite_point> path, double radius, double speed, double res) {
+  std::vector<Vector::point_t> smoothed_path = PurePursuit::smooth_path_hermite(path, res);
 
-/**
-  Drives through a path using pure pursuit.
-*/
-void pure_pursuit(std::vector<Vector::point_t> path, Vector::point_t robot_loc, double radius, double speed)
-{
-  Vector::point_t lookahead = get_lookahead(path, robot_loc, radius);
-  // Travel towards target :)
+  Vector::point_t lookahead = PurePursuit::get_lookahead(smoothed_path, {odometry->get_position().x, odometry->get_position().y}, radius);
+  //printf("%f\t%f\n", odometry->get_position().x, odometry->get_position().y); 
+  //printf("%f\t%f\n", lookahead.x, lookahead.y);
+  return drive_to_point(lookahead.x, lookahead.y, speed, speed/2);
 }
diff --git a/src/utils/pure_pursuit.cpp b/src/utils/pure_pursuit.cpp
new file mode 100644
index 0000000..11aaea9
--- /dev/null
+++ b/src/utils/pure_pursuit.cpp
@@ -0,0 +1,236 @@
+#include "../core/include/utils/pure_pursuit.h"
+
+/**
+  * Returns points of the intersections of a line segment and a circle. The line 
+  * segment is defined by two points, and the circle is defined by a center and radius.
+  */
+std::vector<Vector::point_t> PurePursuit::line_circle_intersections(Vector::point_t center, double r, Vector::point_t point1, Vector::point_t point2)
+{
+  std::vector<Vector::point_t> intersections = {};
+
+  //Do future calculations relative to the circle's center
+  point1.y -= center.y;
+  point1.x -= center.x;
+  point2.y -= center.y;
+  point2.x -= center.x;
+
+  double x1, x2, y1, y2;
+  //Handling an infinite slope using mx+b and x^2 + y^2 = r^2
+  if(point1.x - point2.x == 0)
+  {
+    x1 = point1.x;
+    y1 = sqrt(pow(r, 2) - pow(x1, 2));
+    x2 = point1.x;
+    y2 = -sqrt(pow(r, 2) - pow(x2, 2));
+  }
+  //Non-infinite slope using mx+b and x^2 + y^2 = r^2
+  else
+  {
+    double m = (point1.y - point2.y) / (point1.x - point2.x);
+    double b = point1.y - (m * point1.x);
+
+    x1 = ((-m * b) + sqrt(pow(r, 2) + (pow(m, 2) * pow(r, 2)) - pow(b, 2))) / (1 + pow(m,2));
+    y1 = m * x1 + b;
+    x2 = ((-m * b) - sqrt(pow(r, 2) + (pow(m, 2) * pow(r, 2)) - pow(b, 2))) / (1 + pow(m,2));
+    y2 = m * x2 + b;
+  }
+
+  //The equations used define an infinitely long line, so we check if the detected intersection falls on the line segment.
+  if(x1 >= fmin(point1.x, point2.x) && x1 <= fmax(point1.x, point2.x) && y1 >= fmin(point1.y, point2.y) && y1 <= fmax(point1.y, point2.y))
+  {
+    intersections.push_back(Vector::point_t{.x = x1 + center.x, .y = y1 + center.y});
+  }
+
+  if(x2 >= fmin(point1.x, point2.x) && x2 <= fmax(point1.x, point2.x) && y2 >= fmin(point1.y, point2.y) && y2 <= fmax(point1.y, point2.y))
+  {
+    intersections.push_back(Vector::point_t{.x = x2 + center.x, .y = y2 + center.y});
+  }
+
+  return intersections;
+}
+
+/**
+ * Selects a look ahead from all the intersections in the path.
+ */
+Vector::point_t PurePursuit::get_lookahead(std::vector<Vector::point_t> path, Vector::point_t robot_loc, double radius)
+{ 
+  //Default: the end of the path
+  Vector::point_t target = path.back();
+
+  
+  if(target.dist(robot_loc) <= radius)
+  {
+    return target;
+  }
+  
+  //Check each line segment of the path for potential targets
+  for(int i = 0; i < path.size() - 1; i++)
+  {
+    Vector::point_t start = path[i];
+    Vector::point_t end = path[i+1];
+
+    std::vector<Vector::point_t> intersections = line_circle_intersections(robot_loc, radius, start, end);
+    //Choose the intersection that is closest to the end of the line segment
+    //This prioritizes the closest intersection to the end of the path
+    for(Vector::point_t intersection: intersections)
+    {
+      if(intersection.dist(end) < target.dist(end))
+        target = intersection;
+    }
+  }
+
+  return target;
+}
+
+/**
+ Injects points in a path without changing the curvature with a certain spacing.
+*/
+std::vector<Vector::point_t> PurePursuit::inject_path(std::vector<Vector::point_t> path, double spacing)
+{
+  std::vector<Vector::point_t> new_path;
+
+  //Injecting points for each line segment
+  for(int i = 0; i < path.size() - 1; i++)
+  {
+    Vector::point_t start = path[i];
+    Vector::point_t end = path[i+1];
+
+    Vector::point_t diff = end - start;
+    Vector vector = Vector(diff);
+    
+    int num_points = ceil(vector.get_mag() / spacing);
+
+    //This is the vector between each point
+    vector = vector.normalize() * spacing;
+
+    for(int j = 0; j < num_points; j++)
+    {
+      //We take the start point and add additional vectors
+      Vector::point_t path_point = (Vector(start) + vector * j).point();
+      new_path.push_back(path_point);
+    }
+  }
+  //Adds the last point
+  new_path.push_back(path.back());
+  return new_path;
+}
+
+/**
+ * Returns a smoothed path maintaining the start and end of the path.
+ *
+ * Weight data is how much weight to update the data (alpha)
+ * Weight smooth is how much weight to smooth the coordinates (beta)
+ * Tolerance is how much change per iteration is necessary to continue iterating.
+ *
+ * Honestly have no idea if/how this works.
+ * https://medium.com/@jaems33/understanding-robot-motion-path-smoothing-5970c8363bc4
+*/
+std::vector<Vector::point_t> PurePursuit::smooth_path(std::vector<Vector::point_t> path, double weight_data, double weight_smooth, double tolerance)
+{
+  std::vector<Vector::point_t> new_path = path;
+  double change = tolerance;
+  while(change >= tolerance)
+  {
+    change = 0;
+    for(int i = 1; i < path.size() - 1; i++)
+    {
+        Vector::point_t x_i = path[i];
+        Vector::point_t y_i = new_path[i];
+        Vector::point_t y_prev = new_path[i-1];
+        Vector::point_t y_next = new_path[i+1];
+        
+        Vector::point_t y_i_saved = y_i;
+        
+        y_i.x += weight_data * (x_i.x - y_i.x) + weight_smooth * (y_next.x + y_prev.x - (2 * y_i.x));
+        y_i.y += weight_data * (x_i.y - y_i.y) + weight_smooth * (y_next.y + y_prev.y - (2 * y_i.y));
+        new_path[i] = y_i;
+        
+        change += y_i.dist(y_i_saved);
+    }
+  }
+  return new_path;
+}
+
+/**
+ * Interpolates a smooth path given a list of waypoints using hermite splines.
+ * For more information: https://www.youtube.com/watch?v=hG0p4XgePSA.
+ *
+ * @param path The path of hermite points to interpolate.
+ * @param steps The number of points interpolated between points.
+ * @return The smoothed path.
+ */
+std::vector<Vector::point_t> PurePursuit::smooth_path_hermite(std::vector<hermite_point> path, double steps) {
+  std::vector<Vector::point_t> new_path;
+  for(int i = 0; i < path.size() - 1; i++) {
+    for(int t = 0; t < steps; t++) {
+      // Storing the start and end points and slopes at those points as Vectors.
+      Vector::point_t tmp = path[i].getPoint();
+      Vector p1 = Vector(tmp);
+      tmp = path[i+1].getPoint();
+      Vector p2 = Vector(tmp);
+      Vector t1 = path[i].getTangent();
+      Vector t2 = path[i+1].getTangent();
+
+
+      // Scale s from 0.0 to 1.0
+      double s = (double)t / (double)steps;
+
+      // Hermite Blending functions
+      double h1 = 2 * pow(s, 3) - 3 * pow(s, 2) + 1;    
+      double h2 = -2 * pow(s, 3) + 3 * pow(s, 2);
+      double h3 = pow(s, 3) - 2 * pow(s, 2) + s;
+      double h4 = pow(s, 3) - pow(s, 2);
+
+      // Calculate the point
+      Vector p = p1 * h1 + p2 * h2 + t1 * h3 + t2 * h4; 
+      new_path.push_back(p.point());
+    }
+  }
+  //Adding last point
+  new_path.push_back(path.back().getPoint());
+  return new_path;
+}
+
+std::vector<Vector::point_t> PurePursuit::smooth_path_cubic(std::vector<Vector::point_t> path, double res) {
+  std::vector<Vector::point_t> new_path;
+  std::vector<spline> splines;
+
+  double delta_x[path.size() - 1];
+  double slope[path.size() - 1];
+  double ftt[path.size()];
+
+  for(int i = 0; i < path.size() - 1; i++) {
+    delta_x[i] = path[i+1].x - path[i].x;
+    slope[i] = (path[i+1].y - path[i].y) / delta_x[i];
+  }
+
+  ftt[0] = 0;
+  for(int i = 0; i < path.size() - 2; i++) {
+    ftt[i+1] = 3 * (slope[i+1] - slope[i]) / (delta_x[i+1] + delta_x[i]);
+  }
+  ftt[path.size() - 1] = 0;
+
+  for (int i = 0; i < path.size() - 1; i++)
+  {
+    splines.push_back({
+      .a = (ftt[i + 1] - ftt[i]) / (6 * delta_x[i]),
+      .b = ftt[i] / 2,
+      .c = slope[i] - delta_x[i] * (ftt[i + 1] + 2 * ftt[i]) / 6,
+      .d = path[i].y,
+        .x_start = path[i].x,
+        .x_end = path[i+1].x
+    });
+  }
+
+  for(spline spline: splines) {
+      printf("spline a: %f b: %f c: %f d %f start %f, %f end %f, %f\n", spline.a, spline.b, spline.c, spline.d, spline.x_start, spline.getY(spline.x_start), spline.x_end, spline.getY(spline.x_end));
+    double x = spline.x_start;
+    while(x >= fmin(spline.x_start, spline.x_end) && x <= fmax(spline.x_start, spline.x_end)) {
+      new_path.push_back({x, spline.getY(x)});
+      spline.x_start < spline.x_end ? x += res: x -= res;
+    }
+  }
+    new_path.push_back({splines.back().x_end, splines.back().getY(splines.back().x_end)});
+
+  return new_path;
+}

From bef47581eb8e7a59519d0c47e15f24d08aec8090 Mon Sep 17 00:00:00 2001
From: Ryan McGee <ramtech51@comcast.net>
Date: Sun, 23 Jan 2022 14:44:09 -0500
Subject: [PATCH 046/243] Create LICENSE

---
 LICENSE | 21 +++++++++++++++++++++
 1 file changed, 21 insertions(+)
 create mode 100644 LICENSE

diff --git a/LICENSE b/LICENSE
new file mode 100644
index 0000000..5be734b
--- /dev/null
+++ b/LICENSE
@@ -0,0 +1,21 @@
+MIT License
+
+Copyright (c) 2022 RIT-VEX-U
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.

From 8a2d36fec60d1b646483b551678040f683d09978 Mon Sep 17 00:00:00 2001
From: Ryan McGee <ramtech51@comcast.net>
Date: Sun, 16 Jan 2022 19:19:18 -0500
Subject: [PATCH 047/243] Added initial autonomous program

---
 include/subsystems/odometry/odometry_tank.h |  2 ++
 include/utils/pid.h                         |  2 +-
 src/subsystems/odometry/odometry_tank.cpp   | 15 +++++++++++++++
 src/subsystems/tank_drive.cpp               |  3 +++
 src/utils/pid.cpp                           |  9 ++++++++-
 5 files changed, 29 insertions(+), 2 deletions(-)

diff --git a/include/subsystems/odometry/odometry_tank.h b/include/subsystems/odometry/odometry_tank.h
index e40daff..feb31c4 100644
--- a/include/subsystems/odometry/odometry_tank.h
+++ b/include/subsystems/odometry/odometry_tank.h
@@ -36,6 +36,8 @@ class OdometryTank : public OdometryBase
 
     void set_position(const position_t &newpos=zero_pos) override;
 
+    double get_speed();
+
 private:
     /**
      * Get information from the input hardware and an existing position, and calculate a new current position
diff --git a/include/utils/pid.h b/include/utils/pid.h
index a2ef91d..d102db2 100644
--- a/include/utils/pid.h
+++ b/include/utils/pid.h
@@ -11,7 +11,7 @@ class PID
 public:
   struct pid_config_t
   {
-    double p, i, d, f;
+    double p, i, d, f, k;
     double deadband, on_target_time;
   };
 
diff --git a/src/subsystems/odometry/odometry_tank.cpp b/src/subsystems/odometry/odometry_tank.cpp
index 2db44bd..93e3289 100644
--- a/src/subsystems/odometry/odometry_tank.cpp
+++ b/src/subsystems/odometry/odometry_tank.cpp
@@ -161,4 +161,19 @@ position_t OdometryTank::calculate_new_pos(robot_specs_t &config, position_t &cu
     stored_rside_revs = rside_revs;
 
     return new_pos;
+}
+
+double OdometryTank::get_speed()
+{
+  static position_t last_pos = get_position();
+  static timer speed_tmr;
+
+  double out = 0;
+  if(speed_tmr.value() != 0)
+  {
+    out = pos_diff(last_pos, get_position()) / speed_tmr.time(timeUnits::sec);
+    speed_tmr.reset();
+  }
+  last_pos = get_position();
+  return out;
 }
\ No newline at end of file
diff --git a/src/subsystems/tank_drive.cpp b/src/subsystems/tank_drive.cpp
index b531ee1..d9084a7 100644
--- a/src/subsystems/tank_drive.cpp
+++ b/src/subsystems/tank_drive.cpp
@@ -233,6 +233,9 @@ bool TankDrive::drive_to_point(double x, double y, double speed, double correcti
 
   drive_tank(lside, rside);
 
+  printf("dist: %f\n", dist_left);
+  fflush(stdout);
+
   // Check if the robot has reached it's destination
   if(drive_pid.is_on_target())
   {
diff --git a/src/utils/pid.cpp b/src/utils/pid.cpp
index 4e8dd5d..9f54370 100644
--- a/src/utils/pid.cpp
+++ b/src/utils/pid.cpp
@@ -31,7 +31,14 @@ void PID::update(double sensor_val)
   else if(last_time != 0)
     printf("(pid.cpp): Warning - running PID without a delay is just a P loop!\n");
 
-  out = (config.f * target) + (config.p * get_error()) + i_term + d_term;
+  double k_term = 0;
+  if(get_error() < 0)
+    k_term = config.k;
+  else if(get_error() > 0)
+    k_term = -config.k;
+
+
+  out = (config.f * target) + (config.p * get_error()) + i_term + d_term + k_term;
 
   last_time = pid_timer.value();
   last_error = get_error();

From 745171dfd4e603e273c086c673359cc252357f04 Mon Sep 17 00:00:00 2001
From: Ryan McGee <ramtech51@comcast.net>
Date: Tue, 18 Jan 2022 22:28:35 -0500
Subject: [PATCH 048/243] Faster initial auto

---
 include/subsystems/tank_drive.h |  2 +-
 src/subsystems/tank_drive.cpp   | 35 ++++++++++++++++++++++++++++++++-
 2 files changed, 35 insertions(+), 2 deletions(-)

diff --git a/include/subsystems/tank_drive.h b/include/subsystems/tank_drive.h
index 16bd27d..779e0ac 100644
--- a/include/subsystems/tank_drive.h
+++ b/include/subsystems/tank_drive.h
@@ -66,7 +66,7 @@ class TankDrive
    * Use odometry to automatically drive the robot to a point on the field.
    * X and Y is the final point we want the robot.
    */
-  bool drive_to_point(double x, double y, double speed, double correction_speed, vex::directionType direction=vex::directionType::fwd);
+  bool drive_to_point(double x, double y, double speed, double correction_speed, vex::directionType direction=vex::directionType::fwd, double max_accel=0);
 
   /**
    * Turn the robot in place to an exact heading relative to the field.
diff --git a/src/subsystems/tank_drive.cpp b/src/subsystems/tank_drive.cpp
index d9084a7..f1ad959 100644
--- a/src/subsystems/tank_drive.cpp
+++ b/src/subsystems/tank_drive.cpp
@@ -135,9 +135,12 @@ bool TankDrive::turn_degrees(double degrees, double percent_speed)
   *
   * Returns whether or not the robot has reached it's destination.
   */
-bool TankDrive::drive_to_point(double x, double y, double speed, double correction_speed, vex::directionType dir)
+bool TankDrive::drive_to_point(double x, double y, double speed, double correction_speed, vex::directionType dir, double max_accel)
 {
 
+  static timer accel_tmr;
+  static double lside_accel = 0, rside_accel = 0;
+
   if(!func_initialized)
   {
     // Reset the control loops
@@ -154,6 +157,10 @@ bool TankDrive::drive_to_point(double x, double y, double speed, double correcti
 
     // point_orientation_deg = atan2(y - odometry->get_position().y, x - odometry->get_position().x) * 180.0 / PI;
 
+    accel_tmr.reset();
+    lside_accel = 0;
+    rside_accel = 0;
+
     func_initialized = true;
   }
 
@@ -231,6 +238,32 @@ bool TankDrive::drive_to_point(double x, double y, double speed, double correcti
   lside = (lside > 1) ? 1 : (lside < -1) ? -1 : lside;
   rside = (rside > 1) ? 1 : (rside < -1) ? -1 : rside;
 
+  // static double last_lside = lside, last_rside = rside;
+  // bool decelerating = (fabs(lside) < fabs(last_lside)) && (fabs(rside) < fabs(last_rside));
+  // last_lside = lside;
+  // last_rside = rside;
+
+  // if(max_accel != 0 && !decelerating)
+  // {    
+  //   double accel_addition = max_accel * accel_tmr.time(timeUnits::sec);
+  //   accel_tmr.reset();
+    
+  //   lside_accel += (lside > 0 ? accel_addition : -accel_addition);
+  //   rside_accel += (rside > 0 ? accel_addition : -accel_addition);
+
+  //   printf("lside: %f, rside: %f, laccel: %f, raccel: %f\n", lside, rside, lside_accel, rside_accel);
+    
+  //   if ((lside < 0 && lside_accel > lside) || (lside > 0 && lside_accel < lside))
+  //     lside = lside_accel;
+  //   else
+  //     lside_accel = lside;
+    
+  //   if ((rside < 0 && rside_accel > rside) || (rside > 0 && rside_accel < rside))
+  //     rside = rside_accel;
+  //   else
+  //     rside_accel = rside;
+  // }
+
   drive_tank(lside, rside);
 
   printf("dist: %f\n", dist_left);

From 4d6c9a0ddbe8c0ee4af5a76d76e34cfb8406d860 Mon Sep 17 00:00:00 2001
From: Ryan McGee <ramtech51@comcast.net>
Date: Mon, 24 Jan 2022 18:19:08 -0500
Subject: [PATCH 049/243] Created auto skills program

---
 include/subsystems/tank_drive.h | 13 +++++++++++++
 include/utils/generic_auto.h    |  3 +++
 include/utils/pid.h             |  2 ++
 src/subsystems/tank_drive.cpp   | 15 +++++++++++++--
 src/utils/pid.cpp               |  5 +++++
 5 files changed, 36 insertions(+), 2 deletions(-)

diff --git a/include/subsystems/tank_drive.h b/include/subsystems/tank_drive.h
index 779e0ac..c584bfc 100644
--- a/include/subsystems/tank_drive.h
+++ b/include/subsystems/tank_drive.h
@@ -79,8 +79,20 @@ class TankDrive
    */
   void reset_auto();
 
+  /**
+   * Create a curve for the inputs, so that drivers have more control at lower speeds.
+   * Curves are exponential, with the deault being squaring the inputs.
+   */
   static double modify_inputs(double input, int power=2);
 
+  /**
+   * Follow a hermite curve using the pure pursuit algorithm.
+   * 
+   * @param path The hermite curve for the robot to take. Must have 2 or more points.
+   * @param radius How the pure pursuit radius, in inches, for finding the lookahead point
+   * @param speed Robot's maximum speed throughout the path, between 0 and 1.0
+   * @param res The number of points to use along the path; the hermite curve is split up into "res" individual points.
+   */
   bool pure_pursuit(std::vector<PurePursuit::hermite_point> path, double radius, double speed, double res);
 
 private:
@@ -98,4 +110,5 @@ class TankDrive
   robot_specs_t &config;
 
   bool func_initialized = false;
+  bool is_pure_pursuit = false;
 };
diff --git a/include/utils/generic_auto.h b/include/utils/generic_auto.h
index 80e4123..3931ab3 100644
--- a/include/utils/generic_auto.h
+++ b/include/utils/generic_auto.h
@@ -26,6 +26,9 @@ class GenericAuto
   */
   bool run(bool blocking);
 
+  /**
+   * Add a new state to the autonomous via function point of type "bool (ptr*)()"
+   */
   void add(state_ptr);
 
   private:
diff --git a/include/utils/pid.h b/include/utils/pid.h
index d102db2..d804904 100644
--- a/include/utils/pid.h
+++ b/include/utils/pid.h
@@ -41,6 +41,8 @@ class PID
    */
   double get_error();
 
+  double get_target();
+
   /**
    * Set the target for the PID loop, where the robot is trying to end up
    */
diff --git a/src/subsystems/tank_drive.cpp b/src/subsystems/tank_drive.cpp
index f1ad959..f394e30 100644
--- a/src/subsystems/tank_drive.cpp
+++ b/src/subsystems/tank_drive.cpp
@@ -220,7 +220,7 @@ bool TankDrive::drive_to_point(double x, double y, double speed, double correcti
 
   // Disable correction when we're close enough to the point
   double correction = 0;
-  if(fabs(dist_left) > config.drive_correction_cutoff)
+  if(is_pure_pursuit || fabs(dist_left) > config.drive_correction_cutoff)
     correction = correction_pid.get();
 
   // Reverse the drive_pid output if we're going backwards
@@ -329,10 +329,21 @@ double TankDrive::modify_inputs(double input, int power)
 }
 
 bool TankDrive::pure_pursuit(std::vector<PurePursuit::hermite_point> path, double radius, double speed, double res) {
+  is_pure_pursuit = true;
   std::vector<Vector::point_t> smoothed_path = PurePursuit::smooth_path_hermite(path, res);
 
   Vector::point_t lookahead = PurePursuit::get_lookahead(smoothed_path, {odometry->get_position().x, odometry->get_position().y}, radius);
   //printf("%f\t%f\n", odometry->get_position().x, odometry->get_position().y); 
   //printf("%f\t%f\n", lookahead.x, lookahead.y);
-  return drive_to_point(lookahead.x, lookahead.y, speed, speed/2);
+  bool is_last_point = (path.back().x == lookahead.x) && (path.back().y == lookahead.y);
+
+  if(is_last_point)
+    is_pure_pursuit = false;
+
+  bool retval = drive_to_point(lookahead.x, lookahead.y, speed, 1);
+
+  if(is_last_point)
+    return retval;
+
+  return false;
 }
diff --git a/src/utils/pid.cpp b/src/utils/pid.cpp
index 9f54370..9fcfd34 100644
--- a/src/utils/pid.cpp
+++ b/src/utils/pid.cpp
@@ -91,6 +91,11 @@ double PID::get_error()
   return target - sensor_val;
 }
 
+double PID::get_target()
+{
+  return target;
+}
+
 /**
    * Set the target for the PID loop, where the robot is trying to end up
    */

From 482db9cbf1f86d30cc7a6b41a34be33a171bf2c8 Mon Sep 17 00:00:00 2001
From: Ryan McGee <ramtech51@comcast.net>
Date: Sun, 6 Feb 2022 12:32:12 -0500
Subject: [PATCH 050/243] Post WPI squash commit

---
 include/subsystems/tank_drive.h |  2 +-
 src/subsystems/tank_drive.cpp   | 61 +++++++++++++++++----------------
 2 files changed, 33 insertions(+), 30 deletions(-)

diff --git a/include/subsystems/tank_drive.h b/include/subsystems/tank_drive.h
index c584bfc..90d6386 100644
--- a/include/subsystems/tank_drive.h
+++ b/include/subsystems/tank_drive.h
@@ -66,7 +66,7 @@ class TankDrive
    * Use odometry to automatically drive the robot to a point on the field.
    * X and Y is the final point we want the robot.
    */
-  bool drive_to_point(double x, double y, double speed, double correction_speed, vex::directionType direction=vex::directionType::fwd, double max_accel=0);
+  bool drive_to_point(double x, double y, double speed, double correction_speed, vex::directionType direction=vex::directionType::fwd);
 
   /**
    * Turn the robot in place to an exact heading relative to the field.
diff --git a/src/subsystems/tank_drive.cpp b/src/subsystems/tank_drive.cpp
index f394e30..a7a2d3a 100644
--- a/src/subsystems/tank_drive.cpp
+++ b/src/subsystems/tank_drive.cpp
@@ -70,6 +70,14 @@ bool TankDrive::drive_forward(double inches, double speed, double correction, di
 {
   static position_t pos_setpt;
 
+  // We can't run the auto drive function without odometry
+  if(odometry == NULL)
+  {
+    fprintf(stderr, "Odometry is NULL. Unable to run drive_forward()\n");
+    fflush(stderr);
+    return true;
+  }
+
   // Generate a point X inches forward of the current position, on first startup
   if (!func_initialized)
   {
@@ -99,6 +107,14 @@ bool TankDrive::drive_forward(double inches, double speed, double correction, di
  */
 bool TankDrive::turn_degrees(double degrees, double percent_speed)
 {
+  // We can't run the auto drive function without odometry
+  if(odometry == NULL)
+  {
+    fprintf(stderr, "Odometry is NULL. Unable to run drive_forward()\n");
+    fflush(stderr);
+    return true;
+  }
+
   // On the first run of the funciton, reset the gyro position and PID
   if (!func_initialized)
   {
@@ -135,10 +151,16 @@ bool TankDrive::turn_degrees(double degrees, double percent_speed)
   *
   * Returns whether or not the robot has reached it's destination.
   */
-bool TankDrive::drive_to_point(double x, double y, double speed, double correction_speed, vex::directionType dir, double max_accel)
+bool TankDrive::drive_to_point(double x, double y, double speed, double correction_speed, vex::directionType dir)
 {
+  // We can't run the auto drive function without odometry
+  if(odometry == NULL)
+  {
+    fprintf(stderr, "Odometry is NULL. Unable to run drive_forward()\n");
+    fflush(stderr);
+    return true;
+  }
 
-  static timer accel_tmr;
   static double lside_accel = 0, rside_accel = 0;
 
   if(!func_initialized)
@@ -157,7 +179,6 @@ bool TankDrive::drive_to_point(double x, double y, double speed, double correcti
 
     // point_orientation_deg = atan2(y - odometry->get_position().y, x - odometry->get_position().x) * 180.0 / PI;
 
-    accel_tmr.reset();
     lside_accel = 0;
     rside_accel = 0;
 
@@ -238,32 +259,6 @@ bool TankDrive::drive_to_point(double x, double y, double speed, double correcti
   lside = (lside > 1) ? 1 : (lside < -1) ? -1 : lside;
   rside = (rside > 1) ? 1 : (rside < -1) ? -1 : rside;
 
-  // static double last_lside = lside, last_rside = rside;
-  // bool decelerating = (fabs(lside) < fabs(last_lside)) && (fabs(rside) < fabs(last_rside));
-  // last_lside = lside;
-  // last_rside = rside;
-
-  // if(max_accel != 0 && !decelerating)
-  // {    
-  //   double accel_addition = max_accel * accel_tmr.time(timeUnits::sec);
-  //   accel_tmr.reset();
-    
-  //   lside_accel += (lside > 0 ? accel_addition : -accel_addition);
-  //   rside_accel += (rside > 0 ? accel_addition : -accel_addition);
-
-  //   printf("lside: %f, rside: %f, laccel: %f, raccel: %f\n", lside, rside, lside_accel, rside_accel);
-    
-  //   if ((lside < 0 && lside_accel > lside) || (lside > 0 && lside_accel < lside))
-  //     lside = lside_accel;
-  //   else
-  //     lside_accel = lside;
-    
-  //   if ((rside < 0 && rside_accel > rside) || (rside > 0 && rside_accel < rside))
-  //     rside = rside_accel;
-  //   else
-  //     rside_accel = rside;
-  // }
-
   drive_tank(lside, rside);
 
   printf("dist: %f\n", dist_left);
@@ -286,6 +281,14 @@ bool TankDrive::drive_to_point(double x, double y, double speed, double correcti
  */
 bool TankDrive::turn_to_heading(double heading_deg, double speed)
 {
+  // We can't run the auto drive function without odometry
+  if(odometry == NULL)
+  {
+    fprintf(stderr, "Odometry is NULL. Unable to run drive_forward()\n");
+    fflush(stderr);
+    return true;
+  }
+
   static bool initialized = false;
   if(!initialized)
   {

From e24602b236e048752d272881963cafdde867bd3b Mon Sep 17 00:00:00 2001
From: Ryan McGee <ramtech51@comcast.net>
Date: Sun, 6 Feb 2022 16:07:43 -0500
Subject: [PATCH 051/243] Created new generic lift class in Core

---
 include/subsystems/lift.h     | 257 ++++++++++++++++++++++++++++++++++
 src/subsystems/tank_drive.cpp |   7 +-
 2 files changed, 258 insertions(+), 6 deletions(-)
 create mode 100644 include/subsystems/lift.h

diff --git a/include/subsystems/lift.h b/include/subsystems/lift.h
new file mode 100644
index 0000000..27d12ab
--- /dev/null
+++ b/include/subsystems/lift.h
@@ -0,0 +1,257 @@
+#pragma once
+
+#include "vex.h"
+#include "../core/include/utils/pid.h"
+#include <map>
+#include <atomic>
+#include <vector>
+
+using namespace vex;
+using namespace std;
+
+/**
+ * LIFT
+ * A general class for lifts (e.g. 4bar, dr4bar, linear, etc)
+ * Uses a PID to hold the lift at a certain height under load, and to move the lift to different heights
+ *
+ * @author Ryan McGee
+ */
+template <typename T>
+class Lift
+{
+  public:
+
+  struct lift_cfg_t
+  {
+    double up_speed, down_speed;
+    double softstop_up, softstop_down;
+
+    PID::pid_config_t lift_pid_cfg;
+  };
+
+  /**
+    * Construct the Lift object and begin the background task that controls the lift.
+    *
+    * Usage example:
+    * /code{.cpp}
+    * enum Positions {UP, MID, DOWN};
+    * map<Positions, double> setpt_map { 
+    *      {DOWN, 0.0}, 
+    *      {MID, 0.5},
+    *      {UP, 1.0}
+    *  };
+    * Lift<Positions> my_lift(motors, lift_cfg, setpt_map);
+    * /endcode
+    *
+    * @param lift_motors 
+    *   A set of motors, all set that positive rotation correlates with the lift going up
+    * @param lift_cfg
+    *   Lift characterization information; PID tunings and movement speeds
+    * @param setpoint_map
+    *   A map of enum type T, in which each enum entry corresponds to a different lift height
+    */
+  Lift(motor_group &lift_motors, lift_cfg_t &lift_cfg, map<T, double> setpoint_map)
+  : lift_motors(lift_motors), cfg(lift_cfg), lift_pid(cfg.lift_pid_cfg), setpoint_map(setpoint_map)
+  {
+
+    is_async = true;
+    setpoint = 0;
+    
+    // Create a background task that is constantly updating the lift PID, if requested.
+    // Set once, and forget.
+    task t([](void* ptr){
+      Lift &lift = *((Lift*) ptr);
+
+      while(true)
+      {
+        if(lift.get_async())
+          lift.hold();
+
+        vexDelay(50);
+      }
+
+      return 0;
+    }, this);
+
+  }
+
+  /**
+    *  Control the lift with an "up" button and a "down" button.
+    *  Use PID to hold the lift when letting go.
+    *  @param up_ctrl
+    *    Button controlling the "UP" motion
+    *  @param down_ctrl
+    *    Button controlling the "DOWN" motion
+    */
+  void control_continuous(bool up_ctrl, bool down_ctrl)
+  {
+    static timer tmr;
+    
+    double cur_pos = 0;
+
+    // Check if there's a hook for a custom sensor. If not, use the motors.
+    if(get_sensor == NULL)
+      cur_pos = lift_motors.rotation(rev);
+    else
+      cur_pos = get_sensor();
+
+    if(up_ctrl && cur_pos < cfg.softstop_up)
+    {
+      lift_motors.spin(directionType::fwd, cfg.up_speed, volt);
+      setpoint = cur_pos;
+
+      // Disable the PID while going UP.
+      is_async = false;
+    } else if(down_ctrl && cur_pos > cfg.softstop_down)
+    {
+      // Lower the lift slowly, at a rate defined by down_speed
+      setpoint -= tmr.time(sec) * cfg.down_speed;
+      is_async = true;
+    } else
+    {
+      // Hold the lift at the last setpoint
+      is_async = true;
+    }
+
+    tmr.reset();  
+  }
+
+  /**
+    * Control the lift in "steps". When the "up" button is pressed, the lift will go to the next
+    * position as defined by pos_list. Order matters! 
+    *
+    * @param up_step
+    *   A button that increments the position of the lift.
+    * @param down_step
+    *   A button that decrements the position of the lift.
+    * @param pos_list
+    *   A list of positions for the lift to go through. The higher the index, the higher the lift should be (generally).
+    */
+  void control_setpoints(bool up_step, bool down_step, vector<T> pos_list)
+  {
+    // Make sure inputs are only processed on the rising edge of the button
+    static bool up_last = up_step, down_last = down_step;
+
+    bool up_rising = up_step && !up_last;
+    bool down_rising = down_step && !down_last;
+
+    up_last = up_step;
+    down_last = down_step;
+
+    static int cur_index = 0;
+
+    // Avoid an index overflow. Shouldn't happen unless the user changes pos_list between calls.
+    if(cur_index >= pos_list.size())
+      cur_index = pos_list.size() - 1;
+
+    // Increment or decrement the index of the list, bringing it up or down.
+    if(up_rising && cur_index < (pos_list.size() - 1))
+      cur_index++;
+    else if(down_rising && cur_index > 0)
+      cur_index--;
+
+    // Set the lift to hold the position in the background with the PID loop
+    set_position(pos_list[cur_index]);
+    is_async = true;  
+
+  }
+
+  /**
+    * Enable the background task, and send the lift to a position, specified by the
+    * setpoint map from the constructor.
+    * 
+    * @param pos
+    *   A lift position enum type
+    * @return True if the pid has reached the setpoint
+    */
+  bool set_position(T pos)
+  {
+    this->setpoint = setpoint_map[pos];
+    is_async = true;
+
+    return (lift_pid.get_target() == this->setpoint) && lift_pid.is_on_target();
+  }
+
+  /**
+    * Manually set a setpoint value for the lift PID to go to.
+    * @param val
+    *   Lift setpoint, in motor revolutions or sensor units defined by get_sensor. Cannot be outside the softstops.
+    * @return True if the pid has reached the setpoint
+    */
+  bool set_setpoint(double val)
+  {
+    this->setpoint = val;
+    return (lift_pid.get_target() == this->setpoint) && lift_pid.is_on_target();
+  }
+  
+  /**
+    * @return The current setpoint for the lift
+    */
+  double get_setpoint()
+  {
+    return this->setpoint;
+  }
+
+  /**
+    * Target the class's setpoint.
+    * Calculate the PID output and set the lift motors accordingly.
+    */
+  void hold()
+  {
+    lift_pid.set_target(setpoint);
+
+    if(get_sensor != NULL)
+      lift_pid.update(get_sensor());
+    else
+      lift_pid.update(lift_motors.rotation(rev));
+
+    lift_motors.spin(fwd, lift_pid.get(), volt);
+  }
+
+  /**
+    * @return whether or not the background thread is running the lift
+    */
+  bool get_async()
+  {
+    return is_async;
+  }
+
+  /**
+    * Enables or disables the background task. Note that running the control functions, or set_position functions
+    * will immediately re-enable the task for autonomous use.
+    * @param Whether or not the background thread should run the lift
+    */
+  void set_async(bool val)
+  {
+    this->is_async = val;
+  }
+
+  /**
+    * Creates a custom hook for any other type of sensor to be used on the lift. Example:
+    * /code{.cpp}
+    * my_lift.set_sensor_function( [](){return my_sensor.position();} );
+    * /endcode
+    *
+    * @param fn_ptr
+    *   Pointer to custom sensor function
+    */
+  void set_sensor_function(double (*fn_ptr) (void))
+  {
+    this->get_sensor = fn_ptr;
+  }
+
+  private:
+
+  motor_group &lift_motors;
+  lift_cfg_t &cfg;
+  PID lift_pid;
+  map<T, double> &setpoint_map;
+  
+  atomic<double> setpoint;
+  atomic<bool> is_async;
+
+  double (*get_sensor)(void) = NULL;
+
+  
+
+};
\ No newline at end of file
diff --git a/src/subsystems/tank_drive.cpp b/src/subsystems/tank_drive.cpp
index a7a2d3a..8a9a195 100644
--- a/src/subsystems/tank_drive.cpp
+++ b/src/subsystems/tank_drive.cpp
@@ -160,9 +160,7 @@ bool TankDrive::drive_to_point(double x, double y, double speed, double correcti
     fflush(stderr);
     return true;
   }
-
-  static double lside_accel = 0, rside_accel = 0;
-
+  
   if(!func_initialized)
   {
     // Reset the control loops
@@ -179,9 +177,6 @@ bool TankDrive::drive_to_point(double x, double y, double speed, double correcti
 
     // point_orientation_deg = atan2(y - odometry->get_position().y, x - odometry->get_position().x) * 180.0 / PI;
 
-    lside_accel = 0;
-    rside_accel = 0;
-
     func_initialized = true;
   }
 

From e5596e4a7dc4e0dfdedcce1db84705e66d4d7a96 Mon Sep 17 00:00:00 2001
From: Ryan McGee <ramtech51@comcast.net>
Date: Wed, 9 Feb 2022 10:53:25 -0500
Subject: [PATCH 052/243] Added homing function to Lift

---
 include/subsystems/lift.h | 45 ++++++++++++++++++++++++++++++++++++---
 1 file changed, 42 insertions(+), 3 deletions(-)

diff --git a/include/subsystems/lift.h b/include/subsystems/lift.h
index 27d12ab..a44d206 100644
--- a/include/subsystems/lift.h
+++ b/include/subsystems/lift.h
@@ -50,8 +50,8 @@ class Lift
     * @param setpoint_map
     *   A map of enum type T, in which each enum entry corresponds to a different lift height
     */
-  Lift(motor_group &lift_motors, lift_cfg_t &lift_cfg, map<T, double> setpoint_map)
-  : lift_motors(lift_motors), cfg(lift_cfg), lift_pid(cfg.lift_pid_cfg), setpoint_map(setpoint_map)
+  Lift(motor_group &lift_motors, lift_cfg_t &lift_cfg, map<T, double> setpoint_map, limit *homing_switch=NULL)
+  : lift_motors(lift_motors), cfg(lift_cfg), lift_pid(cfg.lift_pid_cfg), setpoint_map(setpoint_map), homing_switch(homing_switch)
   {
 
     is_async = true;
@@ -208,6 +208,33 @@ class Lift
     lift_motors.spin(fwd, lift_pid.get(), volt);
   }
 
+  /**
+   * A blocking function that automatically homes the lift based on a sensor or hard stop, 
+   * and sets the position to 0. A watchdog times out after 3 seconds, to avoid damage.
+   */
+  void home()
+  {
+    static timer tmr;
+    tmr.reset();
+    
+    while(tmr.time(sec) < 3)
+    {
+      lift_motors.spin(directionType::rev, 6, volt);
+
+      if (homing_switch == NULL && lift_motors.current(currentUnits::amp) > 1.5)
+        break;
+      else if (homing_switch != NULL && homing_switch->pressing())
+        break;
+    }
+
+    if(reset_sensor != NULL)
+      reset_sensor();
+    
+    lift_motors.resetPosition();
+    lift_motors.stop();
+
+  }
+
   /**
     * @return whether or not the background thread is running the lift
     */
@@ -240,18 +267,30 @@ class Lift
     this->get_sensor = fn_ptr;
   }
 
+  /**
+   *  Creates a custom hook to reset the sensor used in set_sensor_function(). Example:
+   * /code{.cpp}
+   * my_lift.set_sensor_reset( my_sensor.resetPosition );
+   * /endcode
+   */
+  void set_sensor_reset(void (*fn_ptr) (void))
+  {
+    this->reset_sensor = fn_ptr;
+  }
+
   private:
 
   motor_group &lift_motors;
   lift_cfg_t &cfg;
   PID lift_pid;
   map<T, double> &setpoint_map;
+  limit *homing_switch;
   
   atomic<double> setpoint;
   atomic<bool> is_async;
 
   double (*get_sensor)(void) = NULL;
-
+  void (*reset_sensor)(void) = NULL;
   
 
 };
\ No newline at end of file

From c69dc43e4541a22fe92e0ff88995324c54c843a1 Mon Sep 17 00:00:00 2001
From: Dana <dec1701@rit.edu>
Date: Wed, 23 Feb 2022 20:10:40 -0500
Subject: [PATCH 053/243] debugging in progress

---
 include/subsystems/lift.h | 9 ++++++++-
 1 file changed, 8 insertions(+), 1 deletion(-)

diff --git a/include/subsystems/lift.h b/include/subsystems/lift.h
index a44d206..cc0194b 100644
--- a/include/subsystems/lift.h
+++ b/include/subsystems/lift.h
@@ -2,6 +2,7 @@
 
 #include "vex.h"
 #include "../core/include/utils/pid.h"
+#include <iostream>
 #include <map>
 #include <atomic>
 #include <vector>
@@ -100,12 +101,15 @@ class Lift
       lift_motors.spin(directionType::fwd, cfg.up_speed, volt);
       setpoint = cur_pos;
 
+      std::cout << "DEBUG OUT: UP " << setpoint << ", " << tmr.time(sec) << ", " << cfg.down_speed << "\n";
+
       // Disable the PID while going UP.
       is_async = false;
     } else if(down_ctrl && cur_pos > cfg.softstop_down)
     {
       // Lower the lift slowly, at a rate defined by down_speed
-      setpoint -= tmr.time(sec) * cfg.down_speed;
+      setpoint = setpoint - (tmr.time(sec) * /*cfg.down_speed*/ 2.4);
+      std::cout << "DEBUG OUT: DOWN " << setpoint << ", " << tmr.time(sec) << ", " << cfg.down_speed << "\n";
       is_async = true;
     } else
     {
@@ -199,12 +203,15 @@ class Lift
   void hold()
   {
     lift_pid.set_target(setpoint);
+    std::cout << "DEBUG OUT: SETPOINT " << setpoint << "\n";
 
     if(get_sensor != NULL)
       lift_pid.update(get_sensor());
     else
       lift_pid.update(lift_motors.rotation(rev));
 
+    std::cout << "DEBUG OUT: ROTATION " << lift_motors.rotation(rev) << "\n\n";
+
     lift_motors.spin(fwd, lift_pid.get(), volt);
   }
 

From c37391f885cdf32cd1eaf1a4182dcd8fe1682803 Mon Sep 17 00:00:00 2001
From: Ryan McGee <ramtech51@comcast.net>
Date: Thu, 24 Feb 2022 22:06:17 -0500
Subject: [PATCH 054/243] Fixed everything (ready for comp kinda)

---
 include/subsystems/lift.h | 13 +++++++------
 1 file changed, 7 insertions(+), 6 deletions(-)

diff --git a/include/subsystems/lift.h b/include/subsystems/lift.h
index cc0194b..351c41f 100644
--- a/include/subsystems/lift.h
+++ b/include/subsystems/lift.h
@@ -99,17 +99,18 @@ class Lift
     if(up_ctrl && cur_pos < cfg.softstop_up)
     {
       lift_motors.spin(directionType::fwd, cfg.up_speed, volt);
-      setpoint = cur_pos;
+      setpoint = cur_pos + .3;
 
-      std::cout << "DEBUG OUT: UP " << setpoint << ", " << tmr.time(sec) << ", " << cfg.down_speed << "\n";
+      // std::cout << "DEBUG OUT: UP " << setpoint << ", " << tmr.time(sec) << ", " << cfg.down_speed << "\n";
 
       // Disable the PID while going UP.
       is_async = false;
     } else if(down_ctrl && cur_pos > cfg.softstop_down)
     {
       // Lower the lift slowly, at a rate defined by down_speed
-      setpoint = setpoint - (tmr.time(sec) * /*cfg.down_speed*/ 2.4);
-      std::cout << "DEBUG OUT: DOWN " << setpoint << ", " << tmr.time(sec) << ", " << cfg.down_speed << "\n";
+      if(setpoint > cfg.softstop_down)
+        setpoint = setpoint - (tmr.time(sec) * cfg.down_speed);
+      // std::cout << "DEBUG OUT: DOWN " << setpoint << ", " << tmr.time(sec) << ", " << cfg.down_speed << "\n";
       is_async = true;
     } else
     {
@@ -203,14 +204,14 @@ class Lift
   void hold()
   {
     lift_pid.set_target(setpoint);
-    std::cout << "DEBUG OUT: SETPOINT " << setpoint << "\n";
+    // std::cout << "DEBUG OUT: SETPOINT " << setpoint << "\n";
 
     if(get_sensor != NULL)
       lift_pid.update(get_sensor());
     else
       lift_pid.update(lift_motors.rotation(rev));
 
-    std::cout << "DEBUG OUT: ROTATION " << lift_motors.rotation(rev) << "\n\n";
+    // std::cout << "DEBUG OUT: ROTATION " << lift_motors.rotation(rev) << "\n\n";
 
     lift_motors.spin(fwd, lift_pid.get(), volt);
   }

From 03e55db9fe821d47451d5421a0da63b768e9ec7b Mon Sep 17 00:00:00 2001
From: Ryan McGee <ramtech51@comcast.net>
Date: Tue, 1 Mar 2022 13:05:37 -0500
Subject: [PATCH 055/243] Post competition commit

---
 include/subsystems/lift.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/include/subsystems/lift.h b/include/subsystems/lift.h
index 351c41f..29b9767 100644
--- a/include/subsystems/lift.h
+++ b/include/subsystems/lift.h
@@ -51,7 +51,7 @@ class Lift
     * @param setpoint_map
     *   A map of enum type T, in which each enum entry corresponds to a different lift height
     */
-  Lift(motor_group &lift_motors, lift_cfg_t &lift_cfg, map<T, double> setpoint_map, limit *homing_switch=NULL)
+  Lift(motor_group &lift_motors, lift_cfg_t &lift_cfg, map<T, double> &setpoint_map, limit *homing_switch=NULL)
   : lift_motors(lift_motors), cfg(lift_cfg), lift_pid(cfg.lift_pid_cfg), setpoint_map(setpoint_map), homing_switch(homing_switch)
   {
 

From 3484b6c801e751a27c6ed64724413cc9cce98371 Mon Sep 17 00:00:00 2001
From: Dana <dec1701@rit.edu>
Date: Thu, 3 Mar 2022 20:34:35 -0500
Subject: [PATCH 056/243] removed pathfinder

---
 lib/libpathfinder.a | Bin 31010 -> 0 bytes
 1 file changed, 0 insertions(+), 0 deletions(-)
 delete mode 100644 lib/libpathfinder.a

diff --git a/lib/libpathfinder.a b/lib/libpathfinder.a
deleted file mode 100644
index f96adc441fd3bad6c48253e7f03d119a70606a7b..0000000000000000000000000000000000000000
GIT binary patch
literal 0
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KfXBg}<9`ED4F!V$


From 9e1d85ff3f95def633975ab391eea930033e5a47 Mon Sep 17 00:00:00 2001
From: Ryan McGee <ramtech51@comcast.net>
Date: Thu, 3 Mar 2022 21:09:29 -0500
Subject: [PATCH 057/243] Remade the subsystem code, started vision tracking

---
 include/subsystems/custom_encoder.h | 28 +++++++++++++++++++++++++
 src/subsystems/custom_encoder.cpp   | 32 +++++++++++++++++++++++++++++
 2 files changed, 60 insertions(+)
 create mode 100644 include/subsystems/custom_encoder.h
 create mode 100644 src/subsystems/custom_encoder.cpp

diff --git a/include/subsystems/custom_encoder.h b/include/subsystems/custom_encoder.h
new file mode 100644
index 0000000..19df840
--- /dev/null
+++ b/include/subsystems/custom_encoder.h
@@ -0,0 +1,28 @@
+#pragma once
+#include "vex.h"
+
+/**
+ * A wrapper class for the vex encoder that allows the use of 3rd party
+ * encoders with different tick-per-revolution values.
+ */
+class CustomEncoder : public vex::encoder
+{
+  typedef vex::encoder super;
+
+  public:
+  CustomEncoder(vex::triport::port &port, double ticks_per_rev);
+
+  void setRotation(double val, vex::rotationUnits units);
+
+  void setPosition(double val, vex::rotationUnits units);
+
+  double rotation(vex::rotationUnits units);
+
+  double position(vex::rotationUnits units);
+
+  double velocity(vex::velocityUnits units);
+
+
+  private:
+  double tick_scalar;
+};
\ No newline at end of file
diff --git a/src/subsystems/custom_encoder.cpp b/src/subsystems/custom_encoder.cpp
new file mode 100644
index 0000000..b920782
--- /dev/null
+++ b/src/subsystems/custom_encoder.cpp
@@ -0,0 +1,32 @@
+#include "../core/include/subsystems/custom_encoder.h"
+
+CustomEncoder::CustomEncoder(vex::triport::port &port, double ticks_per_rev)
+: super(port)
+{
+  tick_scalar = ticks_per_rev / 90;
+}
+
+void CustomEncoder::setRotation(double val, vex::rotationUnits units)
+{
+  super::setRotation(val * tick_scalar, units);
+}
+
+void CustomEncoder::setPosition(double val, vex::rotationUnits units)
+{
+  super::setPosition(val * tick_scalar, units);
+}
+
+double CustomEncoder::rotation(vex::rotationUnits units)
+{
+  return super::rotation(units) / tick_scalar;
+}
+
+double CustomEncoder::position(vex::rotationUnits units)
+{
+  return super::position(units) / tick_scalar;
+}
+
+double CustomEncoder::velocity(vex::velocityUnits units)
+{
+  return super::velocity(units) / tick_scalar;
+}
\ No newline at end of file

From c57151285221e7fa0c6d75dad2dbbd5dcd2604e9 Mon Sep 17 00:00:00 2001
From: Ryan McGee <ramtech51@comcast.net>
Date: Sun, 6 Feb 2022 12:32:12 -0500
Subject: [PATCH 058/243] Post WPI squash commit

---
 include/subsystems/tank_drive.h |  2 +-
 src/subsystems/tank_drive.cpp   | 61 +++++++++++++++++----------------
 2 files changed, 33 insertions(+), 30 deletions(-)

diff --git a/include/subsystems/tank_drive.h b/include/subsystems/tank_drive.h
index c584bfc..90d6386 100644
--- a/include/subsystems/tank_drive.h
+++ b/include/subsystems/tank_drive.h
@@ -66,7 +66,7 @@ class TankDrive
    * Use odometry to automatically drive the robot to a point on the field.
    * X and Y is the final point we want the robot.
    */
-  bool drive_to_point(double x, double y, double speed, double correction_speed, vex::directionType direction=vex::directionType::fwd, double max_accel=0);
+  bool drive_to_point(double x, double y, double speed, double correction_speed, vex::directionType direction=vex::directionType::fwd);
 
   /**
    * Turn the robot in place to an exact heading relative to the field.
diff --git a/src/subsystems/tank_drive.cpp b/src/subsystems/tank_drive.cpp
index f394e30..a7a2d3a 100644
--- a/src/subsystems/tank_drive.cpp
+++ b/src/subsystems/tank_drive.cpp
@@ -70,6 +70,14 @@ bool TankDrive::drive_forward(double inches, double speed, double correction, di
 {
   static position_t pos_setpt;
 
+  // We can't run the auto drive function without odometry
+  if(odometry == NULL)
+  {
+    fprintf(stderr, "Odometry is NULL. Unable to run drive_forward()\n");
+    fflush(stderr);
+    return true;
+  }
+
   // Generate a point X inches forward of the current position, on first startup
   if (!func_initialized)
   {
@@ -99,6 +107,14 @@ bool TankDrive::drive_forward(double inches, double speed, double correction, di
  */
 bool TankDrive::turn_degrees(double degrees, double percent_speed)
 {
+  // We can't run the auto drive function without odometry
+  if(odometry == NULL)
+  {
+    fprintf(stderr, "Odometry is NULL. Unable to run drive_forward()\n");
+    fflush(stderr);
+    return true;
+  }
+
   // On the first run of the funciton, reset the gyro position and PID
   if (!func_initialized)
   {
@@ -135,10 +151,16 @@ bool TankDrive::turn_degrees(double degrees, double percent_speed)
   *
   * Returns whether or not the robot has reached it's destination.
   */
-bool TankDrive::drive_to_point(double x, double y, double speed, double correction_speed, vex::directionType dir, double max_accel)
+bool TankDrive::drive_to_point(double x, double y, double speed, double correction_speed, vex::directionType dir)
 {
+  // We can't run the auto drive function without odometry
+  if(odometry == NULL)
+  {
+    fprintf(stderr, "Odometry is NULL. Unable to run drive_forward()\n");
+    fflush(stderr);
+    return true;
+  }
 
-  static timer accel_tmr;
   static double lside_accel = 0, rside_accel = 0;
 
   if(!func_initialized)
@@ -157,7 +179,6 @@ bool TankDrive::drive_to_point(double x, double y, double speed, double correcti
 
     // point_orientation_deg = atan2(y - odometry->get_position().y, x - odometry->get_position().x) * 180.0 / PI;
 
-    accel_tmr.reset();
     lside_accel = 0;
     rside_accel = 0;
 
@@ -238,32 +259,6 @@ bool TankDrive::drive_to_point(double x, double y, double speed, double correcti
   lside = (lside > 1) ? 1 : (lside < -1) ? -1 : lside;
   rside = (rside > 1) ? 1 : (rside < -1) ? -1 : rside;
 
-  // static double last_lside = lside, last_rside = rside;
-  // bool decelerating = (fabs(lside) < fabs(last_lside)) && (fabs(rside) < fabs(last_rside));
-  // last_lside = lside;
-  // last_rside = rside;
-
-  // if(max_accel != 0 && !decelerating)
-  // {    
-  //   double accel_addition = max_accel * accel_tmr.time(timeUnits::sec);
-  //   accel_tmr.reset();
-    
-  //   lside_accel += (lside > 0 ? accel_addition : -accel_addition);
-  //   rside_accel += (rside > 0 ? accel_addition : -accel_addition);
-
-  //   printf("lside: %f, rside: %f, laccel: %f, raccel: %f\n", lside, rside, lside_accel, rside_accel);
-    
-  //   if ((lside < 0 && lside_accel > lside) || (lside > 0 && lside_accel < lside))
-  //     lside = lside_accel;
-  //   else
-  //     lside_accel = lside;
-    
-  //   if ((rside < 0 && rside_accel > rside) || (rside > 0 && rside_accel < rside))
-  //     rside = rside_accel;
-  //   else
-  //     rside_accel = rside;
-  // }
-
   drive_tank(lside, rside);
 
   printf("dist: %f\n", dist_left);
@@ -286,6 +281,14 @@ bool TankDrive::drive_to_point(double x, double y, double speed, double correcti
  */
 bool TankDrive::turn_to_heading(double heading_deg, double speed)
 {
+  // We can't run the auto drive function without odometry
+  if(odometry == NULL)
+  {
+    fprintf(stderr, "Odometry is NULL. Unable to run drive_forward()\n");
+    fflush(stderr);
+    return true;
+  }
+
   static bool initialized = false;
   if(!initialized)
   {

From d25a6cae450abda65291e5c690d5981fa5131400 Mon Sep 17 00:00:00 2001
From: Ryan McGee <ramtech51@comcast.net>
Date: Sun, 6 Feb 2022 16:07:43 -0500
Subject: [PATCH 059/243] Created new generic lift class in Core

---
 include/subsystems/lift.h     | 257 ++++++++++++++++++++++++++++++++++
 src/subsystems/tank_drive.cpp |   7 +-
 2 files changed, 258 insertions(+), 6 deletions(-)
 create mode 100644 include/subsystems/lift.h

diff --git a/include/subsystems/lift.h b/include/subsystems/lift.h
new file mode 100644
index 0000000..27d12ab
--- /dev/null
+++ b/include/subsystems/lift.h
@@ -0,0 +1,257 @@
+#pragma once
+
+#include "vex.h"
+#include "../core/include/utils/pid.h"
+#include <map>
+#include <atomic>
+#include <vector>
+
+using namespace vex;
+using namespace std;
+
+/**
+ * LIFT
+ * A general class for lifts (e.g. 4bar, dr4bar, linear, etc)
+ * Uses a PID to hold the lift at a certain height under load, and to move the lift to different heights
+ *
+ * @author Ryan McGee
+ */
+template <typename T>
+class Lift
+{
+  public:
+
+  struct lift_cfg_t
+  {
+    double up_speed, down_speed;
+    double softstop_up, softstop_down;
+
+    PID::pid_config_t lift_pid_cfg;
+  };
+
+  /**
+    * Construct the Lift object and begin the background task that controls the lift.
+    *
+    * Usage example:
+    * /code{.cpp}
+    * enum Positions {UP, MID, DOWN};
+    * map<Positions, double> setpt_map { 
+    *      {DOWN, 0.0}, 
+    *      {MID, 0.5},
+    *      {UP, 1.0}
+    *  };
+    * Lift<Positions> my_lift(motors, lift_cfg, setpt_map);
+    * /endcode
+    *
+    * @param lift_motors 
+    *   A set of motors, all set that positive rotation correlates with the lift going up
+    * @param lift_cfg
+    *   Lift characterization information; PID tunings and movement speeds
+    * @param setpoint_map
+    *   A map of enum type T, in which each enum entry corresponds to a different lift height
+    */
+  Lift(motor_group &lift_motors, lift_cfg_t &lift_cfg, map<T, double> setpoint_map)
+  : lift_motors(lift_motors), cfg(lift_cfg), lift_pid(cfg.lift_pid_cfg), setpoint_map(setpoint_map)
+  {
+
+    is_async = true;
+    setpoint = 0;
+    
+    // Create a background task that is constantly updating the lift PID, if requested.
+    // Set once, and forget.
+    task t([](void* ptr){
+      Lift &lift = *((Lift*) ptr);
+
+      while(true)
+      {
+        if(lift.get_async())
+          lift.hold();
+
+        vexDelay(50);
+      }
+
+      return 0;
+    }, this);
+
+  }
+
+  /**
+    *  Control the lift with an "up" button and a "down" button.
+    *  Use PID to hold the lift when letting go.
+    *  @param up_ctrl
+    *    Button controlling the "UP" motion
+    *  @param down_ctrl
+    *    Button controlling the "DOWN" motion
+    */
+  void control_continuous(bool up_ctrl, bool down_ctrl)
+  {
+    static timer tmr;
+    
+    double cur_pos = 0;
+
+    // Check if there's a hook for a custom sensor. If not, use the motors.
+    if(get_sensor == NULL)
+      cur_pos = lift_motors.rotation(rev);
+    else
+      cur_pos = get_sensor();
+
+    if(up_ctrl && cur_pos < cfg.softstop_up)
+    {
+      lift_motors.spin(directionType::fwd, cfg.up_speed, volt);
+      setpoint = cur_pos;
+
+      // Disable the PID while going UP.
+      is_async = false;
+    } else if(down_ctrl && cur_pos > cfg.softstop_down)
+    {
+      // Lower the lift slowly, at a rate defined by down_speed
+      setpoint -= tmr.time(sec) * cfg.down_speed;
+      is_async = true;
+    } else
+    {
+      // Hold the lift at the last setpoint
+      is_async = true;
+    }
+
+    tmr.reset();  
+  }
+
+  /**
+    * Control the lift in "steps". When the "up" button is pressed, the lift will go to the next
+    * position as defined by pos_list. Order matters! 
+    *
+    * @param up_step
+    *   A button that increments the position of the lift.
+    * @param down_step
+    *   A button that decrements the position of the lift.
+    * @param pos_list
+    *   A list of positions for the lift to go through. The higher the index, the higher the lift should be (generally).
+    */
+  void control_setpoints(bool up_step, bool down_step, vector<T> pos_list)
+  {
+    // Make sure inputs are only processed on the rising edge of the button
+    static bool up_last = up_step, down_last = down_step;
+
+    bool up_rising = up_step && !up_last;
+    bool down_rising = down_step && !down_last;
+
+    up_last = up_step;
+    down_last = down_step;
+
+    static int cur_index = 0;
+
+    // Avoid an index overflow. Shouldn't happen unless the user changes pos_list between calls.
+    if(cur_index >= pos_list.size())
+      cur_index = pos_list.size() - 1;
+
+    // Increment or decrement the index of the list, bringing it up or down.
+    if(up_rising && cur_index < (pos_list.size() - 1))
+      cur_index++;
+    else if(down_rising && cur_index > 0)
+      cur_index--;
+
+    // Set the lift to hold the position in the background with the PID loop
+    set_position(pos_list[cur_index]);
+    is_async = true;  
+
+  }
+
+  /**
+    * Enable the background task, and send the lift to a position, specified by the
+    * setpoint map from the constructor.
+    * 
+    * @param pos
+    *   A lift position enum type
+    * @return True if the pid has reached the setpoint
+    */
+  bool set_position(T pos)
+  {
+    this->setpoint = setpoint_map[pos];
+    is_async = true;
+
+    return (lift_pid.get_target() == this->setpoint) && lift_pid.is_on_target();
+  }
+
+  /**
+    * Manually set a setpoint value for the lift PID to go to.
+    * @param val
+    *   Lift setpoint, in motor revolutions or sensor units defined by get_sensor. Cannot be outside the softstops.
+    * @return True if the pid has reached the setpoint
+    */
+  bool set_setpoint(double val)
+  {
+    this->setpoint = val;
+    return (lift_pid.get_target() == this->setpoint) && lift_pid.is_on_target();
+  }
+  
+  /**
+    * @return The current setpoint for the lift
+    */
+  double get_setpoint()
+  {
+    return this->setpoint;
+  }
+
+  /**
+    * Target the class's setpoint.
+    * Calculate the PID output and set the lift motors accordingly.
+    */
+  void hold()
+  {
+    lift_pid.set_target(setpoint);
+
+    if(get_sensor != NULL)
+      lift_pid.update(get_sensor());
+    else
+      lift_pid.update(lift_motors.rotation(rev));
+
+    lift_motors.spin(fwd, lift_pid.get(), volt);
+  }
+
+  /**
+    * @return whether or not the background thread is running the lift
+    */
+  bool get_async()
+  {
+    return is_async;
+  }
+
+  /**
+    * Enables or disables the background task. Note that running the control functions, or set_position functions
+    * will immediately re-enable the task for autonomous use.
+    * @param Whether or not the background thread should run the lift
+    */
+  void set_async(bool val)
+  {
+    this->is_async = val;
+  }
+
+  /**
+    * Creates a custom hook for any other type of sensor to be used on the lift. Example:
+    * /code{.cpp}
+    * my_lift.set_sensor_function( [](){return my_sensor.position();} );
+    * /endcode
+    *
+    * @param fn_ptr
+    *   Pointer to custom sensor function
+    */
+  void set_sensor_function(double (*fn_ptr) (void))
+  {
+    this->get_sensor = fn_ptr;
+  }
+
+  private:
+
+  motor_group &lift_motors;
+  lift_cfg_t &cfg;
+  PID lift_pid;
+  map<T, double> &setpoint_map;
+  
+  atomic<double> setpoint;
+  atomic<bool> is_async;
+
+  double (*get_sensor)(void) = NULL;
+
+  
+
+};
\ No newline at end of file
diff --git a/src/subsystems/tank_drive.cpp b/src/subsystems/tank_drive.cpp
index a7a2d3a..8a9a195 100644
--- a/src/subsystems/tank_drive.cpp
+++ b/src/subsystems/tank_drive.cpp
@@ -160,9 +160,7 @@ bool TankDrive::drive_to_point(double x, double y, double speed, double correcti
     fflush(stderr);
     return true;
   }
-
-  static double lside_accel = 0, rside_accel = 0;
-
+  
   if(!func_initialized)
   {
     // Reset the control loops
@@ -179,9 +177,6 @@ bool TankDrive::drive_to_point(double x, double y, double speed, double correcti
 
     // point_orientation_deg = atan2(y - odometry->get_position().y, x - odometry->get_position().x) * 180.0 / PI;
 
-    lside_accel = 0;
-    rside_accel = 0;
-
     func_initialized = true;
   }
 

From 9b251405398a956859df93f8fec2cc32a5bf5c5a Mon Sep 17 00:00:00 2001
From: Ryan McGee <ramtech51@comcast.net>
Date: Wed, 9 Feb 2022 10:53:25 -0500
Subject: [PATCH 060/243] Added homing function to Lift

---
 include/subsystems/lift.h | 45 ++++++++++++++++++++++++++++++++++++---
 1 file changed, 42 insertions(+), 3 deletions(-)

diff --git a/include/subsystems/lift.h b/include/subsystems/lift.h
index 27d12ab..a44d206 100644
--- a/include/subsystems/lift.h
+++ b/include/subsystems/lift.h
@@ -50,8 +50,8 @@ class Lift
     * @param setpoint_map
     *   A map of enum type T, in which each enum entry corresponds to a different lift height
     */
-  Lift(motor_group &lift_motors, lift_cfg_t &lift_cfg, map<T, double> setpoint_map)
-  : lift_motors(lift_motors), cfg(lift_cfg), lift_pid(cfg.lift_pid_cfg), setpoint_map(setpoint_map)
+  Lift(motor_group &lift_motors, lift_cfg_t &lift_cfg, map<T, double> setpoint_map, limit *homing_switch=NULL)
+  : lift_motors(lift_motors), cfg(lift_cfg), lift_pid(cfg.lift_pid_cfg), setpoint_map(setpoint_map), homing_switch(homing_switch)
   {
 
     is_async = true;
@@ -208,6 +208,33 @@ class Lift
     lift_motors.spin(fwd, lift_pid.get(), volt);
   }
 
+  /**
+   * A blocking function that automatically homes the lift based on a sensor or hard stop, 
+   * and sets the position to 0. A watchdog times out after 3 seconds, to avoid damage.
+   */
+  void home()
+  {
+    static timer tmr;
+    tmr.reset();
+    
+    while(tmr.time(sec) < 3)
+    {
+      lift_motors.spin(directionType::rev, 6, volt);
+
+      if (homing_switch == NULL && lift_motors.current(currentUnits::amp) > 1.5)
+        break;
+      else if (homing_switch != NULL && homing_switch->pressing())
+        break;
+    }
+
+    if(reset_sensor != NULL)
+      reset_sensor();
+    
+    lift_motors.resetPosition();
+    lift_motors.stop();
+
+  }
+
   /**
     * @return whether or not the background thread is running the lift
     */
@@ -240,18 +267,30 @@ class Lift
     this->get_sensor = fn_ptr;
   }
 
+  /**
+   *  Creates a custom hook to reset the sensor used in set_sensor_function(). Example:
+   * /code{.cpp}
+   * my_lift.set_sensor_reset( my_sensor.resetPosition );
+   * /endcode
+   */
+  void set_sensor_reset(void (*fn_ptr) (void))
+  {
+    this->reset_sensor = fn_ptr;
+  }
+
   private:
 
   motor_group &lift_motors;
   lift_cfg_t &cfg;
   PID lift_pid;
   map<T, double> &setpoint_map;
+  limit *homing_switch;
   
   atomic<double> setpoint;
   atomic<bool> is_async;
 
   double (*get_sensor)(void) = NULL;
-
+  void (*reset_sensor)(void) = NULL;
   
 
 };
\ No newline at end of file

From 0868b6713ee16d4ecd3d7d0291f47d7bd618cd42 Mon Sep 17 00:00:00 2001
From: Dana <dec1701@rit.edu>
Date: Wed, 23 Feb 2022 20:10:40 -0500
Subject: [PATCH 061/243] debugging in progress

---
 include/subsystems/lift.h | 9 ++++++++-
 1 file changed, 8 insertions(+), 1 deletion(-)

diff --git a/include/subsystems/lift.h b/include/subsystems/lift.h
index a44d206..cc0194b 100644
--- a/include/subsystems/lift.h
+++ b/include/subsystems/lift.h
@@ -2,6 +2,7 @@
 
 #include "vex.h"
 #include "../core/include/utils/pid.h"
+#include <iostream>
 #include <map>
 #include <atomic>
 #include <vector>
@@ -100,12 +101,15 @@ class Lift
       lift_motors.spin(directionType::fwd, cfg.up_speed, volt);
       setpoint = cur_pos;
 
+      std::cout << "DEBUG OUT: UP " << setpoint << ", " << tmr.time(sec) << ", " << cfg.down_speed << "\n";
+
       // Disable the PID while going UP.
       is_async = false;
     } else if(down_ctrl && cur_pos > cfg.softstop_down)
     {
       // Lower the lift slowly, at a rate defined by down_speed
-      setpoint -= tmr.time(sec) * cfg.down_speed;
+      setpoint = setpoint - (tmr.time(sec) * /*cfg.down_speed*/ 2.4);
+      std::cout << "DEBUG OUT: DOWN " << setpoint << ", " << tmr.time(sec) << ", " << cfg.down_speed << "\n";
       is_async = true;
     } else
     {
@@ -199,12 +203,15 @@ class Lift
   void hold()
   {
     lift_pid.set_target(setpoint);
+    std::cout << "DEBUG OUT: SETPOINT " << setpoint << "\n";
 
     if(get_sensor != NULL)
       lift_pid.update(get_sensor());
     else
       lift_pid.update(lift_motors.rotation(rev));
 
+    std::cout << "DEBUG OUT: ROTATION " << lift_motors.rotation(rev) << "\n\n";
+
     lift_motors.spin(fwd, lift_pid.get(), volt);
   }
 

From a5d34b315c152aebbebeb5b43966c4787d112e64 Mon Sep 17 00:00:00 2001
From: Ryan McGee <ramtech51@comcast.net>
Date: Thu, 24 Feb 2022 22:06:17 -0500
Subject: [PATCH 062/243] Fixed everything (ready for comp kinda)

---
 include/subsystems/lift.h | 13 +++++++------
 1 file changed, 7 insertions(+), 6 deletions(-)

diff --git a/include/subsystems/lift.h b/include/subsystems/lift.h
index cc0194b..351c41f 100644
--- a/include/subsystems/lift.h
+++ b/include/subsystems/lift.h
@@ -99,17 +99,18 @@ class Lift
     if(up_ctrl && cur_pos < cfg.softstop_up)
     {
       lift_motors.spin(directionType::fwd, cfg.up_speed, volt);
-      setpoint = cur_pos;
+      setpoint = cur_pos + .3;
 
-      std::cout << "DEBUG OUT: UP " << setpoint << ", " << tmr.time(sec) << ", " << cfg.down_speed << "\n";
+      // std::cout << "DEBUG OUT: UP " << setpoint << ", " << tmr.time(sec) << ", " << cfg.down_speed << "\n";
 
       // Disable the PID while going UP.
       is_async = false;
     } else if(down_ctrl && cur_pos > cfg.softstop_down)
     {
       // Lower the lift slowly, at a rate defined by down_speed
-      setpoint = setpoint - (tmr.time(sec) * /*cfg.down_speed*/ 2.4);
-      std::cout << "DEBUG OUT: DOWN " << setpoint << ", " << tmr.time(sec) << ", " << cfg.down_speed << "\n";
+      if(setpoint > cfg.softstop_down)
+        setpoint = setpoint - (tmr.time(sec) * cfg.down_speed);
+      // std::cout << "DEBUG OUT: DOWN " << setpoint << ", " << tmr.time(sec) << ", " << cfg.down_speed << "\n";
       is_async = true;
     } else
     {
@@ -203,14 +204,14 @@ class Lift
   void hold()
   {
     lift_pid.set_target(setpoint);
-    std::cout << "DEBUG OUT: SETPOINT " << setpoint << "\n";
+    // std::cout << "DEBUG OUT: SETPOINT " << setpoint << "\n";
 
     if(get_sensor != NULL)
       lift_pid.update(get_sensor());
     else
       lift_pid.update(lift_motors.rotation(rev));
 
-    std::cout << "DEBUG OUT: ROTATION " << lift_motors.rotation(rev) << "\n\n";
+    // std::cout << "DEBUG OUT: ROTATION " << lift_motors.rotation(rev) << "\n\n";
 
     lift_motors.spin(fwd, lift_pid.get(), volt);
   }

From f5eb835d158ad88662ebc7905200e9bcc5311ca2 Mon Sep 17 00:00:00 2001
From: Ryan McGee <ramtech51@comcast.net>
Date: Tue, 1 Mar 2022 13:05:37 -0500
Subject: [PATCH 063/243] Post competition commit

---
 include/subsystems/lift.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/include/subsystems/lift.h b/include/subsystems/lift.h
index 351c41f..29b9767 100644
--- a/include/subsystems/lift.h
+++ b/include/subsystems/lift.h
@@ -51,7 +51,7 @@ class Lift
     * @param setpoint_map
     *   A map of enum type T, in which each enum entry corresponds to a different lift height
     */
-  Lift(motor_group &lift_motors, lift_cfg_t &lift_cfg, map<T, double> setpoint_map, limit *homing_switch=NULL)
+  Lift(motor_group &lift_motors, lift_cfg_t &lift_cfg, map<T, double> &setpoint_map, limit *homing_switch=NULL)
   : lift_motors(lift_motors), cfg(lift_cfg), lift_pid(cfg.lift_pid_cfg), setpoint_map(setpoint_map), homing_switch(homing_switch)
   {
 

From ff6400a295d55f5540d81d804923c9de790195b1 Mon Sep 17 00:00:00 2001
From: Dana <dec1701@rit.edu>
Date: Thu, 3 Mar 2022 20:34:35 -0500
Subject: [PATCH 064/243] removed pathfinder

---
 lib/libpathfinder.a | Bin 31010 -> 0 bytes
 1 file changed, 0 insertions(+), 0 deletions(-)
 delete mode 100644 lib/libpathfinder.a

diff --git a/lib/libpathfinder.a b/lib/libpathfinder.a
deleted file mode 100644
index f96adc441fd3bad6c48253e7f03d119a70606a7b..0000000000000000000000000000000000000000
GIT binary patch
literal 0
HcmV?d00001

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From a9bcdffe4d40202adc7fbda7924a95557d6c6187 Mon Sep 17 00:00:00 2001
From: Ryan McGee <ramtech51@comcast.net>
Date: Thu, 3 Mar 2022 21:09:29 -0500
Subject: [PATCH 065/243] Remade the subsystem code, started vision tracking

---
 include/subsystems/custom_encoder.h | 28 +++++++++++++++++++++++++
 src/subsystems/custom_encoder.cpp   | 32 +++++++++++++++++++++++++++++
 2 files changed, 60 insertions(+)
 create mode 100644 include/subsystems/custom_encoder.h
 create mode 100644 src/subsystems/custom_encoder.cpp

diff --git a/include/subsystems/custom_encoder.h b/include/subsystems/custom_encoder.h
new file mode 100644
index 0000000..19df840
--- /dev/null
+++ b/include/subsystems/custom_encoder.h
@@ -0,0 +1,28 @@
+#pragma once
+#include "vex.h"
+
+/**
+ * A wrapper class for the vex encoder that allows the use of 3rd party
+ * encoders with different tick-per-revolution values.
+ */
+class CustomEncoder : public vex::encoder
+{
+  typedef vex::encoder super;
+
+  public:
+  CustomEncoder(vex::triport::port &port, double ticks_per_rev);
+
+  void setRotation(double val, vex::rotationUnits units);
+
+  void setPosition(double val, vex::rotationUnits units);
+
+  double rotation(vex::rotationUnits units);
+
+  double position(vex::rotationUnits units);
+
+  double velocity(vex::velocityUnits units);
+
+
+  private:
+  double tick_scalar;
+};
\ No newline at end of file
diff --git a/src/subsystems/custom_encoder.cpp b/src/subsystems/custom_encoder.cpp
new file mode 100644
index 0000000..b920782
--- /dev/null
+++ b/src/subsystems/custom_encoder.cpp
@@ -0,0 +1,32 @@
+#include "../core/include/subsystems/custom_encoder.h"
+
+CustomEncoder::CustomEncoder(vex::triport::port &port, double ticks_per_rev)
+: super(port)
+{
+  tick_scalar = ticks_per_rev / 90;
+}
+
+void CustomEncoder::setRotation(double val, vex::rotationUnits units)
+{
+  super::setRotation(val * tick_scalar, units);
+}
+
+void CustomEncoder::setPosition(double val, vex::rotationUnits units)
+{
+  super::setPosition(val * tick_scalar, units);
+}
+
+double CustomEncoder::rotation(vex::rotationUnits units)
+{
+  return super::rotation(units) / tick_scalar;
+}
+
+double CustomEncoder::position(vex::rotationUnits units)
+{
+  return super::position(units) / tick_scalar;
+}
+
+double CustomEncoder::velocity(vex::velocityUnits units)
+{
+  return super::velocity(units) / tick_scalar;
+}
\ No newline at end of file

From d0880d83a1561829a08115461ce141c9f33d4986 Mon Sep 17 00:00:00 2001
From: Ryan McGee <ramtech51@comcast.net>
Date: Thu, 17 Mar 2022 21:17:45 -0400
Subject: [PATCH 066/243] Added custom encoders to hardware

---
 src/subsystems/custom_encoder.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/subsystems/custom_encoder.cpp b/src/subsystems/custom_encoder.cpp
index b920782..fb313aa 100644
--- a/src/subsystems/custom_encoder.cpp
+++ b/src/subsystems/custom_encoder.cpp
@@ -3,7 +3,7 @@
 CustomEncoder::CustomEncoder(vex::triport::port &port, double ticks_per_rev)
 : super(port)
 {
-  tick_scalar = ticks_per_rev / 90;
+  tick_scalar = 90 / ticks_per_rev;
 }
 
 void CustomEncoder::setRotation(double val, vex::rotationUnits units)

From 7c277006b14a1ca60590785a99c4c560d436e988 Mon Sep 17 00:00:00 2001
From: Ryan McGee <ramtech51@comcast.net>
Date: Sun, 20 Mar 2022 14:51:57 -0400
Subject: [PATCH 067/243] Added autonomous chooser class

---
 include/subsystems/lift.h    | 20 +++++++++
 include/utils/auto_chooser.h | 28 ++++++++++++
 src/utils/auto_chooser.cpp   | 86 ++++++++++++++++++++++++++++++++++++
 3 files changed, 134 insertions(+)
 create mode 100644 include/utils/auto_chooser.h
 create mode 100644 src/utils/auto_chooser.cpp

diff --git a/include/subsystems/lift.h b/include/subsystems/lift.h
index 29b9767..1842caf 100644
--- a/include/subsystems/lift.h
+++ b/include/subsystems/lift.h
@@ -121,6 +121,26 @@ class Lift
     tmr.reset();  
   }
 
+  /**
+   * Control the lift with manual controls (no holding voltage)
+   * 
+   * @param up_btn Raise the lift when true
+   * @param down_btn Lower the lift when true
+   * @param volt_up Motor voltage when raising the lift
+   * @param volt_down Motor voltage when lowering the lift
+   */
+  void control_manual(bool up_btn, bool down_btn, int volt_up, int volt_down)
+  {
+    is_async = false;
+
+    if(up_btn)
+      lift_motors.spin(directionType::fwd, volt_up, voltageUnits::volt);
+    else if(down_btn)
+      lift_motors.spin(directionType::rev, volt_down, voltageUnits::volt);
+    else
+      lift_motors.spin(directionType::fwd, 0, voltageUnits::volt);
+  }
+
   /**
     * Control the lift in "steps". When the "up" button is pressed, the lift will go to the next
     * position as defined by pos_list. Order matters! 
diff --git a/include/utils/auto_chooser.h b/include/utils/auto_chooser.h
new file mode 100644
index 0000000..b2f3544
--- /dev/null
+++ b/include/utils/auto_chooser.h
@@ -0,0 +1,28 @@
+#pragma once
+#include "vex.h"
+#include <string>
+#include <vector>
+
+class AutoChooser
+{
+  public:
+  AutoChooser(vex::brain &brain);
+
+  void add(std::string name);
+  std::string get_choice();
+
+  protected:
+
+  struct entry_t
+  {
+    int x, y, width, height;
+    std::string name;
+  };
+
+  void render(entry_t *selected);
+  std::string choice;
+  std::vector<entry_t> list;
+  vex::brain &brain;
+
+
+};
\ No newline at end of file
diff --git a/src/utils/auto_chooser.cpp b/src/utils/auto_chooser.cpp
new file mode 100644
index 0000000..a768179
--- /dev/null
+++ b/src/utils/auto_chooser.cpp
@@ -0,0 +1,86 @@
+#include "../core/include/utils/auto_chooser.h"
+
+/**
+  * Initialize the auto-chooser. This class places a choice menu on the brain screen,
+  * so the driver can choose which autonomous to run.
+  */
+AutoChooser::AutoChooser(vex::brain &brain) : brain(brain)
+{
+  brain.Screen.pressed([](void *ptr){
+    AutoChooser &a = *(AutoChooser*)ptr;
+    int x = a.brain.Screen.xPosition();
+    int y = a.brain.Screen.yPosition();
+
+    entry_t *selected = NULL;
+    
+    // Check if the touchscreen press is inside each rectangle
+    for(int i = 0; i < a.list.size(); i++)
+    {
+      int rect_x = a.list[i].x, rect_y = a.list[i].y;
+      int rect_w = a.list[i].width, rect_h = a.list[i].height;
+      if (x > rect_x && x < rect_x + rect_w)
+        if (y > rect_y && y < rect_y + rect_h)
+          selected = &a.list[i];
+    }
+
+    // Re-render all the choices on each press.
+    a.render(selected);
+    
+    if(selected == NULL)
+      a.choice = "";
+    else
+      a.choice = selected->name;
+
+  }, this);
+}
+
+#define PADDING 10
+#define WIDTH 150
+#define HEIGHT 40
+
+/**
+  * Place all the autonomous choices on the screen.
+  * If one is selected, change it's color
+  */
+void AutoChooser::render(entry_t *selected)
+{
+  for(int i = 0; i < list.size(); i++)
+  {
+    brain.Screen.setPenColor(vex::color::black);
+  
+    if(selected != NULL && selected == &list[i])
+      brain.Screen.setFillColor(vex::color::white);
+    else
+      brain.Screen.setFillColor(vex::color::orange);
+
+    brain.Screen.drawRectangle(list[i].x, list[i].y, list[i].width, list[i].height);
+    brain.Screen.printAt(list[i].x + PADDING, list[i].y + list[i].height - PADDING, list[i].name.c_str());
+  }
+}
+
+/**
+  * Add a new autonomous option. There are 3 options per row.
+  */
+void AutoChooser::add(std::string name)
+{
+  int x = (PADDING * ((list.size() % 3) + 1)) + ((list.size() % 3) * WIDTH);
+  int y = (PADDING * ((list.size() / 3) + 1)) + ((list.size() / 3) * HEIGHT);
+  entry_t entry = {
+    .x=x,
+    .y=y,
+    .width=WIDTH,
+    .height=HEIGHT,
+    .name=name
+  };
+
+  list.push_back(entry);
+  render(NULL);
+}
+
+/**
+  * Return the selected autonomous
+  */
+std::string AutoChooser::get_choice()
+{
+  return choice;
+}
\ No newline at end of file

From 69bf4ffc89d35267f8714e668f9c1c7b471cc4af Mon Sep 17 00:00:00 2001
From: Ryan McGee <ramtech51@comcast.net>
Date: Tue, 29 Mar 2022 19:47:24 -0400
Subject: [PATCH 068/243] Added more autonomous stuff

---
 include/subsystems/tank_drive.h |  2 +-
 include/utils/generic_auto.h    |  7 ++++++-
 src/subsystems/tank_drive.cpp   |  4 ++--
 src/utils/generic_auto.cpp      | 26 ++++++++++++++++++++++++--
 4 files changed, 33 insertions(+), 6 deletions(-)

diff --git a/include/subsystems/tank_drive.h b/include/subsystems/tank_drive.h
index 90d6386..97c2085 100644
--- a/include/subsystems/tank_drive.h
+++ b/include/subsystems/tank_drive.h
@@ -93,7 +93,7 @@ class TankDrive
    * @param speed Robot's maximum speed throughout the path, between 0 and 1.0
    * @param res The number of points to use along the path; the hermite curve is split up into "res" individual points.
    */
-  bool pure_pursuit(std::vector<PurePursuit::hermite_point> path, double radius, double speed, double res);
+  bool pure_pursuit(std::vector<PurePursuit::hermite_point> path, double radius, double speed, double res, directionType dir=fwd);
 
 private:
   motor_group &left_motors;
diff --git a/include/utils/generic_auto.h b/include/utils/generic_auto.h
index 3931ab3..2a6f6d9 100644
--- a/include/utils/generic_auto.h
+++ b/include/utils/generic_auto.h
@@ -4,8 +4,9 @@
 #include <queue>
 #include <map>
 #include "vex.h"
+#include <functional>
 
-typedef bool (*state_ptr)();
+typedef std::function<bool(void)> state_ptr;
 
 class GenericAuto
 {
@@ -31,6 +32,10 @@ class GenericAuto
    */
   void add(state_ptr);
 
+  void add_async(state_ptr);
+
+  void add_delay(int ms);
+
   private:
 
   std::queue<state_ptr> state_list;
diff --git a/src/subsystems/tank_drive.cpp b/src/subsystems/tank_drive.cpp
index 8a9a195..fc483cb 100644
--- a/src/subsystems/tank_drive.cpp
+++ b/src/subsystems/tank_drive.cpp
@@ -326,7 +326,7 @@ double TankDrive::modify_inputs(double input, int power)
   return (power % 2 == 0 ? (input < 0 ? -1 : 1) : 1) * pow(input, power);
 }
 
-bool TankDrive::pure_pursuit(std::vector<PurePursuit::hermite_point> path, double radius, double speed, double res) {
+bool TankDrive::pure_pursuit(std::vector<PurePursuit::hermite_point> path, double radius, double speed, double res, directionType dir) {
   is_pure_pursuit = true;
   std::vector<Vector::point_t> smoothed_path = PurePursuit::smooth_path_hermite(path, res);
 
@@ -338,7 +338,7 @@ bool TankDrive::pure_pursuit(std::vector<PurePursuit::hermite_point> path, doubl
   if(is_last_point)
     is_pure_pursuit = false;
 
-  bool retval = drive_to_point(lookahead.x, lookahead.y, speed, 1);
+  bool retval = drive_to_point(lookahead.x, lookahead.y, speed, 1, dir);
 
   if(is_last_point)
     return retval;
diff --git a/src/utils/generic_auto.cpp b/src/utils/generic_auto.cpp
index 5c5c7ab..5147af5 100644
--- a/src/utils/generic_auto.cpp
+++ b/src/utils/generic_auto.cpp
@@ -33,8 +33,30 @@ bool GenericAuto::run(bool blocking)
   return blocking;
 }
 
-void GenericAuto::add(state_ptr newState)
+void GenericAuto::add(state_ptr new_state)
 {
-  state_list.push(newState);
+  state_list.push(new_state);
 }
 
+void GenericAuto::add_async(state_ptr async_state)
+{
+  state_ptr fn = [&async_state](){
+    vex::task t([](void* fn_ptr){
+      while(! (*(state_ptr*)fn_ptr)() )
+       vexDelay(20);
+
+      return 0;
+    }, &async_state);
+    return true;
+  };
+
+  state_list.push(fn);
+}
+
+void GenericAuto::add_delay(int ms)
+{
+  add([ms](){
+    vexDelay(ms);
+    return true;
+  });
+}
\ No newline at end of file

From 8b6bf49b1cbe52b68142b906ea78872107a110aa Mon Sep 17 00:00:00 2001
From: Ryan McGee <ramtech51@comcast.net>
Date: Sun, 3 Apr 2022 16:41:51 -0400
Subject: [PATCH 069/243] Updated PID code for core

---
 src/subsystems/tank_drive.cpp |  7 +++----
 src/utils/pid.cpp             | 36 ++++++++++++++++-------------------
 2 files changed, 19 insertions(+), 24 deletions(-)

diff --git a/src/subsystems/tank_drive.cpp b/src/subsystems/tank_drive.cpp
index fc483cb..3e3de4c 100644
--- a/src/subsystems/tank_drive.cpp
+++ b/src/subsystems/tank_drive.cpp
@@ -284,8 +284,7 @@ bool TankDrive::turn_to_heading(double heading_deg, double speed)
     return true;
   }
 
-  static bool initialized = false;
-  if(!initialized)
+  if(!func_initialized)
   {
     turn_pid.reset();
     turn_pid.set_limits(-fabs(speed), fabs(speed));
@@ -293,7 +292,7 @@ bool TankDrive::turn_to_heading(double heading_deg, double speed)
     // Set the target to zero, and the input will be a delta.
     turn_pid.set_target(0);
 
-    initialized = true;
+    func_initialized = true;
   }
 
   // Get the difference between the new heading and the current, and decide whether to turn left or right.
@@ -309,7 +308,7 @@ bool TankDrive::turn_to_heading(double heading_deg, double speed)
   // When the robot has reached it's angle, return true.
   if(turn_pid.is_on_target())
   {
-    initialized = false;
+    func_initialized = false;
     stop();
     return true;
   }
diff --git a/src/utils/pid.cpp b/src/utils/pid.cpp
index 9fcfd34..e070c77 100644
--- a/src/utils/pid.cpp
+++ b/src/utils/pid.cpp
@@ -20,10 +20,6 @@ void PID::update(double sensor_val)
 
   double time_delta = pid_timer.value() - last_time;
 
-  accum_error += time_delta * get_error();
-
-  double i_term = config.i * accum_error;
-
   // Avoid a divide by zero error
   double d_term = 0;
   if(time_delta != 0)
@@ -32,32 +28,32 @@ void PID::update(double sensor_val)
     printf("(pid.cpp): Warning - running PID without a delay is just a P loop!\n");
 
   double k_term = 0;
-  if(get_error() < 0)
+  if(get_error() > 0)
     k_term = config.k;
-  else if(get_error() > 0)
+  else if(get_error() < 0)
     k_term = -config.k;
 
 
-  out = (config.f * target) + (config.p * get_error()) + i_term + d_term + k_term;
+  // F, P, D and K terms
+  out = (config.f * target) + (config.p * get_error()) + d_term + k_term;
+
+  bool limits_exist = lower_limit != 0 || upper_limit != 0;
+
+  // Only add to the accumulated error if the output is not saturated
+  // aka "Integral Clamping" anti-windup technique
+  if ( !limits_exist || (limits_exist && (out < upper_limit && out > lower_limit)) )
+    accum_error += time_delta * get_error();
+  
+  // I term
+  out += config.i * accum_error;
 
   last_time = pid_timer.value();
   last_error = get_error();
 
   // Enable clamping if the limit is not 0
-  if (lower_limit != 0 || upper_limit != 0)
-  {
-    // Integral back-calculation 
-    // If the PID is oversaturated and the integrated term is not pushing it in the right direction,
-    // then "turn off" the integral until it's actually helping.
-    bool clamping_upper = (out > upper_limit) && ((out - i_term) > upper_limit);
-    bool clamping_lower = (out < lower_limit) && ((out - i_term) < lower_limit);
-
-    if(clamping_upper || clamping_lower)
-      out -= i_term;
-
-    // Actually clamp the value
+  if (limits_exist)
     out = (out < lower_limit) ? lower_limit : (out > upper_limit) ? upper_limit : out;
-  }
+
 }
 
 /**

From 2f1c04c1ed351e71d03b8273f2760d569a863874 Mon Sep 17 00:00:00 2001
From: Ryan McGee <ramtech51@comcast.net>
Date: Fri, 28 Jan 2022 00:52:31 -0500
Subject: [PATCH 070/243] Created qual auto

---
 include/subsystems/tank_drive.h |  2 +-
 src/subsystems/tank_drive.cpp   | 13 ++++++++++---
 2 files changed, 11 insertions(+), 4 deletions(-)

diff --git a/include/subsystems/tank_drive.h b/include/subsystems/tank_drive.h
index c584bfc..87ba50a 100644
--- a/include/subsystems/tank_drive.h
+++ b/include/subsystems/tank_drive.h
@@ -33,7 +33,7 @@ class TankDrive
    * 
    * left_motors and right_motors are in "percent": -1.0 -> 1.0
    */
-  void drive_tank(double left, double right, int power=1);
+  void drive_tank(double left, double right, int power=1, bool isdriver=false);
 
   /**
    * Drive the robot using arcade style controls. forward_back controls the linear motion,
diff --git a/src/subsystems/tank_drive.cpp b/src/subsystems/tank_drive.cpp
index f394e30..772c2e7 100644
--- a/src/subsystems/tank_drive.cpp
+++ b/src/subsystems/tank_drive.cpp
@@ -30,13 +30,20 @@ void TankDrive::stop()
  * 
  * left_motors and right_motors are in "percent": -1.0 -> 1.0
  */
-void TankDrive::drive_tank(double left, double right, int power)
+void TankDrive::drive_tank(double left, double right, int power, bool isdriver)
 {
   left = modify_inputs(left, power);
   right = modify_inputs(right, power);
 
-  left_motors.spin(directionType::fwd, left * 12, voltageUnits::volt);
-  right_motors.spin(directionType::fwd, right * 12, voltageUnits::volt);
+  if(isdriver == false)
+  {
+    left_motors.spin(directionType::fwd, left * 12, voltageUnits::volt);
+    right_motors.spin(directionType::fwd, right * 12, voltageUnits::volt);
+  }else
+  {
+    left_motors.spin(directionType::fwd, left * 100.0, percentUnits::pct);
+    right_motors.spin(directionType::fwd, right * 100.0, percentUnits::pct);
+  }
 }
 
 /**

From 9d59bbe15bcf0fa56966fa6b53d276b3e859cfac Mon Sep 17 00:00:00 2001
From: Dana <dec1701@rit.edu>
Date: Tue, 29 Mar 2022 22:19:04 -0400
Subject: [PATCH 071/243] config updated

---
 src/subsystems/custom_encoder.cpp | 15 ++++++++-------
 1 file changed, 8 insertions(+), 7 deletions(-)

diff --git a/src/subsystems/custom_encoder.cpp b/src/subsystems/custom_encoder.cpp
index 0cd5e4c..4ecbae9 100644
--- a/src/subsystems/custom_encoder.cpp
+++ b/src/subsystems/custom_encoder.cpp
@@ -3,30 +3,31 @@
 CustomEncoder::CustomEncoder(vex::triport::port &port, double ticks_per_rev)
 : super(port)
 {
-  tick_scalar = 90 / ticks_per_rev;
+  // bc it's a quadrature encoder, ticks per rev has to be multiplied by 4
+  tick_scalar = 360 / (ticks_per_rev * 4);
 }
 
 void CustomEncoder::setRotation(double val, vex::rotationUnits units)
 {
-  super::setRotation(val * tick_scalar, units);
+  super::setRotation(val / tick_scalar, units);
 }
 
 void CustomEncoder::setPosition(double val, vex::rotationUnits units)
 {
-  super::setPosition(val * tick_scalar, units);
+  super::setPosition(val / tick_scalar, units);
 }
 
 double CustomEncoder::rotation(vex::rotationUnits units)
 {
-  return super::rotation(units) / tick_scalar;
+  return super::rotation(units) * tick_scalar;
 }
 
 double CustomEncoder::position(vex::rotationUnits units)
 {
-  return super::position(units) / tick_scalar;
+  return super::position(units) * tick_scalar;
 }
 
 double CustomEncoder::velocity(vex::velocityUnits units)
 {
-  return super::velocity(units) / tick_scalar;
-}
+  return super::velocity(units) * tick_scalar;
+}

From abf8c36c644abe46ddb1a969c1cd9a47be50b4a3 Mon Sep 17 00:00:00 2001
From: Ryan McGee <ramtech51@comcast.net>
Date: Sun, 3 Apr 2022 19:36:55 -0400
Subject: [PATCH 072/243] Tuned drive functions, fixed tank_drive issues

---
 include/subsystems/odometry/odometry_tank.h |  5 ++--
 src/subsystems/custom_encoder.cpp           | 12 ++++++---
 src/subsystems/odometry/odometry_tank.cpp   |  2 +-
 src/subsystems/tank_drive.cpp               | 30 ++++++++++-----------
 4 files changed, 28 insertions(+), 21 deletions(-)

diff --git a/include/subsystems/odometry/odometry_tank.h b/include/subsystems/odometry/odometry_tank.h
index feb31c4..ac376f6 100644
--- a/include/subsystems/odometry/odometry_tank.h
+++ b/include/subsystems/odometry/odometry_tank.h
@@ -2,6 +2,7 @@
 #define _ODOMETRY_TANK_
 
 #include "../core/include/subsystems/odometry/odometry_base.h"
+#include "../core/include/subsystems/custom_encoder.h"
 #include "../core/include/utils/vector.h"
 #include "../core/include/robot_specs.h"
 
@@ -26,7 +27,7 @@ class OdometryTank : public OdometryBase
     * @param imu The robot's inertial sensor. If not included, rotation is calculated from the encoders.
     * @param is_async If true, position will be updated in the background continuously. If false, the programmer will have to manually call update().
     */
-    OdometryTank(vex::encoder &left_enc, vex::encoder &right_enc, robot_specs_t &config, vex::inertial *imu=NULL, bool is_async=true);
+    OdometryTank(CustomEncoder &left_enc, CustomEncoder &right_enc, robot_specs_t &config, vex::inertial *imu=NULL, bool is_async=true);
 
     /**
      * Update the current position on the field based on the sensors
@@ -45,7 +46,7 @@ class OdometryTank : public OdometryBase
     static position_t calculate_new_pos(robot_specs_t &config, position_t &stored_info, double lside_diff, double rside_diff, double angle_deg);
 
     vex::motor_group *left_side, *right_side;
-    vex::encoder *left_enc, *right_enc;
+    CustomEncoder *left_enc, *right_enc;
     vex::inertial *imu;
     robot_specs_t &config;
 
diff --git a/src/subsystems/custom_encoder.cpp b/src/subsystems/custom_encoder.cpp
index 4ecbae9..81472ac 100644
--- a/src/subsystems/custom_encoder.cpp
+++ b/src/subsystems/custom_encoder.cpp
@@ -19,15 +19,21 @@ void CustomEncoder::setPosition(double val, vex::rotationUnits units)
 
 double CustomEncoder::rotation(vex::rotationUnits units)
 {
-  return super::rotation(units) * tick_scalar;
+  if(units != vex::rotationUnits::raw)
+    return super::rotation(units) * tick_scalar;
+  
+  return super::rotation(units);
 }
 
 double CustomEncoder::position(vex::rotationUnits units)
 {
-  return super::position(units) * tick_scalar;
+  if (units != vex::rotationUnits::raw)
+    return super::position(units) * tick_scalar;
+
+  return super::position(units);
 }
 
 double CustomEncoder::velocity(vex::velocityUnits units)
 {
-  return super::velocity(units) * tick_scalar;
+    return super::velocity(units) * tick_scalar;
 }
diff --git a/src/subsystems/odometry/odometry_tank.cpp b/src/subsystems/odometry/odometry_tank.cpp
index 93e3289..111cca3 100644
--- a/src/subsystems/odometry/odometry_tank.cpp
+++ b/src/subsystems/odometry/odometry_tank.cpp
@@ -23,7 +23,7 @@ OdometryTank::OdometryTank(vex::motor_group &left_side, vex::motor_group &right_
  * @param right_side The right motors
  * @param imu The robot's inertial sensor. If not included, rotation is calculated from the encoders.
  */
-OdometryTank::OdometryTank(vex::encoder &left_enc, vex::encoder &right_enc, robot_specs_t &config, vex::inertial *imu, bool is_async)
+OdometryTank::OdometryTank(CustomEncoder &left_enc, CustomEncoder &right_enc, robot_specs_t &config, vex::inertial *imu, bool is_async)
 : left_side(NULL), right_side(NULL), left_enc(&left_enc), right_enc(&right_enc), imu(imu), config(config)
 {
     // Make sure the last known info starts zeroed
diff --git a/src/subsystems/tank_drive.cpp b/src/subsystems/tank_drive.cpp
index 906a3d0..e9c4839 100644
--- a/src/subsystems/tank_drive.cpp
+++ b/src/subsystems/tank_drive.cpp
@@ -205,22 +205,22 @@ bool TankDrive::drive_to_point(double x, double y, double speed, double correcti
   
   int sign = 1;
 
+  // Make an imaginary perpendicualar line to that between the bot and the point. If the point is behind that line,
+  // and the point is within the robot's radius, use negatives for feedback control.
+
+  double angle_to_point = atan2(y - current_pos.y, x - current_pos.x) * 180.0 / PI;
+  double angle = fmod(current_pos.rot - angle_to_point, 360.0);
+  // Normalize the angle between 0 and 360
+  if (angle > 360) angle -= 360;
+  if (angle < 0) angle += 360; 
+  // If the angle is behind the robot, report negative.
+  if (dir == directionType::fwd && angle > 90 && angle < 270)
+    sign = -1;
+  else if(dir == directionType::rev && (angle < 90 || angle > 270))
+    sign = -1;
+
   if (fabs(dist_left) < config.drive_correction_cutoff) 
   {
-    // Make an imaginary perpendicualar line to that between the bot and the point. If the point is behind that line,
-    // and the point is within the robot's radius, use negatives for feedback control.
-
-    double angle_to_point = atan2(y - current_pos.y, x - current_pos.x) * 180.0 / PI;
-    double angle = fmod(current_pos.rot - angle_to_point, 360.0);
-    // Normalize the angle between 0 and 360
-    if (angle > 360) angle -= 360;
-    if (angle < 0) angle += 360; 
-    // If the angle is behind the robot, report negative.
-    if (dir == directionType::fwd && angle > 90 && angle < 270)
-      sign = -1;
-    else if(dir == directionType::rev && (angle < 90 || angle > 270))
-      sign = -1;
-
     // When inside the robot's cutoff radius, report the distance to the point along the robot's forward axis,
     // so we always "reach" the point without having to do a lateral translation
     dist_left *= fabs(cos(angle * PI / 180.0));
@@ -263,7 +263,7 @@ bool TankDrive::drive_to_point(double x, double y, double speed, double correcti
 
   drive_tank(lside, rside);
 
-  printf("dist: %f\n", dist_left);
+  printf("dist: %f\n", sign * -1 * dist_left);
   fflush(stdout);
 
   // Check if the robot has reached it's destination

From 842c5e1fa2a4e6a2e4b984f9c1ddb2c7482fff85 Mon Sep 17 00:00:00 2001
From: Ryan McGee <ramtech51@comcast.net>
Date: Thu, 14 Apr 2022 22:11:29 -0400
Subject: [PATCH 073/243] Changed hardware ports and refactored

---
 include/subsystems/lift.h | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/include/subsystems/lift.h b/include/subsystems/lift.h
index 1842caf..9676114 100644
--- a/include/subsystems/lift.h
+++ b/include/subsystems/lift.h
@@ -133,9 +133,9 @@ class Lift
   {
     is_async = false;
 
-    if(up_btn)
+    if(up_btn && lift_motors.rotation(rev) < cfg.softstop_up)
       lift_motors.spin(directionType::fwd, volt_up, voltageUnits::volt);
-    else if(down_btn)
+    else if(down_btn && lift_motors.rotation(rev) > cfg.softstop_down)
       lift_motors.spin(directionType::rev, volt_down, voltageUnits::volt);
     else
       lift_motors.spin(directionType::fwd, 0, voltageUnits::volt);

From b5c41582ae92473eb10b0221f4d33e0fac915629 Mon Sep 17 00:00:00 2001
From: Ryan McGee <ramtech51@comcast.net>
Date: Tue, 19 Apr 2022 23:15:42 -0400
Subject: [PATCH 074/243] Decent progress on rush auto

---
 include/subsystems/lift.h | 22 +++++++++++++++++++---
 1 file changed, 19 insertions(+), 3 deletions(-)

diff --git a/include/subsystems/lift.h b/include/subsystems/lift.h
index 9676114..7df177e 100644
--- a/include/subsystems/lift.h
+++ b/include/subsystems/lift.h
@@ -131,14 +131,30 @@ class Lift
    */
   void control_manual(bool up_btn, bool down_btn, int volt_up, int volt_down)
   {
-    is_async = false;
+    static bool down_hold = false;
+    static bool init = true;
 
-    if(up_btn && lift_motors.rotation(rev) < cfg.softstop_up)
+    // Allow for setting position while still calling this function
+    if(init || up_btn || down_btn)
+    {
+      init = false;
+      is_async = false;
+    }
+
+    double rev = lift_motors.rotation(rotationUnits::rev);
+
+    if(rev < cfg.softstop_down && down_btn)
+      down_hold = true;
+    else if( !down_btn )
+      down_hold = false;
+
+    if(up_btn && rev < cfg.softstop_up)
       lift_motors.spin(directionType::fwd, volt_up, voltageUnits::volt);
-    else if(down_btn && lift_motors.rotation(rev) > cfg.softstop_down)
+    else if(down_btn && rev > cfg.softstop_down && !down_hold)
       lift_motors.spin(directionType::rev, volt_down, voltageUnits::volt);
     else
       lift_motors.spin(directionType::fwd, 0, voltageUnits::volt);
+  
   }
 
   /**

From 72408fe574b16cde4a7fdd6b3cc185904a1c633b Mon Sep 17 00:00:00 2001
From: Ryan McGee <ramtech51@comcast.net>
Date: Sat, 11 Jun 2022 22:08:55 -0400
Subject: [PATCH 075/243] Removed useless items from core

---
 include/pathfinder.h                    | 27 ---------------
 include/pathfinder/fit.h                | 14 --------
 include/pathfinder/followers/distance.h | 20 -----------
 include/pathfinder/followers/encoder.h  | 21 -----------
 include/pathfinder/io.h                 | 27 ---------------
 include/pathfinder/lib.h                | 10 ------
 include/pathfinder/mathutil.h           | 20 -----------
 include/pathfinder/modifiers/swerve.h   | 14 --------
 include/pathfinder/modifiers/tank.h     |  9 -----
 include/pathfinder/spline.h             | 20 -----------
 include/pathfinder/structs.h            | 43 -----------------------
 include/pathfinder/trajectory.h         | 18 ----------
 include/subsystems/rgb_controller.h     | 28 ---------------
 src/subsystems/rgb_controller.cpp       | 46 -------------------------
 14 files changed, 317 deletions(-)
 delete mode 100644 include/pathfinder.h
 delete mode 100644 include/pathfinder/fit.h
 delete mode 100644 include/pathfinder/followers/distance.h
 delete mode 100644 include/pathfinder/followers/encoder.h
 delete mode 100644 include/pathfinder/io.h
 delete mode 100644 include/pathfinder/lib.h
 delete mode 100644 include/pathfinder/mathutil.h
 delete mode 100644 include/pathfinder/modifiers/swerve.h
 delete mode 100644 include/pathfinder/modifiers/tank.h
 delete mode 100644 include/pathfinder/spline.h
 delete mode 100644 include/pathfinder/structs.h
 delete mode 100644 include/pathfinder/trajectory.h
 delete mode 100644 include/subsystems/rgb_controller.h
 delete mode 100644 src/subsystems/rgb_controller.cpp

diff --git a/include/pathfinder.h b/include/pathfinder.h
deleted file mode 100644
index e366d05..0000000
--- a/include/pathfinder.h
+++ /dev/null
@@ -1,27 +0,0 @@
-#ifndef PATHFINDER_H_DEF
-#define PATHFINDER_H_DEF
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-#include "../core/include/pathfinder/mathutil.h"
-#include "../core/include/pathfinder/structs.h"
-
-#include "../core/include/pathfinder/fit.h"
-#include "../core/include/pathfinder/spline.h"
-#include "../core/include/pathfinder/trajectory.h"
-
-#include "../core/include/pathfinder/modifiers/tank.h"
-#include "../core/include/pathfinder/modifiers/swerve.h"
-
-#include "../core/include/pathfinder/followers/encoder.h"
-#include "../core/include/pathfinder/followers/distance.h"
-
-#include "../core/include/pathfinder/io.h"
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif
\ No newline at end of file
diff --git a/include/pathfinder/fit.h b/include/pathfinder/fit.h
deleted file mode 100644
index 66a10f8..0000000
--- a/include/pathfinder/fit.h
+++ /dev/null
@@ -1,14 +0,0 @@
-#ifndef PATHFINDER_FIT_H_DEF
-#define PATHFINDER_FIT_H_DEF
-
-#include "../core/include/pathfinder/lib.h"
-#include "../core/include/pathfinder/structs.h"
-
-CAPI void pf_fit_hermite_pre(Waypoint a, Waypoint b, Spline *s);
-CAPI void pf_fit_hermite_cubic(Waypoint a, Waypoint b, Spline *s);
-CAPI void pf_fit_hermite_quintic(Waypoint a, Waypoint b, Spline *s);
-
-#define FIT_HERMITE_CUBIC   &pf_fit_hermite_cubic
-#define FIT_HERMITE_QUINTIC &pf_fit_hermite_quintic
-
-#endif
\ No newline at end of file
diff --git a/include/pathfinder/followers/distance.h b/include/pathfinder/followers/distance.h
deleted file mode 100644
index 3779549..0000000
--- a/include/pathfinder/followers/distance.h
+++ /dev/null
@@ -1,20 +0,0 @@
-#ifndef PATHFINDER_FOL_DISTANCE_H_DEF
-#define PATHFINDER_FOL_DISTANCE_H_DEF
-
-#include "../core/include/pathfinder/lib.h"
-#include "../core/include/pathfinder/structs.h"
-
-CAPI typedef struct {
-    double kp, ki, kd, kv, ka;
-} FollowerConfig;
-
-CAPI typedef struct {
-    double last_error, heading, output;
-    int segment, finished;
-} DistanceFollower;
-
-CAPI double pathfinder_follow_distance(FollowerConfig c, DistanceFollower *follower, Segment *trajectory, int trajectory_length, double distance);
-
-CAPI double pathfinder_follow_distance2(FollowerConfig c, DistanceFollower *follower, Segment segment, int trajectory_length, double distance);
-
-#endif
\ No newline at end of file
diff --git a/include/pathfinder/followers/encoder.h b/include/pathfinder/followers/encoder.h
deleted file mode 100644
index 7b42d8b..0000000
--- a/include/pathfinder/followers/encoder.h
+++ /dev/null
@@ -1,21 +0,0 @@
-#ifndef PATHFINDER_FOL_ENCODER_H_DEF
-#define PATHFINDER_FOL_ENCODER_H_DEF
-
-#include "../core/include/pathfinder/structs.h"
-
-typedef struct {
-    int initial_position, ticks_per_revolution;
-    double wheel_circumference;
-    double kp, ki, kd, kv, ka;
-} EncoderConfig;
-
-typedef struct {
-    double last_error, heading, output;
-    int segment, finished;
-} EncoderFollower;
-
-double pathfinder_follow_encoder(EncoderConfig c, EncoderFollower *follower, Segment *trajectory, int trajectory_length, int encoder_tick);
-
-double pathfinder_follow_encoder2(EncoderConfig c, EncoderFollower *follower, Segment segment, int trajectory_length, int encoder_tick);
-
-#endif
\ No newline at end of file
diff --git a/include/pathfinder/io.h b/include/pathfinder/io.h
deleted file mode 100644
index ef8d40f..0000000
--- a/include/pathfinder/io.h
+++ /dev/null
@@ -1,27 +0,0 @@
-#ifndef PATHFINDER_IO_H_DEF
-#define PATHFINDER_IO_H_DEF
-
-#include <stdio.h>
-#include <stdlib.h>
-#include <string.h>
-#include "../core/include/pathfinder/lib.h"
-#include "../core/include/pathfinder/structs.h"
-
-#define CSV_LEADING_STRING "dt,x,y,position,velocity,acceleration,jerk,heading\n"
-
-CAPI void intToBytes(int n, char *bytes);
-CAPI int bytesToInt(char *bytes);
-CAPI void longToBytes(unsigned long long n, char *bytes);
-CAPI unsigned long long bytesToLong(char *bytes);
-CAPI double longToDouble(unsigned long long l);
-CAPI unsigned long long doubleToLong(double d);
-CAPI void doubleToBytes(double n, char *bytes);
-CAPI double bytesToDouble(char *bytes);
-
-CAPI void pathfinder_serialize(FILE *fp, Segment *trajectory, int trajectory_length);
-CAPI int pathfinder_deserialize(FILE *fp, Segment *target);
-
-CAPI void pathfinder_serialize_csv(FILE *fp, Segment *trajectory, int trajectory_length);
-CAPI int pathfinder_deserialize_csv(FILE *fp, Segment *target);
-
-#endif
\ No newline at end of file
diff --git a/include/pathfinder/lib.h b/include/pathfinder/lib.h
deleted file mode 100644
index 4c15a58..0000000
--- a/include/pathfinder/lib.h
+++ /dev/null
@@ -1,10 +0,0 @@
-#ifndef PATHFINDER_LIB_H_DEF
-#define PATHFINDER_LIB_H_DEF
-
-#if defined(WIN32) || defined(_WIN32) || defined(__WIN32) && !defined(__CYGWIN__)
-    #define CAPI __declspec(dllexport)
-#else
-    #define CAPI
-#endif
-
-#endif
\ No newline at end of file
diff --git a/include/pathfinder/mathutil.h b/include/pathfinder/mathutil.h
deleted file mode 100644
index 170c625..0000000
--- a/include/pathfinder/mathutil.h
+++ /dev/null
@@ -1,20 +0,0 @@
-#include <math.h>
-
-#ifndef PATHFINDER_MATH_UTIL_H_DEF
-#define PATHFINDER_MATH_UTIL_H_DEF
-
-#include "../core/include/pathfinder/lib.h"
-
-#define PI 3.14159265358979323846
-#define TAU PI*2
-
-#define MIN(a,b) (((a)<(b))?(a):(b))
-#define MAX(a,b) (((a)>(b))?(a):(b))
-
-CAPI double bound_radians(double angle);
-
-CAPI double r2d(double angleInRads);
-
-CAPI double d2r(double angleInDegrees);
-
-#endif
\ No newline at end of file
diff --git a/include/pathfinder/modifiers/swerve.h b/include/pathfinder/modifiers/swerve.h
deleted file mode 100644
index 58eaf28..0000000
--- a/include/pathfinder/modifiers/swerve.h
+++ /dev/null
@@ -1,14 +0,0 @@
-#ifndef PATHFINDER_MOD_SWERVE_H_DEF
-#define PATHFINDER_MOD_SWERVE_H_DEF
-
-#include "../core/include/pathfinder/lib.h"
-#include "../core/include/pathfinder/structs.h"
-
-CAPI typedef enum {
-    SWERVE_DEFAULT
-} SWERVE_MODE;
-
-CAPI void pathfinder_modify_swerve(Segment *original, int length, Segment *front_left, Segment *front_right,
-        Segment *back_left, Segment *back_right, double wheelbase_width, double wheelbase_depth, SWERVE_MODE mode);
-
-#endif
\ No newline at end of file
diff --git a/include/pathfinder/modifiers/tank.h b/include/pathfinder/modifiers/tank.h
deleted file mode 100644
index 1b8b8b5..0000000
--- a/include/pathfinder/modifiers/tank.h
+++ /dev/null
@@ -1,9 +0,0 @@
-#ifndef PATHFINDER_MOD_TANK_H_DEF
-#define PATHFINDER_MOD_TANK_H_DEF
-
-#include "../core/include/pathfinder/lib.h"
-#include "../core/include/pathfinder/structs.h"
-
-CAPI void pathfinder_modify_tank(Segment *original, int length, Segment *left, Segment *right, double wheelbase_width);
-
-#endif
\ No newline at end of file
diff --git a/include/pathfinder/spline.h b/include/pathfinder/spline.h
deleted file mode 100644
index 401cde7..0000000
--- a/include/pathfinder/spline.h
+++ /dev/null
@@ -1,20 +0,0 @@
-#ifndef PATHFINDER_SPLINE_H_DEF
-#define PATHFINDER_SPLINE_H_DEF
-
-#include "../core/include/pathfinder/lib.h"
-#include "../core/include/pathfinder/structs.h"
-
-
-#define PATHFINDER_SAMPLES_FAST (int)1000
-#define PATHFINDER_SAMPLES_LOW  (int)PATHFINDER_SAMPLES_FAST*10
-#define PATHFINDER_SAMPLES_HIGH (int)PATHFINDER_SAMPLES_LOW*10
-
-CAPI Coord pf_spline_coords(Spline s, double percentage);
-CAPI double pf_spline_deriv(Spline s, double percentage);
-CAPI double pf_spline_deriv_2(double a, double b, double c, double d, double e, double k, double p);
-CAPI double pf_spline_angle(Spline s, double percentage);
-
-CAPI double pf_spline_distance(Spline *s, int sample_count);
-CAPI double pf_spline_progress_for_distance(Spline s, double distance, int sample_count);
-
-#endif
\ No newline at end of file
diff --git a/include/pathfinder/structs.h b/include/pathfinder/structs.h
deleted file mode 100644
index 63451c0..0000000
--- a/include/pathfinder/structs.h
+++ /dev/null
@@ -1,43 +0,0 @@
-#ifndef PATHFINDER_STRUCT_H_DEF
-#define PATHFINDER_STRUCT_H_DEF
-
-#include "../core/include/pathfinder/lib.h"
-
-CAPI typedef struct {
-    double x, y, angle;
-} Waypoint;
-
-CAPI typedef struct {
-    double a, b, c, d, e;
-    double x_offset, y_offset, angle_offset, knot_distance, arc_length;
-} Spline;
-
-CAPI typedef struct {
-    double x, y;
-} Coord;
-
-CAPI typedef struct {
-    double dt, x, y, position, velocity, acceleration, jerk, heading;
-} Segment;
-
-CAPI typedef struct {
-    double dt, max_v, max_a, max_j, src_v, src_theta, dest_pos, dest_v, dest_theta;
-    int sample_count;
-} TrajectoryConfig;
-
-CAPI typedef struct {
-    int filter1, filter2, length;
-    double dt, u, v, impulse;
-} TrajectoryInfo;
-
-CAPI typedef struct {
-    Spline *saptr;
-    double *laptr;
-    double totalLength;
-    int length;
-    int path_length;
-    TrajectoryInfo info;
-    TrajectoryConfig config;
-} TrajectoryCandidate;
-
-#endif
\ No newline at end of file
diff --git a/include/pathfinder/trajectory.h b/include/pathfinder/trajectory.h
deleted file mode 100644
index b585167..0000000
--- a/include/pathfinder/trajectory.h
+++ /dev/null
@@ -1,18 +0,0 @@
-#ifndef PATHFINDER_TRAJECTORY_H_DEF
-#define PATHFINDER_TRAJECTORY_H_DEF
-
-#include "../core/include/pathfinder/lib.h"
-#include "../core/include/pathfinder/structs.h"
-
-CAPI int pathfinder_prepare(Waypoint *path, int path_length, void (*fit)(Waypoint,Waypoint,Spline*), int sample_count, double dt,
-        double max_velocity, double max_acceleration, double max_jerk, TrajectoryCandidate *cand);
-CAPI int pathfinder_generate(TrajectoryCandidate *c, Segment *segments);
-
-CAPI void pf_trajectory_copy(Segment *src, Segment *dest, int length);
-
-CAPI TrajectoryInfo pf_trajectory_prepare(TrajectoryConfig c);
-CAPI int pf_trajectory_create(TrajectoryInfo info, TrajectoryConfig c, Segment *seg);
-CAPI int pf_trajectory_fromSecondOrderFilter(int filter_1_l, int filter_2_l, 
-        double dt, double u, double v, double impulse, int len, Segment *t);
-
-#endif
\ No newline at end of file
diff --git a/include/subsystems/rgb_controller.h b/include/subsystems/rgb_controller.h
deleted file mode 100644
index 33dfb80..0000000
--- a/include/subsystems/rgb_controller.h
+++ /dev/null
@@ -1,28 +0,0 @@
-#ifndef _RGB_CON_
-#define _RGB_CON_
-
-#include "vex.h"
-
-/**
- * A simple rgb controller for controlling the arduino, which in turn controls the led strip.
- * Sends binary over 3 seperate 3 wire ports for up to 7 color modes, and off.
- */
-class RGBController
-{
-  private:
-    vex::digital_out port1, port2, port3;
-
-  public:
-
-  enum rgb_t
-  {
-    Off, Blue, Red, Green, OrangeWhite, Rainbow
-  };
-
-  RGBController(rgb_t starting_color, vex::triport::port port1, vex::triport::port port2, vex::triport::port port3);
-
-  void set(rgb_t color);
-
-  
-};
-#endif
\ No newline at end of file
diff --git a/src/subsystems/rgb_controller.cpp b/src/subsystems/rgb_controller.cpp
deleted file mode 100644
index 63b8f73..0000000
--- a/src/subsystems/rgb_controller.cpp
+++ /dev/null
@@ -1,46 +0,0 @@
-#include "../core/include/subsystems/rgb_controller.h"
-
-RGBController::RGBController(rgb_t starting_color, vex::triport::port port1, vex::triport::port port2, vex::triport::port port3)
-  : port1(port1), port2(port2), port3(port3)
-  {
-    set(starting_color);
-  }
-
-  void RGBController::set(rgb_t color)
-  {
-    switch(color)
-    {
-      case Blue:
-        port1.set(1);
-        port2.set(0);
-        port3.set(0);
-      break;
-      case Red:
-        port1.set(0);
-        port2.set(1);
-        port3.set(0);
-      break;
-      case Green:
-        port1.set(1);
-        port2.set(1);
-        port3.set(0);
-      break;
-      case OrangeWhite:
-        port1.set(0);
-        port2.set(0);
-        port3.set(1);
-      break;
-      case Rainbow:
-        port1.set(1);
-        port2.set(0);
-        port3.set(1);
-      break;
-
-      default:
-      case Off:
-        port1.set(0);
-        port2.set(0);
-        port3.set(0);
-      break;
-    }
-  }
\ No newline at end of file

From 020d9af6e8ea1c5e994280cf3a1df22c7af7d396 Mon Sep 17 00:00:00 2001
From: Ryan McGee <ramtech51@comcast.net>
Date: Sat, 11 Jun 2022 23:06:19 -0400
Subject: [PATCH 076/243] Removed spline_path to fix compilation issues

---
 include/utils/spline_path.h | 57 ------------------------
 src/utils/spline_path.cpp   | 86 -------------------------------------
 2 files changed, 143 deletions(-)
 delete mode 100644 include/utils/spline_path.h
 delete mode 100644 src/utils/spline_path.cpp

diff --git a/include/utils/spline_path.h b/include/utils/spline_path.h
deleted file mode 100644
index 05f0988..0000000
--- a/include/utils/spline_path.h
+++ /dev/null
@@ -1,57 +0,0 @@
-#ifndef _SPLINE_
-#define _SPLINE_
-
-#include "../core/include/pathfinder.h"
-
-#include "../core/include/subsystems/tank_drive.h"
-
-
-class SplinePath
-{
-public:
-  struct motion_profile_t
-  {
-    // drive_pid controls the speed at which the robot drives forward,
-    // turn_p is for turning the robot based on the desired heading
-    float drive_p = .1, drive_i = 0, drive_d = 0;
-    float turn_p = .05;
-
-    // Maximum velocity, acceleration, and jerk the robot is allowed to achieve (Jerk doesn't matter THAT much...)
-    double max_v = 10, max_a = 20, max_j = 100;
-
-    // kv and ka are constants fed into the spline system, and are multiplied by the
-    // velocity setpoint and acceleration setpoint inside the main pathfinder stuff.
-    // Generally 1/max_v is sufficient for kv (does NOT work for ka)
-    float kv = 1.0 / max_v, ka = 0;
-
-    // Time delta between loops inside the pathfinder calls
-    double dt = .01;
-
-    // Misc robot info
-    double wheel_diam = 4;
-    int ticks_per_rev = 900; // 300 with blues, 900 with greens, 1800 with reds
-    double wheelbase_width = 11.5;
-  };
-
-  SplinePath(TankDrive &drive_system, vex::inertial &imu, vex::motor &l_enc, vex::motor &r_enc, motion_profile_t &motion_profile);
-
-  bool run_path(Waypoint *point_list, int list_length);
-
-private:
-  bool run_path_init = true;
-  double reset_heading = 0;
-
-  TrajectoryCandidate candidate;
-  Segment *center_traj, *left_traj, *right_traj;
-
-  EncoderFollower *left_follower, *right_follower;
-  EncoderConfig enc_conf;
-
-  TankDrive &drive_system;
-  vex::motor &l_enc, &r_enc;
-  vex::inertial &imu;
-
-  motion_profile_t &motion_profile;
-};
-
-#endif
\ No newline at end of file
diff --git a/src/utils/spline_path.cpp b/src/utils/spline_path.cpp
deleted file mode 100644
index aedbb57..0000000
--- a/src/utils/spline_path.cpp
+++ /dev/null
@@ -1,86 +0,0 @@
-#include "../core/include/utils/spline_path.h"
-
-SplinePath::SplinePath(TankDrive &drive_system, vex::inertial &imu, vex::motor &l_enc, vex::motor &r_enc, motion_profile_t &motion_profile)
-: drive_system(drive_system), l_enc(l_enc), r_enc(r_enc), imu(imu), motion_profile(motion_profile)
-{
-}
-
-/**
- * Makes the robot follow a predetermined path defined by point_list array,
- * with list_length number of waypoints. The first waypoint should be the
- * starting position.
- * 
- * Returns true when the path has finished
- */
-bool SplinePath::run_path(Waypoint *point_list, int list_length)
-{
-  if (run_path_init)
-  {
-    // Set up Pathfinder's "EncoderConfig" struct that will be fed into the path generation
-    enc_conf.initial_position = 0;
-    enc_conf.ticks_per_revolution = motion_profile.ticks_per_rev;
-    enc_conf.wheel_circumference = motion_profile.wheel_diam * PI;
-    enc_conf.kp = motion_profile.drive_p;
-    enc_conf.ki = motion_profile.drive_i;
-    enc_conf.kd = motion_profile.drive_d;
-    enc_conf.kv = motion_profile.kv;
-    enc_conf.ka = motion_profile.ka;
-    
-    // Prepare the "trajectory candidate" with information about the curve (max velocities / accels, type of curve, etc)
-    pathfinder_prepare(point_list, list_length, FIT_HERMITE_CUBIC, PATHFINDER_SAMPLES_LOW, motion_profile.dt,
-                       motion_profile.max_v, motion_profile.max_a, motion_profile.max_j, &candidate);
-
-    // Allocate the memory for the center, left and right "trajectories", or paths.
-    center_traj = (Segment *)malloc(sizeof(Segment) * candidate.length);
-    left_traj = (Segment*) malloc(sizeof(Segment) * candidate.length);
-    right_traj = (Segment*) malloc(sizeof(Segment) * candidate.length);
-
-    // Generate the main center trajectory
-    pathfinder_generate(&candidate, center_traj);
-
-    // Generate the left wheel and right wheel paths from the center trajectory
-    pathfinder_modify_tank(center_traj, candidate.length, left_traj, right_traj, motion_profile.wheelbase_width);
-    
-    // Create the "follower" structs, which contains info about the current state of each path when it is running
-    // (e.g. current error for PID, whether it is finished)
-    left_follower = (EncoderFollower *)malloc(sizeof(EncoderFollower));
-    right_follower = (EncoderFollower *)malloc(sizeof(EncoderFollower));
-
-    reset_heading = imu.rotation();
-
-    // Make sure this only runs once per run
-    run_path_init = false;
-  }
-
-  double lout = pathfinder_follow_encoder(enc_conf, left_follower, left_traj, candidate.length, l_enc.position(rotationUnits::raw));
-  double rout = pathfinder_follow_encoder(enc_conf, right_follower, right_traj, candidate.length, r_enc.position(rotationUnits::raw));
-
-  double in_heading = r2d(left_follower->heading);
-  if(in_heading > 180)
-    in_heading -= 360;
-  double heading_error = in_heading + (imu.rotation() - reset_heading);
-
-  lout -= motion_profile.turn_p * heading_error;
-  rout += motion_profile.turn_p * heading_error;
-
-  drive_system.drive_tank(lout, rout);
-
-  if(left_follower->finished && right_follower->finished)
-  {
-    // Actively set all velocities of the wheels to 0
-    drive_system.stop();
-
-    // Free the memory allocated in the last run
-    free(center_traj);
-    free(left_traj);
-    free(right_traj);
-    free(left_follower);
-    free(right_follower);
-
-    // Re-run initialization for the next path
-    run_path_init = true;
-    return true;
-  }
-
-  return false;
-}
\ No newline at end of file

From d300d5f458cec26827af2434d09374cbb9a92c3d Mon Sep 17 00:00:00 2001
From: Ryan McGee <ramtech51@comcast.net>
Date: Sun, 4 Sep 2022 21:36:48 -0400
Subject: [PATCH 077/243] Updated to new SDK

---
 include/subsystems/lift.h | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/include/subsystems/lift.h b/include/subsystems/lift.h
index 7df177e..f99bec6 100644
--- a/include/subsystems/lift.h
+++ b/include/subsystems/lift.h
@@ -92,7 +92,7 @@ class Lift
 
     // Check if there's a hook for a custom sensor. If not, use the motors.
     if(get_sensor == NULL)
-      cur_pos = lift_motors.rotation(rev);
+      cur_pos = lift_motors.position(rev);
     else
       cur_pos = get_sensor();
 
@@ -141,7 +141,7 @@ class Lift
       is_async = false;
     }
 
-    double rev = lift_motors.rotation(rotationUnits::rev);
+    double rev = lift_motors.position(rotationUnits::rev);
 
     if(rev < cfg.softstop_down && down_btn)
       down_hold = true;
@@ -245,7 +245,7 @@ class Lift
     if(get_sensor != NULL)
       lift_pid.update(get_sensor());
     else
-      lift_pid.update(lift_motors.rotation(rev));
+      lift_pid.update(lift_motors.position(rev));
 
     // std::cout << "DEBUG OUT: ROTATION " << lift_motors.rotation(rev) << "\n\n";
 

From 9a9c7c9806ded60ed169a6e8e3d4fc26bc2eeae8 Mon Sep 17 00:00:00 2001
From: Ryan McGee <ramtech51@comcast.net>
Date: Fri, 9 Sep 2022 21:57:41 -0400
Subject: [PATCH 078/243] Fixed cyclical includes and missing makefile stuff

---
 include/subsystems/mecanum_drive.h            |   7 +-
 include/subsystems/odometry/odometry_base.h   |   7 +-
 include/subsystems/odometry/odometry_swerve.h |  47 ----
 include/subsystems/odometry/odometry_tank.h   |   7 +-
 include/subsystems/swerve_drive.h             |  72 ------
 include/subsystems/swerve_module.h            | 109 --------
 include/utils/generic_auto.h                  |   5 +-
 include/utils/pid.h                           |   7 +-
 include/utils/vector.h                        |   5 +-
 src/subsystems/odometry/odometry_swerve.cpp   |  89 -------
 src/subsystems/swerve_drive.cpp               | 232 ------------------
 src/subsystems/swerve_module.cpp              | 143 -----------
 12 files changed, 10 insertions(+), 720 deletions(-)
 delete mode 100644 include/subsystems/odometry/odometry_swerve.h
 delete mode 100644 include/subsystems/swerve_drive.h
 delete mode 100644 include/subsystems/swerve_module.h
 delete mode 100644 src/subsystems/odometry/odometry_swerve.cpp
 delete mode 100644 src/subsystems/swerve_drive.cpp
 delete mode 100644 src/subsystems/swerve_module.cpp

diff --git a/include/subsystems/mecanum_drive.h b/include/subsystems/mecanum_drive.h
index 398b821..cf01c3d 100644
--- a/include/subsystems/mecanum_drive.h
+++ b/include/subsystems/mecanum_drive.h
@@ -1,5 +1,4 @@
-#ifndef _MECANUMDRIVE_
-#define _MECANUMDRIVE_
+#pragma once
 
 #include "vex.h"
 #include "../core/include/utils/pid.h"
@@ -106,6 +105,4 @@ class MecanumDrive
 
   bool init = true;
 
-};
-
-#endif
\ No newline at end of file
+};
\ No newline at end of file
diff --git a/include/subsystems/odometry/odometry_base.h b/include/subsystems/odometry/odometry_base.h
index daf1692..9c9b840 100644
--- a/include/subsystems/odometry/odometry_base.h
+++ b/include/subsystems/odometry/odometry_base.h
@@ -1,5 +1,4 @@
-#ifndef _ODOMETRY_
-#define _ODOMETRY_
+#pragma once
 
 #include "vex.h"
 #include "../core/include/robot_specs.h"
@@ -71,6 +70,4 @@ class OdometryBase
     vex::task *handle;
     vex::mutex mut;
     position_t current_pos;
-};
-
-#endif
\ No newline at end of file
+};
\ No newline at end of file
diff --git a/include/subsystems/odometry/odometry_swerve.h b/include/subsystems/odometry/odometry_swerve.h
deleted file mode 100644
index fe73180..0000000
--- a/include/subsystems/odometry/odometry_swerve.h
+++ /dev/null
@@ -1,47 +0,0 @@
-#pragma once
-
-#include "vex.h"
-#include "../core/include/subsystems/odometry/odometry_base.h"
-#include "../core/include/subsystems/swerve_drive.h"
-
-class SwerveDrive;
-
-typedef struct
-{
-    double lf_dist, rf_dist, lr_dist, rr_dist;
-} stored_info_t;
-
-static int background_task(void *obj);
-
-/**
- * Odometry controller for a 4x module swerve drivetrain. Can either run in the background or 
- * called manually via the update() function.
- */
-class OdometrySwerve : public OdometryBase
-{
-public:
-
-    /**
-     * Create the odometry object, decide whether to keep it in the background or foreground.
-     */
-    OdometrySwerve(SwerveDrive &drive_system, vex::inertial &imu, bool is_async=true);
-
-    /**
-     * Manually update the position of the robot. Must be called many times each second for an accurate position.
-     * Returns the new posiiton.
-     */
-    position_t update();
-
-private:
-
-    /**
-     * Run the calculations required to find a new position based on a stored old position, stored information
-     * on each swerve module, and information from the sensors stored in the drive_system / imu
-     */
-    static position_t calculate_new_pos(stored_info_t &stored_info, position_t &cur_pos, SwerveDrive &drive_system, vex::inertial &imu);
-
-    SwerveDrive &drive_system;
-    vex::inertial &imu;
-
-    stored_info_t stored_info;
-};
diff --git a/include/subsystems/odometry/odometry_tank.h b/include/subsystems/odometry/odometry_tank.h
index ac376f6..d0eceed 100644
--- a/include/subsystems/odometry/odometry_tank.h
+++ b/include/subsystems/odometry/odometry_tank.h
@@ -1,5 +1,4 @@
-#ifndef _ODOMETRY_TANK_
-#define _ODOMETRY_TANK_
+#pragma once
 
 #include "../core/include/subsystems/odometry/odometry_base.h"
 #include "../core/include/subsystems/custom_encoder.h"
@@ -52,6 +51,4 @@ class OdometryTank : public OdometryBase
 
     double rotation_offset = 0;
     
-};
-
-#endif
\ No newline at end of file
+};
\ No newline at end of file
diff --git a/include/subsystems/swerve_drive.h b/include/subsystems/swerve_drive.h
deleted file mode 100644
index c967cea..0000000
--- a/include/subsystems/swerve_drive.h
+++ /dev/null
@@ -1,72 +0,0 @@
-#pragma once
-
-#include "../core/include/subsystems/swerve_module.h"
-#include "../core/include/subsystems/odometry/odometry_swerve.h"
-#include "../core/include/utils/vector.h"
-#include "../core/include/utils/pid.h"
-
-#define ROT_DEADBAND 0.2
-#define LAT_DEADBAND 0.2
-
-class OdometrySwerve;
-
-enum ModulePosition
-{
-    LEFT_FRONT, RIGHT_FRONT, LEFT_REAR, RIGHT_REAR
-};
-
-class SwerveDrive
-{
-
-public:
-
-/**
- * Construct the SwerveDrive object.
- */
-SwerveDrive(SwerveModule &left_front, SwerveModule &left_rear, SwerveModule &right_front, SwerveModule &right_rear, vex::inertial &imu);
-
-/**
- * Drive the robot using controller inputs. Deadbands are automatically taken into
- * account before passing to the main control method.
- */
-void drive(int32_t leftY, int32_t leftX, int32_t rightX);
-
-/**
- * The main control method. Takes a vector and a rotation, and performs vector math to
- * calculate the position/speed for each wheel.
- */
-void drive(Vector lateral, double rotation);
-
-/**
- * Autonomously drive the robot in (degrees) direction, at (-1.0 -> 1.0) speed, for (inches) distance.
- * Indicate a negative speed or distance, or (preferably) a direction of +-180 degrees for backwards.
- */
-bool auto_drive(double direction, double speed, double distance);
-
-/**
- * Autonomously turn the robot over it's center axis in degrees. Positive degrees is clockwise, Negative is counter-clockwise
- * Speed is in percent (-1.0 -> 1.0)
- */
-bool auto_turn(double degrees, double speed);
-
-void set_drive_pid(PID::pid_config_t &config);
-void set_turn_pid(PID::pid_config_t &config);
-
-/**
- * Return the corresponding module to this swerve drive system
- */
-SwerveModule& get_module(ModulePosition pos);
-
-private:
-
-SwerveModule &left_front, &left_rear, &right_front, &right_rear;
-bool auto_drive_init = true;
-bool auto_turn_init = true;
-
-PID *drive_pid, *turn_pid;
-vex::inertial &imu;
-
-OdometrySwerve *odometry;
-position_t saved_pos;
-
-};
diff --git a/include/subsystems/swerve_module.h b/include/subsystems/swerve_module.h
deleted file mode 100644
index 1ab559b..0000000
--- a/include/subsystems/swerve_module.h
+++ /dev/null
@@ -1,109 +0,0 @@
-#ifndef _SWERVEMODULE_
-#define _SWERVEMODULE_
-
-#include "vex.h"
-using namespace vex;
-
-#ifndef PI
-#define PI 3.141592654
-#endif
-
-#ifndef PI
-#define PI 3.141592654
-#endif
-
-// Gear teeth (input to output): 16, 35
-#define DIR_GEAR_RATIO (16.0/35.0) // ~0.457
-
-// Gear teeth (input to output): 21, 10, 12, 30
-#define DRIVE_GEAR_RATIO ((21.0/10.0)*(12.0/30.0)) // 0.84
-
-#define MOTOR_MAX_RPM 3600
-
-#define WHEEL_DIAM 2.75 //inches
-
-class SwerveModule
-{
-    public:
-
-    /**
-     * Create a single swerve module, made up of a Drive motor and a Direction motor.
-     * 
-     * the Drive motor is the central one, with the Direction motor being offset.
-     */
-    SwerveModule(vex::motor &drive, vex::motor &direction);
-
-    /**
-     * Sets both the speed and direction of the module, taking into account how the motors are geared
-     * together, and each gear ratio.
-     * 
-     * @param direction_deg Degrees of rotation for the module's direction (clockwise positive, from top)
-     * @param speed_pct Speed of the wheel for the module, in percent (-1.0 -> 1.0, positive fwd)
-     */
-    void set(double direction_deg, double speed_pct, int power=2);
-
-    /**
-     * Sets the direction of the module to X degrees (clockwise positive, from top perspective).
-     * 
-     * If set_speed is not called (even when the robot is not moving), then the wheel WILL rotate
-     * despite not being set, due to how the motors are geared together.
-     * 
-     * Calling set_speed(0) will compensate for this.
-     * 
-     * @param deg position to set the motor, counter clockwise from the top.
-     */
-    bool set_direction(double deg);
-
-    /**
-     * Sets the speed of the drive motor, taking into account the speed of the direction motor,
-     * in percent units (-1.0 -> 1.0)
-     */
-    void set_speed(double percent);
-
-    /**
-    * Reset the drive encoder to zero
-    * 
-    * @deprecated Resetting encoders will screw up OdometrySwerve; do not use with odometry.
-    */
-    void reset_distance_driven();
-
-    /**
-     * Get 'distance' from the drive motor
-     * 
-     * TODO take into account the effect of the direction motor on the driven distance
-     */
-    double get_distance_driven();
-
-    /**
-     * Return the direction that the module is pointing
-     */
-    double get_module_angle();
-
-    bool auto_reverse = false;
-
-    private:
-
-    /**
-     * Grab the maximum RPM of a motor with a certain gearset
-     * 
-     * values are:
-     *  RED: 100
-     *  GREEN: 200
-     *  BLUE: 600
-     */
-    static double gearset_dps(vex::gearSetting gearing);
-
-    /**
-     * Improved modulus which correctly calculates negatives
-     */
-    static int mod(int var1, int var2);
-
-    vex::motor &drive, &direction;
-
-    bool inverseDrive;
-    double lastStoredHeading;
-    double driveMulitplier;
-
-};
-
-#endif
\ No newline at end of file
diff --git a/include/utils/generic_auto.h b/include/utils/generic_auto.h
index 2a6f6d9..092c1e5 100644
--- a/include/utils/generic_auto.h
+++ b/include/utils/generic_auto.h
@@ -1,5 +1,4 @@
-#ifndef _GENAUTO_
-#define _GENAUTO_
+#pragma once
 
 #include <queue>
 #include <map>
@@ -41,5 +40,3 @@ class GenericAuto
   std::queue<state_ptr> state_list;
 
 };
-
-#endif
\ No newline at end of file
diff --git a/include/utils/pid.h b/include/utils/pid.h
index d804904..0636785 100644
--- a/include/utils/pid.h
+++ b/include/utils/pid.h
@@ -1,5 +1,4 @@
-#ifndef _PID_
-#define _PID_
+#pragma once
 
 #include <cmath>
 #include "vex.h"
@@ -71,6 +70,4 @@ class PID
   bool is_checking_on_target = false;
 
   timer pid_timer;
-};
-
-#endif
\ No newline at end of file
+};
\ No newline at end of file
diff --git a/include/utils/vector.h b/include/utils/vector.h
index 48d0d05..858ce88 100644
--- a/include/utils/vector.h
+++ b/include/utils/vector.h
@@ -1,5 +1,4 @@
-#ifndef _VECTOR_
-#define _VECTOR_
+#pragma once
 
 #include <cmath>
 
@@ -113,5 +112,3 @@ double deg2rad(double deg);
  * General function for converting radians to degrees
  */
 double rad2deg(double r);
-
-#endif
diff --git a/src/subsystems/odometry/odometry_swerve.cpp b/src/subsystems/odometry/odometry_swerve.cpp
deleted file mode 100644
index cf13a95..0000000
--- a/src/subsystems/odometry/odometry_swerve.cpp
+++ /dev/null
@@ -1,89 +0,0 @@
-#include "../core/include/subsystems/odometry/odometry_swerve.h"
-#include "../core/include/utils/vector.h"
-
-OdometrySwerve::OdometrySwerve(SwerveDrive &drive_system, vex::inertial &imu, bool is_async)
-: drive_system(drive_system), imu(imu)
-{
-    memset(&stored_info, 0, sizeof(stored_info_t));
-
-    if(is_async)
-        handle = new vex::task(background_task, this);
-}
-
-/**
- * Manually update the position of the robot. Must be called many times each second for an accurate position.
- * Returns the new posiiton.
- */
-position_t OdometrySwerve::update()
-{
-    position_t new_pos = calculate_new_pos(stored_info,current_pos, drive_system, imu);
-
-    mut.lock();
-    this->current_pos = new_pos;
-    mut.unlock();
-
-    return current_pos;
-}
-
-/**
- * Function containing the code running in the background, if this odometry is running 
- * asynchronously.
- */
-int background_task(void *obj)
-{
-    OdometrySwerve &odom = *((OdometrySwerve*)obj);
-
-    while(!odom.end_task)
-    {
-        odom.update();
-        vexDelay(DOWNTIME);
-    }
-
-    return 0;
-}
-
-/**
- * Run the calculations required to find a new position based on a stored old position, stored information
- * on each swerve module, and information from the sensors stored in the drive_system / imu
- */
-position_t OdometrySwerve::calculate_new_pos(stored_info_t &stored_info, position_t &cur_pos, SwerveDrive &drive_system, vex::inertial &imu)
-{
-    // Get the change in distance for each drive motor
-    double lf_delta = drive_system.get_module(LEFT_FRONT).get_distance_driven() - stored_info.lf_dist;
-    double rf_delta = drive_system.get_module(RIGHT_FRONT).get_distance_driven() - stored_info.rf_dist;
-    double lr_delta = drive_system.get_module(LEFT_REAR).get_distance_driven() - stored_info.lr_dist;
-    double rr_delta = drive_system.get_module(RIGHT_REAR).get_distance_driven() - stored_info.rr_dist;
-
-    // Store the vector displacement
-    Vector lf_disp(drive_system.get_module(LEFT_FRONT).get_module_angle(), lf_delta);
-    Vector rf_disp(drive_system.get_module(RIGHT_FRONT).get_module_angle(), rf_delta);
-    Vector lr_disp(drive_system.get_module(LEFT_REAR).get_module_angle(), lr_delta);
-    Vector rr_disp(drive_system.get_module(RIGHT_REAR).get_module_angle(), rr_delta);
-
-    // Get an overall displacement of the robot
-    // Adding the vectors cancels out rotation, and leaves the robots actual displacement
-    Vector delta_displacement = lf_disp + rf_disp + lr_disp + rr_disp;
-
-    // Create a vector from the robot's current position,
-    // representing the displacement from the origin
-    Vector::point_t pt = {.x = cur_pos.x, .y = cur_pos.y};
-    Vector old_displacement(pt);
-
-    // Add the "change in displacement" to the existing displacement (from 0,0)
-    Vector new_displacement = old_displacement + delta_displacement;
-
-    position_t out = 
-    {
-    .x = new_displacement.get_x(),
-    .y = new_displacement.get_y(),
-    .rot = imu.heading()
-    };
-
-    // Store each module's previous distance driven for the next update
-    stored_info.lf_dist = drive_system.get_module(LEFT_FRONT).get_distance_driven();
-    stored_info.rf_dist = drive_system.get_module(RIGHT_FRONT).get_distance_driven();
-    stored_info.lr_dist = drive_system.get_module(LEFT_REAR).get_distance_driven();
-    stored_info.rr_dist = drive_system.get_module(RIGHT_REAR).get_distance_driven();
-
-    return out;
-}
\ No newline at end of file
diff --git a/src/subsystems/swerve_drive.cpp b/src/subsystems/swerve_drive.cpp
deleted file mode 100644
index ca59f6f..0000000
--- a/src/subsystems/swerve_drive.cpp
+++ /dev/null
@@ -1,232 +0,0 @@
-#include "../core/include/subsystems/swerve_drive.h"
-#include <iostream>
-
-using namespace std;
-
-/**
- * Construct the SwerveDrive object.
- */
-SwerveDrive::SwerveDrive(SwerveModule &left_front, SwerveModule &left_rear, SwerveModule &right_front, SwerveModule &right_rear, vex::inertial &imu)
-:left_front(left_front), left_rear(left_rear), right_front(right_front), right_rear(right_rear), imu(imu)
-{
-  // odometry = new OdometrySwerve(*this, imu, true);
-}
-
-/**
- * Drive the robot using controller inputs. Deadbands are automatically taken into
- * account before passing to the main control method.
- * 
- * @param leftY Left joystick, Y axis (-100 -> 100)
- * @param leftX Left joystick, X axis (-100 -> 100) 
- * @param rightX Right joystick, X axis(-100 -> 100)
- */
-void SwerveDrive::drive(int32_t leftY, int32_t leftX, int32_t rightX)
-{
-    Vector::point_t p = {.x=(leftX / 100.0), .y=(leftY / 100.0)};
-
-    Vector input_lat(p);
-
-    // Lateral Deadband
-    if(fabs(input_lat.get_mag()) < LAT_DEADBAND)
-        Vector input_lat(0,0);
-
-    // Rotational Deadband
-    if(fabs(rightX / 100.0) < LAT_DEADBAND)
-        rightX = 0;
-
-    // printf("distance: %f\n", left_front.get_distance_driven());
-
-    // Convert input to a vector, and pass into main control method
-    this->drive(input_lat, rightX / 100.0);    
-}
-
-/**
- * The main control method. Takes a vector and a rotation, and performs vector math to
- * calculate the position/speed for each wheel.
- */
-void SwerveDrive::drive(Vector lateral, double rotation)
-{
-    // Each wheel has a different rotation vector
-    Vector rot_lf(deg2rad(45), rotation);
-    Vector rot_rf(deg2rad(45+90), rotation);
-    Vector rot_rr(deg2rad(45+180), rotation);
-    Vector rot_lr(deg2rad(45+270), rotation);
-
-    // Perform vector addition between the rotation vector and lateral vectors
-    Vector lf_out = rot_lf + lateral;
-    Vector rf_out = rot_rf + lateral;
-    Vector rr_out = rot_rr + lateral;
-    Vector lr_out = rot_lr + lateral;
-
-    // Set each swerve module to the respective direction / speed
-    left_front.set(rad2deg(lf_out.get_dir()), lf_out.get_mag());
-    right_front.set(rad2deg(rf_out.get_dir()), rf_out.get_mag());
-    right_rear.set(rad2deg(rr_out.get_dir()), rr_out.get_mag());
-    left_rear.set(rad2deg(lr_out.get_dir()), lr_out.get_mag());
-}
-
-/**
- * Set the PID configuration for the "auto_drive" function
- */
-void SwerveDrive::set_drive_pid(PID::pid_config_t &config) 
-{
-  if(drive_pid != NULL)
-    delete drive_pid;
-
-  this->drive_pid = new PID(config);
-}
-
-/**
- * Set the PID configuration for the "auto_turn" function
- */
-void SwerveDrive::set_turn_pid(PID::pid_config_t &config) 
-{ 
-  if(turn_pid != NULL)
-    delete turn_pid;
-
-  this->turn_pid = new PID(config);
-}
-
-/**
- * Autonomously drive the robot in (degrees) direction, at (-1.0 -> 1.0) speed, for (inches) distance.
- * Indicate a negative speed or distance, or (preferably) a direction of +-180 degrees for backwards.
- * 
- * NOTE: This function uses relative positioning, and a few calls to it may cause it to drift!
- */
-bool SwerveDrive::auto_drive(double direction, double speed, double distance)
-{
-  // Null check the PID config
-  if(drive_pid == NULL)
-  {
-    fprintf(stderr, "Failed to run auto_drive: Missing PID config\n");
-    return true; // true to indicate 'finished'
-  }
-
-  // INITIALIZATION
-  if(auto_drive_init)
-  {
-    // std::cout << "Init-ing" << std::endl;
-    // Turn all the wheels in the correct direction before running
-    bool all_wheels_done = true;
-    all_wheels_done = all_wheels_done & left_front.set_direction(direction);
-    all_wheels_done = all_wheels_done & right_front.set_direction(direction);
-    all_wheels_done = all_wheels_done & left_rear.set_direction(direction);
-    all_wheels_done = all_wheels_done & right_rear.set_direction(direction);
-
-    // Setting the speed of all wheels to zero will still slowly run the motor, to make sure the wheel is stopped.
-    // (running the direction motor affects the speed of the wheel due to how it's geared together)
-    left_front.set_speed(0);
-    right_front.set_speed(0);
-    left_rear.set_speed(0);
-    right_rear.set_speed(0);
-
-    // Make sure all the wheels are done turning before continuing with the 'init' phase
-    if(!all_wheels_done)
-      return false;
-
-    saved_pos = odometry->get_position();
-
-    // set up the PID
-    drive_pid->reset();
-    drive_pid->set_target(distance);
-    drive_pid->set_limits(-fabs(speed), fabs(speed));
-
-    auto_drive_init = false;
-  }
-
-  // TODO fix negatives
-  double pos_diff = OdometryBase::pos_diff(odometry->get_position(), saved_pos);
-
-  // LOOP
-  drive_pid->update(pos_diff);
-  
-  left_front.set_speed(drive_pid->get());
-  right_front.set_speed(drive_pid->get());
-  left_rear.set_speed(drive_pid->get());
-  right_rear.set_speed(drive_pid->get());
-
-  // Check if the driving is complete
-  if(drive_pid->is_on_target())
-  {
-    this->drive(Vector(0,0), 0); // stop the robot
-    auto_drive_init = true;
-    return true;
-  }
-
-  return false;
-}
-
-/**
- * Autonomously turn the robot over it's center axis in degrees. Positive degrees is clockwise, Negative is counter-clockwise
- * Function is non-blocking, and returns true when it has finished turning.
- * 
- * NOTE: this uses relative positioning, and a few calls may cause it to lose it's desired angle!
- */
-bool SwerveDrive::auto_turn(double degrees, double speed)
-{
-  if(turn_pid == NULL)
-  {
-    fprintf(stderr, "Failed to run auto_turn: missing PID config!");
-    return true;
-  }
-
-  // INIT
-  if(auto_turn_init)
-  {
-    // Wait until all the modules are at their 45's before continuing
-    bool all_wheels_done = true;
-    all_wheels_done = all_wheels_done & left_front.set_direction(45);
-    all_wheels_done = all_wheels_done & right_front.set_direction(45 + 90);
-    all_wheels_done = all_wheels_done & right_rear.set_direction(-45 - 90);
-    all_wheels_done = all_wheels_done & left_rear.set_direction(-45);
-    if(!all_wheels_done)
-      return false;
-
-    saved_pos = odometry->get_position();
-
-    turn_pid->reset();
-    turn_pid->set_limits(-fabs(speed), fabs(speed));
-    turn_pid->set_target(degrees);
-
-    auto_turn_init = false;
-  }
-
-  // LOOP
-
-  turn_pid->update(odometry->get_position().rot);
-
-  left_front.set_speed(turn_pid->get());
-  right_front.set_speed(turn_pid->get());
-  left_rear.set_speed(turn_pid->get());
-  right_rear.set_speed(turn_pid->get());
-
-  // when the robot is on target, we are done. return true.
-  if(turn_pid->is_on_target())
-  {
-    drive(Vector(0,0), 0);
-    auto_turn_init = true;
-    return true;
-  }
-
-  return false;
-}
-
-/**
- * Return the corresponding module to this swerve drive system
- */
-SwerveModule& SwerveDrive::get_module(ModulePosition pos)
-{
-  switch(pos)
-  {
-    case LEFT_FRONT:
-      return left_front;
-    case RIGHT_FRONT:
-      return right_front;
-    case LEFT_REAR:
-      return left_rear;
-
-    default: // ONLY if something goes horribly wrong, return the right rear
-    case RIGHT_REAR:
-      return right_rear;
-  }
-}
\ No newline at end of file
diff --git a/src/subsystems/swerve_module.cpp b/src/subsystems/swerve_module.cpp
deleted file mode 100644
index a1e2711..0000000
--- a/src/subsystems/swerve_module.cpp
+++ /dev/null
@@ -1,143 +0,0 @@
-#include "../core/include/subsystems/swerve_module.h"
-
-
-/**
- * Create a single swerve module, made up of a Drive motor and a Direction motor.
- * 
- * the Drive motor is the central one, with the Direction motor being offset.
- */
-SwerveModule::SwerveModule(vex::motor &drive, vex::motor &direction)
-    : drive(drive), direction(direction)
-{
-  lastStoredHeading = 0.0;
-  inverseDrive = false;
-  driveMulitplier = 0.0;
-}
-
-/**
- * Sets both the speed and direction of the module, taking into account how the motors are geared
- * together, and each gear ratio.
- * 
- * @param direction_deg Degrees of rotation for the module's direction (clockwise positive, from top)
- * @param speed_pct Speed of the wheel for the module, in percent (-1.0 -> 1.0, positive fwd)
- * @param power=2 Square / Cube the input for a exponential curve for more lower speed control
- */
-void SwerveModule::set(double direction_deg, double speed_pct, int power)
-{
-  // Don't move the direction wheel unless we need to
-  if(speed_pct == 0.0)
-    direction_deg = lastStoredHeading;
-  else
-    lastStoredHeading = direction_deg;
-
-  set_direction(direction_deg);
-  if(power % 2 == 0)
-    set_speed((speed_pct > 0 ? 1.0 : -1.0) * pow(speed_pct, power));
-  else
-    set_speed(pow(speed_pct, power));
-}
-
-/**
- * Sets the direction of the module to X degrees (clockwise positive, from top perspective).
- * 
- * If set_speed is not called (even when the robot is not moving), then the wheel WILL rotate
- * despite not being set, due to how the motors are geared together.
- * 
- * Calling set_speed(0) will compensate for this.
- * 
- * @param deg position to set the motor, counter clockwise from the top.
- */
-bool SwerveModule::set_direction(double deg)
-{
-  double pos = direction.position(vex::rotationUnits::deg) * DIR_GEAR_RATIO;
-  
-  // Find the degrees of the direction module between -180 and +180, with 0 being forward.
-  int modpos = mod(pos, 360);
-  modpos -= (modpos > 180) ? 360 : 0;
-
-  // Delta between where we are (modpos) and where we need to be (deg)
-  // Normalize the delta to make sure the maximum movement of the direction motor is 90 degrees.
-  // If the delta is above 90, then the wheel will go to the nearest 180 from the target, and move the drive wheel backwards.
-  int delta = deg - modpos;
-  int normalizedDelta = delta + (abs(delta) > 90 ? (delta > 0 ? -180 : 180) : 0);
-
-  inverseDrive = abs(delta) > 90 ? true : false;
-
-  // Slow down the drive if we aren't close to the set direction yet (use the cube of the error)
-  driveMulitplier = pow(1 - (abs(normalizedDelta) / 90.0), 3);
-  double setpnt = (normalizedDelta + pos) / DIR_GEAR_RATIO;
-  
-  direction.spinTo(setpnt, vex::rotationUnits::deg, 100, vex::velocityUnits::pct, false);
-
-  return fabs(setpnt - direction.rotation(rotationUnits::deg)) < 2;
-}
-
-/**
- * Sets the speed of the drive motor, taking into account the speed of the direction motor,
- * in percent units (-1.0 -> 1.0)
- */
-void SwerveModule::set_speed(double percent)
-{
-  // take into account how the RPM of the direction motor affects the RPM of the drive wheel
-  //double speed_diff_dps = 0;//direction.velocity(vex::velocityUnits::dps) * DIR_GEAR_RATIO * -.2;
-  // Difference is negligable. Not worth the effort of getting it right.
-  drive.setReversed(inverseDrive);
-
-  drive.spin(vex::directionType::fwd, percent * 100.0, vex::velocityUnits::pct);
-}
-
-/**
- * Reset the drive encoder to zero
- */
-void SwerveModule::reset_distance_driven()
-{
-  drive.resetPosition();
-}
-
-/**
- * Get 'distance' from the drive motor.
- * Will ALWAYS be positive.
- */
-double SwerveModule::get_distance_driven()
-{
-  // return drive.position(vex::rotationUnits::rev);
-  return fabs(WHEEL_DIAM * PI * drive.position(vex::rotationUnits::rev) * DRIVE_GEAR_RATIO);
-}
-
-/**
- * Return the direction that the module is pointing
- */
-double SwerveModule::get_module_angle()
-{
-  // Limit to 0->360
-  return fmod(direction.rotation(vex::rotationUnits::deg) * DIR_GEAR_RATIO, 360);
-}
-
-/**
- * Grab the maximum degrees per second of a motor with a certain gearset
- * 36 : 1 = reds
- * 18 : 1 = greens
- * 6 : 1 = blues
- */
-double SwerveModule::gearset_dps(vex::gearSetting gearing)
-{
-    switch (gearing)
-    {
-    case vex::gearSetting::ratio36_1:
-        return (1.0 / 36.0) * MOTOR_MAX_RPM * 360.0;
-    case vex::gearSetting::ratio18_1:
-        return (1.0 / 18.0) * MOTOR_MAX_RPM * 360.0;
-    case vex::gearSetting::ratio6_1:
-        return (1.0 / 6.0) * MOTOR_MAX_RPM * 360.0;
-    default:
-        return 0.0;
-    }
-}
-
-/**
- * Improved modulus which correctly calculates negatives
- */
-int SwerveModule::mod(int a, int b)
-{
-    return (b + (a % b)) % b;
-}
\ No newline at end of file

From f43ec74dd054912f80246f9ac1dc169b79a51206 Mon Sep 17 00:00:00 2001
From: Christopher Nokes <crn2267@rit.edu>
Date: Fri, 16 Sep 2022 21:27:09 -0400
Subject: [PATCH 079/243] Initial commit.

---
 include/subsystems/flywheel.h | 25 ++++++++++++++++
 src/subsystems/flywheel.cpp   | 56 +++++++++++++++++++++++++++++++++++
 2 files changed, 81 insertions(+)
 create mode 100644 include/subsystems/flywheel.h
 create mode 100644 src/subsystems/flywheel.cpp

diff --git a/include/subsystems/flywheel.h b/include/subsystems/flywheel.h
new file mode 100644
index 0000000..f36f9cd
--- /dev/null
+++ b/include/subsystems/flywheel.h
@@ -0,0 +1,25 @@
+#include "vex.h"
+#include "../core/include/robot_specs.h"
+#include "../core/include/utils/pid.h"
+
+using namespace vex;
+
+class Flywheel{
+  public:
+
+  Flywheel(motor_group &motors, robot_specs_t &config, PID &pid);
+
+  void spin(double speed, directionType dir=fwd);
+  bool spinRPM(int rpm);
+  void stop();
+  void spinToDistance(double distance);
+
+  private:
+
+  motor_group &motors;
+  robot_specs_t &config;
+  PID pid;
+  const int VOLTAGECONSTANT = 12;
+  bool inRPMLoop = false;
+
+};
\ No newline at end of file
diff --git a/src/subsystems/flywheel.cpp b/src/subsystems/flywheel.cpp
new file mode 100644
index 0000000..5ef527d
--- /dev/null
+++ b/src/subsystems/flywheel.cpp
@@ -0,0 +1,56 @@
+/*********************************************************
+*
+*     File:     Flywheel.cpp
+*     Purpose:  Generalized flywheel class for Core.
+*     Author:   Chris Nokes
+*     
+**********************************************************
+* EDIT HISTORY
+**********************************************************
+* 09/16/2022  <CRN> Created file, added constructor, spins, RPM setting, stop.
+*********************************************************/
+
+#include "../core/include/subsystems/flywheel.h"
+#include "../core/include/utils/pid.h"
+#include "vex.h"
+
+using namespace vex;
+
+/*
+* Create the Flywheel object.
+*/
+Flywheel::Flywheel(motor_group &motors, robot_specs_t &config, PID &pid)
+         :motors(motors), config(config), pid(pid){ }
+
+// Spin motors using voltage; defaults forward at 12 volts
+// Speed is between -1 and 1.
+void Flywheel::spin(double speed, directionType dir){
+  motors.spin(dir, speed * VOLTAGECONSTANT, voltageUnits::volt);
+}
+
+
+// Gets to RPM; continue calling at some delay
+bool Flywheel::spinRPM(int RPM) {
+  // run if this is the first time calling
+  if(!inRPMLoop){
+    pid.set_target(RPM);
+    inRPMLoop = true;
+  }
+
+  pid.update(motors.velocity(velocityUnits::rpm));
+
+  if(pid.is_on_target()) {
+    inRPMLoop = false;
+    return true;
+  } return false;
+}
+
+// stop
+void Flywheel::stop() {
+  motors.stop();
+}
+
+// Sets RPM based on distance to lubber's hole
+void Flywheel::spinToDistance(double distance){
+  
+}
\ No newline at end of file

From b5b968fe4b01753e31c5c8be03b06121e6c4b932 Mon Sep 17 00:00:00 2001
From: Christopher Nokes <crn2267@rit.edu>
Date: Sun, 18 Sep 2022 15:57:40 -0400
Subject: [PATCH 080/243] Added async functionality to Flywheel.

---
 include/subsystems/flywheel.h | 12 ++++++---
 src/subsystems/flywheel.cpp   | 51 ++++++++++++++++++++++-------------
 2 files changed, 41 insertions(+), 22 deletions(-)

diff --git a/include/subsystems/flywheel.h b/include/subsystems/flywheel.h
index f36f9cd..b3b6da9 100644
--- a/include/subsystems/flywheel.h
+++ b/include/subsystems/flywheel.h
@@ -10,16 +10,20 @@ class Flywheel{
   Flywheel(motor_group &motors, robot_specs_t &config, PID &pid);
 
   void spin(double speed, directionType dir=fwd);
-  bool spinRPM(int rpm);
+  void spinRPM(int rpm);
   void stop();
-  void spinToDistance(double distance);
+  void stopThread();
+
+  double getRPM();
+  PID* getPID();
+  motor_group* getMotors();
 
   private:
 
   motor_group &motors;
   robot_specs_t &config;
   PID pid;
-  const int VOLTAGECONSTANT = 12;
   bool inRPMLoop = false;
-
+  double RPM = -1.0;
+  thread rpmThread;
 };
\ No newline at end of file
diff --git a/src/subsystems/flywheel.cpp b/src/subsystems/flywheel.cpp
index 5ef527d..04c4cd0 100644
--- a/src/subsystems/flywheel.cpp
+++ b/src/subsystems/flywheel.cpp
@@ -8,11 +8,13 @@
 * EDIT HISTORY
 **********************************************************
 * 09/16/2022  <CRN> Created file, added constructor, spins, RPM setting, stop.
+* 09/18/2022  <CRN> Added async functionality.
 *********************************************************/
 
 #include "../core/include/subsystems/flywheel.h"
 #include "../core/include/utils/pid.h"
 #include "vex.h"
+#include <thread>
 
 using namespace vex;
 
@@ -25,32 +27,45 @@ Flywheel::Flywheel(motor_group &motors, robot_specs_t &config, PID &pid)
 // Spin motors using voltage; defaults forward at 12 volts
 // Speed is between -1 and 1.
 void Flywheel::spin(double speed, directionType dir){
-  motors.spin(dir, speed * VOLTAGECONSTANT, voltageUnits::volt);
+  motors.spin(dir, speed * 12, voltageUnits::volt);
 }
 
-
-// Gets to RPM; continue calling at some delay
-bool Flywheel::spinRPM(int RPM) {
-  // run if this is the first time calling
-  if(!inRPMLoop){
-    pid.set_target(RPM);
-    inRPMLoop = true;
+// spin this flywheel at a given RPM, async; runs until stop(), stopThread(), or a new spinRPM() is called. 
+int spinRPMThread(void* wheelPointer) {
+  Flywheel* wheel = (Flywheel*) wheelPointer;
+  wheel->getPID()->set_target((double) wheel->getRPM());  // get the pid from the wheel and set its target to the RPM stored in the wheel.
+  while(true) {
+    wheel->getPID()->update(wheel->getMotors()->velocity(velocityUnits::rpm));        // check the current velocity and update the PID with it.
+    wheel->getMotors()->spin(fwd, wheel->getPID()->get() * 12, voltageUnits::volt);   // set the motors to whatever PID tells them to do
+    vexDelay(20);
   }
+  return 0; // only here to make the compiler SHUT UP
+}
 
-  pid.update(motors.velocity(velocityUnits::rpm));
-
-  if(pid.is_on_target()) {
-    inRPMLoop = false;
-    return true;
-  } return false;
+// starts / restarts RPM thread at new value
+void Flywheel::spinRPM(int inputRPM) {
+  RPM = inputRPM;
+  rpmThread.interrupt();
+  rpmThread = thread(spinRPMThread, this);
 }
 
-// stop
+// return the current value that the RPM should be set to;
+double Flywheel::getRPM() { return RPM; }
+
+// Returns a POINTER TO the PID; only for use in the spinRPMThread function.
+PID* Flywheel::getPID() { return &pid; }
+
+// Returns a POINTER TO the motors; only for use in the spinRPMThread function.
+motor_group* Flywheel::getMotors() { return &motors; }
+
+// stop the RPM thread and the wheel
 void Flywheel::stop() {
+  rpmThread.interrupt();
   motors.stop();
 }
 
-// Sets RPM based on distance to lubber's hole
-void Flywheel::spinToDistance(double distance){
-  
+
+// end the thread but keep spinning the wheel; not sure why anyone would use this but here it is anyway.
+void Flywheel::stopThread() {
+  rpmThread.interrupt();
 }
\ No newline at end of file

From b5c3a32f0f22a6099495f890b2bc81bcf2a62617 Mon Sep 17 00:00:00 2001
From: Christopher Nokes <crn2267@rit.edu>
Date: Sun, 18 Sep 2022 18:06:11 -0400
Subject: [PATCH 081/243] Handling McGee's requests, pt. 1.

---
 include/subsystems/flywheel.h |  8 +++-----
 src/subsystems/flywheel.cpp   | 19 ++++++++++---------
 2 files changed, 13 insertions(+), 14 deletions(-)

diff --git a/include/subsystems/flywheel.h b/include/subsystems/flywheel.h
index b3b6da9..f7c9fe1 100644
--- a/include/subsystems/flywheel.h
+++ b/include/subsystems/flywheel.h
@@ -7,9 +7,9 @@ using namespace vex;
 class Flywheel{
   public:
 
-  Flywheel(motor_group &motors, robot_specs_t &config, PID &pid);
+  Flywheel(motor_group &motors, PID &pid);
 
-  void spin(double speed, directionType dir=fwd);
+  void spin_raw(double speed, directionType dir=fwd);
   void spinRPM(int rpm);
   void stop();
   void stopThread();
@@ -21,9 +21,7 @@ class Flywheel{
   private:
 
   motor_group &motors;
-  robot_specs_t &config;
   PID pid;
-  bool inRPMLoop = false;
   double RPM = -1.0;
-  thread rpmThread;
+  task rpmTask;
 };
\ No newline at end of file
diff --git a/src/subsystems/flywheel.cpp b/src/subsystems/flywheel.cpp
index 04c4cd0..84c3a5a 100644
--- a/src/subsystems/flywheel.cpp
+++ b/src/subsystems/flywheel.cpp
@@ -14,19 +14,18 @@
 #include "../core/include/subsystems/flywheel.h"
 #include "../core/include/utils/pid.h"
 #include "vex.h"
-#include <thread>
 
 using namespace vex;
 
 /*
 * Create the Flywheel object.
 */
-Flywheel::Flywheel(motor_group &motors, robot_specs_t &config, PID &pid)
-         :motors(motors), config(config), pid(pid){ }
+Flywheel::Flywheel(motor_group &motors, PID &pid)
+    :motors(motors), pid(pid){ }
 
 // Spin motors using voltage; defaults forward at 12 volts
 // Speed is between -1 and 1.
-void Flywheel::spin(double speed, directionType dir){
+void Flywheel::spin_raw(double speed, directionType dir){
   motors.spin(dir, speed * 12, voltageUnits::volt);
 }
 
@@ -44,9 +43,11 @@ int spinRPMThread(void* wheelPointer) {
 
 // starts / restarts RPM thread at new value
 void Flywheel::spinRPM(int inputRPM) {
-  RPM = inputRPM;
-  rpmThread.interrupt();
-  rpmThread = thread(spinRPMThread, this);
+  if(inputRPM != RPM) {
+    RPM = inputRPM;
+    rpmTask.stop();
+    rpmTask = task(spinRPMThread, this);
+  }
 }
 
 // return the current value that the RPM should be set to;
@@ -60,12 +61,12 @@ motor_group* Flywheel::getMotors() { return &motors; }
 
 // stop the RPM thread and the wheel
 void Flywheel::stop() {
-  rpmThread.interrupt();
+  rpmTask.stop();
   motors.stop();
 }
 
 
 // end the thread but keep spinning the wheel; not sure why anyone would use this but here it is anyway.
 void Flywheel::stopThread() {
-  rpmThread.interrupt();
+  rpmTask.stop();
 }
\ No newline at end of file

From 3943caec8f6a2b143ebfba612f59ca44c9e08801 Mon Sep 17 00:00:00 2001
From: Christopher Nokes <crn2267@rit.edu>
Date: Sun, 18 Sep 2022 18:57:16 -0400
Subject: [PATCH 082/243] Merge

---
 include/subsystems/odometry/odometry_tank.h |   2 +-
 include/utils/feedforward.h                 |  61 +++++
 include/utils/math_util.h                   |  18 ++
 include/utils/pure_pursuit.h                |  20 +-
 include/utils/{vector.h => vector2d.h}      | 228 +++++++++---------
 src/subsystems/custom_encoder.cpp           |   2 +-
 src/subsystems/mecanum_drive.cpp            |  25 +-
 src/subsystems/odometry/odometry_base.cpp   |   2 +-
 src/subsystems/odometry/odometry_tank.cpp   |   8 +-
 src/subsystems/tank_drive.cpp               |  14 +-
 src/utils/math_util.cpp                     |  29 +++
 src/utils/pure_pursuit.cpp                  |  70 +++---
 src/utils/{vector.cpp => vector2d.cpp}      | 250 ++++++++++----------
 13 files changed, 420 insertions(+), 309 deletions(-)
 create mode 100644 include/utils/feedforward.h
 create mode 100644 include/utils/math_util.h
 rename include/utils/{vector.h => vector2d.h} (80%)
 create mode 100644 src/utils/math_util.cpp
 rename src/utils/{vector.cpp => vector2d.cpp} (70%)

diff --git a/include/subsystems/odometry/odometry_tank.h b/include/subsystems/odometry/odometry_tank.h
index d0eceed..e417efb 100644
--- a/include/subsystems/odometry/odometry_tank.h
+++ b/include/subsystems/odometry/odometry_tank.h
@@ -2,7 +2,7 @@
 
 #include "../core/include/subsystems/odometry/odometry_base.h"
 #include "../core/include/subsystems/custom_encoder.h"
-#include "../core/include/utils/vector.h"
+#include "../core/include/utils/vector2d.h"
 #include "../core/include/robot_specs.h"
 
 static int background_task(void* odom_obj);
diff --git a/include/utils/feedforward.h b/include/utils/feedforward.h
new file mode 100644
index 0000000..f2fae43
--- /dev/null
+++ b/include/utils/feedforward.h
@@ -0,0 +1,61 @@
+#pragma once
+
+/**
+ * FeedForward
+ * 
+ * Stores the feedfoward constants, and allows for quick computation.
+ * Feedfoward should be used in systems that require smooth precise movements
+ * and have high inertia, such as drivetrains and lifts.
+ * 
+ * This is best used alongside a PID loop, with the form:
+ * output = pid.get() + feedforward.calculate(v, a);
+ * 
+ * In this case, the feedforward does the majority of the heavy lifting, and the 
+ * pid loop only corrects for inconsistencies
+ * 
+ * For information about tuning feedforward, I reccommend looking at this post:
+ * https://www.chiefdelphi.com/t/paper-frc-drivetrain-characterization/160915
+ * (yes I know it's for FRC but trust me, it's useful)
+ * 
+ * @author Ryan McGee
+ * @date 6/13/2022
+ */
+class FeedForward
+{
+    public:
+
+    /**
+     * kS - Coefficient to overcome static friction: the point at which the motor *starts* to move.
+     * kV - Veclocity coefficient: the power required to keep the mechanism in motion. Multiplied by the requested velocity.
+     * kA - Acceleration coefficient: the power required to change the mechanism's speed. Multiplied by the requested acceleration.
+     * kG - Gravity coefficient: only needed for lifts. The power required to overcome gravity and stay at steady state.
+     *      Should relate to acceleration due to gravity and mass of the lift.
+     */
+    typedef struct
+    {
+        double kS, kV, kA, kG;
+    } ff_config_t;
+
+    
+    FeedForward(ff_config_t &cfg) : cfg(cfg) {}
+
+    /**
+     * @brief Perform the feedforward calculation
+     * 
+     * This calculation is the equation:
+     * F = kG + kS*sgn(v) + kV*v + kA*a
+     * 
+     * @param v Requested velocity of system
+     * @param a Requested acceleration of system
+     * @return A feedforward that should closely represent the system if tuned correctly
+     */
+    double calculate(double v, double a)
+    {
+        return (cfg.kS * (v > 0 ? 1 : v < 0 ? -1 : 0)) + (cfg.kV * v) + (cfg.kA * a) + cfg.kG;
+    }
+
+    private:
+
+    ff_config_t &cfg;
+
+};
\ No newline at end of file
diff --git a/include/utils/math_util.h b/include/utils/math_util.h
new file mode 100644
index 0000000..a27c5b2
--- /dev/null
+++ b/include/utils/math_util.h
@@ -0,0 +1,18 @@
+#pragma once
+
+/**
+* Constrain the input between a minimum and a maximum value
+* 
+* @param val  the value to be restrained
+* @param low  the minimum value that will be returned
+* @param high the maximum value that will be returned
+**/
+double clamp(double value, double low, double high);
+
+/**
+* Returns the sign of a number
+* @param x
+* 
+* returns the sign +/-1 of x. 0 if x is 0
+**/
+double sign(double x);
\ No newline at end of file
diff --git a/include/utils/pure_pursuit.h b/include/utils/pure_pursuit.h
index 818fa2f..64c56dc 100644
--- a/include/utils/pure_pursuit.h
+++ b/include/utils/pure_pursuit.h
@@ -1,7 +1,7 @@
 #pragma once
 
 #include <vector>
-#include "../core/include/utils/vector.h"
+#include "../core/include/utils/vector2d.h"
 #include "vex.h"
 
 using namespace vex;
@@ -27,12 +27,12 @@ namespace PurePursuit {
     double dir;
     double mag;
 
-    Vector::point_t getPoint() {
+    Vector2D::point_t getPoint() {
       return {x, y};
     }
 
-    Vector getTangent() {
-      return Vector(dir, mag);
+    Vector2D getTangent() {
+      return Vector2D(dir, mag);
     }
   };
 
@@ -40,16 +40,16 @@ namespace PurePursuit {
     * Returns points of the intersections of a line segment and a circle. The line 
     * segment is defined by two points, and the circle is defined by a center and radius.
     */
-  static std::vector<Vector::point_t> line_circle_intersections(Vector::point_t center, double r, Vector::point_t point1, Vector::point_t point2);
+  static std::vector<Vector2D::point_t> line_circle_intersections(Vector2D::point_t center, double r, Vector2D::point_t point1, Vector2D::point_t point2);
   /**
     * Selects a look ahead from all the intersections in the path.
     */
-  static Vector::point_t get_lookahead(std::vector<Vector::point_t> path, Vector::point_t robot_loc, double radius);
+  static Vector2D::point_t get_lookahead(std::vector<Vector2D::point_t> path, Vector2D::point_t robot_loc, double radius);
 
   /**
     * Injects points in a path without changing the curvature with a certain spacing.
     */
-  static std::vector<Vector::point_t> inject_path(std::vector<Vector::point_t> path, double spacing);
+  static std::vector<Vector2D::point_t> inject_path(std::vector<Vector2D::point_t> path, double spacing);
 
   /**
   * Returns a smoothed path maintaining the start and end of the path.
@@ -62,9 +62,9 @@ namespace PurePursuit {
   * https://medium.com/@jaems33/understanding-robot-motion-path-smoothing-5970c8363bc4
   */
 
-  static std::vector<Vector::point_t> smooth_path(std::vector<Vector::point_t> path, double weight_data, double weight_smooth, double tolerance);
+  static std::vector<Vector2D::point_t> smooth_path(std::vector<Vector2D::point_t> path, double weight_data, double weight_smooth, double tolerance);
 
-  static std::vector<Vector::point_t> smooth_path_cubic(std::vector<Vector::point_t> path, double res);
+  static std::vector<Vector2D::point_t> smooth_path_cubic(std::vector<Vector2D::point_t> path, double res);
 
   /**
    * Interpolates a smooth path given a list of waypoints using hermite splines.
@@ -74,5 +74,5 @@ namespace PurePursuit {
    * @param steps The number of points interpolated between points.
    * @return The smoothed path.
    */
-  static std::vector<Vector::point_t> smooth_path_hermite(std::vector<hermite_point> path, double step);
+  static std::vector<Vector2D::point_t> smooth_path_hermite(std::vector<hermite_point> path, double step);
 }
\ No newline at end of file
diff --git a/include/utils/vector.h b/include/utils/vector2d.h
similarity index 80%
rename from include/utils/vector.h
rename to include/utils/vector2d.h
index 858ce88..1e3bbb8 100644
--- a/include/utils/vector.h
+++ b/include/utils/vector2d.h
@@ -1,114 +1,114 @@
-#pragma once
-
-#include <cmath>
-
-#ifndef PI
-#define PI 3.141592654
-#endif
-
-class Vector
-{
-public:
-
-    /**
-     * Data structure representing an X,Y coordinate
-     */
-    struct point_t
-    {
-        double x, y;
-
-        double dist(const point_t other)
-        {
-          return sqrt(pow(this->x - other.x, 2) + pow(this->y - other.y, 2));
-        }
-
-        // Vector addition operation on points
-        point_t operator+(const point_t &other)
-        {
-          point_t p 
-          {
-            .x = this->x + other.x,
-            .y = this->y + other.y
-          };
-          return p;
-        }
-
-        // Vector subtraction operation on points
-        point_t operator-(const point_t &other)
-        {
-          point_t p 
-          {
-            .x = this->x - other.x,
-            .y = this->y - other.y
-          };
-          return p;
-        }
-    };
-
-    /**
-     * Construct a vector object.
-     * 
-     * @param dir Direction, in radians. 'foward' is 0, clockwise positive when viewed from the top.
-     * @param mag Magnitude.
-     */ 
-    Vector(double dir, double mag);
-    
-    /**
-     * Construct a vector object from a cartesian point.
-     * 
-     * @param p point_t.x , point_t.y
-     */
-    Vector(point_t &p);
-
-    /**
-     * Get the direction of the vector, in radians.
-     * '0' is forward, clockwise positive when viewed from the top.
-     * 
-     * Use r2d() to convert.
-     */
-    double get_dir() const;
-
-    /**
-     * Get the magnitude of the vector
-     */
-    double get_mag() const;
-
-    /**
-     * Get the X component of the vector; positive to the right.
-     */
-    double get_x() const;
-
-    /**
-     * Get the Y component of the vector, positive forward.
-     */
-    double get_y() const;
-
-    /**
-     * Changes the magnetude of the vector to 1
-    */
-    Vector normalize();
-
-    /**
-    * Returns a point from the vector
-    */
-    Vector::point_t point();
-
-    Vector operator*(const double &x);
-    Vector operator+(const Vector &other);
-    Vector operator-(const Vector &other);
-
-private:
-
-    double dir, mag;
-
-};
-
-/**
- * General function for converting degrees to radians
- */
-double deg2rad(double deg);
-
-/**
- * General function for converting radians to degrees
- */
-double rad2deg(double r);
+#pragma once
+
+#include <cmath>
+
+#ifndef PI
+#define PI 3.141592654
+#endif
+
+class Vector2D
+{
+public:
+
+    /**
+     * Data structure representing an X,Y coordinate
+     */
+    struct point_t
+    {
+        double x, y;
+
+        double dist(const point_t other)
+        {
+          return sqrt(pow(this->x - other.x, 2) + pow(this->y - other.y, 2));
+        }
+
+        // Vector2D addition operation on points
+        point_t operator+(const point_t &other)
+        {
+          point_t p 
+          {
+            .x = this->x + other.x,
+            .y = this->y + other.y
+          };
+          return p;
+        }
+
+        // Vector2D subtraction operation on points
+        point_t operator-(const point_t &other)
+        {
+          point_t p 
+          {
+            .x = this->x - other.x,
+            .y = this->y - other.y
+          };
+          return p;
+        }
+    };
+
+    /**
+     * Construct a vector object.
+     * 
+     * @param dir Direction, in radians. 'foward' is 0, clockwise positive when viewed from the top.
+     * @param mag Magnitude.
+     */ 
+    Vector2D(double dir, double mag);
+    
+    /**
+     * Construct a vector object from a cartesian point.
+     * 
+     * @param p point_t.x , point_t.y
+     */
+    Vector2D(point_t &p);
+
+    /**
+     * Get the direction of the vector, in radians.
+     * '0' is forward, clockwise positive when viewed from the top.
+     * 
+     * Use r2d() to convert.
+     */
+    double get_dir() const;
+
+    /**
+     * Get the magnitude of the vector
+     */
+    double get_mag() const;
+
+    /**
+     * Get the X component of the vector; positive to the right.
+     */
+    double get_x() const;
+
+    /**
+     * Get the Y component of the vector, positive forward.
+     */
+    double get_y() const;
+
+    /**
+     * Changes the magnetude of the vector to 1
+    */
+    Vector2D normalize();
+
+    /**
+    * Returns a point from the vector
+    */
+    Vector2D::point_t point();
+
+    Vector2D operator*(const double &x);
+    Vector2D operator+(const Vector2D &other);
+    Vector2D operator-(const Vector2D &other);
+
+private:
+
+    double dir, mag;
+
+};
+
+/**
+ * General function for converting degrees to radians
+ */
+double deg2rad(double deg);
+
+/**
+ * General function for converting radians to degrees
+ */
+double rad2deg(double r);
diff --git a/src/subsystems/custom_encoder.cpp b/src/subsystems/custom_encoder.cpp
index 81472ac..64f3662 100644
--- a/src/subsystems/custom_encoder.cpp
+++ b/src/subsystems/custom_encoder.cpp
@@ -1,4 +1,4 @@
-#include "../core/include/subsystems/custom_encoder.h"
+#include "../core/include/subsystems/custom_encoder.h"   
 
 CustomEncoder::CustomEncoder(vex::triport::port &port, double ticks_per_rev)
 : super(port)
diff --git a/src/subsystems/mecanum_drive.cpp b/src/subsystems/mecanum_drive.cpp
index 962a3bc..0fcf6af 100644
--- a/src/subsystems/mecanum_drive.cpp
+++ b/src/subsystems/mecanum_drive.cpp
@@ -1,4 +1,6 @@
 #include "../core/include/subsystems/mecanum_drive.h"
+#include "../core/include/utils/vector2d.h"
+#include "../core/include/utils/math_util.h"
 
 /**
 * Create the Mecanum drivetrain object
@@ -31,20 +33,20 @@ MecanumDrive::MecanumDrive(vex::motor &left_front, vex::motor &right_front, vex:
   */
 void MecanumDrive::drive_raw(double direction_deg, double magnitude, double rotation)
 {
-  double direction = (PI / 180.0) * direction_deg;
-
+  double direction = deg2rad(direction_deg);
+  
   // ALGORITHM - "rotate" the vector by 45 degrees and apply each corner to a wheel
   // .. Oh, and mix rotation too
   double lf = (magnitude * cos(direction - (PI / 4.0))) + rotation;
   double rf = (magnitude * cos(direction + (PI / 4.0))) - rotation;
   double lr = (magnitude * cos(direction + (PI / 4.0))) + rotation;
   double rr = (magnitude * cos(direction - (PI / 4.0))) - rotation;
-
+  
   // Limit the output between -1.0 and +1.0
-  lf = lf > 1.0 ? 1.0 : (lf < -1.0 ? -1.0 : lf);
-  rf = rf > 1.0 ? 1.0 : (rf < -1.0 ? -1.0 : rf);
-  lr = lr > 1.0 ? 1.0 : (lr < -1.0 ? -1.0 : lr);
-  rr = rr > 1.0 ? 1.0 : (rr < -1.0 ? -1.0 : rr);
+  lf = clamp(lf, -1.0, 1.0);
+  rf = clamp(rf, -1.0, 1.0);
+  lr = clamp(lr, -1.0, 1.0);
+  rr = clamp(rr, -1.0, 1.0);
 
   // Finally, spin the motors
   left_front.spin(vex::directionType::fwd, lf * 100.0, vex::velocityUnits::pct);
@@ -68,15 +70,16 @@ void MecanumDrive::drive(double left_y, double left_x, double right_x, int power
   // LATERAL CONTROLS - convert cartesion to a vector
   double magnitude = sqrt(pow(left_y / 100.0, 2) + pow(left_x / 100.0, 2));
   magnitude = pow(magnitude, power);
-
+  
   double direction = atan2(left_x / 100.0, left_y / 100.0);
 
   // ROTATIONAL CONTROLS - just the right x joystick
-  // Ternary makes sure that if the "power" is even, the rotation keeps it's sign
   double rotation = right_x / 100.0;
-  rotation = (power%2 == 0 ? rotation < 0 ? -1.0 : 1.0 : 1.0) * pow(rotation, power);
 
-  return this->drive_raw(direction * (180.0 / PI), magnitude, rotation);  
+  //  
+  rotation = sign(rotation) * fabs(pow(rotation, power));
+  
+  return this->drive_raw(rad2deg(direction), magnitude, rotation);  
 }
 
 /**
diff --git a/src/subsystems/odometry/odometry_base.cpp b/src/subsystems/odometry/odometry_base.cpp
index ffa872c..3c55330 100644
--- a/src/subsystems/odometry/odometry_base.cpp
+++ b/src/subsystems/odometry/odometry_base.cpp
@@ -1,5 +1,5 @@
 #include "../core/include/subsystems/odometry/odometry_base.h"
-#include "../core/include/utils/vector.h"
+#include "../core/include/utils/vector2d.h"
 
 /**
 * Gets the current position and rotation
diff --git a/src/subsystems/odometry/odometry_tank.cpp b/src/subsystems/odometry/odometry_tank.cpp
index 111cca3..c801c2f 100644
--- a/src/subsystems/odometry/odometry_tank.cpp
+++ b/src/subsystems/odometry/odometry_tank.cpp
@@ -143,14 +143,14 @@ position_t OdometryTank::calculate_new_pos(robot_specs_t &config, position_t &cu
     double angle = angle_deg * PI / 180.0; // Degrees to radians
 
     // Create a vector from the change in distance in the current direction of the robot
-    Vector chg_vec(angle, dist_driven);
+    Vector2D chg_vec(angle, dist_driven);
     
     // Create a vector from the current position in reference to X,Y=0,0
-    Vector::point_t curr_point = {.x = curr_pos.x, .y = curr_pos.y};
-    Vector curr_vec(curr_point);
+    Vector2D::point_t curr_point = {.x = curr_pos.x, .y = curr_pos.y};
+    Vector2D curr_vec(curr_point);
 
     // Tack on the "difference" vector to the current vector
-    Vector new_vec = curr_vec + chg_vec;
+    Vector2D new_vec = curr_vec + chg_vec;
 
     new_pos.x = new_vec.get_x();
     new_pos.y = new_vec.get_y();
diff --git a/src/subsystems/tank_drive.cpp b/src/subsystems/tank_drive.cpp
index e9c4839..bd99b81 100644
--- a/src/subsystems/tank_drive.cpp
+++ b/src/subsystems/tank_drive.cpp
@@ -92,9 +92,9 @@ bool TankDrive::drive_forward(double inches, double speed, double correction, di
     drive_pid.reset();
 
     // Use vector math to get an X and Y
-    Vector current_pos({saved_pos.x , saved_pos.y});
-    Vector delta_pos(deg2rad(saved_pos.rot), inches);
-    Vector setpt_vec = current_pos + delta_pos;
+    Vector2D current_pos({saved_pos.x , saved_pos.y});
+    Vector2D delta_pos(deg2rad(saved_pos.rot), inches);
+    Vector2D setpt_vec = current_pos + delta_pos;
 
     // Save the new X and Y values
     pos_setpt = {.x=setpt_vec.get_x(), .y=setpt_vec.get_y()};
@@ -192,13 +192,13 @@ bool TankDrive::drive_to_point(double x, double y, double speed, double correcti
   position_t end_pos = {.x=x, .y=y};
 
   // Create a point (and vector) to get the direction
-  Vector::point_t pos_diff_pt = 
+  Vector2D::point_t pos_diff_pt = 
   {
     .x = x - current_pos.x,
     .y = y - current_pos.y
   };
 
-  Vector point_vec(pos_diff_pt);
+  Vector2D point_vec(pos_diff_pt);
 
   // Get the distance between 2 points
   double dist_left = OdometryBase::pos_diff(current_pos, end_pos);
@@ -334,9 +334,9 @@ double TankDrive::modify_inputs(double input, int power)
 
 bool TankDrive::pure_pursuit(std::vector<PurePursuit::hermite_point> path, double radius, double speed, double res, directionType dir) {
   is_pure_pursuit = true;
-  std::vector<Vector::point_t> smoothed_path = PurePursuit::smooth_path_hermite(path, res);
+  std::vector<Vector2D::point_t> smoothed_path = PurePursuit::smooth_path_hermite(path, res);
 
-  Vector::point_t lookahead = PurePursuit::get_lookahead(smoothed_path, {odometry->get_position().x, odometry->get_position().y}, radius);
+  Vector2D::point_t lookahead = PurePursuit::get_lookahead(smoothed_path, {odometry->get_position().x, odometry->get_position().y}, radius);
   //printf("%f\t%f\n", odometry->get_position().x, odometry->get_position().y); 
   //printf("%f\t%f\n", lookahead.x, lookahead.y);
   bool is_last_point = (path.back().x == lookahead.x) && (path.back().y == lookahead.y);
diff --git a/src/utils/math_util.cpp b/src/utils/math_util.cpp
new file mode 100644
index 0000000..51b5555
--- /dev/null
+++ b/src/utils/math_util.cpp
@@ -0,0 +1,29 @@
+#include "../core/include/utils/math_util.h"
+
+/**
+* Constrain the input between a minimum and a maximum value
+* 
+* @param val  the value to be restrained
+* @param low  the minimum value that will be returned
+* @param high the maximum value that will be returned
+**/
+double clamp(double val, double low, double high){
+  if (val < low){
+    return low;
+  } else if (val > high){
+    return high;
+  }
+  return val;
+}
+/**
+* Returns the sign of a number
+* @param x
+* 
+* returns the sign +/-1 of x. special case at 0 it returns +1
+**/
+double sign(double x){
+  if (x<0){
+    return -1;
+  }
+  return 1;
+}
\ No newline at end of file
diff --git a/src/utils/pure_pursuit.cpp b/src/utils/pure_pursuit.cpp
index 11aaea9..4b28a3c 100644
--- a/src/utils/pure_pursuit.cpp
+++ b/src/utils/pure_pursuit.cpp
@@ -4,9 +4,9 @@
   * Returns points of the intersections of a line segment and a circle. The line 
   * segment is defined by two points, and the circle is defined by a center and radius.
   */
-std::vector<Vector::point_t> PurePursuit::line_circle_intersections(Vector::point_t center, double r, Vector::point_t point1, Vector::point_t point2)
+std::vector<Vector2D::point_t> PurePursuit::line_circle_intersections(Vector2D::point_t center, double r, Vector2D::point_t point1, Vector2D::point_t point2)
 {
-  std::vector<Vector::point_t> intersections = {};
+  std::vector<Vector2D::point_t> intersections = {};
 
   //Do future calculations relative to the circle's center
   point1.y -= center.y;
@@ -38,12 +38,12 @@ std::vector<Vector::point_t> PurePursuit::line_circle_intersections(Vector::poin
   //The equations used define an infinitely long line, so we check if the detected intersection falls on the line segment.
   if(x1 >= fmin(point1.x, point2.x) && x1 <= fmax(point1.x, point2.x) && y1 >= fmin(point1.y, point2.y) && y1 <= fmax(point1.y, point2.y))
   {
-    intersections.push_back(Vector::point_t{.x = x1 + center.x, .y = y1 + center.y});
+    intersections.push_back(Vector2D::point_t{.x = x1 + center.x, .y = y1 + center.y});
   }
 
   if(x2 >= fmin(point1.x, point2.x) && x2 <= fmax(point1.x, point2.x) && y2 >= fmin(point1.y, point2.y) && y2 <= fmax(point1.y, point2.y))
   {
-    intersections.push_back(Vector::point_t{.x = x2 + center.x, .y = y2 + center.y});
+    intersections.push_back(Vector2D::point_t{.x = x2 + center.x, .y = y2 + center.y});
   }
 
   return intersections;
@@ -52,10 +52,10 @@ std::vector<Vector::point_t> PurePursuit::line_circle_intersections(Vector::poin
 /**
  * Selects a look ahead from all the intersections in the path.
  */
-Vector::point_t PurePursuit::get_lookahead(std::vector<Vector::point_t> path, Vector::point_t robot_loc, double radius)
+Vector2D::point_t PurePursuit::get_lookahead(std::vector<Vector2D::point_t> path, Vector2D::point_t robot_loc, double radius)
 { 
   //Default: the end of the path
-  Vector::point_t target = path.back();
+  Vector2D::point_t target = path.back();
 
   
   if(target.dist(robot_loc) <= radius)
@@ -66,13 +66,13 @@ Vector::point_t PurePursuit::get_lookahead(std::vector<Vector::point_t> path, Ve
   //Check each line segment of the path for potential targets
   for(int i = 0; i < path.size() - 1; i++)
   {
-    Vector::point_t start = path[i];
-    Vector::point_t end = path[i+1];
+    Vector2D::point_t start = path[i];
+    Vector2D::point_t end = path[i+1];
 
-    std::vector<Vector::point_t> intersections = line_circle_intersections(robot_loc, radius, start, end);
+    std::vector<Vector2D::point_t> intersections = line_circle_intersections(robot_loc, radius, start, end);
     //Choose the intersection that is closest to the end of the line segment
     //This prioritizes the closest intersection to the end of the path
-    for(Vector::point_t intersection: intersections)
+    for(Vector2D::point_t intersection: intersections)
     {
       if(intersection.dist(end) < target.dist(end))
         target = intersection;
@@ -85,18 +85,18 @@ Vector::point_t PurePursuit::get_lookahead(std::vector<Vector::point_t> path, Ve
 /**
  Injects points in a path without changing the curvature with a certain spacing.
 */
-std::vector<Vector::point_t> PurePursuit::inject_path(std::vector<Vector::point_t> path, double spacing)
+std::vector<Vector2D::point_t> PurePursuit::inject_path(std::vector<Vector2D::point_t> path, double spacing)
 {
-  std::vector<Vector::point_t> new_path;
+  std::vector<Vector2D::point_t> new_path;
 
   //Injecting points for each line segment
   for(int i = 0; i < path.size() - 1; i++)
   {
-    Vector::point_t start = path[i];
-    Vector::point_t end = path[i+1];
+    Vector2D::point_t start = path[i];
+    Vector2D::point_t end = path[i+1];
 
-    Vector::point_t diff = end - start;
-    Vector vector = Vector(diff);
+    Vector2D::point_t diff = end - start;
+    Vector2D vector = Vector2D(diff);
     
     int num_points = ceil(vector.get_mag() / spacing);
 
@@ -106,7 +106,7 @@ std::vector<Vector::point_t> PurePursuit::inject_path(std::vector<Vector::point_
     for(int j = 0; j < num_points; j++)
     {
       //We take the start point and add additional vectors
-      Vector::point_t path_point = (Vector(start) + vector * j).point();
+      Vector2D::point_t path_point = (Vector2D(start) + vector * j).point();
       new_path.push_back(path_point);
     }
   }
@@ -125,21 +125,21 @@ std::vector<Vector::point_t> PurePursuit::inject_path(std::vector<Vector::point_
  * Honestly have no idea if/how this works.
  * https://medium.com/@jaems33/understanding-robot-motion-path-smoothing-5970c8363bc4
 */
-std::vector<Vector::point_t> PurePursuit::smooth_path(std::vector<Vector::point_t> path, double weight_data, double weight_smooth, double tolerance)
+std::vector<Vector2D::point_t> PurePursuit::smooth_path(std::vector<Vector2D::point_t> path, double weight_data, double weight_smooth, double tolerance)
 {
-  std::vector<Vector::point_t> new_path = path;
+  std::vector<Vector2D::point_t> new_path = path;
   double change = tolerance;
   while(change >= tolerance)
   {
     change = 0;
     for(int i = 1; i < path.size() - 1; i++)
     {
-        Vector::point_t x_i = path[i];
-        Vector::point_t y_i = new_path[i];
-        Vector::point_t y_prev = new_path[i-1];
-        Vector::point_t y_next = new_path[i+1];
+        Vector2D::point_t x_i = path[i];
+        Vector2D::point_t y_i = new_path[i];
+        Vector2D::point_t y_prev = new_path[i-1];
+        Vector2D::point_t y_next = new_path[i+1];
         
-        Vector::point_t y_i_saved = y_i;
+        Vector2D::point_t y_i_saved = y_i;
         
         y_i.x += weight_data * (x_i.x - y_i.x) + weight_smooth * (y_next.x + y_prev.x - (2 * y_i.x));
         y_i.y += weight_data * (x_i.y - y_i.y) + weight_smooth * (y_next.y + y_prev.y - (2 * y_i.y));
@@ -159,17 +159,17 @@ std::vector<Vector::point_t> PurePursuit::smooth_path(std::vector<Vector::point_
  * @param steps The number of points interpolated between points.
  * @return The smoothed path.
  */
-std::vector<Vector::point_t> PurePursuit::smooth_path_hermite(std::vector<hermite_point> path, double steps) {
-  std::vector<Vector::point_t> new_path;
+std::vector<Vector2D::point_t> PurePursuit::smooth_path_hermite(std::vector<hermite_point> path, double steps) {
+  std::vector<Vector2D::point_t> new_path;
   for(int i = 0; i < path.size() - 1; i++) {
     for(int t = 0; t < steps; t++) {
-      // Storing the start and end points and slopes at those points as Vectors.
-      Vector::point_t tmp = path[i].getPoint();
-      Vector p1 = Vector(tmp);
+      // Storing the start and end points and slopes at those points as Vector2Ds.
+      Vector2D::point_t tmp = path[i].getPoint();
+      Vector2D p1 = Vector2D(tmp);
       tmp = path[i+1].getPoint();
-      Vector p2 = Vector(tmp);
-      Vector t1 = path[i].getTangent();
-      Vector t2 = path[i+1].getTangent();
+      Vector2D p2 = Vector2D(tmp);
+      Vector2D t1 = path[i].getTangent();
+      Vector2D t2 = path[i+1].getTangent();
 
 
       // Scale s from 0.0 to 1.0
@@ -182,7 +182,7 @@ std::vector<Vector::point_t> PurePursuit::smooth_path_hermite(std::vector<hermit
       double h4 = pow(s, 3) - pow(s, 2);
 
       // Calculate the point
-      Vector p = p1 * h1 + p2 * h2 + t1 * h3 + t2 * h4; 
+      Vector2D p = p1 * h1 + p2 * h2 + t1 * h3 + t2 * h4; 
       new_path.push_back(p.point());
     }
   }
@@ -191,8 +191,8 @@ std::vector<Vector::point_t> PurePursuit::smooth_path_hermite(std::vector<hermit
   return new_path;
 }
 
-std::vector<Vector::point_t> PurePursuit::smooth_path_cubic(std::vector<Vector::point_t> path, double res) {
-  std::vector<Vector::point_t> new_path;
+std::vector<Vector2D::point_t> PurePursuit::smooth_path_cubic(std::vector<Vector2D::point_t> path, double res) {
+  std::vector<Vector2D::point_t> new_path;
   std::vector<spline> splines;
 
   double delta_x[path.size() - 1];
diff --git a/src/utils/vector.cpp b/src/utils/vector2d.cpp
similarity index 70%
rename from src/utils/vector.cpp
rename to src/utils/vector2d.cpp
index b29cb14..8532847 100644
--- a/src/utils/vector.cpp
+++ b/src/utils/vector2d.cpp
@@ -1,125 +1,125 @@
-#include "../core/include/utils/vector.h"
-
-/**
- * Construct a vector object.
- * 
- * @param dir Direction, in radians. 'foward' is 0, clockwise positive when viewed from the top.
- * @param mag Magnitude.
- */
-Vector::Vector(double dir, double mag)
-: dir(dir), mag(mag)
-{
-
-}
-
-/**
- * Construct a vector object from a cartesian point.
- * 
- * @param p point_t.x , point_t.y
- */
-Vector::Vector(point_t &p)
-{
-    this->dir = atan2(p.y, p.x);
-    this->mag = sqrt( (p.x*p.x) + (p.y*p.y) );
-}
-
-/**
- * Get the direction of the vector, in radians.
- * '0' is forward, clockwise positive when viewed from the top.
- * 
- * Use r2d() to convert.
- */
-double Vector::get_dir() const { return dir;}
-
-/**
- * Get the magnitude of the vector
- */
-double Vector::get_mag() const { return mag; }
-
-/**
- * Get the X component of the vector; positive to the right.
- */
-double Vector::get_x() const
-{
-return mag * cos(dir);
-}
-
-/**
- * Get the Y component of the vector, positive forward.
- */
-double Vector::get_y() const
-{
-return mag * sin(dir);
-}
-
-/**
- * Changes the magnetude of the vector to 1
-*/
-Vector Vector::normalize()
-{
-  return Vector(this->dir, 1);
-}
-
-/**
- * Returns a point from the vector
-*/
-Vector::point_t Vector::point()
-{
-  point_t p = 
-  {
-    .x = this->mag * cos(this->dir),
-    .y = this->mag * sin(this->dir)
-  };
-  return p;
-}
-
-/**
- * Correctly add vectors together with the + operator
- */
-Vector Vector::operator+(const Vector &other)
-{
-    point_t p = 
-    {
-        .x = this->get_x() + other.get_x(),
-        .y = this->get_y() + other.get_y()
-    };
-
-    return Vector( p );
-}
-
-/**
- * Correctly subtract vectors with the - operator
- */
-Vector Vector::operator-(const Vector &other)
-{
-    point_t p = 
-    {
-        .x = this->get_x() - other.get_x(),
-        .y = this->get_y() - other.get_y()
-    };
-    return Vector( p );
-}
-
-/**
- * Multiplies a vector by a double with the * operator
-*/
-Vector Vector::operator*(const double &x)
-{
-  return Vector(this->dir, this->mag * x);
-}
-
-/**
- * General function for converting degrees to radians
- */
-double deg2rad(double deg)
-{
-    return deg * (PI / 180.0);
-}
-
-/**
- * General function for converting radians to degrees
- */
-double rad2deg(double rad)
-{
-    return rad * (180.0 / PI);
-}
+#include "../core/include/utils/vector2d.h"
+
+/**
+ * Construct a vector object.
+ * 
+ * @param dir Direction, in radians. 'foward' is 0, clockwise positive when viewed from the top.
+ * @param mag Magnitude.
+ */
+Vector2D::Vector2D(double dir, double mag)
+: dir(dir), mag(mag)
+{
+
+}
+
+/**
+ * Construct a vector object from a cartesian point.
+ * 
+ * @param p point_t.x , point_t.y
+ */
+Vector2D::Vector2D(point_t &p)
+{
+    this->dir = atan2(p.y, p.x);
+    this->mag = sqrt( (p.x*p.x) + (p.y*p.y) );
+}
+
+/**
+ * Get the direction of the vector, in radians.
+ * '0' is forward, clockwise positive when viewed from the top.
+ * 
+ * Use r2d() to convert.
+ */
+double Vector2D::get_dir() const { return dir;}
+
+/**
+ * Get the magnitude of the vector
+ */
+double Vector2D::get_mag() const { return mag; }
+
+/**
+ * Get the X component of the vector; positive to the right.
+ */
+double Vector2D::get_x() const
+{
+return mag * cos(dir);
+}
+
+/**
+ * Get the Y component of the vector, positive forward.
+ */
+double Vector2D::get_y() const
+{
+return mag * sin(dir);
+}
+
+/**
+ * Changes the magnetude of the vector to 1
+*/
+Vector2D Vector2D::normalize()
+{
+  return Vector2D(this->dir, 1);
+}
+
+/**
+ * Returns a point from the vector
+*/
+Vector2D::point_t Vector2D::point()
+{
+  point_t p = 
+  {
+    .x = this->mag * cos(this->dir),
+    .y = this->mag * sin(this->dir)
+  };
+  return p;
+}
+
+/**
+ * Correctly add vectors together with the + operator
+ */
+Vector2D Vector2D::operator+(const Vector2D &other)
+{
+    point_t p = 
+    {
+        .x = this->get_x() + other.get_x(),
+        .y = this->get_y() + other.get_y()
+    };
+
+    return Vector2D( p );
+}
+
+/**
+ * Correctly subtract vectors with the - operator
+ */
+Vector2D Vector2D::operator-(const Vector2D &other)
+{
+    point_t p = 
+    {
+        .x = this->get_x() - other.get_x(),
+        .y = this->get_y() - other.get_y()
+    };
+    return Vector2D( p );
+}
+
+/**
+ * Multiplies a vector by a double with the * operator
+*/
+Vector2D Vector2D::operator*(const double &x)
+{
+  return Vector2D(this->dir, this->mag * x);
+}
+
+/**
+ * General function for converting degrees to radians
+ */
+double deg2rad(double deg)
+{
+    return deg * (PI / 180.0);
+}
+
+/**
+ * General function for converting radians to degrees
+ */
+double rad2deg(double rad)
+{
+    return rad * (180.0 / PI);
+}

From b2af760b3df6fb67935d3f67f93edf33ac8502a7 Mon Sep 17 00:00:00 2001
From: Christopher Nokes <crn2267@rit.edu>
Date: Thu, 22 Sep 2022 20:11:38 -0400
Subject: [PATCH 083/243] Added documentation, fixed async stuff.

---
 include/subsystems/flywheel.h |  1 +
 src/subsystems/flywheel.cpp   | 22 +++++++++++++++++-----
 2 files changed, 18 insertions(+), 5 deletions(-)

diff --git a/include/subsystems/flywheel.h b/include/subsystems/flywheel.h
index f7c9fe1..8610616 100644
--- a/include/subsystems/flywheel.h
+++ b/include/subsystems/flywheel.h
@@ -21,6 +21,7 @@ class Flywheel{
   private:
 
   motor_group &motors;
+  bool taskRunning = false;
   PID pid;
   double RPM = -1.0;
   task rpmTask;
diff --git a/src/subsystems/flywheel.cpp b/src/subsystems/flywheel.cpp
index 84c3a5a..d479160 100644
--- a/src/subsystems/flywheel.cpp
+++ b/src/subsystems/flywheel.cpp
@@ -9,6 +9,7 @@
 **********************************************************
 * 09/16/2022  <CRN> Created file, added constructor, spins, RPM setting, stop.
 * 09/18/2022  <CRN> Added async functionality.
+* 09/22/2022  <CRN> Documentation improvements, fixed error if RPM is set but motor is stopped.
 *********************************************************/
 
 #include "../core/include/subsystems/flywheel.h"
@@ -19,17 +20,23 @@ using namespace vex;
 
 /*
 * Create the Flywheel object.
+* @param motors - pointer to the motors on the fly wheel
+* @param pid - pointer to the PID
 */
 Flywheel::Flywheel(motor_group &motors, PID &pid)
     :motors(motors), pid(pid){ }
 
-// Spin motors using voltage; defaults forward at 12 volts
-// Speed is between -1 and 1.
+/* Spin motors using voltage; defaults forward at 12 volts
+* @param speed - speed (between -1 and 1) to set the motor
+* @param dir - direction that the motor moves in; defaults to forward
+*/
 void Flywheel::spin_raw(double speed, directionType dir){
   motors.spin(dir, speed * 12, voltageUnits::volt);
 }
 
-// spin this flywheel at a given RPM, async; runs until stop(), stopThread(), or a new spinRPM() is called. 
+/* spin this flywheel at a given RPM, async; runs until stop(), stopThread(), or a new spinRPM() is called. 
+* @param wheelPointer - points to the current wheel object
+*/
 int spinRPMThread(void* wheelPointer) {
   Flywheel* wheel = (Flywheel*) wheelPointer;
   wheel->getPID()->set_target((double) wheel->getRPM());  // get the pid from the wheel and set its target to the RPM stored in the wheel.
@@ -41,12 +48,15 @@ int spinRPMThread(void* wheelPointer) {
   return 0; // only here to make the compiler SHUT UP
 }
 
-// starts / restarts RPM thread at new value
+/* starts / restarts RPM thread at new value
+* @param inputRPM - set the current RPM
+*/
 void Flywheel::spinRPM(int inputRPM) {
-  if(inputRPM != RPM) {
+  if(inputRPM != RPM || !taskRunning) {
     RPM = inputRPM;
     rpmTask.stop();
     rpmTask = task(spinRPMThread, this);
+    taskRunning = true;
   }
 }
 
@@ -62,11 +72,13 @@ motor_group* Flywheel::getMotors() { return &motors; }
 // stop the RPM thread and the wheel
 void Flywheel::stop() {
   rpmTask.stop();
+  taskRunning = false;
   motors.stop();
 }
 
 
 // end the thread but keep spinning the wheel; not sure why anyone would use this but here it is anyway.
 void Flywheel::stopThread() {
+  taskRunning = false;
   rpmTask.stop();
 }
\ No newline at end of file

From 92819ea3a073ed1b7ece84a17ada0dd363979081 Mon Sep 17 00:00:00 2001
From: Christopher Nokes <crn2267@rit.edu>
Date: Thu, 22 Sep 2022 21:27:41 -0400
Subject: [PATCH 084/243] Added 'bang bang'.

---
 src/subsystems/flywheel.cpp | 16 ++++++++++++++++
 1 file changed, 16 insertions(+)

diff --git a/src/subsystems/flywheel.cpp b/src/subsystems/flywheel.cpp
index d479160..faa04f8 100644
--- a/src/subsystems/flywheel.cpp
+++ b/src/subsystems/flywheel.cpp
@@ -48,6 +48,22 @@ int spinRPMThread(void* wheelPointer) {
   return 0; // only here to make the compiler SHUT UP
 }
 
+/* spin this flywheel at a given RPM, async; runs until stop(), stopThread(), or a new spinRPM() is called. 
+*  Runs a BANG BANG variant. I have NO IDEA if it will work properly but I have NOTHING to test this on.
+* @param wheelPointer - points to the current wheel object
+*/
+int spinRPMThread_BangBang(void* wheelPointer) {
+  Flywheel* wheel = (Flywheel*) wheelPointer; 
+  while(true) {
+    wheel->getPID()->update(wheel->getMotors()->velocity(velocityUnits::rpm)); // check the current velocity and update the PID with it.
+    // if it below the RPM, go, otherwise don't
+    if(wheel->getMotors()->velocity(velocityUnits::rpm) < wheel->getRPM()) { wheel->getMotors()->spin(fwd, 12, voltageUnits::volt); }   
+    else { wheel->getMotors()->stop(); }
+    vexDelay(20);
+  }
+  return 0; // only here to make the compiler SHUT UP
+}
+
 /* starts / restarts RPM thread at new value
 * @param inputRPM - set the current RPM
 */

From 5ca4288acb54842fda47a73c13eb23335ac4a194 Mon Sep 17 00:00:00 2001
From: Christopher Nokes <crn2267@rit.edu>
Date: Fri, 23 Sep 2022 18:45:07 -0400
Subject: [PATCH 085/243] Changed the Flywheel constructor to take a pid
 *config* pointer instead of a PID pointer.

---
 include/subsystems/flywheel.h | 2 +-
 src/subsystems/flywheel.cpp   | 4 ++--
 2 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/include/subsystems/flywheel.h b/include/subsystems/flywheel.h
index 8610616..7f3f30d 100644
--- a/include/subsystems/flywheel.h
+++ b/include/subsystems/flywheel.h
@@ -7,7 +7,7 @@ using namespace vex;
 class Flywheel{
   public:
 
-  Flywheel(motor_group &motors, PID &pid);
+  Flywheel(motor_group &motors, PID::pid_config_t &pid_config);
 
   void spin_raw(double speed, directionType dir=fwd);
   void spinRPM(int rpm);
diff --git a/src/subsystems/flywheel.cpp b/src/subsystems/flywheel.cpp
index faa04f8..3ef4c72 100644
--- a/src/subsystems/flywheel.cpp
+++ b/src/subsystems/flywheel.cpp
@@ -23,8 +23,8 @@ using namespace vex;
 * @param motors - pointer to the motors on the fly wheel
 * @param pid - pointer to the PID
 */
-Flywheel::Flywheel(motor_group &motors, PID &pid)
-    :motors(motors), pid(pid){ }
+Flywheel::Flywheel(motor_group &motors, PID::pid_config_t &pid_config)
+    :motors(motors), pid(pid_config) { }
 
 /* Spin motors using voltage; defaults forward at 12 volts
 * @param speed - speed (between -1 and 1) to set the motor

From 9975cf8977572733993851c2507e3b3288b49a05 Mon Sep 17 00:00:00 2001
From: Christopher Nokes <crn2267@rit.edu>
Date: Fri, 23 Sep 2022 19:43:17 -0400
Subject: [PATCH 086/243] Documentation and organization improvements, added
 stubs for RPM control test functions.

---
 include/subsystems/flywheel.h |  46 +++++++++-----
 src/subsystems/flywheel.cpp   | 111 ++++++++++++++++++++++++----------
 2 files changed, 111 insertions(+), 46 deletions(-)

diff --git a/include/subsystems/flywheel.h b/include/subsystems/flywheel.h
index 7f3f30d..5436f60 100644
--- a/include/subsystems/flywheel.h
+++ b/include/subsystems/flywheel.h
@@ -1,3 +1,15 @@
+/*********************************************************
+*
+*     File:     Flywheel.h
+*     Purpose:  Generalized flywheel class for Core.
+*     Author:   Chris Nokes
+*     
+**********************************************************
+* EDIT HISTORY
+**********************************************************
+* 09/23/2022  <CRN> Reorganized, added documentation.
+*********************************************************/
+
 #include "vex.h"
 #include "../core/include/robot_specs.h"
 #include "../core/include/utils/pid.h"
@@ -7,22 +19,28 @@ using namespace vex;
 class Flywheel{
   public:
 
-  Flywheel(motor_group &motors, PID::pid_config_t &pid_config);
-
-  void spin_raw(double speed, directionType dir=fwd);
-  void spinRPM(int rpm);
-  void stop();
-  void stopThread();
+  // CONSTRUCTORS, GETTERS, AND SETTERS
+  Flywheel(motor_group &motors, PID::pid_config_t &pid_config); // constructor
+  double getRPM();                                              // returns the desired RPM
+  motor_group* getMotors();                                     // returns a pointer to the motors
+  double getVelocity_RPM();                                     // get the current velocity of the motors in RPM
+  PID* getPID();                                                // returns a pointer to the PID
+  double getPIDValue();                                         // get the current OUT value of the PID
+  void setPIDTarget(double value);                              // set the PID target
+  void updatePID(double value);                                 // update the PID with the current value it's tracking
 
-  double getRPM();
-  PID* getPID();
-  motor_group* getMotors();
+  // SPINNERS AND STOPPERS
+  void spin_raw(double speed, directionType dir=fwd);           // Spins at a given speed between -1 and 1
+  void spinRPM(int rpm);                                        // spins the turret at a target RPM
+  void stop();                                                  // stops the motors and the thread
+  void stopMotors();                                            // stops ONLY the motors
+  void stopThread();                                            // stops ONLY the thread
 
   private:
 
-  motor_group &motors;
-  bool taskRunning = false;
-  PID pid;
-  double RPM = -1.0;
-  task rpmTask;
+  motor_group &motors;      // motors that make up the flywheel
+  bool taskRunning = false; // is the task (thread but not) currently running?
+  PID pid;                  // PID on the flywheel
+  double RPM = -1.0;        // Desired RPM of the flywheel. 
+  task rpmTask;             // task (thread but not) that handles spinning the wheel at a given RPM
 };
\ No newline at end of file
diff --git a/src/subsystems/flywheel.cpp b/src/subsystems/flywheel.cpp
index 3ef4c72..cc5e650 100644
--- a/src/subsystems/flywheel.cpp
+++ b/src/subsystems/flywheel.cpp
@@ -10,6 +10,7 @@
 * 09/16/2022  <CRN> Created file, added constructor, spins, RPM setting, stop.
 * 09/18/2022  <CRN> Added async functionality.
 * 09/22/2022  <CRN> Documentation improvements, fixed error if RPM is set but motor is stopped.
+* 09/23/2022  <CRN> Neatened up program, added getters and setters, fixed documentation and bang bang.
 *********************************************************/
 
 #include "../core/include/subsystems/flywheel.h"
@@ -18,6 +19,10 @@
 
 using namespace vex;
 
+/*********************************************************
+*         CONSTRUCTOR, GETTERS, SETTERS
+*********************************************************/
+
 /*
 * Create the Flywheel object.
 * @param motors - pointer to the motors on the fly wheel
@@ -26,65 +31,104 @@ using namespace vex;
 Flywheel::Flywheel(motor_group &motors, PID::pid_config_t &pid_config)
     :motors(motors), pid(pid_config) { }
 
-/* Spin motors using voltage; defaults forward at 12 volts
-* @param speed - speed (between -1 and 1) to set the motor
-* @param dir - direction that the motor moves in; defaults to forward
+// return the current value that the RPM should be set to;
+double Flywheel::getRPM() { return RPM; }
+  
+// Returns a POINTER TO the motors; not currently used.
+motor_group* Flywheel::getMotors() { return &motors; } // TODO -- Remove?
+
+// return the current velocity of the flywheel motors, in RPM
+double Flywheel::getVelocity_RPM() { return motors.velocity(velocityUnits::rpm); }
+
+// Returns a POINTER TO the PID; not currently used.
+PID* Flywheel::getPID() { return &pid; } // TODO -- Remove?
+
+// returns the current OUT value of the PID
+double Flywheel::getPIDValue() { return pid.get(); }
+
+/* 
+* Sets the value of the PID target
+* @param value - desired value of the PID
 */
-void Flywheel::spin_raw(double speed, directionType dir){
-  motors.spin(dir, speed * 12, voltageUnits::volt);
-}
+void Flywheel::setPIDTarget(double value) { pid.set_target(value); }
 
-/* spin this flywheel at a given RPM, async; runs until stop(), stopThread(), or a new spinRPM() is called. 
-* @param wheelPointer - points to the current wheel object
+/* 
+* updates the value of the PID
+* @param value - value to update the PID with
 */
-int spinRPMThread(void* wheelPointer) {
+void Flywheel::updatePID(double value) { pid.update(value); }
+
+/*********************************************************
+*         RPM SETTING THREADS
+* ALL OF THE FOLLOWING PROGRAMS HAVE THE SAME PARAMETERS AND RESULTS:
+* spin this flywheel at a given RPM, async; runs until stop(), stopThread(), or a new spinRPM() is called. 
+* @param wheelPointer - points to the current wheel object
+*********************************************************/
+
+// Runs a PID loop to get to the set RPM.
+int spinRPMTask_PID(void* wheelPointer) {
   Flywheel* wheel = (Flywheel*) wheelPointer;
-  wheel->getPID()->set_target((double) wheel->getRPM());  // get the pid from the wheel and set its target to the RPM stored in the wheel.
+  wheel->setPIDTarget(wheel->getRPM());  // get the pid from the wheel and set its target to the RPM stored in the wheel.
   while(true) {
-    wheel->getPID()->update(wheel->getMotors()->velocity(velocityUnits::rpm));        // check the current velocity and update the PID with it.
-    wheel->getMotors()->spin(fwd, wheel->getPID()->get() * 12, voltageUnits::volt);   // set the motors to whatever PID tells them to do
+    wheel->updatePID(wheel->getVelocity_RPM());        // check the current velocity and update the PID with it.
+    wheel->spin_raw(wheel->getPIDValue(), fwd);   // set the motors to whatever PID tells them to do
     vexDelay(20);
   }
   return 0; // only here to make the compiler SHUT UP
 }
 
-/* spin this flywheel at a given RPM, async; runs until stop(), stopThread(), or a new spinRPM() is called. 
-*  Runs a BANG BANG variant. I have NO IDEA if it will work properly but I have NOTHING to test this on.
-* @param wheelPointer - points to the current wheel object
-*/
-int spinRPMThread_BangBang(void* wheelPointer) {
+//  Runs a BANG BANG variant. I have NO IDEA if it will work properly but I have NOTHING to test this on.
+int spinRPMTask_BangBang(void* wheelPointer) {
   Flywheel* wheel = (Flywheel*) wheelPointer; 
   while(true) {
-    wheel->getPID()->update(wheel->getMotors()->velocity(velocityUnits::rpm)); // check the current velocity and update the PID with it.
     // if it below the RPM, go, otherwise don't
-    if(wheel->getMotors()->velocity(velocityUnits::rpm) < wheel->getRPM()) { wheel->getMotors()->spin(fwd, 12, voltageUnits::volt); }   
-    else { wheel->getMotors()->stop(); }
+    if(wheel->getVelocity_RPM() < wheel->getRPM()) { 
+      wheel->spin_raw(1, fwd);
+    }   
+    else { wheel->stopMotors(); }
     vexDelay(20);
   }
   return 0; // only here to make the compiler SHUT UP
 }
 
+// Runs a Feedforward variant; FUNCTION STUB
+int spinRPMTask_Feedforward(void* wheelPointer) { return 0; }
+
+// Runs a PID + Feedforward variant; FUNCTION STUB
+int spinRPMTask_PID_Feedforward(void* wheelPointer) { return 0; }
+
+// Runs a Take Back Half variant; FUNCTION STUB
+int spinRPMTask_TBH(void* wheelPointer) { return 0; }
+
+// Runs a 'Moving average filter with above closed loop systems' variant, whatever that means; FUNCTION STUB
+int spinRPMTask_ClosedLoop(void* wheelPointer) { return 0; }
+
+
+/*********************************************************
+*         SPINNERS AND STOPPERS
+*********************************************************/
+
+/* Spin motors using voltage; defaults forward at 12 volts
+* @param speed - speed (between -1 and 1) to set the motor
+* @param dir - direction that the motor moves in; defaults to forward
+*/
+void Flywheel::spin_raw(double speed, directionType dir){
+  motors.spin(dir, speed * 12, voltageUnits::volt);
+}
+
 /* starts / restarts RPM thread at new value
 * @param inputRPM - set the current RPM
 */
 void Flywheel::spinRPM(int inputRPM) {
+  // only run if the RPM is different or it isn't already running
   if(inputRPM != RPM || !taskRunning) {
     RPM = inputRPM;
     rpmTask.stop();
-    rpmTask = task(spinRPMThread, this);
+    rpmTask = task(spinRPMTask_PID, this);
     taskRunning = true;
   }
 }
 
-// return the current value that the RPM should be set to;
-double Flywheel::getRPM() { return RPM; }
-
-// Returns a POINTER TO the PID; only for use in the spinRPMThread function.
-PID* Flywheel::getPID() { return &pid; }
-
-// Returns a POINTER TO the motors; only for use in the spinRPMThread function.
-motor_group* Flywheel::getMotors() { return &motors; }
-
 // stop the RPM thread and the wheel
 void Flywheel::stop() {
   rpmTask.stop();
@@ -92,9 +136,12 @@ void Flywheel::stop() {
   motors.stop();
 }
 
+// stop only the motors; exclusively for BANG BANG use
+void Flywheel::stopMotors() { motors.stop(); }
+
 
-// end the thread but keep spinning the wheel; not sure why anyone would use this but here it is anyway.
-void Flywheel::stopThread() {
+// stop only the thread; not currently used but might come in handy \__('-')__/
+void Flywheel::stopThread() { // TODO -- Remove?
   taskRunning = false;
   rpmTask.stop();
 }
\ No newline at end of file

From f4d060e85afc047f4213cbab24b724de48c3a054 Mon Sep 17 00:00:00 2001
From: Christopher Nokes <crn2267@rit.edu>
Date: Fri, 23 Sep 2022 20:48:14 -0400
Subject: [PATCH 087/243] Updated async to not 'have a stroke'.

---
 include/subsystems/flywheel.h |  1 -
 src/subsystems/flywheel.cpp   | 20 ++++++--------------
 2 files changed, 6 insertions(+), 15 deletions(-)

diff --git a/include/subsystems/flywheel.h b/include/subsystems/flywheel.h
index 5436f60..41d7b57 100644
--- a/include/subsystems/flywheel.h
+++ b/include/subsystems/flywheel.h
@@ -34,7 +34,6 @@ class Flywheel{
   void spinRPM(int rpm);                                        // spins the turret at a target RPM
   void stop();                                                  // stops the motors and the thread
   void stopMotors();                                            // stops ONLY the motors
-  void stopThread();                                            // stops ONLY the thread
 
   private:
 
diff --git a/src/subsystems/flywheel.cpp b/src/subsystems/flywheel.cpp
index cc5e650..9a9afb6 100644
--- a/src/subsystems/flywheel.cpp
+++ b/src/subsystems/flywheel.cpp
@@ -68,9 +68,9 @@ void Flywheel::updatePID(double value) { pid.update(value); }
 // Runs a PID loop to get to the set RPM.
 int spinRPMTask_PID(void* wheelPointer) {
   Flywheel* wheel = (Flywheel*) wheelPointer;
-  wheel->setPIDTarget(wheel->getRPM());  // get the pid from the wheel and set its target to the RPM stored in the wheel.
+  // get the pid from the wheel and set its target to the RPM stored in the wheel.
   while(true) {
-    wheel->updatePID(wheel->getVelocity_RPM());        // check the current velocity and update the PID with it.
+    wheel->updatePID(wheel->getVelocity_RPM());   // check the current velocity and update the PID with it.
     wheel->spin_raw(wheel->getPIDValue(), fwd);   // set the motors to whatever PID tells them to do
     vexDelay(20);
   }
@@ -103,7 +103,6 @@ int spinRPMTask_TBH(void* wheelPointer) { return 0; }
 // Runs a 'Moving average filter with above closed loop systems' variant, whatever that means; FUNCTION STUB
 int spinRPMTask_ClosedLoop(void* wheelPointer) { return 0; }
 
-
 /*********************************************************
 *         SPINNERS AND STOPPERS
 *********************************************************/
@@ -121,12 +120,12 @@ void Flywheel::spin_raw(double speed, directionType dir){
 */
 void Flywheel::spinRPM(int inputRPM) {
   // only run if the RPM is different or it isn't already running
-  if(inputRPM != RPM || !taskRunning) {
-    RPM = inputRPM;
-    rpmTask.stop();
+  if(!taskRunning) {
     rpmTask = task(spinRPMTask_PID, this);
     taskRunning = true;
   }
+  RPM = inputRPM;
+  setPIDTarget(RPM);
 }
 
 // stop the RPM thread and the wheel
@@ -137,11 +136,4 @@ void Flywheel::stop() {
 }
 
 // stop only the motors; exclusively for BANG BANG use
-void Flywheel::stopMotors() { motors.stop(); }
-
-
-// stop only the thread; not currently used but might come in handy \__('-')__/
-void Flywheel::stopThread() { // TODO -- Remove?
-  taskRunning = false;
-  rpmTask.stop();
-}
\ No newline at end of file
+void Flywheel::stopMotors() { motors.stop(); }
\ No newline at end of file

From 67e227ad14bb1d8bb5df794e53c66c447f34fa18 Mon Sep 17 00:00:00 2001
From: Christopher Nokes <crn2267@rit.edu>
Date: Sun, 2 Oct 2022 12:05:43 -0400
Subject: [PATCH 088/243] Changes made during testing, futile attempts at
 debugging.

---
 include/subsystems/flywheel.h             |  7 +++++-
 src/subsystems/flywheel.cpp               | 27 ++++++++++++++++++-----
 src/subsystems/odometry/odometry_tank.cpp |  2 +-
 3 files changed, 28 insertions(+), 8 deletions(-)

diff --git a/include/subsystems/flywheel.h b/include/subsystems/flywheel.h
index 41d7b57..07c3f6e 100644
--- a/include/subsystems/flywheel.h
+++ b/include/subsystems/flywheel.h
@@ -8,6 +8,7 @@
 * EDIT HISTORY
 **********************************************************
 * 09/23/2022  <CRN> Reorganized, added documentation.
+* 09/23/2022  <CRN> Added functions elaborated on in .cpp.
 *********************************************************/
 
 #include "vex.h"
@@ -20,8 +21,9 @@ class Flywheel{
   public:
 
   // CONSTRUCTORS, GETTERS, AND SETTERS
-  Flywheel(motor_group &motors, PID::pid_config_t &pid_config); // constructor
+  Flywheel(motor_group &motors, PID::pid_config_t &pid_config, const double ratio);  // constructor
   double getRPM();                                              // returns the desired RPM
+  bool isTaskRunning();                                         // returns if a task is running
   motor_group* getMotors();                                     // returns a pointer to the motors
   double getVelocity_RPM();                                     // get the current velocity of the motors in RPM
   PID* getPID();                                                // returns a pointer to the PID
@@ -31,15 +33,18 @@ class Flywheel{
 
   // SPINNERS AND STOPPERS
   void spin_raw(double speed, directionType dir=fwd);           // Spins at a given speed between -1 and 1
+  void spin_manual(double speed, directionType dir=fwd);        // Same as spin_raw, but check to make sure a task isn't running before doing it.
   void spinRPM(int rpm);                                        // spins the turret at a target RPM
   void stop();                                                  // stops the motors and the thread
   void stopMotors();                                            // stops ONLY the motors
+  void stopNonTasks();                                          // stops motors IFF a task isn't running and a manual setter isn't being pressed
 
   private:
 
   motor_group &motors;      // motors that make up the flywheel
   bool taskRunning = false; // is the task (thread but not) currently running?
   PID pid;                  // PID on the flywheel
+  double ratio;             // multiplies the velocity by this value
   double RPM = -1.0;        // Desired RPM of the flywheel. 
   task rpmTask;             // task (thread but not) that handles spinning the wheel at a given RPM
 };
\ No newline at end of file
diff --git a/src/subsystems/flywheel.cpp b/src/subsystems/flywheel.cpp
index 9a9afb6..7718670 100644
--- a/src/subsystems/flywheel.cpp
+++ b/src/subsystems/flywheel.cpp
@@ -11,6 +11,7 @@
 * 09/18/2022  <CRN> Added async functionality.
 * 09/22/2022  <CRN> Documentation improvements, fixed error if RPM is set but motor is stopped.
 * 09/23/2022  <CRN> Neatened up program, added getters and setters, fixed documentation and bang bang.
+* 09/29/2022  <CRN> Bug fixes, RPM handling. Multiplied the motor by 18.
 *********************************************************/
 
 #include "../core/include/subsystems/flywheel.h"
@@ -27,18 +28,22 @@ using namespace vex;
 * Create the Flywheel object.
 * @param motors - pointer to the motors on the fly wheel
 * @param pid - pointer to the PID
+* @param ratio - ratio of the whatever just multiplies the velocity
 */
-Flywheel::Flywheel(motor_group &motors, PID::pid_config_t &pid_config)
-    :motors(motors), pid(pid_config) { }
+Flywheel::Flywheel(motor_group &motors, PID::pid_config_t &pid_config, const double ratio)
+    :motors(motors), pid(pid_config), ratio(ratio) { }
 
 // return the current value that the RPM should be set to;
 double Flywheel::getRPM() { return RPM; }
+
+// returns whether or not the wheel is running a task currently
+bool Flywheel::isTaskRunning() { return taskRunning; }
   
 // Returns a POINTER TO the motors; not currently used.
 motor_group* Flywheel::getMotors() { return &motors; } // TODO -- Remove?
 
 // return the current velocity of the flywheel motors, in RPM
-double Flywheel::getVelocity_RPM() { return motors.velocity(velocityUnits::rpm); }
+double Flywheel::getVelocity_RPM() { return ratio * motors.velocity(velocityUnits::rpm); }
 
 // Returns a POINTER TO the PID; not currently used.
 PID* Flywheel::getPID() { return &pid; } // TODO -- Remove?
@@ -72,7 +77,7 @@ int spinRPMTask_PID(void* wheelPointer) {
   while(true) {
     wheel->updatePID(wheel->getVelocity_RPM());   // check the current velocity and update the PID with it.
     wheel->spin_raw(wheel->getPIDValue(), fwd);   // set the motors to whatever PID tells them to do
-    vexDelay(20);
+    vexDelay(1);
   }
   return 0; // only here to make the compiler SHUT UP
 }
@@ -86,7 +91,7 @@ int spinRPMTask_BangBang(void* wheelPointer) {
       wheel->spin_raw(1, fwd);
     }   
     else { wheel->stopMotors(); }
-    vexDelay(20);
+    vexDelay(1);
   }
   return 0; // only here to make the compiler SHUT UP
 }
@@ -108,6 +113,7 @@ int spinRPMTask_ClosedLoop(void* wheelPointer) { return 0; }
 *********************************************************/
 
 /* Spin motors using voltage; defaults forward at 12 volts
+* FOR USE BY TASKS ONLY
 * @param speed - speed (between -1 and 1) to set the motor
 * @param dir - direction that the motor moves in; defaults to forward
 */
@@ -115,6 +121,12 @@ void Flywheel::spin_raw(double speed, directionType dir){
   motors.spin(dir, speed * 12, voltageUnits::volt);
 }
 
+// Spin motors using voltage; defaults forward at 12 volts
+// FOR USE BY OPCONTROL AND AUTONOMOUS, same as spin_raw otherwise
+void Flywheel::spin_manual(double speed, directionType dir){
+  if(!taskRunning) motors.spin(dir, speed * 12, voltageUnits::volt);
+}
+
 /* starts / restarts RPM thread at new value
 * @param inputRPM - set the current RPM
 */
@@ -136,4 +148,7 @@ void Flywheel::stop() {
 }
 
 // stop only the motors; exclusively for BANG BANG use
-void Flywheel::stopMotors() { motors.stop(); }
\ No newline at end of file
+void Flywheel::stopMotors() { motors.stop(); }
+
+// stop the motors iff the task isn't running
+void Flywheel::stopNonTasks() { if(!taskRunning) { motors.stop(); }}
\ No newline at end of file
diff --git a/src/subsystems/odometry/odometry_tank.cpp b/src/subsystems/odometry/odometry_tank.cpp
index c801c2f..b1a87e1 100644
--- a/src/subsystems/odometry/odometry_tank.cpp
+++ b/src/subsystems/odometry/odometry_tank.cpp
@@ -97,7 +97,7 @@ position_t OdometryTank::update()
       //Use the arclength formula to calculate the angle. Add 90 to make "0 degrees" to starboard
       angle = ((180.0 / PI) * (distance_diff / config.dist_between_wheels)) + 90;
 
-      printf("angle: %f, ", (180.0 / PI) * (distance_diff / config.dist_between_wheels));
+      // printf("angle: %f, ", (180.0 / PI) * (distance_diff / config.dist_between_wheels));
 
     } else
     {

From e242000c4cd98c970431e855b96ead774601a5a7 Mon Sep 17 00:00:00 2001
From: cowsed <richie.sommers@outlook.com>
Date: Sun, 2 Oct 2022 13:07:53 -0400
Subject: [PATCH 089/243] Commented out old printf s Terminal is cleaner now

---
 src/subsystems/odometry/odometry_tank.cpp | 3 +--
 src/subsystems/tank_drive.cpp             | 4 ++--
 src/utils/pure_pursuit.cpp                | 2 +-
 3 files changed, 4 insertions(+), 5 deletions(-)

diff --git a/src/subsystems/odometry/odometry_tank.cpp b/src/subsystems/odometry/odometry_tank.cpp
index b1a87e1..7ca1047 100644
--- a/src/subsystems/odometry/odometry_tank.cpp
+++ b/src/subsystems/odometry/odometry_tank.cpp
@@ -92,8 +92,7 @@ position_t OdometryTank::update()
       // Get the arclength of the turning circle of the robot
       double distance_diff = (rside_revs - lside_revs) * PI * config.odom_wheel_diam;
 
-      printf("dist_diff: %f, ", distance_diff);
-
+      
       //Use the arclength formula to calculate the angle. Add 90 to make "0 degrees" to starboard
       angle = ((180.0 / PI) * (distance_diff / config.dist_between_wheels)) + 90;
 
diff --git a/src/subsystems/tank_drive.cpp b/src/subsystems/tank_drive.cpp
index bd99b81..f72c0ee 100644
--- a/src/subsystems/tank_drive.cpp
+++ b/src/subsystems/tank_drive.cpp
@@ -263,7 +263,7 @@ bool TankDrive::drive_to_point(double x, double y, double speed, double correcti
 
   drive_tank(lside, rside);
 
-  printf("dist: %f\n", sign * -1 * dist_left);
+  //printf("dist: %f\n", sign * -1 * dist_left);
   fflush(stdout);
 
   // Check if the robot has reached it's destination
@@ -306,7 +306,7 @@ bool TankDrive::turn_to_heading(double heading_deg, double speed)
   double delta_heading = OdometryBase::smallest_angle(odometry->get_position().rot, heading_deg);
   turn_pid.update(delta_heading);
 
-  printf("~TURN~ delta: %f\n", delta_heading);
+  //printf("~TURN~ delta: %f\n", delta_heading);
   // printf("delta heading: %f, pid: %f\n", delta_heading, turn_pid.get());
   fflush(stdout);
 
diff --git a/src/utils/pure_pursuit.cpp b/src/utils/pure_pursuit.cpp
index 4b28a3c..b5e09b3 100644
--- a/src/utils/pure_pursuit.cpp
+++ b/src/utils/pure_pursuit.cpp
@@ -223,7 +223,7 @@ std::vector<Vector2D::point_t> PurePursuit::smooth_path_cubic(std::vector<Vector
   }
 
   for(spline spline: splines) {
-      printf("spline a: %f b: %f c: %f d %f start %f, %f end %f, %f\n", spline.a, spline.b, spline.c, spline.d, spline.x_start, spline.getY(spline.x_start), spline.x_end, spline.getY(spline.x_end));
+      //printf("spline a: %f b: %f c: %f d %f start %f, %f end %f, %f\n", spline.a, spline.b, spline.c, spline.d, spline.x_start, spline.getY(spline.x_start), spline.x_end, spline.getY(spline.x_end));
     double x = spline.x_start;
     while(x >= fmin(spline.x_start, spline.x_end) && x <= fmax(spline.x_start, spline.x_end)) {
       new_path.push_back({x, spline.getY(x)});

From c2c1989daecf92e1366c9c6385a942bb28a071f5 Mon Sep 17 00:00:00 2001
From: cowsed <richie.sommers@outlook.com>
Date: Fri, 7 Oct 2022 21:06:50 -0400
Subject: [PATCH 090/243] Flywheel PID + Feedforward, Feedforward. Functions
 and configs

---
 include/subsystems/flywheel.h | 6 +++++-
 1 file changed, 5 insertions(+), 1 deletion(-)

diff --git a/include/subsystems/flywheel.h b/include/subsystems/flywheel.h
index 07c3f6e..825084c 100644
--- a/include/subsystems/flywheel.h
+++ b/include/subsystems/flywheel.h
@@ -11,6 +11,7 @@
 * 09/23/2022  <CRN> Added functions elaborated on in .cpp.
 *********************************************************/
 
+#include "../core/include/utils/feedforward.h"
 #include "vex.h"
 #include "../core/include/robot_specs.h"
 #include "../core/include/utils/pid.h"
@@ -21,13 +22,15 @@ class Flywheel{
   public:
 
   // CONSTRUCTORS, GETTERS, AND SETTERS
-  Flywheel(motor_group &motors, PID::pid_config_t &pid_config, const double ratio);  // constructor
+  Flywheel(motor_group &motors, PID::pid_config_t &pid_config, FeedForward::ff_config_t &ff_config, const double ratio);  // constructor
   double getRPM();                                              // returns the desired RPM
   bool isTaskRunning();                                         // returns if a task is running
   motor_group* getMotors();                                     // returns a pointer to the motors
   double getVelocity_RPM();                                     // get the current velocity of the motors in RPM
   PID* getPID();                                                // returns a pointer to the PID
   double getPIDValue();                                         // get the current OUT value of the PID
+  double getFeedforwardValue();                                 // get the current OUT value of the feedforward
+
   void setPIDTarget(double value);                              // set the PID target
   void updatePID(double value);                                 // update the PID with the current value it's tracking
 
@@ -44,6 +47,7 @@ class Flywheel{
   motor_group &motors;      // motors that make up the flywheel
   bool taskRunning = false; // is the task (thread but not) currently running?
   PID pid;                  // PID on the flywheel
+  FeedForward ff;
   double ratio;             // multiplies the velocity by this value
   double RPM = -1.0;        // Desired RPM of the flywheel. 
   task rpmTask;             // task (thread but not) that handles spinning the wheel at a given RPM

From 42252ce3eba720017a71e26e4ddd28f724a9d2ad Mon Sep 17 00:00:00 2001
From: cowsed <richie.sommers@outlook.com>
Date: Thu, 13 Oct 2022 21:31:48 -0400
Subject: [PATCH 091/243] Take Back Half control and tuning. Right now, the tbh
 gain parameter is hardcoded into the flywheel definition, this should be
 extracted so we can use the same code with different configs for different
 flywheels.

---
 include/subsystems/flywheel.h |  4 +-
 src/subsystems/flywheel.cpp   | 97 ++++++++++++++++++++++++++---------
 2 files changed, 74 insertions(+), 27 deletions(-)

diff --git a/include/subsystems/flywheel.h b/include/subsystems/flywheel.h
index 825084c..4c4ac54 100644
--- a/include/subsystems/flywheel.h
+++ b/include/subsystems/flywheel.h
@@ -23,10 +23,10 @@ class Flywheel{
 
   // CONSTRUCTORS, GETTERS, AND SETTERS
   Flywheel(motor_group &motors, PID::pid_config_t &pid_config, FeedForward::ff_config_t &ff_config, const double ratio);  // constructor
-  double getRPM();                                              // returns the desired RPM
+  double getDesiredRPM();                                        // returns the desired RPM
   bool isTaskRunning();                                         // returns if a task is running
   motor_group* getMotors();                                     // returns a pointer to the motors
-  double getVelocity_RPM();                                     // get the current velocity of the motors in RPM
+  double getRPM();                                     // get the current velocity of the motors in RPM
   PID* getPID();                                                // returns a pointer to the PID
   double getPIDValue();                                         // get the current OUT value of the PID
   double getFeedforwardValue();                                 // get the current OUT value of the feedforward
diff --git a/src/subsystems/flywheel.cpp b/src/subsystems/flywheel.cpp
index 7718670..4011013 100644
--- a/src/subsystems/flywheel.cpp
+++ b/src/subsystems/flywheel.cpp
@@ -16,6 +16,7 @@
 
 #include "../core/include/subsystems/flywheel.h"
 #include "../core/include/utils/pid.h"
+#include "../core/include/utils/math_util.h"
 #include "vex.h"
 
 using namespace vex;
@@ -27,14 +28,15 @@ using namespace vex;
 /*
 * Create the Flywheel object.
 * @param motors - pointer to the motors on the fly wheel
-* @param pid - pointer to the PID
+* @param pid - pointer to the PID config
+* @param ff  - pointer to the feedforward config
 * @param ratio - ratio of the whatever just multiplies the velocity
 */
-Flywheel::Flywheel(motor_group &motors, PID::pid_config_t &pid_config, const double ratio)
-    :motors(motors), pid(pid_config), ratio(ratio) { }
+Flywheel::Flywheel(motor_group &motors, PID::pid_config_t &pid_config, FeedForward::ff_config_t &ff_config, const double ratio)
+    :motors(motors), pid(pid_config), ff(ff_config), ratio(ratio) { }
 
 // return the current value that the RPM should be set to;
-double Flywheel::getRPM() { return RPM; }
+double Flywheel::getDesiredRPM() { return RPM; }
 
 // returns whether or not the wheel is running a task currently
 bool Flywheel::isTaskRunning() { return taskRunning; }
@@ -43,13 +45,20 @@ bool Flywheel::isTaskRunning() { return taskRunning; }
 motor_group* Flywheel::getMotors() { return &motors; } // TODO -- Remove?
 
 // return the current velocity of the flywheel motors, in RPM
-double Flywheel::getVelocity_RPM() { return ratio * motors.velocity(velocityUnits::rpm); }
+double Flywheel::getRPM() { return ratio * motors.velocity(velocityUnits::rpm); }
 
 // Returns a POINTER TO the PID; not currently used.
 PID* Flywheel::getPID() { return &pid; } // TODO -- Remove?
 
 // returns the current OUT value of the PID
 double Flywheel::getPIDValue() { return pid.get(); }
+// returns the current OUT value of the Feedforward
+// uses the current set rpm and the acceleration by ?????????
+double Flywheel::getFeedforwardValue() { 
+  double v = getDesiredRPM();
+  
+  return ff.calculate(v, 0); 
+}
 
 /* 
 * Sets the value of the PID target
@@ -70,24 +79,12 @@ void Flywheel::updatePID(double value) { pid.update(value); }
 * @param wheelPointer - points to the current wheel object
 *********************************************************/
 
-// Runs a PID loop to get to the set RPM.
-int spinRPMTask_PID(void* wheelPointer) {
-  Flywheel* wheel = (Flywheel*) wheelPointer;
-  // get the pid from the wheel and set its target to the RPM stored in the wheel.
-  while(true) {
-    wheel->updatePID(wheel->getVelocity_RPM());   // check the current velocity and update the PID with it.
-    wheel->spin_raw(wheel->getPIDValue(), fwd);   // set the motors to whatever PID tells them to do
-    vexDelay(1);
-  }
-  return 0; // only here to make the compiler SHUT UP
-}
-
 //  Runs a BANG BANG variant. I have NO IDEA if it will work properly but I have NOTHING to test this on.
 int spinRPMTask_BangBang(void* wheelPointer) {
   Flywheel* wheel = (Flywheel*) wheelPointer; 
   while(true) {
     // if it below the RPM, go, otherwise don't
-    if(wheel->getVelocity_RPM() < wheel->getRPM()) { 
+    if(wheel->getRPM() < wheel->getDesiredRPM()) { 
       wheel->spin_raw(1, fwd);
     }   
     else { wheel->stopMotors(); }
@@ -96,14 +93,64 @@ int spinRPMTask_BangBang(void* wheelPointer) {
   return 0; // only here to make the compiler SHUT UP
 }
 
-// Runs a Feedforward variant; FUNCTION STUB
-int spinRPMTask_Feedforward(void* wheelPointer) { return 0; }
+// Runs a Feedforward variant;
+int spinRPMTask_Feedforward(void* wheelPointer) { 
+  Flywheel* wheel = (Flywheel*) wheelPointer;
+  // get the pid from the wheel and set its target to the RPM stored in the wheel.
+  while(true) {
+    wheel->updatePID(wheel->getRPM());   // check the current velocity and update the PID with it.
+    double output = wheel->getFeedforwardValue();
+    wheel->spin_raw(output, fwd);   // set the motors to whatever feedforward tells them to do
+    vexDelay(1);
+  }
+  return 0; 
+}
+
+// Runs a PID + Feedforward variant;
+int spinRPMTask_PID_Feedforward(void* wheelPointer) {
+  Flywheel* wheel = (Flywheel*) wheelPointer;
+  // get the pid from the wheel and set its target to the RPM stored in the wheel.
+  while(true) {
+    wheel->updatePID(wheel->getRPM());   // check the current velocity and update the PID with it.
+    double output = wheel->getPIDValue() + wheel->getFeedforwardValue();
+    wheel->spin_raw(output, fwd);   // set the motors to whatever PID tells them to do
+    vexDelay(1);
+  }
+  return 0; 
+}
 
-// Runs a PID + Feedforward variant; FUNCTION STUB
-int spinRPMTask_PID_Feedforward(void* wheelPointer) { return 0; }
+// Runs a Take Back Half variant;
+//https://www.vexwiki.org/programming/controls_algorithms/tbh
+int spinRPMTask_TBH(void* wheelPointer) {
+  Flywheel* wheel = (Flywheel*) wheelPointer;
+  double gain = .00001;
+
+  double tbh = 0.0;
+  double output = 0.0;
+  double previous_error = 0.0;
+
+  while (true){
+    //reset if set to 0, this keeps the tbh val from screwing us up when we start up again
+    if (wheel->getDesiredRPM()==0){
+      output = 0;
+      tbh = 0;
+    }
+   
+    double error = wheel->getDesiredRPM() - wheel->getRPM();
+    output += gain * error;
+    wheel->spin_raw(clamp(output, 0, 1), fwd);
+
+    if (sign(error)!=sign(previous_error)){
+      output = .5 * (output + tbh);
+      tbh = output;
+      previous_error = error;
+    }
 
-// Runs a Take Back Half variant; FUNCTION STUB
-int spinRPMTask_TBH(void* wheelPointer) { return 0; }
+    vexDelay(1);
+  }
+  
+   return 0; 
+}
 
 // Runs a 'Moving average filter with above closed loop systems' variant, whatever that means; FUNCTION STUB
 int spinRPMTask_ClosedLoop(void* wheelPointer) { return 0; }
@@ -133,7 +180,7 @@ void Flywheel::spin_manual(double speed, directionType dir){
 void Flywheel::spinRPM(int inputRPM) {
   // only run if the RPM is different or it isn't already running
   if(!taskRunning) {
-    rpmTask = task(spinRPMTask_PID, this);
+    rpmTask = task(spinRPMTask_TBH, this);
     taskRunning = true;
   }
   RPM = inputRPM;

From d4ec1009d77299299ff11788c5c5e6ba3c098cb0 Mon Sep 17 00:00:00 2001
From: cowsed <richie.sommers@outlook.com>
Date: Thu, 13 Oct 2022 23:14:06 -0400
Subject: [PATCH 092/243] Created multiple ways to construct a Flywheel each
 corresponding to a different control method Flywheel now chooses which
 spinRPMtask to use based on this

---
 include/subsystems/flywheel.h | 33 ++++++++++++-----
 src/subsystems/flywheel.cpp   | 70 +++++++++++++++++++++++++++++++----
 2 files changed, 86 insertions(+), 17 deletions(-)

diff --git a/include/subsystems/flywheel.h b/include/subsystems/flywheel.h
index 4c4ac54..7f644a9 100644
--- a/include/subsystems/flywheel.h
+++ b/include/subsystems/flywheel.h
@@ -19,10 +19,21 @@
 using namespace vex;
 
 class Flywheel{
+  enum FlywheelControlStyle{
+    PID_Feedforward,
+    Feedforward,
+    Take_Back_Half,
+    Bang_Bang,
+  };
   public:
 
   // CONSTRUCTORS, GETTERS, AND SETTERS
-  Flywheel(motor_group &motors, PID::pid_config_t &pid_config, FeedForward::ff_config_t &ff_config, const double ratio);  // constructor
+  Flywheel(motor_group &motors, PID::pid_config_t &pid_config, FeedForward::ff_config_t &ff_config, const double ratio);  // constructor for feedforward + pid
+  Flywheel(motor_group &motors, FeedForward::ff_config_t &ff_config, const double ratio);  // constructor for only feed forward
+  Flywheel(motor_group &motors, double tbh_gain, const double ratio);  // constructor for take back half
+  Flywheel(motor_group &motors, const double ratio);  // constructor for bang-bang control
+
+
   double getDesiredRPM();                                        // returns the desired RPM
   bool isTaskRunning();                                         // returns if a task is running
   motor_group* getMotors();                                     // returns a pointer to the motors
@@ -30,7 +41,8 @@ class Flywheel{
   PID* getPID();                                                // returns a pointer to the PID
   double getPIDValue();                                         // get the current OUT value of the PID
   double getFeedforwardValue();                                 // get the current OUT value of the feedforward
-
+  double getTBHGain();                                          // get the gain used for TBH control
+  
   void setPIDTarget(double value);                              // set the PID target
   void updatePID(double value);                                 // update the PID with the current value it's tracking
 
@@ -44,11 +56,14 @@ class Flywheel{
 
   private:
 
-  motor_group &motors;      // motors that make up the flywheel
-  bool taskRunning = false; // is the task (thread but not) currently running?
-  PID pid;                  // PID on the flywheel
-  FeedForward ff;
-  double ratio;             // multiplies the velocity by this value
-  double RPM = -1.0;        // Desired RPM of the flywheel. 
-  task rpmTask;             // task (thread but not) that handles spinning the wheel at a given RPM
+  motor_group &motors;                // motors that make up the flywheel
+  bool taskRunning = false;           // is the task (thread but not) currently running?
+  PID pid;                            // PID on the flywheel
+  FeedForward ff;                     // FF constants for the flywheel
+  double TBH_gain;                    // TBH gain parameter for the flywheel
+  double ratio;                       // multiplies the velocity by this value
+  double RPM = -1.0;                  // Desired RPM of the flywheel. 
+  task rpmTask;                       // task (thread but not) that handles spinning the wheel at a given RPM
+  FlywheelControlStyle control_style; // how the flywheel should be controlled
+
 };
\ No newline at end of file
diff --git a/src/subsystems/flywheel.cpp b/src/subsystems/flywheel.cpp
index 4011013..1827cd6 100644
--- a/src/subsystems/flywheel.cpp
+++ b/src/subsystems/flywheel.cpp
@@ -15,8 +15,10 @@
 *********************************************************/
 
 #include "../core/include/subsystems/flywheel.h"
+#include "../core/include/utils/feedforward.h"
 #include "../core/include/utils/pid.h"
 #include "../core/include/utils/math_util.h"
+#include "C:/Users/richi/VEX/2022-2023-Flynn/include/robot-config.h"
 #include "vex.h"
 
 using namespace vex;
@@ -24,16 +26,46 @@ using namespace vex;
 /*********************************************************
 *         CONSTRUCTOR, GETTERS, SETTERS
 *********************************************************/
+//used when using bang bang or TBH control
+PID::pid_config_t empty_pid = PID::pid_config_t{};
+FeedForward::ff_config_t empty_ff = FeedForward::ff_config_t{};
 
 /*
-* Create the Flywheel object.
+* Create the Flywheel object using PID + feedforward for control.
 * @param motors - pointer to the motors on the fly wheel
-* @param pid - pointer to the PID config
 * @param ff  - pointer to the feedforward config
 * @param ratio - ratio of the whatever just multiplies the velocity
 */
 Flywheel::Flywheel(motor_group &motors, PID::pid_config_t &pid_config, FeedForward::ff_config_t &ff_config, const double ratio)
-    :motors(motors), pid(pid_config), ff(ff_config), ratio(ratio) { }
+    :motors(motors), pid(pid_config), ff(ff_config), ratio(ratio), control_style(PID_Feedforward) { }
+
+/*
+* Create the Flywheel object using only feedforward for control
+* @param motors - pointer to the motors on the fly wheel
+* @param ff  - pointer to the feedforward config
+* @param ratio - ratio of the whatever just multiplies the velocity
+*/
+Flywheel::Flywheel(motor_group &motors, FeedForward::ff_config_t &ff_config, const double ratio)
+    :motors(motors), pid(empty_pid), ff(ff_config), ratio(ratio), control_style(Feedforward) {}
+
+/*
+* Create the Flywheel object using Take Back Half for control
+* @param motors - pointer to the motors on the fly wheel
+* @param TBH_gain - the TBH control paramater
+* @param ratio - ratio of the whatever just multiplies the velocity
+*/
+Flywheel::Flywheel(motor_group &motors, const double TBH_gain, const double ratio)
+    :motors(motors), pid(empty_pid), ff(empty_ff), TBH_gain(TBH_gain), ratio(ratio), control_style(Take_Back_Half) {}
+
+/*
+* Create the Flywheel object using Bang Bang for control
+* @param motors - pointer to the motors on the fly wheel
+* @param ratio - ratio of the whatever just multiplies the velocity
+*/
+Flywheel::Flywheel(motor_group &motors, const double ratio)
+    :motors(motors), pid(empty_pid), ff(empty_ff), ratio(ratio), control_style(Bang_Bang) {}
+
+
 
 // return the current value that the RPM should be set to;
 double Flywheel::getDesiredRPM() { return RPM; }
@@ -52,14 +84,18 @@ PID* Flywheel::getPID() { return &pid; } // TODO -- Remove?
 
 // returns the current OUT value of the PID
 double Flywheel::getPIDValue() { return pid.get(); }
+
 // returns the current OUT value of the Feedforward
-// uses the current set rpm and the acceleration by ?????????
 double Flywheel::getFeedforwardValue() { 
   double v = getDesiredRPM();
-  
   return ff.calculate(v, 0); 
 }
 
+// get the gain used for TBH control
+double Flywheel::getTBHGain(){
+  return TBH_gain;
+}
+
 /* 
 * Sets the value of the PID target
 * @param value - desired value of the PID
@@ -123,7 +159,6 @@ int spinRPMTask_PID_Feedforward(void* wheelPointer) {
 //https://www.vexwiki.org/programming/controls_algorithms/tbh
 int spinRPMTask_TBH(void* wheelPointer) {
   Flywheel* wheel = (Flywheel*) wheelPointer;
-  double gain = .00001;
 
   double tbh = 0.0;
   double output = 0.0;
@@ -137,7 +172,7 @@ int spinRPMTask_TBH(void* wheelPointer) {
     }
    
     double error = wheel->getDesiredRPM() - wheel->getRPM();
-    output += gain * error;
+    output += wheel->getTBHGain() * error;
     wheel->spin_raw(clamp(output, 0, 1), fwd);
 
     if (sign(error)!=sign(previous_error)){
@@ -180,7 +215,26 @@ void Flywheel::spin_manual(double speed, directionType dir){
 void Flywheel::spinRPM(int inputRPM) {
   // only run if the RPM is different or it isn't already running
   if(!taskRunning) {
-    rpmTask = task(spinRPMTask_TBH, this);
+
+    int (*rpm_control_task)(void *);  // this just means a function that returns int and takes a void pointer as an argument aka a spinRPMTask function
+    // choose which version to use based on how  the flywheel was constructed
+    switch(control_style){
+      case Bang_Bang:
+        rpm_control_task = spinRPMTask_BangBang;
+        break;
+      case Take_Back_Half:
+        rpm_control_task = spinRPMTask_TBH;
+        break;
+      case Feedforward:
+        rpm_control_task = spinRPMTask_Feedforward;
+        break;
+      case PID_Feedforward:
+        rpm_control_task = spinRPMTask_PID_Feedforward;
+        break;
+    }
+
+
+    rpmTask = task(rpm_control_task, this);
     taskRunning = true;
   }
   RPM = inputRPM;

From 0e4fbdb85484c71425abc6b382f00751f9520945 Mon Sep 17 00:00:00 2001
From: cowsed <richie.sommers@outlook.com>
Date: Fri, 14 Oct 2022 18:48:15 -0400
Subject: [PATCH 093/243] Formalized TBH Control in robot config Cleaned up
 opcontrol to remove all testing stuff

---
 src/subsystems/flywheel.cpp | 1 -
 1 file changed, 1 deletion(-)

diff --git a/src/subsystems/flywheel.cpp b/src/subsystems/flywheel.cpp
index 1827cd6..2bcd918 100644
--- a/src/subsystems/flywheel.cpp
+++ b/src/subsystems/flywheel.cpp
@@ -18,7 +18,6 @@
 #include "../core/include/utils/feedforward.h"
 #include "../core/include/utils/pid.h"
 #include "../core/include/utils/math_util.h"
-#include "C:/Users/richi/VEX/2022-2023-Flynn/include/robot-config.h"
 #include "vex.h"
 
 using namespace vex;

From 3c324ef8c6f27493bba77f33bea163b38a468cdd Mon Sep 17 00:00:00 2001
From: cowsed <richie.sommers@outlook.com>
Date: Fri, 14 Oct 2022 19:05:14 -0400
Subject: [PATCH 094/243] Revert "Formalized TBH Control in robot config"

This reverts commit 032ecfddbaaa20af02931ae0630a58e037e32a70.
---
 src/subsystems/flywheel.cpp | 1 +
 1 file changed, 1 insertion(+)

diff --git a/src/subsystems/flywheel.cpp b/src/subsystems/flywheel.cpp
index 2bcd918..1827cd6 100644
--- a/src/subsystems/flywheel.cpp
+++ b/src/subsystems/flywheel.cpp
@@ -18,6 +18,7 @@
 #include "../core/include/utils/feedforward.h"
 #include "../core/include/utils/pid.h"
 #include "../core/include/utils/math_util.h"
+#include "C:/Users/richi/VEX/2022-2023-Flynn/include/robot-config.h"
 #include "vex.h"
 
 using namespace vex;

From 0e1866e9b741f684ebcc8be2146c00067766c4b2 Mon Sep 17 00:00:00 2001
From: cowsed <richie.sommers@outlook.com>
Date: Fri, 14 Oct 2022 20:14:14 -0400
Subject: [PATCH 095/243] Reset non-flywheel related files to their initial
 state

---
 include/subsystems/flywheel.h             |  3 +-
 src/subsystems/flywheel.cpp               | 97 +++++++++++++++--------
 src/subsystems/odometry/odometry_tank.cpp |  5 +-
 src/subsystems/tank_drive.cpp             |  4 +-
 src/utils/pure_pursuit.cpp                |  2 +-
 5 files changed, 73 insertions(+), 38 deletions(-)

diff --git a/include/subsystems/flywheel.h b/include/subsystems/flywheel.h
index 7f644a9..d9f31ad 100644
--- a/include/subsystems/flywheel.h
+++ b/include/subsystems/flywheel.h
@@ -15,6 +15,7 @@
 #include "vex.h"
 #include "../core/include/robot_specs.h"
 #include "../core/include/utils/pid.h"
+#include <atomic>
 
 using namespace vex;
 
@@ -62,7 +63,7 @@ class Flywheel{
   FeedForward ff;                     // FF constants for the flywheel
   double TBH_gain;                    // TBH gain parameter for the flywheel
   double ratio;                       // multiplies the velocity by this value
-  double RPM = -1.0;                  // Desired RPM of the flywheel. 
+  std::atomic<double> RPM;            // Desired RPM of the flywheel. 
   task rpmTask;                       // task (thread but not) that handles spinning the wheel at a given RPM
   FlywheelControlStyle control_style; // how the flywheel should be controlled
 
diff --git a/src/subsystems/flywheel.cpp b/src/subsystems/flywheel.cpp
index 1827cd6..29c6a13 100644
--- a/src/subsystems/flywheel.cpp
+++ b/src/subsystems/flywheel.cpp
@@ -18,7 +18,6 @@
 #include "../core/include/utils/feedforward.h"
 #include "../core/include/utils/pid.h"
 #include "../core/include/utils/math_util.h"
-#include "C:/Users/richi/VEX/2022-2023-Flynn/include/robot-config.h"
 #include "vex.h"
 
 using namespace vex;
@@ -30,7 +29,7 @@ using namespace vex;
 PID::pid_config_t empty_pid = PID::pid_config_t{};
 FeedForward::ff_config_t empty_ff = FeedForward::ff_config_t{};
 
-/*
+/**
 * Create the Flywheel object using PID + feedforward for control.
 * @param motors - pointer to the motors on the fly wheel
 * @param ff  - pointer to the feedforward config
@@ -39,7 +38,7 @@ FeedForward::ff_config_t empty_ff = FeedForward::ff_config_t{};
 Flywheel::Flywheel(motor_group &motors, PID::pid_config_t &pid_config, FeedForward::ff_config_t &ff_config, const double ratio)
     :motors(motors), pid(pid_config), ff(ff_config), ratio(ratio), control_style(PID_Feedforward) { }
 
-/*
+/**
 * Create the Flywheel object using only feedforward for control
 * @param motors - pointer to the motors on the fly wheel
 * @param ff  - pointer to the feedforward config
@@ -48,7 +47,7 @@ Flywheel::Flywheel(motor_group &motors, PID::pid_config_t &pid_config, FeedForwa
 Flywheel::Flywheel(motor_group &motors, FeedForward::ff_config_t &ff_config, const double ratio)
     :motors(motors), pid(empty_pid), ff(ff_config), ratio(ratio), control_style(Feedforward) {}
 
-/*
+/**
 * Create the Flywheel object using Take Back Half for control
 * @param motors - pointer to the motors on the fly wheel
 * @param TBH_gain - the TBH control paramater
@@ -57,7 +56,7 @@ Flywheel::Flywheel(motor_group &motors, FeedForward::ff_config_t &ff_config, con
 Flywheel::Flywheel(motor_group &motors, const double TBH_gain, const double ratio)
     :motors(motors), pid(empty_pid), ff(empty_ff), TBH_gain(TBH_gain), ratio(ratio), control_style(Take_Back_Half) {}
 
-/*
+/**
 * Create the Flywheel object using Bang Bang for control
 * @param motors - pointer to the motors on the fly wheel
 * @param ratio - ratio of the whatever just multiplies the velocity
@@ -65,44 +64,60 @@ Flywheel::Flywheel(motor_group &motors, const double TBH_gain, const double rati
 Flywheel::Flywheel(motor_group &motors, const double ratio)
     :motors(motors), pid(empty_pid), ff(empty_ff), ratio(ratio), control_style(Bang_Bang) {}
 
-
-
-// return the current value that the RPM should be set to;
+/**
+* Return the current value that the RPM should be set to
+* @return RPM = the target rpm
+*/
 double Flywheel::getDesiredRPM() { return RPM; }
 
-// returns whether or not the wheel is running a task currently
+/**
+* Checks if the background RPM controlling task is running
+* @return taskRunning - If the task is running
+*/
 bool Flywheel::isTaskRunning() { return taskRunning; }
-  
-// Returns a POINTER TO the motors; not currently used.
+
+/**
+* Returns a POINTER TO the motors; not currently used.
+*/
 motor_group* Flywheel::getMotors() { return &motors; } // TODO -- Remove?
 
-// return the current velocity of the flywheel motors, in RPM
+/**
+* return the current velocity of the flywheel motors, in RPM
+*/
 double Flywheel::getRPM() { return ratio * motors.velocity(velocityUnits::rpm); }
 
-// Returns a POINTER TO the PID; not currently used.
+/**
+* Returns a POINTER TO the PID; not currently used.
+*/
 PID* Flywheel::getPID() { return &pid; } // TODO -- Remove?
 
-// returns the current OUT value of the PID
+/**
+* returns the current OUT value of the PID - the value that the PID would set the motors to
+*/
 double Flywheel::getPIDValue() { return pid.get(); }
 
-// returns the current OUT value of the Feedforward
+/**
+* returns the current OUT value of the Feedforward - the value that the Feedforward would set the motors to
+*/
 double Flywheel::getFeedforwardValue() { 
   double v = getDesiredRPM();
   return ff.calculate(v, 0); 
 }
 
-// get the gain used for TBH control
+/**
+* get the gain used for TBH control
+*/
 double Flywheel::getTBHGain(){
   return TBH_gain;
 }
 
-/* 
+/**
 * Sets the value of the PID target
 * @param value - desired value of the PID
 */
 void Flywheel::setPIDTarget(double value) { pid.set_target(value); }
 
-/* 
+/**
 * updates the value of the PID
 * @param value - value to update the PID with
 */
@@ -115,7 +130,9 @@ void Flywheel::updatePID(double value) { pid.update(value); }
 * @param wheelPointer - points to the current wheel object
 *********************************************************/
 
-//  Runs a BANG BANG variant. I have NO IDEA if it will work properly but I have NOTHING to test this on.
+/**
+* Runs a Feedforward variant to control rpm
+*/
 int spinRPMTask_BangBang(void* wheelPointer) {
   Flywheel* wheel = (Flywheel*) wheelPointer; 
   while(true) {
@@ -126,10 +143,12 @@ int spinRPMTask_BangBang(void* wheelPointer) {
     else { wheel->stopMotors(); }
     vexDelay(1);
   }
-  return 0; // only here to make the compiler SHUT UP
+  return 0;
 }
 
-// Runs a Feedforward variant;
+/**
+* Runs a Feedforward variant to control rpm
+*/
 int spinRPMTask_Feedforward(void* wheelPointer) { 
   Flywheel* wheel = (Flywheel*) wheelPointer;
   // get the pid from the wheel and set its target to the RPM stored in the wheel.
@@ -141,8 +160,9 @@ int spinRPMTask_Feedforward(void* wheelPointer) {
   }
   return 0; 
 }
-
-// Runs a PID + Feedforward variant;
+/**
+* Runs a PID + Feedforward variant to control rpm
+*/
 int spinRPMTask_PID_Feedforward(void* wheelPointer) {
   Flywheel* wheel = (Flywheel*) wheelPointer;
   // get the pid from the wheel and set its target to the RPM stored in the wheel.
@@ -155,8 +175,10 @@ int spinRPMTask_PID_Feedforward(void* wheelPointer) {
   return 0; 
 }
 
-// Runs a Take Back Half variant;
-//https://www.vexwiki.org/programming/controls_algorithms/tbh
+/**
+* Runs a Take Back Half variant to control RPM
+* https://www.vexwiki.org/programming/controls_algorithms/tbh
+*/
 int spinRPMTask_TBH(void* wheelPointer) {
   Flywheel* wheel = (Flywheel*) wheelPointer;
 
@@ -194,7 +216,8 @@ int spinRPMTask_ClosedLoop(void* wheelPointer) { return 0; }
 *         SPINNERS AND STOPPERS
 *********************************************************/
 
-/* Spin motors using voltage; defaults forward at 12 volts
+/** 
+* Spin motors using voltage; defaults forward at 12 volts
 * FOR USE BY TASKS ONLY
 * @param speed - speed (between -1 and 1) to set the motor
 * @param dir - direction that the motor moves in; defaults to forward
@@ -203,13 +226,17 @@ void Flywheel::spin_raw(double speed, directionType dir){
   motors.spin(dir, speed * 12, voltageUnits::volt);
 }
 
-// Spin motors using voltage; defaults forward at 12 volts
-// FOR USE BY OPCONTROL AND AUTONOMOUS, same as spin_raw otherwise
+/**
+* Spin motors using voltage; defaults forward at 12 volts
+* FOR USE BY OPCONTROL AND AUTONOMOUS - this only applies if the RPM thread is not running
+*/
 void Flywheel::spin_manual(double speed, directionType dir){
   if(!taskRunning) motors.spin(dir, speed * 12, voltageUnits::volt);
 }
 
-/* starts / restarts RPM thread at new value
+/**
+* starts or sets the RPM thread at new value
+* what control scheme is dependent on control_style
 * @param inputRPM - set the current RPM
 */
 void Flywheel::spinRPM(int inputRPM) {
@@ -241,15 +268,21 @@ void Flywheel::spinRPM(int inputRPM) {
   setPIDTarget(RPM);
 }
 
-// stop the RPM thread and the wheel
+/**
+* stop the RPM thread and the wheel
+*/
 void Flywheel::stop() {
   rpmTask.stop();
   taskRunning = false;
   motors.stop();
 }
 
-// stop only the motors; exclusively for BANG BANG use
+/**
+* stop only the motors; exclusively for BANG BANG use
+*/
 void Flywheel::stopMotors() { motors.stop(); }
 
-// stop the motors iff the task isn't running
+/**
+* Stop the motors if the task isn't running - stop manual control
+*/
 void Flywheel::stopNonTasks() { if(!taskRunning) { motors.stop(); }}
\ No newline at end of file
diff --git a/src/subsystems/odometry/odometry_tank.cpp b/src/subsystems/odometry/odometry_tank.cpp
index 7ca1047..c801c2f 100644
--- a/src/subsystems/odometry/odometry_tank.cpp
+++ b/src/subsystems/odometry/odometry_tank.cpp
@@ -92,11 +92,12 @@ position_t OdometryTank::update()
       // Get the arclength of the turning circle of the robot
       double distance_diff = (rside_revs - lside_revs) * PI * config.odom_wheel_diam;
 
-      
+      printf("dist_diff: %f, ", distance_diff);
+
       //Use the arclength formula to calculate the angle. Add 90 to make "0 degrees" to starboard
       angle = ((180.0 / PI) * (distance_diff / config.dist_between_wheels)) + 90;
 
-      // printf("angle: %f, ", (180.0 / PI) * (distance_diff / config.dist_between_wheels));
+      printf("angle: %f, ", (180.0 / PI) * (distance_diff / config.dist_between_wheels));
 
     } else
     {
diff --git a/src/subsystems/tank_drive.cpp b/src/subsystems/tank_drive.cpp
index f72c0ee..bd99b81 100644
--- a/src/subsystems/tank_drive.cpp
+++ b/src/subsystems/tank_drive.cpp
@@ -263,7 +263,7 @@ bool TankDrive::drive_to_point(double x, double y, double speed, double correcti
 
   drive_tank(lside, rside);
 
-  //printf("dist: %f\n", sign * -1 * dist_left);
+  printf("dist: %f\n", sign * -1 * dist_left);
   fflush(stdout);
 
   // Check if the robot has reached it's destination
@@ -306,7 +306,7 @@ bool TankDrive::turn_to_heading(double heading_deg, double speed)
   double delta_heading = OdometryBase::smallest_angle(odometry->get_position().rot, heading_deg);
   turn_pid.update(delta_heading);
 
-  //printf("~TURN~ delta: %f\n", delta_heading);
+  printf("~TURN~ delta: %f\n", delta_heading);
   // printf("delta heading: %f, pid: %f\n", delta_heading, turn_pid.get());
   fflush(stdout);
 
diff --git a/src/utils/pure_pursuit.cpp b/src/utils/pure_pursuit.cpp
index b5e09b3..4b28a3c 100644
--- a/src/utils/pure_pursuit.cpp
+++ b/src/utils/pure_pursuit.cpp
@@ -223,7 +223,7 @@ std::vector<Vector2D::point_t> PurePursuit::smooth_path_cubic(std::vector<Vector
   }
 
   for(spline spline: splines) {
-      //printf("spline a: %f b: %f c: %f d %f start %f, %f end %f, %f\n", spline.a, spline.b, spline.c, spline.d, spline.x_start, spline.getY(spline.x_start), spline.x_end, spline.getY(spline.x_end));
+      printf("spline a: %f b: %f c: %f d %f start %f, %f end %f, %f\n", spline.a, spline.b, spline.c, spline.d, spline.x_start, spline.getY(spline.x_start), spline.x_end, spline.getY(spline.x_end));
     double x = spline.x_start;
     while(x >= fmin(spline.x_start, spline.x_end) && x <= fmax(spline.x_start, spline.x_end)) {
       new_path.push_back({x, spline.getY(x)});

From cbcc4d919eeea92128893ec1067d9ccfa25cbaaa Mon Sep 17 00:00:00 2001
From: cowsed <richie.sommers@outlook.com>
Date: Fri, 14 Oct 2022 20:28:24 -0400
Subject: [PATCH 096/243] Updated documentation and included it in the header
 file

---
 include/subsystems/flywheel.h | 143 ++++++++++++++++++++++++++++------
 src/subsystems/flywheel.cpp   |  17 ++--
 2 files changed, 130 insertions(+), 30 deletions(-)

diff --git a/include/subsystems/flywheel.h b/include/subsystems/flywheel.h
index d9f31ad..81a1e17 100644
--- a/include/subsystems/flywheel.h
+++ b/include/subsystems/flywheel.h
@@ -29,31 +29,130 @@ class Flywheel{
   public:
 
   // CONSTRUCTORS, GETTERS, AND SETTERS
-  Flywheel(motor_group &motors, PID::pid_config_t &pid_config, FeedForward::ff_config_t &ff_config, const double ratio);  // constructor for feedforward + pid
-  Flywheel(motor_group &motors, FeedForward::ff_config_t &ff_config, const double ratio);  // constructor for only feed forward
-  Flywheel(motor_group &motors, double tbh_gain, const double ratio);  // constructor for take back half
-  Flywheel(motor_group &motors, const double ratio);  // constructor for bang-bang control
-
-
-  double getDesiredRPM();                                        // returns the desired RPM
-  bool isTaskRunning();                                         // returns if a task is running
-  motor_group* getMotors();                                     // returns a pointer to the motors
-  double getRPM();                                     // get the current velocity of the motors in RPM
-  PID* getPID();                                                // returns a pointer to the PID
-  double getPIDValue();                                         // get the current OUT value of the PID
-  double getFeedforwardValue();                                 // get the current OUT value of the feedforward
-  double getTBHGain();                                          // get the gain used for TBH control
+  /**
+  * Create the Flywheel object using PID + feedforward for control.
+  * @param motors     - pointer to the motors on the fly wheel
+  * @param pid_config - pointer the pid config
+  * @param ff         - pointer to the feedforward config
+  * @param ratio      - ratio of the whatever just multiplies the velocity
+  */
+  Flywheel(motor_group &motors, PID::pid_config_t &pid_config, FeedForward::ff_config_t &ff_config, const double ratio);
+
+  /**
+  * Create the Flywheel object using only feedforward for control
+  * @param motors - pointer to the motors on the fly wheel
+  * @param ff     - pointer to the feedforward config
+  * @param ratio  - ratio of the whatever just multiplies the velocity
+  */
+  Flywheel(motor_group &motors, FeedForward::ff_config_t &ff_config, const double ratio);
+
+  /**
+  * Create the Flywheel object using Take Back Half for control
+  * @param motors   - pointer to the motors on the fly wheel
+  * @param TBH_gain - the TBH control paramater
+  * @param ratio    - ratio of the whatever just multiplies the velocity
+  */
+  Flywheel(motor_group &motors, double tbh_gain, const double ratio);
+
+  /**
+  * Create the Flywheel object using Bang Bang for control
+  * @param motors - pointer to the motors on the fly wheel
+  * @param ratio  - ratio of the whatever just multiplies the velocity
+  */
+  Flywheel(motor_group &motors, const double ratio);
+
+  /**
+  * Return the current value that the RPM should be set to
+  * @return RPM = the target rpm
+  */
+  double getDesiredRPM();
+
+  /**
+  * Checks if the background RPM controlling task is running
+  * @return taskRunning - If the task is running
+  */
+  bool isTaskRunning();
+
+  /**
+  * Returns a POINTER to the motors
+  */
+  motor_group* getMotors();
+
+  /**
+  * return the current velocity of the flywheel motors, in RPM
+  */
+  double getRPM();
+
+  /**
+  * Returns a POINTER to the PID.
+  */
+  PID* getPID();
+
+  /**
+  * returns the current OUT value of the PID - the value that the PID would set the motors to
+  */
+  double getPIDValue();
+
+  /**
+  * returns the current OUT value of the PID - the value that the PID would set the motors to
+  */
+  double getFeedforwardValue();
   
-  void setPIDTarget(double value);                              // set the PID target
-  void updatePID(double value);                                 // update the PID with the current value it's tracking
+  /**
+  * get the gain used for TBH control
+  */
+  double getTBHGain();
+  
+  /**
+  * Sets the value of the PID target
+  * @param value - desired value of the PID
+  */
+  void setPIDTarget(double value);
+
+/**
+* updates the value of the PID
+* @param value - value to update the PID with
+*/
+  void updatePID(double value);
 
   // SPINNERS AND STOPPERS
-  void spin_raw(double speed, directionType dir=fwd);           // Spins at a given speed between -1 and 1
-  void spin_manual(double speed, directionType dir=fwd);        // Same as spin_raw, but check to make sure a task isn't running before doing it.
-  void spinRPM(int rpm);                                        // spins the turret at a target RPM
-  void stop();                                                  // stops the motors and the thread
-  void stopMotors();                                            // stops ONLY the motors
-  void stopNonTasks();                                          // stops motors IFF a task isn't running and a manual setter isn't being pressed
+
+  /** 
+  * Spin motors using voltage; defaults forward at 12 volts
+  * FOR USE BY TASKS ONLY
+  * @param speed - speed (between -1 and 1) to set the motor
+  * @param dir - direction that the motor moves in; defaults to forward
+  */
+  void spin_raw(double speed, directionType dir=fwd);
+  
+  /**
+  * Spin motors using voltage; defaults forward at 12 volts
+  * FOR USE BY OPCONTROL AND AUTONOMOUS - this only applies if the RPM thread is not running
+  */
+  void spin_manual(double speed, directionType dir=fwd);
+  
+  /**
+  * starts or sets the RPM thread at new value
+  * what control scheme is dependent on control_style
+  * @param inputRPM - set the current RPM
+  */
+  void spinRPM(int rpm);
+
+  /**
+  * stop the RPM thread and the wheel
+  */
+  void stop();
+
+  
+  /**
+  * stop only the motors; exclusively for BANG BANG use
+  */
+  void stopMotors();
+
+  /**
+  * Stop the motors if the task isn't running - stop manual control
+  */
+  void stopNonTasks();
 
   private:
 
diff --git a/src/subsystems/flywheel.cpp b/src/subsystems/flywheel.cpp
index 29c6a13..0f1a154 100644
--- a/src/subsystems/flywheel.cpp
+++ b/src/subsystems/flywheel.cpp
@@ -31,9 +31,10 @@ FeedForward::ff_config_t empty_ff = FeedForward::ff_config_t{};
 
 /**
 * Create the Flywheel object using PID + feedforward for control.
-* @param motors - pointer to the motors on the fly wheel
-* @param ff  - pointer to the feedforward config
-* @param ratio - ratio of the whatever just multiplies the velocity
+* @param motors     - pointer to the motors on the fly wheel
+* @param pid_config - pointer the pid config
+* @param ff         - pointer to the feedforward config
+* @param ratio      - ratio of the whatever just multiplies the velocity
 */
 Flywheel::Flywheel(motor_group &motors, PID::pid_config_t &pid_config, FeedForward::ff_config_t &ff_config, const double ratio)
     :motors(motors), pid(pid_config), ff(ff_config), ratio(ratio), control_style(PID_Feedforward) { }
@@ -41,17 +42,17 @@ Flywheel::Flywheel(motor_group &motors, PID::pid_config_t &pid_config, FeedForwa
 /**
 * Create the Flywheel object using only feedforward for control
 * @param motors - pointer to the motors on the fly wheel
-* @param ff  - pointer to the feedforward config
-* @param ratio - ratio of the whatever just multiplies the velocity
+* @param ff     - pointer to the feedforward config
+* @param ratio  - ratio of the whatever just multiplies the velocity
 */
 Flywheel::Flywheel(motor_group &motors, FeedForward::ff_config_t &ff_config, const double ratio)
     :motors(motors), pid(empty_pid), ff(ff_config), ratio(ratio), control_style(Feedforward) {}
 
 /**
 * Create the Flywheel object using Take Back Half for control
-* @param motors - pointer to the motors on the fly wheel
+* @param motors   - pointer to the motors on the fly wheel
 * @param TBH_gain - the TBH control paramater
-* @param ratio - ratio of the whatever just multiplies the velocity
+* @param ratio    - ratio of the whatever just multiplies the velocity
 */
 Flywheel::Flywheel(motor_group &motors, const double TBH_gain, const double ratio)
     :motors(motors), pid(empty_pid), ff(empty_ff), TBH_gain(TBH_gain), ratio(ratio), control_style(Take_Back_Half) {}
@@ -59,7 +60,7 @@ Flywheel::Flywheel(motor_group &motors, const double TBH_gain, const double rati
 /**
 * Create the Flywheel object using Bang Bang for control
 * @param motors - pointer to the motors on the fly wheel
-* @param ratio - ratio of the whatever just multiplies the velocity
+* @param ratio  - ratio of the whatever just multiplies the velocity
 */
 Flywheel::Flywheel(motor_group &motors, const double ratio)
     :motors(motors), pid(empty_pid), ff(empty_ff), ratio(ratio), control_style(Bang_Bang) {}

From cd74d29a646a19a8185d5d179f45d469a38d00d5 Mon Sep 17 00:00:00 2001
From: Ryan McGee <ramtech51@comcast.net>
Date: Tue, 1 Nov 2022 11:37:22 -0400
Subject: [PATCH 097/243] Update README.md

---
 README.md | 27 ++++++++++++++++++++++++++-
 1 file changed, 26 insertions(+), 1 deletion(-)

diff --git a/README.md b/README.md
index 8ce5935..3990a60 100644
--- a/README.md
+++ b/README.md
@@ -1,2 +1,27 @@
 # Core
-General robot code shared between the "BIG" and "LITTLE" repo's
+This is the host repository for the custom VEX libraries used by the RIT VEXU team
+
+## Getting Started
+In order to simply use this repo, you can either clone it into your VEXcode project folder, or download the .zip and place it into a core/ subfolder. Then follow the instructions for setting up compilation at [Wiki/BuildSystem](https://github.com/RIT-VEX-U/Core/wiki/1-%7C-Project-Setup#build-system)
+
+If you wish to contribute, follow the instructions at [Wiki/ProjectSetup](https://github.com/RIT-VEX-U/Core/wiki/1-%7C-Project-Setup)
+
+## Features
+Here is the current feature list this repo provides:
+
+Subsystems (See [Wiki/Subsystems](https://github.com/RIT-VEX-U/Core/wiki/2-%7C-Subsystems)):  
+- Tank drivetrain (user control / autonomous)
+- Mecanum drivetrain (user control / autonomous)
+- Odometry
+- Flywheel
+- Lift
+- Custom encoders
+
+Utilities (See [Wiki/Utilites](https://github.com/RIT-VEX-U/Core/wiki/3-%7C-Utilites)):  
+- PID controller
+- FeedForward controller
+- Trapezoidal motion profile controller
+- Pure Pursuit
+- Generic auto program builder
+- Auto program UI selector
+- Mathematical classes (Vector2D, Moving Average)

From fb5e985a6d44c3bcd99d517f73b828c1f4611e2c Mon Sep 17 00:00:00 2001
From: cowsed <richie.sommers@outlook.com>
Date: Fri, 16 Sep 2022 20:40:06 -0400
Subject: [PATCH 098/243] Added general math utilities `sign` and `clamp` to
 clarify meccanum_drive

---
 include/utils/math_util.h        | 18 ++++++++++++++++++
 src/subsystems/mecanum_drive.cpp | 25 +++++++++++++------------
 src/utils/math_util.cpp          | 31 +++++++++++++++++++++++++++++++
 3 files changed, 62 insertions(+), 12 deletions(-)
 create mode 100644 include/utils/math_util.h
 create mode 100644 src/utils/math_util.cpp

diff --git a/include/utils/math_util.h b/include/utils/math_util.h
new file mode 100644
index 0000000..a27c5b2
--- /dev/null
+++ b/include/utils/math_util.h
@@ -0,0 +1,18 @@
+#pragma once
+
+/**
+* Constrain the input between a minimum and a maximum value
+* 
+* @param val  the value to be restrained
+* @param low  the minimum value that will be returned
+* @param high the maximum value that will be returned
+**/
+double clamp(double value, double low, double high);
+
+/**
+* Returns the sign of a number
+* @param x
+* 
+* returns the sign +/-1 of x. 0 if x is 0
+**/
+double sign(double x);
\ No newline at end of file
diff --git a/src/subsystems/mecanum_drive.cpp b/src/subsystems/mecanum_drive.cpp
index 962a3bc..c69ff2c 100644
--- a/src/subsystems/mecanum_drive.cpp
+++ b/src/subsystems/mecanum_drive.cpp
@@ -1,5 +1,5 @@
 #include "../core/include/subsystems/mecanum_drive.h"
-
+#include "../core/include/utils/vector.h"
 /**
 * Create the Mecanum drivetrain object
 */
@@ -31,20 +31,20 @@ MecanumDrive::MecanumDrive(vex::motor &left_front, vex::motor &right_front, vex:
   */
 void MecanumDrive::drive_raw(double direction_deg, double magnitude, double rotation)
 {
-  double direction = (PI / 180.0) * direction_deg;
-
+  double direction = deg2rad(direction_deg);
+  
   // ALGORITHM - "rotate" the vector by 45 degrees and apply each corner to a wheel
   // .. Oh, and mix rotation too
   double lf = (magnitude * cos(direction - (PI / 4.0))) + rotation;
   double rf = (magnitude * cos(direction + (PI / 4.0))) - rotation;
   double lr = (magnitude * cos(direction + (PI / 4.0))) + rotation;
   double rr = (magnitude * cos(direction - (PI / 4.0))) - rotation;
-
+  
   // Limit the output between -1.0 and +1.0
-  lf = lf > 1.0 ? 1.0 : (lf < -1.0 ? -1.0 : lf);
-  rf = rf > 1.0 ? 1.0 : (rf < -1.0 ? -1.0 : rf);
-  lr = lr > 1.0 ? 1.0 : (lr < -1.0 ? -1.0 : lr);
-  rr = rr > 1.0 ? 1.0 : (rr < -1.0 ? -1.0 : rr);
+  lf = clamp(lf, -1.0, 1.0);
+  rf = clamp(rf, -1.0, 1.0);
+  lr = clamp(lr, -1.0, 1.0);
+  rr = clamp(rr, -1.0, 1.0);
 
   // Finally, spin the motors
   left_front.spin(vex::directionType::fwd, lf * 100.0, vex::velocityUnits::pct);
@@ -68,15 +68,16 @@ void MecanumDrive::drive(double left_y, double left_x, double right_x, int power
   // LATERAL CONTROLS - convert cartesion to a vector
   double magnitude = sqrt(pow(left_y / 100.0, 2) + pow(left_x / 100.0, 2));
   magnitude = pow(magnitude, power);
-
+  
   double direction = atan2(left_x / 100.0, left_y / 100.0);
 
   // ROTATIONAL CONTROLS - just the right x joystick
-  // Ternary makes sure that if the "power" is even, the rotation keeps it's sign
   double rotation = right_x / 100.0;
-  rotation = (power%2 == 0 ? rotation < 0 ? -1.0 : 1.0 : 1.0) * pow(rotation, power);
 
-  return this->drive_raw(direction * (180.0 / PI), magnitude, rotation);  
+  //  
+  rotation = sign(rotation) * fabs(pow(rotation, power));
+  
+  return this->drive_raw(rad2deg(direction), magnitude, rotation);  
 }
 
 /**
diff --git a/src/utils/math_util.cpp b/src/utils/math_util.cpp
new file mode 100644
index 0000000..0e8589a
--- /dev/null
+++ b/src/utils/math_util.cpp
@@ -0,0 +1,31 @@
+#include "../core/include/utils/math_util.h"
+
+/**
+* Constrain the input between a minimum and a maximum value
+* 
+* @param val  the value to be restrained
+* @param low  the minimum value that will be returned
+* @param high the maximum value that will be returned
+**/
+double clamp(double val, double low, double high){
+  if (val < low){
+    return low;
+  } else if (val > high){
+    return high;
+  }
+  return val;
+}
+/**
+* Returns the sign of a number
+* @param x
+* 
+* returns the sign +/-1 of x. 0 if x is 0
+**/
+double sign(double x){
+  if (x<0){
+    return -1;
+  } else if (x>0){
+    return 1;
+  }
+  return 0;
+}
\ No newline at end of file

From 6f1ff4b50f53c136f204d77d4e6eee3bf23fbd45 Mon Sep 17 00:00:00 2001
From: cowsed <richie.sommers@outlook.com>
Date: Sun, 18 Sep 2022 15:55:28 -0400
Subject: [PATCH 099/243] Changed sign(0) to be 1 to avoid issues

---
 src/utils/math_util.cpp | 6 ++----
 1 file changed, 2 insertions(+), 4 deletions(-)

diff --git a/src/utils/math_util.cpp b/src/utils/math_util.cpp
index 0e8589a..51b5555 100644
--- a/src/utils/math_util.cpp
+++ b/src/utils/math_util.cpp
@@ -19,13 +19,11 @@ double clamp(double val, double low, double high){
 * Returns the sign of a number
 * @param x
 * 
-* returns the sign +/-1 of x. 0 if x is 0
+* returns the sign +/-1 of x. special case at 0 it returns +1
 **/
 double sign(double x){
   if (x<0){
     return -1;
-  } else if (x>0){
-    return 1;
   }
-  return 0;
+  return 1;
 }
\ No newline at end of file

From e1b8630ce423711e4d2b5f701838c08bc5a45457 Mon Sep 17 00:00:00 2001
From: Ryan McGee <ramtech51@comcast.net>
Date: Sun, 18 Sep 2022 17:33:19 -0400
Subject: [PATCH 100/243] Fixed mecanum drive compile error

---
 src/subsystems/mecanum_drive.cpp | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/src/subsystems/mecanum_drive.cpp b/src/subsystems/mecanum_drive.cpp
index c69ff2c..62738bd 100644
--- a/src/subsystems/mecanum_drive.cpp
+++ b/src/subsystems/mecanum_drive.cpp
@@ -1,5 +1,7 @@
 #include "../core/include/subsystems/mecanum_drive.h"
 #include "../core/include/utils/vector.h"
+#include "../core/include/utils/math_util.h"
+
 /**
 * Create the Mecanum drivetrain object
 */

From 4e4420807b8a160a54bb64c46e8832d779204982 Mon Sep 17 00:00:00 2001
From: Ryan McGee <ramtech51@comcast.net>
Date: Sun, 18 Sep 2022 17:34:40 -0400
Subject: [PATCH 101/243] Added FeedForward class

from 2021-2022-BIG/motion_profile_dev
---
 include/utils/feedforward.h | 61 +++++++++++++++++++++++++++++++++++++
 1 file changed, 61 insertions(+)
 create mode 100644 include/utils/feedforward.h

diff --git a/include/utils/feedforward.h b/include/utils/feedforward.h
new file mode 100644
index 0000000..f2fae43
--- /dev/null
+++ b/include/utils/feedforward.h
@@ -0,0 +1,61 @@
+#pragma once
+
+/**
+ * FeedForward
+ * 
+ * Stores the feedfoward constants, and allows for quick computation.
+ * Feedfoward should be used in systems that require smooth precise movements
+ * and have high inertia, such as drivetrains and lifts.
+ * 
+ * This is best used alongside a PID loop, with the form:
+ * output = pid.get() + feedforward.calculate(v, a);
+ * 
+ * In this case, the feedforward does the majority of the heavy lifting, and the 
+ * pid loop only corrects for inconsistencies
+ * 
+ * For information about tuning feedforward, I reccommend looking at this post:
+ * https://www.chiefdelphi.com/t/paper-frc-drivetrain-characterization/160915
+ * (yes I know it's for FRC but trust me, it's useful)
+ * 
+ * @author Ryan McGee
+ * @date 6/13/2022
+ */
+class FeedForward
+{
+    public:
+
+    /**
+     * kS - Coefficient to overcome static friction: the point at which the motor *starts* to move.
+     * kV - Veclocity coefficient: the power required to keep the mechanism in motion. Multiplied by the requested velocity.
+     * kA - Acceleration coefficient: the power required to change the mechanism's speed. Multiplied by the requested acceleration.
+     * kG - Gravity coefficient: only needed for lifts. The power required to overcome gravity and stay at steady state.
+     *      Should relate to acceleration due to gravity and mass of the lift.
+     */
+    typedef struct
+    {
+        double kS, kV, kA, kG;
+    } ff_config_t;
+
+    
+    FeedForward(ff_config_t &cfg) : cfg(cfg) {}
+
+    /**
+     * @brief Perform the feedforward calculation
+     * 
+     * This calculation is the equation:
+     * F = kG + kS*sgn(v) + kV*v + kA*a
+     * 
+     * @param v Requested velocity of system
+     * @param a Requested acceleration of system
+     * @return A feedforward that should closely represent the system if tuned correctly
+     */
+    double calculate(double v, double a)
+    {
+        return (cfg.kS * (v > 0 ? 1 : v < 0 ? -1 : 0)) + (cfg.kV * v) + (cfg.kA * a) + cfg.kG;
+    }
+
+    private:
+
+    ff_config_t &cfg;
+
+};
\ No newline at end of file

From 2fcd0dc4a6a2ef569fa47f768bd0c004dc3faedd Mon Sep 17 00:00:00 2001
From: Ryan McGee <ramtech51@comcast.net>
Date: Sun, 18 Sep 2022 18:24:49 -0400
Subject: [PATCH 102/243] Merge remote-tracking branch 'Clu/main'

---
 include/subsystems/odometry/odometry_tank.h |   2 +-
 include/utils/pure_pursuit.h                |  20 +-
 include/utils/{vector.h => vector2d.h}      | 228 +++++++++---------
 src/subsystems/custom_encoder.cpp           |   2 +-
 src/subsystems/mecanum_drive.cpp            |   2 +-
 src/subsystems/odometry/odometry_base.cpp   |   2 +-
 src/subsystems/odometry/odometry_tank.cpp   |   8 +-
 src/subsystems/tank_drive.cpp               |  14 +-
 src/utils/pure_pursuit.cpp                  |  70 +++---
 src/utils/{vector.cpp => vector2d.cpp}      | 250 ++++++++++----------
 10 files changed, 299 insertions(+), 299 deletions(-)
 rename include/utils/{vector.h => vector2d.h} (80%)
 rename src/utils/{vector.cpp => vector2d.cpp} (70%)

diff --git a/include/subsystems/odometry/odometry_tank.h b/include/subsystems/odometry/odometry_tank.h
index d0eceed..e417efb 100644
--- a/include/subsystems/odometry/odometry_tank.h
+++ b/include/subsystems/odometry/odometry_tank.h
@@ -2,7 +2,7 @@
 
 #include "../core/include/subsystems/odometry/odometry_base.h"
 #include "../core/include/subsystems/custom_encoder.h"
-#include "../core/include/utils/vector.h"
+#include "../core/include/utils/vector2d.h"
 #include "../core/include/robot_specs.h"
 
 static int background_task(void* odom_obj);
diff --git a/include/utils/pure_pursuit.h b/include/utils/pure_pursuit.h
index 818fa2f..64c56dc 100644
--- a/include/utils/pure_pursuit.h
+++ b/include/utils/pure_pursuit.h
@@ -1,7 +1,7 @@
 #pragma once
 
 #include <vector>
-#include "../core/include/utils/vector.h"
+#include "../core/include/utils/vector2d.h"
 #include "vex.h"
 
 using namespace vex;
@@ -27,12 +27,12 @@ namespace PurePursuit {
     double dir;
     double mag;
 
-    Vector::point_t getPoint() {
+    Vector2D::point_t getPoint() {
       return {x, y};
     }
 
-    Vector getTangent() {
-      return Vector(dir, mag);
+    Vector2D getTangent() {
+      return Vector2D(dir, mag);
     }
   };
 
@@ -40,16 +40,16 @@ namespace PurePursuit {
     * Returns points of the intersections of a line segment and a circle. The line 
     * segment is defined by two points, and the circle is defined by a center and radius.
     */
-  static std::vector<Vector::point_t> line_circle_intersections(Vector::point_t center, double r, Vector::point_t point1, Vector::point_t point2);
+  static std::vector<Vector2D::point_t> line_circle_intersections(Vector2D::point_t center, double r, Vector2D::point_t point1, Vector2D::point_t point2);
   /**
     * Selects a look ahead from all the intersections in the path.
     */
-  static Vector::point_t get_lookahead(std::vector<Vector::point_t> path, Vector::point_t robot_loc, double radius);
+  static Vector2D::point_t get_lookahead(std::vector<Vector2D::point_t> path, Vector2D::point_t robot_loc, double radius);
 
   /**
     * Injects points in a path without changing the curvature with a certain spacing.
     */
-  static std::vector<Vector::point_t> inject_path(std::vector<Vector::point_t> path, double spacing);
+  static std::vector<Vector2D::point_t> inject_path(std::vector<Vector2D::point_t> path, double spacing);
 
   /**
   * Returns a smoothed path maintaining the start and end of the path.
@@ -62,9 +62,9 @@ namespace PurePursuit {
   * https://medium.com/@jaems33/understanding-robot-motion-path-smoothing-5970c8363bc4
   */
 
-  static std::vector<Vector::point_t> smooth_path(std::vector<Vector::point_t> path, double weight_data, double weight_smooth, double tolerance);
+  static std::vector<Vector2D::point_t> smooth_path(std::vector<Vector2D::point_t> path, double weight_data, double weight_smooth, double tolerance);
 
-  static std::vector<Vector::point_t> smooth_path_cubic(std::vector<Vector::point_t> path, double res);
+  static std::vector<Vector2D::point_t> smooth_path_cubic(std::vector<Vector2D::point_t> path, double res);
 
   /**
    * Interpolates a smooth path given a list of waypoints using hermite splines.
@@ -74,5 +74,5 @@ namespace PurePursuit {
    * @param steps The number of points interpolated between points.
    * @return The smoothed path.
    */
-  static std::vector<Vector::point_t> smooth_path_hermite(std::vector<hermite_point> path, double step);
+  static std::vector<Vector2D::point_t> smooth_path_hermite(std::vector<hermite_point> path, double step);
 }
\ No newline at end of file
diff --git a/include/utils/vector.h b/include/utils/vector2d.h
similarity index 80%
rename from include/utils/vector.h
rename to include/utils/vector2d.h
index 858ce88..1e3bbb8 100644
--- a/include/utils/vector.h
+++ b/include/utils/vector2d.h
@@ -1,114 +1,114 @@
-#pragma once
-
-#include <cmath>
-
-#ifndef PI
-#define PI 3.141592654
-#endif
-
-class Vector
-{
-public:
-
-    /**
-     * Data structure representing an X,Y coordinate
-     */
-    struct point_t
-    {
-        double x, y;
-
-        double dist(const point_t other)
-        {
-          return sqrt(pow(this->x - other.x, 2) + pow(this->y - other.y, 2));
-        }
-
-        // Vector addition operation on points
-        point_t operator+(const point_t &other)
-        {
-          point_t p 
-          {
-            .x = this->x + other.x,
-            .y = this->y + other.y
-          };
-          return p;
-        }
-
-        // Vector subtraction operation on points
-        point_t operator-(const point_t &other)
-        {
-          point_t p 
-          {
-            .x = this->x - other.x,
-            .y = this->y - other.y
-          };
-          return p;
-        }
-    };
-
-    /**
-     * Construct a vector object.
-     * 
-     * @param dir Direction, in radians. 'foward' is 0, clockwise positive when viewed from the top.
-     * @param mag Magnitude.
-     */ 
-    Vector(double dir, double mag);
-    
-    /**
-     * Construct a vector object from a cartesian point.
-     * 
-     * @param p point_t.x , point_t.y
-     */
-    Vector(point_t &p);
-
-    /**
-     * Get the direction of the vector, in radians.
-     * '0' is forward, clockwise positive when viewed from the top.
-     * 
-     * Use r2d() to convert.
-     */
-    double get_dir() const;
-
-    /**
-     * Get the magnitude of the vector
-     */
-    double get_mag() const;
-
-    /**
-     * Get the X component of the vector; positive to the right.
-     */
-    double get_x() const;
-
-    /**
-     * Get the Y component of the vector, positive forward.
-     */
-    double get_y() const;
-
-    /**
-     * Changes the magnetude of the vector to 1
-    */
-    Vector normalize();
-
-    /**
-    * Returns a point from the vector
-    */
-    Vector::point_t point();
-
-    Vector operator*(const double &x);
-    Vector operator+(const Vector &other);
-    Vector operator-(const Vector &other);
-
-private:
-
-    double dir, mag;
-
-};
-
-/**
- * General function for converting degrees to radians
- */
-double deg2rad(double deg);
-
-/**
- * General function for converting radians to degrees
- */
-double rad2deg(double r);
+#pragma once
+
+#include <cmath>
+
+#ifndef PI
+#define PI 3.141592654
+#endif
+
+class Vector2D
+{
+public:
+
+    /**
+     * Data structure representing an X,Y coordinate
+     */
+    struct point_t
+    {
+        double x, y;
+
+        double dist(const point_t other)
+        {
+          return sqrt(pow(this->x - other.x, 2) + pow(this->y - other.y, 2));
+        }
+
+        // Vector2D addition operation on points
+        point_t operator+(const point_t &other)
+        {
+          point_t p 
+          {
+            .x = this->x + other.x,
+            .y = this->y + other.y
+          };
+          return p;
+        }
+
+        // Vector2D subtraction operation on points
+        point_t operator-(const point_t &other)
+        {
+          point_t p 
+          {
+            .x = this->x - other.x,
+            .y = this->y - other.y
+          };
+          return p;
+        }
+    };
+
+    /**
+     * Construct a vector object.
+     * 
+     * @param dir Direction, in radians. 'foward' is 0, clockwise positive when viewed from the top.
+     * @param mag Magnitude.
+     */ 
+    Vector2D(double dir, double mag);
+    
+    /**
+     * Construct a vector object from a cartesian point.
+     * 
+     * @param p point_t.x , point_t.y
+     */
+    Vector2D(point_t &p);
+
+    /**
+     * Get the direction of the vector, in radians.
+     * '0' is forward, clockwise positive when viewed from the top.
+     * 
+     * Use r2d() to convert.
+     */
+    double get_dir() const;
+
+    /**
+     * Get the magnitude of the vector
+     */
+    double get_mag() const;
+
+    /**
+     * Get the X component of the vector; positive to the right.
+     */
+    double get_x() const;
+
+    /**
+     * Get the Y component of the vector, positive forward.
+     */
+    double get_y() const;
+
+    /**
+     * Changes the magnetude of the vector to 1
+    */
+    Vector2D normalize();
+
+    /**
+    * Returns a point from the vector
+    */
+    Vector2D::point_t point();
+
+    Vector2D operator*(const double &x);
+    Vector2D operator+(const Vector2D &other);
+    Vector2D operator-(const Vector2D &other);
+
+private:
+
+    double dir, mag;
+
+};
+
+/**
+ * General function for converting degrees to radians
+ */
+double deg2rad(double deg);
+
+/**
+ * General function for converting radians to degrees
+ */
+double rad2deg(double r);
diff --git a/src/subsystems/custom_encoder.cpp b/src/subsystems/custom_encoder.cpp
index 81472ac..64f3662 100644
--- a/src/subsystems/custom_encoder.cpp
+++ b/src/subsystems/custom_encoder.cpp
@@ -1,4 +1,4 @@
-#include "../core/include/subsystems/custom_encoder.h"
+#include "../core/include/subsystems/custom_encoder.h"   
 
 CustomEncoder::CustomEncoder(vex::triport::port &port, double ticks_per_rev)
 : super(port)
diff --git a/src/subsystems/mecanum_drive.cpp b/src/subsystems/mecanum_drive.cpp
index 62738bd..0fcf6af 100644
--- a/src/subsystems/mecanum_drive.cpp
+++ b/src/subsystems/mecanum_drive.cpp
@@ -1,5 +1,5 @@
 #include "../core/include/subsystems/mecanum_drive.h"
-#include "../core/include/utils/vector.h"
+#include "../core/include/utils/vector2d.h"
 #include "../core/include/utils/math_util.h"
 
 /**
diff --git a/src/subsystems/odometry/odometry_base.cpp b/src/subsystems/odometry/odometry_base.cpp
index ffa872c..3c55330 100644
--- a/src/subsystems/odometry/odometry_base.cpp
+++ b/src/subsystems/odometry/odometry_base.cpp
@@ -1,5 +1,5 @@
 #include "../core/include/subsystems/odometry/odometry_base.h"
-#include "../core/include/utils/vector.h"
+#include "../core/include/utils/vector2d.h"
 
 /**
 * Gets the current position and rotation
diff --git a/src/subsystems/odometry/odometry_tank.cpp b/src/subsystems/odometry/odometry_tank.cpp
index 111cca3..c801c2f 100644
--- a/src/subsystems/odometry/odometry_tank.cpp
+++ b/src/subsystems/odometry/odometry_tank.cpp
@@ -143,14 +143,14 @@ position_t OdometryTank::calculate_new_pos(robot_specs_t &config, position_t &cu
     double angle = angle_deg * PI / 180.0; // Degrees to radians
 
     // Create a vector from the change in distance in the current direction of the robot
-    Vector chg_vec(angle, dist_driven);
+    Vector2D chg_vec(angle, dist_driven);
     
     // Create a vector from the current position in reference to X,Y=0,0
-    Vector::point_t curr_point = {.x = curr_pos.x, .y = curr_pos.y};
-    Vector curr_vec(curr_point);
+    Vector2D::point_t curr_point = {.x = curr_pos.x, .y = curr_pos.y};
+    Vector2D curr_vec(curr_point);
 
     // Tack on the "difference" vector to the current vector
-    Vector new_vec = curr_vec + chg_vec;
+    Vector2D new_vec = curr_vec + chg_vec;
 
     new_pos.x = new_vec.get_x();
     new_pos.y = new_vec.get_y();
diff --git a/src/subsystems/tank_drive.cpp b/src/subsystems/tank_drive.cpp
index e9c4839..bd99b81 100644
--- a/src/subsystems/tank_drive.cpp
+++ b/src/subsystems/tank_drive.cpp
@@ -92,9 +92,9 @@ bool TankDrive::drive_forward(double inches, double speed, double correction, di
     drive_pid.reset();
 
     // Use vector math to get an X and Y
-    Vector current_pos({saved_pos.x , saved_pos.y});
-    Vector delta_pos(deg2rad(saved_pos.rot), inches);
-    Vector setpt_vec = current_pos + delta_pos;
+    Vector2D current_pos({saved_pos.x , saved_pos.y});
+    Vector2D delta_pos(deg2rad(saved_pos.rot), inches);
+    Vector2D setpt_vec = current_pos + delta_pos;
 
     // Save the new X and Y values
     pos_setpt = {.x=setpt_vec.get_x(), .y=setpt_vec.get_y()};
@@ -192,13 +192,13 @@ bool TankDrive::drive_to_point(double x, double y, double speed, double correcti
   position_t end_pos = {.x=x, .y=y};
 
   // Create a point (and vector) to get the direction
-  Vector::point_t pos_diff_pt = 
+  Vector2D::point_t pos_diff_pt = 
   {
     .x = x - current_pos.x,
     .y = y - current_pos.y
   };
 
-  Vector point_vec(pos_diff_pt);
+  Vector2D point_vec(pos_diff_pt);
 
   // Get the distance between 2 points
   double dist_left = OdometryBase::pos_diff(current_pos, end_pos);
@@ -334,9 +334,9 @@ double TankDrive::modify_inputs(double input, int power)
 
 bool TankDrive::pure_pursuit(std::vector<PurePursuit::hermite_point> path, double radius, double speed, double res, directionType dir) {
   is_pure_pursuit = true;
-  std::vector<Vector::point_t> smoothed_path = PurePursuit::smooth_path_hermite(path, res);
+  std::vector<Vector2D::point_t> smoothed_path = PurePursuit::smooth_path_hermite(path, res);
 
-  Vector::point_t lookahead = PurePursuit::get_lookahead(smoothed_path, {odometry->get_position().x, odometry->get_position().y}, radius);
+  Vector2D::point_t lookahead = PurePursuit::get_lookahead(smoothed_path, {odometry->get_position().x, odometry->get_position().y}, radius);
   //printf("%f\t%f\n", odometry->get_position().x, odometry->get_position().y); 
   //printf("%f\t%f\n", lookahead.x, lookahead.y);
   bool is_last_point = (path.back().x == lookahead.x) && (path.back().y == lookahead.y);
diff --git a/src/utils/pure_pursuit.cpp b/src/utils/pure_pursuit.cpp
index 11aaea9..4b28a3c 100644
--- a/src/utils/pure_pursuit.cpp
+++ b/src/utils/pure_pursuit.cpp
@@ -4,9 +4,9 @@
   * Returns points of the intersections of a line segment and a circle. The line 
   * segment is defined by two points, and the circle is defined by a center and radius.
   */
-std::vector<Vector::point_t> PurePursuit::line_circle_intersections(Vector::point_t center, double r, Vector::point_t point1, Vector::point_t point2)
+std::vector<Vector2D::point_t> PurePursuit::line_circle_intersections(Vector2D::point_t center, double r, Vector2D::point_t point1, Vector2D::point_t point2)
 {
-  std::vector<Vector::point_t> intersections = {};
+  std::vector<Vector2D::point_t> intersections = {};
 
   //Do future calculations relative to the circle's center
   point1.y -= center.y;
@@ -38,12 +38,12 @@ std::vector<Vector::point_t> PurePursuit::line_circle_intersections(Vector::poin
   //The equations used define an infinitely long line, so we check if the detected intersection falls on the line segment.
   if(x1 >= fmin(point1.x, point2.x) && x1 <= fmax(point1.x, point2.x) && y1 >= fmin(point1.y, point2.y) && y1 <= fmax(point1.y, point2.y))
   {
-    intersections.push_back(Vector::point_t{.x = x1 + center.x, .y = y1 + center.y});
+    intersections.push_back(Vector2D::point_t{.x = x1 + center.x, .y = y1 + center.y});
   }
 
   if(x2 >= fmin(point1.x, point2.x) && x2 <= fmax(point1.x, point2.x) && y2 >= fmin(point1.y, point2.y) && y2 <= fmax(point1.y, point2.y))
   {
-    intersections.push_back(Vector::point_t{.x = x2 + center.x, .y = y2 + center.y});
+    intersections.push_back(Vector2D::point_t{.x = x2 + center.x, .y = y2 + center.y});
   }
 
   return intersections;
@@ -52,10 +52,10 @@ std::vector<Vector::point_t> PurePursuit::line_circle_intersections(Vector::poin
 /**
  * Selects a look ahead from all the intersections in the path.
  */
-Vector::point_t PurePursuit::get_lookahead(std::vector<Vector::point_t> path, Vector::point_t robot_loc, double radius)
+Vector2D::point_t PurePursuit::get_lookahead(std::vector<Vector2D::point_t> path, Vector2D::point_t robot_loc, double radius)
 { 
   //Default: the end of the path
-  Vector::point_t target = path.back();
+  Vector2D::point_t target = path.back();
 
   
   if(target.dist(robot_loc) <= radius)
@@ -66,13 +66,13 @@ Vector::point_t PurePursuit::get_lookahead(std::vector<Vector::point_t> path, Ve
   //Check each line segment of the path for potential targets
   for(int i = 0; i < path.size() - 1; i++)
   {
-    Vector::point_t start = path[i];
-    Vector::point_t end = path[i+1];
+    Vector2D::point_t start = path[i];
+    Vector2D::point_t end = path[i+1];
 
-    std::vector<Vector::point_t> intersections = line_circle_intersections(robot_loc, radius, start, end);
+    std::vector<Vector2D::point_t> intersections = line_circle_intersections(robot_loc, radius, start, end);
     //Choose the intersection that is closest to the end of the line segment
     //This prioritizes the closest intersection to the end of the path
-    for(Vector::point_t intersection: intersections)
+    for(Vector2D::point_t intersection: intersections)
     {
       if(intersection.dist(end) < target.dist(end))
         target = intersection;
@@ -85,18 +85,18 @@ Vector::point_t PurePursuit::get_lookahead(std::vector<Vector::point_t> path, Ve
 /**
  Injects points in a path without changing the curvature with a certain spacing.
 */
-std::vector<Vector::point_t> PurePursuit::inject_path(std::vector<Vector::point_t> path, double spacing)
+std::vector<Vector2D::point_t> PurePursuit::inject_path(std::vector<Vector2D::point_t> path, double spacing)
 {
-  std::vector<Vector::point_t> new_path;
+  std::vector<Vector2D::point_t> new_path;
 
   //Injecting points for each line segment
   for(int i = 0; i < path.size() - 1; i++)
   {
-    Vector::point_t start = path[i];
-    Vector::point_t end = path[i+1];
+    Vector2D::point_t start = path[i];
+    Vector2D::point_t end = path[i+1];
 
-    Vector::point_t diff = end - start;
-    Vector vector = Vector(diff);
+    Vector2D::point_t diff = end - start;
+    Vector2D vector = Vector2D(diff);
     
     int num_points = ceil(vector.get_mag() / spacing);
 
@@ -106,7 +106,7 @@ std::vector<Vector::point_t> PurePursuit::inject_path(std::vector<Vector::point_
     for(int j = 0; j < num_points; j++)
     {
       //We take the start point and add additional vectors
-      Vector::point_t path_point = (Vector(start) + vector * j).point();
+      Vector2D::point_t path_point = (Vector2D(start) + vector * j).point();
       new_path.push_back(path_point);
     }
   }
@@ -125,21 +125,21 @@ std::vector<Vector::point_t> PurePursuit::inject_path(std::vector<Vector::point_
  * Honestly have no idea if/how this works.
  * https://medium.com/@jaems33/understanding-robot-motion-path-smoothing-5970c8363bc4
 */
-std::vector<Vector::point_t> PurePursuit::smooth_path(std::vector<Vector::point_t> path, double weight_data, double weight_smooth, double tolerance)
+std::vector<Vector2D::point_t> PurePursuit::smooth_path(std::vector<Vector2D::point_t> path, double weight_data, double weight_smooth, double tolerance)
 {
-  std::vector<Vector::point_t> new_path = path;
+  std::vector<Vector2D::point_t> new_path = path;
   double change = tolerance;
   while(change >= tolerance)
   {
     change = 0;
     for(int i = 1; i < path.size() - 1; i++)
     {
-        Vector::point_t x_i = path[i];
-        Vector::point_t y_i = new_path[i];
-        Vector::point_t y_prev = new_path[i-1];
-        Vector::point_t y_next = new_path[i+1];
+        Vector2D::point_t x_i = path[i];
+        Vector2D::point_t y_i = new_path[i];
+        Vector2D::point_t y_prev = new_path[i-1];
+        Vector2D::point_t y_next = new_path[i+1];
         
-        Vector::point_t y_i_saved = y_i;
+        Vector2D::point_t y_i_saved = y_i;
         
         y_i.x += weight_data * (x_i.x - y_i.x) + weight_smooth * (y_next.x + y_prev.x - (2 * y_i.x));
         y_i.y += weight_data * (x_i.y - y_i.y) + weight_smooth * (y_next.y + y_prev.y - (2 * y_i.y));
@@ -159,17 +159,17 @@ std::vector<Vector::point_t> PurePursuit::smooth_path(std::vector<Vector::point_
  * @param steps The number of points interpolated between points.
  * @return The smoothed path.
  */
-std::vector<Vector::point_t> PurePursuit::smooth_path_hermite(std::vector<hermite_point> path, double steps) {
-  std::vector<Vector::point_t> new_path;
+std::vector<Vector2D::point_t> PurePursuit::smooth_path_hermite(std::vector<hermite_point> path, double steps) {
+  std::vector<Vector2D::point_t> new_path;
   for(int i = 0; i < path.size() - 1; i++) {
     for(int t = 0; t < steps; t++) {
-      // Storing the start and end points and slopes at those points as Vectors.
-      Vector::point_t tmp = path[i].getPoint();
-      Vector p1 = Vector(tmp);
+      // Storing the start and end points and slopes at those points as Vector2Ds.
+      Vector2D::point_t tmp = path[i].getPoint();
+      Vector2D p1 = Vector2D(tmp);
       tmp = path[i+1].getPoint();
-      Vector p2 = Vector(tmp);
-      Vector t1 = path[i].getTangent();
-      Vector t2 = path[i+1].getTangent();
+      Vector2D p2 = Vector2D(tmp);
+      Vector2D t1 = path[i].getTangent();
+      Vector2D t2 = path[i+1].getTangent();
 
 
       // Scale s from 0.0 to 1.0
@@ -182,7 +182,7 @@ std::vector<Vector::point_t> PurePursuit::smooth_path_hermite(std::vector<hermit
       double h4 = pow(s, 3) - pow(s, 2);
 
       // Calculate the point
-      Vector p = p1 * h1 + p2 * h2 + t1 * h3 + t2 * h4; 
+      Vector2D p = p1 * h1 + p2 * h2 + t1 * h3 + t2 * h4; 
       new_path.push_back(p.point());
     }
   }
@@ -191,8 +191,8 @@ std::vector<Vector::point_t> PurePursuit::smooth_path_hermite(std::vector<hermit
   return new_path;
 }
 
-std::vector<Vector::point_t> PurePursuit::smooth_path_cubic(std::vector<Vector::point_t> path, double res) {
-  std::vector<Vector::point_t> new_path;
+std::vector<Vector2D::point_t> PurePursuit::smooth_path_cubic(std::vector<Vector2D::point_t> path, double res) {
+  std::vector<Vector2D::point_t> new_path;
   std::vector<spline> splines;
 
   double delta_x[path.size() - 1];
diff --git a/src/utils/vector.cpp b/src/utils/vector2d.cpp
similarity index 70%
rename from src/utils/vector.cpp
rename to src/utils/vector2d.cpp
index b29cb14..8532847 100644
--- a/src/utils/vector.cpp
+++ b/src/utils/vector2d.cpp
@@ -1,125 +1,125 @@
-#include "../core/include/utils/vector.h"
-
-/**
- * Construct a vector object.
- * 
- * @param dir Direction, in radians. 'foward' is 0, clockwise positive when viewed from the top.
- * @param mag Magnitude.
- */
-Vector::Vector(double dir, double mag)
-: dir(dir), mag(mag)
-{
-
-}
-
-/**
- * Construct a vector object from a cartesian point.
- * 
- * @param p point_t.x , point_t.y
- */
-Vector::Vector(point_t &p)
-{
-    this->dir = atan2(p.y, p.x);
-    this->mag = sqrt( (p.x*p.x) + (p.y*p.y) );
-}
-
-/**
- * Get the direction of the vector, in radians.
- * '0' is forward, clockwise positive when viewed from the top.
- * 
- * Use r2d() to convert.
- */
-double Vector::get_dir() const { return dir;}
-
-/**
- * Get the magnitude of the vector
- */
-double Vector::get_mag() const { return mag; }
-
-/**
- * Get the X component of the vector; positive to the right.
- */
-double Vector::get_x() const
-{
-return mag * cos(dir);
-}
-
-/**
- * Get the Y component of the vector, positive forward.
- */
-double Vector::get_y() const
-{
-return mag * sin(dir);
-}
-
-/**
- * Changes the magnetude of the vector to 1
-*/
-Vector Vector::normalize()
-{
-  return Vector(this->dir, 1);
-}
-
-/**
- * Returns a point from the vector
-*/
-Vector::point_t Vector::point()
-{
-  point_t p = 
-  {
-    .x = this->mag * cos(this->dir),
-    .y = this->mag * sin(this->dir)
-  };
-  return p;
-}
-
-/**
- * Correctly add vectors together with the + operator
- */
-Vector Vector::operator+(const Vector &other)
-{
-    point_t p = 
-    {
-        .x = this->get_x() + other.get_x(),
-        .y = this->get_y() + other.get_y()
-    };
-
-    return Vector( p );
-}
-
-/**
- * Correctly subtract vectors with the - operator
- */
-Vector Vector::operator-(const Vector &other)
-{
-    point_t p = 
-    {
-        .x = this->get_x() - other.get_x(),
-        .y = this->get_y() - other.get_y()
-    };
-    return Vector( p );
-}
-
-/**
- * Multiplies a vector by a double with the * operator
-*/
-Vector Vector::operator*(const double &x)
-{
-  return Vector(this->dir, this->mag * x);
-}
-
-/**
- * General function for converting degrees to radians
- */
-double deg2rad(double deg)
-{
-    return deg * (PI / 180.0);
-}
-
-/**
- * General function for converting radians to degrees
- */
-double rad2deg(double rad)
-{
-    return rad * (180.0 / PI);
-}
+#include "../core/include/utils/vector2d.h"
+
+/**
+ * Construct a vector object.
+ * 
+ * @param dir Direction, in radians. 'foward' is 0, clockwise positive when viewed from the top.
+ * @param mag Magnitude.
+ */
+Vector2D::Vector2D(double dir, double mag)
+: dir(dir), mag(mag)
+{
+
+}
+
+/**
+ * Construct a vector object from a cartesian point.
+ * 
+ * @param p point_t.x , point_t.y
+ */
+Vector2D::Vector2D(point_t &p)
+{
+    this->dir = atan2(p.y, p.x);
+    this->mag = sqrt( (p.x*p.x) + (p.y*p.y) );
+}
+
+/**
+ * Get the direction of the vector, in radians.
+ * '0' is forward, clockwise positive when viewed from the top.
+ * 
+ * Use r2d() to convert.
+ */
+double Vector2D::get_dir() const { return dir;}
+
+/**
+ * Get the magnitude of the vector
+ */
+double Vector2D::get_mag() const { return mag; }
+
+/**
+ * Get the X component of the vector; positive to the right.
+ */
+double Vector2D::get_x() const
+{
+return mag * cos(dir);
+}
+
+/**
+ * Get the Y component of the vector, positive forward.
+ */
+double Vector2D::get_y() const
+{
+return mag * sin(dir);
+}
+
+/**
+ * Changes the magnetude of the vector to 1
+*/
+Vector2D Vector2D::normalize()
+{
+  return Vector2D(this->dir, 1);
+}
+
+/**
+ * Returns a point from the vector
+*/
+Vector2D::point_t Vector2D::point()
+{
+  point_t p = 
+  {
+    .x = this->mag * cos(this->dir),
+    .y = this->mag * sin(this->dir)
+  };
+  return p;
+}
+
+/**
+ * Correctly add vectors together with the + operator
+ */
+Vector2D Vector2D::operator+(const Vector2D &other)
+{
+    point_t p = 
+    {
+        .x = this->get_x() + other.get_x(),
+        .y = this->get_y() + other.get_y()
+    };
+
+    return Vector2D( p );
+}
+
+/**
+ * Correctly subtract vectors with the - operator
+ */
+Vector2D Vector2D::operator-(const Vector2D &other)
+{
+    point_t p = 
+    {
+        .x = this->get_x() - other.get_x(),
+        .y = this->get_y() - other.get_y()
+    };
+    return Vector2D( p );
+}
+
+/**
+ * Multiplies a vector by a double with the * operator
+*/
+Vector2D Vector2D::operator*(const double &x)
+{
+  return Vector2D(this->dir, this->mag * x);
+}
+
+/**
+ * General function for converting degrees to radians
+ */
+double deg2rad(double deg)
+{
+    return deg * (PI / 180.0);
+}
+
+/**
+ * General function for converting radians to degrees
+ */
+double rad2deg(double rad)
+{
+    return rad * (180.0 / PI);
+}

From 290a8b785a9f33c0b4c30cf88d6146f8aa8595a4 Mon Sep 17 00:00:00 2001
From: Dana <dec1701@rit.edu>
Date: Thu, 22 Sep 2022 22:04:34 -0400
Subject: [PATCH 103/243] ACS moved from 2021-2022-BIG

---
 .../utils/command_structure/auto_command.h    | 19 ++++++++
 .../command_structure/command_controller.h    | 41 ++++++++++++++++
 .../utils/command_structure/delay_command.h   | 34 ++++++++++++++
 .../command_structure/drive_forward_command.h | 24 ++++++++++
 .../command_structure/command_controller.cpp  | 47 +++++++++++++++++++
 .../drive_forward_command.cpp                 | 19 ++++++++
 6 files changed, 184 insertions(+)
 create mode 100644 include/utils/command_structure/auto_command.h
 create mode 100644 include/utils/command_structure/command_controller.h
 create mode 100644 include/utils/command_structure/delay_command.h
 create mode 100644 include/utils/command_structure/drive_forward_command.h
 create mode 100644 src/utils/command_structure/command_controller.cpp
 create mode 100644 src/utils/command_structure/drive_forward_command.cpp

diff --git a/include/utils/command_structure/auto_command.h b/include/utils/command_structure/auto_command.h
new file mode 100644
index 0000000..baa24e3
--- /dev/null
+++ b/include/utils/command_structure/auto_command.h
@@ -0,0 +1,19 @@
+/**
+ * File: auto_command.h
+ * Desc:
+ *    Interface for module-specifc commands
+ */
+
+#pragma once
+
+#include "vex.h"
+
+class AutoCommand {
+  public:
+    /**
+     * Executes the command
+     * Overridden by child classes
+     * @returns true when the command is finished, false otherwise
+     */
+    virtual bool run();
+};
\ No newline at end of file
diff --git a/include/utils/command_structure/command_controller.h b/include/utils/command_structure/command_controller.h
new file mode 100644
index 0000000..6148897
--- /dev/null
+++ b/include/utils/command_structure/command_controller.h
@@ -0,0 +1,41 @@
+/**
+ * File: command_controller.h
+ * Desc:
+ *    Handles autonomous command execution
+ *    Acts like a queue (because it is one)
+ *    Execute and remove command at the head of the queue, 
+ *    repeat until there are no more commmands in the queue
+ */
+
+#pragma once
+
+#include <queue>
+#include "../core/include/utils/command_structure/auto_command.h"
+
+class CommandController {
+  public:
+
+  /**
+   * Adds a command to the queue
+   * @param cmd - AutoCommand to be added
+   */
+  void add(AutoCommand cmd);
+
+  /**
+   * Adds a command that will delay progression
+   * of the queue
+   * @param ms - number of milliseconds to wait
+   *    before continuing execution of autonomous
+   */
+  void add_delay(int ms);
+
+  /**
+   * Begin execution of the queue
+   * Execute and remove command at the head of the queue, 
+   * repeat until there are no more commmands in the queue
+   */
+  void run();
+
+  private:
+    std::queue<AutoCommand> command_queue;
+};
\ No newline at end of file
diff --git a/include/utils/command_structure/delay_command.h b/include/utils/command_structure/delay_command.h
new file mode 100644
index 0000000..32009af
--- /dev/null
+++ b/include/utils/command_structure/delay_command.h
@@ -0,0 +1,34 @@
+/**
+ * File: delay_command.h
+ * Desc:
+ *    [insert meaningful desc]
+ */
+
+#pragma once
+
+#include "../core/include/utils/command_structure/auto_command.h"
+
+class DelayCommand: public AutoCommand {
+  public:
+
+    /**
+     * Constructor
+     */
+    DelayCommand(int _ms) {
+      ms = _ms;
+    }
+    
+    /**
+     * Delays for the amount of milliseconds stored in the command
+     * Overrides run from AutoCommand
+     * @returns true when complete
+     */
+    bool run() override {
+      vexDelay(ms);
+      return true;
+    }
+
+  private:
+    // amount of milliseconds to wait
+    int ms;
+};
\ No newline at end of file
diff --git a/include/utils/command_structure/drive_forward_command.h b/include/utils/command_structure/drive_forward_command.h
new file mode 100644
index 0000000..5a5a1a4
--- /dev/null
+++ b/include/utils/command_structure/drive_forward_command.h
@@ -0,0 +1,24 @@
+/**
+ * File: drive_forward_command.h
+ * Desc:
+ *    Command wrapper class for the drive_forward function in the TankDrive class
+ */
+
+#pragma once
+
+#include "vex.h"
+#include "../core/include/utils/command_structure/auto_command.h"
+
+using namespace vex;
+
+class DriveForwardCommand: public AutoCommand {
+  public:
+    DriveForwardCommand(double inches, double speed, double correction, directionType dir);
+    bool run();
+
+  private:
+    double inches;
+    double speed;
+    double correction;
+    directionType dir;
+};
\ No newline at end of file
diff --git a/src/utils/command_structure/command_controller.cpp b/src/utils/command_structure/command_controller.cpp
new file mode 100644
index 0000000..4d2c759
--- /dev/null
+++ b/src/utils/command_structure/command_controller.cpp
@@ -0,0 +1,47 @@
+/**
+ * File: command_controller.cpp
+ * Desc:
+ *    Handles autonomous command execution
+ *    Acts like a queue (because it is one)
+ *    Execute and remove command at the head of the queue, 
+ *    repeat until there are no more commmands in the queue
+ */
+
+#include "../core/include/utils/command_structure/command_controller.h"
+#include "../core/include/utils/command_structure/delay_command.h"
+
+/**
+ * Adds a command to the queue
+ * @param cmd - AutoCommand to be added
+ */
+void CommandController::add(AutoCommand cmd) {
+  command_queue.push(cmd);
+}
+
+/**
+ * Adds a command that will delay progression
+ * of the queue
+ * @param ms - number of milliseconds to wait
+ *    before continuing execution of autonomous
+ */
+void CommandController::add_delay(int ms) {
+  AutoCommand delay = DelayCommand(ms);
+  command_queue.push(delay);
+}
+
+/**
+ * Begin execution of the queue
+ * Execute and remove command at the head of the queue, 
+ * repeat until there are no more commmands in the queue
+ */
+void CommandController::run() {
+  AutoCommand next_cmd;
+  while(!command_queue.empty()) {
+    // retrieve and remove command at the front of the queue
+    next_cmd = command_queue.front();
+    command_queue.pop();
+
+    // run the current command
+    next_cmd.run();
+  }
+}
\ No newline at end of file
diff --git a/src/utils/command_structure/drive_forward_command.cpp b/src/utils/command_structure/drive_forward_command.cpp
new file mode 100644
index 0000000..48e087e
--- /dev/null
+++ b/src/utils/command_structure/drive_forward_command.cpp
@@ -0,0 +1,19 @@
+/**
+ * File: drive_forward_command.cpp
+ * Desc:
+ *    Command wrapper class for the drive_forward function in the TankDrive class
+ */
+
+#include "vex.h"
+#include "../core/include/utils/command_structure/drive_forward_command.h"
+
+using namespace vex;
+
+DriveForwardCommand::DriveForwardCommand(double inches, double speed, double correction, directionType dir):
+  inches(inches), speed(speed), correction(correction), dir(dir) {}
+
+bool DriveForwardCommand::run() {
+  // while(!){statements
+  // }
+  return true;
+}
\ No newline at end of file

From 3ea3fc44d14c4d84575e1cbb93650df1c191a6cc Mon Sep 17 00:00:00 2001
From: Dana <dec1701@rit.edu>
Date: Thu, 13 Oct 2022 19:00:20 -0400
Subject: [PATCH 104/243] build fixes

---
 .../utils/command_structure/auto_command.h    |  2 +-
 .../command_structure/drive_forward_command.h |  6 +++--
 .../command_structure/turn_degrees_command.h  | 24 +++++++++++++++++++
 src/subsystems/odometry/odometry_tank.cpp     |  4 ++--
 .../drive_forward_command.cpp                 | 10 ++++----
 .../turn_degrees_command.cpp                  | 17 +++++++++++++
 6 files changed, 53 insertions(+), 10 deletions(-)
 create mode 100644 include/utils/command_structure/turn_degrees_command.h
 create mode 100644 src/utils/command_structure/turn_degrees_command.cpp

diff --git a/include/utils/command_structure/auto_command.h b/include/utils/command_structure/auto_command.h
index baa24e3..8795a68 100644
--- a/include/utils/command_structure/auto_command.h
+++ b/include/utils/command_structure/auto_command.h
@@ -15,5 +15,5 @@ class AutoCommand {
      * Overridden by child classes
      * @returns true when the command is finished, false otherwise
      */
-    virtual bool run();
+    virtual bool run() { return true; }
 };
\ No newline at end of file
diff --git a/include/utils/command_structure/drive_forward_command.h b/include/utils/command_structure/drive_forward_command.h
index 5a5a1a4..424d84f 100644
--- a/include/utils/command_structure/drive_forward_command.h
+++ b/include/utils/command_structure/drive_forward_command.h
@@ -8,15 +8,17 @@
 
 #include "vex.h"
 #include "../core/include/utils/command_structure/auto_command.h"
+#include "../core/include/subsystems/tank_drive.h"
 
 using namespace vex;
 
 class DriveForwardCommand: public AutoCommand {
   public:
-    DriveForwardCommand(double inches, double speed, double correction, directionType dir);
-    bool run();
+    DriveForwardCommand(TankDrive &drive_sys, double inches, double speed, double correction, directionType dir);
+    bool run() override;
 
   private:
+    TankDrive &drive_sys;
     double inches;
     double speed;
     double correction;
diff --git a/include/utils/command_structure/turn_degrees_command.h b/include/utils/command_structure/turn_degrees_command.h
new file mode 100644
index 0000000..a56aab6
--- /dev/null
+++ b/include/utils/command_structure/turn_degrees_command.h
@@ -0,0 +1,24 @@
+/**
+ * File: turn_degrees_command.h
+ * Desc:
+ *    Command wrapper class for the turn_degrees function in the TankDrive class
+ */
+
+#pragma once
+
+#include "vex.h"
+#include "../core/include/utils/command_structure/auto_command.h"
+#include "../core/include/subsystems/tank_drive.h"
+
+using namespace vex;
+
+class TurnDegreesCommand: public AutoCommand {
+  public:
+    TurnDegreesCommand(TankDrive &drive_sys, double degrees, double percent_speed);
+    bool run() override;
+
+  private:
+    TankDrive &drive_sys;
+    double degrees;
+    double percent_speed;
+};
\ No newline at end of file
diff --git a/src/subsystems/odometry/odometry_tank.cpp b/src/subsystems/odometry/odometry_tank.cpp
index c801c2f..1d0c9dc 100644
--- a/src/subsystems/odometry/odometry_tank.cpp
+++ b/src/subsystems/odometry/odometry_tank.cpp
@@ -92,12 +92,12 @@ position_t OdometryTank::update()
       // Get the arclength of the turning circle of the robot
       double distance_diff = (rside_revs - lside_revs) * PI * config.odom_wheel_diam;
 
-      printf("dist_diff: %f, ", distance_diff);
+      //printf("dist_diff: %f, ", distance_diff);
 
       //Use the arclength formula to calculate the angle. Add 90 to make "0 degrees" to starboard
       angle = ((180.0 / PI) * (distance_diff / config.dist_between_wheels)) + 90;
 
-      printf("angle: %f, ", (180.0 / PI) * (distance_diff / config.dist_between_wheels));
+      //printf("angle: %f, ", (180.0 / PI) * (distance_diff / config.dist_between_wheels));
 
     } else
     {
diff --git a/src/utils/command_structure/drive_forward_command.cpp b/src/utils/command_structure/drive_forward_command.cpp
index 48e087e..e9630fe 100644
--- a/src/utils/command_structure/drive_forward_command.cpp
+++ b/src/utils/command_structure/drive_forward_command.cpp
@@ -6,14 +6,14 @@
 
 #include "vex.h"
 #include "../core/include/utils/command_structure/drive_forward_command.h"
+#include <iostream>
 
 using namespace vex;
 
-DriveForwardCommand::DriveForwardCommand(double inches, double speed, double correction, directionType dir):
-  inches(inches), speed(speed), correction(correction), dir(dir) {}
+DriveForwardCommand::DriveForwardCommand(TankDrive &drive_sys, double inches, double speed, double correction, directionType dir):
+  drive_sys(drive_sys), inches(inches), speed(speed), correction(correction), dir(dir) {}
 
 bool DriveForwardCommand::run() {
-  // while(!){statements
-  // }
-  return true;
+  std::cout << "DRIVE FORWARD COMMAND RUNNING\n";
+  return drive_sys.drive_forward(inches, speed, correction, dir);
 }
\ No newline at end of file
diff --git a/src/utils/command_structure/turn_degrees_command.cpp b/src/utils/command_structure/turn_degrees_command.cpp
new file mode 100644
index 0000000..a4bd2b1
--- /dev/null
+++ b/src/utils/command_structure/turn_degrees_command.cpp
@@ -0,0 +1,17 @@
+/**
+ * File: turn_degrees_command.cpp
+ * Desc:
+ *    Command wrapper class for the turn_degrees function in the TankDrive class
+ */
+
+#include "vex.h"
+#include "../core/include/utils/command_structure/turn_degrees_command.h"
+
+using namespace vex;
+
+TurnDegreesCommand::TurnDegreesCommand(TankDrive &drive_sys, double degrees, double percent_speed):
+  drive_sys(drive_sys), degrees(degrees), percent_speed(percent_speed) {}
+
+bool TurnDegreesCommand::run() {
+  return drive_sys.turn_degrees(degrees, percent_speed);
+}
\ No newline at end of file

From 782e06e59d44bdddec002d11745e88149e39078e Mon Sep 17 00:00:00 2001
From: Dana <dec1701@rit.edu>
Date: Thu, 13 Oct 2022 21:02:56 -0400
Subject: [PATCH 105/243] commands can run

---
 .../utils/command_structure/command_controller.h    |  4 ++--
 src/utils/command_structure/command_controller.cpp  | 13 ++++++++-----
 .../command_structure/drive_forward_command.cpp     |  1 -
 3 files changed, 10 insertions(+), 8 deletions(-)

diff --git a/include/utils/command_structure/command_controller.h b/include/utils/command_structure/command_controller.h
index 6148897..3826d11 100644
--- a/include/utils/command_structure/command_controller.h
+++ b/include/utils/command_structure/command_controller.h
@@ -19,7 +19,7 @@ class CommandController {
    * Adds a command to the queue
    * @param cmd - AutoCommand to be added
    */
-  void add(AutoCommand cmd);
+  void add(AutoCommand *cmd);
 
   /**
    * Adds a command that will delay progression
@@ -37,5 +37,5 @@ class CommandController {
   void run();
 
   private:
-    std::queue<AutoCommand> command_queue;
+    std::queue<AutoCommand*> command_queue;
 };
\ No newline at end of file
diff --git a/src/utils/command_structure/command_controller.cpp b/src/utils/command_structure/command_controller.cpp
index 4d2c759..cf019f1 100644
--- a/src/utils/command_structure/command_controller.cpp
+++ b/src/utils/command_structure/command_controller.cpp
@@ -14,7 +14,7 @@
  * Adds a command to the queue
  * @param cmd - AutoCommand to be added
  */
-void CommandController::add(AutoCommand cmd) {
+void CommandController::add(AutoCommand *cmd) {
   command_queue.push(cmd);
 }
 
@@ -25,7 +25,7 @@ void CommandController::add(AutoCommand cmd) {
  *    before continuing execution of autonomous
  */
 void CommandController::add_delay(int ms) {
-  AutoCommand delay = DelayCommand(ms);
+  AutoCommand *delay = new DelayCommand(ms);
   command_queue.push(delay);
 }
 
@@ -35,13 +35,16 @@ void CommandController::add_delay(int ms) {
  * repeat until there are no more commmands in the queue
  */
 void CommandController::run() {
-  AutoCommand next_cmd;
+  AutoCommand *next_cmd;
   while(!command_queue.empty()) {
     // retrieve and remove command at the front of the queue
     next_cmd = command_queue.front();
     command_queue.pop();
 
-    // run the current command
-    next_cmd.run();
+    // run the current command until it returns true
+    while(!next_cmd -> run()) {
+      vexDelay(20);
+    }
+    
   }
 }
\ No newline at end of file
diff --git a/src/utils/command_structure/drive_forward_command.cpp b/src/utils/command_structure/drive_forward_command.cpp
index e9630fe..3fe2200 100644
--- a/src/utils/command_structure/drive_forward_command.cpp
+++ b/src/utils/command_structure/drive_forward_command.cpp
@@ -14,6 +14,5 @@ DriveForwardCommand::DriveForwardCommand(TankDrive &drive_sys, double inches, do
   drive_sys(drive_sys), inches(inches), speed(speed), correction(correction), dir(dir) {}
 
 bool DriveForwardCommand::run() {
-  std::cout << "DRIVE FORWARD COMMAND RUNNING\n";
   return drive_sys.drive_forward(inches, speed, correction, dir);
 }
\ No newline at end of file

From 46c321dea3e7210f32ffbc158976395f14694438 Mon Sep 17 00:00:00 2001
From: Dana <dec1701@rit.edu>
Date: Sun, 16 Oct 2022 15:11:35 -0400
Subject: [PATCH 106/243] fixed up docs

---
 include/utils/command_structure/command_controller.h | 11 +++++------
 include/utils/command_structure/delay_command.h      | 10 +++-------
 .../utils/command_structure/drive_forward_command.h  | 12 +++++++++++-
 .../utils/command_structure/turn_degrees_command.h   | 12 +++++++++++-
 src/utils/command_structure/command_controller.cpp   | 11 +++++------
 .../command_structure/drive_forward_command.cpp      |  8 +++++++-
 src/utils/command_structure/turn_degrees_command.cpp |  8 +++++++-
 7 files changed, 49 insertions(+), 23 deletions(-)

diff --git a/include/utils/command_structure/command_controller.h b/include/utils/command_structure/command_controller.h
index 3826d11..f4a8abe 100644
--- a/include/utils/command_structure/command_controller.h
+++ b/include/utils/command_structure/command_controller.h
@@ -1,10 +1,10 @@
 /**
  * File: command_controller.h
  * Desc:
- *    Handles autonomous command execution
- *    Acts like a queue (because it is one)
- *    Execute and remove command at the head of the queue, 
- *    repeat until there are no more commmands in the queue
+ *    A CommandController manages the AutoCommands that make
+ *    up an autonomous route. The AutoCommands are kept in
+ *    a queue and get executed and removed from the queue
+ *    in FIFO order.
  */
 
 #pragma once
@@ -31,8 +31,7 @@ class CommandController {
 
   /**
    * Begin execution of the queue
-   * Execute and remove command at the head of the queue, 
-   * repeat until there are no more commmands in the queue
+   * Execute and remove commands in FIFO order
    */
   void run();
 
diff --git a/include/utils/command_structure/delay_command.h b/include/utils/command_structure/delay_command.h
index 32009af..bdf1af1 100644
--- a/include/utils/command_structure/delay_command.h
+++ b/include/utils/command_structure/delay_command.h
@@ -1,7 +1,8 @@
 /**
  * File: delay_command.h
  * Desc:
- *    [insert meaningful desc]
+ *    A DelayCommand will make the robot wait the set amount of
+ *    milliseconds before continuing execution of the autonomous route
  */
 
 #pragma once
@@ -11,12 +12,7 @@
 class DelayCommand: public AutoCommand {
   public:
 
-    /**
-     * Constructor
-     */
-    DelayCommand(int _ms) {
-      ms = _ms;
-    }
+    DelayCommand(int ms): ms(ms) {}
     
     /**
      * Delays for the amount of milliseconds stored in the command
diff --git a/include/utils/command_structure/drive_forward_command.h b/include/utils/command_structure/drive_forward_command.h
index 424d84f..5980e85 100644
--- a/include/utils/command_structure/drive_forward_command.h
+++ b/include/utils/command_structure/drive_forward_command.h
@@ -1,7 +1,8 @@
 /**
  * File: drive_forward_command.h
  * Desc:
- *    Command wrapper class for the drive_forward function in the TankDrive class
+ *    AutoCommand wrapper class for the drive_forward function in the 
+ *    TankDrive class
  */
 
 #pragma once
@@ -15,10 +16,19 @@ using namespace vex;
 class DriveForwardCommand: public AutoCommand {
   public:
     DriveForwardCommand(TankDrive &drive_sys, double inches, double speed, double correction, directionType dir);
+
+    /**
+     * Run drive_forward
+     * Overrides run from AutoCommand
+     * @returns true when execution is complete, false otherwise
+     */
     bool run() override;
 
   private:
+    // drive system to run the function on
     TankDrive &drive_sys;
+
+    // parameters for drive_forward
     double inches;
     double speed;
     double correction;
diff --git a/include/utils/command_structure/turn_degrees_command.h b/include/utils/command_structure/turn_degrees_command.h
index a56aab6..15215a4 100644
--- a/include/utils/command_structure/turn_degrees_command.h
+++ b/include/utils/command_structure/turn_degrees_command.h
@@ -1,7 +1,8 @@
 /**
  * File: turn_degrees_command.h
  * Desc:
- *    Command wrapper class for the turn_degrees function in the TankDrive class
+ *    AutoCommand wrapper class for the turn_degrees function in the 
+ *    TankDrive class
  */
 
 #pragma once
@@ -15,10 +16,19 @@ using namespace vex;
 class TurnDegreesCommand: public AutoCommand {
   public:
     TurnDegreesCommand(TankDrive &drive_sys, double degrees, double percent_speed);
+
+    /**
+     * Run turn_degrees
+     * Overrides run from AutoCommand
+     * @returns true when execution is complete, false otherwise
+     */
     bool run() override;
 
   private:
+    // drive system to run the function on
     TankDrive &drive_sys;
+
+    // parameters for turn_degrees
     double degrees;
     double percent_speed;
 };
\ No newline at end of file
diff --git a/src/utils/command_structure/command_controller.cpp b/src/utils/command_structure/command_controller.cpp
index cf019f1..fb629c2 100644
--- a/src/utils/command_structure/command_controller.cpp
+++ b/src/utils/command_structure/command_controller.cpp
@@ -1,10 +1,10 @@
 /**
  * File: command_controller.cpp
  * Desc:
- *    Handles autonomous command execution
- *    Acts like a queue (because it is one)
- *    Execute and remove command at the head of the queue, 
- *    repeat until there are no more commmands in the queue
+ *    A CommandController manages the AutoCommands that make
+ *    up an autonomous route. The AutoCommands are kept in
+ *    a queue and get executed and removed from the queue
+ *    in FIFO order.
  */
 
 #include "../core/include/utils/command_structure/command_controller.h"
@@ -31,8 +31,7 @@ void CommandController::add_delay(int ms) {
 
 /**
  * Begin execution of the queue
- * Execute and remove command at the head of the queue, 
- * repeat until there are no more commmands in the queue
+ * Execute and remove commands in FIFO order
  */
 void CommandController::run() {
   AutoCommand *next_cmd;
diff --git a/src/utils/command_structure/drive_forward_command.cpp b/src/utils/command_structure/drive_forward_command.cpp
index 3fe2200..e8b4129 100644
--- a/src/utils/command_structure/drive_forward_command.cpp
+++ b/src/utils/command_structure/drive_forward_command.cpp
@@ -1,7 +1,8 @@
 /**
  * File: drive_forward_command.cpp
  * Desc:
- *    Command wrapper class for the drive_forward function in the TankDrive class
+ *    AutoCommand wrapper class for the drive_forward function in the 
+ *    TankDrive class
  */
 
 #include "vex.h"
@@ -13,6 +14,11 @@ using namespace vex;
 DriveForwardCommand::DriveForwardCommand(TankDrive &drive_sys, double inches, double speed, double correction, directionType dir):
   drive_sys(drive_sys), inches(inches), speed(speed), correction(correction), dir(dir) {}
 
+/**
+ * Run drive_forward
+ * Overrides run from AutoCommand
+ * @returns true when execution is complete, false otherwise
+ */
 bool DriveForwardCommand::run() {
   return drive_sys.drive_forward(inches, speed, correction, dir);
 }
\ No newline at end of file
diff --git a/src/utils/command_structure/turn_degrees_command.cpp b/src/utils/command_structure/turn_degrees_command.cpp
index a4bd2b1..5cb58de 100644
--- a/src/utils/command_structure/turn_degrees_command.cpp
+++ b/src/utils/command_structure/turn_degrees_command.cpp
@@ -1,7 +1,8 @@
 /**
  * File: turn_degrees_command.cpp
  * Desc:
- *    Command wrapper class for the turn_degrees function in the TankDrive class
+ *    AutoCommand wrapper class for the turn_degrees function in the 
+ *    TankDrive class
  */
 
 #include "vex.h"
@@ -12,6 +13,11 @@ using namespace vex;
 TurnDegreesCommand::TurnDegreesCommand(TankDrive &drive_sys, double degrees, double percent_speed):
   drive_sys(drive_sys), degrees(degrees), percent_speed(percent_speed) {}
 
+/**
+ * Run turn_degrees
+ * Overrides run from AutoCommand
+ * @returns true when execution is complete, false otherwise
+ */
 bool TurnDegreesCommand::run() {
   return drive_sys.turn_degrees(degrees, percent_speed);
 }
\ No newline at end of file

From 49533eeba48403661bca3ccc99573584ad1cd53f Mon Sep 17 00:00:00 2001
From: Dana <dec1701@rit.edu>
Date: Sun, 16 Oct 2022 15:23:03 -0400
Subject: [PATCH 107/243] combined drive_forward and turn_degrees command
 classes into one file

---
 .../utils/command_structure/drive_commands.h  | 67 +++++++++++++++++++
 .../command_structure/drive_forward_command.h | 36 ----------
 .../command_structure/turn_degrees_command.h  | 34 ----------
 .../command_structure/drive_commands.cpp      | 41 ++++++++++++
 .../drive_forward_command.cpp                 | 24 -------
 .../turn_degrees_command.cpp                  | 23 -------
 6 files changed, 108 insertions(+), 117 deletions(-)
 create mode 100644 include/utils/command_structure/drive_commands.h
 delete mode 100644 include/utils/command_structure/drive_forward_command.h
 delete mode 100644 include/utils/command_structure/turn_degrees_command.h
 create mode 100644 src/utils/command_structure/drive_commands.cpp
 delete mode 100644 src/utils/command_structure/drive_forward_command.cpp
 delete mode 100644 src/utils/command_structure/turn_degrees_command.cpp

diff --git a/include/utils/command_structure/drive_commands.h b/include/utils/command_structure/drive_commands.h
new file mode 100644
index 0000000..52ec404
--- /dev/null
+++ b/include/utils/command_structure/drive_commands.h
@@ -0,0 +1,67 @@
+/**
+ * File: drive_commands.h
+ * Desc:
+ *    Holds all the AutoCommand subclasses that wrap TankDrive functions
+ *    
+ *    Currently includes:
+ *      - drive_forward
+ *      - turn_degrees
+ */
+
+#pragma once
+
+#include "vex.h"
+#include "../core/include/utils/command_structure/auto_command.h"
+#include "../core/include/subsystems/tank_drive.h"
+
+using namespace vex;
+
+/**
+ * AutoCommand wrapper class for the drive_forward function in the 
+ * TankDrive class
+ */
+class DriveForwardCommand: public AutoCommand {
+  public:
+    DriveForwardCommand(TankDrive &drive_sys, double inches, double speed, double correction, directionType dir);
+
+    /**
+     * Run drive_forward
+     * Overrides run from AutoCommand
+     * @returns true when execution is complete, false otherwise
+     */
+    bool run() override;
+
+  private:
+    // drive system to run the function on
+    TankDrive &drive_sys;
+
+    // parameters for drive_forward
+    double inches;
+    double speed;
+    double correction;
+    directionType dir;
+};
+
+/**
+ * AutoCommand wrapper class for the turn_degrees function in the 
+ * TankDrive class
+ */
+class TurnDegreesCommand: public AutoCommand {
+  public:
+    TurnDegreesCommand(TankDrive &drive_sys, double degrees, double percent_speed);
+
+    /**
+     * Run turn_degrees
+     * Overrides run from AutoCommand
+     * @returns true when execution is complete, false otherwise
+     */
+    bool run() override;
+
+  private:
+    // drive system to run the function on
+    TankDrive &drive_sys;
+
+    // parameters for turn_degrees
+    double degrees;
+    double percent_speed;
+};
\ No newline at end of file
diff --git a/include/utils/command_structure/drive_forward_command.h b/include/utils/command_structure/drive_forward_command.h
deleted file mode 100644
index 5980e85..0000000
--- a/include/utils/command_structure/drive_forward_command.h
+++ /dev/null
@@ -1,36 +0,0 @@
-/**
- * File: drive_forward_command.h
- * Desc:
- *    AutoCommand wrapper class for the drive_forward function in the 
- *    TankDrive class
- */
-
-#pragma once
-
-#include "vex.h"
-#include "../core/include/utils/command_structure/auto_command.h"
-#include "../core/include/subsystems/tank_drive.h"
-
-using namespace vex;
-
-class DriveForwardCommand: public AutoCommand {
-  public:
-    DriveForwardCommand(TankDrive &drive_sys, double inches, double speed, double correction, directionType dir);
-
-    /**
-     * Run drive_forward
-     * Overrides run from AutoCommand
-     * @returns true when execution is complete, false otherwise
-     */
-    bool run() override;
-
-  private:
-    // drive system to run the function on
-    TankDrive &drive_sys;
-
-    // parameters for drive_forward
-    double inches;
-    double speed;
-    double correction;
-    directionType dir;
-};
\ No newline at end of file
diff --git a/include/utils/command_structure/turn_degrees_command.h b/include/utils/command_structure/turn_degrees_command.h
deleted file mode 100644
index 15215a4..0000000
--- a/include/utils/command_structure/turn_degrees_command.h
+++ /dev/null
@@ -1,34 +0,0 @@
-/**
- * File: turn_degrees_command.h
- * Desc:
- *    AutoCommand wrapper class for the turn_degrees function in the 
- *    TankDrive class
- */
-
-#pragma once
-
-#include "vex.h"
-#include "../core/include/utils/command_structure/auto_command.h"
-#include "../core/include/subsystems/tank_drive.h"
-
-using namespace vex;
-
-class TurnDegreesCommand: public AutoCommand {
-  public:
-    TurnDegreesCommand(TankDrive &drive_sys, double degrees, double percent_speed);
-
-    /**
-     * Run turn_degrees
-     * Overrides run from AutoCommand
-     * @returns true when execution is complete, false otherwise
-     */
-    bool run() override;
-
-  private:
-    // drive system to run the function on
-    TankDrive &drive_sys;
-
-    // parameters for turn_degrees
-    double degrees;
-    double percent_speed;
-};
\ No newline at end of file
diff --git a/src/utils/command_structure/drive_commands.cpp b/src/utils/command_structure/drive_commands.cpp
new file mode 100644
index 0000000..597f586
--- /dev/null
+++ b/src/utils/command_structure/drive_commands.cpp
@@ -0,0 +1,41 @@
+/**
+ * File: drive_commands.h
+ * Desc:
+ *    Holds all the AutoCommand subclasses that wrap TankDrive functions
+ *    
+ *    Currently includes:
+ *      - drive_forward
+ *      - turn_degrees
+ */
+
+#include "../core/include/utils/command_structure/drive_commands.h"
+
+
+// ==== DRIVE FORWARD ====
+
+DriveForwardCommand::DriveForwardCommand(TankDrive &drive_sys, double inches, double speed, double correction, directionType dir):
+  drive_sys(drive_sys), inches(inches), speed(speed), correction(correction), dir(dir) {}
+
+/**
+ * Run drive_forward
+ * Overrides run from AutoCommand
+ * @returns true when execution is complete, false otherwise
+ */
+bool DriveForwardCommand::run() {
+  return drive_sys.drive_forward(inches, speed, correction, dir);
+}
+
+
+// ==== TURN DEGREES ====
+
+TurnDegreesCommand::TurnDegreesCommand(TankDrive &drive_sys, double degrees, double percent_speed):
+  drive_sys(drive_sys), degrees(degrees), percent_speed(percent_speed) {}
+
+/**
+ * Run turn_degrees
+ * Overrides run from AutoCommand
+ * @returns true when execution is complete, false otherwise
+ */
+bool TurnDegreesCommand::run() {
+  return drive_sys.turn_degrees(degrees, percent_speed);
+}
diff --git a/src/utils/command_structure/drive_forward_command.cpp b/src/utils/command_structure/drive_forward_command.cpp
deleted file mode 100644
index e8b4129..0000000
--- a/src/utils/command_structure/drive_forward_command.cpp
+++ /dev/null
@@ -1,24 +0,0 @@
-/**
- * File: drive_forward_command.cpp
- * Desc:
- *    AutoCommand wrapper class for the drive_forward function in the 
- *    TankDrive class
- */
-
-#include "vex.h"
-#include "../core/include/utils/command_structure/drive_forward_command.h"
-#include <iostream>
-
-using namespace vex;
-
-DriveForwardCommand::DriveForwardCommand(TankDrive &drive_sys, double inches, double speed, double correction, directionType dir):
-  drive_sys(drive_sys), inches(inches), speed(speed), correction(correction), dir(dir) {}
-
-/**
- * Run drive_forward
- * Overrides run from AutoCommand
- * @returns true when execution is complete, false otherwise
- */
-bool DriveForwardCommand::run() {
-  return drive_sys.drive_forward(inches, speed, correction, dir);
-}
\ No newline at end of file
diff --git a/src/utils/command_structure/turn_degrees_command.cpp b/src/utils/command_structure/turn_degrees_command.cpp
deleted file mode 100644
index 5cb58de..0000000
--- a/src/utils/command_structure/turn_degrees_command.cpp
+++ /dev/null
@@ -1,23 +0,0 @@
-/**
- * File: turn_degrees_command.cpp
- * Desc:
- *    AutoCommand wrapper class for the turn_degrees function in the 
- *    TankDrive class
- */
-
-#include "vex.h"
-#include "../core/include/utils/command_structure/turn_degrees_command.h"
-
-using namespace vex;
-
-TurnDegreesCommand::TurnDegreesCommand(TankDrive &drive_sys, double degrees, double percent_speed):
-  drive_sys(drive_sys), degrees(degrees), percent_speed(percent_speed) {}
-
-/**
- * Run turn_degrees
- * Overrides run from AutoCommand
- * @returns true when execution is complete, false otherwise
- */
-bool TurnDegreesCommand::run() {
-  return drive_sys.turn_degrees(degrees, percent_speed);
-}
\ No newline at end of file

From 3dc4a5c9dafab518fc54752d9135297a5ac827f4 Mon Sep 17 00:00:00 2001
From: Dana <dec1701@rit.edu>
Date: Sun, 16 Oct 2022 15:42:48 -0400
Subject: [PATCH 108/243] Merge remote-tracking branch 'origin/main' into
 auto_structure

---
 include/subsystems/flywheel.h | 169 ++++++++++++++++++++
 src/subsystems/flywheel.cpp   | 289 ++++++++++++++++++++++++++++++++++
 2 files changed, 458 insertions(+)
 create mode 100644 include/subsystems/flywheel.h
 create mode 100644 src/subsystems/flywheel.cpp

diff --git a/include/subsystems/flywheel.h b/include/subsystems/flywheel.h
new file mode 100644
index 0000000..81a1e17
--- /dev/null
+++ b/include/subsystems/flywheel.h
@@ -0,0 +1,169 @@
+/*********************************************************
+*
+*     File:     Flywheel.h
+*     Purpose:  Generalized flywheel class for Core.
+*     Author:   Chris Nokes
+*     
+**********************************************************
+* EDIT HISTORY
+**********************************************************
+* 09/23/2022  <CRN> Reorganized, added documentation.
+* 09/23/2022  <CRN> Added functions elaborated on in .cpp.
+*********************************************************/
+
+#include "../core/include/utils/feedforward.h"
+#include "vex.h"
+#include "../core/include/robot_specs.h"
+#include "../core/include/utils/pid.h"
+#include <atomic>
+
+using namespace vex;
+
+class Flywheel{
+  enum FlywheelControlStyle{
+    PID_Feedforward,
+    Feedforward,
+    Take_Back_Half,
+    Bang_Bang,
+  };
+  public:
+
+  // CONSTRUCTORS, GETTERS, AND SETTERS
+  /**
+  * Create the Flywheel object using PID + feedforward for control.
+  * @param motors     - pointer to the motors on the fly wheel
+  * @param pid_config - pointer the pid config
+  * @param ff         - pointer to the feedforward config
+  * @param ratio      - ratio of the whatever just multiplies the velocity
+  */
+  Flywheel(motor_group &motors, PID::pid_config_t &pid_config, FeedForward::ff_config_t &ff_config, const double ratio);
+
+  /**
+  * Create the Flywheel object using only feedforward for control
+  * @param motors - pointer to the motors on the fly wheel
+  * @param ff     - pointer to the feedforward config
+  * @param ratio  - ratio of the whatever just multiplies the velocity
+  */
+  Flywheel(motor_group &motors, FeedForward::ff_config_t &ff_config, const double ratio);
+
+  /**
+  * Create the Flywheel object using Take Back Half for control
+  * @param motors   - pointer to the motors on the fly wheel
+  * @param TBH_gain - the TBH control paramater
+  * @param ratio    - ratio of the whatever just multiplies the velocity
+  */
+  Flywheel(motor_group &motors, double tbh_gain, const double ratio);
+
+  /**
+  * Create the Flywheel object using Bang Bang for control
+  * @param motors - pointer to the motors on the fly wheel
+  * @param ratio  - ratio of the whatever just multiplies the velocity
+  */
+  Flywheel(motor_group &motors, const double ratio);
+
+  /**
+  * Return the current value that the RPM should be set to
+  * @return RPM = the target rpm
+  */
+  double getDesiredRPM();
+
+  /**
+  * Checks if the background RPM controlling task is running
+  * @return taskRunning - If the task is running
+  */
+  bool isTaskRunning();
+
+  /**
+  * Returns a POINTER to the motors
+  */
+  motor_group* getMotors();
+
+  /**
+  * return the current velocity of the flywheel motors, in RPM
+  */
+  double getRPM();
+
+  /**
+  * Returns a POINTER to the PID.
+  */
+  PID* getPID();
+
+  /**
+  * returns the current OUT value of the PID - the value that the PID would set the motors to
+  */
+  double getPIDValue();
+
+  /**
+  * returns the current OUT value of the PID - the value that the PID would set the motors to
+  */
+  double getFeedforwardValue();
+  
+  /**
+  * get the gain used for TBH control
+  */
+  double getTBHGain();
+  
+  /**
+  * Sets the value of the PID target
+  * @param value - desired value of the PID
+  */
+  void setPIDTarget(double value);
+
+/**
+* updates the value of the PID
+* @param value - value to update the PID with
+*/
+  void updatePID(double value);
+
+  // SPINNERS AND STOPPERS
+
+  /** 
+  * Spin motors using voltage; defaults forward at 12 volts
+  * FOR USE BY TASKS ONLY
+  * @param speed - speed (between -1 and 1) to set the motor
+  * @param dir - direction that the motor moves in; defaults to forward
+  */
+  void spin_raw(double speed, directionType dir=fwd);
+  
+  /**
+  * Spin motors using voltage; defaults forward at 12 volts
+  * FOR USE BY OPCONTROL AND AUTONOMOUS - this only applies if the RPM thread is not running
+  */
+  void spin_manual(double speed, directionType dir=fwd);
+  
+  /**
+  * starts or sets the RPM thread at new value
+  * what control scheme is dependent on control_style
+  * @param inputRPM - set the current RPM
+  */
+  void spinRPM(int rpm);
+
+  /**
+  * stop the RPM thread and the wheel
+  */
+  void stop();
+
+  
+  /**
+  * stop only the motors; exclusively for BANG BANG use
+  */
+  void stopMotors();
+
+  /**
+  * Stop the motors if the task isn't running - stop manual control
+  */
+  void stopNonTasks();
+
+  private:
+
+  motor_group &motors;                // motors that make up the flywheel
+  bool taskRunning = false;           // is the task (thread but not) currently running?
+  PID pid;                            // PID on the flywheel
+  FeedForward ff;                     // FF constants for the flywheel
+  double TBH_gain;                    // TBH gain parameter for the flywheel
+  double ratio;                       // multiplies the velocity by this value
+  std::atomic<double> RPM;            // Desired RPM of the flywheel. 
+  task rpmTask;                       // task (thread but not) that handles spinning the wheel at a given RPM
+  FlywheelControlStyle control_style; // how the flywheel should be controlled
+
+};
\ No newline at end of file
diff --git a/src/subsystems/flywheel.cpp b/src/subsystems/flywheel.cpp
new file mode 100644
index 0000000..0f1a154
--- /dev/null
+++ b/src/subsystems/flywheel.cpp
@@ -0,0 +1,289 @@
+/*********************************************************
+*
+*     File:     Flywheel.cpp
+*     Purpose:  Generalized flywheel class for Core.
+*     Author:   Chris Nokes
+*     
+**********************************************************
+* EDIT HISTORY
+**********************************************************
+* 09/16/2022  <CRN> Created file, added constructor, spins, RPM setting, stop.
+* 09/18/2022  <CRN> Added async functionality.
+* 09/22/2022  <CRN> Documentation improvements, fixed error if RPM is set but motor is stopped.
+* 09/23/2022  <CRN> Neatened up program, added getters and setters, fixed documentation and bang bang.
+* 09/29/2022  <CRN> Bug fixes, RPM handling. Multiplied the motor by 18.
+*********************************************************/
+
+#include "../core/include/subsystems/flywheel.h"
+#include "../core/include/utils/feedforward.h"
+#include "../core/include/utils/pid.h"
+#include "../core/include/utils/math_util.h"
+#include "vex.h"
+
+using namespace vex;
+
+/*********************************************************
+*         CONSTRUCTOR, GETTERS, SETTERS
+*********************************************************/
+//used when using bang bang or TBH control
+PID::pid_config_t empty_pid = PID::pid_config_t{};
+FeedForward::ff_config_t empty_ff = FeedForward::ff_config_t{};
+
+/**
+* Create the Flywheel object using PID + feedforward for control.
+* @param motors     - pointer to the motors on the fly wheel
+* @param pid_config - pointer the pid config
+* @param ff         - pointer to the feedforward config
+* @param ratio      - ratio of the whatever just multiplies the velocity
+*/
+Flywheel::Flywheel(motor_group &motors, PID::pid_config_t &pid_config, FeedForward::ff_config_t &ff_config, const double ratio)
+    :motors(motors), pid(pid_config), ff(ff_config), ratio(ratio), control_style(PID_Feedforward) { }
+
+/**
+* Create the Flywheel object using only feedforward for control
+* @param motors - pointer to the motors on the fly wheel
+* @param ff     - pointer to the feedforward config
+* @param ratio  - ratio of the whatever just multiplies the velocity
+*/
+Flywheel::Flywheel(motor_group &motors, FeedForward::ff_config_t &ff_config, const double ratio)
+    :motors(motors), pid(empty_pid), ff(ff_config), ratio(ratio), control_style(Feedforward) {}
+
+/**
+* Create the Flywheel object using Take Back Half for control
+* @param motors   - pointer to the motors on the fly wheel
+* @param TBH_gain - the TBH control paramater
+* @param ratio    - ratio of the whatever just multiplies the velocity
+*/
+Flywheel::Flywheel(motor_group &motors, const double TBH_gain, const double ratio)
+    :motors(motors), pid(empty_pid), ff(empty_ff), TBH_gain(TBH_gain), ratio(ratio), control_style(Take_Back_Half) {}
+
+/**
+* Create the Flywheel object using Bang Bang for control
+* @param motors - pointer to the motors on the fly wheel
+* @param ratio  - ratio of the whatever just multiplies the velocity
+*/
+Flywheel::Flywheel(motor_group &motors, const double ratio)
+    :motors(motors), pid(empty_pid), ff(empty_ff), ratio(ratio), control_style(Bang_Bang) {}
+
+/**
+* Return the current value that the RPM should be set to
+* @return RPM = the target rpm
+*/
+double Flywheel::getDesiredRPM() { return RPM; }
+
+/**
+* Checks if the background RPM controlling task is running
+* @return taskRunning - If the task is running
+*/
+bool Flywheel::isTaskRunning() { return taskRunning; }
+
+/**
+* Returns a POINTER TO the motors; not currently used.
+*/
+motor_group* Flywheel::getMotors() { return &motors; } // TODO -- Remove?
+
+/**
+* return the current velocity of the flywheel motors, in RPM
+*/
+double Flywheel::getRPM() { return ratio * motors.velocity(velocityUnits::rpm); }
+
+/**
+* Returns a POINTER TO the PID; not currently used.
+*/
+PID* Flywheel::getPID() { return &pid; } // TODO -- Remove?
+
+/**
+* returns the current OUT value of the PID - the value that the PID would set the motors to
+*/
+double Flywheel::getPIDValue() { return pid.get(); }
+
+/**
+* returns the current OUT value of the Feedforward - the value that the Feedforward would set the motors to
+*/
+double Flywheel::getFeedforwardValue() { 
+  double v = getDesiredRPM();
+  return ff.calculate(v, 0); 
+}
+
+/**
+* get the gain used for TBH control
+*/
+double Flywheel::getTBHGain(){
+  return TBH_gain;
+}
+
+/**
+* Sets the value of the PID target
+* @param value - desired value of the PID
+*/
+void Flywheel::setPIDTarget(double value) { pid.set_target(value); }
+
+/**
+* updates the value of the PID
+* @param value - value to update the PID with
+*/
+void Flywheel::updatePID(double value) { pid.update(value); }
+
+/*********************************************************
+*         RPM SETTING THREADS
+* ALL OF THE FOLLOWING PROGRAMS HAVE THE SAME PARAMETERS AND RESULTS:
+* spin this flywheel at a given RPM, async; runs until stop(), stopThread(), or a new spinRPM() is called. 
+* @param wheelPointer - points to the current wheel object
+*********************************************************/
+
+/**
+* Runs a Feedforward variant to control rpm
+*/
+int spinRPMTask_BangBang(void* wheelPointer) {
+  Flywheel* wheel = (Flywheel*) wheelPointer; 
+  while(true) {
+    // if it below the RPM, go, otherwise don't
+    if(wheel->getRPM() < wheel->getDesiredRPM()) { 
+      wheel->spin_raw(1, fwd);
+    }   
+    else { wheel->stopMotors(); }
+    vexDelay(1);
+  }
+  return 0;
+}
+
+/**
+* Runs a Feedforward variant to control rpm
+*/
+int spinRPMTask_Feedforward(void* wheelPointer) { 
+  Flywheel* wheel = (Flywheel*) wheelPointer;
+  // get the pid from the wheel and set its target to the RPM stored in the wheel.
+  while(true) {
+    wheel->updatePID(wheel->getRPM());   // check the current velocity and update the PID with it.
+    double output = wheel->getFeedforwardValue();
+    wheel->spin_raw(output, fwd);   // set the motors to whatever feedforward tells them to do
+    vexDelay(1);
+  }
+  return 0; 
+}
+/**
+* Runs a PID + Feedforward variant to control rpm
+*/
+int spinRPMTask_PID_Feedforward(void* wheelPointer) {
+  Flywheel* wheel = (Flywheel*) wheelPointer;
+  // get the pid from the wheel and set its target to the RPM stored in the wheel.
+  while(true) {
+    wheel->updatePID(wheel->getRPM());   // check the current velocity and update the PID with it.
+    double output = wheel->getPIDValue() + wheel->getFeedforwardValue();
+    wheel->spin_raw(output, fwd);   // set the motors to whatever PID tells them to do
+    vexDelay(1);
+  }
+  return 0; 
+}
+
+/**
+* Runs a Take Back Half variant to control RPM
+* https://www.vexwiki.org/programming/controls_algorithms/tbh
+*/
+int spinRPMTask_TBH(void* wheelPointer) {
+  Flywheel* wheel = (Flywheel*) wheelPointer;
+
+  double tbh = 0.0;
+  double output = 0.0;
+  double previous_error = 0.0;
+
+  while (true){
+    //reset if set to 0, this keeps the tbh val from screwing us up when we start up again
+    if (wheel->getDesiredRPM()==0){
+      output = 0;
+      tbh = 0;
+    }
+   
+    double error = wheel->getDesiredRPM() - wheel->getRPM();
+    output += wheel->getTBHGain() * error;
+    wheel->spin_raw(clamp(output, 0, 1), fwd);
+
+    if (sign(error)!=sign(previous_error)){
+      output = .5 * (output + tbh);
+      tbh = output;
+      previous_error = error;
+    }
+
+    vexDelay(1);
+  }
+  
+   return 0; 
+}
+
+// Runs a 'Moving average filter with above closed loop systems' variant, whatever that means; FUNCTION STUB
+int spinRPMTask_ClosedLoop(void* wheelPointer) { return 0; }
+
+/*********************************************************
+*         SPINNERS AND STOPPERS
+*********************************************************/
+
+/** 
+* Spin motors using voltage; defaults forward at 12 volts
+* FOR USE BY TASKS ONLY
+* @param speed - speed (between -1 and 1) to set the motor
+* @param dir - direction that the motor moves in; defaults to forward
+*/
+void Flywheel::spin_raw(double speed, directionType dir){
+  motors.spin(dir, speed * 12, voltageUnits::volt);
+}
+
+/**
+* Spin motors using voltage; defaults forward at 12 volts
+* FOR USE BY OPCONTROL AND AUTONOMOUS - this only applies if the RPM thread is not running
+*/
+void Flywheel::spin_manual(double speed, directionType dir){
+  if(!taskRunning) motors.spin(dir, speed * 12, voltageUnits::volt);
+}
+
+/**
+* starts or sets the RPM thread at new value
+* what control scheme is dependent on control_style
+* @param inputRPM - set the current RPM
+*/
+void Flywheel::spinRPM(int inputRPM) {
+  // only run if the RPM is different or it isn't already running
+  if(!taskRunning) {
+
+    int (*rpm_control_task)(void *);  // this just means a function that returns int and takes a void pointer as an argument aka a spinRPMTask function
+    // choose which version to use based on how  the flywheel was constructed
+    switch(control_style){
+      case Bang_Bang:
+        rpm_control_task = spinRPMTask_BangBang;
+        break;
+      case Take_Back_Half:
+        rpm_control_task = spinRPMTask_TBH;
+        break;
+      case Feedforward:
+        rpm_control_task = spinRPMTask_Feedforward;
+        break;
+      case PID_Feedforward:
+        rpm_control_task = spinRPMTask_PID_Feedforward;
+        break;
+    }
+
+
+    rpmTask = task(rpm_control_task, this);
+    taskRunning = true;
+  }
+  RPM = inputRPM;
+  setPIDTarget(RPM);
+}
+
+/**
+* stop the RPM thread and the wheel
+*/
+void Flywheel::stop() {
+  rpmTask.stop();
+  taskRunning = false;
+  motors.stop();
+}
+
+/**
+* stop only the motors; exclusively for BANG BANG use
+*/
+void Flywheel::stopMotors() { motors.stop(); }
+
+/**
+* Stop the motors if the task isn't running - stop manual control
+*/
+void Flywheel::stopNonTasks() { if(!taskRunning) { motors.stop(); }}
\ No newline at end of file

From 603802efa01069b0dbdde175ff38d006ac4f771c Mon Sep 17 00:00:00 2001
From: Dana <dec1701@rit.edu>
Date: Thu, 20 Oct 2022 21:29:30 -0400
Subject: [PATCH 109/243] added more drive functions

---
 .../utils/command_structure/drive_commands.h  | 66 ++++++++++++++++++-
 .../command_structure/drive_commands.cpp      | 51 +++++++++++++-
 2 files changed, 115 insertions(+), 2 deletions(-)

diff --git a/include/utils/command_structure/drive_commands.h b/include/utils/command_structure/drive_commands.h
index 52ec404..dd6df45 100644
--- a/include/utils/command_structure/drive_commands.h
+++ b/include/utils/command_structure/drive_commands.h
@@ -64,4 +64,68 @@ class TurnDegreesCommand: public AutoCommand {
     // parameters for turn_degrees
     double degrees;
     double percent_speed;
-};
\ No newline at end of file
+};
+
+/**
+ * AutoCommand wrapper class for the drive_to_point function in the
+ * TankDrive class
+ */
+class DriveToPointCommand: public AutoCommand {
+  public:
+    DriveToPointCommand(TankDrive &drive_sys, double x, double y, double speed, double correction_speed, directionType dir=directionType::fwd);
+
+    /**
+     * Run drive_to_point
+     * Overrides run from AutoCommand
+     * @returns true when execution is complete, false otherwise
+     */
+    bool run() override;
+
+  private:
+    // drive system to run the function on
+    TankDrive &drive_sys;
+
+    // parameters for drive_to_point
+    double x;
+    double y;
+    double speed;
+    double correction_speed;
+    directionType dir;
+};
+
+
+class TurnToHeadingCommand: public AutoCommand {
+  public:
+    TurnToHeadingCommand(TankDrive &drive_sys, double heading_deg, double speed);
+
+    /**
+     * Run turn_to_heading
+     * Overrides run from AutoCommand
+     * @returns true when execution is complete, false otherwise
+     */
+    bool run() override;
+
+  private:
+    // drive system to run the function on
+    TankDrive &drive_sys;
+
+    // parameters for turn_to_heading
+    double heading_deg;
+    double speed;
+};
+
+class DriveStopCommand: public AutoCommand {
+  public:
+    DriveStopCommand(TankDrive &drive_sys);
+
+    /**
+     * Stop the drive system
+     * Overrides run from AutoCommand
+     * @returns true when execution is complete, false otherwise
+     */
+    bool run() override;
+
+  private:
+    // drive system to run the function on
+    TankDrive &drive_sys;
+};
diff --git a/src/utils/command_structure/drive_commands.cpp b/src/utils/command_structure/drive_commands.cpp
index 597f586..cca5244 100644
--- a/src/utils/command_structure/drive_commands.cpp
+++ b/src/utils/command_structure/drive_commands.cpp
@@ -1,11 +1,14 @@
 /**
  * File: drive_commands.h
  * Desc:
- *    Holds all the AutoCommand subclasses that wrap TankDrive functions
+ *    Holds all the AutoCommand subclasses that wrap (currently) TankDrive functions
  *    
  *    Currently includes:
  *      - drive_forward
  *      - turn_degrees
+ *      - drive_to_point
+ *      - turn_to_heading
+ *      - stop
  */
 
 #include "../core/include/utils/command_structure/drive_commands.h"
@@ -39,3 +42,49 @@ TurnDegreesCommand::TurnDegreesCommand(TankDrive &drive_sys, double degrees, dou
 bool TurnDegreesCommand::run() {
   return drive_sys.turn_degrees(degrees, percent_speed);
 }
+
+
+// ==== DRIVE TO POINT ====
+
+DriveToPointCommand::DriveToPointCommand(TankDrive &drive_sys, double x, double y, double speed, double correction_speed, directionType dir):
+  drive_sys(drive_sys), x(x), y(y), speed(speed), correction_speed(correction_speed), dir(dir) {}
+
+/**
+ * Run drive_to_point
+ * Overrides run from AutoCommand
+ * @returns true when execution is complete, false otherwise
+ */
+bool DriveToPointCommand::run() {
+  return drive_sys.drive_to_point(x, y, speed, correction_speed);
+}
+
+
+// ==== TURN TO HEADING ====
+
+TurnToHeadingCommand::TurnToHeadingCommand(TankDrive &drive_sys, double heading_deg, double speed):
+  drive_sys(drive_sys), heading_deg(heading_deg), speed(speed) {}
+
+/**
+ * Run turn_to_heading
+ * Overrides run from AutoCommand
+ * @returns true when execution is complete, false otherwise
+ */
+bool TurnToHeadingCommand::run() {
+  return drive_sys.turn_to_heading(heading_deg, speed);
+}
+
+
+// ==== STOP ====
+
+DriveStopCommand::DriveStopCommand(TankDrive &drive_sys):
+  drive_sys(drive_sys) {}
+
+/**
+ * Stop the drive train
+ * Overrides run from AutoCommand
+ * @returns true when execution is complete, false otherwise
+ */
+bool DriveStopCommand::run() {
+  drive_sys.stop();
+  return true;
+}

From 294135fd71ef4a872d03352c93b663840ba880e8 Mon Sep 17 00:00:00 2001
From: Dana <dec1701@rit.edu>
Date: Sun, 23 Oct 2022 14:53:02 -0400
Subject: [PATCH 110/243] odom set_position

---
 .../utils/command_structure/drive_commands.h  | 33 ++++++++++++++++++-
 .../command_structure/drive_commands.cpp      | 25 +++++++++++---
 2 files changed, 52 insertions(+), 6 deletions(-)

diff --git a/include/utils/command_structure/drive_commands.h b/include/utils/command_structure/drive_commands.h
index dd6df45..0bb5e7e 100644
--- a/include/utils/command_structure/drive_commands.h
+++ b/include/utils/command_structure/drive_commands.h
@@ -1,11 +1,19 @@
 /**
  * File: drive_commands.h
  * Desc:
- *    Holds all the AutoCommand subclasses that wrap TankDrive functions
+ *    Holds all the AutoCommand subclasses that wrap (currently) TankDrive functions
  *    
  *    Currently includes:
  *      - drive_forward
  *      - turn_degrees
+ *      - drive_to_point
+ *      - turn_to_heading
+ *      - stop
+ *
+ *    Also holds AutoCommand subclasses that wrap OdometryBase functions
+ *
+ *    Currently includes:
+ *      - set_position
  */
 
 #pragma once
@@ -16,6 +24,9 @@
 
 using namespace vex;
 
+
+// ==== DRIVING ====
+
 /**
  * AutoCommand wrapper class for the drive_forward function in the 
  * TankDrive class
@@ -129,3 +140,23 @@ class DriveStopCommand: public AutoCommand {
     // drive system to run the function on
     TankDrive &drive_sys;
 };
+
+
+// ==== ODOMETRY ====
+
+class OdomSetPosition: public AutoCommand {
+  public:
+    OdomSetPosition(OdometryBase &odom, const position_t &newpos=OdometryBase::zero_pos);
+
+    /**
+     * Run set_position
+     * Overrides run from AutoCommand
+     * @returns true when execution is complete, false otherwise
+     */
+    bool run() override;
+
+  private:
+    // drive system with an odometry config
+    OdometryBase &odom;
+    position_t newpos;
+};
diff --git a/src/utils/command_structure/drive_commands.cpp b/src/utils/command_structure/drive_commands.cpp
index cca5244..0acd4e2 100644
--- a/src/utils/command_structure/drive_commands.cpp
+++ b/src/utils/command_structure/drive_commands.cpp
@@ -9,12 +9,19 @@
  *      - drive_to_point
  *      - turn_to_heading
  *      - stop
+ *
+ *    Also holds AutoCommand subclasses that wrap OdometryBase functions
+ *
+ *    Currently includes:
+ *      - set_position
  */
 
 #include "../core/include/utils/command_structure/drive_commands.h"
 
 
-// ==== DRIVE FORWARD ====
+// ==== DRIVING ====
+
+// Drive Forward
 
 DriveForwardCommand::DriveForwardCommand(TankDrive &drive_sys, double inches, double speed, double correction, directionType dir):
   drive_sys(drive_sys), inches(inches), speed(speed), correction(correction), dir(dir) {}
@@ -29,7 +36,7 @@ bool DriveForwardCommand::run() {
 }
 
 
-// ==== TURN DEGREES ====
+// Turn Degrees
 
 TurnDegreesCommand::TurnDegreesCommand(TankDrive &drive_sys, double degrees, double percent_speed):
   drive_sys(drive_sys), degrees(degrees), percent_speed(percent_speed) {}
@@ -44,7 +51,7 @@ bool TurnDegreesCommand::run() {
 }
 
 
-// ==== DRIVE TO POINT ====
+// Drive to Point
 
 DriveToPointCommand::DriveToPointCommand(TankDrive &drive_sys, double x, double y, double speed, double correction_speed, directionType dir):
   drive_sys(drive_sys), x(x), y(y), speed(speed), correction_speed(correction_speed), dir(dir) {}
@@ -59,7 +66,7 @@ bool DriveToPointCommand::run() {
 }
 
 
-// ==== TURN TO HEADING ====
+// Turn to Heading
 
 TurnToHeadingCommand::TurnToHeadingCommand(TankDrive &drive_sys, double heading_deg, double speed):
   drive_sys(drive_sys), heading_deg(heading_deg), speed(speed) {}
@@ -74,7 +81,7 @@ bool TurnToHeadingCommand::run() {
 }
 
 
-// ==== STOP ====
+// Stop
 
 DriveStopCommand::DriveStopCommand(TankDrive &drive_sys):
   drive_sys(drive_sys) {}
@@ -88,3 +95,11 @@ bool DriveStopCommand::run() {
   drive_sys.stop();
   return true;
 }
+
+
+// ==== ODOMETRY ====
+
+bool OdomSetPosition::run() {
+  odom.set_position(newpos);
+  return true;
+}

From 7a525038a844caef44c4635ab85b6bc58904f567 Mon Sep 17 00:00:00 2001
From: Dana <dec1701@rit.edu>
Date: Fri, 11 Nov 2022 23:17:09 -0500
Subject: [PATCH 111/243] flywheel commands

---
 .../command_structure/flywheel_commands.h     | 112 ++++++++++++++++++
 .../command_structure/flywheel_commands.cpp   |  60 ++++++++++
 2 files changed, 172 insertions(+)
 create mode 100644 include/utils/command_structure/flywheel_commands.h
 create mode 100644 src/utils/command_structure/flywheel_commands.cpp

diff --git a/include/utils/command_structure/flywheel_commands.h b/include/utils/command_structure/flywheel_commands.h
new file mode 100644
index 0000000..62759af
--- /dev/null
+++ b/include/utils/command_structure/flywheel_commands.h
@@ -0,0 +1,112 @@
+/**
+ * File: flywheel_commands.h
+ * Desc:
+ *    [insert meaningful desc]
+ */
+
+#pragma once
+
+#include "../core/include/subsystems/flywheel.h"
+#include "../core/include/utils/command_structure/auto_command.h"
+
+class SpinRawCommand: public AutoCommand {
+  public:
+    SpinRawCommand(Flywheel &flywheel, double speed, directionType dir=fwd);
+
+    /**
+     * Run spin_raw
+     * Overrides run from AutoCommand
+     * @returns true when execution is complete, false otherwise
+     */
+    bool run() override;
+
+  private:
+    // Flywheel instance to run the function on
+    Flywheel &flywheel;
+
+    // parameters for spin_raw
+    double speed;
+    directionType dir;
+};
+
+class SpinManualCommand: public AutoCommand {
+  SpinManualCommand(Flywheel &flywheel, double speed, directionType dir=fwd);
+
+    /**
+     * Run spin_manual
+     * Overrides run from AutoCommand
+     * @returns true when execution is complete, false otherwise
+     */
+    bool run() override;
+
+  private:
+    // Flywheel instance to run the function on
+    Flywheel &flywheel;
+
+    // parameters for spin_manual
+    double speed;
+    directionType dir;
+};
+
+class SpinRPMCommand: AutoCommand {
+  SpinRPMCommand(Flywheel &flywheel, int rpm);
+
+    /**
+     * Run spin_manual
+     * Overrides run from AutoCommand
+     * @returns true when execution is complete, false otherwise
+     */
+    bool run() override;
+
+  private:
+    // Flywheel instance to run the function on
+    Flywheel &flywheel;
+
+    // parameters for spinRPM
+    int rpm;
+};
+
+class FlywheelStopCommand: public AutoCommand {
+  FlywheelStopCommand(Flywheel &flywheel);
+
+    /**
+     * Run stop
+     * Overrides run from AutoCommand
+     * @returns true when execution is complete, false otherwise
+     */
+    bool run() override;
+
+  private:
+    // Flywheel instance to run the function on
+    Flywheel &flywheel;
+};
+
+class FlywheelStopMotorsCommand: public AutoCommand {
+  FlywheelStopMotorsCommand(Flywheel &flywheel);
+
+    /**
+     * Run stop
+     * Overrides run from AutoCommand
+     * @returns true when execution is complete, false otherwise
+     */
+    bool run() override;
+
+  private:
+    // Flywheel instance to run the function on
+    Flywheel &flywheel;
+};
+
+class FlywheelStopNonTasksCommand: public AutoCommand {
+  FlywheelStopNonTasksCommand(Flywheel &flywheel);
+
+    /**
+     * Run stop
+     * Overrides run from AutoCommand
+     * @returns true when execution is complete, false otherwise
+     */
+    bool run() override;
+
+  private:
+    // Flywheel instance to run the function on
+    Flywheel &flywheel;
+};
diff --git a/src/utils/command_structure/flywheel_commands.cpp b/src/utils/command_structure/flywheel_commands.cpp
new file mode 100644
index 0000000..37609ee
--- /dev/null
+++ b/src/utils/command_structure/flywheel_commands.cpp
@@ -0,0 +1,60 @@
+/**
+ * File: flywheel_commands.cpp
+ * Desc:
+ *    [insert meaningful desc]
+ */
+
+#include "../core/include/utils/command_structure/flywheel_commands.h"
+
+SpinRawCommand::SpinRawCommand(Flywheel &flywheel, double speed, directionType dir):
+  flywheel(flywheel), speed(speed), dir(dir) {}
+
+bool SpinRawCommand::run() {
+  flywheel.spin_raw(speed, dir);
+  return true;
+}
+
+
+SpinManualCommand::SpinManualCommand(Flywheel &flywheel, double speed, directionType dir):
+  flywheel(flywheel), speed(speed), dir(dir) {}
+
+bool SpinManualCommand::run() {
+  flywheel.spin_manual(speed, dir);
+  return true;
+}
+
+
+SpinRPMCommand::SpinRPMCommand(Flywheel &flywheel, int rpm):
+  flywheel(flywheel), rpm(rpm) {}
+
+bool SpinRPMCommand::run() {
+  flywheel.spinRPM(rpm);
+  return true;
+}
+
+
+FlywheelStopCommand::FlywheelStopCommand(Flywheel &flywheel):
+  flywheel(flywheel) {}
+
+bool FlywheelStopCommand::run() {
+  flywheel.stop();
+  return true;
+}
+
+
+FlywheelStopMotorsCommand::FlywheelStopMotorsCommand(Flywheel &flywheel):
+  flywheel(flywheel) {}
+
+bool FlywheelStopMotorsCommand::run() {
+  flywheel.stopMotors();
+  return true;
+}
+
+
+FlywheelStopNonTasksCommand::FlywheelStopNonTasksCommand(Flywheel &flywheel):
+  flywheel(flywheel) {}
+
+bool FlywheelStopNonTasksCommand::run() {
+  flywheel.stopNonTasks();
+  return true;
+}

From 14333c8f7df2a22d4a744c4bde74d296cbf02ce2 Mon Sep 17 00:00:00 2001
From: Dana <dec1701@rit.edu>
Date: Fri, 11 Nov 2022 23:36:21 -0500
Subject: [PATCH 112/243] removed internal and manual spin commands

---
 .../command_structure/flywheel_commands.h     | 39 -------------------
 .../command_structure/flywheel_commands.cpp   | 17 --------
 2 files changed, 56 deletions(-)

diff --git a/include/utils/command_structure/flywheel_commands.h b/include/utils/command_structure/flywheel_commands.h
index 62759af..8af93f3 100644
--- a/include/utils/command_structure/flywheel_commands.h
+++ b/include/utils/command_structure/flywheel_commands.h
@@ -9,45 +9,6 @@
 #include "../core/include/subsystems/flywheel.h"
 #include "../core/include/utils/command_structure/auto_command.h"
 
-class SpinRawCommand: public AutoCommand {
-  public:
-    SpinRawCommand(Flywheel &flywheel, double speed, directionType dir=fwd);
-
-    /**
-     * Run spin_raw
-     * Overrides run from AutoCommand
-     * @returns true when execution is complete, false otherwise
-     */
-    bool run() override;
-
-  private:
-    // Flywheel instance to run the function on
-    Flywheel &flywheel;
-
-    // parameters for spin_raw
-    double speed;
-    directionType dir;
-};
-
-class SpinManualCommand: public AutoCommand {
-  SpinManualCommand(Flywheel &flywheel, double speed, directionType dir=fwd);
-
-    /**
-     * Run spin_manual
-     * Overrides run from AutoCommand
-     * @returns true when execution is complete, false otherwise
-     */
-    bool run() override;
-
-  private:
-    // Flywheel instance to run the function on
-    Flywheel &flywheel;
-
-    // parameters for spin_manual
-    double speed;
-    directionType dir;
-};
-
 class SpinRPMCommand: AutoCommand {
   SpinRPMCommand(Flywheel &flywheel, int rpm);
 
diff --git a/src/utils/command_structure/flywheel_commands.cpp b/src/utils/command_structure/flywheel_commands.cpp
index 37609ee..29a0b98 100644
--- a/src/utils/command_structure/flywheel_commands.cpp
+++ b/src/utils/command_structure/flywheel_commands.cpp
@@ -6,23 +6,6 @@
 
 #include "../core/include/utils/command_structure/flywheel_commands.h"
 
-SpinRawCommand::SpinRawCommand(Flywheel &flywheel, double speed, directionType dir):
-  flywheel(flywheel), speed(speed), dir(dir) {}
-
-bool SpinRawCommand::run() {
-  flywheel.spin_raw(speed, dir);
-  return true;
-}
-
-
-SpinManualCommand::SpinManualCommand(Flywheel &flywheel, double speed, directionType dir):
-  flywheel(flywheel), speed(speed), dir(dir) {}
-
-bool SpinManualCommand::run() {
-  flywheel.spin_manual(speed, dir);
-  return true;
-}
-
 
 SpinRPMCommand::SpinRPMCommand(Flywheel &flywheel, int rpm):
   flywheel(flywheel), rpm(rpm) {}

From 8d9e839a93c5b436d32726b1a08f66582a781971 Mon Sep 17 00:00:00 2001
From: Ryan McGee <ramtech51@comcast.net>
Date: Thu, 19 Jan 2023 22:00:08 -0500
Subject: [PATCH 113/243] Merge main into ACS

---
 include/robot_specs.h                         |   8 +-
 include/subsystems/odometry/odometry_tank.h   |   3 +
 include/subsystems/tank_drive.h               | 102 +++++++--
 .../utils/command_structure/drive_commands.h  |  17 +-
 include/utils/feedback_base.h                 |  48 ++++
 include/utils/math_util.h                     |  36 ++-
 include/utils/motion_controller.h             | 117 ++++++++++
 include/utils/moving_average.h                |  59 +++++
 include/utils/pid.h                           |  64 ++++--
 include/utils/trapezoid_profile.h             |  65 ++++++
 src/subsystems/odometry/odometry_tank.cpp     |  56 ++++-
 src/subsystems/tank_drive.cpp                 | 213 ++++++++++++------
 .../command_structure/drive_commands.cpp      |  24 +-
 src/utils/math_util.cpp                       |  71 +++++-
 src/utils/motion_controller.cpp               | 177 +++++++++++++++
 src/utils/moving_average.cpp                  |  82 +++++++
 src/utils/pid.cpp                             |  59 ++---
 src/utils/trapezoid_profile.cpp               | 122 ++++++++++
 18 files changed, 1145 insertions(+), 178 deletions(-)
 create mode 100644 include/utils/feedback_base.h
 create mode 100644 include/utils/motion_controller.h
 create mode 100644 include/utils/moving_average.h
 create mode 100644 include/utils/trapezoid_profile.h
 create mode 100644 src/utils/motion_controller.cpp
 create mode 100644 src/utils/moving_average.cpp
 create mode 100644 src/utils/trapezoid_profile.cpp

diff --git a/include/robot_specs.h b/include/robot_specs.h
index 95dae0a..3559dfa 100644
--- a/include/robot_specs.h
+++ b/include/robot_specs.h
@@ -7,8 +7,8 @@
  * that require info about the robot.
  * All distance measurements are in inches.
  */
-typedef struct 
-{
+typedef struct
+{  
   double robot_radius;
 
   double odom_wheel_diam;
@@ -17,8 +17,8 @@ typedef struct
 
   double drive_correction_cutoff;
 
-  PID::pid_config_t drive_pid;
-  PID::pid_config_t turn_pid;
+  Feedback *drive_feedback;
+  Feedback *turn_feedback;
   PID::pid_config_t correction_pid;
 
 } robot_specs_t;
\ No newline at end of file
diff --git a/include/subsystems/odometry/odometry_tank.h b/include/subsystems/odometry/odometry_tank.h
index e417efb..f418b4a 100644
--- a/include/subsystems/odometry/odometry_tank.h
+++ b/include/subsystems/odometry/odometry_tank.h
@@ -37,6 +37,7 @@ class OdometryTank : public OdometryBase
     void set_position(const position_t &newpos=zero_pos) override;
 
     double get_speed();
+    double get_accel();
 
 private:
     /**
@@ -49,6 +50,8 @@ class OdometryTank : public OdometryBase
     vex::inertial *imu;
     robot_specs_t &config;
 
+    double speed, accel;
+
     double rotation_offset = 0;
     
 };
\ No newline at end of file
diff --git a/include/subsystems/tank_drive.h b/include/subsystems/tank_drive.h
index aebd086..9fdbff2 100644
--- a/include/subsystems/tank_drive.h
+++ b/include/subsystems/tank_drive.h
@@ -5,11 +5,13 @@
 #endif
 
 #include "vex.h"
-#include "../core/include/utils/pid.h"
 #include "../core/include/subsystems/odometry/odometry_tank.h"
+#include "../core/include/utils/pid.h"
+#include "../core/include/utils/feedback_base.h"
 #include "../core/include/robot_specs.h"
-#include <vector>
 #include "../core/src/utils/pure_pursuit.cpp"
+#include <vector>
+
 
 using namespace vex;
 
@@ -44,35 +46,95 @@ class TankDrive
   void drive_arcade(double forward_back, double left_right, int power=1);
 
   /**
-   * Autonomously drive forward or backwards, X inches infront or behind the robot's current position.
-   * This driving method is relative, so excessive use may cause the robot to get off course!
+   * Use odometry to automatically drive the robot to a point on the field.
+   * X and Y is the final point we want the robot.
    *
-   * @param inches Distance to drive in a straight line
-   * @param speed How fast the robot should travel, 0 -> 1.0
-   * @param correction How much the robot should correct for being off angle
-   * @param dir Whether the robot is travelling forwards or backwards
+   * Returns whether or not the robot has reached it's destination.
+   * @param x          the x position of the target
+   * @param y          the y position of the target
+   * @param dir        the direction we want to travel forward and backward
+   * @param feedback   the feedback controller we will use to travel. controls the rate at which we accelerate and drive.
+   * @param max_speed  the maximum percentage of robot speed at which the robot will travel. 1 = full power
+   */
+  bool drive_forward(double inches, directionType dir, Feedback &feedback, double max_speed=1);
+  /**
+   * Autonomously turn the robot X degrees to counterclockwise (negative for clockwise), with a maximum motor speed
+   * of percent_speed (-1.0 -> 1.0)
+   * 
+   * Uses the specified feedback for it's control.
+   * 
+   * @param degrees     degrees by which we will turn relative to the robot (+) turns ccw, (-) turns cw
+   * @param feedback    the feedback controller we will use to travel. controls the rate at which we accelerate and drive.
+   * @param max_speed   the maximum percentage of robot speed at which the robot will travel. 1 = full power
    */
-  bool drive_forward(double inches, double speed, double correction, directionType dir);
+
+  bool drive_forward(double inches, directionType dir, double max_speed=1);
 
   /**
    * Autonomously turn the robot X degrees to the right (negative for left), with a maximum motor speed
    * of percent_speed (-1.0 -> 1.0)
    * 
-   * Uses a PID loop for it's control.
+   * Uses PID + Feedforward for it's control.
+   * 
+   * @param degrees     degrees by which we will turn relative to the robot (+) turns ccw, (-) turns cw
+   * @param feedback    the feedback controller we will use to travel. controls the rate at which we accelerate and drive.
+   * @param max_speed   the maximum percentage of robot speed at which the robot will travel. 1 = full power
    */
-  bool turn_degrees(double degrees, double percent_speed);
+  bool turn_degrees(double degrees, Feedback &feedback, double max_speed=1);
+  /**
+   * Autonomously turn the robot X degrees to counterclockwise (negative for clockwise), with a maximum motor speed
+   * of percent_speed (-1.0 -> 1.0)
+   * 
+   * Uses the defualt turning feedback of the drive system.
+   * 
+   * @param degrees     degrees by which we will turn relative to the robot (+) turns ccw, (-) turns cw
+   * @param feedback    the feedback controller we will use to travel. controls the rate at which we accelerate and drive.
+   * @param max_speed   the maximum percentage of robot speed at which the robot will travel. 1 = full power
+   */  bool turn_degrees(double degrees, double max_speed=1);
 
   /**
    * Use odometry to automatically drive the robot to a point on the field.
    * X and Y is the final point we want the robot.
+   *
+   * Returns whether or not the robot has reached it's destination.
+   * @param x          the x position of the target
+   * @param y          the y position of the target
+   * @param dir        the direction we want to travel forward and backward
+   * @param feedback   the feedback controller we will use to travel. controls the rate at which we accelerate and drive.
+   * @param max_speed  the maximum percentage of robot speed at which the robot will travel. 1 = full power
    */
-  bool drive_to_point(double x, double y, double speed, double correction_speed, vex::directionType direction=vex::directionType::fwd);
+  bool drive_to_point(double x, double y, vex::directionType dir, Feedback &feedback, double max_speed=1);
+  
+  /**
+   * Use odometry to automatically drive the robot to a point on the field.
+   * X and Y is the final point we want the robot.
+   * Here we use the default feedback controller from the drive_sys
+   *
+   * Returns whether or not the robot has reached it's destination.
+   * @param x          the x position of the target
+   * @param y          the y position of the target
+   * @param dir        the direction we want to travel forward and backward
+   * @param max_speed  the maximum percentage of robot speed at which the robot will travel. 1 = full power
+   */
+  bool drive_to_point(double x, double y, vex::directionType dir, double max_speed=1);
 
   /**
    * Turn the robot in place to an exact heading relative to the field.
-   * 0 is forward, and 0->360 is clockwise.
+   * 0 is forward.
+   * 
+   * @param heading_deg the heading to which we will turn 
+   * @param feedback    the feedback controller we will use to travel. controls the rate at which we accelerate and drive.
+   * @param max_speed  the maximum percentage of robot speed at which the robot will travel. 1 = full power
    */
-  bool turn_to_heading(double heading_deg, double speed);
+  bool turn_to_heading(double heading_deg, Feedback &feedback, double max_speed=1);
+  /**
+   * Turn the robot in place to an exact heading relative to the field.
+   * 0 is forward. Uses the defualt turn feedback of the drive system 
+   * 
+   * @param heading_deg the heading to which we will turn 
+   * @param max_speed  the maximum percentage of robot speed at which the robot will travel. 1 = full power
+   */
+  bool turn_to_heading(double heading_deg, double max_speed=1);
 
   /**
    * Reset the initialization for autonomous drive functions
@@ -89,24 +151,24 @@ class TankDrive
    * Follow a hermite curve using the pure pursuit algorithm.
    * 
    * @param path The hermite curve for the robot to take. Must have 2 or more points.
+   * @param dir Whether the robot should move forward or backwards
    * @param radius How the pure pursuit radius, in inches, for finding the lookahead point
-   * @param speed Robot's maximum speed throughout the path, between 0 and 1.0
    * @param res The number of points to use along the path; the hermite curve is split up into "res" individual points.
+   * @param feedback The feedback controller to use
+   * @param max_speed Robot's maximum speed throughout the path, between 0 and 1.0
    */
-  bool pure_pursuit(std::vector<PurePursuit::hermite_point> path, double radius, double speed, double res, directionType dir=fwd);
+  bool pure_pursuit(std::vector<PurePursuit::hermite_point> path, directionType dir, double radius, double res, Feedback &feedback, double max_speed=1);
 
 private:
   motor_group &left_motors;
   motor_group &right_motors;
 
-  PID drive_pid;
-  PID turn_pid;
   PID correction_pid;
+  Feedback *drive_default_feedback = NULL;
+  Feedback *turn_default_feedback = NULL;
 
   OdometryTank *odometry;
 
-  position_t saved_pos;
-
   robot_specs_t &config;
 
   bool func_initialized = false;
diff --git a/include/utils/command_structure/drive_commands.h b/include/utils/command_structure/drive_commands.h
index 0bb5e7e..b02925b 100644
--- a/include/utils/command_structure/drive_commands.h
+++ b/include/utils/command_structure/drive_commands.h
@@ -33,7 +33,7 @@ using namespace vex;
  */
 class DriveForwardCommand: public AutoCommand {
   public:
-    DriveForwardCommand(TankDrive &drive_sys, double inches, double speed, double correction, directionType dir);
+    DriveForwardCommand(TankDrive &drive_sys, double inches, directionType dir, double max_speed);
 
     /**
      * Run drive_forward
@@ -48,9 +48,8 @@ class DriveForwardCommand: public AutoCommand {
 
     // parameters for drive_forward
     double inches;
-    double speed;
-    double correction;
     directionType dir;
+    double max_speed;
 };
 
 /**
@@ -59,7 +58,7 @@ class DriveForwardCommand: public AutoCommand {
  */
 class TurnDegreesCommand: public AutoCommand {
   public:
-    TurnDegreesCommand(TankDrive &drive_sys, double degrees, double percent_speed);
+    TurnDegreesCommand(TankDrive &drive_sys, double degrees, double max_speed);
 
     /**
      * Run turn_degrees
@@ -74,7 +73,7 @@ class TurnDegreesCommand: public AutoCommand {
 
     // parameters for turn_degrees
     double degrees;
-    double percent_speed;
+    double max_speed;
 };
 
 /**
@@ -83,7 +82,7 @@ class TurnDegreesCommand: public AutoCommand {
  */
 class DriveToPointCommand: public AutoCommand {
   public:
-    DriveToPointCommand(TankDrive &drive_sys, double x, double y, double speed, double correction_speed, directionType dir=directionType::fwd);
+    DriveToPointCommand(TankDrive &drive_sys, double x, double y, directionType dir, double max_speed);
 
     /**
      * Run drive_to_point
@@ -99,9 +98,9 @@ class DriveToPointCommand: public AutoCommand {
     // parameters for drive_to_point
     double x;
     double y;
-    double speed;
-    double correction_speed;
     directionType dir;
+    double max_speed;
+    
 };
 
 
@@ -122,7 +121,7 @@ class TurnToHeadingCommand: public AutoCommand {
 
     // parameters for turn_to_heading
     double heading_deg;
-    double speed;
+    double max_speed;
 };
 
 class DriveStopCommand: public AutoCommand {
diff --git a/include/utils/feedback_base.h b/include/utils/feedback_base.h
new file mode 100644
index 0000000..3096520
--- /dev/null
+++ b/include/utils/feedback_base.h
@@ -0,0 +1,48 @@
+#pragma once
+
+/**
+ * Interface so that subsystems can easily switch between feedback loops
+ * 
+ * @author Ryan McGee
+ * @date 9/25/2022
+ * 
+ */
+class Feedback 
+{
+    public:
+
+    /**
+     * Initialize the feedback controller for a movement
+     * 
+     * @param start_pt the current sensor value
+     * @param set_pt where the sensor value should be
+     */
+    virtual void init(double start_pt, double set_pt) = 0;
+
+    /**
+     * Iterate the feedback loop once with an updated sensor value
+     * 
+     * @param val value from the sensor
+     * @return feedback loop result
+     */
+    virtual double update(double val) = 0;
+
+    /**
+     * @return the last saved result from the feedback controller
+     */
+    virtual double get() = 0;
+
+    /**
+     * Clamp the upper and lower limits of the output. If both are 0, no limits should be applied.
+     * 
+     * @param lower Upper limit
+     * @param upper Lower limit
+     * @return double 
+     */
+    virtual void set_limits(double lower, double upper) = 0;
+
+    /** 
+     * @return true if the feedback controller has reached it's setpoint
+     */
+    virtual bool is_on_target() = 0;
+};
\ No newline at end of file
diff --git a/include/utils/math_util.h b/include/utils/math_util.h
index a27c5b2..db028bd 100644
--- a/include/utils/math_util.h
+++ b/include/utils/math_util.h
@@ -1,4 +1,5 @@
 #pragma once
+#include <vector>
 
 /**
 * Constrain the input between a minimum and a maximum value
@@ -15,4 +16,37 @@ double clamp(double value, double low, double high);
 * 
 * returns the sign +/-1 of x. 0 if x is 0
 **/
-double sign(double x);
\ No newline at end of file
+double sign(double x);
+
+
+/*
+Calculates the variance of  a set of numbers (needed for linear regression)
+https://en.wikipedia.org/wiki/Variance
+@param values   the values for which the variance is taken
+@param mean     the average of values
+*/
+double variance(std::vector<double> const &values, double mean);
+
+
+/*
+Calculates the average of a vector of doubles
+@param values   the list of values for which the average is taken
+*/
+double mean(std::vector<double> const &values);
+
+/*
+Calculates the covariance of a set of points (needed for linear regression)
+https://en.wikipedia.org/wiki/Covariance
+
+@param points   the points for which the covariance is taken
+@param meanx    the mean value of all x coordinates in points
+@param meany    the mean value of all y coordinates in points
+*/
+double covariance(std::vector<std::pair<double, double>> const &points, double meanx, double meany);
+
+/*
+Calculates the slope and y intercept of the line of best fit for the data
+@param points the points for the data
+*/
+std::pair<double, double> calculate_linear_regression(std::vector<std::pair<double, double>> const &points);
+
diff --git a/include/utils/motion_controller.h b/include/utils/motion_controller.h
new file mode 100644
index 0000000..9dc0cc0
--- /dev/null
+++ b/include/utils/motion_controller.h
@@ -0,0 +1,117 @@
+#pragma once
+#include "../core/include/utils/pid.h"
+#include "../core/include/utils/feedforward.h"
+#include "../core/include/utils/trapezoid_profile.h"
+#include "../core/include/utils/feedback_base.h"
+#include "../core/include/subsystems/tank_drive.h"
+#include "vex.h"
+
+/**
+ * Motion Controller class
+ * 
+ * This class defines a top-level motion profile, which can act as an intermediate between
+ * a subsystem class and the motors themselves
+ *
+ * This takes the constants kS, kV, kA, kP, kI, kD, max_v and acceleration and wraps around 
+ * a feedforward, PID and trapezoid profile. It does so with the following formula:
+ * 
+ * out = feedfoward.calculate(motion_profile.get(time_s)) + pid.get(motion_profile.get(time_s))
+ * 
+ * For PID and Feedforward specific formulae, see pid.h, feedforward.h, and trapezoid_profile.h
+ * 
+ * @author Ryan McGee
+ * @date 7/13/2022
+ */
+class MotionController : public Feedback
+{
+    public:
+
+    typedef struct
+    {
+        double max_v;
+        double accel;
+        PID::pid_config_t pid_cfg;
+        FeedForward::ff_config_t ff_cfg;
+    } m_profile_cfg_t;
+
+    /**
+     * @brief Construct a new Motion Controller object
+     * 
+     * @param max_v Maximum velocity the movement is capable of
+     * @param accel Acceleration / deceleration of the movement
+     * @param pid_cfg Definitions of kP, kI, and kD
+     * @param ff_cfg Definitions of kS, kV, and kA
+     */
+    MotionController(m_profile_cfg_t &config);
+
+    /**
+     * @brief Initialize the motion profile for a new movement
+     * This will also reset the PID and profile timers.
+     * 
+     * @param start_pt Movement starting position
+     * @param end_pt Movement ending posiiton 
+     */
+    void init(double start_pt, double end_pt) override;
+    
+    /**
+     * @brief Update the motion profile with a new sensor value
+     * 
+     * @param sensor_val Value from the sensor
+     * @return The motor input generated from the motion profile 
+     */
+    double update(double sensor_val) override;
+
+    /**
+     * @return the last saved result from the feedback controller
+     */
+    double get() override;
+
+    /**
+     * Clamp the upper and lower limits of the output. If both are 0, no limits should be applied.
+     * 
+     * @param lower Upper limit
+     * @param upper Lower limit
+     * @return double 
+     */
+    void set_limits(double lower, double upper) override;
+
+    /** 
+     * @return Whether or not the movement has finished, and the PID
+     * confirms it is on target
+     */
+    bool is_on_target() override;
+
+    /**
+     * This method attempts to characterize the robot's drivetrain and automatically tune the feedforward.
+     * It does this by first calculating the kS (voltage to overcome static friction) by slowly increasing
+     * the voltage until it moves.
+     * 
+     * Next is kV (voltage to sustain a certain velocity), where the robot will record it's steady-state velocity
+     * at 'pct' speed.
+     * 
+     * Finally, kA (voltage needed to accelerate by a certain rate), where the robot will record the entire movement's
+     * velocity and acceleration, record a plot of [X=(pct-kV*V-kS), Y=(Acceleration)] along the movement,
+     * and since kA*Accel = pct-kV*V-kS, the reciprocal of the linear regression is the kA value.
+     * 
+     * @param drive The tankdrive to operate on
+     * @param odometry The robot's odometry subsystem
+     * @param pct Maximum velocity in percent (0->1.0)
+     * @param duration Amount of time the robot should be moving for the test
+     * @return A tuned feedforward object
+     */
+    static FeedForward::ff_config_t tune_feedforward(TankDrive &drive, OdometryTank &odometry, double pct=0.6, double duration=2);
+
+    private: 
+
+    m_profile_cfg_t config;
+
+    PID pid;
+    FeedForward ff;
+    TrapezoidProfile profile;
+
+    double lower_limit = 0, upper_limit = 0;
+    double out = 0;
+     
+    vex::timer tmr;
+
+};
\ No newline at end of file
diff --git a/include/utils/moving_average.h b/include/utils/moving_average.h
new file mode 100644
index 0000000..093d1cc
--- /dev/null
+++ b/include/utils/moving_average.h
@@ -0,0 +1,59 @@
+#include <vector>
+
+/*
+* MovingAverage
+*
+* A moving average is a way of smoothing out noisy data. For many sensor readings, the noise is roughly symmetric around the actual value. 
+* This means that if you collect enough samples those that are too high are cancelled out by the samples that are too low leaving the real value.
+*
+* The MovingAverage class provides a simple interface to do this smoothing from our noisy sensor values. 
+*
+* WARNING: because we need a lot of samples to get the actual value, the value given by the MovingAverage will 'lag' behind the actual value that the sensor is reading. 
+* Using a MovingAverage is thus a tradeoff between accuracy and lag time (more samples) vs. less accuracy and faster updating (less samples).  
+*
+*/
+
+class MovingAverage {
+  public:
+  /*
+   * Create a moving average calculator with 0 as the default value
+   *
+   * @param buffer_size    The size of the buffer. The number of samples that constitute a valid reading
+   */
+  MovingAverage(int buffer_size);
+  /*
+   * Create a moving average calculator with a specified default value
+   * @param buffer_size    The size of the buffer. The number of samples that constitute a valid reading
+   * @param starting_value The value that the average will be before any data is added
+   */
+  MovingAverage(int buffer_size, double starting_value);
+
+  /*
+  * Add a reading to the buffer
+  * Before:
+  * [ 1 1 2 2 3 3] => 2
+  *   ^
+  * After:
+  * [ 2 1 2 2 3 3] => 2.16
+  *     ^ 
+  * @param n  the sample that will be added to the moving average.
+  */
+  void add_entry(double n);
+
+  /*
+   * Returns the average based off of all the samples collected so far
+   * @return sum(samples)/numsamples
+   */
+  double get_average();
+
+  // How many samples the average is made from
+  int get_size();
+
+
+  private:
+    int buffer_index;               //index of the next value to be overridden
+    std::vector<double> buffer;     //all current data readings we've taken 
+    bool is_ready;                  //if the average is ready to be read (stil can read before this but it will be taken a limited number of samples)
+
+
+};
\ No newline at end of file
diff --git a/include/utils/pid.h b/include/utils/pid.h
index 0636785..a43a272 100644
--- a/include/utils/pid.h
+++ b/include/utils/pid.h
@@ -2,15 +2,30 @@
 
 #include <cmath>
 #include "vex.h"
+#include "../core/include/utils/feedback_base.h"
 
 using namespace vex;
 
-class PID
+/**
+ * PID Class
+ * 
+ * Defines a standard feedback loop using the constants kP, kI, kD, deadband, and on_target_time.
+ * The formula is:
+ * 
+ * out = kP*error + kI*integral(d Error) + kD*(dError/dt)
+ * 
+ * The PID object will determine it is "on target" when the error is within the deadband, for
+ * a duration of on_target_time
+ * 
+ * @author Ryan McGee
+ * @date 4/3/2020
+ */
+class PID : Feedback
 {
 public:
   struct pid_config_t
   {
-    double p, i, d, f, k;
+    double p, i, d;
     double deadband, on_target_time;
   };
 
@@ -19,45 +34,56 @@ class PID
    */
   PID(pid_config_t &config);
 
+  /**
+   * Inherited from Feedback for interoperability.
+   * Update the setpoint and reset integral accumulation
+   * 
+   * start_pt can be safely ignored in this feedback controller
+   */
+  void init(double start_pt, double set_pt) override;
+
   /**
    * Update the PID loop by taking the time difference from last update,
    * and running the PID formula with the new sensor data
    */
-  void update(double sensorVal);
+  double update(double sensorVal) override;
 
   /**
-   * Reset the PID loop by resetting time since 0 and accumulated error.
+   * Gets the current PID out value, from when update() was last run
    */
-  void reset();
+  double get() override;
 
   /**
-   * Gets the current PID out value, from when update() was last run
+   * Set the limits on the PID out. The PID out will "clip" itself to be 
+   * between the limits.
    */
-  double get();
+  void set_limits(double lower, double upper) override;
 
   /**
-   * Get the delta between the current sensor data and the target
+   * Returns true if the loop is within [deadband] for [on_target_time]
+   * seconds
    */
-  double get_error();
+  bool is_on_target() override;
 
-  double get_target();
+  /**
+   * Reset the PID loop by resetting time since 0 and accumulated error.
+   */
+  void reset();
 
   /**
-   * Set the target for the PID loop, where the robot is trying to end up
+   * Get the delta between the current sensor data and the target
    */
-  void set_target(double target);
+  double get_error();
 
   /**
-   * Set the limits on the PID out. The PID out will "clip" itself to be 
-   * between the limits.
+   * Get the PID's target
    */
-  void set_limits(double lower, double upper);
+  double get_target();
 
   /**
-   * Returns true if the loop is within [deadband] for [on_target_time]
-   * seconds
+   * Set the target for the PID loop, where the robot is trying to end up
    */
-  bool is_on_target();
+  void set_target(double target);
 
 private:
   pid_config_t &config;
@@ -70,4 +96,4 @@ class PID
   bool is_checking_on_target = false;
 
   timer pid_timer;
-};
\ No newline at end of file
+};
diff --git a/include/utils/trapezoid_profile.h b/include/utils/trapezoid_profile.h
new file mode 100644
index 0000000..5933853
--- /dev/null
+++ b/include/utils/trapezoid_profile.h
@@ -0,0 +1,65 @@
+#pragma once
+
+typedef struct
+{
+    double pos;
+    double vel;
+    double accel;
+
+} motion_t;
+
+/**
+ * Trapezoid Profile
+ * 
+ * This is a motion profile defined by an acceleration, maximum velocity, start point and end point.
+ * Using this information, a parametric function is generated, with a period of acceleration, constant
+ * velocity, and deceleration. The velocity graph looks like a trapezoid, giving it it's name.
+ * 
+ * If the maximum velocity is set high enough, this will become a S-curve profile, with only acceleration and deceleration.
+ * 
+ * This class is designed for use in properly modelling the motion of the robots to create a feedfoward
+ * and target for PID. Acceleration and Maximum velocity should be measured on the robot and tuned down
+ * slightly to account for battery drop.
+ * 
+ * Here are the equations graphed for ease of understanding:
+ * https://www.desmos.com/calculator/rkm3ivu1yk
+ * 
+ * @author Ryan McGee
+ * @date 7/12/2022
+ * 
+ */
+class TrapezoidProfile
+{
+    public:
+
+    /**
+     * @brief Construct a new Trapezoid Profile object
+     * 
+     * @param max_v Maximum velocity the robot can run at
+     * @param accel Maximum acceleration of the robot
+     */
+    TrapezoidProfile(double max_v, double accel);
+
+    /**
+     * @brief Run the trapezoidal profile based on the time that's ellapsed
+     * 
+     * @param time_s Time since start of movement
+     * @return motion_t Position, velocity and acceleration
+     */
+    motion_t calculate(double time_s);
+
+    void set_endpts(double start, double end);
+
+    void set_accel(double accel);
+
+    void set_max_v(double max_v);
+
+    double get_movement_time();
+
+    private:
+    double start, end;
+    double max_v, accel;
+    double time;
+    
+
+};
\ No newline at end of file
diff --git a/src/subsystems/odometry/odometry_tank.cpp b/src/subsystems/odometry/odometry_tank.cpp
index 1d0c9dc..1b91cc6 100644
--- a/src/subsystems/odometry/odometry_tank.cpp
+++ b/src/subsystems/odometry/odometry_tank.cpp
@@ -55,7 +55,8 @@ int background_task(void* odom_obj)
     {
         odom.update();
 
-        vexDelay(DOWNTIME);
+        if (DOWNTIME != 0)
+          vexDelay(DOWNTIME);
     }
 
     return 0;
@@ -116,9 +117,37 @@ position_t OdometryTank::update()
 
     updated_pos = calculate_new_pos(config, current_pos, lside_revs, rside_revs, angle);
 
+
+    static position_t last_pos = updated_pos;
+    static double last_speed = 0;
+    static timer tmr;
+
+    double speed_local = 0;
+    double accel_local = 0;
+    bool update_vel_accel = tmr.time(sec) > 0.1;
+
+    // This loop runs too fast. Only check at LEAST every 1/10th sec
+    if(update_vel_accel)
+    {
+      // Calculate robot velocity
+      speed_local = pos_diff(updated_pos, last_pos) / tmr.time(sec);
+
+      // Calculate robot acceleration
+      accel_local = (speed_local - last_speed) / tmr.time(sec);
+
+      tmr.reset();
+      last_pos = updated_pos;
+      last_speed = speed_local;
+    }
+
     // Update the class' stored position
     mut.lock();
     this->current_pos = updated_pos;
+    if(update_vel_accel)
+    {
+      this->speed = speed_local;
+      this->accel = accel_local;
+    }
     mut.unlock();
 
     return updated_pos;
@@ -165,15 +194,18 @@ position_t OdometryTank::calculate_new_pos(robot_specs_t &config, position_t &cu
 
 double OdometryTank::get_speed()
 {
-  static position_t last_pos = get_position();
-  static timer speed_tmr;
-
-  double out = 0;
-  if(speed_tmr.value() != 0)
-  {
-    out = pos_diff(last_pos, get_position()) / speed_tmr.time(timeUnits::sec);
-    speed_tmr.reset();
-  }
-  last_pos = get_position();
-  return out;
+  mut.lock();
+  double retval = speed;
+  mut.unlock();
+  
+  return retval;
+}
+
+double OdometryTank::get_accel()
+{
+  mut.lock();
+  double retval = accel;
+  mut.unlock();
+
+  return retval;
 }
\ No newline at end of file
diff --git a/src/subsystems/tank_drive.cpp b/src/subsystems/tank_drive.cpp
index bd99b81..8805b4c 100644
--- a/src/subsystems/tank_drive.cpp
+++ b/src/subsystems/tank_drive.cpp
@@ -1,10 +1,11 @@
 #include "../core/include/subsystems/tank_drive.h"
+#include "../core/include/utils/math_util.h"
 
 TankDrive::TankDrive(motor_group &left_motors, motor_group &right_motors, robot_specs_t &config, OdometryTank *odom)
-    : left_motors(left_motors), right_motors(right_motors),
-     drive_pid(config.drive_pid), turn_pid(config.turn_pid), correction_pid(config.correction_pid), odometry(odom), config(config)
+    : left_motors(left_motors), right_motors(right_motors), correction_pid(config.correction_pid), odometry(odom), config(config)
 {
-
+  drive_default_feedback = config.drive_feedback;
+  turn_default_feedback = config.turn_feedback;
 }
 
 /**
@@ -69,11 +70,11 @@ void TankDrive::drive_arcade(double forward_back, double left_right, int power)
  * This driving method is relative, so excessive use may cause the robot to get off course!
  *
  * @param inches Distance to drive in a straight line
- * @param speed How fast the robot should travel, 0 -> 1.0
- * @param correction How much the robot should correct for being off angle
  * @param dir Whether the robot is travelling forwards or backwards
+ * @param correction How much the robot should correct for being off angle
+ * @param speed How fast the robot should travel, 0 -> 1.0
  */
-bool TankDrive::drive_forward(double inches, double speed, double correction, directionType dir)
+bool TankDrive::drive_forward(double inches, directionType dir, Feedback &feedback, double max_speed)
 {
   static position_t pos_setpt;
 
@@ -88,31 +89,57 @@ bool TankDrive::drive_forward(double inches, double speed, double correction, di
   // Generate a point X inches forward of the current position, on first startup
   if (!func_initialized)
   {
-    saved_pos = odometry->get_position();
-    drive_pid.reset();
+    position_t cur_pos = odometry->get_position();
+
+    // forwards is positive Y axis, backwards is negative
+    if (dir == directionType::rev)
+      inches = -fabs(inches);
+    else
+      inches = fabs(inches);
 
     // Use vector math to get an X and Y
-    Vector2D current_pos({saved_pos.x , saved_pos.y});
-    Vector2D delta_pos(deg2rad(saved_pos.rot), inches);
-    Vector2D setpt_vec = current_pos + delta_pos;
+    Vector2D cur_pos_vec({cur_pos.x , cur_pos.y});
+    Vector2D delta_pos_vec(deg2rad(cur_pos.rot), inches);
+    Vector2D setpt_vec = cur_pos_vec + delta_pos_vec;
 
     // Save the new X and Y values
     pos_setpt = {.x=setpt_vec.get_x(), .y=setpt_vec.get_y()};
 
-    func_initialized = true;
   }
 
   // Call the drive_to_point with updated point values
-  return drive_to_point(pos_setpt.x, pos_setpt.y, speed, correction, dir);
+  return drive_to_point(pos_setpt.x, pos_setpt.y, dir, feedback, max_speed);
+}
+/**
+ * Autonomously drive forward or backwards, X inches infront or behind the robot's current position.
+ * This driving method is relative, so excessive use may cause the robot to get off course!
+ *
+ * @param inches Distance to drive in a straight line
+ * @param speed How fast the robot should travel, 0 -> 1.0
+ * @param correction How much the robot should correct for being off angle
+ * @param dir Whether the robot is travelling forwards or backwards
+ */
+bool TankDrive::drive_forward(double inches, directionType dir, double max_speed)
+{
+  if(drive_default_feedback != NULL)
+    return drive_forward(inches, dir, *drive_default_feedback, max_speed);
+
+  printf("tank_drive.cpp: Cannot run drive_forward without a feedback controller!\n");
+  fflush(stdout);
+  return true;
 }
 
 /**
- * Autonomously turn the robot X degrees to the right (negative for left), with a maximum motor speed
+ * Autonomously turn the robot X degrees to counterclockwise (negative for clockwise), with a maximum motor speed
  * of percent_speed (-1.0 -> 1.0)
  * 
- * Uses a PID loop for it's control.
+ * Uses the specified feedback for it's control.
+ * 
+ * @param degrees     degrees by which we will turn relative to the robot (+) turns ccw, (-) turns cw
+ * @param feedback    the feedback controller we will use to travel. controls the rate at which we accelerate and drive.
+ * @param max_speed   the maximum percentage of robot speed at which the robot will travel. 1 = full power
  */
-bool TankDrive::turn_degrees(double degrees, double percent_speed)
+bool TankDrive::turn_degrees(double degrees, Feedback &feedback, double max_speed)
 {
   // We can't run the auto drive function without odometry
   if(odometry == NULL)
@@ -122,34 +149,37 @@ bool TankDrive::turn_degrees(double degrees, double percent_speed)
     return true;
   }
 
+  static double target_heading = 0;
+
   // On the first run of the funciton, reset the gyro position and PID
   if (!func_initialized)
   {
-    saved_pos = odometry->get_position();
-    turn_pid.reset();
-
-    turn_pid.set_limits(-fabs(percent_speed), fabs(percent_speed));
-    turn_pid.set_target(0);
+    double start_heading = odometry->get_position().rot;
+    target_heading = start_heading + degrees;
 
-    func_initialized = true;
   }
-  double heading = odometry->get_position().rot - saved_pos.rot;
-  double delta_heading = OdometryBase::smallest_angle(heading, degrees);
-  turn_pid.update(delta_heading);
-
-  // printf("heading: %f, delta_heading: %f\n", heading, delta_heading);
 
-  drive_tank(turn_pid.get(), -turn_pid.get());
-
-  // If the robot is at it's target, return true
-  if (turn_pid.is_on_target())
-  {
-    drive_tank(0, 0);
-    func_initialized = false;
-    return true;
-  }
+  return turn_to_heading(target_heading);
+}
 
-  return false;
+/**
+ * Autonomously turn the robot X degrees to counterclockwise (negative for clockwise), with a maximum motor speed
+ * of percent_speed (-1.0 -> 1.0)
+ * 
+ * Uses the defualt turning feedback of the drive system.
+ * 
+ * @param degrees     degrees by which we will turn relative to the robot (+) turns ccw, (-) turns cw
+ * @param feedback    the feedback controller we will use to travel. controls the rate at which we accelerate and drive.
+ * @param max_speed   the maximum percentage of robot speed at which the robot will travel. 1 = full power
+ */
+bool TankDrive::turn_degrees(double degrees, double max_speed)
+{
+  if(turn_default_feedback != NULL)
+    return turn_degrees(degrees, *turn_default_feedback, max_speed);
+  
+  printf("tank_drive.cpp: Cannot run turn_degrees without a feedback controller!\n");
+  fflush(stdout);
+  return true;
 }
 
 /**
@@ -157,8 +187,13 @@ bool TankDrive::turn_degrees(double degrees, double percent_speed)
   * X and Y is the final point we want the robot.
   *
   * Returns whether or not the robot has reached it's destination.
+  * @param x          the x position of the target
+  * @param y          the y position of the target
+  * @param dir        the direction we want to travel forward and backward
+  * @param feedback   the feedback controller we will use to travel. controls the rate at which we accelerate and drive.
+  * @param max_speed  the maximum percentage of robot speed at which the robot will travel. 1 = full power
   */
-bool TankDrive::drive_to_point(double x, double y, double speed, double correction_speed, vex::directionType dir)
+bool TankDrive::drive_to_point(double x, double y, vex::directionType dir, Feedback &feedback, double max_speed)
 {
   // We can't run the auto drive function without odometry
   if(odometry == NULL)
@@ -170,19 +205,15 @@ bool TankDrive::drive_to_point(double x, double y, double speed, double correcti
   
   if(!func_initialized)
   {
-    // Reset the control loops
-    drive_pid.reset();
-    correction_pid.reset();
-
-    drive_pid.set_limits(-fabs(speed), fabs(speed));
-    correction_pid.set_limits(-fabs(correction_speed), fabs(correction_speed));
+    
+    double initial_dist = OdometryBase::pos_diff(odometry->get_position(), {.x=x, .y=y});
 
-    // Set the targets to 0, because we update with the change in distance and angle between the current point
-    // and the new point.
-    drive_pid.set_target(0);
-    correction_pid.set_target(0);
+    // Reset the control loops
+    correction_pid.init(0, 0);
+    feedback.init(-initial_dist, 0);
 
-    // point_orientation_deg = atan2(y - odometry->get_position().y, x - odometry->get_position().x) * 180.0 / PI;
+    correction_pid.set_limits(-1, 1);
+    feedback.set_limits(-1, 1);
 
     func_initialized = true;
   }
@@ -210,9 +241,11 @@ bool TankDrive::drive_to_point(double x, double y, double speed, double correcti
 
   double angle_to_point = atan2(y - current_pos.y, x - current_pos.x) * 180.0 / PI;
   double angle = fmod(current_pos.rot - angle_to_point, 360.0);
+
   // Normalize the angle between 0 and 360
   if (angle > 360) angle -= 360;
   if (angle < 0) angle += 360; 
+
   // If the angle is behind the robot, report negative.
   if (dir == directionType::fwd && angle > 90 && angle < 270)
     sign = -1;
@@ -239,7 +272,7 @@ bool TankDrive::drive_to_point(double x, double y, double speed, double correcti
 
   // Update the PID controllers with new information
   correction_pid.update(delta_heading);
-  drive_pid.update(sign * -1 * dist_left);
+  feedback.update(sign * -1 * dist_left);
 
   // Disable correction when we're close enough to the point
   double correction = 0;
@@ -249,25 +282,22 @@ bool TankDrive::drive_to_point(double x, double y, double speed, double correcti
   // Reverse the drive_pid output if we're going backwards
   double drive_pid_rval;
   if(dir == directionType::rev)
-    drive_pid_rval = drive_pid.get() * -1;
+    drive_pid_rval = feedback.get() * -1;
   else
-    drive_pid_rval = drive_pid.get();
+    drive_pid_rval = feedback.get();
 
   // Combine the two pid outputs
   double lside = drive_pid_rval + correction;
   double rside = drive_pid_rval - correction;
 
   // limit the outputs between -1 and +1
-  lside = (lside > 1) ? 1 : (lside < -1) ? -1 : lside;
-  rside = (rside > 1) ? 1 : (rside < -1) ? -1 : rside;
+  lside = clamp(lside, -1, 1);
+  rside = clamp(rside, -1, 1);
 
   drive_tank(lside, rside);
 
-  printf("dist: %f\n", sign * -1 * dist_left);
-  fflush(stdout);
-
   // Check if the robot has reached it's destination
-  if(drive_pid.is_on_target())
+  if(feedback.is_on_target())
   {
     stop();
     func_initialized = false;
@@ -277,11 +307,37 @@ bool TankDrive::drive_to_point(double x, double y, double speed, double correcti
   return false;
 }
 
+/**
+  * Use odometry to automatically drive the robot to a point on the field.
+  * X and Y is the final point we want the robot.
+  * Here we use the default feedback controller from the drive_sys
+  *
+  * Returns whether or not the robot has reached it's destination.
+  * @param x          the x position of the target
+  * @param y          the y position of the target
+  * @param dir        the direction we want to travel forward and backward
+  * @param max_speed  the maximum percentage of robot speed at which the robot will travel. 1 = full power
+  */
+bool TankDrive::drive_to_point(double x, double y, vex::directionType dir, double max_speed)
+{
+  if(drive_default_feedback != NULL)
+    return this->drive_to_point(x, y, dir, *drive_default_feedback, max_speed);
+
+  printf("tank_drive.cpp: Cannot run drive_to_point without a feedback controller!\n");
+  fflush(stdout);
+  return true;
+}
+
 /**
  * Turn the robot in place to an exact heading relative to the field.
- * 0 is forward, and 0->360 is clockwise.
+ * 0 is forward.
+ * 
+ * @param heading_deg the heading to which we will turn 
+ * @param feedback    the feedback controller we will use to travel. controls the rate at which we accelerate and drive.
+ * @param max_speed  the maximum percentage of robot speed at which the robot will travel. 1 = full power
  */
-bool TankDrive::turn_to_heading(double heading_deg, double speed)
+ 
+bool TankDrive::turn_to_heading(double heading_deg, Feedback &feedback, double max_speed)
 {
   // We can't run the auto drive function without odometry
   if(odometry == NULL)
@@ -293,27 +349,23 @@ bool TankDrive::turn_to_heading(double heading_deg, double speed)
 
   if(!func_initialized)
   {
-    turn_pid.reset();
-    turn_pid.set_limits(-fabs(speed), fabs(speed));
-
-    // Set the target to zero, and the input will be a delta.
-    turn_pid.set_target(0);
+    double initial_delta = OdometryBase::smallest_angle(odometry->get_position().rot, heading_deg);
+    feedback.init(-initial_delta, 0);
+    feedback.set_limits(-fabs(max_speed), fabs(max_speed));
 
     func_initialized = true;
   }
 
   // Get the difference between the new heading and the current, and decide whether to turn left or right.
   double delta_heading = OdometryBase::smallest_angle(odometry->get_position().rot, heading_deg);
-  turn_pid.update(delta_heading);
+  feedback.update(-delta_heading);
 
-  printf("~TURN~ delta: %f\n", delta_heading);
-  // printf("delta heading: %f, pid: %f\n", delta_heading, turn_pid.get());
   fflush(stdout);
 
-  drive_tank(turn_pid.get(), -turn_pid.get());
+  drive_tank(-feedback.get(), feedback.get());
 
   // When the robot has reached it's angle, return true.
-  if(turn_pid.is_on_target())
+  if(feedback.is_on_target())
   {
     func_initialized = false;
     stop();
@@ -322,6 +374,22 @@ bool TankDrive::turn_to_heading(double heading_deg, double speed)
 
   return false;
 }
+/**
+ * Turn the robot in place to an exact heading relative to the field.
+ * 0 is forward. Uses the defualt turn feedback of the drive system 
+ * 
+ * @param heading_deg the heading to which we will turn 
+ * @param max_speed  the maximum percentage of robot speed at which the robot will travel. 1 = full power
+ */
+bool TankDrive::turn_to_heading(double heading_deg, double max_speed)
+{
+  if(turn_default_feedback != NULL)
+    return turn_to_heading(heading_deg, *turn_default_feedback, max_speed);
+
+  printf("tank_drive.cpp: Cannot run turn_to_heading without a feedback controller!\n");
+  fflush(stdout);
+  return true;
+}
 
 /**
  * Modify the inputs from the controller by squaring / cubing, etc
@@ -332,7 +400,8 @@ double TankDrive::modify_inputs(double input, int power)
   return (power % 2 == 0 ? (input < 0 ? -1 : 1) : 1) * pow(input, power);
 }
 
-bool TankDrive::pure_pursuit(std::vector<PurePursuit::hermite_point> path, double radius, double speed, double res, directionType dir) {
+bool TankDrive::pure_pursuit(std::vector<PurePursuit::hermite_point> path, directionType dir, double radius, double res, Feedback &feedback, double max_speed) 
+{
   is_pure_pursuit = true;
   std::vector<Vector2D::point_t> smoothed_path = PurePursuit::smooth_path_hermite(path, res);
 
@@ -344,7 +413,7 @@ bool TankDrive::pure_pursuit(std::vector<PurePursuit::hermite_point> path, doubl
   if(is_last_point)
     is_pure_pursuit = false;
 
-  bool retval = drive_to_point(lookahead.x, lookahead.y, speed, 1, dir);
+  bool retval = drive_to_point(lookahead.x, lookahead.y, dir, feedback, max_speed);
 
   if(is_last_point)
     return retval;
diff --git a/src/utils/command_structure/drive_commands.cpp b/src/utils/command_structure/drive_commands.cpp
index 0acd4e2..cc80b96 100644
--- a/src/utils/command_structure/drive_commands.cpp
+++ b/src/utils/command_structure/drive_commands.cpp
@@ -23,8 +23,8 @@
 
 // Drive Forward
 
-DriveForwardCommand::DriveForwardCommand(TankDrive &drive_sys, double inches, double speed, double correction, directionType dir):
-  drive_sys(drive_sys), inches(inches), speed(speed), correction(correction), dir(dir) {}
+DriveForwardCommand::DriveForwardCommand(TankDrive &drive_sys, double inches, directionType dir, double max_speed):
+  drive_sys(drive_sys), inches(inches), dir(dir), max_speed(max_speed) {}
 
 /**
  * Run drive_forward
@@ -32,14 +32,14 @@ DriveForwardCommand::DriveForwardCommand(TankDrive &drive_sys, double inches, do
  * @returns true when execution is complete, false otherwise
  */
 bool DriveForwardCommand::run() {
-  return drive_sys.drive_forward(inches, speed, correction, dir);
+  return drive_sys.drive_forward(inches, dir, max_speed);
 }
 
 
 // Turn Degrees
 
-TurnDegreesCommand::TurnDegreesCommand(TankDrive &drive_sys, double degrees, double percent_speed):
-  drive_sys(drive_sys), degrees(degrees), percent_speed(percent_speed) {}
+TurnDegreesCommand::TurnDegreesCommand(TankDrive &drive_sys, double degrees, double max_speed):
+  drive_sys(drive_sys), degrees(degrees), max_speed(max_speed) {}
 
 /**
  * Run turn_degrees
@@ -47,14 +47,14 @@ TurnDegreesCommand::TurnDegreesCommand(TankDrive &drive_sys, double degrees, dou
  * @returns true when execution is complete, false otherwise
  */
 bool TurnDegreesCommand::run() {
-  return drive_sys.turn_degrees(degrees, percent_speed);
+  return drive_sys.turn_degrees(degrees, max_speed);
 }
 
 
 // Drive to Point
 
-DriveToPointCommand::DriveToPointCommand(TankDrive &drive_sys, double x, double y, double speed, double correction_speed, directionType dir):
-  drive_sys(drive_sys), x(x), y(y), speed(speed), correction_speed(correction_speed), dir(dir) {}
+DriveToPointCommand::DriveToPointCommand(TankDrive &drive_sys, double x, double y, directionType dir, double max_speed):
+  drive_sys(drive_sys), x(x), y(y), dir(dir), max_speed(max_speed) {}
 
 /**
  * Run drive_to_point
@@ -62,14 +62,14 @@ DriveToPointCommand::DriveToPointCommand(TankDrive &drive_sys, double x, double
  * @returns true when execution is complete, false otherwise
  */
 bool DriveToPointCommand::run() {
-  return drive_sys.drive_to_point(x, y, speed, correction_speed);
+  return drive_sys.drive_to_point(x, y, dir, max_speed);
 }
 
 
 // Turn to Heading
 
-TurnToHeadingCommand::TurnToHeadingCommand(TankDrive &drive_sys, double heading_deg, double speed):
-  drive_sys(drive_sys), heading_deg(heading_deg), speed(speed) {}
+TurnToHeadingCommand::TurnToHeadingCommand(TankDrive &drive_sys, double heading_deg, double max_speed):
+  drive_sys(drive_sys), heading_deg(heading_deg), max_speed(max_speed) {}
 
 /**
  * Run turn_to_heading
@@ -77,7 +77,7 @@ TurnToHeadingCommand::TurnToHeadingCommand(TankDrive &drive_sys, double heading_
  * @returns true when execution is complete, false otherwise
  */
 bool TurnToHeadingCommand::run() {
-  return drive_sys.turn_to_heading(heading_deg, speed);
+  return drive_sys.turn_to_heading(heading_deg, max_speed);
 }
 
 
diff --git a/src/utils/math_util.cpp b/src/utils/math_util.cpp
index 51b5555..4bccc52 100644
--- a/src/utils/math_util.cpp
+++ b/src/utils/math_util.cpp
@@ -1,4 +1,5 @@
 #include "../core/include/utils/math_util.h"
+#include <vector>
 
 /**
 * Constrain the input between a minimum and a maximum value
@@ -26,4 +27,72 @@ double sign(double x){
     return -1;
   }
   return 1;
-}
\ No newline at end of file
+}
+
+
+/*
+Calculates the average of a vector of doubles
+@param values   the list of values for which the average is taken
+*/
+double mean(std::vector<double> const &values){
+    double total=0;
+    for (int i=0; i<values.size(); i++){
+        total += values[i];
+    }
+    return total / (double) values.size();
+}
+
+
+/*
+Calculates the variance of  a set of numbers (needed for linear regression)
+https://en.wikipedia.org/wiki/Variance
+@param values   the values for which the covariance is taken
+@param mean     the average of values
+*/
+double variance(std::vector<double> const &values, double mean) {
+    double total = 0.0;
+    for (int i=0; i<values.size(); i++){
+        total += (values[i]-mean) * (values[i]-mean);
+    }
+    return total;
+}
+
+/*
+Calculates the covariance of a set of points (needed for linear regression)
+(refactor to accept to sets of values not a set of points)
+https://en.wikipedia.org/wiki/Covariance
+
+@param points   the points for which the covariance is taken
+@param meanx    the mean value of all x coordinates in points
+@param meany    the mean value of all y coordinates in points
+*/
+double covariance(std::vector<std::pair<double, double>> const &points, double meanx, double meany){
+    double covar = 0.0;
+	for (int i=0; i<points.size(); i++){
+		covar += (points[i].first - meanx) * (points[i].second - meany);
+    }
+    return covar;
+}
+
+/*
+* Calculates the slope and y intercept of the line of best fit for the data
+* @param points the points for the data
+* @return slope, y intercept. y = m(x)+b. std::pair<m, b>
+*/
+std::pair<double, double> calculate_linear_regression(std::vector<std::pair<double, double>> const &points){
+    //Purely for convenience and the ability to reuse mean() and variance() - can be easily rewritten to avoid allocating these if the code is repeatedly called
+    std::vector<double> xs(points.size(), 0.0);
+    std::vector<double> ys(points.size(), 0.0);
+    for (int i =0; i<points.size(); i++){
+        xs[i] = points[i].first;
+        ys[i] = points[i].second;
+    }
+
+    double meanx = mean(xs);
+    double meany = mean(ys);
+
+    double slope = covariance(points, meanx, meany) / variance(xs, meanx);
+	  double y_intercept = meany - slope * meanx;
+
+    return std::pair<double, double>(slope, y_intercept);
+}
diff --git a/src/utils/motion_controller.cpp b/src/utils/motion_controller.cpp
new file mode 100644
index 0000000..6fde9cb
--- /dev/null
+++ b/src/utils/motion_controller.cpp
@@ -0,0 +1,177 @@
+#include "../core/include/utils/motion_controller.h"
+#include "../core/include/utils/math_util.h"
+#include "../core/include/utils/moving_average.h"
+#include <vector>
+
+/**
+ * @brief Construct a new Motion Controller object
+ * 
+ * @param max_v Maximum velocity the movement is capable of
+ * @param accel Acceleration / deceleration of the movement
+ * @param pid_cfg Definitions of kP, kI, and kD
+ * @param ff_cfg Definitions of kS, kV, and kA
+ */
+MotionController::MotionController(m_profile_cfg_t &config)
+: config(config), pid(config.pid_cfg), ff(config.ff_cfg), profile(config.max_v, config.accel)
+{}
+
+/**
+ * @brief Initialize the motion profile for a new movement
+ * This will also reset the PID and profile timers.
+ * @param start_pt Movement starting position
+ * @param end_pt Movement ending posiiton 
+ */
+void MotionController::init(double start_pt, double end_pt)
+{
+    profile.set_endpts(start_pt, end_pt);
+    pid.reset();
+    tmr.reset();
+}
+
+/**
+ * @brief Update the motion profile with a new sensor value
+ * 
+ * @param sensor_val Value from the sensor
+ * @return The motor input generated from the motion profile 
+ */
+double MotionController::update(double sensor_val)
+{
+    motion_t motion = profile.calculate(tmr.time(timeUnits::sec));
+    pid.set_target(motion.pos);
+    pid.update(sensor_val);
+
+    out = pid.get() +  ff.calculate(motion.vel, motion.accel);
+
+    if(lower_limit != upper_limit)
+        out = clamp(out, lower_limit, upper_limit);
+    
+    return out;
+}
+
+/**
+ * @return the last saved result from the feedback controller
+ */
+double MotionController::get()
+{
+    return out;
+}
+
+/**
+ * Clamp the upper and lower limits of the output. If both are 0, no limits should be applied.
+ * 
+ * @param lower Upper limit
+ * @param upper Lower limit
+ * @return double 
+ */
+void MotionController::set_limits(double lower, double upper)
+{
+    lower_limit = lower;
+    upper_limit = upper;
+}
+
+/** 
+ * @return Whether or not the movement has finished, and the PID
+ * confirms it is on target
+ */
+bool MotionController::is_on_target()
+{
+    return (tmr.time(timeUnits::sec) > profile.get_movement_time()) && pid.is_on_target();
+}
+
+/**
+ * This method attempts to characterize the robot's drivetrain and automatically tune the feedforward.
+ * It does this by first calculating the kS (voltage to overcome static friction) by slowly increasing
+ * the voltage until it moves.
+ * 
+ * Next is kV (voltage to sustain a certain velocity), where the robot will record it's steady-state velocity
+ * at 'pct' speed.
+ * 
+ * Finally, kA (voltage needed to accelerate by a certain rate), where the robot will record the entire movement's
+ * velocity and acceleration, record a plot of [X=(pct-kV*V-kS), Y=(Acceleration)] along the movement,
+ * and since kA*Accel = pct-kV*V-kS, the reciprocal of the linear regression is the kA value.
+ * 
+ * @param drive The tankdrive to operate on
+ * @param odometry The robot's odometry subsystem
+ * @param pct Maximum velocity in percent (0->1.0)
+ * @param duration Amount of time the robot should be moving for the test
+ * @return A tuned feedforward object
+ */
+FeedForward::ff_config_t MotionController::tune_feedforward(TankDrive &drive, OdometryTank &odometry, double pct, double duration)
+{
+    FeedForward::ff_config_t out = {};
+    
+    position_t start_pos = odometry.get_position();
+
+    // ========== kS Tuning =========
+    // Start at 0 and slowly increase the power until the robot starts moving
+    double power = 0;
+    while(odometry.pos_diff(start_pos, odometry.get_position()) < 0.05)
+    {
+        drive.drive_tank(power, power, 1);
+        power += 0.001;
+        vexDelay(100);
+    }
+    out.kS = power;
+    drive.stop();
+
+
+    // ========== kV / kA Tuning =========
+
+    std::vector<std::pair<double, double>> vel_data_points; // time, velocity
+    std::vector<std::pair<double, double>> accel_data_points; // time, accel
+
+    double max_speed = 0;
+    timer tmr;
+    double time;
+
+    MovingAverage vel_ma(3);
+    MovingAverage accel_ma(3);
+
+    // Move the robot forward at a fixed percentage for X seconds while taking velocity and accel measurements
+    do
+    {
+        time = tmr.time(sec);
+
+        vel_ma.add_entry(odometry.get_speed());
+        accel_ma.add_entry(odometry.get_accel());
+
+        double speed = vel_ma.get_average();
+        double accel = accel_ma.get_average();
+
+        // For kV:
+        if(speed > max_speed)
+            max_speed = speed;
+
+        // For kA:
+        // Filter out the acceleration dampening due to motor inductance
+        if(time > 0.25)
+        {
+            vel_data_points.push_back(std::pair<double, double>(time, speed));
+            accel_data_points.push_back(std::pair<double, double>(time, accel));
+        }
+
+        // Theoretical polling rate = 100hz (it won't be that much, cause, y'know, vex.)
+        vexDelay(10); 
+    } while(time < duration);
+
+    drive.stop();
+
+    // Calculate kV (volts/12 per unit per second)
+    out.kV = (pct - out.kS) / max_speed;
+
+    // Calculate kA (volts/12 per unit per second^2)
+    std::vector<std::pair<double, double>> accel_per_pct;
+    for (int i = 0; i < vel_data_points.size(); i++)
+    {
+        accel_per_pct.push_back(std::pair<double, double>(
+            pct - out.kS - (vel_data_points[i].second * out.kV),   // Acceleration-causing percent (X variable)
+            accel_data_points[i].second                            // Measured acceleration (Y variable)
+        ));
+    }
+    
+    // kA is the reciprocal of the slope of the linear regression
+    double regres_slope = calculate_linear_regression(accel_per_pct).first;
+    out.kA = 1.0 / regres_slope; 
+
+    return out;
+}
\ No newline at end of file
diff --git a/src/utils/moving_average.cpp b/src/utils/moving_average.cpp
new file mode 100644
index 0000000..a36b56b
--- /dev/null
+++ b/src/utils/moving_average.cpp
@@ -0,0 +1,82 @@
+#include <vector>
+#include "../core/include/utils/moving_average.h"
+/*
+* MovingAverage
+*
+* A moving average is a way of smoothing out noisy data. For many sensor readings, the noise is roughly symmetric around the actual value. 
+* This means that if you collect enough samples those that are too high are cancelled out by the samples that are too low leaving the real value.
+*
+* The MovingAverage class provides a simple interface to do this smoothing from our noisy sensor values. 
+*
+* WARNING: because we need a lot of samples to get the actual value, the value given by the MovingAverage will 'lag' behind the actual value that the sensor is reading. 
+* Using a MovingAverage is thus a tradeoff between accuracy and lag time (more samples) vs. less accuracy and faster updating (less samples).  
+*
+*/
+
+/*
+ * Create a moving average calculator with 0 as the default value
+ *
+ * @param buffer_size    The size of the buffer. The number of samples that constitute a valid reading
+ */
+MovingAverage::MovingAverage(int buffer_size) {
+  buffer = std::vector<double>(buffer_size, 0.0); buffer_index = 0; is_ready = false;
+}
+
+/*
+ * Create a moving average calculator with a specified default value
+ * @param buffer_size    The size of the buffer. The number of samples that constitute a valid reading
+ * @param starting_value The value that the average will be before any data is added
+ */
+MovingAverage::MovingAverage(int buffer_size, double starting_value) {
+  buffer = std::vector<double>(buffer_size, starting_value); 
+  buffer_index = 0; 
+  is_ready = true;
+}
+
+
+
+/*
+ * Add a reading to the buffer
+ * Before:
+ * [ 1 1 2 2 3 3] => 2
+ *   ^
+ * After:
+ * [ 2 1 2 2 3 3] => 2.16
+ *     ^ 
+ * @param n  the sample that will be added to the moving average.
+ */
+void MovingAverage::add_entry(double n){
+  buffer[buffer_index] = n;
+  buffer_index++;
+  // if weve filled the buffer once, then we're ready
+  if (!is_ready && buffer_index==buffer.size()-1){
+    is_ready = true;
+  }
+  //wrap around
+  buffer_index%=buffer.size();
+}
+
+/*
+ * Returns the average based off of all the samples collected so far
+ * @return sum(samples)/numsamples
+ */
+double MovingAverage::get_average(){
+  double total = 0;
+
+  int upto = buffer.size();
+  if (!is_ready){ //if we're not completely ready, only make average out of the samples we have
+    upto = buffer_index;
+  }
+
+  for (int i=0; i<upto; i++){
+    total+=buffer[i];
+  }
+
+  total/=upto;
+  return total;
+}
+
+// How many samples the average is made from
+int MovingAverage::get_size(){
+  return buffer.size();
+}
diff --git a/src/utils/pid.cpp b/src/utils/pid.cpp
index e070c77..7002cc5 100644
--- a/src/utils/pid.cpp
+++ b/src/utils/pid.cpp
@@ -1,19 +1,27 @@
 #include "../core/include/utils/pid.h"
 
 /**
-   * Create the PID object
-   */
+ * Create the PID object
+ */
 PID::PID(pid_config_t &config)
     : config(config)
 {
   pid_timer.reset();
 }
 
+void PID::init(double start_pt, double set_pt)
+{
+  set_target(set_pt);
+  reset();
+}
+
 /**
-   * Update the PID loop by taking the time difference from last update,
-   * and running the PID formula with the new sensor data
-   */
-void PID::update(double sensor_val)
+ * Update the PID loop by taking the time difference from last update,
+ * and running the PID formula with the new sensor data
+ * @param sensor_val the distance, angle, encoder position or whatever it is we are measuring
+ * @return the new output. What would be returned by PID::get()
+ */
+double PID::update(double sensor_val)
 {
 
   this->sensor_val = sensor_val;
@@ -27,15 +35,9 @@ void PID::update(double sensor_val)
   else if(last_time != 0)
     printf("(pid.cpp): Warning - running PID without a delay is just a P loop!\n");
 
-  double k_term = 0;
-  if(get_error() > 0)
-    k_term = config.k;
-  else if(get_error() < 0)
-    k_term = -config.k;
 
-
-  // F, P, D and K terms
-  out = (config.f * target) + (config.p * get_error()) + d_term + k_term;
+  // P and D terms
+  out = (config.p * get_error()) + d_term;
 
   bool limits_exist = lower_limit != 0 || upper_limit != 0;
 
@@ -54,11 +56,12 @@ void PID::update(double sensor_val)
   if (limits_exist)
     out = (out < lower_limit) ? lower_limit : (out > upper_limit) ? upper_limit : out;
 
+  return out;
 }
 
 /**
-   * Reset the PID loop by resetting time since 0 and accumulated error.
-   */
+ * Reset the PID loop by resetting time since 0 and accumulated error.
+ */
 void PID::reset()
 {
   pid_timer.reset();
@@ -72,16 +75,16 @@ void PID::reset()
 }
 
 /**
-   * Gets the current PID out value, from when update() was last run
-   */
+ * Gets the current PID out value, from when update() was last run
+ */
 double PID::get()
 {
   return out;
 }
 
 /**
-   * Get the delta between the current sensor data and the target
-   */
+ * Get the delta between the current sensor data and the target
+ */
 double PID::get_error()
 {
   return target - sensor_val;
@@ -93,17 +96,17 @@ double PID::get_target()
 }
 
 /**
-   * Set the target for the PID loop, where the robot is trying to end up
-   */
+ * Set the target for the PID loop, where the robot is trying to end up
+ */
 void PID::set_target(double target)
 {
   this->target = target;
 }
 
 /**
-   * Set the limits on the PID out. The PID out will "clip" itself to be 
-   * between the limits.
-   */
+ * Set the limits on the PID out. The PID out will "clip" itself to be 
+ * between the limits.
+ */
 void PID::set_limits(double lower, double upper)
 {
   lower_limit = lower;
@@ -111,9 +114,9 @@ void PID::set_limits(double lower, double upper)
 }
 
 /**
-   * Returns true if the loop is within [deadband] for [on_target_time]
-   * seconds
-   */
+ * Returns true if the loop is within [deadband] for [on_target_time]
+ * seconds
+ */
 bool PID::is_on_target()
 {
   if (fabs(get_error()) < config.deadband)
diff --git a/src/utils/trapezoid_profile.cpp b/src/utils/trapezoid_profile.cpp
new file mode 100644
index 0000000..16915e6
--- /dev/null
+++ b/src/utils/trapezoid_profile.cpp
@@ -0,0 +1,122 @@
+#include "../core/include/utils/trapezoid_profile.h"
+#include "../core/include/utils/math_util.h"
+#include <cmath>
+
+/**
+ * @brief Construct a new Trapezoid Profile object
+ * 
+ * @param max_v Maximum velocity the robot can run at
+ * @param accel Maximum acceleration of the robot
+ */
+TrapezoidProfile::TrapezoidProfile(double max_v, double accel)
+: start(0), end(0), max_v(max_v), accel(accel)  {}
+
+void TrapezoidProfile::set_max_v(double max_v)
+{
+    this->max_v = max_v;
+}
+
+void TrapezoidProfile::set_accel(double accel)
+{
+    this->accel = accel;
+}
+
+void TrapezoidProfile::set_endpts(double start, double end)
+{
+    this->start = start;
+    this->end = end;
+}
+
+// Kinematic equations as macros
+#define CALC_POS(time_s,a,v,s) ((0.5*(a)*(time_s)*(time_s))+((v)*(time_s))+(s))
+#define CALC_VEL(time_s,a,v) (((a)*(time_s))+(v))
+
+/**
+ * @brief Run the trapezoidal profile based on the time that's ellapsed
+ * 
+ * @param time_s Time since start of movement
+ * @return motion_t Position, velocity and acceleration
+ */
+motion_t TrapezoidProfile::calculate(double time_s)
+{
+    double delta_pos = end - start;
+
+    // redefine accel and max_v in this scope for negative calcs
+    double accel_local = this->accel;
+    double max_v_local = this->max_v;
+    if(delta_pos < 0)
+    {
+        accel_local = -this->accel;
+        max_v_local = -this->max_v;
+    }
+
+    // Calculate the time spent during the acceleration / maximum velocity / deceleration stages
+    double accel_time = max_v_local / accel_local;
+    double max_vel_time = (delta_pos - (accel_local * accel_time * accel_time)) / max_v_local;
+    this->time = (2 * accel_time) + max_vel_time;
+
+    // If the time during the "max velocity" state is negative, use an S profile
+    if (max_vel_time < 0)
+    {
+        accel_time = sqrt(fabs(delta_pos / accel));
+        max_vel_time = 0;
+        this->time = 2 * accel_time;
+    }
+
+    motion_t out;
+
+    // Handle if a bad time is put in
+    if (time_s < 0)
+    {
+        out.pos = start;
+        out.vel = 0;
+        out.accel = 0;
+        return out;
+    }
+
+    // Handle after the setpoint is reached
+    if (time_s > 2*accel_time + max_vel_time)
+    {
+        out.pos = end;
+        out.vel = 0;
+        out.accel = 0;
+        return out;
+    }
+
+    // ======== KINEMATIC EQUATIONS ========
+
+    // Displacement from initial acceleration
+    if(time_s < accel_time)
+    {
+        out.pos = start + CALC_POS(time_s, accel_local, 0, 0);
+        out.vel = CALC_VEL(time_s, accel_local, 0);
+        out.accel = accel_local;
+        return out;
+    }
+
+    double s_accel = CALC_POS(accel_time, accel_local, 0, 0);
+
+    // Displacement during maximum velocity
+    if (time_s < accel_time + max_vel_time)
+    {
+        out.pos = start + CALC_POS(time_s - accel_time, 0, max_v_local, s_accel);
+        out.vel = sign(delta_pos) * max_v;
+        out.accel = 0;
+        return out;
+    }
+
+    double s_max_vel = CALC_POS(max_vel_time, 0, max_v_local, s_accel);
+
+    // Displacement during deceleration
+    out.pos = start + CALC_POS(time_s - (2*accel_time) - max_vel_time, -accel_local, 0, s_accel + s_max_vel);
+    out.vel = CALC_VEL(time_s - accel_time - max_vel_time, -accel_local, max_v_local);
+    out.accel = -accel_local;
+    return out;
+
+}
+
+double TrapezoidProfile::get_movement_time()
+{
+    return time;
+}
+

From 9313e46353985d22178b6f4c59a45ad46b46e9b1 Mon Sep 17 00:00:00 2001
From: Ryan McGee <ramtech51@comcast.net>
Date: Thu, 19 Jan 2023 22:37:25 -0500
Subject: [PATCH 114/243] Merge branch 'main' into auto_structure

---
 include/subsystems/odometry/odometry_3wheel.h |  91 +++++++++
 include/subsystems/odometry/odometry_base.h   |  34 +++-
 include/utils/math_util.h                     |   4 +
 include/utils/vector2d.h                      |   2 +-
 src/subsystems/odometry/odometry_3wheel.cpp   | 180 ++++++++++++++++++
 src/subsystems/odometry/odometry_base.cpp     |  51 +++--
 src/subsystems/odometry/odometry_tank.cpp     |  37 +---
 src/subsystems/tank_drive.cpp                 |   2 +-
 src/utils/math_util.cpp                       |  21 ++
 src/utils/vector2d.cpp                        |   2 +-
 10 files changed, 372 insertions(+), 52 deletions(-)
 create mode 100644 include/subsystems/odometry/odometry_3wheel.h
 create mode 100644 src/subsystems/odometry/odometry_3wheel.cpp

diff --git a/include/subsystems/odometry/odometry_3wheel.h b/include/subsystems/odometry/odometry_3wheel.h
new file mode 100644
index 0000000..a5d252f
--- /dev/null
+++ b/include/subsystems/odometry/odometry_3wheel.h
@@ -0,0 +1,91 @@
+#pragma once
+#include "../core/include/subsystems/odometry/odometry_base.h"
+#include "../core/include/subsystems/tank_drive.h"
+#include "../core/include/subsystems/custom_encoder.h"
+
+/**
+ * Odometry3Wheel
+ * 
+ * This class handles the code for a standard 3-pod odometry setup, where there are 3 "pods" made up of undriven
+ * (dead) wheels connected to encoders in the following configuration:
+ * 
+ *  ---------------
+ *  |             |
+ *  |             |
+ *  | ||   X   || |
+ *  |             |
+ *  |     ===     |
+ *  ---------------
+ * 
+ * Where X is the center of rotation. The robot will monitor the changes in rotation of these wheels and calculate
+ * the robot's X, Y and rotation on the field.
+ * 
+ * This is a "set and forget" class, meaning once the object is created, the robot will immediately begin
+ * tracking it's movement in the background.
+ * 
+ * @author Ryan McGee
+ * @date Oct 31 2022
+ * 
+ */
+class Odometry3Wheel : public OdometryBase
+{
+    public:
+
+    typedef struct
+    {
+        double wheelbase_dist;
+        double off_axis_center_dist;
+        double wheel_diam;
+        
+    } odometry3wheel_cfg_t;
+    
+    /**
+     * Construct a new Odometry 3 Wheel object
+     * 
+     * @param lside_fwd left-side encoder reference
+     * @param rside_fwd right-side encoder reference
+     * @param off_axis off-axis (perpendicular) encoder reference
+     * @param cfg robot odometry configuration
+     * @param is_async true to constantly run in the background
+     */
+    Odometry3Wheel(CustomEncoder &lside_fwd, CustomEncoder &rside_fwd, CustomEncoder &off_axis, odometry3wheel_cfg_t &cfg, bool is_async=true);
+
+    /**
+     * Update the current position of the robot once, using the current state of
+     * the encoders and the previous known location
+     * 
+     * @return the robot's updated position
+     */
+    position_t update() override;
+
+    /**
+     * A guided tuning process to automatically find tuning parameters.
+     * This method is blocking, and returns when tuning has finished. Follow
+     * the instructions on the controller to complete the tuning process
+     * 
+     * @param con Controller reference, for screen and button control
+     * @param drive Drivetrain reference for robot control
+     */
+    void tune(vex::controller &con, TankDrive &drive);
+
+    private:
+
+    /**
+     * Calculation method for the robot's new position using the change in encoders, the old position, and the robot's configuration.
+     * This uses a series of arclength formulae for finding distance driven and change in angle.
+     * Then vector math is used to combine it with the robot's old position data
+     * 
+     * @param lside_delta_deg Left encoder change in rotation, in degrees
+     * @param rside_delta_deg Right encoder change in rotation, in degrees
+     * @param offax_delta_deg Off-axis (perpendicular) encoder change in rotation, in degrees
+     * @param old_pos Robot's old position, for integration
+     * @param cfg Data on robot's configuration (wheel diameter, wheelbase, off-axis distance from center)
+     * @return The robot's new position (x, y, rot) 
+     */
+    static position_t calculate_new_pos(double lside_delta_deg, double rside_delta_deg, double offax_delta_deg, position_t old_pos, odometry3wheel_cfg_t cfg);
+
+    CustomEncoder &lside_fwd, &rside_fwd, &off_axis;
+    odometry3wheel_cfg_t &cfg;
+
+
+};
\ No newline at end of file
diff --git a/include/subsystems/odometry/odometry_base.h b/include/subsystems/odometry/odometry_base.h
index 9c9b840..6d031ab 100644
--- a/include/subsystems/odometry/odometry_base.h
+++ b/include/subsystems/odometry/odometry_base.h
@@ -7,8 +7,6 @@
 #define PI 3.141592654
 #endif
 
-#define DOWNTIME 0 //milliseconds
-
 // Describes a single position and rotation
 typedef struct
 {
@@ -18,11 +16,28 @@ typedef struct
 } position_t;
 
 /**
- * Base odometry class to simplify implementations of multiple drivetrains.
+ * OdometryBase
+ * 
+ * This base class contains all the shared code between different implementations of odometry.
+ * It handles the asynchronous management, position input/output and basic math functions, and 
+ * holds positional types specific to field orientation. 
+ * 
+ * All future odometry implementations should extend this file and redefine update() function. 
+ * 
+ * @author Ryan McGee
+ * @date Aug 11 2021
  */
 class OdometryBase
 {
 public:
+
+    /**
+     * Construct a new Odometry Base object
+     * 
+     * @param is_async True to run constantly in the background, false to call update() manually
+     */
+    OdometryBase(bool is_async);
+
     /**
     * Gets the current position and rotation
     */
@@ -38,6 +53,15 @@ class OdometryBase
      */
     virtual position_t update() = 0;
 
+    /**
+     * Function that runs in the background task. This function pointer is passed
+     * to the vex::task constructor. 
+     * 
+     * @param ptr Pointer to OdometryBase object
+     * @return Required integer return code. Unused.
+     */
+    static int background_task(void* ptr);
+
     /**
      * End the background task. Cannot be restarted.
      * If the user wants to end the thread but keep the data up to date,
@@ -53,7 +77,7 @@ class OdometryBase
     /**
      * Get the change in rotation between two points
      */
-    static double rot_diff(position_t &pos1, position_t &pos2);
+    static double rot_diff(position_t pos1, position_t pos2);
 
     /**
      * Get the smallest difference in angle between a start heading and end heading.
@@ -64,7 +88,7 @@ class OdometryBase
 
     bool end_task = false;
 
-    inline static constexpr position_t zero_pos = {.x=0, .y=0, .rot=90};
+    inline static constexpr position_t zero_pos = {.x=0.0L, .y=0.0L, .rot=90.0L};
 
 protected:
     vex::task *handle;
diff --git a/include/utils/math_util.h b/include/utils/math_util.h
index db028bd..71fbe30 100644
--- a/include/utils/math_util.h
+++ b/include/utils/math_util.h
@@ -1,4 +1,6 @@
 #pragma once
+#include "math.h"
+#include "vex.h"
 #include <vector>
 
 /**
@@ -18,6 +20,8 @@ double clamp(double value, double low, double high);
 **/
 double sign(double x);
 
+double wrap_angle_deg(double input);
+double wrap_angle_rad(double input);
 
 /*
 Calculates the variance of  a set of numbers (needed for linear regression)
diff --git a/include/utils/vector2d.h b/include/utils/vector2d.h
index 1e3bbb8..a854839 100644
--- a/include/utils/vector2d.h
+++ b/include/utils/vector2d.h
@@ -58,7 +58,7 @@ class Vector2D
      * 
      * @param p point_t.x , point_t.y
      */
-    Vector2D(point_t &p);
+    Vector2D(point_t p);
 
     /**
      * Get the direction of the vector, in radians.
diff --git a/src/subsystems/odometry/odometry_3wheel.cpp b/src/subsystems/odometry/odometry_3wheel.cpp
new file mode 100644
index 0000000..ed8e262
--- /dev/null
+++ b/src/subsystems/odometry/odometry_3wheel.cpp
@@ -0,0 +1,180 @@
+#include "../core/include/subsystems/odometry/odometry_3wheel.h"
+#include "../core/include/utils/vector2d.h"
+#include "../core/include/utils/math_util.h"
+
+Odometry3Wheel::Odometry3Wheel(CustomEncoder &lside_fwd, CustomEncoder &rside_fwd, CustomEncoder &off_axis, odometry3wheel_cfg_t &cfg, bool is_async) 
+: OdometryBase(is_async), lside_fwd(lside_fwd), rside_fwd(rside_fwd), off_axis(off_axis), cfg(cfg)
+{}
+
+/**
+ * Update the current position of the robot once, using the current state of
+ * the encoders and the previous known location
+ * 
+ * @return the robot's updated position
+ */
+position_t Odometry3Wheel::update()
+{
+    static double lside_old=0, rside_old=0, offax_old=0;
+
+    double lside = lside_fwd.position(deg);
+    double rside = rside_fwd.position(deg);
+    double offax = off_axis.position(deg);
+
+    double lside_delta = lside - lside_old;
+    double rside_delta = rside - rside_old;
+    double offax_delta = offax - offax_old;
+
+    lside_old = lside;
+    rside_old = rside;
+    offax_old = offax;
+
+    mut.lock();
+    current_pos = calculate_new_pos(lside_delta, rside_delta, offax_delta, current_pos, cfg);
+    mut.unlock();
+
+    return current_pos;
+}
+
+/**
+ * Calculation method for the robot's new position using the change in encoders, the old position, and the robot's configuration.
+ * This uses a series of arclength formulae for finding distance driven and change in angle.
+ * Then vector math is used to combine it with the robot's old position data
+ * 
+ * @param lside_delta_deg Left encoder change in rotation, in degrees
+ * @param rside_delta_deg Right encoder change in rotation, in degrees
+ * @param offax_delta_deg Off-axis (perpendicular) encoder change in rotation, in degrees
+ * @param old_pos Robot's old position, for integration
+ * @param cfg Data on robot's configuration (wheel diameter, wheelbase, off-axis distance from center)
+ * @return The robot's new position (x, y, rot) 
+ */
+position_t Odometry3Wheel::calculate_new_pos(double lside_delta_deg, double rside_delta_deg, double offax_delta_deg, position_t old_pos, odometry3wheel_cfg_t cfg)
+{
+    position_t retval = {};
+
+    // Arclength formula for encoder degrees -> single wheel distance driven
+    double lside_dist = (cfg.wheel_diam / 2.0) * deg2rad(lside_delta_deg);
+    double rside_dist = (cfg.wheel_diam / 2.0) * deg2rad(rside_delta_deg);
+    double offax_dist = (cfg.wheel_diam / 2.0) * deg2rad(offax_delta_deg);
+    
+    // Inverse arclength formula for arc distance driven -> robot angle
+    double delta_angle_rad = (rside_dist - lside_dist) / cfg.wheelbase_dist;
+    double delta_angle_deg = rad2deg(delta_angle_rad);
+
+    // Distance along the robot's local Y axis (forward/backward)
+    double dist_local_y = (lside_dist + rside_dist) / 2.0;
+
+    // Distance along the robot's local X axis (right/left)
+    double dist_local_x = offax_dist - (delta_angle_rad * cfg.off_axis_center_dist);
+
+    // Change in displacement as a vector, on the local coordinate system (+y = robot fwd)
+    Vector2D local_displacement({.x=dist_local_x, .y=dist_local_y});
+
+    // Rotate the local displacement to match the old robot's rotation
+    double dir_delta_from_trans_rad = local_displacement.get_dir() - (PI/2.0);
+    double global_dir_rad = wrap_angle_rad(dir_delta_from_trans_rad + deg2rad(old_pos.rot));
+    Vector2D global_displacement(global_dir_rad, local_displacement.get_mag());
+
+    // Tack on the position change to the old position
+    Vector2D old_pos_vec({.x=old_pos.x, .y=old_pos.y});
+    Vector2D new_pos_vec = old_pos_vec + global_displacement;
+
+    retval.x = new_pos_vec.get_x();
+    retval.y = new_pos_vec.get_y();
+    retval.rot = wrap_angle_deg(old_pos.rot + delta_angle_deg);
+    
+    return retval;
+}
+
+/**
+ * A guided tuning process to automatically find tuning parameters.
+ * This method is blocking, and returns when tuning has finished. Follow
+ * the instructions on the controller to complete the tuning process
+ * 
+ * It is assumed the gear ratio and encoder PPR have been set correctly
+ * 
+ * @param con Controller reference, for screen and button control
+ * @param drive Drivetrain reference for robot control
+ */
+void Odometry3Wheel::tune(vex::controller &con, TankDrive &drive)
+{
+
+    // TODO check if all the messages fit on the controller screen
+    // STEP 1: Align robot and reset odometry
+    con.Screen.clearScreen();
+    con.Screen.setCursor(1,1);
+    con.Screen.print("Wheel Diameter Test");
+    con.Screen.newLine();
+    con.Screen.print("Align robot with ref");
+    con.Screen.newLine();
+    con.Screen.newLine();
+    con.Screen.print("Press A to continue");
+    while(!con.ButtonA.pressing()) { vexDelay(20); }
+
+    double old_lval = lside_fwd.position(deg);
+    double old_rval = rside_fwd.position(deg);
+
+    // Step 2: Drive robot a known distance
+    con.Screen.clearLine(2);
+    con.Screen.setCursor(2,1);
+    con.Screen.print("Drive or Push robot");
+    con.Screen.newLine();
+    con.Screen.print("10 feet (5 tiles)");
+    con.Screen.newLine();
+    con.Screen.print("Press A to continue");
+    while(!con.ButtonA.pressing())
+    {
+        drive.drive_arcade(con.Axis3.position() / 100.0, con.Axis1.position() / 100.0);
+        vexDelay(20);
+    }
+
+    // Wheel diameter is ratio of expected distance / measured distance
+    double avg_deg = ((lside_fwd.position(deg) - old_lval) + (rside_fwd.position(deg) - old_rval)) / 2.0;
+    double measured_dist = 0.5 * deg2rad(avg_deg); // Simulate diam=1", radius=1/2"
+    double found_diam = 120.0 / measured_dist; 
+
+    // Step 3: Reset alignment for turning test
+    con.Screen.clearScreen();
+    con.Screen.setCursor(1,1);
+    con.Screen.print("Wheelbase Test");
+    con.Screen.newLine();
+    con.Screen.print("Align robot with ref");
+    con.Screen.newLine();
+    con.Screen.newLine();
+    con.Screen.print("Press A to continue");
+    while(!con.ButtonA.pressing()) { vexDelay(20); }
+    
+    old_lval = lside_fwd.position(deg);
+    old_rval = rside_fwd.position(deg);
+    double old_offax = off_axis.position(deg);
+
+    con.Screen.setCursor(2,1);
+    con.Screen.clearLine();
+    con.Screen.print("Turn robot 10");
+    con.Screen.newLine();
+    con.Screen.print("times in place");
+    con.Screen.newLine();
+    con.Screen.print("Press A to continue");
+    while(!con.ButtonA.pressing())
+    {
+        drive.drive_arcade(0, con.Axis1.position() / 100.0);
+        vexDelay(20);
+    }
+
+    double lside_dist = deg2rad(lside_fwd.position(deg) - old_lval) * (found_diam / 2.0);
+    double rside_dist = deg2rad(rside_fwd.position(deg) - old_rval) * (found_diam / 2.0);
+    double offax_dist = deg2rad(off_axis.position(deg) - old_offax) * (found_diam / 2.0);
+
+    double expected_angle = 10 * (2*PI);
+    double found_wheelbase = fabs(rside_dist - lside_dist) / expected_angle;
+    double found_offax_center_dist = offax_dist / expected_angle;
+
+    con.Screen.clearScreen();
+    con.Screen.setCursor(1,1);
+    con.Screen.print("Diam: %f", found_diam);
+    con.Screen.newLine();
+    con.Screen.print("whlbase: %f", found_wheelbase);
+    con.Screen.newLine();
+    con.Screen.print("offax: %f", found_offax_center_dist);
+
+    printf("Tuning completed.\n  Wheel Diameter: %f\n  Wheelbase: %f\n  Off Axis Distance: %f\n");
+}
\ No newline at end of file
diff --git a/src/subsystems/odometry/odometry_base.cpp b/src/subsystems/odometry/odometry_base.cpp
index 3c55330..420e966 100644
--- a/src/subsystems/odometry/odometry_base.cpp
+++ b/src/subsystems/odometry/odometry_base.cpp
@@ -1,6 +1,45 @@
 #include "../core/include/subsystems/odometry/odometry_base.h"
 #include "../core/include/utils/vector2d.h"
 
+/**
+ * Construct a new Odometry Base object
+ * 
+ * @param is_async True to run constantly in the background, false to call update() manually
+ */
+OdometryBase::OdometryBase(bool is_async) : current_pos(zero_pos)
+{
+  if(is_async)
+    handle = new vex::task(background_task, (void*) this);
+}
+
+/**
+ * Function that runs in the background task. This function pointer is passed
+ * to the vex::task constructor. 
+ * 
+ * @param ptr Pointer to OdometryBase object
+ * @return Required integer return code. Unused.
+ */
+int OdometryBase::background_task(void* ptr)
+{
+    OdometryBase &obj = *((OdometryBase*) ptr);
+    while(!obj.end_task)
+    {
+      obj.update();
+    }
+
+    return 0;
+}
+
+/**
+ * End the background task. Cannot be restarted.
+ * If the user wants to end the thread but keep the data up to date,
+ * they must run the update() function manually from then on.
+ */
+void OdometryBase::end_async()
+{
+  this->end_task = true;
+}
+
 /**
 * Gets the current position and rotation
 */
@@ -35,16 +74,6 @@ void OdometryBase::set_position(const position_t &newpos)
     mut.unlock();
 }
 
-/**
- * End the background task. Cannot be restarted.
- * If the user wants to end the thread but keep the data up to date,
- * they must run the update() function manually from then on.
- */
-void OdometryBase::end_async()
-{
-  this->end_task = true;
-}
-
 /**
  * Get the distance between two points
  */
@@ -59,7 +88,7 @@ double OdometryBase::pos_diff(position_t start_pos, position_t end_pos)
 /**
  * Get the change in rotation between two points
  */
-double OdometryBase::rot_diff(position_t &pos1, position_t &pos2)
+double OdometryBase::rot_diff(position_t pos1, position_t pos2)
 {
   return pos1.rot - pos2.rot;
 }
diff --git a/src/subsystems/odometry/odometry_tank.cpp b/src/subsystems/odometry/odometry_tank.cpp
index 1b91cc6..389ced1 100644
--- a/src/subsystems/odometry/odometry_tank.cpp
+++ b/src/subsystems/odometry/odometry_tank.cpp
@@ -7,14 +7,8 @@
  * @param imu The robot's inertial sensor. If not included, rotation is calculated from the encoders.
  */
 OdometryTank::OdometryTank(vex::motor_group &left_side, vex::motor_group &right_side, robot_specs_t &config, vex::inertial *imu, bool is_async)
-: left_side(&left_side), right_side(&right_side), left_enc(NULL), right_enc(NULL), imu(imu), config(config)
+: OdometryBase(is_async), left_side(&left_side), right_side(&right_side), left_enc(NULL), right_enc(NULL), imu(imu), config(config)
 {
-    // Make sure the last known info starts zeroed
-    memset(&current_pos, 0, sizeof(position_t));
-
-    // Start the asynchronous background thread
-    if (is_async)
-        handle = new vex::task(background_task, this);
 }
 
 /**
@@ -24,14 +18,8 @@ OdometryTank::OdometryTank(vex::motor_group &left_side, vex::motor_group &right_
  * @param imu The robot's inertial sensor. If not included, rotation is calculated from the encoders.
  */
 OdometryTank::OdometryTank(CustomEncoder &left_enc, CustomEncoder &right_enc, robot_specs_t &config, vex::inertial *imu, bool is_async)
-: left_side(NULL), right_side(NULL), left_enc(&left_enc), right_enc(&right_enc), imu(imu), config(config)
+: OdometryBase(is_async), left_side(NULL), right_side(NULL), left_enc(&left_enc), right_enc(&right_enc), imu(imu), config(config)
 {
-    // Make sure the last known info starts zeroed
-    memset(&current_pos, 0, sizeof(position_t));
-
-    // Start the asynchronous background thread
-    if (is_async)
-        handle = new vex::task(background_task, this);
 }
 
 /**
@@ -45,23 +33,6 @@ void OdometryTank::set_position(const position_t &newpos)
   OdometryBase::set_position(newpos);
 }
 
-/**
- * The background task constantly polling the motors and updating the position.
- */
-int background_task(void* odom_obj)
-{
-    OdometryTank &odom = *((OdometryTank*) odom_obj);
-    while(!odom.end_task)
-    {
-        odom.update();
-
-        if (DOWNTIME != 0)
-          vexDelay(DOWNTIME);
-    }
-
-    return 0;
-}
-
 /**
  * Update, store and return the current position of the robot. Only use if not initializing
  * with a separate thread.
@@ -93,12 +64,12 @@ position_t OdometryTank::update()
       // Get the arclength of the turning circle of the robot
       double distance_diff = (rside_revs - lside_revs) * PI * config.odom_wheel_diam;
 
-      //printf("dist_diff: %f, ", distance_diff);
+      // printf("dist_diff: %f, ", distance_diff);
 
       //Use the arclength formula to calculate the angle. Add 90 to make "0 degrees" to starboard
       angle = ((180.0 / PI) * (distance_diff / config.dist_between_wheels)) + 90;
 
-      //printf("angle: %f, ", (180.0 / PI) * (distance_diff / config.dist_between_wheels));
+      // printf("angle: %f, ", (180.0 / PI) * (distance_diff / config.dist_between_wheels));
 
     } else
     {
diff --git a/src/subsystems/tank_drive.cpp b/src/subsystems/tank_drive.cpp
index 8805b4c..6c7e45d 100644
--- a/src/subsystems/tank_drive.cpp
+++ b/src/subsystems/tank_drive.cpp
@@ -98,7 +98,7 @@ bool TankDrive::drive_forward(double inches, directionType dir, Feedback &feedba
       inches = fabs(inches);
 
     // Use vector math to get an X and Y
-    Vector2D cur_pos_vec({cur_pos.x , cur_pos.y});
+    Vector2D cur_pos_vec({.x=cur_pos.x , .y=cur_pos.y});
     Vector2D delta_pos_vec(deg2rad(cur_pos.rot), inches);
     Vector2D setpt_vec = cur_pos_vec + delta_pos_vec;
 
diff --git a/src/utils/math_util.cpp b/src/utils/math_util.cpp
index 4bccc52..4ab2406 100644
--- a/src/utils/math_util.cpp
+++ b/src/utils/math_util.cpp
@@ -1,6 +1,10 @@
 #include "../core/include/utils/math_util.h"
 #include <vector>
 
+#ifndef PI
+#define PI 3.141592654
+#endif
+
 /**
 * Constrain the input between a minimum and a maximum value
 * 
@@ -30,6 +34,23 @@ double sign(double x){
 }
 
 
+double wrap_angle_deg(double input)
+{
+  double angle = fmod(input, 360);
+  if(angle < 0)
+    angle += 360;
+
+  return angle;
+}
+
+double wrap_angle_rad(double input)
+{
+  double angle = fmod(input, 2*PI);
+  if(angle < 0)
+    angle += 2*PI;
+
+  return angle;
+}
 /*
 Calculates the average of a vector of doubles
 @param values   the list of values for which the average is taken
diff --git a/src/utils/vector2d.cpp b/src/utils/vector2d.cpp
index 8532847..6d8ff96 100644
--- a/src/utils/vector2d.cpp
+++ b/src/utils/vector2d.cpp
@@ -17,7 +17,7 @@ Vector2D::Vector2D(double dir, double mag)
  * 
  * @param p point_t.x , point_t.y
  */
-Vector2D::Vector2D(point_t &p)
+Vector2D::Vector2D(point_t p)
 {
     this->dir = atan2(p.y, p.x);
     this->mag = sqrt( (p.x*p.x) + (p.y*p.y) );

From 49f08c4769d9f92a0e222d1f7e91017542cb18b8 Mon Sep 17 00:00:00 2001
From: Ryan McGee <ramtech51@comcast.net>
Date: Thu, 19 Jan 2023 22:38:57 -0500
Subject: [PATCH 115/243] Merge branch 'main' into auto_structure

---
 include/utils/feedforward.h     | 18 ++++++-
 src/utils/feedforward.cpp       | 91 +++++++++++++++++++++++++++++++++
 src/utils/motion_controller.cpp |  1 -
 3 files changed, 108 insertions(+), 2 deletions(-)
 create mode 100644 src/utils/feedforward.cpp

diff --git a/include/utils/feedforward.h b/include/utils/feedforward.h
index f2fae43..a7afe3c 100644
--- a/include/utils/feedforward.h
+++ b/include/utils/feedforward.h
@@ -20,6 +20,12 @@
  * @author Ryan McGee
  * @date 6/13/2022
  */
+#include <math.h>
+#include <vector>
+#include "../core/include/utils/math_util.h"
+#include "../core/include/utils/moving_average.h"
+#include "vex.h"
+
 class FeedForward
 {
     public:
@@ -58,4 +64,14 @@ class FeedForward
 
     ff_config_t &cfg;
 
-};
\ No newline at end of file
+};
+
+
+/**
+* tune_feedforward takes a group of motors and finds the feedforward conifg parameters automagically.
+*  @param motor the motor group to use 
+*  @param pct Maximum velocity in percent (0->1.0)
+ * @param duration Amount of time the motors spin for the test
+ * @return A tuned feedforward object
+ */
+FeedForward::ff_config_t tune_feedforward(vex::motor_group &motor, double pct, double duration);
\ No newline at end of file
diff --git a/src/utils/feedforward.cpp b/src/utils/feedforward.cpp
new file mode 100644
index 0000000..1b4ff99
--- /dev/null
+++ b/src/utils/feedforward.cpp
@@ -0,0 +1,91 @@
+#include "../core/include/utils/feedforward.h"
+
+
+/**
+* tune_feedforward takes a group of motors and finds the feedforward conifg parameters automagically.
+*  @param motor the motor group to use 
+*  @param pct Maximum velocity in percent (0->1.0)
+ * @param duration Amount of time the motors spin for the test
+ * @return A tuned feedforward object
+ */
+FeedForward::ff_config_t tune_feedforward(vex::motor_group &motor, double pct, double duration)
+{
+    FeedForward::ff_config_t out = {};
+    
+    double start_pos = motor.position(vex::rotationUnits::rev);
+
+    // ========== kS Tuning =========
+    // Start at 0 and slowly increase the power until the robot starts moving
+    double power = 0;
+    while(fabs(motor.position(vex::rotationUnits::rev) - start_pos) < 0.05)
+    {
+        motor.spin(vex::directionType::fwd, power, vex::voltageUnits::volt);
+        power += 0.001;
+        vexDelay(100);
+    }
+    out.kS = power;
+    motor.stop();
+
+
+    // ========== kV / kA Tuning =========
+
+    std::vector<std::pair<double, double>> vel_data_points; // time, velocity
+    std::vector<std::pair<double, double>> accel_data_points; // time, accel
+
+    double max_speed = 0;
+    vex::timer tmr;
+    double time = 0;
+
+    MovingAverage vel_ma(3);
+    MovingAverage accel_ma(3);
+
+    // Move the robot forward at a fixed percentage for X seconds while taking velocity and accel measurements
+    do
+    {
+        double last_time = time;
+        time = tmr.time(vex::sec);
+        double dt = time - last_time;
+
+        vel_ma.add_entry(motor.velocity(vex::velocityUnits::rpm));
+        accel_ma.add_entry(motor.velocity(vex::velocityUnits::rpm)/dt);
+
+        double speed = vel_ma.get_average();
+        double accel = accel_ma.get_average();
+
+        // For kV:
+        if(speed > max_speed)
+            max_speed = speed;
+
+        // For kA:
+        // Filter out the acceleration dampening due to motor inductance
+        if(time > 0.25)
+        {
+            vel_data_points.push_back(std::pair<double, double>(time, speed));
+            accel_data_points.push_back(std::pair<double, double>(time, accel));
+        }
+
+        // Theoretical polling rate = 100hz (it won't be that much, cause, y'know, vex.)
+        vexDelay(10); 
+    } while(time < duration);
+
+    motor.stop();
+
+    // Calculate kV (volts/12 per unit per second)
+    out.kV = (pct - out.kS) / max_speed;
+
+    // Calculate kA (volts/12 per unit per second^2)
+    std::vector<std::pair<double, double>> accel_per_pct;
+    for (int i = 0; i < vel_data_points.size(); i++)
+    {
+        accel_per_pct.push_back(std::pair<double, double>(
+            pct - out.kS - (vel_data_points[i].second * out.kV),   // Acceleration-causing percent (X variable)
+            accel_data_points[i].second                            // Measured acceleration (Y variable)
+        ));
+    }
+    
+    // kA is the reciprocal of the slope of the linear regression
+    double regres_slope = calculate_linear_regression(accel_per_pct).first;
+    out.kA = 1.0 / regres_slope; 
+
+    return out;
+}
\ No newline at end of file
diff --git a/src/utils/motion_controller.cpp b/src/utils/motion_controller.cpp
index 6fde9cb..8d8a438 100644
--- a/src/utils/motion_controller.cpp
+++ b/src/utils/motion_controller.cpp
@@ -1,6 +1,5 @@
 #include "../core/include/utils/motion_controller.h"
 #include "../core/include/utils/math_util.h"
-#include "../core/include/utils/moving_average.h"
 #include <vector>
 
 /**

From cb112e47bf5425bce62858fd3669010d9f46b538 Mon Sep 17 00:00:00 2001
From: Ryan McGee <ramtech51@comcast.net>
Date: Fri, 20 Jan 2023 19:57:46 -0500
Subject: [PATCH 116/243] Added hardware and subsystem definitions

---
 include/subsystems/tank_drive.h | 4 ++--
 src/subsystems/tank_drive.cpp   | 2 +-
 2 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/include/subsystems/tank_drive.h b/include/subsystems/tank_drive.h
index 9fdbff2..a82f01b 100644
--- a/include/subsystems/tank_drive.h
+++ b/include/subsystems/tank_drive.h
@@ -22,7 +22,7 @@ class TankDrive
   /**
    * Create the TankDrive object 
    */
-  TankDrive(motor_group &left_motors, motor_group &right_motors, robot_specs_t &config, OdometryTank *odom=NULL);
+  TankDrive(motor_group &left_motors, motor_group &right_motors, robot_specs_t &config, OdometryBase *odom=NULL);
 
   /**
    * Stops rotation of all the motors using their "brake mode"
@@ -167,7 +167,7 @@ class TankDrive
   Feedback *drive_default_feedback = NULL;
   Feedback *turn_default_feedback = NULL;
 
-  OdometryTank *odometry;
+  OdometryBase *odometry;
 
   robot_specs_t &config;
 
diff --git a/src/subsystems/tank_drive.cpp b/src/subsystems/tank_drive.cpp
index 6c7e45d..698b521 100644
--- a/src/subsystems/tank_drive.cpp
+++ b/src/subsystems/tank_drive.cpp
@@ -1,7 +1,7 @@
 #include "../core/include/subsystems/tank_drive.h"
 #include "../core/include/utils/math_util.h"
 
-TankDrive::TankDrive(motor_group &left_motors, motor_group &right_motors, robot_specs_t &config, OdometryTank *odom)
+TankDrive::TankDrive(motor_group &left_motors, motor_group &right_motors, robot_specs_t &config, OdometryBase *odom)
     : left_motors(left_motors), right_motors(right_motors), correction_pid(config.correction_pid), odometry(odom), config(config)
 {
   drive_default_feedback = config.drive_feedback;

From 01e53017287635611845eaf2c605350014174bce Mon Sep 17 00:00:00 2001
From: cowsed <richie.sommers@outlook.com>
Date: Fri, 20 Jan 2023 21:09:35 -0500
Subject: [PATCH 117/243] Stopped being a fool and started using Fancy New Auto
 Command Structure the sequel 2

---
 .../command_structure/flywheel_commands.h     | 24 ++++++++++++++++++-
 .../command_structure/flywheel_commands.cpp   | 13 ++++++++++
 2 files changed, 36 insertions(+), 1 deletion(-)

diff --git a/include/utils/command_structure/flywheel_commands.h b/include/utils/command_structure/flywheel_commands.h
index 8af93f3..a153356 100644
--- a/include/utils/command_structure/flywheel_commands.h
+++ b/include/utils/command_structure/flywheel_commands.h
@@ -9,7 +9,8 @@
 #include "../core/include/subsystems/flywheel.h"
 #include "../core/include/utils/command_structure/auto_command.h"
 
-class SpinRPMCommand: AutoCommand {
+class SpinRPMCommand: public AutoCommand {
+  public:
   SpinRPMCommand(Flywheel &flywheel, int rpm);
 
     /**
@@ -27,7 +28,27 @@ class SpinRPMCommand: AutoCommand {
     int rpm;
 };
 
+class WaitUntilUpToSpeedCommand: public AutoCommand {
+  public:
+    WaitUntilUpToSpeedCommand(Flywheel &flywheel, int threshold_rpm);
+
+    /**
+     * Run spin_manual
+     * Overrides run from AutoCommand
+     * @returns true when execution is complete, false otherwise
+     */
+    bool run() override;
+
+  private:
+    // Flywheel instance to run the function on
+    Flywheel &flywheel;
+
+    // if the actual speed is equal to the desired speed +/- this value, we are ready to fire
+    int threshhold_rpm;
+};
+
 class FlywheelStopCommand: public AutoCommand {
+  public:
   FlywheelStopCommand(Flywheel &flywheel);
 
     /**
@@ -43,6 +64,7 @@ class FlywheelStopCommand: public AutoCommand {
 };
 
 class FlywheelStopMotorsCommand: public AutoCommand {
+  public:
   FlywheelStopMotorsCommand(Flywheel &flywheel);
 
     /**
diff --git a/src/utils/command_structure/flywheel_commands.cpp b/src/utils/command_structure/flywheel_commands.cpp
index 29a0b98..3d027b2 100644
--- a/src/utils/command_structure/flywheel_commands.cpp
+++ b/src/utils/command_structure/flywheel_commands.cpp
@@ -15,6 +15,19 @@ bool SpinRPMCommand::run() {
   return true;
 }
 
+WaitUntilUpToSpeedCommand::WaitUntilUpToSpeedCommand(Flywheel &flywheel, int threshhold_rpm):
+  flywheel(flywheel), threshhold_rpm(threshhold_rpm) {}
+
+bool WaitUntilUpToSpeedCommand::run() {
+  // If we're withing the specified threshhold, we're ready to fire
+  if (fabs(flywheel.getDesiredRPM() - flywheel.getRPM()) < threshhold_rpm){
+    return true;
+  }
+  // else, keep waiting
+  return false;
+}
+
+
 
 FlywheelStopCommand::FlywheelStopCommand(Flywheel &flywheel):
   flywheel(flywheel) {}

From 180aeeec998169f0ccfebd28b25f8603779d5d0b Mon Sep 17 00:00:00 2001
From: cowsed <richie.sommers@outlook.com>
Date: Fri, 20 Jan 2023 21:12:01 -0500
Subject: [PATCH 118/243] Pragma Onced Flywheel. Finally it builds maybe

---
 include/subsystems/flywheel.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/include/subsystems/flywheel.h b/include/subsystems/flywheel.h
index 81a1e17..367fea1 100644
--- a/include/subsystems/flywheel.h
+++ b/include/subsystems/flywheel.h
@@ -1,3 +1,4 @@
+#pragma once
 /*********************************************************
 *
 *     File:     Flywheel.h
@@ -10,7 +11,6 @@
 * 09/23/2022  <CRN> Reorganized, added documentation.
 * 09/23/2022  <CRN> Added functions elaborated on in .cpp.
 *********************************************************/
-
 #include "../core/include/utils/feedforward.h"
 #include "vex.h"
 #include "../core/include/robot_specs.h"

From 01bdff00e41f81a5d96f3bcfd31c1c22b4e1d520 Mon Sep 17 00:00:00 2001
From: cowsed <richie.sommers@outlook.com>
Date: Fri, 20 Jan 2023 22:01:24 -0500
Subject: [PATCH 119/243] Implemented Debug printing in CommandController
 Prints Starting Command X ... Finished Command X. where X is the number of
 the command. The first command to run is #1, not 0

---
 src/utils/command_structure/command_controller.cpp | 8 +++++++-
 1 file changed, 7 insertions(+), 1 deletion(-)

diff --git a/src/utils/command_structure/command_controller.cpp b/src/utils/command_structure/command_controller.cpp
index fb629c2..b33fb59 100644
--- a/src/utils/command_structure/command_controller.cpp
+++ b/src/utils/command_structure/command_controller.cpp
@@ -35,15 +35,21 @@ void CommandController::add_delay(int ms) {
  */
 void CommandController::run() {
   AutoCommand *next_cmd;
+  printf("Beginning Auto. Starting from 1");
+  int command_count = 1;
   while(!command_queue.empty()) {
     // retrieve and remove command at the front of the queue
     next_cmd = command_queue.front();
     command_queue.pop();
 
+    printf("Beginning Command %d", command_count);
+
     // run the current command until it returns true
     while(!next_cmd -> run()) {
       vexDelay(20);
     }
-    
+
+    printf("Finished Command %d", command_count);
+    command_count++;
   }
 }
\ No newline at end of file

From 2fd52db12b0606de9ead9738f7a6d47a036882a8 Mon Sep 17 00:00:00 2001
From: cowsed <richie.sommers@outlook.com>
Date: Fri, 20 Jan 2023 22:05:16 -0500
Subject: [PATCH 120/243] Fixed format error & Screen overwriting issue in 3
 pod odom tuning function

---
 src/subsystems/odometry/odometry_3wheel.cpp | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/src/subsystems/odometry/odometry_3wheel.cpp b/src/subsystems/odometry/odometry_3wheel.cpp
index ed8e262..034d70c 100644
--- a/src/subsystems/odometry/odometry_3wheel.cpp
+++ b/src/subsystems/odometry/odometry_3wheel.cpp
@@ -142,6 +142,7 @@ void Odometry3Wheel::tune(vex::controller &con, TankDrive &drive)
     con.Screen.newLine();
     con.Screen.print("Press A to continue");
     while(!con.ButtonA.pressing()) { vexDelay(20); }
+    con.Screen.clearScreen();
     
     old_lval = lside_fwd.position(deg);
     old_rval = rside_fwd.position(deg);
@@ -176,5 +177,5 @@ void Odometry3Wheel::tune(vex::controller &con, TankDrive &drive)
     con.Screen.newLine();
     con.Screen.print("offax: %f", found_offax_center_dist);
 
-    printf("Tuning completed.\n  Wheel Diameter: %f\n  Wheelbase: %f\n  Off Axis Distance: %f\n");
+    printf("Tuning completed.\n  Wheel Diameter: %f\n  Wheelbase: %f\n  Off Axis Distance: %f\n", found_diam, found_wheelbase, found_offax_center_dist);
 }
\ No newline at end of file

From e0a8892abca7c9ab13da130a7c1800cb3b58c3d1 Mon Sep 17 00:00:00 2001
From: cowsed <richie.sommers@outlook.com>
Date: Fri, 20 Jan 2023 23:39:15 -0500
Subject: [PATCH 121/243] Merge branch 'main' of
 https://github.com/RIT-VEX-U/2022-2023-Flynn

---
 include/subsystems/odometry/odometry_base.h |  5 ++++
 include/subsystems/odometry/odometry_tank.h |  5 +---
 src/subsystems/odometry/odometry_3wheel.cpp | 31 ++++++++++++++++++++-
 src/subsystems/odometry/odometry_base.cpp   | 18 ++++++++++++
 src/subsystems/odometry/odometry_tank.cpp   | 18 ------------
 5 files changed, 54 insertions(+), 23 deletions(-)

diff --git a/include/subsystems/odometry/odometry_base.h b/include/subsystems/odometry/odometry_base.h
index 6d031ab..80c9e50 100644
--- a/include/subsystems/odometry/odometry_base.h
+++ b/include/subsystems/odometry/odometry_base.h
@@ -88,10 +88,15 @@ class OdometryBase
 
     bool end_task = false;
 
+    double get_speed();
+    double get_accel();
+
     inline static constexpr position_t zero_pos = {.x=0.0L, .y=0.0L, .rot=90.0L};
 
 protected:
     vex::task *handle;
     vex::mutex mut;
     position_t current_pos;
+
+    double speed, accel;
 };
\ No newline at end of file
diff --git a/include/subsystems/odometry/odometry_tank.h b/include/subsystems/odometry/odometry_tank.h
index f418b4a..263f371 100644
--- a/include/subsystems/odometry/odometry_tank.h
+++ b/include/subsystems/odometry/odometry_tank.h
@@ -36,8 +36,7 @@ class OdometryTank : public OdometryBase
 
     void set_position(const position_t &newpos=zero_pos) override;
 
-    double get_speed();
-    double get_accel();
+    
 
 private:
     /**
@@ -50,8 +49,6 @@ class OdometryTank : public OdometryBase
     vex::inertial *imu;
     robot_specs_t &config;
 
-    double speed, accel;
-
     double rotation_offset = 0;
     
 };
\ No newline at end of file
diff --git a/src/subsystems/odometry/odometry_3wheel.cpp b/src/subsystems/odometry/odometry_3wheel.cpp
index 034d70c..3142a15 100644
--- a/src/subsystems/odometry/odometry_3wheel.cpp
+++ b/src/subsystems/odometry/odometry_3wheel.cpp
@@ -28,8 +28,37 @@ position_t Odometry3Wheel::update()
     rside_old = rside;
     offax_old = offax;
 
+    position_t updated_pos = calculate_new_pos(lside_delta, rside_delta, offax_delta, current_pos, cfg);
+
+    static position_t last_pos = updated_pos;
+    static double last_speed = 0;
+    static timer tmr;
+
+    double speed_local = 0;
+    double accel_local = 0;
+    bool update_vel_accel = tmr.time(sec) > 0.1;
+
+    // This loop runs too fast. Only check at LEAST every 1/10th sec
+    if(update_vel_accel)
+    {
+      // Calculate robot velocity
+      speed_local = pos_diff(updated_pos, last_pos) / tmr.time(sec);
+
+      // Calculate robot acceleration
+      accel_local = (speed_local - last_speed) / tmr.time(sec);
+
+      tmr.reset();
+      last_pos = updated_pos;
+      last_speed = speed_local;
+    }
+
     mut.lock();
-    current_pos = calculate_new_pos(lside_delta, rside_delta, offax_delta, current_pos, cfg);
+    this->current_pos = updated_pos;
+    if(update_vel_accel)
+    {
+        this->speed = speed_local;
+        this->accel = accel_local;
+    }
     mut.unlock();
 
     return current_pos;
diff --git a/src/subsystems/odometry/odometry_base.cpp b/src/subsystems/odometry/odometry_base.cpp
index 420e966..142be37 100644
--- a/src/subsystems/odometry/odometry_base.cpp
+++ b/src/subsystems/odometry/odometry_base.cpp
@@ -110,5 +110,23 @@ double OdometryBase::smallest_angle(double start_deg, double end_deg)
   if(retval > 180)
     retval -= 360;
 
+  return retval;
+}
+
+double OdometryBase::get_speed()
+{
+  mut.lock();
+  double retval = speed;
+  mut.unlock();
+  
+  return retval;
+}
+
+double OdometryBase::get_accel()
+{
+  mut.lock();
+  double retval = accel;
+  mut.unlock();
+
   return retval;
 }
\ No newline at end of file
diff --git a/src/subsystems/odometry/odometry_tank.cpp b/src/subsystems/odometry/odometry_tank.cpp
index 389ced1..28971a3 100644
--- a/src/subsystems/odometry/odometry_tank.cpp
+++ b/src/subsystems/odometry/odometry_tank.cpp
@@ -161,22 +161,4 @@ position_t OdometryTank::calculate_new_pos(robot_specs_t &config, position_t &cu
     stored_rside_revs = rside_revs;
 
     return new_pos;
-}
-
-double OdometryTank::get_speed()
-{
-  mut.lock();
-  double retval = speed;
-  mut.unlock();
-  
-  return retval;
-}
-
-double OdometryTank::get_accel()
-{
-  mut.lock();
-  double retval = accel;
-  mut.unlock();
-
-  return retval;
 }
\ No newline at end of file

From 1279ed0122dbfb660a5b6b9a384ba1a5a9ea3a8c Mon Sep 17 00:00:00 2001
From: cowsed <richie.sommers@outlook.com>
Date: Sun, 22 Jan 2023 14:59:40 -0500
Subject: [PATCH 122/243] Merge branch 'main' of
 https://github.com/RIT-VEX-U/2022-2023-Flynn

---
 include/subsystems/odometry/odometry_base.h |  5 ++++-
 src/subsystems/odometry/odometry_3wheel.cpp | 12 ++++++++++++
 src/subsystems/odometry/odometry_base.cpp   | 18 ++++++++++++++++++
 3 files changed, 34 insertions(+), 1 deletion(-)

diff --git a/include/subsystems/odometry/odometry_base.h b/include/subsystems/odometry/odometry_base.h
index 80c9e50..2213486 100644
--- a/include/subsystems/odometry/odometry_base.h
+++ b/include/subsystems/odometry/odometry_base.h
@@ -91,6 +91,9 @@ class OdometryBase
     double get_speed();
     double get_accel();
 
+    double get_angular_speed_deg();
+    double get_angular_accel_deg();
+
     inline static constexpr position_t zero_pos = {.x=0.0L, .y=0.0L, .rot=90.0L};
 
 protected:
@@ -98,5 +101,5 @@ class OdometryBase
     vex::mutex mut;
     position_t current_pos;
 
-    double speed, accel;
+    double speed, accel, ang_speed_deg, ang_accel_deg;
 };
\ No newline at end of file
diff --git a/src/subsystems/odometry/odometry_3wheel.cpp b/src/subsystems/odometry/odometry_3wheel.cpp
index 3142a15..1dc2ecf 100644
--- a/src/subsystems/odometry/odometry_3wheel.cpp
+++ b/src/subsystems/odometry/odometry_3wheel.cpp
@@ -32,10 +32,13 @@ position_t Odometry3Wheel::update()
 
     static position_t last_pos = updated_pos;
     static double last_speed = 0;
+    static double last_ang_speed = 0;
     static timer tmr;
 
     double speed_local = 0;
     double accel_local = 0;
+    double ang_speed_local = 0;
+    double ang_accel_local = 0;
     bool update_vel_accel = tmr.time(sec) > 0.1;
 
     // This loop runs too fast. Only check at LEAST every 1/10th sec
@@ -47,9 +50,16 @@ position_t Odometry3Wheel::update()
       // Calculate robot acceleration
       accel_local = (speed_local - last_speed) / tmr.time(sec);
 
+      // Calculate robot angular velocity (deg/sec)
+      ang_speed_local = smallest_angle(updated_pos.rot, last_pos.rot) / tmr.time(sec);
+
+      // Calculate robot angular acceleration (deg/sec^2)
+      ang_accel_local = (ang_speed_local - last_ang_speed) / tmr.time(sec);
+
       tmr.reset();
       last_pos = updated_pos;
       last_speed = speed_local;
+      last_ang_speed = ang_speed_local;
     }
 
     mut.lock();
@@ -58,6 +68,8 @@ position_t Odometry3Wheel::update()
     {
         this->speed = speed_local;
         this->accel = accel_local;
+        this->ang_speed_deg = ang_speed_local;
+        this->ang_accel_deg = ang_accel_local;
     }
     mut.unlock();
 
diff --git a/src/subsystems/odometry/odometry_base.cpp b/src/subsystems/odometry/odometry_base.cpp
index 142be37..1b1ae35 100644
--- a/src/subsystems/odometry/odometry_base.cpp
+++ b/src/subsystems/odometry/odometry_base.cpp
@@ -128,5 +128,23 @@ double OdometryBase::get_accel()
   double retval = accel;
   mut.unlock();
 
+  return retval;
+}
+
+double OdometryBase::get_angular_speed_deg()
+{
+  mut.lock();
+  double retval = ang_speed_deg;
+  mut.unlock();
+
+  return retval;
+}
+
+double OdometryBase::get_angular_accel_deg()
+{
+  mut.lock();
+  double retval = ang_accel_deg;
+  mut.unlock();
+
   return retval;
 }
\ No newline at end of file

From 71af0a0bb58545a330f3fdea1c9b9ced54a5b29a Mon Sep 17 00:00:00 2001
From: cowsed <richie.sommers@outlook.com>
Date: Sun, 22 Jan 2023 15:42:34 -0500
Subject: [PATCH 123/243] Added feedback as an argument to all the drive
 forward commands rumor has it that it even builds

---
 .../utils/command_structure/drive_commands.h  | 21 +++++++++++++++----
 .../command_structure/drive_commands.cpp      | 21 +++++++++----------
 2 files changed, 27 insertions(+), 15 deletions(-)

diff --git a/include/utils/command_structure/drive_commands.h b/include/utils/command_structure/drive_commands.h
index b02925b..3b3eae3 100644
--- a/include/utils/command_structure/drive_commands.h
+++ b/include/utils/command_structure/drive_commands.h
@@ -30,10 +30,11 @@ using namespace vex;
 /**
  * AutoCommand wrapper class for the drive_forward function in the 
  * TankDrive class
+ *
  */
 class DriveForwardCommand: public AutoCommand {
   public:
-    DriveForwardCommand(TankDrive &drive_sys, double inches, directionType dir, double max_speed);
+    DriveForwardCommand(TankDrive &drive_sys, Feedback &feedback, double inches, directionType dir, double max_speed=1);
 
     /**
      * Run drive_forward
@@ -46,6 +47,9 @@ class DriveForwardCommand: public AutoCommand {
     // drive system to run the function on
     TankDrive &drive_sys;
 
+    // feedback controller to use
+    Feedback &feedback;
+
     // parameters for drive_forward
     double inches;
     directionType dir;
@@ -58,7 +62,7 @@ class DriveForwardCommand: public AutoCommand {
  */
 class TurnDegreesCommand: public AutoCommand {
   public:
-    TurnDegreesCommand(TankDrive &drive_sys, double degrees, double max_speed);
+    TurnDegreesCommand(TankDrive &drive_sys, Feedback &feedback, double degrees, double max_speed);
 
     /**
      * Run turn_degrees
@@ -70,6 +74,9 @@ class TurnDegreesCommand: public AutoCommand {
   private:
     // drive system to run the function on
     TankDrive &drive_sys;
+    
+    // feedback controller to use
+    Feedback &feedback;
 
     // parameters for turn_degrees
     double degrees;
@@ -82,7 +89,7 @@ class TurnDegreesCommand: public AutoCommand {
  */
 class DriveToPointCommand: public AutoCommand {
   public:
-    DriveToPointCommand(TankDrive &drive_sys, double x, double y, directionType dir, double max_speed);
+    DriveToPointCommand(TankDrive &drive_sys, Feedback &feedback, double x, double y, directionType dir, double max_speed);
 
     /**
      * Run drive_to_point
@@ -95,6 +102,9 @@ class DriveToPointCommand: public AutoCommand {
     // drive system to run the function on
     TankDrive &drive_sys;
 
+    // feedback controller to use
+    Feedback &feedback;
+
     // parameters for drive_to_point
     double x;
     double y;
@@ -106,7 +116,7 @@ class DriveToPointCommand: public AutoCommand {
 
 class TurnToHeadingCommand: public AutoCommand {
   public:
-    TurnToHeadingCommand(TankDrive &drive_sys, double heading_deg, double speed);
+    TurnToHeadingCommand(TankDrive &drive_sys, Feedback &feedback, double heading_deg, double speed);
 
     /**
      * Run turn_to_heading
@@ -119,6 +129,9 @@ class TurnToHeadingCommand: public AutoCommand {
     // drive system to run the function on
     TankDrive &drive_sys;
 
+    // feedback controller to use
+    Feedback &feedback;
+
     // parameters for turn_to_heading
     double heading_deg;
     double max_speed;
diff --git a/src/utils/command_structure/drive_commands.cpp b/src/utils/command_structure/drive_commands.cpp
index cc80b96..5c67661 100644
--- a/src/utils/command_structure/drive_commands.cpp
+++ b/src/utils/command_structure/drive_commands.cpp
@@ -21,10 +21,9 @@
 
 // ==== DRIVING ====
 
-// Drive Forward
 
-DriveForwardCommand::DriveForwardCommand(TankDrive &drive_sys, double inches, directionType dir, double max_speed):
-  drive_sys(drive_sys), inches(inches), dir(dir), max_speed(max_speed) {}
+DriveForwardCommand::DriveForwardCommand(TankDrive &drive_sys, Feedback &feedback, double inches, directionType dir, double max_speed):
+  drive_sys(drive_sys), feedback(feedback), inches(inches), dir(dir), max_speed(max_speed) {}
 
 /**
  * Run drive_forward
@@ -32,14 +31,14 @@ DriveForwardCommand::DriveForwardCommand(TankDrive &drive_sys, double inches, di
  * @returns true when execution is complete, false otherwise
  */
 bool DriveForwardCommand::run() {
-  return drive_sys.drive_forward(inches, dir, max_speed);
+  return drive_sys.drive_forward(inches, dir, feedback, max_speed);
 }
 
 
 // Turn Degrees
 
-TurnDegreesCommand::TurnDegreesCommand(TankDrive &drive_sys, double degrees, double max_speed):
-  drive_sys(drive_sys), degrees(degrees), max_speed(max_speed) {}
+TurnDegreesCommand::TurnDegreesCommand(TankDrive &drive_sys, Feedback &feedback, double degrees, double max_speed):
+  drive_sys(drive_sys), feedback(feedback), degrees(degrees), max_speed(max_speed) {}
 
 /**
  * Run turn_degrees
@@ -53,8 +52,8 @@ bool TurnDegreesCommand::run() {
 
 // Drive to Point
 
-DriveToPointCommand::DriveToPointCommand(TankDrive &drive_sys, double x, double y, directionType dir, double max_speed):
-  drive_sys(drive_sys), x(x), y(y), dir(dir), max_speed(max_speed) {}
+DriveToPointCommand::DriveToPointCommand(TankDrive &drive_sys, Feedback &feedback, double x, double y, directionType dir, double max_speed):
+  drive_sys(drive_sys), feedback(feedback), x(x), y(y), dir(dir), max_speed(max_speed) {}
 
 /**
  * Run drive_to_point
@@ -68,8 +67,8 @@ bool DriveToPointCommand::run() {
 
 // Turn to Heading
 
-TurnToHeadingCommand::TurnToHeadingCommand(TankDrive &drive_sys, double heading_deg, double max_speed):
-  drive_sys(drive_sys), heading_deg(heading_deg), max_speed(max_speed) {}
+TurnToHeadingCommand::TurnToHeadingCommand(TankDrive &drive_sys, Feedback &feedback, double heading_deg, double max_speed):
+  drive_sys(drive_sys), feedback(feedback), heading_deg(heading_deg), max_speed(max_speed) {}
 
 /**
  * Run turn_to_heading
@@ -77,7 +76,7 @@ TurnToHeadingCommand::TurnToHeadingCommand(TankDrive &drive_sys, double heading_
  * @returns true when execution is complete, false otherwise
  */
 bool TurnToHeadingCommand::run() {
-  return drive_sys.turn_to_heading(heading_deg, max_speed);
+  return drive_sys.turn_to_heading(heading_deg, feedback, max_speed);
 }
 
 

From 048f53b66f41e657d9f9fd0b561fa23e87184639 Mon Sep 17 00:00:00 2001
From: cowsed <richie.sommers@outlook.com>
Date: Sun, 22 Jan 2023 16:35:14 -0500
Subject: [PATCH 124/243] Added doxygen comment and diagram

---
 include/subsystems/odometry/odometry_3wheel.h | 18 ++++++++++--------
 1 file changed, 10 insertions(+), 8 deletions(-)

diff --git a/include/subsystems/odometry/odometry_3wheel.h b/include/subsystems/odometry/odometry_3wheel.h
index a5d252f..f53ac58 100644
--- a/include/subsystems/odometry/odometry_3wheel.h
+++ b/include/subsystems/odometry/odometry_3wheel.h
@@ -9,15 +9,17 @@
  * This class handles the code for a standard 3-pod odometry setup, where there are 3 "pods" made up of undriven
  * (dead) wheels connected to encoders in the following configuration:
  * 
- *  ---------------
- *  |             |
- *  |             |
- *  | ||   X   || |
- *  |             |
- *  |     ===     |
- *  ---------------
+ *  +Y   ---------------
+ *  ^    |             |
+ *  |    |             |
+ *  |    | ||   O   || |
+ *  |    |             |
+ *  |    |     ===     |
+ *  |    ---------------
+ *  |
+ *  +-------------------> + X
  * 
- * Where X is the center of rotation. The robot will monitor the changes in rotation of these wheels and calculate
+ * Where O is the center of rotation. The robot will monitor the changes in rotation of these wheels and calculate
  * the robot's X, Y and rotation on the field.
  * 
  * This is a "set and forget" class, meaning once the object is created, the robot will immediately begin

From c9d87829c49a8735229541218a59dc7933d717c2 Mon Sep 17 00:00:00 2001
From: cowsed <richie.sommers@outlook.com>
Date: Sun, 22 Jan 2023 16:35:19 -0500
Subject: [PATCH 125/243] Merge branch 'main' of
 https://github.com/RIT-VEX-U/2022-2023-Flynn

---
 include/robot_specs.h             |  1 +
 include/utils/motion_controller.h |  9 +++++----
 include/utils/pid.h               | 12 ++++++++++++
 src/utils/motion_controller.cpp   |  9 +++++----
 src/utils/pid.cpp                 |  4 ++++
 5 files changed, 27 insertions(+), 8 deletions(-)

diff --git a/include/robot_specs.h b/include/robot_specs.h
index 3559dfa..488627a 100644
--- a/include/robot_specs.h
+++ b/include/robot_specs.h
@@ -1,5 +1,6 @@
 #pragma once
 #include "../core/include/utils/pid.h"
+#include "../core/include/utils/feedback_base.h"
 
 /**
  * Main robot characterization struct.
diff --git a/include/utils/motion_controller.h b/include/utils/motion_controller.h
index 9dc0cc0..d816fff 100644
--- a/include/utils/motion_controller.h
+++ b/include/utils/motion_controller.h
@@ -37,10 +37,11 @@ class MotionController : public Feedback
     /**
      * @brief Construct a new Motion Controller object
      * 
-     * @param max_v Maximum velocity the movement is capable of
-     * @param accel Acceleration / deceleration of the movement
-     * @param pid_cfg Definitions of kP, kI, and kD
-     * @param ff_cfg Definitions of kS, kV, and kA
+     * @param config The definition of how the robot is able to move
+     *    max_v Maximum velocity the movement is capable of
+     *    accel Acceleration / deceleration of the movement
+     *    pid_cfg Definitions of kP, kI, and kD
+     *    ff_cfg Definitions of kS, kV, and kA
      */
     MotionController(m_profile_cfg_t &config);
 
diff --git a/include/utils/pid.h b/include/utils/pid.h
index a43a272..4aa280f 100644
--- a/include/utils/pid.h
+++ b/include/utils/pid.h
@@ -23,17 +23,28 @@ using namespace vex;
 class PID : Feedback
 {
 public:
+  /**
+   *An enum to distinguish between a linear and angular caluclation of PID error.
+   */
+  enum ERROR_TYPE{
+    LINEAR,
+    ANGULAR
+  };
   struct pid_config_t
   {
     double p, i, d;
     double deadband, on_target_time;
+    ERROR_TYPE error_method;
   };
 
+  
+
   /**
    * Create the PID object
    */
   PID(pid_config_t &config);
 
+
   /**
    * Inherited from Feedback for interoperability.
    * Update the setpoint and reset integral accumulation
@@ -88,6 +99,7 @@ class PID : Feedback
 private:
   pid_config_t &config;
 
+
   double last_error = 0, accum_error = 0;
   double last_time = 0, on_target_last_time = 0;
   double lower_limit = 0, upper_limit = 0;
diff --git a/src/utils/motion_controller.cpp b/src/utils/motion_controller.cpp
index 8d8a438..86c8383 100644
--- a/src/utils/motion_controller.cpp
+++ b/src/utils/motion_controller.cpp
@@ -5,10 +5,11 @@
 /**
  * @brief Construct a new Motion Controller object
  * 
- * @param max_v Maximum velocity the movement is capable of
- * @param accel Acceleration / deceleration of the movement
- * @param pid_cfg Definitions of kP, kI, and kD
- * @param ff_cfg Definitions of kS, kV, and kA
+ * @param config The definition of how the robot is able to move
+ *    max_v Maximum velocity the movement is capable of
+ *    accel Acceleration / deceleration of the movement
+ *    pid_cfg Definitions of kP, kI, and kD
+ *    ff_cfg Definitions of kS, kV, and kA
  */
 MotionController::MotionController(m_profile_cfg_t &config)
 : config(config), pid(config.pid_cfg), ff(config.ff_cfg), profile(config.max_v, config.accel)
diff --git a/src/utils/pid.cpp b/src/utils/pid.cpp
index 7002cc5..cdd4933 100644
--- a/src/utils/pid.cpp
+++ b/src/utils/pid.cpp
@@ -1,4 +1,5 @@
 #include "../core/include/utils/pid.h"
+#include "../core/include/subsystems/odometry/odometry_base.h"
 
 /**
  * Create the PID object
@@ -87,6 +88,9 @@ double PID::get()
  */
 double PID::get_error()
 {
+  if (config.error_method==ERROR_TYPE::ANGULAR){
+    return OdometryBase::smallest_angle(target, sensor_val);
+  }
   return target - sensor_val;
 }
 

From 8618da90a10ed3269ae21c9c2ee7101d6aade374 Mon Sep 17 00:00:00 2001
From: cowsed <richie.sommers@outlook.com>
Date: Mon, 23 Jan 2023 20:45:05 -0500
Subject: [PATCH 126/243] tuning merge with stuff

---
 README.md                                 | 27 ++++++++++++++++++++++-
 include/utils/feedforward.h               | 16 +++++++++-----
 src/subsystems/odometry/odometry_tank.cpp | 12 ++++++++++
 3 files changed, 48 insertions(+), 7 deletions(-)

diff --git a/README.md b/README.md
index 8ce5935..3990a60 100644
--- a/README.md
+++ b/README.md
@@ -1,2 +1,27 @@
 # Core
-General robot code shared between the "BIG" and "LITTLE" repo's
+This is the host repository for the custom VEX libraries used by the RIT VEXU team
+
+## Getting Started
+In order to simply use this repo, you can either clone it into your VEXcode project folder, or download the .zip and place it into a core/ subfolder. Then follow the instructions for setting up compilation at [Wiki/BuildSystem](https://github.com/RIT-VEX-U/Core/wiki/1-%7C-Project-Setup#build-system)
+
+If you wish to contribute, follow the instructions at [Wiki/ProjectSetup](https://github.com/RIT-VEX-U/Core/wiki/1-%7C-Project-Setup)
+
+## Features
+Here is the current feature list this repo provides:
+
+Subsystems (See [Wiki/Subsystems](https://github.com/RIT-VEX-U/Core/wiki/2-%7C-Subsystems)):  
+- Tank drivetrain (user control / autonomous)
+- Mecanum drivetrain (user control / autonomous)
+- Odometry
+- Flywheel
+- Lift
+- Custom encoders
+
+Utilities (See [Wiki/Utilites](https://github.com/RIT-VEX-U/Core/wiki/3-%7C-Utilites)):  
+- PID controller
+- FeedForward controller
+- Trapezoidal motion profile controller
+- Pure Pursuit
+- Generic auto program builder
+- Auto program UI selector
+- Mathematical classes (Vector2D, Moving Average)
diff --git a/include/utils/feedforward.h b/include/utils/feedforward.h
index a7afe3c..e61000f 100644
--- a/include/utils/feedforward.h
+++ b/include/utils/feedforward.h
@@ -1,5 +1,11 @@
 #pragma once
 
+#include <math.h>
+#include <vector>
+#include "../core/include/utils/math_util.h"
+#include "../core/include/utils/moving_average.h"
+#include "vex.h"
+
 /**
  * FeedForward
  * 
@@ -20,12 +26,6 @@
  * @author Ryan McGee
  * @date 6/13/2022
  */
-#include <math.h>
-#include <vector>
-#include "../core/include/utils/math_util.h"
-#include "../core/include/utils/moving_average.h"
-#include "vex.h"
-
 class FeedForward
 {
     public:
@@ -43,6 +43,10 @@ class FeedForward
     } ff_config_t;
 
     
+    /**
+     * Creates a FeedForward object.
+     * @param cfg Configuration Struct for tuning
+    */
     FeedForward(ff_config_t &cfg) : cfg(cfg) {}
 
     /**
diff --git a/src/subsystems/odometry/odometry_tank.cpp b/src/subsystems/odometry/odometry_tank.cpp
index 28971a3..f09e331 100644
--- a/src/subsystems/odometry/odometry_tank.cpp
+++ b/src/subsystems/odometry/odometry_tank.cpp
@@ -91,10 +91,13 @@ position_t OdometryTank::update()
 
     static position_t last_pos = updated_pos;
     static double last_speed = 0;
+    static double last_ang_speed = 0;
     static timer tmr;
 
     double speed_local = 0;
     double accel_local = 0;
+    double ang_speed_local = 0;
+    double ang_accel_local = 0;
     bool update_vel_accel = tmr.time(sec) > 0.1;
 
     // This loop runs too fast. Only check at LEAST every 1/10th sec
@@ -106,9 +109,16 @@ position_t OdometryTank::update()
       // Calculate robot acceleration
       accel_local = (speed_local - last_speed) / tmr.time(sec);
 
+      // Calculate robot angular velocity (deg/sec)
+      ang_speed_local = smallest_angle(updated_pos.rot, last_pos.rot) / tmr.time(sec);
+
+      // Calculate robot angular acceleration (deg/sec^2)
+      ang_accel_local = (ang_speed_local - last_ang_speed) / tmr.time(sec);
+
       tmr.reset();
       last_pos = updated_pos;
       last_speed = speed_local;
+      last_ang_speed = ang_speed_local;
     }
 
     // Update the class' stored position
@@ -118,6 +128,8 @@ position_t OdometryTank::update()
     {
       this->speed = speed_local;
       this->accel = accel_local;
+      this->ang_speed_deg = ang_speed_local;
+      this->ang_accel_deg = ang_accel_local;
     }
     mut.unlock();
 

From f8db7a128f39e2368f64554842b16b306ce91536 Mon Sep 17 00:00:00 2001
From: Ryan McGee <ramtech51@comcast.net>
Date: Mon, 23 Jan 2023 21:38:01 -0500
Subject: [PATCH 127/243] Wrapped stuff in mutexes

---
 src/subsystems/odometry/odometry_tank.cpp | 8 +++++++-
 1 file changed, 7 insertions(+), 1 deletion(-)

diff --git a/src/subsystems/odometry/odometry_tank.cpp b/src/subsystems/odometry/odometry_tank.cpp
index f09e331..18d472d 100644
--- a/src/subsystems/odometry/odometry_tank.cpp
+++ b/src/subsystems/odometry/odometry_tank.cpp
@@ -28,7 +28,9 @@ OdometryTank::OdometryTank(CustomEncoder &left_enc, CustomEncoder &right_enc, ro
  */
 void OdometryTank::set_position(const position_t &newpos)
 {
+  mut.lock();
   rotation_offset = newpos.rot - (current_pos.rot - rotation_offset);
+  mut.unlock();
 
   OdometryBase::set_position(newpos);
 }
@@ -86,7 +88,11 @@ position_t OdometryTank::update()
     if(angle < 0)
         angle += 360;
 
-    updated_pos = calculate_new_pos(config, current_pos, lside_revs, rside_revs, angle);
+    mut.lock();
+    position_t current_pos_local = current_pos;
+    mut.unlock();
+
+    updated_pos = calculate_new_pos(config, current_pos_local, lside_revs, rside_revs, angle);
 
 
     static position_t last_pos = updated_pos;

From ec85a00d5a1fe82393f0d0ea15ee8426f820ad34 Mon Sep 17 00:00:00 2001
From: cowsed <richie.sommers@outlook.com>
Date: Tue, 24 Jan 2023 23:29:07 -0500
Subject: [PATCH 128/243] Fixed Doxygen comments that contradicted the function
 signature -Wdocumentation is fun

---
 include/subsystems/odometry/odometry_tank.h | 4 ++--
 src/subsystems/flywheel.cpp                 | 4 ++--
 src/subsystems/mecanum_drive.cpp            | 6 +++---
 src/subsystems/odometry/odometry_tank.cpp   | 4 ++--
 src/subsystems/tank_drive.cpp               | 7 ++-----
 src/utils/motion_controller.cpp             | 1 -
 6 files changed, 11 insertions(+), 15 deletions(-)

diff --git a/include/subsystems/odometry/odometry_tank.h b/include/subsystems/odometry/odometry_tank.h
index 263f371..903cb11 100644
--- a/include/subsystems/odometry/odometry_tank.h
+++ b/include/subsystems/odometry/odometry_tank.h
@@ -21,8 +21,8 @@ class OdometryTank : public OdometryBase
 
     /**
     * Initialize the Odometry module, calculating posiiton from encoders on "dead wheels"
-    * @param left_side The left motors 
-    * @param right_side The right motors
+    * @param left_enc The left motors 
+    * @param right_enc The right motors
     * @param imu The robot's inertial sensor. If not included, rotation is calculated from the encoders.
     * @param is_async If true, position will be updated in the background continuously. If false, the programmer will have to manually call update().
     */
diff --git a/src/subsystems/flywheel.cpp b/src/subsystems/flywheel.cpp
index 0f1a154..7ab0f2b 100644
--- a/src/subsystems/flywheel.cpp
+++ b/src/subsystems/flywheel.cpp
@@ -33,7 +33,7 @@ FeedForward::ff_config_t empty_ff = FeedForward::ff_config_t{};
 * Create the Flywheel object using PID + feedforward for control.
 * @param motors     - pointer to the motors on the fly wheel
 * @param pid_config - pointer the pid config
-* @param ff         - pointer to the feedforward config
+* @param ff_config         - pointer to the feedforward config
 * @param ratio      - ratio of the whatever just multiplies the velocity
 */
 Flywheel::Flywheel(motor_group &motors, PID::pid_config_t &pid_config, FeedForward::ff_config_t &ff_config, const double ratio)
@@ -42,7 +42,7 @@ Flywheel::Flywheel(motor_group &motors, PID::pid_config_t &pid_config, FeedForwa
 /**
 * Create the Flywheel object using only feedforward for control
 * @param motors - pointer to the motors on the fly wheel
-* @param ff     - pointer to the feedforward config
+* @param ff_config     - pointer to the feedforward config
 * @param ratio  - ratio of the whatever just multiplies the velocity
 */
 Flywheel::Flywheel(motor_group &motors, FeedForward::ff_config_t &ff_config, const double ratio)
diff --git a/src/subsystems/mecanum_drive.cpp b/src/subsystems/mecanum_drive.cpp
index 0fcf6af..641fe57 100644
--- a/src/subsystems/mecanum_drive.cpp
+++ b/src/subsystems/mecanum_drive.cpp
@@ -62,7 +62,7 @@ void MecanumDrive::drive_raw(double direction_deg, double magnitude, double rota
  * @param left_y left joystick, Y axis (forward / backwards)
  * @param left_x left joystick, X axis (strafe left / right)
  * @param right_x right joystick, X axis (rotation left / right)
- * @param power=2 how much of a "curve" there should be on drive controls; better for low speed maneuvers.
+ * @param power = 2 how much of a "curve" there should be on drive controls; better for low speed maneuvers.
  *                Leave blank for a default curve of 2 (higher means more fidelity)
  */
 void MecanumDrive::drive(double left_y, double left_x, double right_x, int power)
@@ -91,7 +91,7 @@ void MecanumDrive::drive(double left_y, double left_x, double right_x, int power
   * @param direction    What direction the robot should travel in, in degrees.
   *                     0 is forward, +/-180 is reverse, clockwise is positive.
   * @param speed    The maximum speed the robot should travel, in percent: -1.0->+1.0
-  * @param gyro_correction=true   Whether or not to use the gyro to help correct while driving.
+  * @param gyro_correction = true   Whether or not to use the gyro to help correct while driving.
   *                               Will always be false if no gyro was declared in the constructor.
   * @return Whether or not the maneuver is complete.
   */
@@ -210,7 +210,7 @@ bool MecanumDrive::auto_drive(double inches, double direction, double speed, boo
 * for control.
 * @param degrees How many degrees to rotate the robot. Clockwise postive.
 * @param speed What percentage to run the motors at: 0.0 -> 1.0
-* @param ignore_imu=false Whether or not to use the Inertial for determining angle.
+* @param ignore_imu = false Whether or not to use the Inertial for determining angle.
 *        Will instead use circumference formula + robot's wheelbase + encoders to determine.
 * 
 * @return whether or not the robot has finished the maneuver
diff --git a/src/subsystems/odometry/odometry_tank.cpp b/src/subsystems/odometry/odometry_tank.cpp
index 18d472d..7281cfc 100644
--- a/src/subsystems/odometry/odometry_tank.cpp
+++ b/src/subsystems/odometry/odometry_tank.cpp
@@ -13,8 +13,8 @@ OdometryTank::OdometryTank(vex::motor_group &left_side, vex::motor_group &right_
 
 /**
  * Initialize the Odometry module, calculating posiiton from encoders on "dead wheels"
- * @param left_side The left motors 
- * @param right_side The right motors
+ * @param left_enc The left motors 
+ * @param right_enc The right motors
  * @param imu The robot's inertial sensor. If not included, rotation is calculated from the encoders.
  */
 OdometryTank::OdometryTank(CustomEncoder &left_enc, CustomEncoder &right_enc, robot_specs_t &config, vex::inertial *imu, bool is_async)
diff --git a/src/subsystems/tank_drive.cpp b/src/subsystems/tank_drive.cpp
index 698b521..2bffaf6 100644
--- a/src/subsystems/tank_drive.cpp
+++ b/src/subsystems/tank_drive.cpp
@@ -71,8 +71,7 @@ void TankDrive::drive_arcade(double forward_back, double left_right, int power)
  *
  * @param inches Distance to drive in a straight line
  * @param dir Whether the robot is travelling forwards or backwards
- * @param correction How much the robot should correct for being off angle
- * @param speed How fast the robot should travel, 0 -> 1.0
+ * @param max_speed How fast the robot should travel, 0 -> 1.0
  */
 bool TankDrive::drive_forward(double inches, directionType dir, Feedback &feedback, double max_speed)
 {
@@ -115,9 +114,8 @@ bool TankDrive::drive_forward(double inches, directionType dir, Feedback &feedba
  * This driving method is relative, so excessive use may cause the robot to get off course!
  *
  * @param inches Distance to drive in a straight line
- * @param speed How fast the robot should travel, 0 -> 1.0
- * @param correction How much the robot should correct for being off angle
  * @param dir Whether the robot is travelling forwards or backwards
+ * @param max_speed How fast the robot should travel, 0 -> 1.0
  */
 bool TankDrive::drive_forward(double inches, directionType dir, double max_speed)
 {
@@ -169,7 +167,6 @@ bool TankDrive::turn_degrees(double degrees, Feedback &feedback, double max_spee
  * Uses the defualt turning feedback of the drive system.
  * 
  * @param degrees     degrees by which we will turn relative to the robot (+) turns ccw, (-) turns cw
- * @param feedback    the feedback controller we will use to travel. controls the rate at which we accelerate and drive.
  * @param max_speed   the maximum percentage of robot speed at which the robot will travel. 1 = full power
  */
 bool TankDrive::turn_degrees(double degrees, double max_speed)
diff --git a/src/utils/motion_controller.cpp b/src/utils/motion_controller.cpp
index 86c8383..06f2862 100644
--- a/src/utils/motion_controller.cpp
+++ b/src/utils/motion_controller.cpp
@@ -61,7 +61,6 @@ double MotionController::get()
  * 
  * @param lower Upper limit
  * @param upper Lower limit
- * @return double 
  */
 void MotionController::set_limits(double lower, double upper)
 {

From b7534d571501397c0ab9a069a14537f7ed82197e Mon Sep 17 00:00:00 2001
From: cowsed <richie.sommers@outlook.com>
Date: Wed, 25 Jan 2023 11:46:32 -0500
Subject: [PATCH 129/243] Began the laborious task of adding comments to all
 uncommented things

---
 include/subsystems/flywheel.h                 |  7 ++++++
 include/utils/auto_chooser.h                  | 11 +++++++++
 .../utils/command_structure/drive_commands.h  | 11 ++++++++-
 .../command_structure/flywheel_commands.h     | 24 +++++++++++++++++++
 include/utils/generic_auto.h                  |  4 ++++
 src/utils/auto_chooser.cpp                    |  2 ++
 6 files changed, 58 insertions(+), 1 deletion(-)

diff --git a/include/subsystems/flywheel.h b/include/subsystems/flywheel.h
index 367fea1..fe97b20 100644
--- a/include/subsystems/flywheel.h
+++ b/include/subsystems/flywheel.h
@@ -19,6 +19,13 @@
 
 using namespace vex;
 
+/**
+ * a Flywheel class that handles all control of a high inertia spinning disk
+ * It gives multiple options for what control system to use in order to control wheel velocity and functions alerting the user when the flywheel is up to speed.
+ * Flywheel is a set and forget class. 
+ * Once you create it you can call spinRPM or stop on it at any time and it will take all necessary steps to accomplish this
+ * 
+*/
 class Flywheel{
   enum FlywheelControlStyle{
     PID_Feedforward,
diff --git a/include/utils/auto_chooser.h b/include/utils/auto_chooser.h
index b2f3544..82db319 100644
--- a/include/utils/auto_chooser.h
+++ b/include/utils/auto_chooser.h
@@ -3,9 +3,19 @@
 #include <string>
 #include <vector>
 
+
+/**
+ * Autochooser is a utility to make selecting robot autonomous programs easier
+ * source: RIT VexU Wiki
+ * During a season, we usually code between 4 and 6 autonomous programs. 
+ * Most teams will change their entire robot program as a way of choosing autonomi
+ * but this may cause issues if you have an emergency patch to upload during a competition. 
+ * This class was built as a way of using the robot screen to list autonomous programs, and the touchscreen to select them.
+ */
 class AutoChooser
 {
   public:
+
   AutoChooser(vex::brain &brain);
 
   void add(std::string name);
@@ -13,6 +23,7 @@ class AutoChooser
 
   protected:
 
+  // entry_t is a datatype used to store information that the chooser knows about an auto selection button
   struct entry_t
   {
     int x, y, width, height;
diff --git a/include/utils/command_structure/drive_commands.h b/include/utils/command_structure/drive_commands.h
index 3b3eae3..cda5a55 100644
--- a/include/utils/command_structure/drive_commands.h
+++ b/include/utils/command_structure/drive_commands.h
@@ -113,7 +113,11 @@ class DriveToPointCommand: public AutoCommand {
     
 };
 
-
+/**
+ * AutoCommand wrapper class for the turn_to_heading() function in the 
+ * TankDrive class
+ *
+ */
 class TurnToHeadingCommand: public AutoCommand {
   public:
     TurnToHeadingCommand(TankDrive &drive_sys, Feedback &feedback, double heading_deg, double speed);
@@ -137,6 +141,11 @@ class TurnToHeadingCommand: public AutoCommand {
     double max_speed;
 };
 
+/**
+ * AutoCommand wrapper class for the stop() function in the 
+ * TankDrive class
+ *
+ */
 class DriveStopCommand: public AutoCommand {
   public:
     DriveStopCommand(TankDrive &drive_sys);
diff --git a/include/utils/command_structure/flywheel_commands.h b/include/utils/command_structure/flywheel_commands.h
index a153356..6918325 100644
--- a/include/utils/command_structure/flywheel_commands.h
+++ b/include/utils/command_structure/flywheel_commands.h
@@ -9,6 +9,11 @@
 #include "../core/include/subsystems/flywheel.h"
 #include "../core/include/utils/command_structure/auto_command.h"
 
+/**
+ * AutoCommand wrapper class for the spinRPM function
+ * in the Flywheel class
+ *
+ */
 class SpinRPMCommand: public AutoCommand {
   public:
   SpinRPMCommand(Flywheel &flywheel, int rpm);
@@ -28,6 +33,10 @@ class SpinRPMCommand: public AutoCommand {
     int rpm;
 };
 
+/**
+ * AutoCommand that listens to the Flywheel and waits until it is at its target speed +/- the specified threshold
+ *
+ */
 class WaitUntilUpToSpeedCommand: public AutoCommand {
   public:
     WaitUntilUpToSpeedCommand(Flywheel &flywheel, int threshold_rpm);
@@ -47,6 +56,11 @@ class WaitUntilUpToSpeedCommand: public AutoCommand {
     int threshhold_rpm;
 };
 
+/**
+ * AutoCommand wrapper class for the stop function
+ * in the Flywheel class
+ *
+ */
 class FlywheelStopCommand: public AutoCommand {
   public:
   FlywheelStopCommand(Flywheel &flywheel);
@@ -63,6 +77,11 @@ class FlywheelStopCommand: public AutoCommand {
     Flywheel &flywheel;
 };
 
+/**
+ * AutoCommand wrapper class for the stopMotors function
+ * in the Flywheel class
+ *
+ */
 class FlywheelStopMotorsCommand: public AutoCommand {
   public:
   FlywheelStopMotorsCommand(Flywheel &flywheel);
@@ -79,6 +98,11 @@ class FlywheelStopMotorsCommand: public AutoCommand {
     Flywheel &flywheel;
 };
 
+/**
+ * AutoCommand wrapper class for the stopNonTasks function
+ * in the Flywheel class
+ *
+ */
 class FlywheelStopNonTasksCommand: public AutoCommand {
   FlywheelStopNonTasksCommand(Flywheel &flywheel);
 
diff --git a/include/utils/generic_auto.h b/include/utils/generic_auto.h
index 092c1e5..665c28f 100644
--- a/include/utils/generic_auto.h
+++ b/include/utils/generic_auto.h
@@ -7,6 +7,10 @@
 
 typedef std::function<bool(void)> state_ptr;
 
+/**
+ * GenericAuto provides a pleasant interface for organizing an auto path
+ * steps of the path can be added with add() and when ready, calling run() will begin executing the path
+*/
 class GenericAuto
 {
   public:
diff --git a/src/utils/auto_chooser.cpp b/src/utils/auto_chooser.cpp
index a768179..d2dcaeb 100644
--- a/src/utils/auto_chooser.cpp
+++ b/src/utils/auto_chooser.cpp
@@ -3,6 +3,7 @@
 /**
   * Initialize the auto-chooser. This class places a choice menu on the brain screen,
   * so the driver can choose which autonomous to run.
+  * @param brain the brain on which to draw the selection boxes
   */
 AutoChooser::AutoChooser(vex::brain &brain) : brain(brain)
 {
@@ -41,6 +42,7 @@ AutoChooser::AutoChooser(vex::brain &brain) : brain(brain)
 /**
   * Place all the autonomous choices on the screen.
   * If one is selected, change it's color
+  * @param render the chouce that is to be rendered
   */
 void AutoChooser::render(entry_t *selected)
 {

From ab2e4b1d0474496be19c064012880aff3c95df3f Mon Sep 17 00:00:00 2001
From: cowsed <richie.sommers@outlook.com>
Date: Wed, 25 Jan 2023 15:54:40 -0500
Subject: [PATCH 130/243] Doxygen my enemy

---
 include/subsystems/custom_encoder.h           | 30 +++++++++++++
 include/subsystems/flywheel.h                 | 30 ++++++-------
 include/subsystems/odometry/odometry_3wheel.h |  4 ++
 include/subsystems/odometry/odometry_base.h   |  4 +-
 include/subsystems/odometry/odometry_tank.h   |  7 +++
 include/subsystems/tank_drive.h               |  4 ++
 include/utils/auto_chooser.h                  | 35 +++++++++++----
 .../utils/command_structure/delay_command.h   |  5 ++-
 .../utils/command_structure/drive_commands.h  |  5 ++-
 .../command_structure/flywheel_commands.h     |  9 ++++
 include/utils/motion_controller.h             |  5 +++
 include/utils/moving_average.h                | 25 +++++------
 include/utils/pid.h                           |  9 +++-
 include/utils/trapezoid_profile.h             |  3 ++
 include/utils/vector2d.h                      | 38 +++++++++++++---
 src/subsystems/flywheel.cpp                   |  4 ++
 src/utils/auto_chooser.cpp                    |  2 +-
 .../command_structure/command_controller.cpp  |  1 -
 .../command_structure/drive_commands.cpp      | 44 +++++++++++++++----
 19 files changed, 208 insertions(+), 56 deletions(-)

diff --git a/include/subsystems/custom_encoder.h b/include/subsystems/custom_encoder.h
index 19df840..2b87b86 100644
--- a/include/subsystems/custom_encoder.h
+++ b/include/subsystems/custom_encoder.h
@@ -10,16 +10,46 @@ class CustomEncoder : public vex::encoder
   typedef vex::encoder super;
 
   public:
+  /**
+   * Construct an encoder with a custom number of ticks
+   * @param port the triport port on the brain the encoder is plugged into
+   * @param ticks_per_rev the number of ticks the encoder will report for one revolution
+  */
   CustomEncoder(vex::triport::port &port, double ticks_per_rev);
 
+  /**
+   * sets the stored rotation of the encoder. Any further movements will be from this value
+   * @param val the numerical value of the angle we are setting to
+   * @param units the unit of val
+  */
   void setRotation(double val, vex::rotationUnits units);
 
+  /**
+   * sets the stored position of the encoder. Any further movements will be from this value
+   * @param val the numerical value of the position we are setting to
+   * @param units the unit of val
+  */
   void setPosition(double val, vex::rotationUnits units);
 
+  /**
+   * get the rotation that the encoder is at
+   * @param units the unit we want the return value to be in
+   * @return the rotation of the encoder in the units specified
+   */
   double rotation(vex::rotationUnits units);
 
+  /**
+   * get the position that the encoder is at
+   * @param units the unit we want the return value to be in
+   * @return the position of the encoder in the units specified
+   */
   double position(vex::rotationUnits units);
 
+  /**
+   * get the velocity that the encoder is moving at
+   * @param units the unit we want the return value to be in
+   * @return the velocity of the encoder in the units specified
+   */
   double velocity(vex::velocityUnits units);
 
 
diff --git a/include/subsystems/flywheel.h b/include/subsystems/flywheel.h
index fe97b20..fbcd4db 100644
--- a/include/subsystems/flywheel.h
+++ b/include/subsystems/flywheel.h
@@ -38,45 +38,45 @@ class Flywheel{
   // CONSTRUCTORS, GETTERS, AND SETTERS
   /**
   * Create the Flywheel object using PID + feedforward for control.
-  * @param motors     - pointer to the motors on the fly wheel
-  * @param pid_config - pointer the pid config
-  * @param ff         - pointer to the feedforward config
-  * @param ratio      - ratio of the whatever just multiplies the velocity
+  * @param motors      pointer to the motors on the fly wheel
+  * @param pid_config  pointer the pid config to use
+  * @param ff_config   the feedforward config to use
+  * @param ratio       ratio of the whatever just multiplies the velocity
   */
   Flywheel(motor_group &motors, PID::pid_config_t &pid_config, FeedForward::ff_config_t &ff_config, const double ratio);
 
   /**
   * Create the Flywheel object using only feedforward for control
-  * @param motors - pointer to the motors on the fly wheel
-  * @param ff     - pointer to the feedforward config
-  * @param ratio  - ratio of the whatever just multiplies the velocity
+  * @param motors    the motors on the fly wheel
+  * @param ff_config the feedforward config to use
+  * @param ratio     ratio of the whatever just multiplies the velocity
   */
   Flywheel(motor_group &motors, FeedForward::ff_config_t &ff_config, const double ratio);
 
   /**
   * Create the Flywheel object using Take Back Half for control
-  * @param motors   - pointer to the motors on the fly wheel
-  * @param TBH_gain - the TBH control paramater
-  * @param ratio    - ratio of the whatever just multiplies the velocity
+  * @param motors   the motors on the fly wheel
+  * @param tbh_gain the TBH control paramater
+  * @param ratio    ratio of the whatever just multiplies the velocity
   */
   Flywheel(motor_group &motors, double tbh_gain, const double ratio);
 
   /**
   * Create the Flywheel object using Bang Bang for control
-  * @param motors - pointer to the motors on the fly wheel
-  * @param ratio  - ratio of the whatever just multiplies the velocity
+  * @param motors the motors on the fly wheel
+  * @param ratio  ratio of the whatever just multiplies the velocity
   */
   Flywheel(motor_group &motors, const double ratio);
 
   /**
-  * Return the current value that the RPM should be set to
-  * @return RPM = the target rpm
+  * Return the RPM that the flywheel is currently trying to achieve
+  * @return RPM  the target rpm
   */
   double getDesiredRPM();
 
   /**
   * Checks if the background RPM controlling task is running
-  * @return taskRunning - If the task is running
+  * @return true if the task is running
   */
   bool isTaskRunning();
 
diff --git a/include/subsystems/odometry/odometry_3wheel.h b/include/subsystems/odometry/odometry_3wheel.h
index f53ac58..44db64a 100644
--- a/include/subsystems/odometry/odometry_3wheel.h
+++ b/include/subsystems/odometry/odometry_3wheel.h
@@ -33,6 +33,10 @@ class Odometry3Wheel : public OdometryBase
 {
     public:
 
+    /**
+     * odometry3wheel_cfg_t holds all the specifications for how to calculate position with 3 encoders
+     * see the wiki for what exactly each of these parameters measures
+     */
     typedef struct
     {
         double wheelbase_dist;
diff --git a/include/subsystems/odometry/odometry_base.h b/include/subsystems/odometry/odometry_base.h
index 2213486..862dc85 100644
--- a/include/subsystems/odometry/odometry_base.h
+++ b/include/subsystems/odometry/odometry_base.h
@@ -7,7 +7,9 @@
 #define PI 3.141592654
 #endif
 
-// Describes a single position and rotation
+/**
+ *  Describes a single position and rotation
+ */
 typedef struct
 {
     double x;
diff --git a/include/subsystems/odometry/odometry_tank.h b/include/subsystems/odometry/odometry_tank.h
index 903cb11..a0b115d 100644
--- a/include/subsystems/odometry/odometry_tank.h
+++ b/include/subsystems/odometry/odometry_tank.h
@@ -7,6 +7,13 @@
 
 static int background_task(void* odom_obj);
 
+
+/**
+ * OdometryTank defines an odometry system for a tank drivetrain
+ * This requires encoders in the same orientation as the drive wheels
+ * Odometry is a "start and forget" subsystem, which means once it's created and configured, 
+ * it will constantly run in the background and track the robot's X, Y and rotation coordinates.
+*/
 class OdometryTank : public OdometryBase
 {
 public:
diff --git a/include/subsystems/tank_drive.h b/include/subsystems/tank_drive.h
index a82f01b..5c20e2c 100644
--- a/include/subsystems/tank_drive.h
+++ b/include/subsystems/tank_drive.h
@@ -15,6 +15,10 @@
 
 using namespace vex;
 
+/**
+ * TankDrive is a class to run a tank drive system.
+ * A tank drive system, sometimes called differential drive, has a motor (or group of synchronized motors) on the left and right side
+*/
 class TankDrive
 {
 public:
diff --git a/include/utils/auto_chooser.h b/include/utils/auto_chooser.h
index 82db319..e42f1d4 100644
--- a/include/utils/auto_chooser.h
+++ b/include/utils/auto_chooser.h
@@ -15,25 +15,44 @@
 class AutoChooser
 {
   public:
-
+/**
+  * Initialize the auto-chooser. This class places a choice menu on the brain screen,
+  * so the driver can choose which autonomous to run.
+  * @param brain the brain on which to draw the selection boxes
+  */
   AutoChooser(vex::brain &brain);
-
+  
+  /**
+   * Add an auto path to the chooser
+   * @param name The name of the path. This should be used as an human readable identifier to the auto path
+  */
   void add(std::string name);
+
+  /**
+   * Get the currently selected auto choice
+   * @return the identifier to the auto path
+  */
   std::string get_choice();
 
   protected:
 
-  // entry_t is a datatype used to store information that the chooser knows about an auto selection button
+  /**
+   *  entry_t is a datatype used to store information that the chooser knows about an auto selection button
+   */ 
   struct entry_t
   {
-    int x, y, width, height;
-    std::string name;
+    int x; /**< screen x position of the block*/ 
+    int y; /**< screen y position of the block*/ 
+    int width; /**< width of the block*/ 
+    int height; /**< height of the block*/ 
+    std::string name; /**< name of the auto repretsented by the block*/ 
   };
 
   void render(entry_t *selected);
-  std::string choice;
-  std::vector<entry_t> list;
-  vex::brain &brain;
+
+  std::string choice; /**< the current choice of auto*/
+  std::vector<entry_t> list /**< a list of all possible auto choices*/;
+  vex::brain &brain; /**< the brain to show the choices on*/
 
 
 };
\ No newline at end of file
diff --git a/include/utils/command_structure/delay_command.h b/include/utils/command_structure/delay_command.h
index bdf1af1..c82b9bd 100644
--- a/include/utils/command_structure/delay_command.h
+++ b/include/utils/command_structure/delay_command.h
@@ -11,7 +11,10 @@
 
 class DelayCommand: public AutoCommand {
   public:
-
+    /**
+     * Construct a delay command
+     * @param ms the number of milliseconds to delay for
+    */
     DelayCommand(int ms): ms(ms) {}
     
     /**
diff --git a/include/utils/command_structure/drive_commands.h b/include/utils/command_structure/drive_commands.h
index cda5a55..a544811 100644
--- a/include/utils/command_structure/drive_commands.h
+++ b/include/utils/command_structure/drive_commands.h
@@ -144,7 +144,6 @@ class TurnToHeadingCommand: public AutoCommand {
 /**
  * AutoCommand wrapper class for the stop() function in the 
  * TankDrive class
- *
  */
 class DriveStopCommand: public AutoCommand {
   public:
@@ -165,6 +164,10 @@ class DriveStopCommand: public AutoCommand {
 
 // ==== ODOMETRY ====
 
+/**
+ * AutoCommand wrapper class for the set_position function in the 
+ * Odometry class
+ */
 class OdomSetPosition: public AutoCommand {
   public:
     OdomSetPosition(OdometryBase &odom, const position_t &newpos=OdometryBase::zero_pos);
diff --git a/include/utils/command_structure/flywheel_commands.h b/include/utils/command_structure/flywheel_commands.h
index 6918325..efe59f9 100644
--- a/include/utils/command_structure/flywheel_commands.h
+++ b/include/utils/command_structure/flywheel_commands.h
@@ -39,6 +39,11 @@ class SpinRPMCommand: public AutoCommand {
  */
 class WaitUntilUpToSpeedCommand: public AutoCommand {
   public:
+    /** 
+     * Creat a WaitUntilUpToSpeedCommand
+     * @param flywheel the flywheel system we are commanding
+     * @param threshold_rpm the threshold over and under the flywheel target RPM that we define to be acceptable
+    */
     WaitUntilUpToSpeedCommand(Flywheel &flywheel, int threshold_rpm);
 
     /**
@@ -63,6 +68,10 @@ class WaitUntilUpToSpeedCommand: public AutoCommand {
  */
 class FlywheelStopCommand: public AutoCommand {
   public:
+  /**
+   * Construct a FlywheelStopCommand
+   * @param flywheel the flywheel system we are commanding
+  */
   FlywheelStopCommand(Flywheel &flywheel);
 
     /**
diff --git a/include/utils/motion_controller.h b/include/utils/motion_controller.h
index d816fff..8ee00e7 100644
--- a/include/utils/motion_controller.h
+++ b/include/utils/motion_controller.h
@@ -26,6 +26,11 @@ class MotionController : public Feedback
 {
     public:
 
+    /**
+     * m_profile_config holds all data the motion controller uses to plan paths
+     * When motion pofile is given a target to drive to, max_v and accel are used to make the trapezoid profile instructing the controller how to drive
+     * pid_cfg, ff_cfg are used to find the motor outputs necessary to execute this path
+     */
     typedef struct
     {
         double max_v;
diff --git a/include/utils/moving_average.h b/include/utils/moving_average.h
index 093d1cc..5cc8eaa 100644
--- a/include/utils/moving_average.h
+++ b/include/utils/moving_average.h
@@ -1,18 +1,17 @@
 #include <vector>
 
-/*
-* MovingAverage
-*
-* A moving average is a way of smoothing out noisy data. For many sensor readings, the noise is roughly symmetric around the actual value. 
-* This means that if you collect enough samples those that are too high are cancelled out by the samples that are too low leaving the real value.
-*
-* The MovingAverage class provides a simple interface to do this smoothing from our noisy sensor values. 
-*
-* WARNING: because we need a lot of samples to get the actual value, the value given by the MovingAverage will 'lag' behind the actual value that the sensor is reading. 
-* Using a MovingAverage is thus a tradeoff between accuracy and lag time (more samples) vs. less accuracy and faster updating (less samples).  
-*
-*/
-
+/**
+ * MovingAverage
+ *
+ * A moving average is a way of smoothing out noisy data. For many sensor readings, the noise is roughly symmetric around the actual value. 
+ * This means that if you collect enough samples those that are too high are cancelled out by the samples that are too low leaving the real value.
+ *
+ * The MovingAverage class provides a simple interface to do this smoothing from our noisy sensor values. 
+ *
+ * WARNING: because we need a lot of samples to get the actual value, the value given by the MovingAverage will 'lag' behind the actual value that the sensor is reading. 
+ * Using a MovingAverage is thus a tradeoff between accuracy and lag time (more samples) vs. less accuracy and faster updating (less samples).  
+ *
+ */
 class MovingAverage {
   public:
   /*
diff --git a/include/utils/pid.h b/include/utils/pid.h
index 4aa280f..32afd38 100644
--- a/include/utils/pid.h
+++ b/include/utils/pid.h
@@ -24,12 +24,19 @@ class PID : Feedback
 {
 public:
   /**
-   *An enum to distinguish between a linear and angular caluclation of PID error.
+   * An enum to distinguish between a linear and angular caluclation of PID error.
    */
   enum ERROR_TYPE{
     LINEAR,
     ANGULAR
   };
+  /**
+   * pid_config_t holds the configuration parameters for a pid controller
+   * In addtion to the constant of proportional, integral and derivative, these parameters include: 
+   * - deadband - at what point are we close enough to be finished
+   * - on_target_time - for how long do we have to be at the target to stop
+   * As well, pid_config_t holds an error type which determines whether errors should be calculated as if the sensor position is a measure of distance or an angle
+  */
   struct pid_config_t
   {
     double p, i, d;
diff --git a/include/utils/trapezoid_profile.h b/include/utils/trapezoid_profile.h
index 5933853..11cba85 100644
--- a/include/utils/trapezoid_profile.h
+++ b/include/utils/trapezoid_profile.h
@@ -1,5 +1,8 @@
 #pragma once
 
+/**
+ * motion_t is a description of 1 dimensional motion at a point in time
+*/
 typedef struct
 {
     double pos;
diff --git a/include/utils/vector2d.h b/include/utils/vector2d.h
index a854839..d2e672e 100644
--- a/include/utils/vector2d.h
+++ b/include/utils/vector2d.h
@@ -5,7 +5,11 @@
 #ifndef PI
 #define PI 3.141592654
 #endif
-
+/**
+ * Vector2D is an x,y pair
+ * Used to represent 2D locations on the field. 
+ * It can also be treated as a direction and magnitude
+*/
 class Vector2D
 {
 public:
@@ -65,36 +69,55 @@ class Vector2D
      * '0' is forward, clockwise positive when viewed from the top.
      * 
      * Use r2d() to convert.
+     * @return the direction of the vetctor in radians
      */
     double get_dir() const;
 
     /**
-     * Get the magnitude of the vector
+     * @return the magnitude of the vector
      */
     double get_mag() const;
 
     /**
-     * Get the X component of the vector; positive to the right.
+     * @return the X component of the vector; positive to the right.
      */
     double get_x() const;
 
     /**
-     * Get the Y component of the vector, positive forward.
+     * @return the Y component of the vector, positive forward.
      */
     double get_y() const;
 
     /**
-     * Changes the magnetude of the vector to 1
+     * Changes the magnitude of the vector to 1
+     * @return the normalized vector
     */
     Vector2D normalize();
 
     /**
     * Returns a point from the vector
+    * @return the point represented by the vector
     */
     Vector2D::point_t point();
 
+    /**
+     * Multiply the components of a vector by x
+     * (self.x * x, self.y * x)
+     * @param x the scalar value by which to multiply the components of the vector
+     * @return the vector after scaling by s
+    */
     Vector2D operator*(const double &x);
+    /**
+     * Add the components of two vectors together
+     * Vector2D + Vector2D = (self.x + other.x, self.y + other.y)
+     * @return the sum of the vectors
+    */
     Vector2D operator+(const Vector2D &other);
+    /**
+     * Subtract the components of two vectors together
+     * Vector2D - Vector2D = (self.x - other.x, self.y - other.y)
+     * @return the difference of the vectors
+    */
     Vector2D operator-(const Vector2D &other);
 
 private:
@@ -105,10 +128,15 @@ class Vector2D
 
 /**
  * General function for converting degrees to radians
+ * @param deg the angle in degrees
+ * @return the angle in radians
  */
 double deg2rad(double deg);
 
 /**
  * General function for converting radians to degrees
+ * @param rad the angle in radians
+ * @return the angle in degrees
+
  */
 double rad2deg(double r);
diff --git a/src/subsystems/flywheel.cpp b/src/subsystems/flywheel.cpp
index 7ab0f2b..2cd7990 100644
--- a/src/subsystems/flywheel.cpp
+++ b/src/subsystems/flywheel.cpp
@@ -84,6 +84,7 @@ motor_group* Flywheel::getMotors() { return &motors; } // TODO -- Remove?
 
 /**
 * return the current velocity of the flywheel motors, in RPM
+* @return the measured velocity of the flywheel
 */
 double Flywheel::getRPM() { return ratio * motors.velocity(velocityUnits::rpm); }
 
@@ -94,11 +95,13 @@ PID* Flywheel::getPID() { return &pid; } // TODO -- Remove?
 
 /**
 * returns the current OUT value of the PID - the value that the PID would set the motors to
+* @return the voltage that PID wants the motors at to achieve the target RPM
 */
 double Flywheel::getPIDValue() { return pid.get(); }
 
 /**
 * returns the current OUT value of the Feedforward - the value that the Feedforward would set the motors to
+* @return the voltage that feedforward wants the motors at to achieve the target RPM
 */
 double Flywheel::getFeedforwardValue() { 
   double v = getDesiredRPM();
@@ -107,6 +110,7 @@ double Flywheel::getFeedforwardValue() {
 
 /**
 * get the gain used for TBH control
+* @return the gain used in TBH control
 */
 double Flywheel::getTBHGain(){
   return TBH_gain;
diff --git a/src/utils/auto_chooser.cpp b/src/utils/auto_chooser.cpp
index d2dcaeb..4edd072 100644
--- a/src/utils/auto_chooser.cpp
+++ b/src/utils/auto_chooser.cpp
@@ -42,7 +42,7 @@ AutoChooser::AutoChooser(vex::brain &brain) : brain(brain)
 /**
   * Place all the autonomous choices on the screen.
   * If one is selected, change it's color
-  * @param render the chouce that is to be rendered
+  * @param selected the choice that is currently selected
   */
 void AutoChooser::render(entry_t *selected)
 {
diff --git a/src/utils/command_structure/command_controller.cpp b/src/utils/command_structure/command_controller.cpp
index b33fb59..afcc3ed 100644
--- a/src/utils/command_structure/command_controller.cpp
+++ b/src/utils/command_structure/command_controller.cpp
@@ -12,7 +12,6 @@
 
 /**
  * Adds a command to the queue
- * @param cmd - AutoCommand to be added
  */
 void CommandController::add(AutoCommand *cmd) {
   command_queue.push(cmd);
diff --git a/src/utils/command_structure/drive_commands.cpp b/src/utils/command_structure/drive_commands.cpp
index 5c67661..9f25f96 100644
--- a/src/utils/command_structure/drive_commands.cpp
+++ b/src/utils/command_structure/drive_commands.cpp
@@ -21,7 +21,14 @@
 
 // ==== DRIVING ====
 
-
+/**
+ * Construct a DriveForward Command
+ * @param drive_sys the drive system we are commanding
+ * @param feedback the feedback controller we are using to execute the drive
+ * @param inches how far forward to drive
+ * @param dir the direction to drive
+ * @param max_speed 0 -> 1 percentage of the drive systems speed to drive at
+*/
 DriveForwardCommand::DriveForwardCommand(TankDrive &drive_sys, Feedback &feedback, double inches, directionType dir, double max_speed):
   drive_sys(drive_sys), feedback(feedback), inches(inches), dir(dir), max_speed(max_speed) {}
 
@@ -35,8 +42,13 @@ bool DriveForwardCommand::run() {
 }
 
 
-// Turn Degrees
-
+/**
+ * Construct a TurnDegreesCommand Command
+ * @param drive_sys the drive system we are commanding
+ * @param feedback the feedback controller we are using to execute the turn
+ * @param degrees how many degrees to rotate
+ * @param max_speed 0 -> 1 percentage of the drive systems speed to drive at
+*/
 TurnDegreesCommand::TurnDegreesCommand(TankDrive &drive_sys, Feedback &feedback, double degrees, double max_speed):
   drive_sys(drive_sys), feedback(feedback), degrees(degrees), max_speed(max_speed) {}
 
@@ -50,8 +62,15 @@ bool TurnDegreesCommand::run() {
 }
 
 
-// Drive to Point
-
+/**
+ * Construct a DriveForward Command
+ * @param drive_sys the drive system we are commanding
+ * @param feedback the feedback controller we are using to execute the drive
+ * @param x where to drive in the x dimension
+ * @param y where to drive in the y dimension
+ * @param dir the direction to drive
+ * @param max_speed 0 -> 1 percentage of the drive systems speed to drive at
+*/
 DriveToPointCommand::DriveToPointCommand(TankDrive &drive_sys, Feedback &feedback, double x, double y, directionType dir, double max_speed):
   drive_sys(drive_sys), feedback(feedback), x(x), y(y), dir(dir), max_speed(max_speed) {}
 
@@ -65,8 +84,13 @@ bool DriveToPointCommand::run() {
 }
 
 
-// Turn to Heading
-
+/**
+ * Construct a TurnToHeadingCommand Command
+ * @param drive_sys the drive system we are commanding
+ * @param feedback the feedback controller we are using to execute the drive
+ * @param heading_deg the heading to turn to in degrees
+ * @param max_speed 0 -> 1 percentage of the drive systems speed to drive at
+*/
 TurnToHeadingCommand::TurnToHeadingCommand(TankDrive &drive_sys, Feedback &feedback, double heading_deg, double max_speed):
   drive_sys(drive_sys), feedback(feedback), heading_deg(heading_deg), max_speed(max_speed) {}
 
@@ -80,8 +104,10 @@ bool TurnToHeadingCommand::run() {
 }
 
 
-// Stop
-
+/**
+ * Construct a DriveStop Command
+ * @param drive_sys the drive system we are commanding
+ */
 DriveStopCommand::DriveStopCommand(TankDrive &drive_sys):
   drive_sys(drive_sys) {}
 

From 703d7586eef146c9e3cbbdec943806eef1e5dc04 Mon Sep 17 00:00:00 2001
From: Victor Rabinovich <vityarabinovich@gmail.com>
Date: Wed, 25 Jan 2023 20:01:36 -0500
Subject: [PATCH 131/243] Documentation

Added some documentation listed as missing by Doxygen
---
 include/subsystems/flywheel.h               |  2 ++
 include/subsystems/odometry/odometry_base.h | 25 +++++++++++++++++++++
 src/subsystems/flywheel.cpp                 |  4 ++++
 3 files changed, 31 insertions(+)

diff --git a/include/subsystems/flywheel.h b/include/subsystems/flywheel.h
index fbcd4db..c4babce 100644
--- a/include/subsystems/flywheel.h
+++ b/include/subsystems/flywheel.h
@@ -135,6 +135,8 @@ class Flywheel{
   /**
   * Spin motors using voltage; defaults forward at 12 volts
   * FOR USE BY OPCONTROL AND AUTONOMOUS - this only applies if the RPM thread is not running
+  * @param speed - speed (between -1 and 1) to set the motor
+  * @param dir - direction that the motor moves in; defaults to forward
   */
   void spin_manual(double speed, directionType dir=fwd);
   
diff --git a/include/subsystems/odometry/odometry_base.h b/include/subsystems/odometry/odometry_base.h
index 862dc85..f4cf7de 100644
--- a/include/subsystems/odometry/odometry_base.h
+++ b/include/subsystems/odometry/odometry_base.h
@@ -90,17 +90,42 @@ class OdometryBase
 
     bool end_task = false;
 
+    /**
+     * Get the current speed
+     */
     double get_speed();
+
+    /**
+     * Get the current acceleration
+     */
     double get_accel();
 
+    /**
+     * Get the current angular speed in degrees
+     */
     double get_angular_speed_deg();
+
+    /**
+     * Get the current angular acceleration in degrees
+     */
     double get_angular_accel_deg();
 
+    /**
+     * Zeroed position. X=0, Y=0, Rotation= 90 degrees
+     */
     inline static constexpr position_t zero_pos = {.x=0.0L, .y=0.0L, .rot=90.0L};
 
 protected:
     vex::task *handle;
+
+    /**
+     * Mutex to control multithreading
+     */
     vex::mutex mut;
+
+    /**
+     * Current position of the robot in terms of x,y,rotation
+     */
     position_t current_pos;
 
     double speed, accel, ang_speed_deg, ang_accel_deg;
diff --git a/src/subsystems/flywheel.cpp b/src/subsystems/flywheel.cpp
index 2cd7990..c098ea9 100644
--- a/src/subsystems/flywheel.cpp
+++ b/src/subsystems/flywheel.cpp
@@ -79,6 +79,7 @@ bool Flywheel::isTaskRunning() { return taskRunning; }
 
 /**
 * Returns a POINTER TO the motors; not currently used.
+* @return motorPointer -pointer to the motors
 */
 motor_group* Flywheel::getMotors() { return &motors; } // TODO -- Remove?
 
@@ -90,6 +91,7 @@ double Flywheel::getRPM() { return ratio * motors.velocity(velocityUnits::rpm);
 
 /**
 * Returns a POINTER TO the PID; not currently used.
+* @return pidPointer -pointer to the PID
 */
 PID* Flywheel::getPID() { return &pid; } // TODO -- Remove?
 
@@ -234,6 +236,8 @@ void Flywheel::spin_raw(double speed, directionType dir){
 /**
 * Spin motors using voltage; defaults forward at 12 volts
 * FOR USE BY OPCONTROL AND AUTONOMOUS - this only applies if the RPM thread is not running
+* @param speed - speed (between -1 and 1) to set the motor
+* @param dir - direction that the motor moves in; defaults to forward
 */
 void Flywheel::spin_manual(double speed, directionType dir){
   if(!taskRunning) motors.spin(dir, speed * 12, voltageUnits::volt);

From b856e43b9654433af25b4468d758a9bd4efa8841 Mon Sep 17 00:00:00 2001
From: cowsed <richie.sommers@outlook.com>
Date: Wed, 25 Jan 2023 22:00:52 -0500
Subject: [PATCH 132/243] Documentation from richie

---
 include/subsystems/lift.h                     |  6 ++
 include/subsystems/odometry/odometry_3wheel.h |  8 +--
 include/subsystems/odometry/odometry_base.h   | 30 +++++++--
 include/subsystems/odometry/odometry_tank.h   | 11 +++-
 include/subsystems/tank_drive.h               | 64 ++++++++++++-------
 .../utils/command_structure/drive_commands.h  |  5 ++
 .../command_structure/flywheel_commands.h     |  6 +-
 include/utils/feedback_base.h                 |  1 -
 include/utils/feedforward.h                   | 16 +++--
 include/utils/generic_auto.h                  |  9 +++
 include/utils/pid.h                           | 50 +++++++++++----
 include/utils/pure_pursuit.h                  |  5 +-
 include/utils/vector2d.h                      | 17 ++++-
 src/subsystems/flywheel.cpp                   | 13 ----
 src/subsystems/odometry/odometry_3wheel.cpp   |  2 -
 src/subsystems/odometry/odometry_tank.cpp     | 24 ++++---
 .../command_structure/flywheel_commands.cpp   |  8 +--
 17 files changed, 186 insertions(+), 89 deletions(-)

diff --git a/include/subsystems/lift.h b/include/subsystems/lift.h
index f99bec6..947c7a3 100644
--- a/include/subsystems/lift.h
+++ b/include/subsystems/lift.h
@@ -22,6 +22,12 @@ class Lift
 {
   public:
 
+  /**
+   * lift_cfg_t holds the physical parameter specifications of a lify system.
+   * includes:
+   * - maximum speeds for the system
+   * - softstops to stop the lift from hitting the hard stops too hard 
+   */
   struct lift_cfg_t
   {
     double up_speed, down_speed;
diff --git a/include/subsystems/odometry/odometry_3wheel.h b/include/subsystems/odometry/odometry_3wheel.h
index 44db64a..f66da93 100644
--- a/include/subsystems/odometry/odometry_3wheel.h
+++ b/include/subsystems/odometry/odometry_3wheel.h
@@ -35,13 +35,13 @@ class Odometry3Wheel : public OdometryBase
 
     /**
      * odometry3wheel_cfg_t holds all the specifications for how to calculate position with 3 encoders
-     * see the wiki for what exactly each of these parameters measures
+     * See the core wiki for what exactly each of these parameters measures
      */
     typedef struct
     {
-        double wheelbase_dist;
-        double off_axis_center_dist;
-        double wheel_diam;
+        double wheelbase_dist; /**< distance from the center of the left wheel to the center of the right wheel*/
+        double off_axis_center_dist; /**< distance from the center of the robot to the center off axis wheel*/
+        double wheel_diam; /**< the diameter of the tracking wheel*/
         
     } odometry3wheel_cfg_t;
     
diff --git a/include/subsystems/odometry/odometry_base.h b/include/subsystems/odometry/odometry_base.h
index f4cf7de..1ba75f0 100644
--- a/include/subsystems/odometry/odometry_base.h
+++ b/include/subsystems/odometry/odometry_base.h
@@ -12,9 +12,9 @@
  */
 typedef struct
 {
-    double x;
-    double y;
-    double rot;
+    double x; ///< x position in the world
+    double y; ///< y position in the world
+    double rot; ///< rotation in the world
 } position_t;
 
 /**
@@ -42,16 +42,19 @@ class OdometryBase
 
     /**
     * Gets the current position and rotation
+    * @return the position that the odometry believes the robot is at
     */
     position_t get_position(void);
 
     /**
      * Sets the current position of the robot
+     * @param newpos the new position that the odometry will believe it is at
      */
     virtual void set_position(const position_t &newpos=zero_pos);
 
     /**
      * Update the current position on the field based on the sensors
+     * @return the location that the robot is at after the odometry does its calculations
      */
     virtual position_t update() = 0;
 
@@ -73,11 +76,17 @@ class OdometryBase
 
     /**
      * Get the distance between two points
+     * @param pos1 distance from this point
+     * @param pos2 to this point
+     * @return the euclidean distance between pos1 and pos2
      */
     static double pos_diff(position_t pos1, position_t pos2);
 
     /**
      * Get the change in rotation between two points
+     * @param pos1 position with initial rotation
+     * @param pos2 position with final rotation
+     * @return change in rotation between pos1 and pos2
      */
     static double rot_diff(position_t pos1, position_t pos2);
 
@@ -85,6 +94,9 @@ class OdometryBase
      * Get the smallest difference in angle between a start heading and end heading.
      * Returns the difference between -180 degrees and +180 degrees, representing the robot
      * turning left or right, respectively.
+     * @param start_deg intitial angle (degrees)
+     * @param end_deg final angle (degrees)
+     * @return the smallest angle from the initial to the final angle. This takes into account the wrapping of rotations around 360 degrees 
      */
     static double smallest_angle(double start_deg, double end_deg);
 
@@ -92,21 +104,25 @@ class OdometryBase
 
     /**
      * Get the current speed
+     * @return the speed at which the robot is moving and grooving (inch/s)
      */
     double get_speed();
 
     /**
      * Get the current acceleration
+     * @return the acceleration rate of the robot (inch/s^2)
      */
     double get_accel();
 
     /**
      * Get the current angular speed in degrees
+     * @return the angular velocity at which we are turning (deg/s) 
      */
     double get_angular_speed_deg();
 
     /**
      * Get the current angular acceleration in degrees
+     * @return the angular acceleration at which we are turning (deg/s^2)
      */
     double get_angular_accel_deg();
 
@@ -116,6 +132,9 @@ class OdometryBase
     inline static constexpr position_t zero_pos = {.x=0.0L, .y=0.0L, .rot=90.0L};
 
 protected:
+    /**
+     * handle to the vex task that is running the odometry code
+    */
     vex::task *handle;
 
     /**
@@ -128,5 +147,8 @@ class OdometryBase
      */
     position_t current_pos;
 
-    double speed, accel, ang_speed_deg, ang_accel_deg;
+    double speed; /**< the speed at which we are travelling (inch/s)*/
+    double accel; /**< the rate at which we are accelerating (inch/s^2)*/
+    double ang_speed_deg; /**< the speed at which we are turning (deg/s)*/
+    double ang_accel_deg; /**< the rate at which we are accelerating our turn (deg/s^2)*/
 };
\ No newline at end of file
diff --git a/include/subsystems/odometry/odometry_tank.h b/include/subsystems/odometry/odometry_tank.h
index a0b115d..2a2a92f 100644
--- a/include/subsystems/odometry/odometry_tank.h
+++ b/include/subsystems/odometry/odometry_tank.h
@@ -21,26 +21,33 @@ class OdometryTank : public OdometryBase
     * Initialize the Odometry module, calculating position from the drive motors.
     * @param left_side The left motors 
     * @param right_side The right motors
+    * @param config the specifications that supply the odometry with descriptions of the robot. See robot_specs_t for what is contained
     * @param imu The robot's inertial sensor. If not included, rotation is calculated from the encoders.
     * @param is_async If true, position will be updated in the background continuously. If false, the programmer will have to manually call update().
     */
     OdometryTank(vex::motor_group &left_side, vex::motor_group &right_side, robot_specs_t &config, vex::inertial *imu=NULL, bool is_async=true);
 
     /**
-    * Initialize the Odometry module, calculating posiiton from encoders on "dead wheels"
+    * Initialize the Odometry module, calculating position from the drive motors.
     * @param left_enc The left motors 
     * @param right_enc The right motors
+    * @param config the specifications that supply the odometry with descriptions of the robot. See robot_specs_t for what is contained
     * @param imu The robot's inertial sensor. If not included, rotation is calculated from the encoders.
     * @param is_async If true, position will be updated in the background continuously. If false, the programmer will have to manually call update().
     */
+
     OdometryTank(CustomEncoder &left_enc, CustomEncoder &right_enc, robot_specs_t &config, vex::inertial *imu=NULL, bool is_async=true);
 
     /**
      * Update the current position on the field based on the sensors
+     * @return the position that odometry has calculated itself to be at
      */
     position_t update() override;
 
-
+    /**
+     * set_position tells the odometry to place itself at a position
+     * @param newpos the position the odometry will take
+    */
     void set_position(const position_t &newpos=zero_pos) override;
 
     
diff --git a/include/subsystems/tank_drive.h b/include/subsystems/tank_drive.h
index 5c20e2c..77da22c 100644
--- a/include/subsystems/tank_drive.h
+++ b/include/subsystems/tank_drive.h
@@ -25,6 +25,10 @@ class TankDrive
 
   /**
    * Create the TankDrive object 
+   * @param left_motors left side drive motors
+   * @param right_motors right side drive motors
+   * @param config the configuration specification defining physical dimensions about the robot. See robot_specs_t for more info
+   * @param odom an odometry system to track position and rotation. this is necessary to execute autonomous paths
    */
   TankDrive(motor_group &left_motors, motor_group &right_motors, robot_specs_t &config, OdometryBase *odom=NULL);
 
@@ -38,6 +42,10 @@ class TankDrive
    * right_motors controls the right motors.
    * 
    * left_motors and right_motors are in "percent": -1.0 -> 1.0
+   * @param left the percent to run the left motors
+   * @param right the percent to run the right motors
+   * @param power modifies the input velocities left^power, right^power
+   * @param is_driver default false. if true uses motor percentage. if false uses plain percentage of maximum voltage
    */
   void drive_tank(double left, double right, int power=1, bool isdriver=false);
 
@@ -46,36 +54,39 @@ class TankDrive
    * left_right controls the turning.
    * 
    * left_motors and right_motors are in "percent": -1.0 -> 1.0
+   * Drive the robot using differential style controls. left_motors controls the left motors,
+   * right_motors controls the right motors.
+   * 
+   * left_motors and right_motors are in "percent": -1.0 -> 1.0
+   * @param left the percent to run the left motors
+   * @param right the percent to run the right motors
+   * @param power modifies the input velocities left^power, right^power
    */
   void drive_arcade(double forward_back, double left_right, int power=1);
 
   /**
-   * Use odometry to automatically drive the robot to a point on the field.
-   * X and Y is the final point we want the robot.
+   * Use odometry to drive forward a certain distance using a custom feedback controller
    *
    * Returns whether or not the robot has reached it's destination.
-   * @param x          the x position of the target
-   * @param y          the y position of the target
+   * @param inches     the distance to drive forward
    * @param dir        the direction we want to travel forward and backward
-   * @param feedback   the feedback controller we will use to travel. controls the rate at which we accelerate and drive.
+   * @param feedback   the custom feedback controller we will use to travel. controls the rate at which we accelerate and drive.
    * @param max_speed  the maximum percentage of robot speed at which the robot will travel. 1 = full power
    */
   bool drive_forward(double inches, directionType dir, Feedback &feedback, double max_speed=1);
+
   /**
-   * Autonomously turn the robot X degrees to counterclockwise (negative for clockwise), with a maximum motor speed
-   * of percent_speed (-1.0 -> 1.0)
+   * Autonomously drive the robot forward a certain distance
    * 
-   * Uses the specified feedback for it's control.
    * 
-   * @param degrees     degrees by which we will turn relative to the robot (+) turns ccw, (-) turns cw
-   * @param feedback    the feedback controller we will use to travel. controls the rate at which we accelerate and drive.
+   * @param inches      degrees by which we will turn relative to the robot (+) turns ccw, (-) turns cw
+   * @param dir        the direction we want to travel forward and backward
    * @param max_speed   the maximum percentage of robot speed at which the robot will travel. 1 = full power
    */
-
   bool drive_forward(double inches, directionType dir, double max_speed=1);
 
   /**
-   * Autonomously turn the robot X degrees to the right (negative for left), with a maximum motor speed
+   * Autonomously turn the robot X degrees counterclockwise (negative for clockwise), with a maximum motor speed
    * of percent_speed (-1.0 -> 1.0)
    * 
    * Uses PID + Feedforward for it's control.
@@ -85,6 +96,7 @@ class TankDrive
    * @param max_speed   the maximum percentage of robot speed at which the robot will travel. 1 = full power
    */
   bool turn_degrees(double degrees, Feedback &feedback, double max_speed=1);
+
   /**
    * Autonomously turn the robot X degrees to counterclockwise (negative for clockwise), with a maximum motor speed
    * of percent_speed (-1.0 -> 1.0)
@@ -92,9 +104,9 @@ class TankDrive
    * Uses the defualt turning feedback of the drive system.
    * 
    * @param degrees     degrees by which we will turn relative to the robot (+) turns ccw, (-) turns cw
-   * @param feedback    the feedback controller we will use to travel. controls the rate at which we accelerate and drive.
    * @param max_speed   the maximum percentage of robot speed at which the robot will travel. 1 = full power
-   */  bool turn_degrees(double degrees, double max_speed=1);
+   */  
+  bool turn_degrees(double degrees, double max_speed=1);
 
   /**
    * Use odometry to automatically drive the robot to a point on the field.
@@ -147,7 +159,11 @@ class TankDrive
 
   /**
    * Create a curve for the inputs, so that drivers have more control at lower speeds.
-   * Curves are exponential, with the deault being squaring the inputs.
+   * Curves are exponential, with the default being squaring the inputs.
+   * 
+   * @param input the input before modification
+   * @param power the power to raise input to
+   * @return input ^ power (accounts for negative inputs and odd numbered powers)
    */
   static double modify_inputs(double input, int power=2);
 
@@ -164,17 +180,17 @@ class TankDrive
   bool pure_pursuit(std::vector<PurePursuit::hermite_point> path, directionType dir, double radius, double res, Feedback &feedback, double max_speed=1);
 
 private:
-  motor_group &left_motors;
-  motor_group &right_motors;
+  motor_group &left_motors; ///< left drive motors
+  motor_group &right_motors; ///< right drive motors
 
-  PID correction_pid;
-  Feedback *drive_default_feedback = NULL;
-  Feedback *turn_default_feedback = NULL;
+  PID correction_pid; ///< PID controller used to drive in as straight a line as possible
+  Feedback *drive_default_feedback = NULL; ///< feedback to use to drive if none is specified
+  Feedback *turn_default_feedback = NULL; ///< feedback to use to turn if none is specified
 
-  OdometryBase *odometry;
+  OdometryBase *odometry; ///< odometry system to track position and rotation. necessary for autonomous driving
 
-  robot_specs_t &config;
+  robot_specs_t &config; ///< configuration holding physical dimensions of the robot. see robot_specs_t for more information
 
-  bool func_initialized = false;
-  bool is_pure_pursuit = false;
+  bool func_initialized = false; ///< used to control initialization of autonomous driving. (you only wan't to set the target once, not every iteration that you're driving)
+  bool is_pure_pursuit = false; ///< true if we are driving with a pure pursuit system
 };
diff --git a/include/utils/command_structure/drive_commands.h b/include/utils/command_structure/drive_commands.h
index a544811..a6a2f45 100644
--- a/include/utils/command_structure/drive_commands.h
+++ b/include/utils/command_structure/drive_commands.h
@@ -170,6 +170,11 @@ class DriveStopCommand: public AutoCommand {
  */
 class OdomSetPosition: public AutoCommand {
   public:
+    /**
+     * constructs a new OdomSetPosition command
+     * @param odom the odometry system we are setting
+     * @param newpos the position we are telling the odometry to take. defaults to (0, 0), angle = 90
+    */
     OdomSetPosition(OdometryBase &odom, const position_t &newpos=OdometryBase::zero_pos);
 
     /**
diff --git a/include/utils/command_structure/flywheel_commands.h b/include/utils/command_structure/flywheel_commands.h
index efe59f9..c0a090b 100644
--- a/include/utils/command_structure/flywheel_commands.h
+++ b/include/utils/command_structure/flywheel_commands.h
@@ -58,7 +58,7 @@ class WaitUntilUpToSpeedCommand: public AutoCommand {
     Flywheel &flywheel;
 
     // if the actual speed is equal to the desired speed +/- this value, we are ready to fire
-    int threshhold_rpm;
+    int threshold_rpm;
 };
 
 /**
@@ -93,6 +93,10 @@ class FlywheelStopCommand: public AutoCommand {
  */
 class FlywheelStopMotorsCommand: public AutoCommand {
   public:
+  /**
+   * Construct a FlywheeStopMotors Command
+   * @param flywheel the flywheel system we are commanding
+  */
   FlywheelStopMotorsCommand(Flywheel &flywheel);
 
     /**
diff --git a/include/utils/feedback_base.h b/include/utils/feedback_base.h
index 3096520..a716f53 100644
--- a/include/utils/feedback_base.h
+++ b/include/utils/feedback_base.h
@@ -37,7 +37,6 @@ class Feedback
      * 
      * @param lower Upper limit
      * @param upper Lower limit
-     * @return double 
      */
     virtual void set_limits(double lower, double upper) = 0;
 
diff --git a/include/utils/feedforward.h b/include/utils/feedforward.h
index e61000f..2592107 100644
--- a/include/utils/feedforward.h
+++ b/include/utils/feedforward.h
@@ -31,15 +31,19 @@ class FeedForward
     public:
 
     /**
-     * kS - Coefficient to overcome static friction: the point at which the motor *starts* to move.
-     * kV - Veclocity coefficient: the power required to keep the mechanism in motion. Multiplied by the requested velocity.
-     * kA - Acceleration coefficient: the power required to change the mechanism's speed. Multiplied by the requested acceleration.
-     * kG - Gravity coefficient: only needed for lifts. The power required to overcome gravity and stay at steady state.
-     *      Should relate to acceleration due to gravity and mass of the lift.
+     * ff_config_t holds the parameters to make the theoretical model of a real world system
+     * equation is of the form
+     * kS if the system is not stopped, 0 otherwise
+     * + kV * desired velocity
+     * + kA * desired acceleration
+     * + kG
      */
     typedef struct
     {
-        double kS, kV, kA, kG;
+        double kS; /**< Coefficient to overcome static friction: the point at which the motor *starts* to move.*/
+        double kV; /**< Veclocity coefficient: the power required to keep the mechanism in motion. Multiplied by the requested velocity.*/
+        double kA; /**< kA - Acceleration coefficient: the power required to change the mechanism's speed. Multiplied by the requested acceleration.*/
+        double kG; /**< kG - Gravity coefficient: only needed for lifts. The power required to overcome gravity and stay at steady state.*/
     } ff_config_t;
 
     
diff --git a/include/utils/generic_auto.h b/include/utils/generic_auto.h
index 665c28f..1cdffe7 100644
--- a/include/utils/generic_auto.h
+++ b/include/utils/generic_auto.h
@@ -32,11 +32,20 @@ class GenericAuto
 
   /**
    * Add a new state to the autonomous via function point of type "bool (ptr*)()"
+   * @param state_ptr the function to run
    */
   void add(state_ptr);
 
+  /**
+   * Add a new state to the autonomous via function point of type "bool (ptr*)()" that will run asynchronously
+   * @param state_ptr the function to run
+   */
   void add_async(state_ptr);
 
+  /**
+   * add_delay adds a period where the auto system will simply wait for the specified time
+   * @param ms how long to wait in milliseconds
+  */
   void add_delay(int ms);
 
   private:
diff --git a/include/utils/pid.h b/include/utils/pid.h
index 32afd38..8c021b5 100644
--- a/include/utils/pid.h
+++ b/include/utils/pid.h
@@ -28,26 +28,30 @@ class PID : Feedback
    */
   enum ERROR_TYPE{
     LINEAR,
-    ANGULAR
+    ANGULAR // assumes degrees
   };
   /**
    * pid_config_t holds the configuration parameters for a pid controller
    * In addtion to the constant of proportional, integral and derivative, these parameters include: 
-   * - deadband - at what point are we close enough to be finished
+   * - deadband - 
    * - on_target_time - for how long do we have to be at the target to stop
    * As well, pid_config_t holds an error type which determines whether errors should be calculated as if the sensor position is a measure of distance or an angle
   */
   struct pid_config_t
   {
-    double p, i, d;
-    double deadband, on_target_time;
-    ERROR_TYPE error_method;
+    double p; ///< proportional coeffecient p * error() 
+    double i; ///< integral coeffecient i * integral(error)
+    double d; ///< derivitave coeffecient d * derivative(error)
+    double deadband; ///< at what threshold are we close enough to be finished
+    double on_target_time; ///< the time in seconds that we have to be on target for to say we are officially at the target
+    ERROR_TYPE error_method; ///< Linear or angular. wheter to do error as a simple subtraction or to wrap
   };
 
   
 
   /**
    * Create the PID object
+   * @param config the configuration data for this controller
    */
   PID(pid_config_t &config);
 
@@ -57,29 +61,36 @@ class PID : Feedback
    * Update the setpoint and reset integral accumulation
    * 
    * start_pt can be safely ignored in this feedback controller
+   * @param start_pt commpletely ignored for PID. necessary to satisfy Feedback base
+   * @param set_pt sets the target of the PID controller
    */
   void init(double start_pt, double set_pt) override;
 
   /**
    * Update the PID loop by taking the time difference from last update,
    * and running the PID formula with the new sensor data
+   * @param sensorVal update the PID controller with the most recent sensor measurement
+   * @return the updated Out value of the controller (voltage, RPM, whatever the PID controller is controlling)
    */
   double update(double sensorVal) override;
 
   /**
    * Gets the current PID out value, from when update() was last run
+   * @return the Out value of the controller (voltage, RPM, whatever the PID controller is controlling)
    */
   double get() override;
 
   /**
    * Set the limits on the PID out. The PID out will "clip" itself to be 
    * between the limits.
+   * @param lower the lower limit. the PID controller will never command the output go below `lower`
+   * @param upper the upper limit. the PID controller will never command the output go higher than `upper`
    */
   void set_limits(double lower, double upper) override;
 
   /**
-   * Returns true if the loop is within [deadband] for [on_target_time]
-   * seconds
+   * Checks if the PID controller is on target.  
+   * @return true if the loop is within [deadband] for [on_target_time] seconds
    */
   bool is_on_target() override;
 
@@ -90,29 +101,40 @@ class PID : Feedback
 
   /**
    * Get the delta between the current sensor data and the target
+   * @return the error calculated. how it is calculated depends on error_method specified in pid_config_t
    */
   double get_error();
 
   /**
    * Get the PID's target
+   * @return the target the PID controller is trying to achieve
    */
   double get_target();
 
   /**
    * Set the target for the PID loop, where the robot is trying to end up
+   * @param target the sensor reading we would like to achieve
    */
   void set_target(double target);
 
 private:
-  pid_config_t &config;
+  pid_config_t &config; ///< configuration struct for this controller. see pid_config_t for information about what this contains
 
 
-  double last_error = 0, accum_error = 0;
-  double last_time = 0, on_target_last_time = 0;
-  double lower_limit = 0, upper_limit = 0;
+  double last_error = 0;  ///< the error measured on the last iteration of update()
+  double accum_error = 0; ///< the integral of error over time since we called init()
+  
+  double last_time = 0; ///< the time measured the last time update() was called
+  double on_target_last_time = 0; ///< the time at which we started being on target
+  
+  double lower_limit = 0; ///< the PID controller will never set a target to go lower than this
+  double upper_limit = 0; ///< the PID controller will never set a target to go higher than this
+
+  double target = 0; ///< the target position of the PID controller (lower_limit <= target <= upper_limit)
+  double sensor_val = 0; ///< the last recorded value of the sensor we use to feed the PID controller
+  double out = 0; ///< the last calculated output value. we save it here so that we don't have to recalculate if we ask for it more than once between update() calls
 
-  double target = 0, sensor_val = 0, out = 0;
-  bool is_checking_on_target = false;
+  bool is_checking_on_target = false; ///< true if the sensor reading is within target +/- deadband
 
-  timer pid_timer;
+  timer pid_timer; ///< used for calculating integrals and derivatives in line with the real world times and checking the time we are on target 
 };
diff --git a/include/utils/pure_pursuit.h b/include/utils/pure_pursuit.h
index 64c56dc..e14f8f6 100644
--- a/include/utils/pure_pursuit.h
+++ b/include/utils/pure_pursuit.h
@@ -19,7 +19,10 @@ namespace PurePursuit {
       return a * pow((x - x_start), 3) + b * pow((x - x_start), 2) + c * (x - x_start) + d;
     }
   };
-
+  /**
+   * a position along the hermite path
+   * contains a position and orientation information that the robot would be at at this point
+   */
   struct hermite_point
   {
     double x;
diff --git a/include/utils/vector2d.h b/include/utils/vector2d.h
index d2e672e..2162c97 100644
--- a/include/utils/vector2d.h
+++ b/include/utils/vector2d.h
@@ -19,14 +19,22 @@ class Vector2D
      */
     struct point_t
     {
-        double x, y;
+        double x, y; ///< x and y position in space
 
+
+        /** 
+         * dist calculates the euclidian distance using the pythagorean theorem
+         * @return the euclidian distance between this and other
+         */
         double dist(const point_t other)
         {
           return sqrt(pow(this->x - other.x, 2) + pow(this->y - other.y, 2));
         }
 
-        // Vector2D addition operation on points
+        /**
+         * Vector2D addition operation on points
+         * @return this + other (this.x + other.x, this.y + other.y)
+         */
         point_t operator+(const point_t &other)
         {
           point_t p 
@@ -37,7 +45,10 @@ class Vector2D
           return p;
         }
 
-        // Vector2D subtraction operation on points
+        /**
+         * Vector2D subtraction operation on points
+         * @return this - other (this.x - other.x, this.y - other.y)
+         */
         point_t operator-(const point_t &other)
         {
           point_t p 
diff --git a/src/subsystems/flywheel.cpp b/src/subsystems/flywheel.cpp
index c098ea9..bdc1a6a 100644
--- a/src/subsystems/flywheel.cpp
+++ b/src/subsystems/flywheel.cpp
@@ -31,43 +31,30 @@ FeedForward::ff_config_t empty_ff = FeedForward::ff_config_t{};
 
 /**
 * Create the Flywheel object using PID + feedforward for control.
-* @param motors     - pointer to the motors on the fly wheel
-* @param pid_config - pointer the pid config
-* @param ff_config         - pointer to the feedforward config
-* @param ratio      - ratio of the whatever just multiplies the velocity
 */
 Flywheel::Flywheel(motor_group &motors, PID::pid_config_t &pid_config, FeedForward::ff_config_t &ff_config, const double ratio)
     :motors(motors), pid(pid_config), ff(ff_config), ratio(ratio), control_style(PID_Feedforward) { }
 
 /**
 * Create the Flywheel object using only feedforward for control
-* @param motors - pointer to the motors on the fly wheel
-* @param ff_config     - pointer to the feedforward config
-* @param ratio  - ratio of the whatever just multiplies the velocity
 */
 Flywheel::Flywheel(motor_group &motors, FeedForward::ff_config_t &ff_config, const double ratio)
     :motors(motors), pid(empty_pid), ff(ff_config), ratio(ratio), control_style(Feedforward) {}
 
 /**
 * Create the Flywheel object using Take Back Half for control
-* @param motors   - pointer to the motors on the fly wheel
-* @param TBH_gain - the TBH control paramater
-* @param ratio    - ratio of the whatever just multiplies the velocity
 */
 Flywheel::Flywheel(motor_group &motors, const double TBH_gain, const double ratio)
     :motors(motors), pid(empty_pid), ff(empty_ff), TBH_gain(TBH_gain), ratio(ratio), control_style(Take_Back_Half) {}
 
 /**
 * Create the Flywheel object using Bang Bang for control
-* @param motors - pointer to the motors on the fly wheel
-* @param ratio  - ratio of the whatever just multiplies the velocity
 */
 Flywheel::Flywheel(motor_group &motors, const double ratio)
     :motors(motors), pid(empty_pid), ff(empty_ff), ratio(ratio), control_style(Bang_Bang) {}
 
 /**
 * Return the current value that the RPM should be set to
-* @return RPM = the target rpm
 */
 double Flywheel::getDesiredRPM() { return RPM; }
 
diff --git a/src/subsystems/odometry/odometry_3wheel.cpp b/src/subsystems/odometry/odometry_3wheel.cpp
index 1dc2ecf..004354f 100644
--- a/src/subsystems/odometry/odometry_3wheel.cpp
+++ b/src/subsystems/odometry/odometry_3wheel.cpp
@@ -133,8 +133,6 @@ position_t Odometry3Wheel::calculate_new_pos(double lside_delta_deg, double rsid
  * 
  * It is assumed the gear ratio and encoder PPR have been set correctly
  * 
- * @param con Controller reference, for screen and button control
- * @param drive Drivetrain reference for robot control
  */
 void Odometry3Wheel::tune(vex::controller &con, TankDrive &drive)
 {
diff --git a/src/subsystems/odometry/odometry_tank.cpp b/src/subsystems/odometry/odometry_tank.cpp
index 7281cfc..3d4414c 100644
--- a/src/subsystems/odometry/odometry_tank.cpp
+++ b/src/subsystems/odometry/odometry_tank.cpp
@@ -1,22 +1,26 @@
 #include "../core/include/subsystems/odometry/odometry_tank.h"
 
 /**
- * Initialize the Odometry module, calculating position from the drive motors.
- * @param left_side The left motors 
- * @param right_side The right motors
- * @param imu The robot's inertial sensor. If not included, rotation is calculated from the encoders.
- */
+* Initialize the Odometry module, calculating position from the drive motors.
+* @param left_side The left motors 
+* @param right_side The right motors
+* @param config the specifications that supply the odometry with descriptions of the robot. See robot_specs_t for what is contained
+* @param imu The robot's inertial sensor. If not included, rotation is calculated from the encoders.
+* @param is_async If true, position will be updated in the background continuously. If false, the programmer will have to manually call update().
+*/
 OdometryTank::OdometryTank(vex::motor_group &left_side, vex::motor_group &right_side, robot_specs_t &config, vex::inertial *imu, bool is_async)
 : OdometryBase(is_async), left_side(&left_side), right_side(&right_side), left_enc(NULL), right_enc(NULL), imu(imu), config(config)
 {
 }
 
 /**
- * Initialize the Odometry module, calculating posiiton from encoders on "dead wheels"
- * @param left_enc The left motors 
- * @param right_enc The right motors
- * @param imu The robot's inertial sensor. If not included, rotation is calculated from the encoders.
- */
+* Initialize the Odometry module, calculating position from the drive motors.
+* @param left_enc The left motors 
+* @param right_enc The right motors
+* @param config the specifications that supply the odometry with descriptions of the robot. See robot_specs_t for what is contained
+* @param imu The robot's inertial sensor. If not included, rotation is calculated from the encoders.
+* @param is_async If true, position will be updated in the background continuously. If false, the programmer will have to manually call update().
+*/
 OdometryTank::OdometryTank(CustomEncoder &left_enc, CustomEncoder &right_enc, robot_specs_t &config, vex::inertial *imu, bool is_async)
 : OdometryBase(is_async), left_side(NULL), right_side(NULL), left_enc(&left_enc), right_enc(&right_enc), imu(imu), config(config)
 {
diff --git a/src/utils/command_structure/flywheel_commands.cpp b/src/utils/command_structure/flywheel_commands.cpp
index 3d027b2..a4aa4d0 100644
--- a/src/utils/command_structure/flywheel_commands.cpp
+++ b/src/utils/command_structure/flywheel_commands.cpp
@@ -15,12 +15,12 @@ bool SpinRPMCommand::run() {
   return true;
 }
 
-WaitUntilUpToSpeedCommand::WaitUntilUpToSpeedCommand(Flywheel &flywheel, int threshhold_rpm):
-  flywheel(flywheel), threshhold_rpm(threshhold_rpm) {}
+WaitUntilUpToSpeedCommand::WaitUntilUpToSpeedCommand(Flywheel &flywheel, int threshold_rpm):
+  flywheel(flywheel), threshold_rpm(threshold_rpm) {}
 
 bool WaitUntilUpToSpeedCommand::run() {
-  // If we're withing the specified threshhold, we're ready to fire
-  if (fabs(flywheel.getDesiredRPM() - flywheel.getRPM()) < threshhold_rpm){
+  // If we're withing the specified threshold, we're ready to fire
+  if (fabs(flywheel.getDesiredRPM() - flywheel.getRPM()) < threshold_rpm){
     return true;
   }
   // else, keep waiting

From 050ecf518952c0315782efae07559d657f27ae3c Mon Sep 17 00:00:00 2001
From: cowsed <richie.sommers@outlook.com>
Date: Wed, 25 Jan 2023 22:04:50 -0500
Subject: [PATCH 133/243] merge victors docs into mine

---
 include/utils/vector2d.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/include/utils/vector2d.h b/include/utils/vector2d.h
index 2162c97..1bb2490 100644
--- a/include/utils/vector2d.h
+++ b/include/utils/vector2d.h
@@ -23,7 +23,7 @@ class Vector2D
 
 
         /** 
-         * dist calculates the euclidian distance using the pythagorean theorem
+         * dist calculates the euclidian distance between this point and another point using the pythagorean theorem
          * @return the euclidian distance between this and other
          */
         double dist(const point_t other)

From 56967afb9110cde8b93fdbae3bbc94e84b2d4755 Mon Sep 17 00:00:00 2001
From: cowsed <richie.sommers@outlook.com>
Date: Wed, 25 Jan 2023 22:04:58 -0500
Subject: [PATCH 134/243] merge victors docs into richies pt2

---
 src/utils/vector2d.cpp | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/src/utils/vector2d.cpp b/src/utils/vector2d.cpp
index 6d8ff96..c462864 100644
--- a/src/utils/vector2d.cpp
+++ b/src/utils/vector2d.cpp
@@ -75,6 +75,7 @@ Vector2D::point_t Vector2D::point()
 
 /**
  * Correctly add vectors together with the + operator
+ * @param &other -The point on which to do the operation
  */
 Vector2D Vector2D::operator+(const Vector2D &other)
 {
@@ -89,6 +90,7 @@ Vector2D Vector2D::operator+(const Vector2D &other)
 
 /**
  * Correctly subtract vectors with the - operator
+ * @param &other -The point on which to do the operation
  */
 Vector2D Vector2D::operator-(const Vector2D &other)
 {

From a3ea3376f792eb4e5706d14cfb6b18a77dc17cae Mon Sep 17 00:00:00 2001
From: cowsed <richie.sommers@outlook.com>
Date: Wed, 25 Jan 2023 22:08:43 -0500
Subject: [PATCH 135/243] @param &name -> @param name

---
 src/utils/vector2d.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/src/utils/vector2d.cpp b/src/utils/vector2d.cpp
index c462864..cd7234f 100644
--- a/src/utils/vector2d.cpp
+++ b/src/utils/vector2d.cpp
@@ -75,7 +75,7 @@ Vector2D::point_t Vector2D::point()
 
 /**
  * Correctly add vectors together with the + operator
- * @param &other -The point on which to do the operation
+ * @param other -The point on which to do the operation
  */
 Vector2D Vector2D::operator+(const Vector2D &other)
 {
@@ -90,7 +90,7 @@ Vector2D Vector2D::operator+(const Vector2D &other)
 
 /**
  * Correctly subtract vectors with the - operator
- * @param &other -The point on which to do the operation
+ * @param other -The point on which to do the operation
  */
 Vector2D Vector2D::operator-(const Vector2D &other)
 {

From 1486116b54dd6b1cf785f5202e133115e0fdc23a Mon Sep 17 00:00:00 2001
From: cowsed <richie.sommers@outlook.com>
Date: Thu, 26 Jan 2023 00:01:22 -0500
Subject: [PATCH 136/243] Final Documentation

---
 include/robot_specs.h                         | 16 ++++-----
 include/subsystems/odometry/odometry_base.h   | 13 +++----
 include/subsystems/tank_drive.h               | 13 ++++---
 .../command_structure/flywheel_commands.h     |  5 +++
 include/utils/generic_auto.h                  |  8 ++---
 include/utils/motion_controller.h             | 19 +++++------
 include/utils/moving_average.h                |  9 +++--
 include/utils/pid.h                           |  6 ++--
 include/utils/trapezoid_profile.h             | 33 ++++++++++++++----
 include/utils/vector2d.h                      | 23 ++++++++-----
 src/subsystems/odometry/odometry_base.cpp     |  3 ++
 src/subsystems/tank_drive.cpp                 | 34 ++++++++++++-------
 src/utils/motion_controller.cpp               | 26 +++++++-------
 src/utils/moving_average.cpp                  | 18 +++++-----
 src/utils/trapezoid_profile.cpp               |  7 +---
 src/utils/vector2d.cpp                        | 24 ++++++++-----
 16 files changed, 152 insertions(+), 105 deletions(-)

diff --git a/include/robot_specs.h b/include/robot_specs.h
index 488627a..baf9877 100644
--- a/include/robot_specs.h
+++ b/include/robot_specs.h
@@ -10,16 +10,16 @@
  */
 typedef struct
 {  
-  double robot_radius;
+  double robot_radius; ///< if you were to draw a circle with this radius, the robot would be entirely contained within it
 
-  double odom_wheel_diam;
-  double odom_gear_ratio;
-  double dist_between_wheels;
+  double odom_wheel_diam; ///< the diameter of the wheels used for 
+  double odom_gear_ratio; ///< the ratio of the odometry wheel to the encoder reading odometry data
+  double dist_between_wheels; ///< the distance between centers of the central drive wheels 
 
-  double drive_correction_cutoff;
+  double drive_correction_cutoff; ///< the distance at which to stop trying to turn towards the target. If we are less than this value, we can continue driving forward to minimize our distance but will not try to spin around to point directly at the target
 
-  Feedback *drive_feedback;
-  Feedback *turn_feedback;
-  PID::pid_config_t correction_pid;
+  Feedback *drive_feedback; ///< the default feedback for autonomous driving
+  Feedback *turn_feedback; ///< the defualt feedback for autonomous turning
+  PID::pid_config_t correction_pid; ///< the pid controller to keep the robot driving in as straight a line as possible
 
 } robot_specs_t;
\ No newline at end of file
diff --git a/include/subsystems/odometry/odometry_base.h b/include/subsystems/odometry/odometry_base.h
index 1ba75f0..65d3001 100644
--- a/include/subsystems/odometry/odometry_base.h
+++ b/include/subsystems/odometry/odometry_base.h
@@ -12,8 +12,8 @@
  */
 typedef struct
 {
-    double x; ///< x position in the world
-    double y; ///< y position in the world
+    double x;   ///< x position in the world
+    double y;   ///< y position in the world
     double rot; ///< rotation in the world
 } position_t;
 
@@ -76,11 +76,11 @@ class OdometryBase
 
     /**
      * Get the distance between two points
-     * @param pos1 distance from this point
-     * @param pos2 to this point
-     * @return the euclidean distance between pos1 and pos2
+     * @param start_pos distance from this point
+     * @param end_pos to this point
+     * @return the euclidean distance between start_pos and end_pos
      */
-    static double pos_diff(position_t pos1, position_t pos2);
+    double OdometryBase::pos_diff(position_t start_pos, position_t end_pos);
 
     /**
      * Get the change in rotation between two points
@@ -100,6 +100,7 @@ class OdometryBase
      */
     static double smallest_angle(double start_deg, double end_deg);
 
+    /// @brief end_task is true if we instruct the odometry thread to shut down
     bool end_task = false;
 
     /**
diff --git a/include/subsystems/tank_drive.h b/include/subsystems/tank_drive.h
index 77da22c..d55125a 100644
--- a/include/subsystems/tank_drive.h
+++ b/include/subsystems/tank_drive.h
@@ -45,7 +45,7 @@ class TankDrive
    * @param left the percent to run the left motors
    * @param right the percent to run the right motors
    * @param power modifies the input velocities left^power, right^power
-   * @param is_driver default false. if true uses motor percentage. if false uses plain percentage of maximum voltage
+   * @param isdriver default false. if true uses motor percentage. if false uses plain percentage of maximum voltage
    */
   void drive_tank(double left, double right, int power=1, bool isdriver=false);
 
@@ -53,13 +53,10 @@ class TankDrive
    * Drive the robot using arcade style controls. forward_back controls the linear motion,
    * left_right controls the turning.
    * 
-   * left_motors and right_motors are in "percent": -1.0 -> 1.0
-   * Drive the robot using differential style controls. left_motors controls the left motors,
-   * right_motors controls the right motors.
+   * forward_back and left_right are in "percent": -1.0 -> 1.0
    * 
-   * left_motors and right_motors are in "percent": -1.0 -> 1.0
-   * @param left the percent to run the left motors
-   * @param right the percent to run the right motors
+   * @param forward_back the percent to move forward or backward
+   * @param left_right the percent to turn left or right
    * @param power modifies the input velocities left^power, right^power
    */
   void drive_arcade(double forward_back, double left_right, int power=1);
@@ -72,6 +69,7 @@ class TankDrive
    * @param dir        the direction we want to travel forward and backward
    * @param feedback   the custom feedback controller we will use to travel. controls the rate at which we accelerate and drive.
    * @param max_speed  the maximum percentage of robot speed at which the robot will travel. 1 = full power
+   * @return true when we have reached our target distance
    */
   bool drive_forward(double inches, directionType dir, Feedback &feedback, double max_speed=1);
 
@@ -176,6 +174,7 @@ class TankDrive
    * @param res The number of points to use along the path; the hermite curve is split up into "res" individual points.
    * @param feedback The feedback controller to use
    * @param max_speed Robot's maximum speed throughout the path, between 0 and 1.0
+   * @return true when we reach the end of the path
    */
   bool pure_pursuit(std::vector<PurePursuit::hermite_point> path, directionType dir, double radius, double res, Feedback &feedback, double max_speed=1);
 
diff --git a/include/utils/command_structure/flywheel_commands.h b/include/utils/command_structure/flywheel_commands.h
index c0a090b..133c210 100644
--- a/include/utils/command_structure/flywheel_commands.h
+++ b/include/utils/command_structure/flywheel_commands.h
@@ -16,6 +16,11 @@
  */
 class SpinRPMCommand: public AutoCommand {
   public:
+  /**
+   * Construct a SpinRPM Command
+   * @param flywheel the flywheel sys to command
+   * @param rpm the rpm that we should spin at
+  */
   SpinRPMCommand(Flywheel &flywheel, int rpm);
 
     /**
diff --git a/include/utils/generic_auto.h b/include/utils/generic_auto.h
index 1cdffe7..d344847 100644
--- a/include/utils/generic_auto.h
+++ b/include/utils/generic_auto.h
@@ -32,15 +32,15 @@ class GenericAuto
 
   /**
    * Add a new state to the autonomous via function point of type "bool (ptr*)()"
-   * @param state_ptr the function to run
+   * @param new_state the function to run
    */
-  void add(state_ptr);
+  void add(state_ptr new_state);
 
   /**
    * Add a new state to the autonomous via function point of type "bool (ptr*)()" that will run asynchronously
-   * @param state_ptr the function to run
+   * @param async_state the function to run
    */
-  void add_async(state_ptr);
+  void add_async(state_ptr async_state);
 
   /**
    * add_delay adds a period where the auto system will simply wait for the specified time
diff --git a/include/utils/motion_controller.h b/include/utils/motion_controller.h
index 8ee00e7..4341f80 100644
--- a/include/utils/motion_controller.h
+++ b/include/utils/motion_controller.h
@@ -33,10 +33,10 @@ class MotionController : public Feedback
      */
     typedef struct
     {
-        double max_v;
-        double accel;
-        PID::pid_config_t pid_cfg;
-        FeedForward::ff_config_t ff_cfg;
+        double max_v; ///< the maximum velocity the robot can drive
+        double accel; ///< the most acceleration the robot can do
+        PID::pid_config_t pid_cfg; ///< configuration parameters for the internal PID controller 
+        FeedForward::ff_config_t ff_cfg; ///< configuration parameters for the internal 
     } m_profile_cfg_t;
 
     /**
@@ -53,9 +53,6 @@ class MotionController : public Feedback
     /**
      * @brief Initialize the motion profile for a new movement
      * This will also reset the PID and profile timers.
-     * 
-     * @param start_pt Movement starting position
-     * @param end_pt Movement ending posiiton 
      */
     void init(double start_pt, double end_pt) override;
     
@@ -63,7 +60,7 @@ class MotionController : public Feedback
      * @brief Update the motion profile with a new sensor value
      * 
      * @param sensor_val Value from the sensor
-     * @return The motor input generated from the motion profile 
+     * @return the motor input generated from the motion profile 
      */
     double update(double sensor_val) override;
 
@@ -74,10 +71,10 @@ class MotionController : public Feedback
 
     /**
      * Clamp the upper and lower limits of the output. If both are 0, no limits should be applied.
+     * if limits are applied, the controller will not target any value below lower or above upper
      * 
-     * @param lower Upper limit
-     * @param upper Lower limit
-     * @return double 
+     * @param lower upper limit
+     * @param upper lower limiet
      */
     void set_limits(double lower, double upper) override;
 
diff --git a/include/utils/moving_average.h b/include/utils/moving_average.h
index 5cc8eaa..c52e946 100644
--- a/include/utils/moving_average.h
+++ b/include/utils/moving_average.h
@@ -39,13 +39,16 @@ class MovingAverage {
   */
   void add_entry(double n);
 
-  /*
+  /**
    * Returns the average based off of all the samples collected so far
-   * @return sum(samples)/numsamples
+   * @return the calculated average. sum(samples)/numsamples
    */
   double get_average();
 
-  // How many samples the average is made from
+  /**
+  * How many samples the average is made from
+  * @return the number of samples used to calculate this average
+  */ 
   int get_size();
 
 
diff --git a/include/utils/pid.h b/include/utils/pid.h
index 8c021b5..c055871 100644
--- a/include/utils/pid.h
+++ b/include/utils/pid.h
@@ -69,10 +69,10 @@ class PID : Feedback
   /**
    * Update the PID loop by taking the time difference from last update,
    * and running the PID formula with the new sensor data
-   * @param sensorVal update the PID controller with the most recent sensor measurement
-   * @return the updated Out value of the controller (voltage, RPM, whatever the PID controller is controlling)
+   * @param sensor_val the distance, angle, encoder position or whatever it is we are measuring
+   * @return the new output. What would be returned by PID::get()
    */
-  double update(double sensorVal) override;
+  double update(double sensor_val) override;
 
   /**
    * Gets the current PID out value, from when update() was last run
diff --git a/include/utils/trapezoid_profile.h b/include/utils/trapezoid_profile.h
index 11cba85..865d342 100644
--- a/include/utils/trapezoid_profile.h
+++ b/include/utils/trapezoid_profile.h
@@ -1,13 +1,13 @@
 #pragma once
 
 /**
- * motion_t is a description of 1 dimensional motion at a point in time
+ * motion_t is a description of 1 dimensional motion at a point in time.
 */
 typedef struct
 {
-    double pos;
-    double vel;
-    double accel;
+    double pos;   ///< 1d position at this point in time
+    double vel;   ///< 1d velocity at this point in time
+    double accel; ///< 1d acceleration at this point in time
 
 } motion_t;
 
@@ -51,18 +51,37 @@ class TrapezoidProfile
      */
     motion_t calculate(double time_s);
 
+    /**
+     * set_endpts defines a start and end position 
+     * @param start the starting position of the path
+     * @param end the ending position of the path
+     */
     void set_endpts(double start, double end);
 
+    /**
+     * set_accel sets the acceleration this profile will use (the left and right legs of the trapezoid)
+     * @param accel the acceleration amount to use
+    */
     void set_accel(double accel);
 
+    /**
+     * sets the maximum velocity for the profile
+     * (the height of the top of the trapezoid)
+     * @param max_v the maximum velocity the robot can travel at
+    */
     void set_max_v(double max_v);
 
+    /**
+     * uses the kinematic equations to and specified accel and max_v to figure out how long moving along the profile would take
+     * @return the time the path will take to travel 
+    */
     double get_movement_time();
 
     private:
-    double start, end;
-    double max_v, accel;
-    double time;
+    double start, end; ///< the start and ending position of the profile
+    double max_v; ///< the maximum velocity to travel at for this profile
+    double accel; ///< the rate of acceleration to use for this profile.
+    double time; ///< the current point in time along the path
     
 
 };
\ No newline at end of file
diff --git a/include/utils/vector2d.h b/include/utils/vector2d.h
index 1bb2490..7d805c5 100644
--- a/include/utils/vector2d.h
+++ b/include/utils/vector2d.h
@@ -19,11 +19,13 @@ class Vector2D
      */
     struct point_t
     {
-        double x, y; ///< x and y position in space
+        double x; ///< the x position in space
+        double y; ///< the y position in space
 
 
         /** 
          * dist calculates the euclidian distance between this point and another point using the pythagorean theorem
+         * @param other the point to measure the distance from
          * @return the euclidian distance between this and other
          */
         double dist(const point_t other)
@@ -33,6 +35,7 @@ class Vector2D
 
         /**
          * Vector2D addition operation on points
+         * @param other the point to add on to this
          * @return this + other (this.x + other.x, this.y + other.y)
          */
         point_t operator+(const point_t &other)
@@ -47,6 +50,7 @@ class Vector2D
 
         /**
          * Vector2D subtraction operation on points
+         * @param other the point_t to subtract from this
          * @return this - other (this.x - other.x, this.y - other.y)
          */
         point_t operator-(const point_t &other)
@@ -111,22 +115,23 @@ class Vector2D
     */
     Vector2D::point_t point();
 
-    /**
-     * Multiply the components of a vector by x
-     * (self.x * x, self.y * x)
-     * @param x the scalar value by which to multiply the components of the vector
-     * @return the vector after scaling by s
-    */
+/**
+ * Scales a Vector2D by a scalar with the * operator
+ * @param x the value to scale the vector by
+ * @return the this Vector2D scaled by x
+*/
     Vector2D operator*(const double &x);
     /**
      * Add the components of two vectors together
-     * Vector2D + Vector2D = (self.x + other.x, self.y + other.y)
+     * Vector2D + Vector2D = (this.x + other.x, this.y + other.y)
+     * @param other the vector to add to this
      * @return the sum of the vectors
     */
     Vector2D operator+(const Vector2D &other);
     /**
      * Subtract the components of two vectors together
-     * Vector2D - Vector2D = (self.x - other.x, self.y - other.y)
+     * Vector2D - Vector2D = (this.x - other.x, this.y - other.y)
+     * @param other the vector to subtract from this
      * @return the difference of the vectors
     */
     Vector2D operator-(const Vector2D &other);
diff --git a/src/subsystems/odometry/odometry_base.cpp b/src/subsystems/odometry/odometry_base.cpp
index 1b1ae35..a2125d6 100644
--- a/src/subsystems/odometry/odometry_base.cpp
+++ b/src/subsystems/odometry/odometry_base.cpp
@@ -76,6 +76,9 @@ void OdometryBase::set_position(const position_t &newpos)
 
 /**
  * Get the distance between two points
+ * @param start_pos distance from this point
+ * @param end_pos to this point
+ * @return the euclidean distance between start_pos and end_pos
  */
 double OdometryBase::pos_diff(position_t start_pos, position_t end_pos)
 {
diff --git a/src/subsystems/tank_drive.cpp b/src/subsystems/tank_drive.cpp
index 2bffaf6..370173a 100644
--- a/src/subsystems/tank_drive.cpp
+++ b/src/subsystems/tank_drive.cpp
@@ -66,12 +66,13 @@ void TankDrive::drive_arcade(double forward_back, double left_right, int power)
 }
 
 /**
- * Autonomously drive forward or backwards, X inches infront or behind the robot's current position.
- * This driving method is relative, so excessive use may cause the robot to get off course!
+ * Use odometry to drive forward a certain distance using a custom feedback controller
  *
- * @param inches Distance to drive in a straight line
- * @param dir Whether the robot is travelling forwards or backwards
- * @param max_speed How fast the robot should travel, 0 -> 1.0
+ * Returns whether or not the robot has reached it's destination.
+ * @param inches     the distance to drive forward
+ * @param dir        the direction we want to travel forward and backward
+ * @param feedback   the custom feedback controller we will use to travel. controls the rate at which we accelerate and drive.
+ * @param max_speed  the maximum percentage of robot speed at which the robot will travel. 1 = full power
  */
 bool TankDrive::drive_forward(double inches, directionType dir, Feedback &feedback, double max_speed)
 {
@@ -110,12 +111,13 @@ bool TankDrive::drive_forward(double inches, directionType dir, Feedback &feedba
   return drive_to_point(pos_setpt.x, pos_setpt.y, dir, feedback, max_speed);
 }
 /**
- * Autonomously drive forward or backwards, X inches infront or behind the robot's current position.
- * This driving method is relative, so excessive use may cause the robot to get off course!
- *
- * @param inches Distance to drive in a straight line
- * @param dir Whether the robot is travelling forwards or backwards
- * @param max_speed How fast the robot should travel, 0 -> 1.0
+ * Autonomously drive the robot forward a certain distance
+ * 
+ * 
+ * @param inches      degrees by which we will turn relative to the robot (+) turns ccw, (-) turns cw
+ * @param dir        the direction we want to travel forward and backward
+ * @param max_speed   the maximum percentage of robot speed at which the robot will travel. 1 = full power
+ * @return true if we have finished driving to our point
  */
 bool TankDrive::drive_forward(double inches, directionType dir, double max_speed)
 {
@@ -136,6 +138,7 @@ bool TankDrive::drive_forward(double inches, directionType dir, double max_speed
  * @param degrees     degrees by which we will turn relative to the robot (+) turns ccw, (-) turns cw
  * @param feedback    the feedback controller we will use to travel. controls the rate at which we accelerate and drive.
  * @param max_speed   the maximum percentage of robot speed at which the robot will travel. 1 = full power
+ * @return true if we have turned our target number of degrees
  */
 bool TankDrive::turn_degrees(double degrees, Feedback &feedback, double max_speed)
 {
@@ -168,6 +171,7 @@ bool TankDrive::turn_degrees(double degrees, Feedback &feedback, double max_spee
  * 
  * @param degrees     degrees by which we will turn relative to the robot (+) turns ccw, (-) turns cw
  * @param max_speed   the maximum percentage of robot speed at which the robot will travel. 1 = full power
+ * @return true if we turned te target number of degrees
  */
 bool TankDrive::turn_degrees(double degrees, double max_speed)
 {
@@ -189,6 +193,7 @@ bool TankDrive::turn_degrees(double degrees, double max_speed)
   * @param dir        the direction we want to travel forward and backward
   * @param feedback   the feedback controller we will use to travel. controls the rate at which we accelerate and drive.
   * @param max_speed  the maximum percentage of robot speed at which the robot will travel. 1 = full power
+  * @return true if we have reached our target point
   */
 bool TankDrive::drive_to_point(double x, double y, vex::directionType dir, Feedback &feedback, double max_speed)
 {
@@ -314,6 +319,7 @@ bool TankDrive::drive_to_point(double x, double y, vex::directionType dir, Feedb
   * @param y          the y position of the target
   * @param dir        the direction we want to travel forward and backward
   * @param max_speed  the maximum percentage of robot speed at which the robot will travel. 1 = full power
+  * @return true if we have reached our target point
   */
 bool TankDrive::drive_to_point(double x, double y, vex::directionType dir, double max_speed)
 {
@@ -332,8 +338,8 @@ bool TankDrive::drive_to_point(double x, double y, vex::directionType dir, doubl
  * @param heading_deg the heading to which we will turn 
  * @param feedback    the feedback controller we will use to travel. controls the rate at which we accelerate and drive.
  * @param max_speed  the maximum percentage of robot speed at which the robot will travel. 1 = full power
+ * @return true if we have reached our target heading
  */
- 
 bool TankDrive::turn_to_heading(double heading_deg, Feedback &feedback, double max_speed)
 {
   // We can't run the auto drive function without odometry
@@ -377,6 +383,7 @@ bool TankDrive::turn_to_heading(double heading_deg, Feedback &feedback, double m
  * 
  * @param heading_deg the heading to which we will turn 
  * @param max_speed  the maximum percentage of robot speed at which the robot will travel. 1 = full power
+ * @return true if we have reached our target heading
  */
 bool TankDrive::turn_to_heading(double heading_deg, double max_speed)
 {
@@ -391,6 +398,9 @@ bool TankDrive::turn_to_heading(double heading_deg, double max_speed)
 /**
  * Modify the inputs from the controller by squaring / cubing, etc
  * Allows for better control of the robot at slower speeds
+ * @param input the input signal -1 -> 1
+ * @param power the power to raise the signal to
+ * @return input^power accounting for any sign issues that would arise with this naive solution
  */
 double TankDrive::modify_inputs(double input, int power)
 {
diff --git a/src/utils/motion_controller.cpp b/src/utils/motion_controller.cpp
index 06f2862..a458f81 100644
--- a/src/utils/motion_controller.cpp
+++ b/src/utils/motion_controller.cpp
@@ -3,14 +3,14 @@
 #include <vector>
 
 /**
- * @brief Construct a new Motion Controller object
- * 
- * @param config The definition of how the robot is able to move
- *    max_v Maximum velocity the movement is capable of
- *    accel Acceleration / deceleration of the movement
- *    pid_cfg Definitions of kP, kI, and kD
- *    ff_cfg Definitions of kS, kV, and kA
- */
+* @brief Construct a new Motion Controller object
+* 
+* @param config The definition of how the robot is able to move
+*    max_v Maximum velocity the movement is capable of
+*    accel Acceleration / deceleration of the movement
+*    pid_cfg Definitions of kP, kI, and kD
+*    ff_cfg Definitions of kS, kV, and kA
+*/
 MotionController::MotionController(m_profile_cfg_t &config)
 : config(config), pid(config.pid_cfg), ff(config.ff_cfg), profile(config.max_v, config.accel)
 {}
@@ -29,11 +29,11 @@ void MotionController::init(double start_pt, double end_pt)
 }
 
 /**
- * @brief Update the motion profile with a new sensor value
- * 
- * @param sensor_val Value from the sensor
- * @return The motor input generated from the motion profile 
- */
+* @brief Update the motion profile with a new sensor value
+* 
+* @param sensor_val Value from the sensor
+* @return the motor input generated from the motion profile 
+*/
 double MotionController::update(double sensor_val)
 {
     motion_t motion = profile.calculate(tmr.time(timeUnits::sec));
diff --git a/src/utils/moving_average.cpp b/src/utils/moving_average.cpp
index a36b56b..98ef289 100644
--- a/src/utils/moving_average.cpp
+++ b/src/utils/moving_average.cpp
@@ -13,16 +13,18 @@
 *
 */
 
-/*
+/**
  * Create a moving average calculator with 0 as the default value
  *
  * @param buffer_size    The size of the buffer. The number of samples that constitute a valid reading
  */
 MovingAverage::MovingAverage(int buffer_size) {
-  buffer = std::vector<double>(buffer_size, 0.0); buffer_index = 0; is_ready = false;
+  buffer = std::vector<double>(buffer_size, 0.0); 
+  buffer_index = 0; 
+  is_ready = false;
 }
 
-/*
+/**
  * Create a moving average calculator with a specified default value
  * @param buffer_size    The size of the buffer. The number of samples that constitute a valid reading
  * @param starting_value The value that the average will be before any data is added
@@ -35,7 +37,7 @@ MovingAverage::MovingAverage(int buffer_size, double starting_value) {
 
 
 
-/*
+/**
  * Add a reading to the buffer
  * Before:
  * [ 1 1 2 2 3 3] => 2
@@ -56,10 +58,10 @@ void MovingAverage::add_entry(double n){
   buffer_index%=buffer.size();
 }
 
-/*
- * Returns the average based off of all the samples collected so far
- * @return sum(samples)/numsamples
- */
+/**
+ * How many samples the average is made from
+ * @return the number of samples used to calculate this average
+ */ 
 double MovingAverage::get_average(){
   double total = 0;
 
diff --git a/src/utils/trapezoid_profile.cpp b/src/utils/trapezoid_profile.cpp
index 16915e6..fba334f 100644
--- a/src/utils/trapezoid_profile.cpp
+++ b/src/utils/trapezoid_profile.cpp
@@ -2,12 +2,7 @@
 #include "../core/include/utils/math_util.h"
 #include <cmath>
 
-/**
- * @brief Construct a new Trapezoid Profile object
- * 
- * @param max_v Maximum velocity the robot can run at
- * @param accel Maximum acceleration of the robot
- */
+
 TrapezoidProfile::TrapezoidProfile(double max_v, double accel)
 : start(0), end(0), max_v(max_v), accel(accel)  {}
 
diff --git a/src/utils/vector2d.cpp b/src/utils/vector2d.cpp
index cd7234f..322dd6f 100644
--- a/src/utils/vector2d.cpp
+++ b/src/utils/vector2d.cpp
@@ -61,7 +61,8 @@ Vector2D Vector2D::normalize()
 }
 
 /**
- * Returns a point from the vector
+ * Convert a direction and magnitude representation to an x, y representation
+ * @return the x, y representation of the vector 
 */
 Vector2D::point_t Vector2D::point()
 {
@@ -74,9 +75,12 @@ Vector2D::point_t Vector2D::point()
 }
 
 /**
- * Correctly add vectors together with the + operator
- * @param other -The point on which to do the operation
- */
+ * Add the components of two vectors together
+ * Vector2D + Vector2D = (this.x + other.x, this.y + other.y)
+ * @param other the vector to add to this
+ * @return the sum of the vectors
+*/
+
 Vector2D Vector2D::operator+(const Vector2D &other)
 {
     point_t p = 
@@ -89,9 +93,11 @@ Vector2D Vector2D::operator+(const Vector2D &other)
 }
 
 /**
- * Correctly subtract vectors with the - operator
- * @param other -The point on which to do the operation
- */
+ * Subtract the components of two vectors together
+ * Vector2D - Vector2D = (this.x - other.x, this.y - other.y)
+ * @param other the vector to subtract from this
+ * @return the difference of the vectors
+*/
 Vector2D Vector2D::operator-(const Vector2D &other)
 {
     point_t p = 
@@ -103,7 +109,9 @@ Vector2D Vector2D::operator-(const Vector2D &other)
 }
 
 /**
- * Multiplies a vector by a double with the * operator
+ * Scales a Vector2D by a scalar with the * operator
+ * @param x the value to scale the vector by
+ * @return the this Vector2D scaled by x
 */
 Vector2D Vector2D::operator*(const double &x)
 {

From 2c0a9088b996b08af2fb7f39039a0b915074bc3f Mon Sep 17 00:00:00 2001
From: cowsed <richie.sommers@outlook.com>
Date: Thu, 26 Jan 2023 00:04:11 -0500
Subject: [PATCH 137/243] FIxed Compile error from typo

---
 include/subsystems/odometry/odometry_base.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/include/subsystems/odometry/odometry_base.h b/include/subsystems/odometry/odometry_base.h
index 65d3001..f1cab19 100644
--- a/include/subsystems/odometry/odometry_base.h
+++ b/include/subsystems/odometry/odometry_base.h
@@ -80,7 +80,7 @@ class OdometryBase
      * @param end_pos to this point
      * @return the euclidean distance between start_pos and end_pos
      */
-    double OdometryBase::pos_diff(position_t start_pos, position_t end_pos);
+    static double pos_diff(position_t start_pos, position_t end_pos);
 
     /**
      * Get the change in rotation between two points

From 1d72cf37e8b118101db82f1d37dd2c514c780ba9 Mon Sep 17 00:00:00 2001
From: Ryan McGee <ramtech51@comcast.net>
Date: Thu, 26 Jan 2023 00:52:44 -0500
Subject: [PATCH 138/243] git subrepo push core

subrepo:
  subdir:   "core"
  merged:   "43e35b6"
upstream:
  origin:   "git@github.com:RIT-VEX-U/Core.git"
  branch:   "master"
  commit:   "43e35b6"
git-subrepo:
  version:  "0.4.5"
  origin:   "https://github.com/ingydotnet/git-subrepo"
  commit:   "dbb99be"
---
 src/subsystems/odometry/odometry_tank.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/subsystems/odometry/odometry_tank.cpp b/src/subsystems/odometry/odometry_tank.cpp
index 3d4414c..a60c369 100644
--- a/src/subsystems/odometry/odometry_tank.cpp
+++ b/src/subsystems/odometry/odometry_tank.cpp
@@ -70,7 +70,6 @@ position_t OdometryTank::update()
       // Get the arclength of the turning circle of the robot
       double distance_diff = (rside_revs - lside_revs) * PI * config.odom_wheel_diam;
 
-      // printf("dist_diff: %f, ", distance_diff);
 
       //Use the arclength formula to calculate the angle. Add 90 to make "0 degrees" to starboard
       angle = ((180.0 / PI) * (distance_diff / config.dist_between_wheels)) + 90;
@@ -165,6 +164,7 @@ position_t OdometryTank::calculate_new_pos(robot_specs_t &config, position_t &cu
     double angle = angle_deg * PI / 180.0; // Degrees to radians
 
     // Create a vector from the change in distance in the current direction of the robot
+    //deg2rad((smallest_angle(curr_pos.rot, angle_deg)/2 + curr_pos.rot, dist_driven)
     Vector2D chg_vec(angle, dist_driven);
     
     // Create a vector from the current position in reference to X,Y=0,0

From 3fb6d963666fafeeb2e1c5c876351f00d3ed7084 Mon Sep 17 00:00:00 2001
From: Ryan McGee <ramtech51@comcast.net>
Date: Thu, 26 Jan 2023 19:16:03 -0500
Subject: [PATCH 139/243] Initial Drive Tunings

---
 include/utils/motion_controller.h |  6 ++++++
 src/utils/motion_controller.cpp   | 14 +++++++++++---
 2 files changed, 17 insertions(+), 3 deletions(-)

diff --git a/include/utils/motion_controller.h b/include/utils/motion_controller.h
index 4341f80..6683934 100644
--- a/include/utils/motion_controller.h
+++ b/include/utils/motion_controller.h
@@ -84,6 +84,11 @@ class MotionController : public Feedback
      */
     bool is_on_target() override;
 
+    /**
+     * @return The current postion, velocity and acceleration setpoints
+    */
+    motion_t get_motion();
+
     /**
      * This method attempts to characterize the robot's drivetrain and automatically tune the feedforward.
      * It does this by first calculating the kS (voltage to overcome static friction) by slowly increasing
@@ -114,6 +119,7 @@ class MotionController : public Feedback
 
     double lower_limit = 0, upper_limit = 0;
     double out = 0;
+    motion_t cur_motion;
      
     vex::timer tmr;
 
diff --git a/src/utils/motion_controller.cpp b/src/utils/motion_controller.cpp
index a458f81..1b495e0 100644
--- a/src/utils/motion_controller.cpp
+++ b/src/utils/motion_controller.cpp
@@ -36,11 +36,11 @@ void MotionController::init(double start_pt, double end_pt)
 */
 double MotionController::update(double sensor_val)
 {
-    motion_t motion = profile.calculate(tmr.time(timeUnits::sec));
-    pid.set_target(motion.pos);
+    cur_motion = profile.calculate(tmr.time(timeUnits::sec));
+    pid.set_target(cur_motion.pos);
     pid.update(sensor_val);
 
-    out = pid.get() +  ff.calculate(motion.vel, motion.accel);
+    out = pid.get() +  ff.calculate(cur_motion.vel, cur_motion.accel);
 
     if(lower_limit != upper_limit)
         out = clamp(out, lower_limit, upper_limit);
@@ -77,6 +77,14 @@ bool MotionController::is_on_target()
     return (tmr.time(timeUnits::sec) > profile.get_movement_time()) && pid.is_on_target();
 }
 
+/**
+ * @return The current postion, velocity and acceleration setpoints
+*/
+motion_t MotionController::get_motion()
+{
+    return cur_motion;
+}
+
 /**
  * This method attempts to characterize the robot's drivetrain and automatically tune the feedforward.
  * It does this by first calculating the kS (voltage to overcome static friction) by slowly increasing

From 772f851a1d574af91360e8b80ee2a08491bddddd Mon Sep 17 00:00:00 2001
From: Ryan McGee <ramtech51@comcast.net>
Date: Thu, 26 Jan 2023 19:21:40 -0500
Subject: [PATCH 140/243] Merge remote-tracking branch
 'refs/remotes/origin/main'

---
 include/subsystems/flywheel.h | 13 +++++++++----
 src/subsystems/flywheel.cpp   | 33 +++++++++++++++++++++++++++------
 2 files changed, 36 insertions(+), 10 deletions(-)

diff --git a/include/subsystems/flywheel.h b/include/subsystems/flywheel.h
index c4babce..3f0202a 100644
--- a/include/subsystems/flywheel.h
+++ b/include/subsystems/flywheel.h
@@ -86,10 +86,14 @@ class Flywheel{
   motor_group* getMotors();
 
   /**
-  * return the current velocity of the flywheel motors, in RPM
+  * make a measurement of the current RPM of the flywheel motor and return a smoothed version
   */
-  double getRPM();
+  double measureRPM();
 
+  /**
+  * return the current smoothed velocity of the flywheel motors, in RPM
+  */
+  double getRPM();
   /**
   * Returns a POINTER to the PID.
   */
@@ -174,5 +178,6 @@ class Flywheel{
   std::atomic<double> RPM;            // Desired RPM of the flywheel. 
   task rpmTask;                       // task (thread but not) that handles spinning the wheel at a given RPM
   FlywheelControlStyle control_style; // how the flywheel should be controlled
-
-};
\ No newline at end of file
+  double smoothedRPM;
+  MovingAverage RPM_avger;
+  };
\ No newline at end of file
diff --git a/src/subsystems/flywheel.cpp b/src/subsystems/flywheel.cpp
index bdc1a6a..c90bba7 100644
--- a/src/subsystems/flywheel.cpp
+++ b/src/subsystems/flywheel.cpp
@@ -2,7 +2,7 @@
 *
 *     File:     Flywheel.cpp
 *     Purpose:  Generalized flywheel class for Core.
-*     Author:   Chris Nokes
+*     Author:   Chris Nokes, Richie Sommers
 *     
 **********************************************************
 * EDIT HISTORY
@@ -22,6 +22,8 @@
 
 using namespace vex;
 
+const int FlywheelWindowSize = 30;
+
 /*********************************************************
 *         CONSTRUCTOR, GETTERS, SETTERS
 *********************************************************/
@@ -33,25 +35,26 @@ FeedForward::ff_config_t empty_ff = FeedForward::ff_config_t{};
 * Create the Flywheel object using PID + feedforward for control.
 */
 Flywheel::Flywheel(motor_group &motors, PID::pid_config_t &pid_config, FeedForward::ff_config_t &ff_config, const double ratio)
-    :motors(motors), pid(pid_config), ff(ff_config), ratio(ratio), control_style(PID_Feedforward) { }
+    :motors(motors), pid(pid_config), ff(ff_config), ratio(ratio), control_style(PID_Feedforward), smoothedRPM(0), RPM_avger(MovingAverage(FlywheelWindowSize)) {
+    }
 
 /**
 * Create the Flywheel object using only feedforward for control
 */
 Flywheel::Flywheel(motor_group &motors, FeedForward::ff_config_t &ff_config, const double ratio)
-    :motors(motors), pid(empty_pid), ff(ff_config), ratio(ratio), control_style(Feedforward) {}
+    :motors(motors), pid(empty_pid), ff(ff_config), ratio(ratio), control_style(Feedforward), smoothedRPM(0), RPM_avger(MovingAverage(FlywheelWindowSize)) {}
 
 /**
 * Create the Flywheel object using Take Back Half for control
 */
 Flywheel::Flywheel(motor_group &motors, const double TBH_gain, const double ratio)
-    :motors(motors), pid(empty_pid), ff(empty_ff), TBH_gain(TBH_gain), ratio(ratio), control_style(Take_Back_Half) {}
+    :motors(motors), pid(empty_pid), ff(empty_ff), TBH_gain(TBH_gain), ratio(ratio), control_style(Take_Back_Half), smoothedRPM(0), RPM_avger(MovingAverage(FlywheelWindowSize)) {}
 
 /**
 * Create the Flywheel object using Bang Bang for control
 */
 Flywheel::Flywheel(motor_group &motors, const double ratio)
-    :motors(motors), pid(empty_pid), ff(empty_ff), ratio(ratio), control_style(Bang_Bang) {}
+    :motors(motors), pid(empty_pid), ff(empty_ff), ratio(ratio), control_style(Bang_Bang), smoothedRPM(0), RPM_avger(MovingAverage(FlywheelWindowSize)) {}
 
 /**
 * Return the current value that the RPM should be set to
@@ -74,8 +77,16 @@ motor_group* Flywheel::getMotors() { return &motors; } // TODO -- Remove?
 * return the current velocity of the flywheel motors, in RPM
 * @return the measured velocity of the flywheel
 */
-double Flywheel::getRPM() { return ratio * motors.velocity(velocityUnits::rpm); }
+double Flywheel::measureRPM() { 
+  double rawRPM = ratio * motors.velocity(velocityUnits::rpm); 
+  RPM_avger.add_entry(rawRPM);
+  smoothedRPM = RPM_avger.get_average();
+  return smoothedRPM;
+}
 
+double Flywheel::getRPM(){
+  return smoothedRPM;
+}
 /**
 * Returns a POINTER TO the PID; not currently used.
 * @return pidPointer -pointer to the PID
@@ -131,6 +142,8 @@ int spinRPMTask_BangBang(void* wheelPointer) {
   Flywheel* wheel = (Flywheel*) wheelPointer; 
   while(true) {
     // if it below the RPM, go, otherwise don't
+    wheel->measureRPM();
+
     if(wheel->getRPM() < wheel->getDesiredRPM()) { 
       wheel->spin_raw(1, fwd);
     }   
@@ -147,6 +160,7 @@ int spinRPMTask_Feedforward(void* wheelPointer) {
   Flywheel* wheel = (Flywheel*) wheelPointer;
   // get the pid from the wheel and set its target to the RPM stored in the wheel.
   while(true) {
+    wheel->measureRPM();
     wheel->updatePID(wheel->getRPM());   // check the current velocity and update the PID with it.
     double output = wheel->getFeedforwardValue();
     wheel->spin_raw(output, fwd);   // set the motors to whatever feedforward tells them to do
@@ -161,6 +175,7 @@ int spinRPMTask_PID_Feedforward(void* wheelPointer) {
   Flywheel* wheel = (Flywheel*) wheelPointer;
   // get the pid from the wheel and set its target to the RPM stored in the wheel.
   while(true) {
+    wheel->measureRPM();
     wheel->updatePID(wheel->getRPM());   // check the current velocity and update the PID with it.
     double output = wheel->getPIDValue() + wheel->getFeedforwardValue();
     wheel->spin_raw(output, fwd);   // set the motors to whatever PID tells them to do
@@ -181,6 +196,8 @@ int spinRPMTask_TBH(void* wheelPointer) {
   double previous_error = 0.0;
 
   while (true){
+    wheel->measureRPM();
+
     //reset if set to 0, this keeps the tbh val from screwing us up when we start up again
     if (wheel->getDesiredRPM()==0){
       output = 0;
@@ -236,6 +253,10 @@ void Flywheel::spin_manual(double speed, directionType dir){
 * @param inputRPM - set the current RPM
 */
 void Flywheel::spinRPM(int inputRPM) {
+  // setting to 0 is equivelent to stopping
+  if (inputRPM==0){
+    stop();
+  }
   // only run if the RPM is different or it isn't already running
   if(!taskRunning) {
 

From b286de02c5ac3c21ff5d59841c101fdb7fdda399 Mon Sep 17 00:00:00 2001
From: Ryan McGee <ramtech51@comcast.net>
Date: Fri, 27 Jan 2023 00:30:12 -0500
Subject: [PATCH 141/243] Tuned Turn with PID

---
 include/utils/pid.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/include/utils/pid.h b/include/utils/pid.h
index c055871..b349131 100644
--- a/include/utils/pid.h
+++ b/include/utils/pid.h
@@ -20,7 +20,7 @@ using namespace vex;
  * @author Ryan McGee
  * @date 4/3/2020
  */
-class PID : Feedback
+class PID : public Feedback
 {
 public:
   /**

From 597a7f9ae3efb1bf3a455c9ddf1e6ac71ce2080c Mon Sep 17 00:00:00 2001
From: Ryan McGee <ramtech51@comcast.net>
Date: Fri, 27 Jan 2023 00:33:48 -0500
Subject: [PATCH 142/243] Merge remote-tracking branch
 'refs/remotes/origin/main'

---
 include/utils/command_structure/drive_commands.h   | 2 +-
 src/utils/command_structure/command_controller.cpp | 9 ++++++---
 src/utils/command_structure/drive_commands.cpp     | 6 ++++++
 3 files changed, 13 insertions(+), 4 deletions(-)

diff --git a/include/utils/command_structure/drive_commands.h b/include/utils/command_structure/drive_commands.h
index a6a2f45..36a2248 100644
--- a/include/utils/command_structure/drive_commands.h
+++ b/include/utils/command_structure/drive_commands.h
@@ -120,7 +120,7 @@ class DriveToPointCommand: public AutoCommand {
  */
 class TurnToHeadingCommand: public AutoCommand {
   public:
-    TurnToHeadingCommand(TankDrive &drive_sys, Feedback &feedback, double heading_deg, double speed);
+    TurnToHeadingCommand(TankDrive &drive_sys, Feedback &feedback, double heading_deg, double speed = 1);
 
     /**
      * Run turn_to_heading
diff --git a/src/utils/command_structure/command_controller.cpp b/src/utils/command_structure/command_controller.cpp
index afcc3ed..7bc4e79 100644
--- a/src/utils/command_structure/command_controller.cpp
+++ b/src/utils/command_structure/command_controller.cpp
@@ -34,21 +34,24 @@ void CommandController::add_delay(int ms) {
  */
 void CommandController::run() {
   AutoCommand *next_cmd;
-  printf("Beginning Auto. Starting from 1");
+  printf("Beginning Auto. Commands 1 to %d\n", command_queue.size());
+  fflush(stdout);
   int command_count = 1;
   while(!command_queue.empty()) {
     // retrieve and remove command at the front of the queue
     next_cmd = command_queue.front();
     command_queue.pop();
 
-    printf("Beginning Command %d", command_count);
+    printf("Beginning Command %d\n", command_count);
+    fflush(stdout);
 
     // run the current command until it returns true
     while(!next_cmd -> run()) {
       vexDelay(20);
     }
 
-    printf("Finished Command %d", command_count);
+    printf("Finished Command %d\n", command_count);
+    fflush(stdout);
     command_count++;
   }
 }
\ No newline at end of file
diff --git a/src/utils/command_structure/drive_commands.cpp b/src/utils/command_structure/drive_commands.cpp
index 9f25f96..28f704f 100644
--- a/src/utils/command_structure/drive_commands.cpp
+++ b/src/utils/command_structure/drive_commands.cpp
@@ -123,6 +123,12 @@ bool DriveStopCommand::run() {
 
 
 // ==== ODOMETRY ====
+/**
+ * Construct an Odometry set pos
+ * @param odom the odometry system we are setting
+ * @param newpos the now position to set the odometry to
+ */
+OdomSetPosition::OdomSetPosition(OdometryBase &odom, const position_t &newpos): odom(odom), newpos(newpos){}
 
 bool OdomSetPosition::run() {
   odom.set_position(newpos);

From 72d0dde0a02b5aedb9a62855e24bfe72eea1e317 Mon Sep 17 00:00:00 2001
From: Ryan McGee <ramtech51@comcast.net>
Date: Fri, 27 Jan 2023 01:24:49 -0500
Subject: [PATCH 143/243] Fixed mutex issues

---
 include/subsystems/odometry/odometry_base.h |  2 +-
 src/subsystems/odometry/odometry_3wheel.cpp |  2 -
 src/subsystems/odometry/odometry_base.cpp   | 15 +++----
 src/subsystems/odometry/odometry_tank.cpp   | 43 +++++----------------
 4 files changed, 16 insertions(+), 46 deletions(-)

diff --git a/include/subsystems/odometry/odometry_base.h b/include/subsystems/odometry/odometry_base.h
index f1cab19..25128d8 100644
--- a/include/subsystems/odometry/odometry_base.h
+++ b/include/subsystems/odometry/odometry_base.h
@@ -50,7 +50,7 @@ class OdometryBase
      * Sets the current position of the robot
      * @param newpos the new position that the odometry will believe it is at
      */
-    virtual void set_position(const position_t &newpos=zero_pos);
+    virtual void set_position(const position_t& newpos=zero_pos);
 
     /**
      * Update the current position on the field based on the sensors
diff --git a/src/subsystems/odometry/odometry_3wheel.cpp b/src/subsystems/odometry/odometry_3wheel.cpp
index 004354f..a032512 100644
--- a/src/subsystems/odometry/odometry_3wheel.cpp
+++ b/src/subsystems/odometry/odometry_3wheel.cpp
@@ -62,7 +62,6 @@ position_t Odometry3Wheel::update()
       last_ang_speed = ang_speed_local;
     }
 
-    mut.lock();
     this->current_pos = updated_pos;
     if(update_vel_accel)
     {
@@ -71,7 +70,6 @@ position_t Odometry3Wheel::update()
         this->ang_speed_deg = ang_speed_local;
         this->ang_accel_deg = ang_accel_local;
     }
-    mut.unlock();
 
     return current_pos;
 }
diff --git a/src/subsystems/odometry/odometry_base.cpp b/src/subsystems/odometry/odometry_base.cpp
index a2125d6..ecbfae0 100644
--- a/src/subsystems/odometry/odometry_base.cpp
+++ b/src/subsystems/odometry/odometry_base.cpp
@@ -24,7 +24,9 @@ int OdometryBase::background_task(void* ptr)
     OdometryBase &obj = *((OdometryBase*) ptr);
     while(!obj.end_task)
     {
+      obj.mut.lock();
       obj.update();
+      obj.mut.unlock();
     }
 
     return 0;
@@ -48,12 +50,7 @@ position_t OdometryBase::get_position(void)
     mut.lock();
 
     // Create a new struct to pass-by-value
-    position_t out =
-    {
-        .x = current_pos.x,
-        .y = current_pos.y,
-        .rot = current_pos.rot
-    };
+    position_t out = current_pos;
 
     mut.unlock();
 
@@ -63,13 +60,11 @@ position_t OdometryBase::get_position(void)
 /**
  * Sets the current position of the robot
  */
-void OdometryBase::set_position(const position_t &newpos)
+void OdometryBase::set_position(const position_t& newpos)
 {
     mut.lock();
 
-    current_pos.x = newpos.x;
-    current_pos.y = newpos.y;
-    current_pos.rot = newpos.rot;
+    current_pos = newpos;
 
     mut.unlock();
 }
diff --git a/src/subsystems/odometry/odometry_tank.cpp b/src/subsystems/odometry/odometry_tank.cpp
index a60c369..8dd3e25 100644
--- a/src/subsystems/odometry/odometry_tank.cpp
+++ b/src/subsystems/odometry/odometry_tank.cpp
@@ -45,8 +45,6 @@ void OdometryTank::set_position(const position_t &newpos)
  */
 position_t OdometryTank::update()
 {
-    position_t updated_pos;
-
     double lside_revs = 0, rside_revs = 0;
 
     if(left_side != NULL && right_side != NULL)
@@ -91,58 +89,37 @@ position_t OdometryTank::update()
     if(angle < 0)
         angle += 360;
 
-    mut.lock();
-    position_t current_pos_local = current_pos;
-    mut.unlock();
-
-    updated_pos = calculate_new_pos(config, current_pos_local, lside_revs, rside_revs, angle);
+    current_pos = calculate_new_pos(config, current_pos, lside_revs, rside_revs, angle);
 
 
-    static position_t last_pos = updated_pos;
+    static position_t last_pos = current_pos;
     static double last_speed = 0;
     static double last_ang_speed = 0;
     static timer tmr;
-
-    double speed_local = 0;
-    double accel_local = 0;
-    double ang_speed_local = 0;
-    double ang_accel_local = 0;
     bool update_vel_accel = tmr.time(sec) > 0.1;
 
     // This loop runs too fast. Only check at LEAST every 1/10th sec
     if(update_vel_accel)
     {
       // Calculate robot velocity
-      speed_local = pos_diff(updated_pos, last_pos) / tmr.time(sec);
+      speed = pos_diff(current_pos, last_pos) / tmr.time(sec);
 
       // Calculate robot acceleration
-      accel_local = (speed_local - last_speed) / tmr.time(sec);
+      accel = (speed - last_speed) / tmr.time(sec);
 
       // Calculate robot angular velocity (deg/sec)
-      ang_speed_local = smallest_angle(updated_pos.rot, last_pos.rot) / tmr.time(sec);
+      ang_speed_deg = smallest_angle(current_pos.rot, last_pos.rot) / tmr.time(sec);
 
       // Calculate robot angular acceleration (deg/sec^2)
-      ang_accel_local = (ang_speed_local - last_ang_speed) / tmr.time(sec);
+      ang_accel_deg = (ang_speed_deg - last_ang_speed) / tmr.time(sec);
 
       tmr.reset();
-      last_pos = updated_pos;
-      last_speed = speed_local;
-      last_ang_speed = ang_speed_local;
-    }
-
-    // Update the class' stored position
-    mut.lock();
-    this->current_pos = updated_pos;
-    if(update_vel_accel)
-    {
-      this->speed = speed_local;
-      this->accel = accel_local;
-      this->ang_speed_deg = ang_speed_local;
-      this->ang_accel_deg = ang_accel_local;
+      last_pos = current_pos;
+      last_speed = speed;
+      last_ang_speed = ang_speed_deg;
     }
-    mut.unlock();
 
-    return updated_pos;
+    return current_pos;
 }
 
 /**

From 43a4e08af4388e76d9aa23023675a92316703581 Mon Sep 17 00:00:00 2001
From: cowsed <richie.sommers@outlook.com>
Date: Sat, 28 Jan 2023 20:57:14 -0500
Subject: [PATCH 144/243] MCCCCCCCCCC Final

---
 src/subsystems/flywheel.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/subsystems/flywheel.cpp b/src/subsystems/flywheel.cpp
index c90bba7..9a40231 100644
--- a/src/subsystems/flywheel.cpp
+++ b/src/subsystems/flywheel.cpp
@@ -22,7 +22,7 @@
 
 using namespace vex;
 
-const int FlywheelWindowSize = 30;
+const int FlywheelWindowSize = 2;
 
 /*********************************************************
 *         CONSTRUCTOR, GETTERS, SETTERS

From 6b0becfbb0c91a91b946070ff27f95eae4519abe Mon Sep 17 00:00:00 2001
From: cowsed <richie.sommers@outlook.com>
Date: Thu, 2 Feb 2023 18:11:06 -0500
Subject: [PATCH 145/243] Merge branch 'main' of
 https://github.com/RIT-VEX-U/2022-2023-Flynn

---
 include/utils/moving_average.h |  3 +--
 src/utils/moving_average.cpp   | 28 +++++++---------------------
 2 files changed, 8 insertions(+), 23 deletions(-)

diff --git a/include/utils/moving_average.h b/include/utils/moving_average.h
index c52e946..07acc79 100644
--- a/include/utils/moving_average.h
+++ b/include/utils/moving_average.h
@@ -55,7 +55,6 @@ class MovingAverage {
   private:
     int buffer_index;               //index of the next value to be overridden
     std::vector<double> buffer;     //all current data readings we've taken 
-    bool is_ready;                  //if the average is ready to be read (stil can read before this but it will be taken a limited number of samples)
-
+    double current_avg;             //the current value of the data
 
 };
\ No newline at end of file
diff --git a/src/utils/moving_average.cpp b/src/utils/moving_average.cpp
index 98ef289..d61695e 100644
--- a/src/utils/moving_average.cpp
+++ b/src/utils/moving_average.cpp
@@ -21,7 +21,7 @@
 MovingAverage::MovingAverage(int buffer_size) {
   buffer = std::vector<double>(buffer_size, 0.0); 
   buffer_index = 0; 
-  is_ready = false;
+  current_avg = 0;
 }
 
 /**
@@ -32,7 +32,7 @@ MovingAverage::MovingAverage(int buffer_size) {
 MovingAverage::MovingAverage(int buffer_size, double starting_value) {
   buffer = std::vector<double>(buffer_size, starting_value); 
   buffer_index = 0; 
-  is_ready = true;
+  current_avg = starting_value;
 }
 
 
@@ -48,14 +48,12 @@ MovingAverage::MovingAverage(int buffer_size, double starting_value) {
  * @param n  the sample that will be added to the moving average.
  */
 void MovingAverage::add_entry(double n){
+  current_avg -= buffer[buffer_index]/get_size();
+  current_avg += n/get_size();
   buffer[buffer_index] = n;
+
   buffer_index++;
-  // if weve filled the buffer once, then we're ready
-  if (!is_ready && buffer_index==buffer.size()-1){
-    is_ready = true;
-  }
-  //wrap around
-  buffer_index%=buffer.size();
+  buffer_index%=get_size();
 }
 
 /**
@@ -63,19 +61,7 @@ void MovingAverage::add_entry(double n){
  * @return the number of samples used to calculate this average
  */ 
 double MovingAverage::get_average(){
-  double total = 0;
-
-  int upto = buffer.size();
-  if (!is_ready){ //if we're not completely ready, only make average out of the samples we have
-    upto = buffer_index;
-  }
-
-  for (int i=0; i<upto; i++){
-    total+=buffer[i];
-  }
-
-  total/=upto;
-  return total;
+  return current_avg;
 }
 
 // How many samples the average is made from

From 94348dee9d486c6e952389b6b823a83e69b2f8b7 Mon Sep 17 00:00:00 2001
From: cowsed <richie.sommers@outlook.com>
Date: Thu, 2 Feb 2023 19:42:07 -0500
Subject: [PATCH 146/243] CommandController Updates Drive commands now take an
 optional timeout parameter that will stop the command if it does not finish
 after that amount of time The CommandController also now has a function
 called last_command_timed_out which returns true if the last command it ran
 finished by timing out.

---
 .../utils/command_structure/auto_command.h    | 23 +++++++++++++
 .../command_structure/command_controller.h    | 12 +++++--
 .../utils/command_structure/drive_commands.h  | 29 ++++++++++++++--
 .../command_structure/command_controller.cpp  | 34 ++++++++++++++++---
 .../command_structure/drive_commands.cpp      | 26 +++++++++++---
 5 files changed, 112 insertions(+), 12 deletions(-)

diff --git a/include/utils/command_structure/auto_command.h b/include/utils/command_structure/auto_command.h
index 8795a68..942c652 100644
--- a/include/utils/command_structure/auto_command.h
+++ b/include/utils/command_structure/auto_command.h
@@ -10,10 +10,33 @@
 
 class AutoCommand {
   public:
+    /**
+     * Constructs an autocommand with a specified timeout
+    */
+    AutoCommand(double timeout_seconds): timeout_seconds(timeout_seconds){}
+    /**
+     * Constructs an autocommand with no timeout
+    */
+    AutoCommand(): timeout_seconds(0.0){}
     /**
      * Executes the command
      * Overridden by child classes
      * @returns true when the command is finished, false otherwise
      */
     virtual bool run() { return true; }
+    /**
+     * What to do if we timeout instead of finishing. timeout is specified by the timeout seconds in the constructor
+    */
+    virtual void on_timeout(){}
+    /** 
+     * How long to run until we cancel this command. 
+     * If the command is cancelled, on_timeout() is called to allow any cleanup from the function. 
+     * If the timeout_seconds <= 0, no timeout will be applied and this command will run forever
+     * A timeout can come in handy for some commands that can not reach the end due to some physical limitation such as
+     * - a drive command hitting a wall and not being able to reach its target
+     * - a command that waits until something is up to speed that never gets up to speed because of battery voltage
+     * - something else...
+    */
+    double timeout_seconds;
+
 };
\ No newline at end of file
diff --git a/include/utils/command_structure/command_controller.h b/include/utils/command_structure/command_controller.h
index f4a8abe..0f6befb 100644
--- a/include/utils/command_structure/command_controller.h
+++ b/include/utils/command_structure/command_controller.h
@@ -17,9 +17,10 @@ class CommandController {
 
   /**
    * Adds a command to the queue
-   * @param cmd - AutoCommand to be added
+   * @param cmd the AutoCommand we want to add to our list
+   * @param timeout_seconds the number of seconds we will let the command run for. If it exceeds this, we cancel it and run on_timeout. if it is <= 0 no time out will be applied
    */
-  void add(AutoCommand *cmd);
+  void add(AutoCommand *cmd, double timeout_seconds = 0);
 
   /**
    * Adds a command that will delay progression
@@ -34,7 +35,14 @@ class CommandController {
    * Execute and remove commands in FIFO order
    */
   void run();
+  /**
+   * last_command_timed_out tells how the last command ended
+   * Use this if you want to make decisions based on the end of the last command
+   * @return true if the last command timed out. false if it finished regularly
+   */
+  bool last_command_timed_out();
 
   private:
     std::queue<AutoCommand*> command_queue;
+    bool command_timed_out = false;
 };
\ No newline at end of file
diff --git a/include/utils/command_structure/drive_commands.h b/include/utils/command_structure/drive_commands.h
index 36a2248..fda76a7 100644
--- a/include/utils/command_structure/drive_commands.h
+++ b/include/utils/command_structure/drive_commands.h
@@ -42,6 +42,10 @@ class DriveForwardCommand: public AutoCommand {
      * @returns true when execution is complete, false otherwise
      */
     bool run() override;
+    /**
+     * Cleans up drive system if we time out before finishing
+    */
+    void on_timeout() override;
 
   private:
     // drive system to run the function on
@@ -62,7 +66,7 @@ class DriveForwardCommand: public AutoCommand {
  */
 class TurnDegreesCommand: public AutoCommand {
   public:
-    TurnDegreesCommand(TankDrive &drive_sys, Feedback &feedback, double degrees, double max_speed);
+    TurnDegreesCommand(TankDrive &drive_sys, Feedback &feedback, double degrees, double max_speed = 1);
 
     /**
      * Run turn_degrees
@@ -70,6 +74,11 @@ class TurnDegreesCommand: public AutoCommand {
      * @returns true when execution is complete, false otherwise
      */
     bool run() override;
+    /**
+     * Cleans up drive system if we time out before finishing
+    */
+    void on_timeout() override;
+
 
   private:
     // drive system to run the function on
@@ -89,7 +98,7 @@ class TurnDegreesCommand: public AutoCommand {
  */
 class DriveToPointCommand: public AutoCommand {
   public:
-    DriveToPointCommand(TankDrive &drive_sys, Feedback &feedback, double x, double y, directionType dir, double max_speed);
+    DriveToPointCommand(TankDrive &drive_sys, Feedback &feedback, double x, double y, directionType dir, double max_speed = 1);
 
     /**
      * Run drive_to_point
@@ -101,6 +110,12 @@ class DriveToPointCommand: public AutoCommand {
   private:
     // drive system to run the function on
     TankDrive &drive_sys;
+    
+    /**
+     * Cleans up drive system if we time out before finishing
+    */
+    void on_timeout() override;
+
 
     // feedback controller to use
     Feedback &feedback;
@@ -128,6 +143,11 @@ class TurnToHeadingCommand: public AutoCommand {
      * @returns true when execution is complete, false otherwise
      */
     bool run() override;
+    /**
+     * Cleans up drive system if we time out before finishing
+    */
+    void on_timeout() override;
+
 
   private:
     // drive system to run the function on
@@ -155,6 +175,11 @@ class DriveStopCommand: public AutoCommand {
      * @returns true when execution is complete, false otherwise
      */
     bool run() override;
+    /**
+     * Cleans up drive system if we time out before finishing
+    */
+    void on_timeout() override;
+
 
   private:
     // drive system to run the function on
diff --git a/src/utils/command_structure/command_controller.cpp b/src/utils/command_structure/command_controller.cpp
index 7bc4e79..d5d6b5f 100644
--- a/src/utils/command_structure/command_controller.cpp
+++ b/src/utils/command_structure/command_controller.cpp
@@ -12,8 +12,11 @@
 
 /**
  * Adds a command to the queue
+ * @param cmd the AutoCommand we want to add to our list
+ * @param timeout_seconds the number of seconds we will let the command run for. If it exceeds this, we cancel it and run on_timeout
  */
-void CommandController::add(AutoCommand *cmd) {
+void CommandController::add(AutoCommand *cmd, double timeout_seconds) {
+  cmd->timeout_seconds = timeout_seconds;
   command_queue.push(cmd);
 }
 
@@ -34,24 +37,47 @@ void CommandController::add_delay(int ms) {
  */
 void CommandController::run() {
   AutoCommand *next_cmd;
-  printf("Beginning Auto. Commands 1 to %d\n", command_queue.size());
+  printf("Running Auto. Commands 1 to %d\n", command_queue.size());
   fflush(stdout);
   int command_count = 1;
+
   while(!command_queue.empty()) {
     // retrieve and remove command at the front of the queue
     next_cmd = command_queue.front();
     command_queue.pop();
+    command_timed_out = false;
 
     printf("Beginning Command %d\n", command_count);
     fflush(stdout);
 
-    // run the current command until it returns true
+
+    vex::timer timeout_timer;
+    timeout_timer.reset();
+    bool doTimeout = next_cmd->timeout_seconds > 0.0;
+
+    // run the current command until it returns true or we timeout
     while(!next_cmd -> run()) {
       vexDelay(20);
+
+      if (!doTimeout){
+        continue;
+      }
+
+      // If we do want to check for timeout, check and end the command if we should
+      double cmd_elapsed_sec = ((double)timeout_timer.time())/1000.0;
+      if (cmd_elapsed_sec > next_cmd->timeout_seconds){
+        next_cmd->on_timeout();
+        command_timed_out = true;
+        break;
+      }
     }
 
-    printf("Finished Command %d\n", command_count);
+    printf("Finished Command %d. Timed out: %s\n", command_count, command_timed_out ? "true" : "false" );
     fflush(stdout);
     command_count++;
   }
+}
+
+bool CommandController::last_command_timed_out(){
+  return command_timed_out;
 }
\ No newline at end of file
diff --git a/src/utils/command_structure/drive_commands.cpp b/src/utils/command_structure/drive_commands.cpp
index 28f704f..19f938c 100644
--- a/src/utils/command_structure/drive_commands.cpp
+++ b/src/utils/command_structure/drive_commands.cpp
@@ -40,6 +40,9 @@ DriveForwardCommand::DriveForwardCommand(TankDrive &drive_sys, Feedback &feedbac
 bool DriveForwardCommand::run() {
   return drive_sys.drive_forward(inches, dir, feedback, max_speed);
 }
+void DriveForwardCommand::on_timeout(){
+  drive_sys.reset_auto();
+}
 
 
 /**
@@ -48,9 +51,9 @@ bool DriveForwardCommand::run() {
  * @param feedback the feedback controller we are using to execute the turn
  * @param degrees how many degrees to rotate
  * @param max_speed 0 -> 1 percentage of the drive systems speed to drive at
-*/
+ */
 TurnDegreesCommand::TurnDegreesCommand(TankDrive &drive_sys, Feedback &feedback, double degrees, double max_speed):
-  drive_sys(drive_sys), feedback(feedback), degrees(degrees), max_speed(max_speed) {}
+  drive_sys(drive_sys), feedback(feedback), degrees(degrees), max_speed(max_speed){}
 
 /**
  * Run turn_degrees
@@ -60,6 +63,9 @@ TurnDegreesCommand::TurnDegreesCommand(TankDrive &drive_sys, Feedback &feedback,
 bool TurnDegreesCommand::run() {
   return drive_sys.turn_degrees(degrees, max_speed);
 }
+void TurnDegreesCommand::on_timeout(){
+  drive_sys.reset_auto();
+}
 
 
 /**
@@ -70,7 +76,7 @@ bool TurnDegreesCommand::run() {
  * @param y where to drive in the y dimension
  * @param dir the direction to drive
  * @param max_speed 0 -> 1 percentage of the drive systems speed to drive at
-*/
+ */
 DriveToPointCommand::DriveToPointCommand(TankDrive &drive_sys, Feedback &feedback, double x, double y, directionType dir, double max_speed):
   drive_sys(drive_sys), feedback(feedback), x(x), y(y), dir(dir), max_speed(max_speed) {}
 
@@ -82,6 +88,12 @@ DriveToPointCommand::DriveToPointCommand(TankDrive &drive_sys, Feedback &feedbac
 bool DriveToPointCommand::run() {
   return drive_sys.drive_to_point(x, y, dir, max_speed);
 }
+/**
+ * reset the drive system if we don't hit our target
+*/
+void DriveToPointCommand::on_timeout(){
+  drive_sys.reset_auto();
+}
 
 
 /**
@@ -90,7 +102,7 @@ bool DriveToPointCommand::run() {
  * @param feedback the feedback controller we are using to execute the drive
  * @param heading_deg the heading to turn to in degrees
  * @param max_speed 0 -> 1 percentage of the drive systems speed to drive at
-*/
+ */
 TurnToHeadingCommand::TurnToHeadingCommand(TankDrive &drive_sys, Feedback &feedback, double heading_deg, double max_speed):
   drive_sys(drive_sys), feedback(feedback), heading_deg(heading_deg), max_speed(max_speed) {}
 
@@ -102,6 +114,12 @@ TurnToHeadingCommand::TurnToHeadingCommand(TankDrive &drive_sys, Feedback &feedb
 bool TurnToHeadingCommand::run() {
   return drive_sys.turn_to_heading(heading_deg, feedback, max_speed);
 }
+/**
+ * reset the drive system if we don't hit our target
+*/
+void TurnToHeadingCommand::on_timeout(){
+  drive_sys.reset_auto();
+}
 
 
 /**

From 8a9495788cdcd015dc9bf4097182143c92b4b7f1 Mon Sep 17 00:00:00 2001
From: Ryan McGee <ramtech51@comcast.net>
Date: Thu, 26 Jan 2023 00:52:44 -0500
Subject: [PATCH 147/243] git subrepo push core

subrepo:
  subdir:   "core"
  merged:   "43e35b6"
upstream:
  origin:   "git@github.com:RIT-VEX-U/Core.git"
  branch:   "master"
  commit:   "43e35b6"
git-subrepo:
  version:  "0.4.5"
  origin:   "https://github.com/ingydotnet/git-subrepo"
  commit:   "dbb99be"
---
 src/subsystems/odometry/odometry_tank.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/subsystems/odometry/odometry_tank.cpp b/src/subsystems/odometry/odometry_tank.cpp
index 3d4414c..a60c369 100644
--- a/src/subsystems/odometry/odometry_tank.cpp
+++ b/src/subsystems/odometry/odometry_tank.cpp
@@ -70,7 +70,6 @@ position_t OdometryTank::update()
       // Get the arclength of the turning circle of the robot
       double distance_diff = (rside_revs - lside_revs) * PI * config.odom_wheel_diam;
 
-      // printf("dist_diff: %f, ", distance_diff);
 
       //Use the arclength formula to calculate the angle. Add 90 to make "0 degrees" to starboard
       angle = ((180.0 / PI) * (distance_diff / config.dist_between_wheels)) + 90;
@@ -165,6 +164,7 @@ position_t OdometryTank::calculate_new_pos(robot_specs_t &config, position_t &cu
     double angle = angle_deg * PI / 180.0; // Degrees to radians
 
     // Create a vector from the change in distance in the current direction of the robot
+    //deg2rad((smallest_angle(curr_pos.rot, angle_deg)/2 + curr_pos.rot, dist_driven)
     Vector2D chg_vec(angle, dist_driven);
     
     // Create a vector from the current position in reference to X,Y=0,0

From b6ad515967a9c24f4cbcfad6ba2cc257fe508dd0 Mon Sep 17 00:00:00 2001
From: Ryan McGee <ramtech51@comcast.net>
Date: Thu, 26 Jan 2023 19:16:03 -0500
Subject: [PATCH 148/243] Initial Drive Tunings

---
 include/utils/motion_controller.h |  6 ++++++
 src/utils/motion_controller.cpp   | 14 +++++++++++---
 2 files changed, 17 insertions(+), 3 deletions(-)

diff --git a/include/utils/motion_controller.h b/include/utils/motion_controller.h
index 4341f80..6683934 100644
--- a/include/utils/motion_controller.h
+++ b/include/utils/motion_controller.h
@@ -84,6 +84,11 @@ class MotionController : public Feedback
      */
     bool is_on_target() override;
 
+    /**
+     * @return The current postion, velocity and acceleration setpoints
+    */
+    motion_t get_motion();
+
     /**
      * This method attempts to characterize the robot's drivetrain and automatically tune the feedforward.
      * It does this by first calculating the kS (voltage to overcome static friction) by slowly increasing
@@ -114,6 +119,7 @@ class MotionController : public Feedback
 
     double lower_limit = 0, upper_limit = 0;
     double out = 0;
+    motion_t cur_motion;
      
     vex::timer tmr;
 
diff --git a/src/utils/motion_controller.cpp b/src/utils/motion_controller.cpp
index a458f81..1b495e0 100644
--- a/src/utils/motion_controller.cpp
+++ b/src/utils/motion_controller.cpp
@@ -36,11 +36,11 @@ void MotionController::init(double start_pt, double end_pt)
 */
 double MotionController::update(double sensor_val)
 {
-    motion_t motion = profile.calculate(tmr.time(timeUnits::sec));
-    pid.set_target(motion.pos);
+    cur_motion = profile.calculate(tmr.time(timeUnits::sec));
+    pid.set_target(cur_motion.pos);
     pid.update(sensor_val);
 
-    out = pid.get() +  ff.calculate(motion.vel, motion.accel);
+    out = pid.get() +  ff.calculate(cur_motion.vel, cur_motion.accel);
 
     if(lower_limit != upper_limit)
         out = clamp(out, lower_limit, upper_limit);
@@ -77,6 +77,14 @@ bool MotionController::is_on_target()
     return (tmr.time(timeUnits::sec) > profile.get_movement_time()) && pid.is_on_target();
 }
 
+/**
+ * @return The current postion, velocity and acceleration setpoints
+*/
+motion_t MotionController::get_motion()
+{
+    return cur_motion;
+}
+
 /**
  * This method attempts to characterize the robot's drivetrain and automatically tune the feedforward.
  * It does this by first calculating the kS (voltage to overcome static friction) by slowly increasing

From 1a7519d78b95f321d6d3d34492c187f3c1922026 Mon Sep 17 00:00:00 2001
From: Ryan McGee <ramtech51@comcast.net>
Date: Thu, 26 Jan 2023 19:21:40 -0500
Subject: [PATCH 149/243] Merge remote-tracking branch
 'refs/remotes/origin/main'

---
 include/subsystems/flywheel.h | 13 +++++++++----
 src/subsystems/flywheel.cpp   | 33 +++++++++++++++++++++++++++------
 2 files changed, 36 insertions(+), 10 deletions(-)

diff --git a/include/subsystems/flywheel.h b/include/subsystems/flywheel.h
index c4babce..3f0202a 100644
--- a/include/subsystems/flywheel.h
+++ b/include/subsystems/flywheel.h
@@ -86,10 +86,14 @@ class Flywheel{
   motor_group* getMotors();
 
   /**
-  * return the current velocity of the flywheel motors, in RPM
+  * make a measurement of the current RPM of the flywheel motor and return a smoothed version
   */
-  double getRPM();
+  double measureRPM();
 
+  /**
+  * return the current smoothed velocity of the flywheel motors, in RPM
+  */
+  double getRPM();
   /**
   * Returns a POINTER to the PID.
   */
@@ -174,5 +178,6 @@ class Flywheel{
   std::atomic<double> RPM;            // Desired RPM of the flywheel. 
   task rpmTask;                       // task (thread but not) that handles spinning the wheel at a given RPM
   FlywheelControlStyle control_style; // how the flywheel should be controlled
-
-};
\ No newline at end of file
+  double smoothedRPM;
+  MovingAverage RPM_avger;
+  };
\ No newline at end of file
diff --git a/src/subsystems/flywheel.cpp b/src/subsystems/flywheel.cpp
index bdc1a6a..c90bba7 100644
--- a/src/subsystems/flywheel.cpp
+++ b/src/subsystems/flywheel.cpp
@@ -2,7 +2,7 @@
 *
 *     File:     Flywheel.cpp
 *     Purpose:  Generalized flywheel class for Core.
-*     Author:   Chris Nokes
+*     Author:   Chris Nokes, Richie Sommers
 *     
 **********************************************************
 * EDIT HISTORY
@@ -22,6 +22,8 @@
 
 using namespace vex;
 
+const int FlywheelWindowSize = 30;
+
 /*********************************************************
 *         CONSTRUCTOR, GETTERS, SETTERS
 *********************************************************/
@@ -33,25 +35,26 @@ FeedForward::ff_config_t empty_ff = FeedForward::ff_config_t{};
 * Create the Flywheel object using PID + feedforward for control.
 */
 Flywheel::Flywheel(motor_group &motors, PID::pid_config_t &pid_config, FeedForward::ff_config_t &ff_config, const double ratio)
-    :motors(motors), pid(pid_config), ff(ff_config), ratio(ratio), control_style(PID_Feedforward) { }
+    :motors(motors), pid(pid_config), ff(ff_config), ratio(ratio), control_style(PID_Feedforward), smoothedRPM(0), RPM_avger(MovingAverage(FlywheelWindowSize)) {
+    }
 
 /**
 * Create the Flywheel object using only feedforward for control
 */
 Flywheel::Flywheel(motor_group &motors, FeedForward::ff_config_t &ff_config, const double ratio)
-    :motors(motors), pid(empty_pid), ff(ff_config), ratio(ratio), control_style(Feedforward) {}
+    :motors(motors), pid(empty_pid), ff(ff_config), ratio(ratio), control_style(Feedforward), smoothedRPM(0), RPM_avger(MovingAverage(FlywheelWindowSize)) {}
 
 /**
 * Create the Flywheel object using Take Back Half for control
 */
 Flywheel::Flywheel(motor_group &motors, const double TBH_gain, const double ratio)
-    :motors(motors), pid(empty_pid), ff(empty_ff), TBH_gain(TBH_gain), ratio(ratio), control_style(Take_Back_Half) {}
+    :motors(motors), pid(empty_pid), ff(empty_ff), TBH_gain(TBH_gain), ratio(ratio), control_style(Take_Back_Half), smoothedRPM(0), RPM_avger(MovingAverage(FlywheelWindowSize)) {}
 
 /**
 * Create the Flywheel object using Bang Bang for control
 */
 Flywheel::Flywheel(motor_group &motors, const double ratio)
-    :motors(motors), pid(empty_pid), ff(empty_ff), ratio(ratio), control_style(Bang_Bang) {}
+    :motors(motors), pid(empty_pid), ff(empty_ff), ratio(ratio), control_style(Bang_Bang), smoothedRPM(0), RPM_avger(MovingAverage(FlywheelWindowSize)) {}
 
 /**
 * Return the current value that the RPM should be set to
@@ -74,8 +77,16 @@ motor_group* Flywheel::getMotors() { return &motors; } // TODO -- Remove?
 * return the current velocity of the flywheel motors, in RPM
 * @return the measured velocity of the flywheel
 */
-double Flywheel::getRPM() { return ratio * motors.velocity(velocityUnits::rpm); }
+double Flywheel::measureRPM() { 
+  double rawRPM = ratio * motors.velocity(velocityUnits::rpm); 
+  RPM_avger.add_entry(rawRPM);
+  smoothedRPM = RPM_avger.get_average();
+  return smoothedRPM;
+}
 
+double Flywheel::getRPM(){
+  return smoothedRPM;
+}
 /**
 * Returns a POINTER TO the PID; not currently used.
 * @return pidPointer -pointer to the PID
@@ -131,6 +142,8 @@ int spinRPMTask_BangBang(void* wheelPointer) {
   Flywheel* wheel = (Flywheel*) wheelPointer; 
   while(true) {
     // if it below the RPM, go, otherwise don't
+    wheel->measureRPM();
+
     if(wheel->getRPM() < wheel->getDesiredRPM()) { 
       wheel->spin_raw(1, fwd);
     }   
@@ -147,6 +160,7 @@ int spinRPMTask_Feedforward(void* wheelPointer) {
   Flywheel* wheel = (Flywheel*) wheelPointer;
   // get the pid from the wheel and set its target to the RPM stored in the wheel.
   while(true) {
+    wheel->measureRPM();
     wheel->updatePID(wheel->getRPM());   // check the current velocity and update the PID with it.
     double output = wheel->getFeedforwardValue();
     wheel->spin_raw(output, fwd);   // set the motors to whatever feedforward tells them to do
@@ -161,6 +175,7 @@ int spinRPMTask_PID_Feedforward(void* wheelPointer) {
   Flywheel* wheel = (Flywheel*) wheelPointer;
   // get the pid from the wheel and set its target to the RPM stored in the wheel.
   while(true) {
+    wheel->measureRPM();
     wheel->updatePID(wheel->getRPM());   // check the current velocity and update the PID with it.
     double output = wheel->getPIDValue() + wheel->getFeedforwardValue();
     wheel->spin_raw(output, fwd);   // set the motors to whatever PID tells them to do
@@ -181,6 +196,8 @@ int spinRPMTask_TBH(void* wheelPointer) {
   double previous_error = 0.0;
 
   while (true){
+    wheel->measureRPM();
+
     //reset if set to 0, this keeps the tbh val from screwing us up when we start up again
     if (wheel->getDesiredRPM()==0){
       output = 0;
@@ -236,6 +253,10 @@ void Flywheel::spin_manual(double speed, directionType dir){
 * @param inputRPM - set the current RPM
 */
 void Flywheel::spinRPM(int inputRPM) {
+  // setting to 0 is equivelent to stopping
+  if (inputRPM==0){
+    stop();
+  }
   // only run if the RPM is different or it isn't already running
   if(!taskRunning) {
 

From 17f35fc8122cd8df83572de077863e6f4c194e38 Mon Sep 17 00:00:00 2001
From: Ryan McGee <ramtech51@comcast.net>
Date: Fri, 27 Jan 2023 00:30:12 -0500
Subject: [PATCH 150/243] Tuned Turn with PID

---
 include/utils/pid.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/include/utils/pid.h b/include/utils/pid.h
index c055871..b349131 100644
--- a/include/utils/pid.h
+++ b/include/utils/pid.h
@@ -20,7 +20,7 @@ using namespace vex;
  * @author Ryan McGee
  * @date 4/3/2020
  */
-class PID : Feedback
+class PID : public Feedback
 {
 public:
   /**

From bb04d54b1e762ed21d575855aa45d089977dbd96 Mon Sep 17 00:00:00 2001
From: Ryan McGee <ramtech51@comcast.net>
Date: Fri, 27 Jan 2023 00:33:48 -0500
Subject: [PATCH 151/243] Merge remote-tracking branch
 'refs/remotes/origin/main'

---
 include/utils/command_structure/drive_commands.h   | 2 +-
 src/utils/command_structure/command_controller.cpp | 9 ++++++---
 src/utils/command_structure/drive_commands.cpp     | 6 ++++++
 3 files changed, 13 insertions(+), 4 deletions(-)

diff --git a/include/utils/command_structure/drive_commands.h b/include/utils/command_structure/drive_commands.h
index a6a2f45..36a2248 100644
--- a/include/utils/command_structure/drive_commands.h
+++ b/include/utils/command_structure/drive_commands.h
@@ -120,7 +120,7 @@ class DriveToPointCommand: public AutoCommand {
  */
 class TurnToHeadingCommand: public AutoCommand {
   public:
-    TurnToHeadingCommand(TankDrive &drive_sys, Feedback &feedback, double heading_deg, double speed);
+    TurnToHeadingCommand(TankDrive &drive_sys, Feedback &feedback, double heading_deg, double speed = 1);
 
     /**
      * Run turn_to_heading
diff --git a/src/utils/command_structure/command_controller.cpp b/src/utils/command_structure/command_controller.cpp
index afcc3ed..7bc4e79 100644
--- a/src/utils/command_structure/command_controller.cpp
+++ b/src/utils/command_structure/command_controller.cpp
@@ -34,21 +34,24 @@ void CommandController::add_delay(int ms) {
  */
 void CommandController::run() {
   AutoCommand *next_cmd;
-  printf("Beginning Auto. Starting from 1");
+  printf("Beginning Auto. Commands 1 to %d\n", command_queue.size());
+  fflush(stdout);
   int command_count = 1;
   while(!command_queue.empty()) {
     // retrieve and remove command at the front of the queue
     next_cmd = command_queue.front();
     command_queue.pop();
 
-    printf("Beginning Command %d", command_count);
+    printf("Beginning Command %d\n", command_count);
+    fflush(stdout);
 
     // run the current command until it returns true
     while(!next_cmd -> run()) {
       vexDelay(20);
     }
 
-    printf("Finished Command %d", command_count);
+    printf("Finished Command %d\n", command_count);
+    fflush(stdout);
     command_count++;
   }
 }
\ No newline at end of file
diff --git a/src/utils/command_structure/drive_commands.cpp b/src/utils/command_structure/drive_commands.cpp
index 9f25f96..28f704f 100644
--- a/src/utils/command_structure/drive_commands.cpp
+++ b/src/utils/command_structure/drive_commands.cpp
@@ -123,6 +123,12 @@ bool DriveStopCommand::run() {
 
 
 // ==== ODOMETRY ====
+/**
+ * Construct an Odometry set pos
+ * @param odom the odometry system we are setting
+ * @param newpos the now position to set the odometry to
+ */
+OdomSetPosition::OdomSetPosition(OdometryBase &odom, const position_t &newpos): odom(odom), newpos(newpos){}
 
 bool OdomSetPosition::run() {
   odom.set_position(newpos);

From ece04d1b33f2758c43aad0a91345fafdb5f67dd2 Mon Sep 17 00:00:00 2001
From: Ryan McGee <ramtech51@comcast.net>
Date: Fri, 27 Jan 2023 01:24:49 -0500
Subject: [PATCH 152/243] Fixed mutex issues

---
 include/subsystems/odometry/odometry_base.h |  2 +-
 src/subsystems/odometry/odometry_3wheel.cpp |  2 -
 src/subsystems/odometry/odometry_base.cpp   | 15 +++----
 src/subsystems/odometry/odometry_tank.cpp   | 43 +++++----------------
 4 files changed, 16 insertions(+), 46 deletions(-)

diff --git a/include/subsystems/odometry/odometry_base.h b/include/subsystems/odometry/odometry_base.h
index f1cab19..25128d8 100644
--- a/include/subsystems/odometry/odometry_base.h
+++ b/include/subsystems/odometry/odometry_base.h
@@ -50,7 +50,7 @@ class OdometryBase
      * Sets the current position of the robot
      * @param newpos the new position that the odometry will believe it is at
      */
-    virtual void set_position(const position_t &newpos=zero_pos);
+    virtual void set_position(const position_t& newpos=zero_pos);
 
     /**
      * Update the current position on the field based on the sensors
diff --git a/src/subsystems/odometry/odometry_3wheel.cpp b/src/subsystems/odometry/odometry_3wheel.cpp
index 004354f..a032512 100644
--- a/src/subsystems/odometry/odometry_3wheel.cpp
+++ b/src/subsystems/odometry/odometry_3wheel.cpp
@@ -62,7 +62,6 @@ position_t Odometry3Wheel::update()
       last_ang_speed = ang_speed_local;
     }
 
-    mut.lock();
     this->current_pos = updated_pos;
     if(update_vel_accel)
     {
@@ -71,7 +70,6 @@ position_t Odometry3Wheel::update()
         this->ang_speed_deg = ang_speed_local;
         this->ang_accel_deg = ang_accel_local;
     }
-    mut.unlock();
 
     return current_pos;
 }
diff --git a/src/subsystems/odometry/odometry_base.cpp b/src/subsystems/odometry/odometry_base.cpp
index a2125d6..ecbfae0 100644
--- a/src/subsystems/odometry/odometry_base.cpp
+++ b/src/subsystems/odometry/odometry_base.cpp
@@ -24,7 +24,9 @@ int OdometryBase::background_task(void* ptr)
     OdometryBase &obj = *((OdometryBase*) ptr);
     while(!obj.end_task)
     {
+      obj.mut.lock();
       obj.update();
+      obj.mut.unlock();
     }
 
     return 0;
@@ -48,12 +50,7 @@ position_t OdometryBase::get_position(void)
     mut.lock();
 
     // Create a new struct to pass-by-value
-    position_t out =
-    {
-        .x = current_pos.x,
-        .y = current_pos.y,
-        .rot = current_pos.rot
-    };
+    position_t out = current_pos;
 
     mut.unlock();
 
@@ -63,13 +60,11 @@ position_t OdometryBase::get_position(void)
 /**
  * Sets the current position of the robot
  */
-void OdometryBase::set_position(const position_t &newpos)
+void OdometryBase::set_position(const position_t& newpos)
 {
     mut.lock();
 
-    current_pos.x = newpos.x;
-    current_pos.y = newpos.y;
-    current_pos.rot = newpos.rot;
+    current_pos = newpos;
 
     mut.unlock();
 }
diff --git a/src/subsystems/odometry/odometry_tank.cpp b/src/subsystems/odometry/odometry_tank.cpp
index a60c369..8dd3e25 100644
--- a/src/subsystems/odometry/odometry_tank.cpp
+++ b/src/subsystems/odometry/odometry_tank.cpp
@@ -45,8 +45,6 @@ void OdometryTank::set_position(const position_t &newpos)
  */
 position_t OdometryTank::update()
 {
-    position_t updated_pos;
-
     double lside_revs = 0, rside_revs = 0;
 
     if(left_side != NULL && right_side != NULL)
@@ -91,58 +89,37 @@ position_t OdometryTank::update()
     if(angle < 0)
         angle += 360;
 
-    mut.lock();
-    position_t current_pos_local = current_pos;
-    mut.unlock();
-
-    updated_pos = calculate_new_pos(config, current_pos_local, lside_revs, rside_revs, angle);
+    current_pos = calculate_new_pos(config, current_pos, lside_revs, rside_revs, angle);
 
 
-    static position_t last_pos = updated_pos;
+    static position_t last_pos = current_pos;
     static double last_speed = 0;
     static double last_ang_speed = 0;
     static timer tmr;
-
-    double speed_local = 0;
-    double accel_local = 0;
-    double ang_speed_local = 0;
-    double ang_accel_local = 0;
     bool update_vel_accel = tmr.time(sec) > 0.1;
 
     // This loop runs too fast. Only check at LEAST every 1/10th sec
     if(update_vel_accel)
     {
       // Calculate robot velocity
-      speed_local = pos_diff(updated_pos, last_pos) / tmr.time(sec);
+      speed = pos_diff(current_pos, last_pos) / tmr.time(sec);
 
       // Calculate robot acceleration
-      accel_local = (speed_local - last_speed) / tmr.time(sec);
+      accel = (speed - last_speed) / tmr.time(sec);
 
       // Calculate robot angular velocity (deg/sec)
-      ang_speed_local = smallest_angle(updated_pos.rot, last_pos.rot) / tmr.time(sec);
+      ang_speed_deg = smallest_angle(current_pos.rot, last_pos.rot) / tmr.time(sec);
 
       // Calculate robot angular acceleration (deg/sec^2)
-      ang_accel_local = (ang_speed_local - last_ang_speed) / tmr.time(sec);
+      ang_accel_deg = (ang_speed_deg - last_ang_speed) / tmr.time(sec);
 
       tmr.reset();
-      last_pos = updated_pos;
-      last_speed = speed_local;
-      last_ang_speed = ang_speed_local;
-    }
-
-    // Update the class' stored position
-    mut.lock();
-    this->current_pos = updated_pos;
-    if(update_vel_accel)
-    {
-      this->speed = speed_local;
-      this->accel = accel_local;
-      this->ang_speed_deg = ang_speed_local;
-      this->ang_accel_deg = ang_accel_local;
+      last_pos = current_pos;
+      last_speed = speed;
+      last_ang_speed = ang_speed_deg;
     }
-    mut.unlock();
 
-    return updated_pos;
+    return current_pos;
 }
 
 /**

From 2cf5bd3f47918dcbf7ec94c4fda015f9d3c41cd7 Mon Sep 17 00:00:00 2001
From: cowsed <richie.sommers@outlook.com>
Date: Thu, 2 Feb 2023 21:07:19 -0500
Subject: [PATCH 153/243] Merge branch 'main' of
 https://github.com/RIT-VEX-U/2022-2023-Flynn

---
 include/utils/command_structure/auto_command.h | 8 --------
 src/utils/command_structure/drive_commands.cpp | 7 +++++++
 2 files changed, 7 insertions(+), 8 deletions(-)

diff --git a/include/utils/command_structure/auto_command.h b/include/utils/command_structure/auto_command.h
index 942c652..008f31e 100644
--- a/include/utils/command_structure/auto_command.h
+++ b/include/utils/command_structure/auto_command.h
@@ -10,14 +10,6 @@
 
 class AutoCommand {
   public:
-    /**
-     * Constructs an autocommand with a specified timeout
-    */
-    AutoCommand(double timeout_seconds): timeout_seconds(timeout_seconds){}
-    /**
-     * Constructs an autocommand with no timeout
-    */
-    AutoCommand(): timeout_seconds(0.0){}
     /**
      * Executes the command
      * Overridden by child classes
diff --git a/src/utils/command_structure/drive_commands.cpp b/src/utils/command_structure/drive_commands.cpp
index 19f938c..86880a0 100644
--- a/src/utils/command_structure/drive_commands.cpp
+++ b/src/utils/command_structure/drive_commands.cpp
@@ -40,6 +40,10 @@ DriveForwardCommand::DriveForwardCommand(TankDrive &drive_sys, Feedback &feedbac
 bool DriveForwardCommand::run() {
   return drive_sys.drive_forward(inches, dir, feedback, max_speed);
 }
+
+/**
+ * reset the drive system if we timeout
+*/
 void DriveForwardCommand::on_timeout(){
   drive_sys.reset_auto();
 }
@@ -63,6 +67,9 @@ TurnDegreesCommand::TurnDegreesCommand(TankDrive &drive_sys, Feedback &feedback,
 bool TurnDegreesCommand::run() {
   return drive_sys.turn_degrees(degrees, max_speed);
 }
+/**
+ * reset the drive system if we timeout
+*/
 void TurnDegreesCommand::on_timeout(){
   drive_sys.reset_auto();
 }

From 9569d195f76353d372f25e76b6c754d27b32565c Mon Sep 17 00:00:00 2001
From: cowsed <richie.sommers@outlook.com>
Date: Fri, 3 Feb 2023 23:01:44 -0500
Subject: [PATCH 154/243] Testing Timeout, added PrintOdomCommand for debugging

---
 src/utils/command_structure/drive_commands.cpp | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/src/utils/command_structure/drive_commands.cpp b/src/utils/command_structure/drive_commands.cpp
index 86880a0..9addbda 100644
--- a/src/utils/command_structure/drive_commands.cpp
+++ b/src/utils/command_structure/drive_commands.cpp
@@ -46,6 +46,7 @@ bool DriveForwardCommand::run() {
 */
 void DriveForwardCommand::on_timeout(){
   drive_sys.reset_auto();
+  drive_sys.stop();
 }
 
 
@@ -72,6 +73,7 @@ bool TurnDegreesCommand::run() {
 */
 void TurnDegreesCommand::on_timeout(){
   drive_sys.reset_auto();
+  drive_sys.stop();
 }
 
 
@@ -100,6 +102,7 @@ bool DriveToPointCommand::run() {
 */
 void DriveToPointCommand::on_timeout(){
   drive_sys.reset_auto();
+  drive_sys.stop();
 }
 
 
@@ -126,6 +129,7 @@ bool TurnToHeadingCommand::run() {
 */
 void TurnToHeadingCommand::on_timeout(){
   drive_sys.reset_auto();
+  drive_sys.stop();
 }
 
 

From 219388326d915287bfd7ae4cff56566bc0f5ef11 Mon Sep 17 00:00:00 2001
From: cowsed <richie.sommers@outlook.com>
Date: Fri, 3 Feb 2023 20:30:45 -0500
Subject: [PATCH 155/243] Separate FLynn auto file Defines for commonly used
 functions

---
 src/subsystems/flywheel.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/subsystems/flywheel.cpp b/src/subsystems/flywheel.cpp
index c90bba7..f9c42a7 100644
--- a/src/subsystems/flywheel.cpp
+++ b/src/subsystems/flywheel.cpp
@@ -148,7 +148,7 @@ int spinRPMTask_BangBang(void* wheelPointer) {
       wheel->spin_raw(1, fwd);
     }   
     else { wheel->stopMotors(); }
-    vexDelay(1);
+    vexDelay(10);
   }
   return 0;
 }

From 2392809e74dcd665ff6fa7f5dd7f7d5d8ba93e0c Mon Sep 17 00:00:00 2001
From: cowsed <richie.sommers@outlook.com>
Date: Fri, 3 Feb 2023 22:19:51 -0500
Subject: [PATCH 156/243] See previous commit message

---
 include/subsystems/mecanum_drive.h | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/include/subsystems/mecanum_drive.h b/include/subsystems/mecanum_drive.h
index cf01c3d..fdc4777 100644
--- a/include/subsystems/mecanum_drive.h
+++ b/include/subsystems/mecanum_drive.h
@@ -60,7 +60,7 @@ class MecanumDrive
   * @param left_y left joystick, Y axis (forward / backwards)
   * @param left_x left joystick, X axis (strafe left / right)
   * @param right_x right joystick, X axis (rotation left / right)
-  * @param power=2 how much of a "curve" there should be on drive controls; better for low speed maneuvers.
+  * @param power =2 how much of a "curve" there should be on drive controls; better for low speed maneuvers.
   *                Leave blank for a default curve of 2 (higher means more fidelity)
   */
   void drive(double left_y, double left_x, double right_x, int power=2);
@@ -74,7 +74,7 @@ class MecanumDrive
   * @param direction    What direction the robot should travel in, in degrees.
   *                     0 is forward, +/-180 is reverse, clockwise is positive.
   * @param speed    The maximum speed the robot should travel, in percent: -1.0->+1.0
-  * @param gyro_correction=true   Whether or not to use the gyro to help correct while driving.
+  * @param gyro_correction =true   Whether or not to use the gyro to help correct while driving.
   *                               Will always be false if no gyro was declared in the constructor.
   */
   bool auto_drive(double inches, double direction, double speed, bool gyro_correction=true);
@@ -84,7 +84,7 @@ class MecanumDrive
   * for control.
   * @param degrees How many degrees to rotate the robot. Clockwise postive.
   * @param speed What percentage to run the motors at: 0.0 -> 1.0
-  * @param ignore_imu=false Whether or not to use the Inertial for determining angle.
+  * @param ignore_imu =false Whether or not to use the Inertial for determining angle.
   *        Will instead use circumference formula + robot's wheelbase + encoders to determine.
   * 
   * @return whether or not the robot has finished the maneuver

From e68e0816bf1fd06441ff7f729a9ebf43cb2329fa Mon Sep 17 00:00:00 2001
From: cowsed <richie.sommers@outlook.com>
Date: Sun, 5 Feb 2023 18:53:35 -0500
Subject: [PATCH 157/243] skills tuning fixed drivetopoint not accepting a
 feedback

---
 src/utils/command_structure/drive_commands.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/utils/command_structure/drive_commands.cpp b/src/utils/command_structure/drive_commands.cpp
index 9addbda..c1417e9 100644
--- a/src/utils/command_structure/drive_commands.cpp
+++ b/src/utils/command_structure/drive_commands.cpp
@@ -95,7 +95,7 @@ DriveToPointCommand::DriveToPointCommand(TankDrive &drive_sys, Feedback &feedbac
  * @returns true when execution is complete, false otherwise
  */
 bool DriveToPointCommand::run() {
-  return drive_sys.drive_to_point(x, y, dir, max_speed);
+  return drive_sys.drive_to_point(x, y, dir, feedback, max_speed);
 }
 /**
  * reset the drive system if we don't hit our target

From 87e1ff3fd4ebcc8cf69d3b35e477c667d121f65e Mon Sep 17 00:00:00 2001
From: Ryan McGee <ramtech51@comcast.net>
Date: Sun, 5 Feb 2023 15:11:33 -0500
Subject: [PATCH 158/243] Added PIDFF class, implemented in turn tuning.

---
 include/utils/pidff.h | 67 +++++++++++++++++++++++++++++++++++
 src/utils/pidff.cpp   | 82 +++++++++++++++++++++++++++++++++++++++++++
 2 files changed, 149 insertions(+)
 create mode 100644 include/utils/pidff.h
 create mode 100644 src/utils/pidff.cpp

diff --git a/include/utils/pidff.h b/include/utils/pidff.h
new file mode 100644
index 0000000..4bd475d
--- /dev/null
+++ b/include/utils/pidff.h
@@ -0,0 +1,67 @@
+#pragma once
+#include "../core/include/utils/feedback_base.h"
+#include "../core/include/utils/pid.h"
+#include "../core/include/utils/feedforward.h"
+
+class PIDFF : public Feedback
+{
+    public:
+
+    PIDFF(PID::pid_config_t &pid_cfg, FeedForward::ff_config_t &ff_cfg);
+
+    /**
+     * Initialize the feedback controller for a movement
+     * 
+     * @param start_pt the current sensor value
+     * @param set_pt where the sensor value should be
+     */
+    void init(double start_pt, double set_pt) override;
+
+    /**
+     * Iterate the feedback loop once with an updated sensor value.
+     * Only kS for feedfoward will be applied.
+     * 
+     * @param val value from the sensor
+     * @return feedback loop result
+     */
+    double update(double val) override;
+
+    /**
+     * Iterate the feedback loop once with an updated sensor value
+     * 
+     * @param val value from the sensor
+     * @param vel_setpt Velocity for feedforward
+     * @param a_setpt Acceleration for feedfoward
+     * @return feedback loop result
+    */
+    double update(double val, double vel_setpt, double a_setpt=0);
+
+    /**
+     * @return the last saved result from the feedback controller
+     */
+    double get() override;
+
+    /**
+     * Clamp the upper and lower limits of the output. If both are 0, no limits should be applied.
+     * 
+     * @param lower Upper limit
+     * @param upper Lower limit
+     */
+    void set_limits(double lower, double upper) override;
+
+    /** 
+     * @return true if the feedback controller has reached it's setpoint
+     */
+    bool is_on_target() override;
+
+    private:
+
+    FeedForward::ff_config_t &ff_cfg;
+
+    PID pid;
+    FeedForward ff;
+
+    double out;
+    double lower_lim, upper_lim;
+
+};
\ No newline at end of file
diff --git a/src/utils/pidff.cpp b/src/utils/pidff.cpp
new file mode 100644
index 0000000..7d4e8ad
--- /dev/null
+++ b/src/utils/pidff.cpp
@@ -0,0 +1,82 @@
+#include "../core/include/utils/pidff.h"
+#include "../core/include/utils/math_util.h"
+
+PIDFF::PIDFF(PID::pid_config_t &pid_cfg, FeedForward::ff_config_t &ff_cfg): ff_cfg(ff_cfg), pid(pid_cfg), ff(ff_cfg)  
+{
+    out = 0;
+    lower_lim = 0;
+    upper_lim = 0;
+}
+
+/**
+ * Initialize the feedback controller for a movement
+ * 
+ * @param start_pt the current sensor value
+ * @param set_pt where the sensor value should be
+ */
+void PIDFF::init(double start_pt, double set_pt)
+{
+    pid.init(start_pt, set_pt);
+}
+
+/**
+ * Iterate the feedback loop once with an updated sensor value.
+ * Only kS for feedfoward will be applied.
+ * 
+ * @param val value from the sensor
+ * @return feedback loop result
+ */
+double PIDFF::update(double val)
+{
+    double pid_out = pid.update(val);
+    double ff_out = ff_cfg.kS * sign(pid_out);
+    out = clamp(pid_out + ff_out, lower_lim, upper_lim);
+
+    return out;
+}
+
+/**
+ * Iterate the feedback loop once with an updated sensor value
+ * 
+ * @param val value from the sensor
+ * @param vel_setpt Velocity for feedforward
+ * @param a_setpt Acceleration for feedfoward
+ * @return feedback loop result
+*/
+double PIDFF::update(double val, double vel_setpt, double a_setpt)
+{
+
+    double pid_out = pid.update(val);
+    double ff_out = ff.calculate(vel_setpt, a_setpt);
+    out = clamp(ff_out + pid_out, lower_lim, upper_lim);
+    
+    return out;
+}
+
+/**
+ * @return the last saved result from the feedback controller
+ */
+double PIDFF::get()
+{
+    return out;
+}
+
+/**
+ * Clamp the upper and lower limits of the output. If both are 0, no limits should be applied.
+ * 
+ * @param lower Upper limit
+ * @param upper Lower limit
+ */
+void PIDFF::set_limits(double lower, double upper)
+{
+    upper_lim = upper;
+    lower_lim = lower;
+}
+
+/** 
+ * @return true if the feedback controller has reached it's setpoint
+ */
+bool PIDFF::is_on_target()
+{
+    return pid.is_on_target();
+}
\ No newline at end of file

From 84e5f9428cc6eac51784376ae40cc4e67895a13a Mon Sep 17 00:00:00 2001
From: Ryan McGee <ramtech51@comcast.net>
Date: Thu, 9 Feb 2023 13:26:17 -0500
Subject: [PATCH 159/243] Updated vision code

---
 include/utils/pidff.h | 6 ++++++
 src/utils/pidff.cpp   | 5 +++++
 2 files changed, 11 insertions(+)

diff --git a/include/utils/pidff.h b/include/utils/pidff.h
index 4bd475d..43c0498 100644
--- a/include/utils/pidff.h
+++ b/include/utils/pidff.h
@@ -17,6 +17,12 @@ class PIDFF : public Feedback
      */
     void init(double start_pt, double set_pt) override;
 
+    /**
+     * Set the target of the PID loop
+     * @param set_pt Setpoint / target value
+    */
+    void set_target(double set_pt);
+
     /**
      * Iterate the feedback loop once with an updated sensor value.
      * Only kS for feedfoward will be applied.
diff --git a/src/utils/pidff.cpp b/src/utils/pidff.cpp
index 7d4e8ad..01286de 100644
--- a/src/utils/pidff.cpp
+++ b/src/utils/pidff.cpp
@@ -19,6 +19,11 @@ void PIDFF::init(double start_pt, double set_pt)
     pid.init(start_pt, set_pt);
 }
 
+void PIDFF::set_target(double set_pt)
+{
+    pid.set_target(set_pt);
+}
+
 /**
  * Iterate the feedback loop once with an updated sensor value.
  * Only kS for feedfoward will be applied.

From 18544869f8a972f019a9bb3b47581fef3b9cfd97 Mon Sep 17 00:00:00 2001
From: Ryan McGee <ramtech51@comcast.net>
Date: Thu, 9 Feb 2023 13:37:56 -0500
Subject: [PATCH 160/243] Merge remote-tracking branch
 'refs/remotes/origin/main'

---
 include/utils/command_structure/command_controller.h |  6 ++++++
 include/utils/command_structure/drive_commands.h     |  1 +
 src/utils/command_structure/command_controller.cpp   | 10 ++++++++++
 src/utils/command_structure/drive_commands.cpp       | 11 +++++++++++
 4 files changed, 28 insertions(+)

diff --git a/include/utils/command_structure/command_controller.h b/include/utils/command_structure/command_controller.h
index 0f6befb..a78abbf 100644
--- a/include/utils/command_structure/command_controller.h
+++ b/include/utils/command_structure/command_controller.h
@@ -21,6 +21,12 @@ class CommandController {
    * @param timeout_seconds the number of seconds we will let the command run for. If it exceeds this, we cancel it and run on_timeout. if it is <= 0 no time out will be applied
    */
   void add(AutoCommand *cmd, double timeout_seconds = 0);
+  
+  /**
+   * Add multiple commands to the queue. No timeout here. 
+   * @param cmds the AutoCommands we want to add to our list
+   */
+  void add(std::vector<AutoCommand *> cmds);
 
   /**
    * Adds a command that will delay progression
diff --git a/include/utils/command_structure/drive_commands.h b/include/utils/command_structure/drive_commands.h
index fda76a7..3419a18 100644
--- a/include/utils/command_structure/drive_commands.h
+++ b/include/utils/command_structure/drive_commands.h
@@ -99,6 +99,7 @@ class TurnDegreesCommand: public AutoCommand {
 class DriveToPointCommand: public AutoCommand {
   public:
     DriveToPointCommand(TankDrive &drive_sys, Feedback &feedback, double x, double y, directionType dir, double max_speed = 1);
+    DriveToPointCommand(TankDrive &drive_sys, Feedback &feedback, Vector2D::point_t point, directionType dir, double max_speed=1);
 
     /**
      * Run drive_to_point
diff --git a/src/utils/command_structure/command_controller.cpp b/src/utils/command_structure/command_controller.cpp
index d5d6b5f..557c2f9 100644
--- a/src/utils/command_structure/command_controller.cpp
+++ b/src/utils/command_structure/command_controller.cpp
@@ -20,6 +20,16 @@ void CommandController::add(AutoCommand *cmd, double timeout_seconds) {
   command_queue.push(cmd);
 }
 
+/**
+ * Add multiple commands to the queue. No timeout here. 
+ * @param cmds the AutoCommands we want to add to our list
+ */
+void CommandController::add(std::vector<AutoCommand *> cmds) {
+  for(AutoCommand * cmd : cmds){
+    command_queue.push(cmd);
+  } 
+}
+
 /**
  * Adds a command that will delay progression
  * of the queue
diff --git a/src/utils/command_structure/drive_commands.cpp b/src/utils/command_structure/drive_commands.cpp
index c1417e9..3e1dc37 100644
--- a/src/utils/command_structure/drive_commands.cpp
+++ b/src/utils/command_structure/drive_commands.cpp
@@ -89,6 +89,17 @@ void TurnDegreesCommand::on_timeout(){
 DriveToPointCommand::DriveToPointCommand(TankDrive &drive_sys, Feedback &feedback, double x, double y, directionType dir, double max_speed):
   drive_sys(drive_sys), feedback(feedback), x(x), y(y), dir(dir), max_speed(max_speed) {}
 
+/**
+ * Construct a DriveForward Command
+ * @param drive_sys the drive system we are commanding
+ * @param feedback the feedback controller we are using to execute the drive
+ * @param y the point to drive to
+ * @param dir the direction to drive
+ * @param max_speed 0 -> 1 percentage of the drive systems speed to drive at
+ */
+DriveToPointCommand::DriveToPointCommand(TankDrive &drive_sys, Feedback &feedback, Vector2D::point_t point, directionType dir, double max_speed):
+  drive_sys(drive_sys), feedback(feedback), x(point.x), y(point.y), dir(dir), max_speed(max_speed) {}
+
 /**
  * Run drive_to_point
  * Overrides run from AutoCommand

From bebf09ac686441e15e37071cbe0be9b18bdba833 Mon Sep 17 00:00:00 2001
From: Ryan McGee <ramtech51@comcast.net>
Date: Thu, 9 Feb 2023 21:02:57 -0500
Subject: [PATCH 161/243] Merge remote-tracking branch
 'refs/remotes/origin/main'

---
 src/subsystems/flywheel.cpp  | 4 ++--
 src/utils/moving_average.cpp | 2 +-
 2 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/src/subsystems/flywheel.cpp b/src/subsystems/flywheel.cpp
index f9c42a7..d3f0e4a 100644
--- a/src/subsystems/flywheel.cpp
+++ b/src/subsystems/flywheel.cpp
@@ -22,7 +22,7 @@
 
 using namespace vex;
 
-const int FlywheelWindowSize = 30;
+const int FlywheelWindowSize = 1;
 
 /*********************************************************
 *         CONSTRUCTOR, GETTERS, SETTERS
@@ -81,7 +81,7 @@ double Flywheel::measureRPM() {
   double rawRPM = ratio * motors.velocity(velocityUnits::rpm); 
   RPM_avger.add_entry(rawRPM);
   smoothedRPM = RPM_avger.get_average();
-  return smoothedRPM;
+  return rawRPM; //TODO Change back
 }
 
 double Flywheel::getRPM(){
diff --git a/src/utils/moving_average.cpp b/src/utils/moving_average.cpp
index d61695e..08cf344 100644
--- a/src/utils/moving_average.cpp
+++ b/src/utils/moving_average.cpp
@@ -48,7 +48,7 @@ MovingAverage::MovingAverage(int buffer_size, double starting_value) {
  * @param n  the sample that will be added to the moving average.
  */
 void MovingAverage::add_entry(double n){
-  current_avg -= buffer[buffer_index]/get_size();
+  current_avg -= buffer[buffer_index]/(double)get_size();
   current_avg += n/get_size();
   buffer[buffer_index] = n;
 

From f2d04f2ca9b8b269ef4dcb3f4e8067f532bf40ff Mon Sep 17 00:00:00 2001
From: cowsed <richie.sommers@outlook.com>
Date: Fri, 10 Feb 2023 21:31:37 -0500
Subject: [PATCH 162/243] Graph Drawer + No Comments

---
 include/utils/graph_drawer.h | 104 +++++++++++++++++++++++++++++++++++
 src/subsystems/flywheel.cpp  |   6 +-
 2 files changed, 108 insertions(+), 2 deletions(-)
 create mode 100644 include/utils/graph_drawer.h

diff --git a/include/utils/graph_drawer.h b/include/utils/graph_drawer.h
new file mode 100644
index 0000000..8e672f6
--- /dev/null
+++ b/include/utils/graph_drawer.h
@@ -0,0 +1,104 @@
+#pragma once
+
+#include <string>
+#include <stdio.h>
+#include "vex.h"
+
+class GraphDrawer
+{
+public:
+  GraphDrawer(vex::brain::lcd &screen, int num_samples, std::string x_label, std::string y_label, vex::color col, bool draw_border, double lower_bound, double upper_bound) : Screen(screen), sample_index(0), xlabel(x_label), ylabel(y_label), col(col), border(draw_border), upper(upper_bound), lower(lower_bound)
+  {
+    std::vector<Vector2D::point_t> temp(num_samples, Vector2D::point_t{.x = 0.0, .y = 0.0});
+    samples = temp;
+  }
+  void add_sample(Vector2D::point_t sample)
+  {
+    samples[sample_index] = sample;
+    sample_index++;
+    sample_index %= samples.size();
+  }
+  void draw(int x, int y, int width, int height)
+  {
+    if (samples.size() < 1)
+    {
+      return;
+    }
+
+    double current_min = samples[0].y;
+    double current_max = samples[0].y;
+    double earliest_time = samples[0].x;
+    double latest_time = samples[0].x;
+    // collect data
+    for (int i = 0; i < samples.size(); i++)
+    {
+      Vector2D::point_t p = samples[i];
+      if (p.x < earliest_time)
+      {
+        earliest_time = p.x;
+      }
+      else if (p.x > latest_time)
+      {
+        latest_time = p.x;
+      }
+
+      if (p.y < current_min)
+      {
+        current_min = p.y;
+      }
+      else if (p.y > current_max)
+      {
+        current_max = p.y;
+      }
+    }
+    if (fabs(latest_time - earliest_time) < 0.001)
+    {
+      Screen.printAt(width / 2, height / 2, "Not enough Data");
+      return;
+    }
+    if (upper != lower)
+    {
+      current_min = lower;
+      current_max = upper;
+    }
+
+    if (border)
+    {
+      Screen.setPenWidth(1);
+      Screen.setPenColor(vex::white);
+      Screen.setFillColor(bgcol);
+      Screen.drawRectangle(x, y, width, height);
+    }
+
+    double time_range = latest_time - earliest_time;
+    double sample_range = current_max - current_min;
+    double x_s = (double)x;
+    double y_s = (double)y + (double)height;
+    Screen.setPenWidth(4);
+    Screen.setPenColor(col);
+    for (int i = sample_index; i < samples.size() + sample_index - 1; i++)
+    {
+      Vector2D::point_t p = samples[i % samples.size()];
+      double x_pos = x_s + ((p.x - earliest_time) / time_range) * (double)width;
+      double y_pos = y_s + ((p.y - current_min) / sample_range) * (double)(-height);
+
+      Vector2D::point_t p2 = samples[(i + 1) % samples.size()];
+      double x_pos2 = x_s + ((p2.x - earliest_time) / time_range) * (double)width;
+      double y_pos2 = y_s + ((p2.y - current_min) / sample_range) * (double)(-height);
+
+      Screen.drawLine((int)x_pos, (int)y_pos, (int)x_pos2, (int)y_pos2);
+    }
+  }
+
+private:
+  vex::brain::lcd &Screen;
+  std::vector<Vector2D::point_t> samples;
+  int sample_index = 0;
+  std::string xlabel;
+  std::string ylabel;
+  vex::color col = vex::red;
+  vex::color bgcol = vex::transparent;
+  bool border;
+  double upper;
+  double lower;
+};
diff --git a/src/subsystems/flywheel.cpp b/src/subsystems/flywheel.cpp
index d3f0e4a..be44f1d 100644
--- a/src/subsystems/flywheel.cpp
+++ b/src/subsystems/flywheel.cpp
@@ -22,7 +22,7 @@
 
 using namespace vex;
 
-const int FlywheelWindowSize = 1;
+const int FlywheelWindowSize = 10;
 
 /*********************************************************
 *         CONSTRUCTOR, GETTERS, SETTERS
@@ -81,7 +81,7 @@ double Flywheel::measureRPM() {
   double rawRPM = ratio * motors.velocity(velocityUnits::rpm); 
   RPM_avger.add_entry(rawRPM);
   smoothedRPM = RPM_avger.get_average();
-  return rawRPM; //TODO Change back
+  return smoothedRPM; //TODO Change back
 }
 
 double Flywheel::getRPM(){
@@ -291,6 +291,8 @@ void Flywheel::spinRPM(int inputRPM) {
 void Flywheel::stop() {
   rpmTask.stop();
   taskRunning = false;
+  RPM = 0.0;
+  smoothedRPM = 0.0;
   motors.stop();
 }
 

From 29a9f749d660938a26947aa8fc96cbab3a0614ea Mon Sep 17 00:00:00 2001
From: cowsed <richie.sommers@outlook.com>
Date: Fri, 10 Feb 2023 23:58:04 -0500
Subject: [PATCH 163/243] =?UTF-8?q?tuning=20auto=20tuning=20function/=20gi?=
 =?UTF-8?q?ves=20you=20control=20over=20the=20pid=20config=20as=20you=20ru?=
 =?UTF-8?q?n=20the=20autos=20something=20like=20whlie=20true{=20=20=20=20?=
 =?UTF-8?q?=20=20tune=5Fsomething();=20=20=20=20=20tune=5Fgeneric=5Fpid(fe?=
 =?UTF-8?q?edback=20that=20controls=20something);=20=20=20=20=20delay(20?=
 =?UTF-8?q?=20or=20so);=20}=20this=20features=20unsafe(kinda=20safe)=20cas?=
 =?UTF-8?q?ts,=20function=20pointers,=20AND=20ternaries=20=E2=98=BA?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 include/utils/feedback_base.h | 27 +++++++++++++++++++--------
 include/utils/graph_drawer.h  |  2 ++
 include/utils/pid.h           |  5 ++++-
 include/utils/pidff.h         |  4 +++-
 src/utils/pid.cpp             |  4 ++++
 5 files changed, 32 insertions(+), 10 deletions(-)

diff --git a/include/utils/feedback_base.h b/include/utils/feedback_base.h
index a716f53..19d45a9 100644
--- a/include/utils/feedback_base.h
+++ b/include/utils/feedback_base.h
@@ -2,18 +2,24 @@
 
 /**
  * Interface so that subsystems can easily switch between feedback loops
- * 
+ *
  * @author Ryan McGee
  * @date 9/25/2022
- * 
+ *
  */
-class Feedback 
+class Feedback
 {
-    public:
+public:
+    enum FeedbackType
+    {
+        PIDType,
+        FeedforwardType,
+        OtherType,
+    };
 
     /**
      * Initialize the feedback controller for a movement
-     * 
+     *
      * @param start_pt the current sensor value
      * @param set_pt where the sensor value should be
      */
@@ -21,7 +27,7 @@ class Feedback
 
     /**
      * Iterate the feedback loop once with an updated sensor value
-     * 
+     *
      * @param val value from the sensor
      * @return feedback loop result
      */
@@ -34,14 +40,19 @@ class Feedback
 
     /**
      * Clamp the upper and lower limits of the output. If both are 0, no limits should be applied.
-     * 
+     *
      * @param lower Upper limit
      * @param upper Lower limit
      */
     virtual void set_limits(double lower, double upper) = 0;
 
-    /** 
+    /**
      * @return true if the feedback controller has reached it's setpoint
      */
     virtual bool is_on_target() = 0;
+
+    virtual Feedback::FeedbackType get_type()
+    {
+        return FeedbackType::OtherType;
+    }
 };
\ No newline at end of file
diff --git a/include/utils/graph_drawer.h b/include/utils/graph_drawer.h
index 8e672f6..d113f3c 100644
--- a/include/utils/graph_drawer.h
+++ b/include/utils/graph_drawer.h
@@ -2,7 +2,9 @@
 
 #include <string>
 #include <stdio.h>
+#include <vector>
 #include "vex.h"
+#include "../core/include/utils/vector2d.h"
 
 class GraphDrawer
 {
diff --git a/include/utils/pid.h b/include/utils/pid.h
index b349131..4ff41e3 100644
--- a/include/utils/pid.h
+++ b/include/utils/pid.h
@@ -117,9 +117,12 @@ class PID : public Feedback
    */
   void set_target(double target);
 
-private:
+  Feedback::FeedbackType get_type() override;
+
   pid_config_t &config; ///< configuration struct for this controller. see pid_config_t for information about what this contains
 
+private:
+
 
   double last_error = 0;  ///< the error measured on the last iteration of update()
   double accum_error = 0; ///< the integral of error over time since we called init()
diff --git a/include/utils/pidff.h b/include/utils/pidff.h
index 43c0498..a09c6d3 100644
--- a/include/utils/pidff.h
+++ b/include/utils/pidff.h
@@ -60,11 +60,13 @@ class PIDFF : public Feedback
      */
     bool is_on_target() override;
 
+    PID pid;
+
+
     private:
 
     FeedForward::ff_config_t &ff_cfg;
 
-    PID pid;
     FeedForward ff;
 
     double out;
diff --git a/src/utils/pid.cpp b/src/utils/pid.cpp
index cdd4933..ae35cd5 100644
--- a/src/utils/pid.cpp
+++ b/src/utils/pid.cpp
@@ -141,4 +141,8 @@ bool PID::is_on_target()
   }
 
   return false;
+}
+
+Feedback::FeedbackType PID::get_type(){
+    return Feedback::FeedbackType::PIDType;
 }
\ No newline at end of file

From b8eadcc9e19daa426d673102f1a5c0b1801da9a5 Mon Sep 17 00:00:00 2001
From: cowsed <richie.sommers@outlook.com>
Date: Thu, 16 Feb 2023 23:14:46 -0500
Subject: [PATCH 164/243] Fixed Comments that triggered -Wdocumentation

---
 include/subsystems/flywheel.h                 |  2 +-
 include/utils/graph_drawer.h                  | 23 +++++++++++++++++++
 .../command_structure/drive_commands.cpp      |  2 +-
 3 files changed, 25 insertions(+), 2 deletions(-)

diff --git a/include/subsystems/flywheel.h b/include/subsystems/flywheel.h
index 3f0202a..199cf3e 100644
--- a/include/subsystems/flywheel.h
+++ b/include/subsystems/flywheel.h
@@ -147,7 +147,7 @@ class Flywheel{
   /**
   * starts or sets the RPM thread at new value
   * what control scheme is dependent on control_style
-  * @param inputRPM - set the current RPM
+  * @param rpm - the RPM we want to spin at
   */
   void spinRPM(int rpm);
 
diff --git a/include/utils/graph_drawer.h b/include/utils/graph_drawer.h
index d113f3c..f4f3f97 100644
--- a/include/utils/graph_drawer.h
+++ b/include/utils/graph_drawer.h
@@ -9,17 +9,40 @@
 class GraphDrawer
 {
 public:
+/**
+ * Construct a GraphDrawer
+ * @brief a helper class to graph values on the brain screen
+ * @param screen a reference to Brain.screen we can save for later
+ * @param num_samples the graph works on a fixed window and will plot the last `num_samples` before the history is forgotten. Larger values give more context but may slow down if you have many graphs or an exceptionally high 
+ * @param x_label the name of the x axis (currently unused)
+ * @param y_label the name of the y axis (currently unused)
+ * @param draw_border whether to draw the border around the graph. can be turned off if there are multiple graphs in the same space ie. a graph of error and output
+ * @param lower_bound the bottom of the window to graph. if lower_bound == upperbound, the graph will scale to it's datapoints  
+ * @param upper_bound the top of the window to graph. if lower_bound == upperbound, the graph will scale to it's datapoints  
+*/
   GraphDrawer(vex::brain::lcd &screen, int num_samples, std::string x_label, std::string y_label, vex::color col, bool draw_border, double lower_bound, double upper_bound) : Screen(screen), sample_index(0), xlabel(x_label), ylabel(y_label), col(col), border(draw_border), upper(upper_bound), lower(lower_bound)
   {
     std::vector<Vector2D::point_t> temp(num_samples, Vector2D::point_t{.x = 0.0, .y = 0.0});
     samples = temp;
   }
+
+  /**
+   * add_sample adds a point to the graph, removing one from the back
+   * @param sample an x, y coordinate of the next point to graph
+  */
   void add_sample(Vector2D::point_t sample)
   {
     samples[sample_index] = sample;
     sample_index++;
     sample_index %= samples.size();
   }
+  /**
+   * draws the graph to the screen in the constructor
+   * @param x x position of the top left of the graphed region
+   * @param y y position of the top left of the graphed region
+   * @param width the width of the graphed region
+   * @param height the height of the graphed region
+  */
   void draw(int x, int y, int width, int height)
   {
     if (samples.size() < 1)
diff --git a/src/utils/command_structure/drive_commands.cpp b/src/utils/command_structure/drive_commands.cpp
index 3e1dc37..833f9ee 100644
--- a/src/utils/command_structure/drive_commands.cpp
+++ b/src/utils/command_structure/drive_commands.cpp
@@ -93,7 +93,7 @@ DriveToPointCommand::DriveToPointCommand(TankDrive &drive_sys, Feedback &feedbac
  * Construct a DriveForward Command
  * @param drive_sys the drive system we are commanding
  * @param feedback the feedback controller we are using to execute the drive
- * @param y the point to drive to
+ * @param point the point to drive to
  * @param dir the direction to drive
  * @param max_speed 0 -> 1 percentage of the drive systems speed to drive at
  */

From a6783f1da80ccccd2869ada90a104297372a31dd Mon Sep 17 00:00:00 2001
From: cowsed <richie.sommers@outlook.com>
Date: Thu, 16 Feb 2023 20:00:27 -0500
Subject: [PATCH 165/243] withTImeout for initializer list auto path declaring
 also added disks to auto path

---
 include/intense_milk.h                             | 4 ++++
 include/utils/command_structure/auto_command.h     | 4 ++++
 src/utils/command_structure/command_controller.cpp | 2 +-
 3 files changed, 9 insertions(+), 1 deletion(-)
 create mode 100644 include/intense_milk.h

diff --git a/include/intense_milk.h b/include/intense_milk.h
new file mode 100644
index 0000000..3b9e4f9
--- /dev/null
+++ b/include/intense_milk.h
@@ -0,0 +1,4 @@
+#include <stdio.h>
+int intense_milk_width = 426;
+int intense_milk_height = 244
+;uint32_t intense_milk[103944] = {0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00141212, 0x00221e1f, 0x001e1a1b, 0x00191617, 0x00151313, 0x0011ff, 0x00cbb, 0x00877, 0x00433, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00111, 0x00181516, 0x00231f20, 0x00231f20, 0x00231f20, 0x00231f20, 0x00231f20, 0x00231f20, 0x00231f20, 0x00231f20, 0x00231f20, 0x00221e1f, 0x001e1b1c, 0x001a1718, 0x00161314, 0x0011f10, 0x00dbc, 0x00988, 0x00444, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 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0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000};
\ No newline at end of file
diff --git a/include/utils/command_structure/auto_command.h b/include/utils/command_structure/auto_command.h
index 008f31e..532fcbe 100644
--- a/include/utils/command_structure/auto_command.h
+++ b/include/utils/command_structure/auto_command.h
@@ -20,6 +20,10 @@ class AutoCommand {
      * What to do if we timeout instead of finishing. timeout is specified by the timeout seconds in the constructor
     */
     virtual void on_timeout(){}
+    AutoCommand* withTimeout(double t_seconds){
+      timeout_seconds = t_seconds;
+      return this;
+    }
     /** 
      * How long to run until we cancel this command. 
      * If the command is cancelled, on_timeout() is called to allow any cleanup from the function. 
diff --git a/src/utils/command_structure/command_controller.cpp b/src/utils/command_structure/command_controller.cpp
index 557c2f9..14be25e 100644
--- a/src/utils/command_structure/command_controller.cpp
+++ b/src/utils/command_structure/command_controller.cpp
@@ -57,7 +57,7 @@ void CommandController::run() {
     command_queue.pop();
     command_timed_out = false;
 
-    printf("Beginning Command %d\n", command_count);
+    printf("Beginning Command %d : timeout = %f\n", command_count, next_cmd->timeout_seconds);
     fflush(stdout);
 
 

From 26b77f3ff67e71b11154e547fa5aba06b49e67a7 Mon Sep 17 00:00:00 2001
From: cowsed <richie.sommers@outlook.com>
Date: Sat, 18 Feb 2023 00:26:57 -0500
Subject: [PATCH 166/243] take 2

---
 src/subsystems/flywheel.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/subsystems/flywheel.cpp b/src/subsystems/flywheel.cpp
index be44f1d..2c41114 100644
--- a/src/subsystems/flywheel.cpp
+++ b/src/subsystems/flywheel.cpp
@@ -22,7 +22,7 @@
 
 using namespace vex;
 
-const int FlywheelWindowSize = 10;
+const int FlywheelWindowSize = 1;
 
 /*********************************************************
 *         CONSTRUCTOR, GETTERS, SETTERS

From 4652c8ad3b376b63a39400bc4f629a4e036fbdc4 Mon Sep 17 00:00:00 2001
From: Ryan McGee <ramtech51@comcast.net>
Date: Fri, 17 Feb 2023 19:47:28 -0500
Subject: [PATCH 167/243] Fixed kS after trapezoid curve

---
 include/utils/feedforward.h     | 10 ++++++++--
 src/utils/motion_controller.cpp |  2 +-
 2 files changed, 9 insertions(+), 3 deletions(-)

diff --git a/include/utils/feedforward.h b/include/utils/feedforward.h
index 2592107..c6700e7 100644
--- a/include/utils/feedforward.h
+++ b/include/utils/feedforward.h
@@ -63,9 +63,15 @@ class FeedForward
      * @param a Requested acceleration of system
      * @return A feedforward that should closely represent the system if tuned correctly
      */
-    double calculate(double v, double a)
+    double calculate(double v, double a, double pid_ref=0.0)
     {
-        return (cfg.kS * (v > 0 ? 1 : v < 0 ? -1 : 0)) + (cfg.kV * v) + (cfg.kA * a) + cfg.kG;
+        double ks_sign = 0;
+        if(v != 0)
+            ks_sign = sign(v);
+        else if(pid_ref != 0)
+            ks_sign = sign(pid_ref);
+        
+        return (cfg.kS * ks_sign) + (cfg.kV * v) + (cfg.kA * a) + cfg.kG;
     }
 
     private:
diff --git a/src/utils/motion_controller.cpp b/src/utils/motion_controller.cpp
index 1b495e0..9d915ca 100644
--- a/src/utils/motion_controller.cpp
+++ b/src/utils/motion_controller.cpp
@@ -40,7 +40,7 @@ double MotionController::update(double sensor_val)
     pid.set_target(cur_motion.pos);
     pid.update(sensor_val);
 
-    out = pid.get() +  ff.calculate(cur_motion.vel, cur_motion.accel);
+    out = pid.get() +  ff.calculate(cur_motion.vel, cur_motion.accel, pid.get());
 
     if(lower_limit != upper_limit)
         out = clamp(out, lower_limit, upper_limit);

From 555fd532395ca40efabf3eefa36c94d444b2c343 Mon Sep 17 00:00:00 2001
From: Ryan McGee <ramtech51@comcast.net>
Date: Sat, 18 Feb 2023 00:26:03 -0500
Subject: [PATCH 168/243] Worked on tuning skills

---
 src/utils/command_structure/drive_commands.cpp | 5 +++++
 1 file changed, 5 insertions(+)

diff --git a/src/utils/command_structure/drive_commands.cpp b/src/utils/command_structure/drive_commands.cpp
index 833f9ee..6e8ea45 100644
--- a/src/utils/command_structure/drive_commands.cpp
+++ b/src/utils/command_structure/drive_commands.cpp
@@ -151,6 +151,11 @@ void TurnToHeadingCommand::on_timeout(){
 DriveStopCommand::DriveStopCommand(TankDrive &drive_sys):
   drive_sys(drive_sys) {}
 
+void DriveStopCommand::on_timeout()
+{
+  drive_sys.reset_auto();
+}
+
 /**
  * Stop the drive train
  * Overrides run from AutoCommand

From d9c1e982eaa6b3497ba1020e6034f447dbddbde9 Mon Sep 17 00:00:00 2001
From: Ryan McGee <ramtech51@comcast.net>
Date: Thu, 9 Feb 2023 21:02:57 -0500
Subject: [PATCH 169/243] Merge remote-tracking branch
 'refs/remotes/origin/main'

---
 src/subsystems/flywheel.cpp  | 4 ++--
 src/utils/moving_average.cpp | 2 +-
 2 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/src/subsystems/flywheel.cpp b/src/subsystems/flywheel.cpp
index f9c42a7..d3f0e4a 100644
--- a/src/subsystems/flywheel.cpp
+++ b/src/subsystems/flywheel.cpp
@@ -22,7 +22,7 @@
 
 using namespace vex;
 
-const int FlywheelWindowSize = 30;
+const int FlywheelWindowSize = 1;
 
 /*********************************************************
 *         CONSTRUCTOR, GETTERS, SETTERS
@@ -81,7 +81,7 @@ double Flywheel::measureRPM() {
   double rawRPM = ratio * motors.velocity(velocityUnits::rpm); 
   RPM_avger.add_entry(rawRPM);
   smoothedRPM = RPM_avger.get_average();
-  return smoothedRPM;
+  return rawRPM; //TODO Change back
 }
 
 double Flywheel::getRPM(){
diff --git a/src/utils/moving_average.cpp b/src/utils/moving_average.cpp
index d61695e..08cf344 100644
--- a/src/utils/moving_average.cpp
+++ b/src/utils/moving_average.cpp
@@ -48,7 +48,7 @@ MovingAverage::MovingAverage(int buffer_size, double starting_value) {
  * @param n  the sample that will be added to the moving average.
  */
 void MovingAverage::add_entry(double n){
-  current_avg -= buffer[buffer_index]/get_size();
+  current_avg -= buffer[buffer_index]/(double)get_size();
   current_avg += n/get_size();
   buffer[buffer_index] = n;
 

From bc1e236838a8a09c5f48d449b2e2936a372c1c04 Mon Sep 17 00:00:00 2001
From: cowsed <richie.sommers@outlook.com>
Date: Fri, 10 Feb 2023 21:31:37 -0500
Subject: [PATCH 170/243] Graph Drawer + No Comments

---
 include/utils/graph_drawer.h | 104 +++++++++++++++++++++++++++++++++++
 src/subsystems/flywheel.cpp  |   6 +-
 2 files changed, 108 insertions(+), 2 deletions(-)
 create mode 100644 include/utils/graph_drawer.h

diff --git a/include/utils/graph_drawer.h b/include/utils/graph_drawer.h
new file mode 100644
index 0000000..8e672f6
--- /dev/null
+++ b/include/utils/graph_drawer.h
@@ -0,0 +1,104 @@
+#pragma once
+
+#include <string>
+#include <stdio.h>
+#include "vex.h"
+
+class GraphDrawer
+{
+public:
+  GraphDrawer(vex::brain::lcd &screen, int num_samples, std::string x_label, std::string y_label, vex::color col, bool draw_border, double lower_bound, double upper_bound) : Screen(screen), sample_index(0), xlabel(x_label), ylabel(y_label), col(col), border(draw_border), upper(upper_bound), lower(lower_bound)
+  {
+    std::vector<Vector2D::point_t> temp(num_samples, Vector2D::point_t{.x = 0.0, .y = 0.0});
+    samples = temp;
+  }
+  void add_sample(Vector2D::point_t sample)
+  {
+    samples[sample_index] = sample;
+    sample_index++;
+    sample_index %= samples.size();
+  }
+  void draw(int x, int y, int width, int height)
+  {
+    if (samples.size() < 1)
+    {
+      return;
+    }
+
+    double current_min = samples[0].y;
+    double current_max = samples[0].y;
+    double earliest_time = samples[0].x;
+    double latest_time = samples[0].x;
+    // collect data
+    for (int i = 0; i < samples.size(); i++)
+    {
+      Vector2D::point_t p = samples[i];
+      if (p.x < earliest_time)
+      {
+        earliest_time = p.x;
+      }
+      else if (p.x > latest_time)
+      {
+        latest_time = p.x;
+      }
+
+      if (p.y < current_min)
+      {
+        current_min = p.y;
+      }
+      else if (p.y > current_max)
+      {
+        current_max = p.y;
+      }
+    }
+    if (fabs(latest_time - earliest_time) < 0.001)
+    {
+      Screen.printAt(width / 2, height / 2, "Not enough Data");
+      return;
+    }
+    if (upper != lower)
+    {
+      current_min = lower;
+      current_max = upper;
+    }
+
+    if (border)
+    {
+      Screen.setPenWidth(1);
+      Screen.setPenColor(vex::white);
+      Screen.setFillColor(bgcol);
+      Screen.drawRectangle(x, y, width, height);
+    }
+
+    double time_range = latest_time - earliest_time;
+    double sample_range = current_max - current_min;
+    double x_s = (double)x;
+    double y_s = (double)y + (double)height;
+    Screen.setPenWidth(4);
+    Screen.setPenColor(col);
+    for (int i = sample_index; i < samples.size() + sample_index - 1; i++)
+    {
+      Vector2D::point_t p = samples[i % samples.size()];
+      double x_pos = x_s + ((p.x - earliest_time) / time_range) * (double)width;
+      double y_pos = y_s + ((p.y - current_min) / sample_range) * (double)(-height);
+
+      Vector2D::point_t p2 = samples[(i + 1) % samples.size()];
+      double x_pos2 = x_s + ((p2.x - earliest_time) / time_range) * (double)width;
+      double y_pos2 = y_s + ((p2.y - current_min) / sample_range) * (double)(-height);
+
+      Screen.drawLine((int)x_pos, (int)y_pos, (int)x_pos2, (int)y_pos2);
+    }
+  }
+
+private:
+  vex::brain::lcd &Screen;
+  std::vector<Vector2D::point_t> samples;
+  int sample_index = 0;
+  std::string xlabel;
+  std::string ylabel;
+  vex::color col = vex::red;
+  vex::color bgcol = vex::transparent;
+  bool border;
+  double upper;
+  double lower;
+};
diff --git a/src/subsystems/flywheel.cpp b/src/subsystems/flywheel.cpp
index d3f0e4a..be44f1d 100644
--- a/src/subsystems/flywheel.cpp
+++ b/src/subsystems/flywheel.cpp
@@ -22,7 +22,7 @@
 
 using namespace vex;
 
-const int FlywheelWindowSize = 1;
+const int FlywheelWindowSize = 10;
 
 /*********************************************************
 *         CONSTRUCTOR, GETTERS, SETTERS
@@ -81,7 +81,7 @@ double Flywheel::measureRPM() {
   double rawRPM = ratio * motors.velocity(velocityUnits::rpm); 
   RPM_avger.add_entry(rawRPM);
   smoothedRPM = RPM_avger.get_average();
-  return rawRPM; //TODO Change back
+  return smoothedRPM; //TODO Change back
 }
 
 double Flywheel::getRPM(){
@@ -291,6 +291,8 @@ void Flywheel::spinRPM(int inputRPM) {
 void Flywheel::stop() {
   rpmTask.stop();
   taskRunning = false;
+  RPM = 0.0;
+  smoothedRPM = 0.0;
   motors.stop();
 }
 

From 89ed8078b10ec62928003f477256271edec99e65 Mon Sep 17 00:00:00 2001
From: cowsed <richie.sommers@outlook.com>
Date: Fri, 10 Feb 2023 23:58:04 -0500
Subject: [PATCH 171/243] =?UTF-8?q?tuning=20auto=20tuning=20function/=20gi?=
 =?UTF-8?q?ves=20you=20control=20over=20the=20pid=20config=20as=20you=20ru?=
 =?UTF-8?q?n=20the=20autos=20something=20like=20whlie=20true{=20=20=20=20?=
 =?UTF-8?q?=20=20tune=5Fsomething();=20=20=20=20=20tune=5Fgeneric=5Fpid(fe?=
 =?UTF-8?q?edback=20that=20controls=20something);=20=20=20=20=20delay(20?=
 =?UTF-8?q?=20or=20so);=20}=20this=20features=20unsafe(kinda=20safe)=20cas?=
 =?UTF-8?q?ts,=20function=20pointers,=20AND=20ternaries=20=E2=98=BA?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 include/utils/feedback_base.h | 27 +++++++++++++++++++--------
 include/utils/graph_drawer.h  |  2 ++
 include/utils/pid.h           |  5 ++++-
 include/utils/pidff.h         |  4 +++-
 src/utils/pid.cpp             |  4 ++++
 5 files changed, 32 insertions(+), 10 deletions(-)

diff --git a/include/utils/feedback_base.h b/include/utils/feedback_base.h
index a716f53..19d45a9 100644
--- a/include/utils/feedback_base.h
+++ b/include/utils/feedback_base.h
@@ -2,18 +2,24 @@
 
 /**
  * Interface so that subsystems can easily switch between feedback loops
- * 
+ *
  * @author Ryan McGee
  * @date 9/25/2022
- * 
+ *
  */
-class Feedback 
+class Feedback
 {
-    public:
+public:
+    enum FeedbackType
+    {
+        PIDType,
+        FeedforwardType,
+        OtherType,
+    };
 
     /**
      * Initialize the feedback controller for a movement
-     * 
+     *
      * @param start_pt the current sensor value
      * @param set_pt where the sensor value should be
      */
@@ -21,7 +27,7 @@ class Feedback
 
     /**
      * Iterate the feedback loop once with an updated sensor value
-     * 
+     *
      * @param val value from the sensor
      * @return feedback loop result
      */
@@ -34,14 +40,19 @@ class Feedback
 
     /**
      * Clamp the upper and lower limits of the output. If both are 0, no limits should be applied.
-     * 
+     *
      * @param lower Upper limit
      * @param upper Lower limit
      */
     virtual void set_limits(double lower, double upper) = 0;
 
-    /** 
+    /**
      * @return true if the feedback controller has reached it's setpoint
      */
     virtual bool is_on_target() = 0;
+
+    virtual Feedback::FeedbackType get_type()
+    {
+        return FeedbackType::OtherType;
+    }
 };
\ No newline at end of file
diff --git a/include/utils/graph_drawer.h b/include/utils/graph_drawer.h
index 8e672f6..d113f3c 100644
--- a/include/utils/graph_drawer.h
+++ b/include/utils/graph_drawer.h
@@ -2,7 +2,9 @@
 
 #include <string>
 #include <stdio.h>
+#include <vector>
 #include "vex.h"
+#include "../core/include/utils/vector2d.h"
 
 class GraphDrawer
 {
diff --git a/include/utils/pid.h b/include/utils/pid.h
index b349131..4ff41e3 100644
--- a/include/utils/pid.h
+++ b/include/utils/pid.h
@@ -117,9 +117,12 @@ class PID : public Feedback
    */
   void set_target(double target);
 
-private:
+  Feedback::FeedbackType get_type() override;
+
   pid_config_t &config; ///< configuration struct for this controller. see pid_config_t for information about what this contains
 
+private:
+
 
   double last_error = 0;  ///< the error measured on the last iteration of update()
   double accum_error = 0; ///< the integral of error over time since we called init()
diff --git a/include/utils/pidff.h b/include/utils/pidff.h
index 43c0498..a09c6d3 100644
--- a/include/utils/pidff.h
+++ b/include/utils/pidff.h
@@ -60,11 +60,13 @@ class PIDFF : public Feedback
      */
     bool is_on_target() override;
 
+    PID pid;
+
+
     private:
 
     FeedForward::ff_config_t &ff_cfg;
 
-    PID pid;
     FeedForward ff;
 
     double out;
diff --git a/src/utils/pid.cpp b/src/utils/pid.cpp
index cdd4933..ae35cd5 100644
--- a/src/utils/pid.cpp
+++ b/src/utils/pid.cpp
@@ -141,4 +141,8 @@ bool PID::is_on_target()
   }
 
   return false;
+}
+
+Feedback::FeedbackType PID::get_type(){
+    return Feedback::FeedbackType::PIDType;
 }
\ No newline at end of file

From 909fdf21663fbf2993679c43943fcaaa15f4f3ae Mon Sep 17 00:00:00 2001
From: cowsed <richie.sommers@outlook.com>
Date: Thu, 16 Feb 2023 23:14:46 -0500
Subject: [PATCH 172/243] Fixed Comments that triggered -Wdocumentation

---
 include/subsystems/flywheel.h                 |  2 +-
 include/utils/graph_drawer.h                  | 23 +++++++++++++++++++
 .../command_structure/drive_commands.cpp      |  2 +-
 3 files changed, 25 insertions(+), 2 deletions(-)

diff --git a/include/subsystems/flywheel.h b/include/subsystems/flywheel.h
index 3f0202a..199cf3e 100644
--- a/include/subsystems/flywheel.h
+++ b/include/subsystems/flywheel.h
@@ -147,7 +147,7 @@ class Flywheel{
   /**
   * starts or sets the RPM thread at new value
   * what control scheme is dependent on control_style
-  * @param inputRPM - set the current RPM
+  * @param rpm - the RPM we want to spin at
   */
   void spinRPM(int rpm);
 
diff --git a/include/utils/graph_drawer.h b/include/utils/graph_drawer.h
index d113f3c..f4f3f97 100644
--- a/include/utils/graph_drawer.h
+++ b/include/utils/graph_drawer.h
@@ -9,17 +9,40 @@
 class GraphDrawer
 {
 public:
+/**
+ * Construct a GraphDrawer
+ * @brief a helper class to graph values on the brain screen
+ * @param screen a reference to Brain.screen we can save for later
+ * @param num_samples the graph works on a fixed window and will plot the last `num_samples` before the history is forgotten. Larger values give more context but may slow down if you have many graphs or an exceptionally high 
+ * @param x_label the name of the x axis (currently unused)
+ * @param y_label the name of the y axis (currently unused)
+ * @param draw_border whether to draw the border around the graph. can be turned off if there are multiple graphs in the same space ie. a graph of error and output
+ * @param lower_bound the bottom of the window to graph. if lower_bound == upperbound, the graph will scale to it's datapoints  
+ * @param upper_bound the top of the window to graph. if lower_bound == upperbound, the graph will scale to it's datapoints  
+*/
   GraphDrawer(vex::brain::lcd &screen, int num_samples, std::string x_label, std::string y_label, vex::color col, bool draw_border, double lower_bound, double upper_bound) : Screen(screen), sample_index(0), xlabel(x_label), ylabel(y_label), col(col), border(draw_border), upper(upper_bound), lower(lower_bound)
   {
     std::vector<Vector2D::point_t> temp(num_samples, Vector2D::point_t{.x = 0.0, .y = 0.0});
     samples = temp;
   }
+
+  /**
+   * add_sample adds a point to the graph, removing one from the back
+   * @param sample an x, y coordinate of the next point to graph
+  */
   void add_sample(Vector2D::point_t sample)
   {
     samples[sample_index] = sample;
     sample_index++;
     sample_index %= samples.size();
   }
+  /**
+   * draws the graph to the screen in the constructor
+   * @param x x position of the top left of the graphed region
+   * @param y y position of the top left of the graphed region
+   * @param width the width of the graphed region
+   * @param height the height of the graphed region
+  */
   void draw(int x, int y, int width, int height)
   {
     if (samples.size() < 1)
diff --git a/src/utils/command_structure/drive_commands.cpp b/src/utils/command_structure/drive_commands.cpp
index 3e1dc37..833f9ee 100644
--- a/src/utils/command_structure/drive_commands.cpp
+++ b/src/utils/command_structure/drive_commands.cpp
@@ -93,7 +93,7 @@ DriveToPointCommand::DriveToPointCommand(TankDrive &drive_sys, Feedback &feedbac
  * Construct a DriveForward Command
  * @param drive_sys the drive system we are commanding
  * @param feedback the feedback controller we are using to execute the drive
- * @param y the point to drive to
+ * @param point the point to drive to
  * @param dir the direction to drive
  * @param max_speed 0 -> 1 percentage of the drive systems speed to drive at
  */

From 8d08d3b5d73d5dd3cf3e211e3f3f9724801b2ad3 Mon Sep 17 00:00:00 2001
From: cowsed <richie.sommers@outlook.com>
Date: Thu, 16 Feb 2023 20:00:27 -0500
Subject: [PATCH 173/243] withTImeout for initializer list auto path declaring
 also added disks to auto path

---
 include/intense_milk.h                             | 4 ++++
 include/utils/command_structure/auto_command.h     | 4 ++++
 src/utils/command_structure/command_controller.cpp | 2 +-
 3 files changed, 9 insertions(+), 1 deletion(-)
 create mode 100644 include/intense_milk.h

diff --git a/include/intense_milk.h b/include/intense_milk.h
new file mode 100644
index 0000000..3b9e4f9
--- /dev/null
+++ b/include/intense_milk.h
@@ -0,0 +1,4 @@
+#include <stdio.h>
+int intense_milk_width = 426;
+int intense_milk_height = 244
+;uint32_t intense_milk[103944] = {0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00141212, 0x00221e1f, 0x001e1a1b, 0x00191617, 0x00151313, 0x0011ff, 0x00cbb, 0x00877, 0x00433, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 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0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000};
\ No newline at end of file
diff --git a/include/utils/command_structure/auto_command.h b/include/utils/command_structure/auto_command.h
index 008f31e..532fcbe 100644
--- a/include/utils/command_structure/auto_command.h
+++ b/include/utils/command_structure/auto_command.h
@@ -20,6 +20,10 @@ class AutoCommand {
      * What to do if we timeout instead of finishing. timeout is specified by the timeout seconds in the constructor
     */
     virtual void on_timeout(){}
+    AutoCommand* withTimeout(double t_seconds){
+      timeout_seconds = t_seconds;
+      return this;
+    }
     /** 
      * How long to run until we cancel this command. 
      * If the command is cancelled, on_timeout() is called to allow any cleanup from the function. 
diff --git a/src/utils/command_structure/command_controller.cpp b/src/utils/command_structure/command_controller.cpp
index 557c2f9..14be25e 100644
--- a/src/utils/command_structure/command_controller.cpp
+++ b/src/utils/command_structure/command_controller.cpp
@@ -57,7 +57,7 @@ void CommandController::run() {
     command_queue.pop();
     command_timed_out = false;
 
-    printf("Beginning Command %d\n", command_count);
+    printf("Beginning Command %d : timeout = %f\n", command_count, next_cmd->timeout_seconds);
     fflush(stdout);
 
 

From 55252051243d23ae1c6f0091a0a523663cf50f06 Mon Sep 17 00:00:00 2001
From: cowsed <richie.sommers@outlook.com>
Date: Sat, 18 Feb 2023 00:26:57 -0500
Subject: [PATCH 174/243] take 2

---
 src/subsystems/flywheel.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/subsystems/flywheel.cpp b/src/subsystems/flywheel.cpp
index be44f1d..2c41114 100644
--- a/src/subsystems/flywheel.cpp
+++ b/src/subsystems/flywheel.cpp
@@ -22,7 +22,7 @@
 
 using namespace vex;
 
-const int FlywheelWindowSize = 10;
+const int FlywheelWindowSize = 1;
 
 /*********************************************************
 *         CONSTRUCTOR, GETTERS, SETTERS

From 7e38802396c2397064828637d0dfd0a26fe825a3 Mon Sep 17 00:00:00 2001
From: Ryan McGee <ramtech51@comcast.net>
Date: Fri, 17 Feb 2023 19:47:28 -0500
Subject: [PATCH 175/243] Fixed kS after trapezoid curve

---
 include/utils/feedforward.h     | 10 ++++++++--
 src/utils/motion_controller.cpp |  2 +-
 2 files changed, 9 insertions(+), 3 deletions(-)

diff --git a/include/utils/feedforward.h b/include/utils/feedforward.h
index 2592107..c6700e7 100644
--- a/include/utils/feedforward.h
+++ b/include/utils/feedforward.h
@@ -63,9 +63,15 @@ class FeedForward
      * @param a Requested acceleration of system
      * @return A feedforward that should closely represent the system if tuned correctly
      */
-    double calculate(double v, double a)
+    double calculate(double v, double a, double pid_ref=0.0)
     {
-        return (cfg.kS * (v > 0 ? 1 : v < 0 ? -1 : 0)) + (cfg.kV * v) + (cfg.kA * a) + cfg.kG;
+        double ks_sign = 0;
+        if(v != 0)
+            ks_sign = sign(v);
+        else if(pid_ref != 0)
+            ks_sign = sign(pid_ref);
+        
+        return (cfg.kS * ks_sign) + (cfg.kV * v) + (cfg.kA * a) + cfg.kG;
     }
 
     private:
diff --git a/src/utils/motion_controller.cpp b/src/utils/motion_controller.cpp
index 1b495e0..9d915ca 100644
--- a/src/utils/motion_controller.cpp
+++ b/src/utils/motion_controller.cpp
@@ -40,7 +40,7 @@ double MotionController::update(double sensor_val)
     pid.set_target(cur_motion.pos);
     pid.update(sensor_val);
 
-    out = pid.get() +  ff.calculate(cur_motion.vel, cur_motion.accel);
+    out = pid.get() +  ff.calculate(cur_motion.vel, cur_motion.accel, pid.get());
 
     if(lower_limit != upper_limit)
         out = clamp(out, lower_limit, upper_limit);

From 43e2140add116c52947b858a23ddf971fae43f5c Mon Sep 17 00:00:00 2001
From: cowsed <richie.sommers@outlook.com>
Date: Sat, 18 Feb 2023 13:08:54 -0500
Subject: [PATCH 176/243] =?UTF-8?q?RIT=20VEX=20YOU=20COMP=20(=E2=95=AF?=
 =?UTF-8?q?=C2=B0=E2=96=A1=C2=B0)=E2=95=AF=EF=B8=B5=20=E2=94=BB=E2=94=81?=
 =?UTF-8?q?=E2=94=BB?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 include/intense_milk.h | 9 +++++----
 1 file changed, 5 insertions(+), 4 deletions(-)

diff --git a/include/intense_milk.h b/include/intense_milk.h
index 3b9e4f9..0fa910b 100644
--- a/include/intense_milk.h
+++ b/include/intense_milk.h
@@ -1,4 +1,5 @@
-#include <stdio.h>
-int intense_milk_width = 426;
-int intense_milk_height = 244
-;uint32_t intense_milk[103944] = {0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00141212, 0x00221e1f, 0x001e1a1b, 0x00191617, 0x00151313, 0x0011ff, 0x00cbb, 0x00877, 0x00433, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 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0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000};
\ No newline at end of file
+#include <stdint.h>
+// file: flynn.png
+int intense_milk_width = 430;
+int intense_milk_height = 244;
+uint32_t intense_milk[104920] = {0x000a1118, 0x000b1219, 0x000b1219, 0x000c131c, 0x000c141d, 0x000c141e, 0x000c141e, 0x000c141e, 0x000c141e, 0x000c141e, 0x000c141e, 0x000c141e, 0x000b151e, 0x000b151e, 0x000b151e, 0x000b151e, 0x000b151e, 0x000b151e, 0x000b141d, 0x000b131c, 0x000b131c, 0x000a121b, 0x000a121b, 0x00081119, 0x00081018, 0x00081018, 0x00081018, 0x00081018, 0x00081018, 0x00081118, 0x00081118, 0x00081018, 0x00081018, 0x0009101a, 0x0009101a, 0x0009101a, 0x000a111b, 0x000a121b, 0x000a121b, 0x000a121b, 0x000a121b, 0x000c141d, 0x000c141e, 0x000c141e, 0x000c141e, 0x000c141e, 0x000c161f, 0x000c161f, 0x000e1823, 0x000d1824, 0x000d1925, 0x000d1925, 0x000e1a26, 0x00101926, 0x00131b25, 0x00151d27, 0x00151e27, 0x00131b24, 0x00111a23, 0x00141c25, 0x0018202a, 0x001a242d, 0x001e2830, 0x001c2830, 0x0019252e, 0x0019252e, 0x0019252f, 0x0017212c, 0x00161f2a, 0x00182029, 0x00151d26, 0x00131c24, 0x00121a21, 0x0010171f, 0x000d151c, 0x000d151c, 0x00121a20, 0x00182027, 0x001c242c, 0x00212931, 0x00232c34, 0x00212b34, 0x00202a33, 0x00202a33, 0x00222a34, 0x00222a34, 0x00232b34, 0x00262c36, 0x00282f38, 0x00293039, 0x00282e37, 0x00272d37, 0x00272d37, 0x00272d37, 0x00262c36, 0x00252c35, 0x00252c35, 0x00252c35, 0x00252c35, 0x00252c35, 0x00252c34, 0x00262c34, 0x00262d35, 0x00272d36, 0x00282e37, 0x00282f38, 0x002a303a, 0x002b313b, 0x002b313c, 0x002b313d, 0x002c333e, 0x002e3440, 0x002f3440, 0x002e3440, 0x002d333f, 0x002d333f, 0x002d333f, 0x002d333f, 0x002d333f, 0x002e3440, 0x002f3440, 0x002f3541, 0x00303540, 0x002f3540, 0x002f3540, 0x002f3540, 0x00303641, 0x00303742, 0x00303641, 0x002f3540, 0x002f353f, 0x002e343e, 0x002e343d, 0x0030343f, 0x00313640, 0x00333741, 0x00333741, 0x00333742, 0x00333743, 0x00333743, 0x00333743, 0x00313742, 0x00303642, 0x00303541, 0x00303541, 0x00313640, 0x00313640, 0x00313640, 0x00313642, 0x00303541, 0x002e3440, 0x002f3440, 0x00303541, 0x00303742, 0x00333843, 0x00333843, 0x00333843, 0x00323742, 0x00323742, 0x00323642, 0x00313642, 0x00303744, 0x00303744, 0x00313844, 0x00303744, 0x00303744, 0x00303742, 0x00303641, 0x00313541, 0x00303541, 0x002f3440, 0x002f3440, 0x002e3440, 0x00303441, 0x00313542, 0x00313541, 0x002f343f, 0x002c323c, 0x002c323c, 0x002d333c, 0x002d333c, 0x002d323c, 0x002d323c, 0x002c303b, 0x002b303a, 0x002b303a, 0x002b3039, 0x00292e38, 0x00282d37, 0x00282c36, 0x00282c36, 0x00282c36, 0x00282c36, 0x00282c36, 0x00282c36, 0x00272c35, 0x00262a34, 0x00262a34, 0x00262a34, 0x00262a34, 0x00252934, 0x00242934, 0x00242832, 0x00232831, 0x00232831, 0x00222830, 0x0021282f, 0x0022282f, 0x00232930, 0x00232832, 0x00222730, 0x00212630, 0x00212630, 0x00222730, 0x00232831, 0x00222831, 0x00212831, 0x00222831, 0x00222831, 0x00212831, 0x00202630, 0x001f242e, 0x001e242d, 0x001d232c, 0x001d232c, 0x001c232c, 0x001c222b, 0x00181f26, 0x00141b23, 0x0010171f, 0x000f151d, 0x0010161e, 0x00121820, 0x00141921, 0x00141b23, 0x00181d24, 0x001a2028, 0x001a2028, 0x00191e27, 0x00141924, 0x00121822, 0x00141a24, 0x00161c26, 0x00181f28, 0x00192029, 0x0019212c, 0x001a2430, 0x001c2733, 0x001e2834, 0x00202a36, 0x00202b37, 0x00202b34, 0x00202b34, 0x00202a34, 0x001e2831, 0x001a2430, 0x00182430, 0x00182632, 0x001c2834, 0x001c2a35, 0x001d2a35, 0x001e2a36, 0x001e2a36, 0x001d2935, 0x001a2531, 0x0014202c, 0x00152330, 0x001a2835, 0x001d2b38, 0x00202e3a, 0x0022303d, 0x00253340, 0x00253240, 0x00202d3a, 0x00182532, 0x0013202c, 0x00101d28, 0x000f1c26, 0x000c1823, 0x000a141e, 0x000a111c, 0x000c1019, 0x000b1017, 0x000b1016, 0x000b1016, 0x000b1016, 0x000b1017, 0x000b1017, 0x000b1016, 0x000b1016, 0x000b1016, 0x00081018, 0x00081118, 0x00081118, 0x00081118, 0x00091018, 0x00091018, 0x00091018, 0x00091018, 0x00091018, 0x00091018, 0x00091018, 0x000a1018, 0x000a1018, 0x000a1018, 0x000a1018, 0x000a101a, 0x000a101a, 0x000a101a, 0x000a101a, 0x000a101a, 0x000a101a, 0x000a101a, 0x000a101a, 0x000a101a, 0x000a101a, 0x00080f18, 0x00080e18, 0x00080e18, 0x00080e18, 0x00080e18, 0x000b1923, 0x000c1b24, 0x000c1b24, 0x000c1b24, 0x000c1b24, 0x000c1b24, 0x000c1b24, 0x000c1b24, 0x000c1b24, 0x000c1b24, 0x000c1b24, 0x000c1b24, 0x000c1b24, 0x000c1b24, 0x000c1b24, 0x000c1b24, 0x000c1b24, 0x000c1b24, 0x000c1b24, 0x000c1b24, 0x000c1b24, 0x000c1b24, 0x000c1b24, 0x000c1b24, 0x000c1b24, 0x000c1b24, 0x000c1b24, 0x000c1b24, 0x000c1b24, 0x000c1b24, 0x000c1b24, 0x000c1b24, 0x000c1b24, 0x000c1b24, 0x000c1b24, 0x000c1b24, 0x000c1b24, 0x000c1b24, 0x000c1b24, 0x000c1b24, 0x000c1b24, 0x000c1b24, 0x000c1b24, 0x000c1b24, 0x000c1b24, 0x000c1b24, 0x000c1b24, 0x000c1b24, 0x000c1b24, 0x000c1b24, 0x000c1b24, 0x000c1b24, 0x000c1b24, 0x000c1b24, 0x000c1b24, 0x000c1b24, 0x000c1b24, 0x000c1b24, 0x000c1b24, 0x000c1b24, 0x000c1b24, 0x000c1b24, 0x000c1b24, 0x000c1b24, 0x000c1b24, 0x000c1b24, 0x000c1b24, 0x000c1b24, 0x000c1b24, 0x000c1b24, 0x000c1b24, 0x000c1b24, 0x000c1b24, 0x000c1b24, 0x000c1b24, 0x000c1b24, 0x000c1b24, 0x000c1b24, 0x000c1b24, 0x000c1b24, 0x000c1b24, 0x000c1b24, 0x000c1b24, 0x000c1b24, 0x000c1b24, 0x000c1b24, 0x000c1b24, 0x000c1b24, 0x000c1b24, 0x000c1b24, 0x000c1b24, 0x000c1b24, 0x000c1b24, 0x000c1b24, 0x000c1b24, 0x000c1b24, 0x000c1b24, 0x000c1b24, 0x000c1b24, 0x000c1b24, 0x000c1b24, 0x000c1b24, 0x000c1b24, 0x000c1b24, 0x000c1b24, 0x000c1b24, 0x000c1b24, 0x000c1b24, 0x000c1b24, 0x000a121b, 0x000b131b, 0x000b131c, 0x000c141c, 0x000c141d, 0x000c141d, 0x000c141d, 0x000c141d, 0x000c141d, 0x000c141e, 0x000c141e, 0x000c141e, 0x000b151e, 0x000b151e, 0x000b151e, 0x000b151e, 0x000b151e, 0x000b151e, 0x000b141c, 0x000b131c, 0x000b131b, 0x000a1219, 0x000a1219, 0x0009121a, 0x000a121b, 0x0009111a, 0x0008111a, 0x0008111a, 0x0009121b, 0x000a121b, 0x000a121b, 0x0009111a, 0x0009111a, 0x0009111a, 0x000a121b, 0x000a121b, 0x000b131d, 0x000c131d, 0x000b131d, 0x000b131d, 0x000b131d, 0x000b141d, 0x000b151e, 0x000b151e, 0x000a151e, 0x000a161e, 0x000a161f, 0x000b171f, 0x000c1820, 0x000c1821, 0x000e1a24, 0x00101c28, 0x00111c28, 0x00121c28, 0x00121b24, 0x00141c25, 0x00151d26, 0x00141c25, 0x00131c24, 0x00151d26, 0x0018202a, 0x001b252e, 0x001f2831, 0x001b272f, 0x0018242e, 0x0019252f, 0x0017232c, 0x00141f29, 0x0016202a, 0x00172028, 0x00141d25, 0x00131c24, 0x00101922, 0x00101821, 0x00101a20, 0x00111b22, 0x00152026, 0x0018222a, 0x001b252d, 0x001e2730, 0x00202933, 0x00202b34, 0x001f2b34, 0x00202c35, 0x00222c36, 0x00232b35, 0x00232b35, 0x00252c38, 0x00282e3a, 0x00292f39, 0x00282f38, 0x00272d37, 0x00272d37, 0x00272d37, 0x00272d37, 0x00262c36, 0x00262c36, 0x00262d36, 0x00262c36, 0x00262c36, 0x00272d36, 0x00272e36, 0x00272e35, 0x00282e36, 0x00282f38, 0x00293038, 0x002a303a, 0x002c323c, 0x002c333d, 0x002c333e, 0x002e3440, 0x00303541, 0x002f3541, 0x002f3440, 0x002f3540, 0x002f3540, 0x002f3541, 0x002f3440, 0x00303541, 0x00303743, 0x00313843, 0x00313843, 0x00313843, 0x00323844, 0x00323844, 0x00313843, 0x00313843, 0x00313843, 0x00303743, 0x00303742, 0x00303641, 0x00303641, 0x00303740, 0x00323841, 0x00343842, 0x00343842, 0x00343842, 0x00343843, 0x00343844, 0x00343844, 0x00343844, 0x00313843, 0x00313742, 0x00333743, 0x00333844, 0x00313843, 0x00313842, 0x00313841, 0x00313842, 0x00303742, 0x00303742, 0x00303641, 0x00303742, 0x00313843, 0x00343844, 0x00343944, 0x00343944, 0x00343944, 0x00343944, 0x00343944, 0x00343944, 0x00313844, 0x00313844, 0x00313843, 0x00313843, 0x00303742, 0x00303742, 0x002f3641, 0x00303541, 0x00303641, 0x00303641, 0x002f3440, 0x00303540, 0x00313541, 0x00313542, 0x00303540, 0x002d343d, 0x002c333c, 0x002c333c, 0x002c333c, 0x002d333d, 0x002e333e, 0x002e333e, 0x002c303b, 0x002a2f39, 0x00292f38, 0x002a2f39, 0x00292e38, 0x00292e38, 0x00282d37, 0x00282c36, 0x00282c36, 0x00282d37, 0x00282d37, 0x00282c36, 0x00262b35, 0x00252a34, 0x00262a34, 0x00262a34, 0x00252934, 0x00272a34, 0x00272a34, 0x00252a34, 0x00242833, 0x00242832, 0x00232832, 0x00242a33, 0x00242a33, 0x00242b34, 0x00242a34, 0x00242933, 0x00222832, 0x00212731, 0x00212831, 0x00212831, 0x00212831, 0x00222831, 0x00242a33, 0x00242a33, 0x00222832, 0x00202730, 0x001f242e, 0x001e242e, 0x001e242e, 0x001e242e, 0x001d242c, 0x001c222c, 0x00192029, 0x00161d25, 0x00131921, 0x000f151d, 0x000f161d, 0x0010181f, 0x00121820, 0x00131923, 0x00171d25, 0x001c242b, 0x001b232a, 0x00181f28, 0x00151c25, 0x00141b24, 0x00141c25, 0x00161d27, 0x00181f28, 0x0018202a, 0x0019222c, 0x0018242e, 0x001a2630, 0x001c2834, 0x001e2a36, 0x001f2b38, 0x001f2b37, 0x001f2a36, 0x001f2834, 0x001d2833, 0x001a2430, 0x00141f29, 0x00131e28, 0x0018232c, 0x001c2731, 0x001c2731, 0x001c2832, 0x001d2832, 0x001d2935, 0x001c2834, 0x001a2531, 0x00182833, 0x001b2b35, 0x001c2c37, 0x001e2d38, 0x0022313c, 0x00253440, 0x0024343f, 0x001e2d38, 0x00162631, 0x0011202c, 0x000f1e27, 0x000d1a23, 0x000b161f, 0x000a131c, 0x000a101b, 0x000b1018, 0x000a1018, 0x00091018, 0x00091018, 0x00091018, 0x00091018, 0x00091018, 0x00091018, 0x00091018, 0x00091018, 0x00081018, 0x00081018, 0x00081018, 0x00081018, 0x00081018, 0x00091019, 0x00091019, 0x000a1019, 0x000b101a, 0x000a101a, 0x00081018, 0x00081018, 0x00081018, 0x00081018, 0x00081018, 0x00091018, 0x00091018, 0x00091018, 0x00091018, 0x00091018, 0x000a1019, 0x000a101a, 0x000a101a, 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0x00010102, 0x00010102, 0x00010102, 0x00010103, 0x00010102, 0x00000102, 0x00000102, 0x00000102, 0x00000102, 0x00010103, 0x00010102, 0x00010102, 0x00010102, 0x00010102, 0x00010204, 0x00010204, 0x00010204, 0x00010204, 0x00010204, 0x00010204, 0x00000204, 0x00000204, 0x00000204, 0x00000204, 0x00000204, 0x00000204, 0x00000204, 0x00000204, 0x00000204, 0x00000204, 0x00000204, 0x00000204, 0x00000204, 0x00000204, 0x00000204, 0x00000204, 0x00000204, 0x00000204, 0x00000204, 0x00000204, 0x00000204, 0x00000204, 0x00000204, 0x00000204, 0x00010304, 0x00010304, 0x00010304, 0x00000204, 0x00000204, 0x00010304, 0x00030304, 0x00030405, 0x00030609, 0x00080d15, 0x0018242e, 0x001f2d3a, 0x0020303c, 0x0020303f, 0x0020303f, 0x0021303f, 0x00202e3c, 0x00202c3a, 0x001f2b38, 0x001f2836, 0x001d2834, 0x001c2733, 0x00192430, 0x0018222d, 0x0018212c, 0x0017202c, 0x00171f2a, 0x00151d28, 0x00131c27, 0x00121b26, 0x00121a25, 0x00111924, 0x00111824, 0x00121823, 0x00111721, 0x0010151f, 0x000d131b, 0x000b1118, 0x000a1015, 0x00080d11, 0x00060c10, 0x00060b10, 0x00050a0f, 0x00050a0f, 0x0006090e, 0x0007090f, 0x0008080d, 0x0007080c, 0x0005070a, 0x00040609, 0x00030408, 0x00030409, 0x00030409, 0x00030409, 0x00030408, 0x00030408, 0x00040508, 0x00040608, 0x00040609, 0x00040609, 0x00040609, 0x0005070a, 0x0005070a, 0x0006080b, 0x0007080c, 0x0008080c, 0x0007090c, 0x00050a0d, 0x00050a0d, 0x00050a0d, 0x00060a0d, 0x0006090c, 0x0006090c, 0x0006090c, 0x00080c10, 0x000d1014, 0x00101318, 0x0013151a, 0x0015181e, 0x00181c21, 0x001b1e25, 0x001c2028, 0x001e222b, 0x0020242c, 0x0021272f, 0x00232830, 0x00242931, 0x00252a32, 0x00262b34, 0x00282c34, 0x00282d34, 0x00292e36, 0x00292e36, 0x00292e36, 0x00282e38, 0x00282f38, 0x00293038, 0x002a3038, 0x002b3039, 0x002c323b, 0x002c333c, 0x002d333c, 0x002e343d, 0x002f343f, 0x00303540, 0x00303640, 0x00303640, 0x00303640, 0x00303640, 0x00303640, 0x00303740, 0x00303641, 0x00303640, 0x00303540, 0x00303640, 0x002f353f, 0x002d343d, 0x002c333c, 0x002c333c, 0x002c333c, 0x002e333c, 0x002e333c, 0x002d323b, 0x002c3138, 0x002b3038, 0x002b3037, 0x00292e36, 0x002a2d35, 0x00292c34, 0x00272b33, 0x00252a32, 0x00242931, 0x00252830, 0x0025282f, 0x0024282e, 0x0023262c, 0x0020242b, 0x001f2229, 0x001d2028, 0x001b1e26, 0x001a1d24, 0x00181b22, 0x0017181e, 0x0014141a, 0x00101116, 0x000c0d12, 0x000a0c10, 0x00080b0e, 0x00070a0e, 0x00070a0e, 0x00070a0d, 0x00070a0d, 0x00070a0f, 0x00070a0f, 0x0006090e, 0x0005090d, 0x0005080c, 0x0006080c, 0x0006080c, 0x0005070c, 0x0004070b, 0x0004060a, 0x00040509, 0x00030508, 0x00030408, 0x00020405, 0x00030405, 0x00030408, 0x00030408, 0x00020308, 0x00020406, 0x00020405, 0x00020407, 0x00030409, 0x0004070c, 0x00080a0f, 0x000b0c12, 0x000a0f15, 0x000c1017, 0x000c1218, 0x000c131a, 0x000d141c, 0x0010161e, 0x00111620, 0x00111720, 0x00121821, 0x00121824, 0x00141a25, 0x00141d26, 0x00141f27, 0x0015202a, 0x0018222c, 0x0018232d, 0x0019242e, 0x001a2530, 0x001c2733, 0x001d2834, 0x001f2935, 0x00202a37, 0x00202c38, 0x00212c3a, 0x00212c3b, 0x00202d3b, 0x001f2e3a, 0x001f2e39, 0x001c2c37, 0x00192630, 0x00101820, 0x0003050a, 0x00030305, 0x00020204, 0x00020204, 0x00020204, 0x00020204, 0x00000204, 0x00000204, 0x00000204, 0x00010204, 0x00020204, 0x00020204, 0x00020204, 0x00020204, 0x00020204, 0x00010204, 0x00010204, 0x00010204, 0x00010204, 0x00000204, 0x00000204, 0x00000204, 0x00000204, 0x00000204, 0x00000204, 0x00000204, 0x00000204, 0x00000204, 0x00000204, 0x00000204, 0x00000204, 0x00000204, 0x00000204, 0x00000204, 0x00000204, 0x00000204, 0x00000204, 0x00000204, 0x00000204, 0x00000204, 0x00010204, 0x00010204, 0x00010204, 0x00010204, 0x00010204, 0x00010204, 0x00010204, 0x00010204, 0x00010204, 0x00010204, 0x00000204, 0x00000204, 0x00000204, 0x00000204, 0x00000204, 0x00010103, 0x00010103, 0x00010103, 0x00010103, 0x00010103, 0x00010103, 0x00010103, 0x00010103, 0x00010102, 0x00010102, 0x000a1821, 0x000c1b24, 0x000c1b24, 0x000c1b24, 0x000c1b24, 0x000c1b24, 0x000c1b24, 0x000c1b24, 0x000c1b24, 0x000c1b24, 0x000c1b24, 0x000c1b24, 0x000c1b24, 0x000c1b24, 0x000c1b24, 0x000c1b24, 0x000c1b24, 0x000c1b24, 0x000c1b24, 0x000c1b24, 0x000c1b24, 0x000c1b24, 0x000c1b24, 0x000c1b24, 0x000c1b24, 0x000c1b24, 0x000c1b24, 0x000c1b24, 0x000c1b24, 0x000c1b24, 0x000c1b24, 0x000c1b24, 0x000c1b24, 0x000c1b24, 0x000c1b24, 0x000c1b24, 0x000c1b24, 0x000c1b24, 0x000c1b24, 0x000c1b24, 0x000c1b24, 0x000c1b24, 0x000c1b24, 0x000c1b24, 0x000c1b24, 0x000c1b24, 0x000c1b24, 0x000c1b24, 0x000c1b24, 0x000c1b24, 0x000c1b24, 0x000c1b24, 0x000c1b24, 0x000c1b24, 0x000c1b24, 0x000c1b24, 0x000c1b24, 0x000c1b24, 0x000c1b24, 0x000c1b24, 0x000c1b24, 0x000c1b24, 0x000c1b24, 0x000c1b24, 0x000c1b24, 0x000c1b24, 0x000c1b24, 0x000c1b24, 0x000c1b24, 0x000c1b24, 0x000c1b24, 0x000c1b24, 0x000c1b24, 0x000c1b24, 0x000c1b24, 0x000c1b24, 0x000c1b24, 0x000c1b24, 0x000c1b24, 0x000c1b24, 0x000c1b24, 0x000c1b24, 0x000c1b24, 0x000c1b24, 0x000c1b24, 0x000c1b24, 0x000c1b24, 0x000c1b24, 0x000c1b24, 0x000c1b24, 0x000c1b24, 0x000c1b24, 0x000c1b24, 0x000c1b24, 0x000c1b24, 0x000c1b24, 0x000c1b24, 0x000c1b24, 0x000c1b24, 0x000c1b24, 0x000c1b24, 0x000c1b24, 0x000c1b24, 0x000c1b24, 0x000c1b24, 0x000c1b24, 0x000c1b24, 0x000c1b24, 0x000c1b24};
\ No newline at end of file

From ceda2c5155022deb3df53f2e4ec30019d038c920 Mon Sep 17 00:00:00 2001
From: cowsed <richie.sommers@outlook.com>
Date: Mon, 20 Feb 2023 20:15:07 -0500
Subject: [PATCH 177/243] Created auto for purdue

---
 include/intense_milk.h                               | 8 ++++----
 include/utils/command_structure/auto_command.h       | 2 +-
 include/utils/command_structure/command_controller.h | 2 +-
 3 files changed, 6 insertions(+), 6 deletions(-)

diff --git a/include/intense_milk.h b/include/intense_milk.h
index 0fa910b..148467e 100644
--- a/include/intense_milk.h
+++ b/include/intense_milk.h
@@ -1,5 +1,5 @@
 #include <stdint.h>
-// file: flynn.png
-int intense_milk_width = 430;
-int intense_milk_height = 244;
-uint32_t intense_milk[104920] = {0x000a1118, 0x000b1219, 0x000b1219, 0x000c131c, 0x000c141d, 0x000c141e, 0x000c141e, 0x000c141e, 0x000c141e, 0x000c141e, 0x000c141e, 0x000c141e, 0x000b151e, 0x000b151e, 0x000b151e, 0x000b151e, 0x000b151e, 0x000b151e, 0x000b141d, 0x000b131c, 0x000b131c, 0x000a121b, 0x000a121b, 0x00081119, 0x00081018, 0x00081018, 0x00081018, 0x00081018, 0x00081018, 0x00081118, 0x00081118, 0x00081018, 0x00081018, 0x0009101a, 0x0009101a, 0x0009101a, 0x000a111b, 0x000a121b, 0x000a121b, 0x000a121b, 0x000a121b, 0x000c141d, 0x000c141e, 0x000c141e, 0x000c141e, 0x000c141e, 0x000c161f, 0x000c161f, 0x000e1823, 0x000d1824, 0x000d1925, 0x000d1925, 0x000e1a26, 0x00101926, 0x00131b25, 0x00151d27, 0x00151e27, 0x00131b24, 0x00111a23, 0x00141c25, 0x0018202a, 0x001a242d, 0x001e2830, 0x001c2830, 0x0019252e, 0x0019252e, 0x0019252f, 0x0017212c, 0x00161f2a, 0x00182029, 0x00151d26, 0x00131c24, 0x00121a21, 0x0010171f, 0x000d151c, 0x000d151c, 0x00121a20, 0x00182027, 0x001c242c, 0x00212931, 0x00232c34, 0x00212b34, 0x00202a33, 0x00202a33, 0x00222a34, 0x00222a34, 0x00232b34, 0x00262c36, 0x00282f38, 0x00293039, 0x00282e37, 0x00272d37, 0x00272d37, 0x00272d37, 0x00262c36, 0x00252c35, 0x00252c35, 0x00252c35, 0x00252c35, 0x00252c35, 0x00252c34, 0x00262c34, 0x00262d35, 0x00272d36, 0x00282e37, 0x00282f38, 0x002a303a, 0x002b313b, 0x002b313c, 0x002b313d, 0x002c333e, 0x002e3440, 0x002f3440, 0x002e3440, 0x002d333f, 0x002d333f, 0x002d333f, 0x002d333f, 0x002d333f, 0x002e3440, 0x002f3440, 0x002f3541, 0x00303540, 0x002f3540, 0x002f3540, 0x002f3540, 0x00303641, 0x00303742, 0x00303641, 0x002f3540, 0x002f353f, 0x002e343e, 0x002e343d, 0x0030343f, 0x00313640, 0x00333741, 0x00333741, 0x00333742, 0x00333743, 0x00333743, 0x00333743, 0x00313742, 0x00303642, 0x00303541, 0x00303541, 0x00313640, 0x00313640, 0x00313640, 0x00313642, 0x00303541, 0x002e3440, 0x002f3440, 0x00303541, 0x00303742, 0x00333843, 0x00333843, 0x00333843, 0x00323742, 0x00323742, 0x00323642, 0x00313642, 0x00303744, 0x00303744, 0x00313844, 0x00303744, 0x00303744, 0x00303742, 0x00303641, 0x00313541, 0x00303541, 0x002f3440, 0x002f3440, 0x002e3440, 0x00303441, 0x00313542, 0x00313541, 0x002f343f, 0x002c323c, 0x002c323c, 0x002d333c, 0x002d333c, 0x002d323c, 0x002d323c, 0x002c303b, 0x002b303a, 0x002b303a, 0x002b3039, 0x00292e38, 0x00282d37, 0x00282c36, 0x00282c36, 0x00282c36, 0x00282c36, 0x00282c36, 0x00282c36, 0x00272c35, 0x00262a34, 0x00262a34, 0x00262a34, 0x00262a34, 0x00252934, 0x00242934, 0x00242832, 0x00232831, 0x00232831, 0x00222830, 0x0021282f, 0x0022282f, 0x00232930, 0x00232832, 0x00222730, 0x00212630, 0x00212630, 0x00222730, 0x00232831, 0x00222831, 0x00212831, 0x00222831, 0x00222831, 0x00212831, 0x00202630, 0x001f242e, 0x001e242d, 0x001d232c, 0x001d232c, 0x001c232c, 0x001c222b, 0x00181f26, 0x00141b23, 0x0010171f, 0x000f151d, 0x0010161e, 0x00121820, 0x00141921, 0x00141b23, 0x00181d24, 0x001a2028, 0x001a2028, 0x00191e27, 0x00141924, 0x00121822, 0x00141a24, 0x00161c26, 0x00181f28, 0x00192029, 0x0019212c, 0x001a2430, 0x001c2733, 0x001e2834, 0x00202a36, 0x00202b37, 0x00202b34, 0x00202b34, 0x00202a34, 0x001e2831, 0x001a2430, 0x00182430, 0x00182632, 0x001c2834, 0x001c2a35, 0x001d2a35, 0x001e2a36, 0x001e2a36, 0x001d2935, 0x001a2531, 0x0014202c, 0x00152330, 0x001a2835, 0x001d2b38, 0x00202e3a, 0x0022303d, 0x00253340, 0x00253240, 0x00202d3a, 0x00182532, 0x0013202c, 0x00101d28, 0x000f1c26, 0x000c1823, 0x000a141e, 0x000a111c, 0x000c1019, 0x000b1017, 0x000b1016, 0x000b1016, 0x000b1016, 0x000b1017, 0x000b1017, 0x000b1016, 0x000b1016, 0x000b1016, 0x00081018, 0x00081118, 0x00081118, 0x00081118, 0x00091018, 0x00091018, 0x00091018, 0x00091018, 0x00091018, 0x00091018, 0x00091018, 0x000a1018, 0x000a1018, 0x000a1018, 0x000a1018, 0x000a101a, 0x000a101a, 0x000a101a, 0x000a101a, 0x000a101a, 0x000a101a, 0x000a101a, 0x000a101a, 0x000a101a, 0x000a101a, 0x00080f18, 0x00080e18, 0x00080e18, 0x00080e18, 0x00080e18, 0x000b1923, 0x000c1b24, 0x000c1b24, 0x000c1b24, 0x000c1b24, 0x000c1b24, 0x000c1b24, 0x000c1b24, 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0x0021242d, 0x0020222b, 0x001e2029, 0x001c1f28, 0x001a1d25, 0x00181a20, 0x0014161c, 0x00101418, 0x000d1015, 0x00090c11, 0x00080b10, 0x00070a0f, 0x00070a0f, 0x00070a0f, 0x00070a0f, 0x00070a0f, 0x00070a0e, 0x0006090d, 0x0006090d, 0x0006090d, 0x0007080e, 0x0006080c, 0x0004070c, 0x0004070c, 0x0004070c, 0x00040609, 0x00030508, 0x00030408, 0x00020406, 0x00020405, 0x00030408, 0x00030408, 0x00020308, 0x00020406, 0x00020405, 0x00020307, 0x00020308, 0x00040509, 0x0008080c, 0x000b0c11, 0x000b0e14, 0x000b1016, 0x000b1118, 0x000b131a, 0x000c141c, 0x0010161f, 0x00111620, 0x00121720, 0x00121720, 0x00111823, 0x00141a25, 0x00141d26, 0x00141f27, 0x0015202a, 0x0018212c, 0x0018222c, 0x0019232e, 0x001b2530, 0x001c2733, 0x001e2834, 0x00202935, 0x00202936, 0x00222c38, 0x00222d3a, 0x00222d3b, 0x00202d3b, 0x001f2f3c, 0x001e2e39, 0x001d2c38, 0x001a2833, 0x00131c25, 0x00050910, 0x00020408, 0x00020205, 0x00020204, 0x00020204, 0x00020204, 0x00020204, 0x00020204, 0x00020204, 0x00020204, 0x00020204, 0x00020204, 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0x002d323b, 0x002c3138, 0x002b3038, 0x002b3037, 0x00292e36, 0x002a2d35, 0x00292c34, 0x00272b33, 0x00252a32, 0x00242931, 0x00252830, 0x0025282f, 0x0024282e, 0x0023262c, 0x0020242b, 0x001f2229, 0x001d2028, 0x001b1e26, 0x001a1d24, 0x00181b22, 0x0017181e, 0x0014141a, 0x00101116, 0x000c0d12, 0x000a0c10, 0x00080b0e, 0x00070a0e, 0x00070a0e, 0x00070a0d, 0x00070a0d, 0x00070a0f, 0x00070a0f, 0x0006090e, 0x0005090d, 0x0005080c, 0x0006080c, 0x0006080c, 0x0005070c, 0x0004070b, 0x0004060a, 0x00040509, 0x00030508, 0x00030408, 0x00020405, 0x00030405, 0x00030408, 0x00030408, 0x00020308, 0x00020406, 0x00020405, 0x00020407, 0x00030409, 0x0004070c, 0x00080a0f, 0x000b0c12, 0x000a0f15, 0x000c1017, 0x000c1218, 0x000c131a, 0x000d141c, 0x0010161e, 0x00111620, 0x00111720, 0x00121821, 0x00121824, 0x00141a25, 0x00141d26, 0x00141f27, 0x0015202a, 0x0018222c, 0x0018232d, 0x0019242e, 0x001a2530, 0x001c2733, 0x001d2834, 0x001f2935, 0x00202a37, 0x00202c38, 0x00212c3a, 0x00212c3b, 0x00202d3b, 0x001f2e3a, 0x001f2e39, 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0x000c1b24, 0x000c1b24, 0x000c1b24, 0x000c1b24, 0x000c1b24, 0x000c1b24, 0x000c1b24, 0x000c1b24, 0x000c1b24, 0x000c1b24, 0x000c1b24};
\ No newline at end of file
+// file: ritchie.png
+int intense_milk_width = 400;
+int intense_milk_height = 251
+;uint32_t intense_milk[100400] = {0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 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0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000};
\ No newline at end of file
diff --git a/include/utils/command_structure/auto_command.h b/include/utils/command_structure/auto_command.h
index 532fcbe..c8f1cbf 100644
--- a/include/utils/command_structure/auto_command.h
+++ b/include/utils/command_structure/auto_command.h
@@ -33,6 +33,6 @@ class AutoCommand {
      * - a command that waits until something is up to speed that never gets up to speed because of battery voltage
      * - something else...
     */
-    double timeout_seconds;
+    double timeout_seconds = 10.0;
 
 };
\ No newline at end of file
diff --git a/include/utils/command_structure/command_controller.h b/include/utils/command_structure/command_controller.h
index a78abbf..3d270d7 100644
--- a/include/utils/command_structure/command_controller.h
+++ b/include/utils/command_structure/command_controller.h
@@ -20,7 +20,7 @@ class CommandController {
    * @param cmd the AutoCommand we want to add to our list
    * @param timeout_seconds the number of seconds we will let the command run for. If it exceeds this, we cancel it and run on_timeout. if it is <= 0 no time out will be applied
    */
-  void add(AutoCommand *cmd, double timeout_seconds = 0);
+  void add(AutoCommand *cmd, double timeout_seconds = 10.0);
   
   /**
    * Add multiple commands to the queue. No timeout here. 

From 227982abb80ffde7ffaf23035b6640d22fd0bab2 Mon Sep 17 00:00:00 2001
From: cowsed <richie.sommers@outlook.com>
Date: Mon, 20 Feb 2023 20:24:32 -0500
Subject: [PATCH 178/243] use splash.h rather than intense_milk.h

---
 include/splash.h | 5 +++++
 1 file changed, 5 insertions(+)
 create mode 100644 include/splash.h

diff --git a/include/splash.h b/include/splash.h
new file mode 100644
index 0000000..bc02f97
--- /dev/null
+++ b/include/splash.h
@@ -0,0 +1,5 @@
+#include <stdint.h>
+// file: clu.png
+int intense_milk_width = 420;
+int intense_milk_height = 246;
+uint32_t intense_milk[103320] = {0x00152021, 0x00141f21, 0x00141d20, 0x00131d1f, 0x00131e1e, 0x00131e1e, 0x00141f1f, 0x00141f1f, 0x00141e20, 0x00131d1f, 0x00131d1f, 0x00131d1e, 0x00121c1c, 0x00111c1c, 0x00111c1a, 0x00111c1a, 0x00111c1a, 0x00111b19, 0x00111b19, 0x00111b19, 0x00111b19, 0x00101918, 0x00101918, 0x00101918, 0x00101918, 0x00101916, 0x00101916, 0x00101818, 0x00101817, 0x00101817, 0x00101817, 0x00101817, 0x00101817, 0x000f1817, 0x000f1816, 0x000e1816, 0x000d1714, 0x000d1714, 0x000d1714, 0x000c1613, 0x000c1512, 0x000c1512, 0x000e1611, 0x000e1611, 0x000e1611, 0x000e1511, 0x000d1410, 0x000c1410, 0x000c1410, 0x000c1410, 0x000c1410, 0x000c1410, 0x000c1410, 0x000c140f, 0x000c140e, 0x000c140d, 0x000c140d, 0x000d140e, 0x000d140e, 0x000d140e, 0x000d140e, 0x000f1310, 0x000d140e, 0x000d140e, 0x000c140c, 0x000c140c, 0x000c140c, 0x000c140e, 0x000c140e, 0x000c140e, 0x000c140e, 0x000c140e, 0x000c140e, 0x000c140f, 0x000b1410, 0x000b1510, 0x000c1510, 0x000c1511, 0x000c1512, 0x000c1610, 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0x00161b14, 0x00171d14, 0x00171e14, 0x00171e14, 0x00161c13, 0x00171c11, 0x00181b11, 0x00161811, 0x00141711, 0x00131712, 0x000e1811, 0x000e1811, 0x000b150e, 0x000a140e, 0x000a1410, 0x00091310, 0x0008120f, 0x0008120f, 0x0008100c, 0x0008100c, 0x0008100c, 0x00070f0a, 0x0008100b, 0x0008100b, 0x0008100b, 0x000f130f, 0x000f130f, 0x000f130f, 0x0014180b, 0x0014180a, 0x00191c09, 0x001d2008, 0x00202309, 0x0026280b, 0x00292b0a, 0x0030310c, 0x0034350c, 0x0038380c, 0x003b3c0c, 0x0040400d, 0x0044450d, 0x0048490f, 0x004c4d10, 0x00505010, 0x00545510, 0x00716512, 0x00cca417, 0x00c6a016, 0x00605d11, 0x005e5f13, 0x00606013, 0x00606013, 0x00606012, 0x00606012, 0x00606013, 0x005d5e13, 0x00a78b15, 0x00cca418, 0x00a08614, 0x00595a12, 0x00585810, 0x00555610, 0x00535410, 0x00525310, 0x00505010, 0x004f5010, 0x004d4e0f, 0x004c4d0f, 0x004c4d0f, 0x004c4d0f, 0x004d4e0f, 0x004f5010, 0x00505010, 0x00515110, 0x00525310, 0x00545510, 0x00565710, 0x00595a11, 0x005e5c13, 0x00c39e17, 0x00cca418, 0x00756a13, 0x005e5f13, 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0x009d6d03, 0x00b0840c, 0x00bc9411, 0x00c7a015, 0x00cba814, 0x00ccad13, 0x00ccb00c, 0x00ccb00b, 0x00ccb00c, 0x00ccb10c, 0x00ccb00f, 0x00ccad0f, 0x00caa811, 0x00c49c0c, 0x00b78405, 0x00a87001, 0x009e6200, 0x00a96a0a, 0x00b57514, 0x00b0700c, 0x00ac6f05, 0x00a96d00, 0x00ac7200, 0x00b27a03, 0x00b98208, 0x00be890a, 0x00c59410, 0x00c39c10, 0x00c9a514, 0x00ccac14, 0x00ccb013, 0x00ccb40c, 0x00ccb40a, 0x00cbb508, 0x00cab608, 0x00cab707, 0x00cbb606, 0x00cbb607, 0x00cbb608, 0x00ccb409, 0x00ccb40b, 0x00ccb40c, 0x00cbb40d, 0x00cbb40d, 0x00cbb40d, 0x00cbb50c, 0x00c9b60a, 0x00cab508, 0x00ccae08, 0x00c8a309, 0x00c7a009, 0x00caac0f, 0x00cbb812, 0x00ccb514, 0x00cbad1d, 0x00bc8f14, 0x009c6a0c, 0x007f5208, 0x00644006, 0x00513303, 0x004a3008, 0x00402b0b, 0x003c280c, 0x00332108, 0x002a1a05, 0x00281908, 0x00241b09, 0x00191404, 0x00161304, 0x00151208, 0x00121109, 0x0011130b, 0x00101009, 0x00110f07, 0x00101006, 0x00101008, 0x0010120c, 0x000f140e, 0x00101610, 0x000f1811, 0x000f1912, 0x00101914, 0x00121a15, 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0x0022190d, 0x0022190d, 0x0022190d, 0x0022190d, 0x0022190d, 0x0022190d, 0x0022190d, 0x0022190d, 0x0022190d, 0x0022190d, 0x0022190d, 0x0022190d, 0x0022190e, 0x0022190e, 0x0022190e, 0x0022190e, 0x0021180d, 0x0021180d, 0x0020190d, 0x0020190d, 0x0020190d, 0x0020190d, 0x0020190d, 0x0020190d, 0x00201a0e, 0x00201a0e, 0x00211a0e, 0x00231a0f, 0x00231a0f, 0x0022190e, 0x0022190e, 0x0022190e, 0x0022190e, 0x00231a0f, 0x00231a0e, 0x00231a10, 0x00231a0f, 0x00221a0f, 0x00221a0f, 0x0024190f, 0x0024190f, 0x0024190f, 0x0024190e, 0x0024190e, 0x0024180e, 0x0024180e, 0x0024190e, 0x0024190e, 0x00251c0f, 0x00251c0f, 0x00241a0d, 0x00261c10, 0x00271c10, 0x00281b10, 0x002c1e10, 0x00302010, 0x00342112, 0x0036210f, 0x00382110, 0x003d2512, 0x00442c12, 0x004e3113, 0x00623d1b, 0x00744819, 0x0092641b, 0x00c4982e, 0x00c39c17, 0x00bf9a0b, 0x00b89208, 0x00b08506, 0x00aa7d02, 0x00a47400, 0x009f6c00, 0x009c6800, 0x009c6601, 0x00a16704, 0x00a46709, 0x00ac6c14, 0x00b3741b, 0x00ba7c21, 0x00c48928, 0x00c6942a, 0x00c89d2b, 0x00cca42a, 0x00cca827, 0x00ccac22, 0x00cbad1c, 0x00ccad1b, 0x00b99210, 0x008f6000, 0x007f4e08, 0x00623804, 0x004c2c04, 0x00432606, 0x003e240c, 0x0038220c, 0x0034210f, 0x00301e0f, 0x002c1d0b, 0x00291c0c, 0x0024180b, 0x0021180c, 0x0020180d, 0x001f190e, 0x001f1811, 0x001f1812, 0x001e1811, 0x001d1810, 0x001e1811, 0x001f1811, 0x001f1812, 0x001e1911, 0x0020180f, 0x0022180d, 0x002e2313, 0x0032240d, 0x0034280b, 0x003c2c0b, 0x0044320c, 0x00513a11, 0x00604212, 0x00785212, 0x00a37c1b, 0x00c8ac25, 0x00ccb719, 0x00ccbb0f, 0x00ccbb0e, 0x00cbba10, 0x00c6a814, 0x00a27508, 0x007b4e04, 0x005f400b, 0x00503b0e, 0x0049330c, 0x00442e0d, 0x003f2a0c, 0x003b270d, 0x0036220c, 0x00302111, 0x00261e10, 0x0017160c, 0x0014130c, 0x00191811, 0x001b1b11, 0x00191810, 0x0017170e, 0x0014160e, 0x00141610, 0x00141510, 0x00131611, 0x00141813, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07};
\ No newline at end of file

From 2a56f20e0ca5d2810ce4a0e99a8c6ba551f256a0 Mon Sep 17 00:00:00 2001
From: cowsed <richie.sommers@outlook.com>
Date: Tue, 21 Feb 2023 17:23:11 -0500
Subject: [PATCH 179/243] Added Screen subsystem from testing yesterday. Just
 call StartScreen and it will start vibing no interference necessary Added
 total time spent in command controller

---
 include/splash.h                              |   3 +-
 include/subsystems/screen.h                   |  22 ++
 src/subsystems/screen.cpp                     | 202 ++++++++++++++++++
 .../command_structure/command_controller.cpp  |   3 +
 4 files changed, 229 insertions(+), 1 deletion(-)
 create mode 100644 include/subsystems/screen.h
 create mode 100644 src/subsystems/screen.cpp

diff --git a/include/splash.h b/include/splash.h
index bc02f97..d45932d 100644
--- a/include/splash.h
+++ b/include/splash.h
@@ -2,4 +2,5 @@
 // file: clu.png
 int intense_milk_width = 420;
 int intense_milk_height = 246;
-uint32_t intense_milk[103320] = {0x00152021, 0x00141f21, 0x00141d20, 0x00131d1f, 0x00131e1e, 0x00131e1e, 0x00141f1f, 0x00141f1f, 0x00141e20, 0x00131d1f, 0x00131d1f, 0x00131d1e, 0x00121c1c, 0x00111c1c, 0x00111c1a, 0x00111c1a, 0x00111c1a, 0x00111b19, 0x00111b19, 0x00111b19, 0x00111b19, 0x00101918, 0x00101918, 0x00101918, 0x00101918, 0x00101916, 0x00101916, 0x00101818, 0x00101817, 0x00101817, 0x00101817, 0x00101817, 0x00101817, 0x000f1817, 0x000f1816, 0x000e1816, 0x000d1714, 0x000d1714, 0x000d1714, 0x000c1613, 0x000c1512, 0x000c1512, 0x000e1611, 0x000e1611, 0x000e1611, 0x000e1511, 0x000d1410, 0x000c1410, 0x000c1410, 0x000c1410, 0x000c1410, 0x000c1410, 0x000c1410, 0x000c140f, 0x000c140e, 0x000c140d, 0x000c140d, 0x000d140e, 0x000d140e, 0x000d140e, 0x000d140e, 0x000f1310, 0x000d140e, 0x000d140e, 0x000c140c, 0x000c140c, 0x000c140c, 0x000c140e, 0x000c140e, 0x000c140e, 0x000c140e, 0x000c140e, 0x000c140e, 0x000c140f, 0x000b1410, 0x000b1510, 0x000c1510, 0x000c1511, 0x000c1512, 0x000c1610, 0x000c1611, 0x000c1710, 0x000f1610, 0x00101811, 0x000f1814, 0x00101914, 0x00101a17, 0x00101a17, 0x00101916, 0x00101915, 0x00101918, 0x00101918, 0x00101918, 0x000f1a18, 0x000f1b18, 0x000e1c19, 0x000c1d19, 0x000c1c19, 0x000d1c19, 0x000d1c19, 0x000d1c19, 0x000f1c19, 0x000e1b18, 0x000e1918, 0x000f1a18, 0x000f1a18, 0x00111c1a, 0x00121b18, 0x00111c18, 0x00101b17, 0x00141c19, 0x002d3030, 0x00454545, 0x00403e3e, 0x00444040, 0x00484446, 0x004a4649, 0x004a484b, 0x00494448, 0x004a4244, 0x004b4040, 0x004a3d3b, 0x004c3e3a, 0x0050403c, 0x004c3b35, 0x00493833, 0x00473530, 0x00473630, 0x0045322e, 0x00473430, 0x00413831, 0x0039322c, 0x00342c26, 0x00322b25, 0x0038332c, 0x00372e26, 0x003a2a22, 0x00412c23, 0x003e1e15, 0x00401b10, 0x003d1c0d, 0x003a1e09, 0x00462812, 0x0050301a, 0x004c2c16, 0x004e2c1a, 0x004f2c1c, 0x00492515, 0x00442210, 0x004c2e18, 0x00573a1f, 0x005e3419, 0x0064391c, 0x00673b1a, 0x00633914, 0x00643a18, 0x00532b0a, 0x004e2508, 0x00532a10, 0x005c3418, 0x005e3818, 0x00603a1a, 0x005c3515, 0x00573113, 0x00593417, 0x00583416, 0x005a3414, 0x005d3716, 0x00613819, 0x00643c1c, 0x006c4220, 0x00673d18, 0x00653c16, 0x00633a16, 0x00603414, 0x00633815, 0x00683c18, 0x006e441c, 0x006e421b, 0x00643910, 0x006a3f18, 0x005b320b, 0x00643c15, 0x00633b16, 0x00613b16, 0x00603a16, 0x005d3818, 0x00583414, 0x005b3518, 0x004c280b, 0x004a2508, 0x00502b0c, 0x005c3416, 0x00613719, 0x0061371a, 0x005e3716, 0x00502c0b, 0x003c220c, 0x00311c0c, 0x00261810, 0x00201414, 0x0017140d, 0x00141509, 0x0015160c, 0x001a1a10, 0x0018170f, 0x00191910, 0x0018180f, 0x0016160d, 0x0016160d, 0x0016160d, 0x0016160d, 0x0015170c, 0x0018160c, 0x001a160c, 0x00201810, 0x00281d16, 0x00342720, 0x00302a24, 0x00312924, 0x00302b24, 0x00282a20, 0x001b2420, 0x00182623, 0x00182824, 0x00152824, 0x00152824, 0x00152724, 0x00172625, 0x00182627, 0x00182627, 0x00182627, 0x00172526, 0x00162424, 0x00162425, 0x00172526, 0x00182526, 0x00172524, 0x00162423, 0x00152420, 0x00142320, 0x00152220, 0x0013201d, 0x00131f1e, 0x0013201f, 0x00121f1e, 0x00101d1d, 0x00101c1c, 0x000f1c1b, 0x00101b1b, 0x00101a1a, 0x000f1819, 0x000f1818, 0x000e1814, 0x000e1611, 0x000e170f, 0x000e170e, 0x000e1610, 0x00101610, 0x00101610, 0x00101610, 0x00101510, 0x0010140f, 0x000e140e, 0x000d140e, 0x000c140e, 0x000d140e, 0x000d140e, 0x000d140e, 0x000d140e, 0x000e140e, 0x000f140e, 0x000f140e, 0x000f140e, 0x000f140e, 0x000f140e, 0x000f140e, 0x000d140e, 0x000d140e, 0x000d140e, 0x000d140e, 0x000d140e, 0x000d140e, 0x000d140e, 0x000d140e, 0x000d140e, 0x000d140e, 0x000d140e, 0x000d140e, 0x000d140e, 0x000d140e, 0x000d140e, 0x000d140e, 0x000d140e, 0x000d140e, 0x000d140e, 0x000d140e, 0x000d140e, 0x000d140e, 0x000d140e, 0x000d140e, 0x000d140e, 0x000d140e, 0x000d140e, 0x000d140e, 0x000d140e, 0x000d140e, 0x000d140e, 0x000d140e, 0x000d140e, 0x000d140e, 0x000d140e, 0x000d140e, 0x000d140e, 0x000d140e, 0x000d140e, 0x000d140e, 0x000d140e, 0x000d140e, 0x000d140e, 0x000d140e, 0x000d140e, 0x000d140e, 0x000d140e, 0x000d140e, 0x000d140e, 0x000d140e, 0x000d140e, 0x000d140e, 0x000d140e, 0x000d140e, 0x000d140e, 0x000d140e, 0x000d140e, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x000a1417, 0x000b1517, 0x00091416, 0x000a1417, 0x000b1616, 0x000c1716, 0x000c1716, 0x000c1717, 0x000c1718, 0x000c1819, 0x000d1819, 0x000d1818, 0x000c1818, 0x000c1716, 0x000c1715, 0x000c1715, 0x000c1715, 0x000c1514, 0x000c1514, 0x000c1514, 0x000c1514, 0x000b1413, 0x000b1413, 0x000b1413, 0x000b1413, 0x000a1410, 0x000a1410, 0x00091211, 0x00081110, 0x00081110, 0x00081110, 0x00081110, 0x00081110, 0x00081110, 0x00081010, 0x0008100f, 0x0006100c, 0x0006100c, 0x0006100c, 0x0006100c, 0x00050f0c, 0x00040e0b, 0x00070f0a, 0x00070f0a, 0x00070f0a, 0x00070f0a, 0x00060e09, 0x00050d08, 0x00050d08, 0x00050d08, 0x00050d08, 0x00050d08, 0x00050d08, 0x00050d08, 0x00050d07, 0x00050d07, 0x00050d06, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00080c08, 0x00060c07, 0x00060c07, 0x00050d05, 0x00050d05, 0x00050d05, 0x00050d07, 0x00050d07, 0x00050d07, 0x00050d07, 0x00050d07, 0x00050d07, 0x00040d08, 0x00040d08, 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0x00cbba0c, 0x00c9bc0b, 0x00cbb80d, 0x00c8b011, 0x00a07c03, 0x00784f02, 0x00603e07, 0x004e3808, 0x00402f06, 0x00382608, 0x002e2105, 0x00291d06, 0x002a1909, 0x0026180b, 0x0022160a, 0x001d1409, 0x00181308, 0x00141004, 0x00101006, 0x000f1007, 0x00100f08, 0x00110e08, 0x0013100a, 0x0011100a, 0x00121007, 0x00110f07, 0x00131107, 0x00131107, 0x00131107, 0x00141107, 0x00171208, 0x00181107, 0x00181207, 0x00191306, 0x001a1306, 0x001b1407, 0x001b1407, 0x001c1307, 0x001c1307, 0x001c1307, 0x001c1307, 0x001b1407, 0x001b1407, 0x001b1407, 0x001b1407, 0x001b1405, 0x001c1305, 0x001e1407, 0x001e1407, 0x001e1205, 0x0023160a, 0x00201408, 0x00201408, 0x00201408, 0x001f1408, 0x001f1408, 0x001e1407, 0x001e1407, 0x00201508, 0x00201508, 0x0020150a, 0x001f1409, 0x00170e03, 0x00171004, 0x001b1508, 0x001d1407, 0x00201307, 0x00211308, 0x00211308, 0x00211408, 0x00221408, 0x00221408, 0x00221408, 0x00221408, 0x00211408, 0x00211408, 0x00211408, 0x00221509, 0x00211408, 0x00211408, 0x00201408, 0x00221509, 0x00221509, 0x00201609, 0x00201508, 0x001d1305, 0x001d1305, 0x001d1306, 0x001e1306, 0x001d1306, 0x001d1306, 0x001c1308, 0x001c1308, 0x001b1206, 0x001b1206, 0x001a1306, 0x001b1407, 0x001c1408, 0x001c1308, 0x001c1408, 0x001d1407, 0x001d1407, 0x001d1306, 0x001d1306, 0x001d1306, 0x001d1306, 0x001e1407, 0x001e1407, 0x001d1306, 0x001d1306, 0x001d1306, 0x001d1306, 0x001d1208, 0x001d1208, 0x001d1207, 0x001d1207, 0x001d1208, 0x001e1308, 0x001f1409, 0x001f1409, 0x001f1409, 0x001e1308, 0x001e1308, 0x001e1308, 0x001e1308, 0x001d1207, 0x001c1106, 0x001c1106, 0x001c1106, 0x001b1206, 0x001b1206, 0x001b1206, 0x001b1206, 0x001b1206, 0x001b1206, 0x001b1206, 0x001b1206, 0x001a1306, 0x001b1407, 0x001b1408, 0x001c1408, 0x001c1408, 0x001b1408, 0x001a1306, 0x00191206, 0x001b1408, 0x00181105, 0x00181004, 0x001c1509, 0x001a1304, 0x001c1406, 0x001c1407, 0x001c1407, 0x001c1407, 0x001c1408, 0x001c1408, 0x001c1307, 0x001c1307, 0x001c1307, 0x001c1307, 0x001b1206, 0x001b1206, 0x001b1206, 0x001b1206, 0x001b1206, 0x001b1206, 0x001b1206, 0x001b1206, 0x001b1206, 0x001b1206, 0x001b1206, 0x001b1206, 0x001b1206, 0x001c1307, 0x001c1307, 0x001c1307, 0x001c1307, 0x001b1206, 0x001b1206, 0x001a1306, 0x00191306, 0x00191306, 0x00191306, 0x00191206, 0x00181105, 0x00181105, 0x00181105, 0x00181105, 0x001b1206, 0x001b1206, 0x001a1105, 0x001a1105, 0x001a1105, 0x001a1105, 0x001b1206, 0x001c1307, 0x001c1307, 0x001e1409, 0x001e1409, 0x001f150a, 0x001f1409, 0x001e1308, 0x001e1308, 0x001e1308, 0x001e1308, 0x001e1308, 0x001d1207, 0x001c1106, 0x001d1207, 0x001d1205, 0x001e1407, 0x001e1407, 0x00201609, 0x0022170a, 0x00221509, 0x00241608, 0x00281809, 0x002e1a0b, 0x002f1a09, 0x00331c0b, 0x0039200d, 0x003f270c, 0x00492c0e, 0x005c3814, 0x00714617, 0x00936618, 0x00c7a02b, 0x00ccac19, 0x00ccae0e, 0x00cbad0f, 0x00caa912, 0x00c8a70f, 0x00c8a20c, 0x00c39b08, 0x00ba8f07, 0x00b18303, 0x00ac7801, 0x00a67100, 0x00a36c00, 0x00a36a01, 0x00a36702, 0x00a76804, 0x00ab6d08, 0x00b0770f, 0x00b98417, 0x00c2901d, 0x00c89c24, 0x00cca324, 0x00cca421, 0x00bd8c17, 0x00925e04, 0x00804c08, 0x00643804, 0x004a2700, 0x00402202, 0x00371d04, 0x00301a04, 0x00301c08, 0x002a1909, 0x00261704, 0x00231504, 0x001f1305, 0x001b1106, 0x00191208, 0x00181308, 0x0017110a, 0x0017100b, 0x0017100b, 0x0017110a, 0x0017110a, 0x0017110a, 0x0018120c, 0x0017130b, 0x001a1308, 0x001c1408, 0x00291d0d, 0x002e2008, 0x00312407, 0x00382807, 0x003f2f08, 0x004e360c, 0x005c3f0e, 0x00785213, 0x00a27c1a, 0x00c9ad26, 0x00ccb717, 0x00ccbb0d, 0x00ccbb0d, 0x00cbba10, 0x00c4a813, 0x009d7005, 0x00744800, 0x00593c03, 0x004b3508, 0x00442e06, 0x003f2906, 0x00382405, 0x00342006, 0x00301c05, 0x002a1c0c, 0x001f1809, 0x00101005, 0x000d0c04, 0x0014130c, 0x0014130a, 0x00101007, 0x00101007, 0x000f1008, 0x000e110a, 0x000e100c, 0x000e110d, 0x000e130e, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00222922, 0x001b2018, 0x00151811, 0x00171610, 0x001a1812, 0x001c1810, 0x0017140c, 0x0016130b, 0x001e1910, 0x00231d10, 0x0027200d, 0x002c210b, 0x0030250c, 0x00382810, 0x003d2c0f, 0x0044350f, 0x004c3c10, 0x00554011, 0x006b4c13, 0x00906b1c, 0x00c5a534, 0x00ccb41e, 0x00cbbb0d, 0x00c9bb0c, 0x00cbb80f, 0x00c8ae11, 0x009e7901, 0x007b5004, 0x00624008, 0x00513c0d, 0x0045330b, 0x00402c0e, 0x0035280d, 0x0030240c, 0x002d1c0d, 0x00281b0e, 0x0025180d, 0x0020180c, 0x001e180d, 0x0019160b, 0x0016150b, 0x0014160c, 0x0016150e, 0x001b1812, 0x0017140e, 0x0015140e, 0x0018160d, 0x0018160e, 0x0018160c, 0x0019170d, 0x0018180d, 0x001a170d, 0x001d180e, 0x001f180e, 0x0020180d, 0x0020180c, 0x0020180c, 0x0020180c, 0x0020180c, 0x0020180c, 0x0020180c, 0x0021180c, 0x0021180c, 0x0020180c, 0x0020180c, 0x0020180c, 0x0020180c, 0x0020190b, 0x00221a0c, 0x00241a0e, 0x00241a0e, 0x0025190d, 0x002a1e12, 0x00281b0f, 0x0025180c, 0x0024180c, 0x0024190d, 0x0024190c, 0x0024180c, 0x0024190c, 0x00271c10, 0x00281d10, 0x00281d12, 0x00281d12, 0x0020170c, 0x0020190c, 0x0020190d, 0x00231a0c, 0x00251a0d, 0x00281a0f, 0x0027190d, 0x0026190d, 0x0026180c, 0x0027180c, 0x0027180c, 0x0027180d, 0x0026190d, 0x00261a0e, 0x00281b0f, 0x00281b10, 0x00271a0e, 0x00281b0f, 0x00281b10, 0x00271a0e, 0x0025190d, 0x0024180c, 0x0024180c, 0x00251a0d, 0x0024190c, 0x0024190c, 0x0023180c, 0x0024190c, 0x0024190c, 0x00231a0e, 0x00231a0e, 0x0022190d, 0x0022190d, 0x0021190d, 0x0020190d, 0x0021190e, 0x0022190e, 0x0022190d, 0x00231a0d, 0x00241a0d, 0x0024190c, 0x0024190c, 0x0024190c, 0x0024190c, 0x00251b0e, 0x00251b0f, 0x00251b0e, 0x00261c0f, 0x00251b0e, 0x00251b0e, 0x00251a10, 0x00251a10, 0x0024190f, 0x0024190f, 0x0024190f, 0x0024180e, 0x0024190f, 0x0024190f, 0x0024190f, 0x0024190f, 0x0024190e, 0x0024190e, 0x0024190e, 0x0024190e, 0x0024190e, 0x0022180c, 0x0022180c, 0x0021180d, 0x0021180d, 0x0022190d, 0x0022190d, 0x0022190d, 0x0022190d, 0x0021180d, 0x0022190d, 0x00221a0e, 0x00221b0f, 0x00211a0e, 0x0020190e, 0x00211a0e, 0x00211a0e, 0x00211a0e, 0x00211a0f, 0x00231c10, 0x0020190d, 0x00201a0e, 0x00241c11, 0x00231c0f, 0x00221b0d, 0x0020190a, 0x00211a0c, 0x00221b0c, 0x00231a0e, 0x00231a0e, 0x00221a0e, 0x0022190e, 0x0022190e, 0x0022190e, 0x0022190e, 0x0022190d, 0x0022190d, 0x0022190d, 0x0022190d, 0x0022190d, 0x0022190d, 0x0022190d, 0x0022190d, 0x0022190d, 0x0022190d, 0x0022190d, 0x0022190d, 0x0022190e, 0x0022190e, 0x0022190e, 0x0022190e, 0x0021180d, 0x0021180d, 0x0020190d, 0x0020190d, 0x0020190d, 0x0020190d, 0x0020190d, 0x0020190d, 0x00201a0e, 0x00201a0e, 0x00211a0e, 0x00231a0f, 0x00231a0f, 0x0022190e, 0x0022190e, 0x0022190e, 0x0022190e, 0x00231a0f, 0x00231a0e, 0x00231a10, 0x00231a0f, 0x00221a0f, 0x00221a0f, 0x0024190f, 0x0024190f, 0x0024190f, 0x0024190e, 0x0024190e, 0x0024180e, 0x0024180e, 0x0024190e, 0x0024190e, 0x00251c0f, 0x00251c0f, 0x00241a0d, 0x00261c10, 0x00271c10, 0x00281b10, 0x002c1e10, 0x00302010, 0x00342112, 0x0036210f, 0x00382110, 0x003d2512, 0x00442c12, 0x004e3113, 0x00623d1b, 0x00744819, 0x0092641b, 0x00c4982e, 0x00c39c17, 0x00bf9a0b, 0x00b89208, 0x00b08506, 0x00aa7d02, 0x00a47400, 0x009f6c00, 0x009c6800, 0x009c6601, 0x00a16704, 0x00a46709, 0x00ac6c14, 0x00b3741b, 0x00ba7c21, 0x00c48928, 0x00c6942a, 0x00c89d2b, 0x00cca42a, 0x00cca827, 0x00ccac22, 0x00cbad1c, 0x00ccad1b, 0x00b99210, 0x008f6000, 0x007f4e08, 0x00623804, 0x004c2c04, 0x00432606, 0x003e240c, 0x0038220c, 0x0034210f, 0x00301e0f, 0x002c1d0b, 0x00291c0c, 0x0024180b, 0x0021180c, 0x0020180d, 0x001f190e, 0x001f1811, 0x001f1812, 0x001e1811, 0x001d1810, 0x001e1811, 0x001f1811, 0x001f1812, 0x001e1911, 0x0020180f, 0x0022180d, 0x002e2313, 0x0032240d, 0x0034280b, 0x003c2c0b, 0x0044320c, 0x00513a11, 0x00604212, 0x00785212, 0x00a37c1b, 0x00c8ac25, 0x00ccb719, 0x00ccbb0f, 0x00ccbb0e, 0x00cbba10, 0x00c6a814, 0x00a27508, 0x007b4e04, 0x005f400b, 0x00503b0e, 0x0049330c, 0x00442e0d, 0x003f2a0c, 0x003b270d, 0x0036220c, 0x00302111, 0x00261e10, 0x0017160c, 0x0014130c, 0x00191811, 0x001b1b11, 0x00191810, 0x0017170e, 0x0014160e, 0x00141610, 0x00141510, 0x00131611, 0x00141813, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07};
\ No newline at end of file
+uint32_t intense_milk[103320];
+// = {0x00152021, 0x00141f21, 0x00141d20, 0x00131d1f, 0x00131e1e, 0x00131e1e, 0x00141f1f, 0x00141f1f, 0x00141e20, 0x00131d1f, 0x00131d1f, 0x00131d1e, 0x00121c1c, 0x00111c1c, 0x00111c1a, 0x00111c1a, 0x00111c1a, 0x00111b19, 0x00111b19, 0x00111b19, 0x00111b19, 0x00101918, 0x00101918, 0x00101918, 0x00101918, 0x00101916, 0x00101916, 0x00101818, 0x00101817, 0x00101817, 0x00101817, 0x00101817, 0x00101817, 0x000f1817, 0x000f1816, 0x000e1816, 0x000d1714, 0x000d1714, 0x000d1714, 0x000c1613, 0x000c1512, 0x000c1512, 0x000e1611, 0x000e1611, 0x000e1611, 0x000e1511, 0x000d1410, 0x000c1410, 0x000c1410, 0x000c1410, 0x000c1410, 0x000c1410, 0x000c1410, 0x000c140f, 0x000c140e, 0x000c140d, 0x000c140d, 0x000d140e, 0x000d140e, 0x000d140e, 0x000d140e, 0x000f1310, 0x000d140e, 0x000d140e, 0x000c140c, 0x000c140c, 0x000c140c, 0x000c140e, 0x000c140e, 0x000c140e, 0x000c140e, 0x000c140e, 0x000c140e, 0x000c140f, 0x000b1410, 0x000b1510, 0x000c1510, 0x000c1511, 0x000c1512, 0x000c1610, 0x000c1611, 0x000c1710, 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0x002d1a0a, 0x002f1c09, 0x00321d08, 0x0037200b, 0x003a220c, 0x003b240c, 0x003b240c, 0x003b230a, 0x003c230b, 0x00392008, 0x003c220a, 0x00392007, 0x00392104, 0x00382004, 0x00381f08, 0x00381e09, 0x00371c08, 0x00331a08, 0x00301a08, 0x002f1a08, 0x002d1a08, 0x00281808, 0x00271708, 0x00241608, 0x00221708, 0x001f1408, 0x001a1108, 0x00181008, 0x00161008, 0x00151109, 0x00151109, 0x00141008, 0x0016110c, 0x0016130b, 0x001d180e, 0x001d1709, 0x00221a06, 0x00342910, 0x003c2f14, 0x002f2004, 0x00342206, 0x003c2c0a, 0x0049350c, 0x005c3f0f, 0x00785712, 0x00b4942a, 0x00ccb320, 0x00ccb70e, 0x00ccb80a, 0x00ccb809, 0x00cbb415, 0x00b18a0c, 0x007b5000, 0x005e3c00, 0x004f3404, 0x00442c05, 0x00382501, 0x00312004, 0x002d1d05, 0x00291a06, 0x00261808, 0x00201504, 0x00191104, 0x00171307, 0x00161209, 0x00151109, 0x00141109, 0x0014130a, 0x0014120a, 0x00141109, 0x00141109, 0x00141008, 0x00141008, 0x00121009, 0x00101009, 0x00110f08, 0x00121009, 0x00101009, 0x000f0f06, 0x000c0f05, 0x000c1007, 0x000b1008, 0x00081108, 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0x00111008, 0x00131008, 0x00171208, 0x0018100a, 0x00191209, 0x001b1108, 0x001d1205, 0x00211408, 0x00241508, 0x00251608, 0x002a1909, 0x002e1909, 0x00301c08, 0x00351c09, 0x00381d08, 0x00392009, 0x003c220a, 0x003e250c, 0x0040240e, 0x003d220b, 0x003c210a, 0x003c2208, 0x003c210a, 0x003b2008, 0x003b1f09, 0x003a1e0a, 0x00381f08, 0x00341c08, 0x00301a06, 0x002f1a08, 0x002c1909, 0x00281609, 0x00261509, 0x00241409, 0x00201408, 0x001c1407, 0x00191208, 0x00181108, 0x00171009, 0x00161009, 0x00161009, 0x00161009, 0x0018130c, 0x0019160c, 0x001c160d, 0x001f180b, 0x00271f0a, 0x00382e10, 0x00423414, 0x00312204, 0x00342206, 0x003c2b0a, 0x0049350c, 0x005c4010, 0x00785614, 0x00b4942b, 0x00ccb322, 0x00cbb50d, 0x00ccb90c, 0x00ccb80a, 0x00cbb414, 0x00aa8305, 0x007b5000, 0x00603c00, 0x004e3404, 0x00462d08, 0x00392701, 0x00332104, 0x002d1d04, 0x00291a06, 0x00251908, 0x001e1506, 0x001b1407, 0x00181207, 0x00171208, 0x00141309, 0x00141009, 0x00131008, 0x00131008, 0x00121008, 0x00121008, 0x00140f09, 0x00121009, 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0x00141812, 0x00141612, 0x00131714, 0x000e1811, 0x000e1811, 0x000a140d, 0x0009130d, 0x00091310, 0x0008120e, 0x0008120f, 0x0008120f, 0x0008100b, 0x0008100b, 0x0008100b, 0x00060e09, 0x00070f0a, 0x00070f0a, 0x0008100b, 0x000f130f, 0x000f130f, 0x000f130f, 0x0014180b, 0x0014180a, 0x00191c09, 0x001d2008, 0x00202309, 0x0026280b, 0x002c2d0a, 0x0030310c, 0x0034350c, 0x0038380c, 0x003c3e0d, 0x0041420d, 0x0045470e, 0x00494a10, 0x004d4e0f, 0x00515110, 0x00545510, 0x00726612, 0x00cca417, 0x00c6a016, 0x00615f12, 0x00606013, 0x00606013, 0x00616112, 0x00616112, 0x00616112, 0x00616112, 0x005e5f13, 0x00a78b15, 0x00cca418, 0x00a08614, 0x00595a12, 0x00585910, 0x00565711, 0x00545510, 0x00525310, 0x00515110, 0x004f5010, 0x004d4e0f, 0x004c4d0f, 0x004c4d0f, 0x004c4d0f, 0x004d4e0f, 0x004f5010, 0x00505010, 0x00515110, 0x00535410, 0x00545511, 0x00565710, 0x00585911, 0x005e5c12, 0x00c39e17, 0x00cca418, 0x00766b14, 0x00606013, 0x00606013, 0x00606013, 0x00606013, 0x005e5f13, 0x005d5e12, 0x005c5c11, 0x00867414, 0x00c8a116, 0x00b09014, 0x004f5010, 0x00505010, 0x004c4d0f, 0x0048490f, 0x0044450e, 0x0040400d, 0x003b3c0c, 0x0038380c, 0x0032330c, 0x002d2f0c, 0x00292b0a, 0x0026280b, 0x0020230a, 0x001d2008, 0x00191c09, 0x00191c0b, 0x0014180b, 0x0014180e, 0x000f130f, 0x00060e08, 0x00060e08, 0x00060e09, 0x00060e09, 0x00060e09, 0x00060e09, 0x00060d0b, 0x00060d0b, 0x00060e09, 0x00050f08, 0x00040f08, 0x00040f08, 0x00041007, 0x00040f06, 0x00040f06, 0x00040f06, 0x00040f08, 0x00060e09, 0x00060e09, 0x00060e09, 0x00060e09, 0x00040c08, 0x00040c08, 0x00070f0a, 0x00070f0a, 0x0008100b, 0x00060e09, 0x0008100b, 0x00060e09, 0x00050d09, 0x00070f0a, 0x0008100c, 0x000a120e, 0x000a120d, 0x000c140d, 0x000d140f, 0x00101610, 0x0010160f, 0x00101710, 0x00111810, 0x00151a13, 0x00171c15, 0x00191c16, 0x001b1d18, 0x001c1e16, 0x001e1d14, 0x001f1c14, 0x001e1d14, 0x001d1e16, 0x001b1c15, 0x00181c13, 0x00181b12, 0x00141810, 0x00131610, 0x00131612, 0x00101411, 0x000c140f, 0x000c140f, 0x0008110c, 0x0007110d, 0x0007110d, 0x0006100c, 0x0006100c, 0x00040f08, 0x00040f08, 0x00051008, 0x00051008, 0x0005100a, 0x0005100a, 0x0006100b, 0x0006100b, 0x0006100b, 0x0006100b, 0x0006100b, 0x0006100b, 0x0006100b, 0x0006100b, 0x0006100b, 0x0006100b, 0x0006100b, 0x0006100b, 0x0006100b, 0x0006100b, 0x0006100b, 0x0007110d, 0x0007110d, 0x0008120f, 0x0008120f, 0x0009110e, 0x0009110e, 0x0008100c, 0x0007100d, 0x0006100d, 0x0007110c, 0x0008100a, 0x000a0f07, 0x000b0f06, 0x000c0f06, 0x000c0f06, 0x000c0f06, 0x000c0f06, 0x000c0e06, 0x000c0e06, 0x000c1007, 0x000c1007, 0x000f1008, 0x000f1007, 0x00101008, 0x00131107, 0x00141208, 0x0014130a, 0x00151108, 0x00191408, 0x001e1809, 0x00221a09, 0x00271c07, 0x002d1f08, 0x0034240a, 0x003b2d0b, 0x0044340c, 0x00523b0c, 0x0066480c, 0x00876814, 0x00c2a732, 0x00ccb61f, 0x00ccb90c, 0x00ccb90a, 0x00ccb90c, 0x00ccb90c, 0x00ccb810, 0x00af9009, 0x007c5800, 0x00604200, 0x004c3903, 0x003f3005, 0x00352801, 0x0042340d, 0x00483811, 0x0044350c, 0x0043340c, 0x0040310d, 0x00342805, 0x00322809, 0x00342a10, 0x0027210c, 0x00191707, 0x00101105, 0x000d0f05, 0x000d1107, 0x00101208, 0x00131209, 0x00121006, 0x00161108, 0x0018100a, 0x0019110b, 0x001b1108, 0x001d1205, 0x00221609, 0x00241609, 0x00251608, 0x00281808, 0x002e1a0a, 0x00311b08, 0x00341b07, 0x00381d09, 0x0039200a, 0x003a2108, 0x003b2209, 0x003e230d, 0x003c2109, 0x00391e07, 0x003c2007, 0x00391e06, 0x00391e06, 0x00381c07, 0x00381c08, 0x00371d07, 0x00341c06, 0x00311b07, 0x002f1907, 0x002c1808, 0x00281408, 0x00241408, 0x00221207, 0x001f1307, 0x001c1306, 0x00181108, 0x00181108, 0x0018110a, 0x00181009, 0x00170f08, 0x00170f08, 0x0018120b, 0x001a150c, 0x001c140c, 0x0021180c, 0x0029200b, 0x00382f0e, 0x00443815, 0x00322402, 0x00352304, 0x003c2c09, 0x00483409, 0x005b3f0f, 0x00785514, 0x00b4922b, 0x00ccb122, 0x00cbb40e, 0x00ccb80b, 0x00ccb80a, 0x00cbb214, 0x00ab8205, 0x007a4e00, 0x00603b00, 0x004e3104, 0x00472d0b, 0x00392602, 0x00322104, 0x002d1d04, 0x00291a06, 0x00251908, 0x001e1506, 0x001b1407, 0x00181207, 0x00171208, 0x00141309, 0x00131109, 0x00121108, 0x00111108, 0x00101008, 0x00111008, 0x00121009, 0x00121009, 0x00121009, 0x00120f0b, 0x00120d0a, 0x00120d0a, 0x00130f08, 0x00141109, 0x00151208, 0x00101008, 0x000c0e06, 0x000c1009, 0x000b130c, 0x0008110b, 0x0008110b, 0x000c140e, 0x0008110b, 0x0008110a, 0x0008110b, 0x0009120b, 0x0009120c, 0x0008110a, 0x0008110a, 0x0008110a, 0x0008110b, 0x0007110c, 0x0006100b, 0x0006100b, 0x0008120c, 0x0009120c, 0x00081009, 0x00081009, 0x00081009, 0x00061009, 0x00061009, 0x00061009, 0x00061009, 0x0008100b, 0x0008100c, 0x0008100b, 0x00070f0a, 0x00060f0a, 0x00040e0b, 0x00050f0c, 0x00050f0c, 0x0006100c, 0x0006100c, 0x0006100c, 0x0006100c, 0x0006100c, 0x00050f0c, 0x00050f0c, 0x00040e0b, 0x0006100c, 0x0007130d, 0x0007130d, 0x0006120c, 0x0006120c, 0x0006120c, 0x0006120c, 0x0006120c, 0x0005110b, 0x0005110b, 0x0006100b, 0x0006100b, 0x00050d09, 0x0008100c, 0x0009110c, 0x000a120e, 0x000c120e, 0x000d1410, 0x000c140e, 0x000c140e, 0x000d150f, 0x000f1811, 0x00141815, 0x00141914, 0x00151a14, 0x00161b14, 0x00171d14, 0x00171e14, 0x00171e14, 0x00161c13, 0x00171c11, 0x00181b11, 0x00161811, 0x00141711, 0x00131712, 0x000e1811, 0x000e1811, 0x000b150e, 0x000a140e, 0x000a1410, 0x00091310, 0x0008120f, 0x0008120f, 0x0008100c, 0x0008100c, 0x0008100c, 0x00070f0a, 0x0008100b, 0x0008100b, 0x0008100b, 0x000f130f, 0x000f130f, 0x000f130f, 0x0014180b, 0x0014180a, 0x00191c09, 0x001d2008, 0x00202309, 0x0026280b, 0x00292b0a, 0x0030310c, 0x0034350c, 0x0038380c, 0x003b3c0c, 0x0040400d, 0x0044450d, 0x0048490f, 0x004c4d10, 0x00505010, 0x00545510, 0x00716512, 0x00cca417, 0x00c6a016, 0x00605d11, 0x005e5f13, 0x00606013, 0x00606013, 0x00606012, 0x00606012, 0x00606013, 0x005d5e13, 0x00a78b15, 0x00cca418, 0x00a08614, 0x00595a12, 0x00585810, 0x00555610, 0x00535410, 0x00525310, 0x00505010, 0x004f5010, 0x004d4e0f, 0x004c4d0f, 0x004c4d0f, 0x004c4d0f, 0x004d4e0f, 0x004f5010, 0x00505010, 0x00515110, 0x00525310, 0x00545510, 0x00565710, 0x00595a11, 0x005e5c13, 0x00c39e17, 0x00cca418, 0x00756a13, 0x005e5f13, 0x00606013, 0x00606013, 0x005e5f13, 0x005d5e12, 0x005c5d11, 0x005b5b11, 0x00867414, 0x00c8a116, 0x00b09014, 0x004d4e10, 0x004f5010, 0x004b4c0f, 0x0047480e, 0x0044450e, 0x0040400d, 0x003c3e0d, 0x0036370c, 0x0032330c, 0x002d2f0c, 0x00292b0a, 0x0026280b, 0x00202309, 0x00202309, 0x00191c09, 0x00191c0b, 0x0014180b, 0x0014180e, 0x000f130f, 0x00060e08, 0x00060e08, 0x00060e09, 0x00060e09, 0x00060e09, 0x00060e09, 0x00060e09, 0x00060e09, 0x00060e08, 0x00050e08, 0x00040f08, 0x00040f08, 0x00041007, 0x00040f06, 0x00040f06, 0x00040f06, 0x00040f07, 0x00060e09, 0x00060e09, 0x00060e09, 0x00060e09, 0x00060f09, 0x00060e09, 0x00070f0a, 0x00070f0a, 0x0008100b, 0x00060e09, 0x0008100b, 0x00060e09, 0x00070f0a, 0x0009110c, 0x0009110c, 0x0009110e, 0x000c140e, 0x000c140e, 0x000f1610, 0x00101710, 0x00101711, 0x00111810, 0x00131a12, 0x00161b14, 0x00171c15, 0x001a1c17, 0x001c1e18, 0x001c1e16, 0x001e1d14, 0x001e1d14, 0x001d1e14, 0x001b1c14, 0x00181c13, 0x00181a13, 0x00171913, 0x00141611, 0x00131410, 0x00101410, 0x000e1410, 0x000b130f, 0x000a130e, 0x0006100b, 0x0007110d, 0x0007110d, 0x0006100c, 0x0006100c, 0x00040f09, 0x00040e08, 0x00051009, 0x00051009, 0x0005100a, 0x0005100a, 0x0006100b, 0x0006100b, 0x0006100b, 0x0006100b, 0x0006100b, 0x0006100b, 0x0006100b, 0x0006100b, 0x0006100b, 0x0006100b, 0x0006100b, 0x0007110c, 0x0007110c, 0x0006100b, 0x0006100b, 0x0007110d, 0x0007110d, 0x0008120f, 0x0008120f, 0x000b1310, 0x000b1310, 0x000b1310, 0x00091310, 0x0008120f, 0x0007110c, 0x0009100a, 0x000a0f08, 0x000b0f07, 0x000c0f06, 0x000c0f06, 0x000c0f05, 0x000c0f04, 0x000c0e04, 0x000c0f04, 0x000c1005, 0x000c1005, 0x000f1008, 0x000f1007, 0x00101008, 0x00131107, 0x00131308, 0x0014130a, 0x00141208, 0x00181408, 0x001e1809, 0x00221a09, 0x00271c07, 0x002d1f08, 0x00342509, 0x003c2d0c, 0x0044340c, 0x00523b0c, 0x0068480c, 0x00876813, 0x00c2a732, 0x00ccb61e, 0x00ccb90c, 0x00ccb90a, 0x00ccb90c, 0x00cbbb0c, 0x00ccb910, 0x00af9009, 0x007d5800, 0x00604400, 0x004c3a04, 0x00413208, 0x00382b04, 0x0044370f, 0x0047380f, 0x0044340b, 0x0042340c, 0x00413410, 0x00342806, 0x002e2304, 0x00342a11, 0x002b2510, 0x00191605, 0x00111104, 0x000e1006, 0x000d1007, 0x00101208, 0x00111208, 0x00121006, 0x00161108, 0x0018100a, 0x0019110a, 0x001b1108, 0x001d1205, 0x00221609, 0x00241608, 0x00251608, 0x00281808, 0x002d1a09, 0x00301a08, 0x00331a06, 0x00351c08, 0x00381f09, 0x00381f08, 0x00392008, 0x003c210b, 0x003b2008, 0x003c2008, 0x003a1f06, 0x00371c04, 0x00381c05, 0x00371c06, 0x00371b08, 0x00371c08, 0x00341c06, 0x00321b07, 0x002f1907, 0x002c1809, 0x00281408, 0x00241408, 0x00221207, 0x001f1306, 0x001b1305, 0x00181107, 0x00181108, 0x0018110a, 0x00181009, 0x00170f08, 0x00170f08, 0x0018120b, 0x001a150c, 0x001c140c, 0x0021180c, 0x0029200a, 0x00382f0c, 0x00443813, 0x00342502, 0x00352401, 0x003e2d09, 0x0048340a, 0x005c3f0e, 0x00785514, 0x00b3932b, 0x00ccb222, 0x00cab40e, 0x00ccb80c, 0x00ccb80a, 0x00cbb214, 0x00ab8205, 0x007a4f00, 0x00603b00, 0x004d3003, 0x00472d0b, 0x003a2802, 0x00322104, 0x002d1d04, 0x00291a06, 0x00251908, 0x001e1506, 0x001b1407, 0x00181207, 0x00171208, 0x00141309, 0x00131109, 0x00121108, 0x00111108, 0x00101008, 0x00101008, 0x00121009, 0x00121009, 0x00121009, 0x00120f0b, 0x00140f0b, 0x00130e0a, 0x00140f08, 0x0015110a, 0x00151208, 0x00111008, 0x000d0f07, 0x00080e06, 0x000a120c, 0x000c140e, 0x000d140f, 0x00101711, 0x000d150e, 0x000e150e, 0x000c140c, 0x000a110a, 0x00091109, 0x00091008, 0x00091008, 0x00091008, 0x00081109, 0x0007110a, 0x00061009, 0x00061009, 0x0008130c, 0x0009120c, 0x00081009, 0x00081009, 0x00081008, 0x00061008, 0x00061108, 0x00061009, 0x0006100a, 0x0008110a, 0x0008110a, 0x0008100b, 0x0008100c, 0x0008100c, 0x0006100d, 0x0006100c, 0x0006100c, 0x0006100c, 0x0006100c, 0x0006100c, 0x0006100c, 0x0006100c, 0x00050f0c, 0x00050f0c, 0x00040e0b, 0x0006100c, 0x0008120d, 0x0007130d, 0x0006120c, 0x0006120c, 0x0006120c, 0x0006120c, 0x0007120c, 0x0007120c, 0x0006100b, 0x0006100b, 0x0006100b, 0x0008100c, 0x0009110d, 0x0009110d, 0x000a120e, 0x000a120e, 0x000c1410, 0x000c140f, 0x000c140f, 0x000d1510, 0x000f1812, 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0x0022190d, 0x0022190d, 0x0022190d, 0x0022190d, 0x0022190d, 0x0022190d, 0x0022190d, 0x0022190d, 0x0022190d, 0x0022190d, 0x0022190e, 0x0022190e, 0x0022190e, 0x0022190e, 0x0021180d, 0x0021180d, 0x0020190d, 0x0020190d, 0x0020190d, 0x0020190d, 0x0020190d, 0x0020190d, 0x00201a0e, 0x00201a0e, 0x00211a0e, 0x00231a0f, 0x00231a0f, 0x0022190e, 0x0022190e, 0x0022190e, 0x0022190e, 0x00231a0f, 0x00231a0e, 0x00231a10, 0x00231a0f, 0x00221a0f, 0x00221a0f, 0x0024190f, 0x0024190f, 0x0024190f, 0x0024190e, 0x0024190e, 0x0024180e, 0x0024180e, 0x0024190e, 0x0024190e, 0x00251c0f, 0x00251c0f, 0x00241a0d, 0x00261c10, 0x00271c10, 0x00281b10, 0x002c1e10, 0x00302010, 0x00342112, 0x0036210f, 0x00382110, 0x003d2512, 0x00442c12, 0x004e3113, 0x00623d1b, 0x00744819, 0x0092641b, 0x00c4982e, 0x00c39c17, 0x00bf9a0b, 0x00b89208, 0x00b08506, 0x00aa7d02, 0x00a47400, 0x009f6c00, 0x009c6800, 0x009c6601, 0x00a16704, 0x00a46709, 0x00ac6c14, 0x00b3741b, 0x00ba7c21, 0x00c48928, 0x00c6942a, 0x00c89d2b, 0x00cca42a, 0x00cca827, 0x00ccac22, 0x00cbad1c, 0x00ccad1b, 0x00b99210, 0x008f6000, 0x007f4e08, 0x00623804, 0x004c2c04, 0x00432606, 0x003e240c, 0x0038220c, 0x0034210f, 0x00301e0f, 0x002c1d0b, 0x00291c0c, 0x0024180b, 0x0021180c, 0x0020180d, 0x001f190e, 0x001f1811, 0x001f1812, 0x001e1811, 0x001d1810, 0x001e1811, 0x001f1811, 0x001f1812, 0x001e1911, 0x0020180f, 0x0022180d, 0x002e2313, 0x0032240d, 0x0034280b, 0x003c2c0b, 0x0044320c, 0x00513a11, 0x00604212, 0x00785212, 0x00a37c1b, 0x00c8ac25, 0x00ccb719, 0x00ccbb0f, 0x00ccbb0e, 0x00cbba10, 0x00c6a814, 0x00a27508, 0x007b4e04, 0x005f400b, 0x00503b0e, 0x0049330c, 0x00442e0d, 0x003f2a0c, 0x003b270d, 0x0036220c, 0x00302111, 0x00261e10, 0x0017160c, 0x0014130c, 0x00191811, 0x001b1b11, 0x00191810, 0x0017170e, 0x0014160e, 0x00141610, 0x00141510, 0x00131611, 0x00141813, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07};
\ No newline at end of file
diff --git a/include/subsystems/screen.h b/include/subsystems/screen.h
new file mode 100644
index 0000000..4f0a876
--- /dev/null
+++ b/include/subsystems/screen.h
@@ -0,0 +1,22 @@
+#pragma once
+#include "vex.h"
+#include <vector>
+
+/// @brief the type of function that the screen controller expects
+/// @param screen a reference to the screen to draw on
+/// @param x the x position this widget has been told to start at
+/// @param y the y position this widget has been told to start at
+
+typedef void (*screenFunc)(vex::brain::lcd &screen, int x, int y, int width, int height, bool first_run);
+
+void draw_mot_header(vex::brain::lcd &screen, int x, int y, int width);
+// name should be no longer than 15 characters
+void draw_mot_stats(vex::brain::lcd &screen, int x, int y, int width, const char *name, vex::motor &motor);
+void draw_battery_stats(vex::brain::lcd &screen, int x, int y, double voltage, double percentage);
+
+
+
+void draw_lr_arrows(vex::brain::lcd &screen, int bar_width, int width, int height);
+
+int HandleScreen(vex::brain::lcd &screen, std::vector<screenFunc> pages);
+void StartScreen(vex::brain::lcd &screen, std::vector<screenFunc> pages);
\ No newline at end of file
diff --git a/src/subsystems/screen.cpp b/src/subsystems/screen.cpp
new file mode 100644
index 0000000..2b963c1
--- /dev/null
+++ b/src/subsystems/screen.cpp
@@ -0,0 +1,202 @@
+#include "../core/include/subsystems/screen.h"
+
+void draw_battery_stats(vex::brain::lcd &screen, int x, int y, double voltage, double percentage)
+{
+    double low_pct = 70.0;
+    double med_pct = 85.0;
+
+    vex::color low_col = vex::color(120, 0, 0);
+    vex::color med_col = vex::color(140, 100, 0);
+    vex::color high_col = vex::black;
+
+    vex::color bg_col = vex::black;
+    if (percentage < low_pct)
+    {
+        bg_col = low_col;
+    }
+    else if (percentage < med_pct)
+    {
+        bg_col = med_col;
+    }
+    else
+    {
+        bg_col = high_col;
+    }
+
+    screen.setFillColor(bg_col);
+    screen.setPenColor(vex::white);
+    screen.setFont(vex::mono15);
+
+    screen.drawRectangle(x, y, 200, 20);
+    screen.printAt(x + 2, y + 15, "battery: %.1fv  %d%%", voltage, (int)percentage);
+}
+
+void draw_mot_header(vex::brain::lcd &screen, int x, int y, int width)
+{
+    vex::color bg_col = vex::black;
+    vex::color border_col = vex::white;
+    screen.setFillColor(bg_col);
+    screen.setPenColor(border_col);
+    screen.setFont(vex::mono15);
+
+    screen.drawRectangle(x, y, width, 20);
+    screen.printAt(x + 5, y + 15, "motor name");
+    int name_width = 110;
+
+    screen.printAt(x + name_width + 7, y + 15, "temp");
+
+    screen.drawLine(x + name_width, y, x + name_width, y + 20);
+
+    screen.drawLine(x + name_width + 50, y, x + name_width + 50, y + 20);
+
+    screen.printAt(x + name_width + 55, y + 15, "port");
+}
+
+void draw_mot_stats(vex::brain::lcd &screen, int x, int y, int width, const char *name, vex::motor &motor)
+{
+    double tempC = motor.temperature(vex::celsius);
+    bool pluggedin = motor.installed();
+    int port = motor.index() + 1;
+
+    // used for flashing
+    static int count = 0;
+    vex::color bg_col = vex::black;
+    vex::color hot_col = vex::color(120, 0, 0);
+    vex::color med_col = vex::color(140, 100, 0);
+    vex::color low_col = vex::black; // color(0,100,0);
+    vex::color not_plugged_in_col = vex::color(255, 0, 0);
+
+    double lowtemp = 40;
+    double hightemp = 50;
+    if (tempC < lowtemp)
+    {
+        bg_col = low_col;
+    }
+    else if (tempC >= lowtemp && tempC < hightemp)
+    {
+        bg_col = med_col;
+    }
+    else if (tempC > hightemp)
+    {
+        bg_col = hot_col;
+    }
+
+    if (!pluggedin)
+    {
+        if ((count / 16) % 2 == 0)
+        {
+            bg_col = not_plugged_in_col;
+        }
+        else
+        {
+            bg_col = bg_col;
+        }
+    }
+
+    vex::color border_col = vex::white;
+    screen.setFillColor(bg_col);
+    screen.setPenColor(border_col);
+    screen.setFont(vex::mono15);
+
+    screen.drawRectangle(x, y, width, 20);
+
+    // name
+    screen.printAt(x + 5, y + 15, name);
+    int name_width = 110;
+
+    // temp
+    screen.drawLine(x + name_width, y, x + name_width, y + 20);
+    screen.printAt(x + name_width + 10, y + 15, "%dC", (int)tempC);
+
+    // PORT
+    screen.drawLine(x + name_width + 50, y, x + name_width + 50, y + 20);
+    char *warning = "!";
+    if (pluggedin)
+    {
+        warning = "";
+    }
+    screen.printAt(x + name_width + 60, y + 15, "%d%s", port, warning);
+    count++;
+}
+
+void draw_lr_arrows(vex::brain::lcd &screen, int bar_width, int width, int height)
+{
+    auto bar_col = vex::color(40, 40, 40);
+    auto arrow_col = vex::color(255, 255, 255);
+    // draw touch zones
+    screen.setFillColor(bar_col);
+    screen.setPenColor(bar_col);
+
+    screen.drawRectangle(0, 0, bar_width, height);
+    screen.drawRectangle(width - bar_width, 0, width, height);
+
+    // draw arrows
+    screen.setPenColor(arrow_col);
+    screen.drawLine(bar_width / 3, height / 2, 2 * bar_width / 3, height / 2 - 20);
+    screen.drawLine(bar_width / 3, height / 2, 2 * bar_width / 3, height / 2 + 20);
+
+    screen.drawLine(width - bar_width / 3, height / 2, width - 2 * bar_width / 3, height / 2 - 20);
+    screen.drawLine(width - bar_width / 3, height / 2, width - 2 * bar_width / 3, height / 2 + 20);
+}
+
+int HandleScreen(vex::brain::lcd &screen, std::vector<screenFunc> pages)
+{
+    unsigned int num_pages = pages.size();
+    unsigned int current_page = 0;
+
+    int width = 480;
+    int height = 240;
+
+    int bar_width = 40;
+
+    bool was_pressing = false;
+    bool first_draw = true;
+    while (true)
+    {
+        draw_lr_arrows(screen, bar_width, width, height);
+
+        pages[current_page](screen, bar_width, 0, width - bar_width * 2, height, first_draw);
+
+        first_draw = false;
+        // handle presses
+        if (screen.pressing() && !was_pressing)
+        {
+
+            int x = screen.xPosition();
+            int y = screen.yPosition();
+
+            if (x < bar_width)
+            {
+                if (current_page == 0)
+                {
+                    current_page = num_pages;
+                }
+                current_page--;
+                first_draw = true;
+            }
+
+            if (x > width - bar_width * 2)
+            {
+                current_page++;
+                current_page %= num_pages;
+                first_draw = true;
+            }
+        }
+        was_pressing = screen.pressing();
+        screen.render();
+        vexDelay(100);
+    }
+
+    return 0;
+}
+
+void StartScreen(vex::brain::lcd &screen, std::vector<screenFunc> pages)
+{
+    static std::vector<screenFunc> my_pages = pages;
+    ; // hold onto it here so we don't lose it and can use it in the lambda down there. capture semantics are fun
+    static vex::brain::lcd my_screen = screen;
+    vex::task screenTask([]()
+                         {
+      HandleScreen(my_screen, my_pages);
+      return 0; });
+}
\ No newline at end of file
diff --git a/src/utils/command_structure/command_controller.cpp b/src/utils/command_structure/command_controller.cpp
index 14be25e..691664c 100644
--- a/src/utils/command_structure/command_controller.cpp
+++ b/src/utils/command_structure/command_controller.cpp
@@ -50,6 +50,8 @@ void CommandController::run() {
   printf("Running Auto. Commands 1 to %d\n", command_queue.size());
   fflush(stdout);
   int command_count = 1;
+  vex::timer tmr;
+  tmr.reset();
 
   while(!command_queue.empty()) {
     // retrieve and remove command at the front of the queue
@@ -86,6 +88,7 @@ void CommandController::run() {
     fflush(stdout);
     command_count++;
   }
+  printf("Finished commands in %f seconds\n", tmr.time(vex::sec));
 }
 
 bool CommandController::last_command_timed_out(){

From 294952e67cb4c1959bade24aeb1c0d0490242628 Mon Sep 17 00:00:00 2001
From: cowsed <richie.sommers@outlook.com>
Date: Thu, 23 Feb 2023 21:58:17 -0500
Subject: [PATCH 180/243] pre purdue auto

---
 include/utils/command_structure/auto_command.h   | 2 +-
 include/utils/command_structure/drive_commands.h | 5 -----
 src/subsystems/flywheel.cpp                      | 2 +-
 src/subsystems/screen.cpp                        | 2 +-
 src/subsystems/tank_drive.cpp                    | 1 +
 5 files changed, 4 insertions(+), 8 deletions(-)

diff --git a/include/utils/command_structure/auto_command.h b/include/utils/command_structure/auto_command.h
index c8f1cbf..fd44850 100644
--- a/include/utils/command_structure/auto_command.h
+++ b/include/utils/command_structure/auto_command.h
@@ -21,7 +21,7 @@ class AutoCommand {
     */
     virtual void on_timeout(){}
     AutoCommand* withTimeout(double t_seconds){
-      timeout_seconds = t_seconds;
+      this->timeout_seconds = t_seconds;
       return this;
     }
     /** 
diff --git a/include/utils/command_structure/drive_commands.h b/include/utils/command_structure/drive_commands.h
index 3419a18..8e4ff04 100644
--- a/include/utils/command_structure/drive_commands.h
+++ b/include/utils/command_structure/drive_commands.h
@@ -176,11 +176,6 @@ class DriveStopCommand: public AutoCommand {
      * @returns true when execution is complete, false otherwise
      */
     bool run() override;
-    /**
-     * Cleans up drive system if we time out before finishing
-    */
-    void on_timeout() override;
-
 
   private:
     // drive system to run the function on
diff --git a/src/subsystems/flywheel.cpp b/src/subsystems/flywheel.cpp
index 2c41114..01a2c2a 100644
--- a/src/subsystems/flywheel.cpp
+++ b/src/subsystems/flywheel.cpp
@@ -22,7 +22,7 @@
 
 using namespace vex;
 
-const int FlywheelWindowSize = 1;
+const int FlywheelWindowSize = 20;
 
 /*********************************************************
 *         CONSTRUCTOR, GETTERS, SETTERS
diff --git a/src/subsystems/screen.cpp b/src/subsystems/screen.cpp
index 2b963c1..38fd56e 100644
--- a/src/subsystems/screen.cpp
+++ b/src/subsystems/screen.cpp
@@ -76,7 +76,7 @@ void draw_mot_stats(vex::brain::lcd &screen, int x, int y, int width, const char
     {
         bg_col = med_col;
     }
-    else if (tempC > hightemp)
+    else if (tempC >= hightemp)
     {
         bg_col = hot_col;
     }
diff --git a/src/subsystems/tank_drive.cpp b/src/subsystems/tank_drive.cpp
index 370173a..812f6bd 100644
--- a/src/subsystems/tank_drive.cpp
+++ b/src/subsystems/tank_drive.cpp
@@ -303,6 +303,7 @@ bool TankDrive::drive_to_point(double x, double y, vex::directionType dir, Feedb
   {
     stop();
     func_initialized = false;
+    stop();
     return true;
   }
 

From f0ee99db778aa31e169a4da5ebd743fce0ffae60 Mon Sep 17 00:00:00 2001
From: cowsed <richie.sommers@outlook.com>
Date: Thu, 2 Mar 2023 19:03:47 -0500
Subject: [PATCH 181/243] Vision Chooser: Vision options in robot_config screen
 four allows picking between these options VisionCommand stops if vision is
 disabled and only red or blue targets will be targeted

---
 include/subsystems/screen.h |  4 ++--
 src/subsystems/screen.cpp   | 15 +++++++--------
 2 files changed, 9 insertions(+), 10 deletions(-)

diff --git a/include/subsystems/screen.h b/include/subsystems/screen.h
index 4f0a876..891c57d 100644
--- a/include/subsystems/screen.h
+++ b/include/subsystems/screen.h
@@ -18,5 +18,5 @@ void draw_battery_stats(vex::brain::lcd &screen, int x, int y, double voltage, d
 
 void draw_lr_arrows(vex::brain::lcd &screen, int bar_width, int width, int height);
 
-int HandleScreen(vex::brain::lcd &screen, std::vector<screenFunc> pages);
-void StartScreen(vex::brain::lcd &screen, std::vector<screenFunc> pages);
\ No newline at end of file
+int handle_screen_thread(vex::brain::lcd &screen, std::vector<screenFunc> pages, int first_page);
+void StartScreen(vex::brain::lcd &screen, std::vector<screenFunc> pages, int first_page = 0);
\ No newline at end of file
diff --git a/src/subsystems/screen.cpp b/src/subsystems/screen.cpp
index 38fd56e..85ca0ba 100644
--- a/src/subsystems/screen.cpp
+++ b/src/subsystems/screen.cpp
@@ -139,10 +139,10 @@ void draw_lr_arrows(vex::brain::lcd &screen, int bar_width, int width, int heigh
     screen.drawLine(width - bar_width / 3, height / 2, width - 2 * bar_width / 3, height / 2 + 20);
 }
 
-int HandleScreen(vex::brain::lcd &screen, std::vector<screenFunc> pages)
+int handle_screen_thread(vex::brain::lcd &screen, std::vector<screenFunc> pages, int first_page)
 {
     unsigned int num_pages = pages.size();
-    unsigned int current_page = 0;
+    unsigned int current_page = first_page;
 
     int width = 480;
     int height = 240;
@@ -184,19 +184,18 @@ int HandleScreen(vex::brain::lcd &screen, std::vector<screenFunc> pages)
         }
         was_pressing = screen.pressing();
         screen.render();
-        vexDelay(100);
+        vexDelay(40);
     }
 
     return 0;
 }
 
-void StartScreen(vex::brain::lcd &screen, std::vector<screenFunc> pages)
+void StartScreen(vex::brain::lcd &screen, std::vector<screenFunc> pages, int first_page)
 {
+    // hold onto arguments here so we don't lose them and can use then in the lambda down there. capture semantics are not fun
     static std::vector<screenFunc> my_pages = pages;
-    ; // hold onto it here so we don't lose it and can use it in the lambda down there. capture semantics are fun
     static vex::brain::lcd my_screen = screen;
+    static int my_first_page = first_page;
     vex::task screenTask([]()
-                         {
-      HandleScreen(my_screen, my_pages);
-      return 0; });
+                         { return handle_screen_thread(my_screen, my_pages, my_first_page); });
 }
\ No newline at end of file

From 750cef61f7ab3c12bdc72a123d3a1cefcc36042f Mon Sep 17 00:00:00 2001
From: cowsed <richie.sommers@outlook.com>
Date: Fri, 3 Mar 2023 21:43:31 -0500
Subject: [PATCH 182/243] Screen Arrows Drawn after

---
 src/subsystems/screen.cpp | 3 +--
 1 file changed, 1 insertion(+), 2 deletions(-)

diff --git a/src/subsystems/screen.cpp b/src/subsystems/screen.cpp
index 85ca0ba..fd06524 100644
--- a/src/subsystems/screen.cpp
+++ b/src/subsystems/screen.cpp
@@ -153,8 +153,6 @@ int handle_screen_thread(vex::brain::lcd &screen, std::vector<screenFunc> pages,
     bool first_draw = true;
     while (true)
     {
-        draw_lr_arrows(screen, bar_width, width, height);
-
         pages[current_page](screen, bar_width, 0, width - bar_width * 2, height, first_draw);
 
         first_draw = false;
@@ -181,6 +179,7 @@ int handle_screen_thread(vex::brain::lcd &screen, std::vector<screenFunc> pages,
                 current_page %= num_pages;
                 first_draw = true;
             }
+            draw_lr_arrows(screen, bar_width, width, height);
         }
         was_pressing = screen.pressing();
         screen.render();

From 49a46d12e860541f1d446fac1722a5043bfeb909 Mon Sep 17 00:00:00 2001
From: cowsed <richie.sommers@outlook.com>
Date: Sun, 12 Mar 2023 20:04:19 -0400
Subject: [PATCH 183/243] Experimental gh pages documentation

---
 .github/workflows/main.yml | 39 ++++++++++++++++++++++++++++++++++++++
 1 file changed, 39 insertions(+)
 create mode 100644 .github/workflows/main.yml

diff --git a/.github/workflows/main.yml b/.github/workflows/main.yml
new file mode 100644
index 0000000..c033af1
--- /dev/null
+++ b/.github/workflows/main.yml
@@ -0,0 +1,39 @@
+# This is a basic workflow to help you get started with Actions
+
+name: Doxygen Action
+
+# Controls when the action will run. Triggers the workflow on push or pull request
+# events but only for the master branch
+on:
+  push:
+    branches: [ master ]
+
+
+  
+# A workflow run is made up of one or more jobs that can run sequentially or in parallel
+jobs:
+  # This workflow contains a single job called "build"
+  build:
+    # The type of runner that the job will run on
+    runs-on: ubuntu-latest
+
+    # Steps represent a sequence of tasks that will be executed as part of the job
+    steps:
+    # Checks-out your repository under $GITHUB_WORKSPACE, so your job can access it
+    - uses: actions/checkout@v2
+        
+    - name: Doxygen Action
+      uses: mattnotmitt/doxygen-action@v1.1.0
+      with:
+        # Path to Doxyfile
+        doxyfile-path: "./Doxyfile" # default is ./Doxyfile
+        # Working directory
+        working-directory: "." # default is .
+    
+    - name: Deploy
+      uses: peaceiris/actions-gh-pages@v3
+      with:
+        github_token: ${{ secrets.GITHUB_TOKEN }}
+        # Default Doxyfile build documentation to html directory. 
+        # Change the directory if changes in Doxyfile
+        publish_dir: ./documentation/html

From 89baed4b9d781618b1813b64925b507d722f1982 Mon Sep 17 00:00:00 2001
From: cowsed <richie.sommers@outlook.com>
Date: Sun, 12 Mar 2023 20:08:22 -0400
Subject: [PATCH 184/243] gh pages for real

---
 Doxyfile                                      | 2736 +++++++++++++++++
 documentation/html/annotated.html             |  132 +
 .../html/auto__chooser_8h_source.html         |  130 +
 .../html/auto__command_8h_source.html         |  109 +
 documentation/html/bc_s.png                   |  Bin 0 -> 676 bytes
 documentation/html/bc_sd.png                  |  Bin 0 -> 635 bytes
 documentation/html/bdwn.png                   |  Bin 0 -> 147 bytes
 .../html/classAutoChooser-members.html        |   91 +
 documentation/html/classAutoChooser.html      |  296 ++
 .../html/classAutoCommand-members.html        |   88 +
 documentation/html/classAutoCommand.html      |  205 ++
 documentation/html/classAutoCommand.png       |  Bin 0 -> 5628 bytes
 .../html/classCommandController-members.html  |   89 +
 .../html/classCommandController.html          |  233 ++
 .../html/classCustomEncoder-members.html      |   90 +
 documentation/html/classCustomEncoder.html    |  296 ++
 documentation/html/classCustomEncoder.png     |  Bin 0 -> 494 bytes
 .../html/classDelayCommand-members.html       |   89 +
 documentation/html/classDelayCommand.html     |  184 ++
 documentation/html/classDelayCommand.png      |  Bin 0 -> 508 bytes
 .../classDriveForwardCommand-members.html     |   89 +
 .../html/classDriveForwardCommand.html        |  252 ++
 .../html/classDriveForwardCommand.png         |  Bin 0 -> 613 bytes
 .../html/classDriveStopCommand-members.html   |   89 +
 documentation/html/classDriveStopCommand.html |  178 ++
 documentation/html/classDriveStopCommand.png  |  Bin 0 -> 549 bytes
 .../classDriveToPointCommand-members.html     |   89 +
 .../html/classDriveToPointCommand.html        |  274 ++
 .../html/classDriveToPointCommand.png         |  Bin 0 -> 595 bytes
 .../html/classFeedForward-members.html        |   86 +
 documentation/html/classFeedForward.html      |  199 ++
 documentation/html/classFeedback-members.html |   94 +
 documentation/html/classFeedback.html         |  315 ++
 documentation/html/classFeedback.png          |  Bin 0 -> 792 bytes
 documentation/html/classFlywheel-members.html |  105 +
 documentation/html/classFlywheel.html         |  684 +++++
 .../classFlywheelStopCommand-members.html     |   89 +
 .../html/classFlywheelStopCommand.html        |  177 ++
 .../html/classFlywheelStopCommand.png         |  Bin 0 -> 621 bytes
 ...lassFlywheelStopMotorsCommand-members.html |   89 +
 .../html/classFlywheelStopMotorsCommand.html  |  177 ++
 .../html/classFlywheelStopMotorsCommand.png   |  Bin 0 -> 678 bytes
 ...ssFlywheelStopNonTasksCommand-members.html |   87 +
 .../classFlywheelStopNonTasksCommand.html     |  115 +
 .../html/classFlywheelStopNonTasksCommand.png |  Bin 0 -> 718 bytes
 .../html/classGenericAuto-members.html        |   88 +
 documentation/html/classGenericAuto.html      |  204 ++
 .../html/classGraphDrawer-members.html        |   87 +
 documentation/html/classGraphDrawer.html      |  277 ++
 documentation/html/classLift-members.html     |   97 +
 documentation/html/classLift.html             |  630 ++++
 .../html/classMecanumDrive-members.html       |   89 +
 documentation/html/classMecanumDrive.html     |  389 +++
 .../html/classMotionController-members.html   |   97 +
 documentation/html/classMotionController.html |  477 +++
 documentation/html/classMotionController.png  |  Bin 0 -> 474 bytes
 .../html/classMovingAverage-members.html      |   89 +
 documentation/html/classMovingAverage.html    |  233 ++
 .../html/classOdomSetPosition-members.html    |   89 +
 documentation/html/classOdomSetPosition.html  |  195 ++
 documentation/html/classOdomSetPosition.png   |  Bin 0 -> 525 bytes
 .../html/classOdometry3Wheel-members.html     |  108 +
 documentation/html/classOdometry3Wheel.html   |  303 ++
 documentation/html/classOdometry3Wheel.png    |  Bin 0 -> 548 bytes
 .../html/classOdometryBase-members.html       |  106 +
 documentation/html/classOdometryBase.html     |  725 +++++
 documentation/html/classOdometryBase.png      |  Bin 0 -> 776 bytes
 .../html/classOdometryTank-members.html       |  108 +
 documentation/html/classOdometryTank.html     |  345 +++
 documentation/html/classOdometryTank.png      |  Bin 0 -> 541 bytes
 documentation/html/classPID-members.html      |  103 +
 documentation/html/classPID.html              |  509 +++
 documentation/html/classPID.png               |  Bin 0 -> 362 bytes
 documentation/html/classPIDFF-members.html    |   98 +
 documentation/html/classPIDFF.html            |  401 +++
 documentation/html/classPIDFF.png             |  Bin 0 -> 377 bytes
 .../html/classSpinRPMCommand-members.html     |   89 +
 documentation/html/classSpinRPMCommand.html   |  189 ++
 documentation/html/classSpinRPMCommand.png    |  Bin 0 -> 543 bytes
 .../html/classTankDrive-members.html          |   99 +
 documentation/html/classTankDrive.html        |  877 ++++++
 .../html/classTrapezoidProfile-members.html   |   90 +
 documentation/html/classTrapezoidProfile.html |  290 ++
 .../html/classTurnDegreesCommand-members.html |   89 +
 .../html/classTurnDegreesCommand.html         |  233 ++
 .../html/classTurnDegreesCommand.png          |  Bin 0 -> 614 bytes
 .../classTurnToHeadingCommand-members.html    |   89 +
 .../html/classTurnToHeadingCommand.html       |  233 ++
 .../html/classTurnToHeadingCommand.png        |  Bin 0 -> 624 bytes
 documentation/html/classVector2D-members.html |   95 +
 documentation/html/classVector2D.html         |  378 +++
 ...lassWaitUntilUpToSpeedCommand-members.html |   89 +
 .../html/classWaitUntilUpToSpeedCommand.html  |  188 ++
 .../html/classWaitUntilUpToSpeedCommand.png   |  Bin 0 -> 660 bytes
 documentation/html/classes.html               |  132 +
 documentation/html/closed.png                 |  Bin 0 -> 132 bytes
 .../html/command__controller_8h_source.html   |  113 +
 .../html/custom__encoder_8h_source.html       |  115 +
 .../html/delay__command_8h_source.html        |  107 +
 .../dir_313caf1132e152dd9b58bea13a4052ca.html |   91 +
 .../dir_42a35307dcefecb9f25978d1dedb502f.html |   91 +
 .../dir_68267d1309a1af8e8297ef4c3efbcdba.html |   93 +
 .../dir_821002d4f10779a80d4fb17bc32f21f1.html |  120 +
 .../dir_883d6c53cd62ec60a5d421a7bc1a2629.html |   95 +
 .../dir_8e84b5daa2b3f33b7b3fb9ecedbe5637.html |  106 +
 .../dir_ca1fd9fa48e5fdc0ddfbf442e09c4dab.html |   85 +
 .../dir_d44c64559bbebec7f509842c48db8b23.html |   98 +
 .../dir_d9631e0f4b8929605c336e8f080acaa3.html |   85 +
 .../dir_e0729c835bcfebced7012c88d9b3a1d3.html |   99 +
 documentation/html/doc.png                    |  Bin 0 -> 746 bytes
 documentation/html/docd.png                   |  Bin 0 -> 756 bytes
 documentation/html/doxygen.css                | 2007 ++++++++++++
 documentation/html/doxygen.svg                |   26 +
 .../html/drive__commands_8h_source.html       |  229 ++
 documentation/html/dynsections.js             |  123 +
 .../html/feedback__base_8h_source.html        |  118 +
 documentation/html/feedforward_8h_source.html |  135 +
 documentation/html/files.html                 |  118 +
 documentation/html/flywheel_8h_source.html    |  197 ++
 .../html/flywheel__commands_8h_source.html    |  161 +
 documentation/html/folderclosed.png           |  Bin 0 -> 616 bytes
 documentation/html/folderopen.png             |  Bin 0 -> 597 bytes
 documentation/html/functions.html             |   93 +
 documentation/html/functions_b.html           |   84 +
 documentation/html/functions_c.html           |   91 +
 documentation/html/functions_d.html           |   99 +
 documentation/html/functions_e.html           |   86 +
 documentation/html/functions_enum.html        |   81 +
 documentation/html/functions_f.html           |   87 +
 documentation/html/functions_func.html        |  282 ++
 documentation/html/functions_g.html           |  109 +
 documentation/html/functions_h.html           |   86 +
 documentation/html/functions_i.html           |   86 +
 documentation/html/functions_k.html           |   86 +
 documentation/html/functions_l.html           |   85 +
 documentation/html/functions_m.html           |   89 +
 documentation/html/functions_n.html           |   84 +
 documentation/html/functions_o.html           |   94 +
 documentation/html/functions_p.html           |   90 +
 documentation/html/functions_r.html           |   90 +
 documentation/html/functions_s.html           |  104 +
 documentation/html/functions_t.html           |   92 +
 documentation/html/functions_u.html           |   84 +
 documentation/html/functions_v.html           |   85 +
 documentation/html/functions_vars.html        |  212 ++
 documentation/html/functions_w.html           |   86 +
 documentation/html/functions_x.html           |   83 +
 documentation/html/functions_y.html           |   83 +
 documentation/html/functions_z.html           |   83 +
 .../html/generic__auto_8h_source.html         |  116 +
 .../html/graph__drawer_8h_source.html         |  199 ++
 documentation/html/hierarchy.html             |  132 +
 documentation/html/index.html                 |   81 +
 documentation/html/jquery.js                  |   34 +
 documentation/html/lift_8h_source.html        |  344 +++
 documentation/html/math__util_8h_source.html  |  128 +
 documentation/html/md_README.html             |  109 +
 .../html/mecanum__drive_8h_source.html        |  151 +
 documentation/html/menu.js                    |  136 +
 documentation/html/menudata.js                |  104 +
 .../html/motion__controller_8h_source.html    |  158 +
 .../html/moving__average_8h_source.html       |  129 +
 documentation/html/nav_f.png                  |  Bin 0 -> 153 bytes
 documentation/html/nav_fd.png                 |  Bin 0 -> 169 bytes
 documentation/html/nav_g.png                  |  Bin 0 -> 95 bytes
 documentation/html/nav_h.png                  |  Bin 0 -> 98 bytes
 documentation/html/nav_hd.png                 |  Bin 0 -> 114 bytes
 .../html/odometry__3wheel_8h_source.html      |  127 +
 .../html/odometry__base_8h_source.html        |  173 ++
 .../html/odometry__tank_8h_source.html        |  127 +
 documentation/html/open.png                   |  Bin 0 -> 123 bytes
 documentation/html/pages.html                 |   86 +
 documentation/html/pid_8h_source.html         |  177 ++
 documentation/html/pidff_8h_source.html       |  135 +
 .../html/pure__pursuit_8h_source.html         |  133 +
 .../html/robot__specs_8h_source.html          |  115 +
 documentation/html/screen_8h_source.html      |  103 +
 documentation/html/search/all_0.js            |   15 +
 documentation/html/search/all_1.js            |    5 +
 documentation/html/search/all_10.js           |   26 +
 documentation/html/search/all_11.js           |   13 +
 documentation/html/search/all_12.js           |    5 +
 documentation/html/search/all_13.js           |    6 +
 documentation/html/search/all_14.js           |    7 +
 documentation/html/search/all_15.js           |    4 +
 documentation/html/search/all_16.js           |    4 +
 documentation/html/search/all_17.js           |    4 +
 documentation/html/search/all_2.js            |   14 +
 documentation/html/search/all_3.js            |   20 +
 documentation/html/search/all_4.js            |    8 +
 documentation/html/search/all_5.js            |   11 +
 documentation/html/search/all_6.js            |   31 +
 documentation/html/search/all_7.js            |    8 +
 documentation/html/search/all_8.js            |    7 +
 documentation/html/search/all_9.js            |    7 +
 documentation/html/search/all_a.js            |    7 +
 documentation/html/search/all_b.js            |   13 +
 documentation/html/search/all_c.js            |    5 +
 documentation/html/search/all_d.js            |   16 +
 documentation/html/search/all_e.js            |   15 +
 documentation/html/search/all_f.js            |   12 +
 documentation/html/search/classes_0.js        |    5 +
 documentation/html/search/classes_1.js        |    5 +
 documentation/html/search/classes_2.js        |    7 +
 documentation/html/search/classes_3.js        |    4 +
 documentation/html/search/classes_4.js        |   10 +
 documentation/html/search/classes_5.js        |    5 +
 documentation/html/search/classes_6.js        |    4 +
 documentation/html/search/classes_7.js        |    5 +
 documentation/html/search/classes_8.js        |    9 +
 documentation/html/search/classes_9.js        |    8 +
 documentation/html/search/classes_a.js        |    8 +
 documentation/html/search/classes_b.js        |    4 +
 documentation/html/search/classes_c.js        |    5 +
 documentation/html/search/classes_d.js        |    7 +
 documentation/html/search/classes_e.js        |    4 +
 documentation/html/search/classes_f.js        |    4 +
 documentation/html/search/close.svg           |   31 +
 documentation/html/search/enums_0.js          |    4 +
 documentation/html/search/functions_0.js      |   11 +
 documentation/html/search/functions_1.js      |    4 +
 documentation/html/search/functions_10.js     |   11 +
 documentation/html/search/functions_11.js     |    5 +
 documentation/html/search/functions_12.js     |    5 +
 documentation/html/search/functions_13.js     |    4 +
 documentation/html/search/functions_2.js      |    8 +
 documentation/html/search/functions_3.js      |   15 +
 documentation/html/search/functions_4.js      |    4 +
 documentation/html/search/functions_5.js      |    7 +
 documentation/html/search/functions_6.js      |   30 +
 documentation/html/search/functions_7.js      |    5 +
 documentation/html/search/functions_8.js      |    6 +
 documentation/html/search/functions_9.js      |    5 +
 documentation/html/search/functions_a.js      |    8 +
 documentation/html/search/functions_b.js      |    4 +
 documentation/html/search/functions_c.js      |   11 +
 documentation/html/search/functions_d.js      |    8 +
 documentation/html/search/functions_e.js      |    9 +
 documentation/html/search/functions_f.js      |   24 +
 documentation/html/search/mag.svg             |   37 +
 documentation/html/search/mag_d.svg           |   37 +
 documentation/html/search/mag_sel.svg         |   74 +
 documentation/html/search/mag_seld.svg        |   74 +
 documentation/html/search/pages_0.js          |    4 +
 documentation/html/search/search.css          |  291 ++
 documentation/html/search/search.js           |  816 +++++
 documentation/html/search/searchdata.js       |   30 +
 documentation/html/search/variables_0.js      |    6 +
 documentation/html/search/variables_1.js      |    4 +
 documentation/html/search/variables_10.js     |    5 +
 documentation/html/search/variables_11.js     |    4 +
 documentation/html/search/variables_12.js     |    6 +
 documentation/html/search/variables_13.js     |    4 +
 documentation/html/search/variables_14.js     |    4 +
 documentation/html/search/variables_15.js     |    4 +
 documentation/html/search/variables_2.js      |    7 +
 documentation/html/search/variables_3.js      |    8 +
 documentation/html/search/variables_4.js      |    5 +
 documentation/html/search/variables_5.js      |    4 +
 documentation/html/search/variables_6.js      |    5 +
 documentation/html/search/variables_7.js      |    4 +
 documentation/html/search/variables_8.js      |    7 +
 documentation/html/search/variables_9.js      |    4 +
 documentation/html/search/variables_a.js      |    5 +
 documentation/html/search/variables_b.js      |    4 +
 documentation/html/search/variables_c.js      |    7 +
 documentation/html/search/variables_d.js      |    6 +
 documentation/html/search/variables_e.js      |    5 +
 documentation/html/search/variables_f.js      |    4 +
 documentation/html/splitbar.png               |  Bin 0 -> 314 bytes
 documentation/html/splitbard.png              |  Bin 0 -> 282 bytes
 ...structAutoChooser_1_1entry__t-members.html |   93 +
 .../html/structAutoChooser_1_1entry__t.html   |  185 ++
 ...tFeedForward_1_1ff__config__t-members.html |   92 +
 .../structFeedForward_1_1ff__config__t.html   |  172 ++
 .../structLift_1_1lift__cfg__t-members.html   |   93 +
 .../html/structLift_1_1lift__cfg__t.html      |  118 +
 ...ve_1_1mecanumdrive__config__t-members.html |   94 +
 ...canumDrive_1_1mecanumdrive__config__t.html |  117 +
 ...troller_1_1m__profile__cfg__t-members.html |   92 +
 ...otionController_1_1m__profile__cfg__t.html |  115 +
 ...eel_1_1odometry3wheel__cfg__t-members.html |   91 +
 ...metry3Wheel_1_1odometry3wheel__cfg__t.html |  151 +
 .../structPID_1_1pid__config__t-members.html  |   94 +
 .../html/structPID_1_1pid__config__t.html     |  126 +
 ...PurePursuit_1_1hermite__point-members.html |   94 +
 .../structPurePursuit_1_1hermite__point.html  |  121 +
 .../structPurePursuit_1_1spline-members.html  |   95 +
 .../html/structPurePursuit_1_1spline.html     |  124 +
 .../structVector2D_1_1point__t-members.html   |   93 +
 .../html/structVector2D_1_1point__t.html      |  217 ++
 .../html/structmotion__t-members.html         |   87 +
 documentation/html/structmotion__t.html       |  107 +
 .../html/structposition__t-members.html       |   87 +
 documentation/html/structposition__t.html     |  107 +
 .../html/structrobot__specs__t-members.html   |   92 +
 documentation/html/structrobot__specs__t.html |  127 +
 documentation/html/sync_off.png               |  Bin 0 -> 853 bytes
 documentation/html/sync_on.png                |  Bin 0 -> 845 bytes
 documentation/html/tab_a.png                  |  Bin 0 -> 142 bytes
 documentation/html/tab_ad.png                 |  Bin 0 -> 135 bytes
 documentation/html/tab_b.png                  |  Bin 0 -> 169 bytes
 documentation/html/tab_bd.png                 |  Bin 0 -> 173 bytes
 documentation/html/tab_h.png                  |  Bin 0 -> 177 bytes
 documentation/html/tab_hd.png                 |  Bin 0 -> 180 bytes
 documentation/html/tab_s.png                  |  Bin 0 -> 184 bytes
 documentation/html/tab_sd.png                 |  Bin 0 -> 188 bytes
 documentation/html/tabs.css                   |    1 +
 documentation/html/tank__drive_8h_source.html |  165 +
 .../html/trapezoid__profile_8h_source.html    |  129 +
 documentation/html/vector2d_8h_source.html    |  173 ++
 311 files changed, 32589 insertions(+)
 create mode 100644 Doxyfile
 create mode 100644 documentation/html/annotated.html
 create mode 100644 documentation/html/auto__chooser_8h_source.html
 create mode 100644 documentation/html/auto__command_8h_source.html
 create mode 100644 documentation/html/bc_s.png
 create mode 100644 documentation/html/bc_sd.png
 create mode 100644 documentation/html/bdwn.png
 create mode 100644 documentation/html/classAutoChooser-members.html
 create mode 100644 documentation/html/classAutoChooser.html
 create mode 100644 documentation/html/classAutoCommand-members.html
 create mode 100644 documentation/html/classAutoCommand.html
 create mode 100644 documentation/html/classAutoCommand.png
 create mode 100644 documentation/html/classCommandController-members.html
 create mode 100644 documentation/html/classCommandController.html
 create mode 100644 documentation/html/classCustomEncoder-members.html
 create mode 100644 documentation/html/classCustomEncoder.html
 create mode 100644 documentation/html/classCustomEncoder.png
 create mode 100644 documentation/html/classDelayCommand-members.html
 create mode 100644 documentation/html/classDelayCommand.html
 create mode 100644 documentation/html/classDelayCommand.png
 create mode 100644 documentation/html/classDriveForwardCommand-members.html
 create mode 100644 documentation/html/classDriveForwardCommand.html
 create mode 100644 documentation/html/classDriveForwardCommand.png
 create mode 100644 documentation/html/classDriveStopCommand-members.html
 create mode 100644 documentation/html/classDriveStopCommand.html
 create mode 100644 documentation/html/classDriveStopCommand.png
 create mode 100644 documentation/html/classDriveToPointCommand-members.html
 create mode 100644 documentation/html/classDriveToPointCommand.html
 create mode 100644 documentation/html/classDriveToPointCommand.png
 create mode 100644 documentation/html/classFeedForward-members.html
 create mode 100644 documentation/html/classFeedForward.html
 create mode 100644 documentation/html/classFeedback-members.html
 create mode 100644 documentation/html/classFeedback.html
 create mode 100644 documentation/html/classFeedback.png
 create mode 100644 documentation/html/classFlywheel-members.html
 create mode 100644 documentation/html/classFlywheel.html
 create mode 100644 documentation/html/classFlywheelStopCommand-members.html
 create mode 100644 documentation/html/classFlywheelStopCommand.html
 create mode 100644 documentation/html/classFlywheelStopCommand.png
 create mode 100644 documentation/html/classFlywheelStopMotorsCommand-members.html
 create mode 100644 documentation/html/classFlywheelStopMotorsCommand.html
 create mode 100644 documentation/html/classFlywheelStopMotorsCommand.png
 create mode 100644 documentation/html/classFlywheelStopNonTasksCommand-members.html
 create mode 100644 documentation/html/classFlywheelStopNonTasksCommand.html
 create mode 100644 documentation/html/classFlywheelStopNonTasksCommand.png
 create mode 100644 documentation/html/classGenericAuto-members.html
 create mode 100644 documentation/html/classGenericAuto.html
 create mode 100644 documentation/html/classGraphDrawer-members.html
 create mode 100644 documentation/html/classGraphDrawer.html
 create mode 100644 documentation/html/classLift-members.html
 create mode 100644 documentation/html/classLift.html
 create mode 100644 documentation/html/classMecanumDrive-members.html
 create mode 100644 documentation/html/classMecanumDrive.html
 create mode 100644 documentation/html/classMotionController-members.html
 create mode 100644 documentation/html/classMotionController.html
 create mode 100644 documentation/html/classMotionController.png
 create mode 100644 documentation/html/classMovingAverage-members.html
 create mode 100644 documentation/html/classMovingAverage.html
 create mode 100644 documentation/html/classOdomSetPosition-members.html
 create mode 100644 documentation/html/classOdomSetPosition.html
 create mode 100644 documentation/html/classOdomSetPosition.png
 create mode 100644 documentation/html/classOdometry3Wheel-members.html
 create mode 100644 documentation/html/classOdometry3Wheel.html
 create mode 100644 documentation/html/classOdometry3Wheel.png
 create mode 100644 documentation/html/classOdometryBase-members.html
 create mode 100644 documentation/html/classOdometryBase.html
 create mode 100644 documentation/html/classOdometryBase.png
 create mode 100644 documentation/html/classOdometryTank-members.html
 create mode 100644 documentation/html/classOdometryTank.html
 create mode 100644 documentation/html/classOdometryTank.png
 create mode 100644 documentation/html/classPID-members.html
 create mode 100644 documentation/html/classPID.html
 create mode 100644 documentation/html/classPID.png
 create mode 100644 documentation/html/classPIDFF-members.html
 create mode 100644 documentation/html/classPIDFF.html
 create mode 100644 documentation/html/classPIDFF.png
 create mode 100644 documentation/html/classSpinRPMCommand-members.html
 create mode 100644 documentation/html/classSpinRPMCommand.html
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diff --git a/Doxyfile b/Doxyfile
new file mode 100644
index 0000000..7aa3d2c
--- /dev/null
+++ b/Doxyfile
@@ -0,0 +1,2736 @@
+# Doxyfile 1.9.6
+
+# This file describes the settings to be used by the documentation system
+# doxygen (www.doxygen.org) for a project.
+#
+# All text after a double hash (##) is considered a comment and is placed in
+# front of the TAG it is preceding.
+#
+# All text after a single hash (#) is considered a comment and will be ignored.
+# The format is:
+# TAG = value [value, ...]
+# For lists, items can also be appended using:
+# TAG += value [value, ...]
+# Values that contain spaces should be placed between quotes (\" \").
+#
+# Note:
+#
+# Use doxygen to compare the used configuration file with the template
+# configuration file:
+# doxygen -x [configFile]
+# Use doxygen to compare the used configuration file with the template
+# configuration file without replacing the environment variables or CMake type
+# replacement variables:
+# doxygen -x_noenv [configFile]
+
+#---------------------------------------------------------------------------
+# Project related configuration options
+#---------------------------------------------------------------------------
+
+# This tag specifies the encoding used for all characters in the configuration
+# file that follow. The default is UTF-8 which is also the encoding used for all
+# text before the first occurrence of this tag. Doxygen uses libiconv (or the
+# iconv built into libc) for the transcoding. See
+# https://www.gnu.org/software/libiconv/ for the list of possible encodings.
+# The default value is: UTF-8.
+
+DOXYFILE_ENCODING      = UTF-8
+
+# The PROJECT_NAME tag is a single word (or a sequence of words surrounded by
+# double-quotes, unless you are using Doxywizard) that should identify the
+# project for which the documentation is generated. This name is used in the
+# title of most generated pages and in a few other places.
+# The default value is: My Project.
+
+PROJECT_NAME           = "RIT VEXU Core API"
+
+# The PROJECT_NUMBER tag can be used to enter a project or revision number. This
+# could be handy for archiving the generated documentation or if some version
+# control system is used.
+
+PROJECT_NUMBER         =
+
+# Using the PROJECT_BRIEF tag one can provide an optional one line description
+# for a project that appears at the top of each page and should give viewer a
+# quick idea about the purpose of the project. Keep the description short.
+
+PROJECT_BRIEF          =
+
+# With the PROJECT_LOGO tag one can specify a logo or an icon that is included
+# in the documentation. The maximum height of the logo should not exceed 55
+# pixels and the maximum width should not exceed 200 pixels. Doxygen will copy
+# the logo to the output directory.
+
+PROJECT_LOGO           =
+
+# The OUTPUT_DIRECTORY tag is used to specify the (relative or absolute) path
+# into which the generated documentation will be written. If a relative path is
+# entered, it will be relative to the location where doxygen was started. If
+# left blank the current directory will be used.
+
+OUTPUT_DIRECTORY       = documentation/
+
+# If the CREATE_SUBDIRS tag is set to YES then doxygen will create up to 4096
+# sub-directories (in 2 levels) under the output directory of each output format
+# and will distribute the generated files over these directories. Enabling this
+# option can be useful when feeding doxygen a huge amount of source files, where
+# putting all generated files in the same directory would otherwise causes
+# performance problems for the file system. Adapt CREATE_SUBDIRS_LEVEL to
+# control the number of sub-directories.
+# The default value is: NO.
+
+CREATE_SUBDIRS         = NO
+
+# Controls the number of sub-directories that will be created when
+# CREATE_SUBDIRS tag is set to YES. Level 0 represents 16 directories, and every
+# level increment doubles the number of directories, resulting in 4096
+# directories at level 8 which is the default and also the maximum value. The
+# sub-directories are organized in 2 levels, the first level always has a fixed
+# number of 16 directories.
+# Minimum value: 0, maximum value: 8, default value: 8.
+# This tag requires that the tag CREATE_SUBDIRS is set to YES.
+
+CREATE_SUBDIRS_LEVEL   = 8
+
+# If the ALLOW_UNICODE_NAMES tag is set to YES, doxygen will allow non-ASCII
+# characters to appear in the names of generated files. If set to NO, non-ASCII
+# characters will be escaped, for example _xE3_x81_x84 will be used for Unicode
+# U+3044.
+# The default value is: NO.
+
+ALLOW_UNICODE_NAMES    = NO
+
+# The OUTPUT_LANGUAGE tag is used to specify the language in which all
+# documentation generated by doxygen is written. Doxygen will use this
+# information to generate all constant output in the proper language.
+# Possible values are: Afrikaans, Arabic, Armenian, Brazilian, Bulgarian,
+# Catalan, Chinese, Chinese-Traditional, Croatian, Czech, Danish, Dutch, English
+# (United States), Esperanto, Farsi (Persian), Finnish, French, German, Greek,
+# Hindi, Hungarian, Indonesian, Italian, Japanese, Japanese-en (Japanese with
+# English messages), Korean, Korean-en (Korean with English messages), Latvian,
+# Lithuanian, Macedonian, Norwegian, Persian (Farsi), Polish, Portuguese,
+# Romanian, Russian, Serbian, Serbian-Cyrillic, Slovak, Slovene, Spanish,
+# Swedish, Turkish, Ukrainian and Vietnamese.
+# The default value is: English.
+
+OUTPUT_LANGUAGE        = English
+
+# If the BRIEF_MEMBER_DESC tag is set to YES, doxygen will include brief member
+# descriptions after the members that are listed in the file and class
+# documentation (similar to Javadoc). Set to NO to disable this.
+# The default value is: YES.
+
+BRIEF_MEMBER_DESC      = YES
+
+# If the REPEAT_BRIEF tag is set to YES, doxygen will prepend the brief
+# description of a member or function before the detailed description
+#
+# Note: If both HIDE_UNDOC_MEMBERS and BRIEF_MEMBER_DESC are set to NO, the
+# brief descriptions will be completely suppressed.
+# The default value is: YES.
+
+REPEAT_BRIEF           = YES
+
+# This tag implements a quasi-intelligent brief description abbreviator that is
+# used to form the text in various listings. Each string in this list, if found
+# as the leading text of the brief description, will be stripped from the text
+# and the result, after processing the whole list, is used as the annotated
+# text. Otherwise, the brief description is used as-is. If left blank, the
+# following values are used ($name is automatically replaced with the name of
+# the entity):The $name class, The $name widget, The $name file, is, provides,
+# specifies, contains, represents, a, an and the.
+
+ABBREVIATE_BRIEF       = "The $name class" \
+                         "The $name widget" \
+                         "The $name file" \
+                         is \
+                         provides \
+                         specifies \
+                         contains \
+                         represents \
+                         a \
+                         an \
+                         the
+
+# If the ALWAYS_DETAILED_SEC and REPEAT_BRIEF tags are both set to YES then
+# doxygen will generate a detailed section even if there is only a brief
+# description.
+# The default value is: NO.
+
+ALWAYS_DETAILED_SEC    = NO
+
+# If the INLINE_INHERITED_MEMB tag is set to YES, doxygen will show all
+# inherited members of a class in the documentation of that class as if those
+# members were ordinary class members. Constructors, destructors and assignment
+# operators of the base classes will not be shown.
+# The default value is: NO.
+
+INLINE_INHERITED_MEMB  = NO
+
+# If the FULL_PATH_NAMES tag is set to YES, doxygen will prepend the full path
+# before files name in the file list and in the header files. If set to NO the
+# shortest path that makes the file name unique will be used
+# The default value is: YES.
+
+FULL_PATH_NAMES        = YES
+
+# The STRIP_FROM_PATH tag can be used to strip a user-defined part of the path.
+# Stripping is only done if one of the specified strings matches the left-hand
+# part of the path. The tag can be used to show relative paths in the file list.
+# If left blank the directory from which doxygen is run is used as the path to
+# strip.
+#
+# Note that you can specify absolute paths here, but also relative paths, which
+# will be relative from the directory where doxygen is started.
+# This tag requires that the tag FULL_PATH_NAMES is set to YES.
+
+STRIP_FROM_PATH        =
+
+# The STRIP_FROM_INC_PATH tag can be used to strip a user-defined part of the
+# path mentioned in the documentation of a class, which tells the reader which
+# header file to include in order to use a class. If left blank only the name of
+# the header file containing the class definition is used. Otherwise one should
+# specify the list of include paths that are normally passed to the compiler
+# using the -I flag.
+
+STRIP_FROM_INC_PATH    =
+
+# If the SHORT_NAMES tag is set to YES, doxygen will generate much shorter (but
+# less readable) file names. This can be useful is your file systems doesn't
+# support long names like on DOS, Mac, or CD-ROM.
+# The default value is: NO.
+
+SHORT_NAMES            = NO
+
+# If the JAVADOC_AUTOBRIEF tag is set to YES then doxygen will interpret the
+# first line (until the first dot) of a Javadoc-style comment as the brief
+# description. If set to NO, the Javadoc-style will behave just like regular Qt-
+# style comments (thus requiring an explicit @brief command for a brief
+# description.)
+# The default value is: NO.
+
+JAVADOC_AUTOBRIEF      = NO
+
+# If the JAVADOC_BANNER tag is set to YES then doxygen will interpret a line
+# such as
+# /***************
+# as being the beginning of a Javadoc-style comment "banner". If set to NO, the
+# Javadoc-style will behave just like regular comments and it will not be
+# interpreted by doxygen.
+# The default value is: NO.
+
+JAVADOC_BANNER         = NO
+
+# If the QT_AUTOBRIEF tag is set to YES then doxygen will interpret the first
+# line (until the first dot) of a Qt-style comment as the brief description. If
+# set to NO, the Qt-style will behave just like regular Qt-style comments (thus
+# requiring an explicit \brief command for a brief description.)
+# The default value is: NO.
+
+QT_AUTOBRIEF           = NO
+
+# The MULTILINE_CPP_IS_BRIEF tag can be set to YES to make doxygen treat a
+# multi-line C++ special comment block (i.e. a block of //! or /// comments) as
+# a brief description. This used to be the default behavior. The new default is
+# to treat a multi-line C++ comment block as a detailed description. Set this
+# tag to YES if you prefer the old behavior instead.
+#
+# Note that setting this tag to YES also means that rational rose comments are
+# not recognized any more.
+# The default value is: NO.
+
+MULTILINE_CPP_IS_BRIEF = NO
+
+# By default Python docstrings are displayed as preformatted text and doxygen's
+# special commands cannot be used. By setting PYTHON_DOCSTRING to NO the
+# doxygen's special commands can be used and the contents of the docstring
+# documentation blocks is shown as doxygen documentation.
+# The default value is: YES.
+
+PYTHON_DOCSTRING       = YES
+
+# If the INHERIT_DOCS tag is set to YES then an undocumented member inherits the
+# documentation from any documented member that it re-implements.
+# The default value is: YES.
+
+INHERIT_DOCS           = YES
+
+# If the SEPARATE_MEMBER_PAGES tag is set to YES then doxygen will produce a new
+# page for each member. If set to NO, the documentation of a member will be part
+# of the file/class/namespace that contains it.
+# The default value is: NO.
+
+SEPARATE_MEMBER_PAGES  = NO
+
+# The TAB_SIZE tag can be used to set the number of spaces in a tab. Doxygen
+# uses this value to replace tabs by spaces in code fragments.
+# Minimum value: 1, maximum value: 16, default value: 4.
+
+TAB_SIZE               = 4
+
+# This tag can be used to specify a number of aliases that act as commands in
+# the documentation. An alias has the form:
+# name=value
+# For example adding
+# "sideeffect=@par Side Effects:^^"
+# will allow you to put the command \sideeffect (or @sideeffect) in the
+# documentation, which will result in a user-defined paragraph with heading
+# "Side Effects:". Note that you cannot put \n's in the value part of an alias
+# to insert newlines (in the resulting output). You can put ^^ in the value part
+# of an alias to insert a newline as if a physical newline was in the original
+# file. When you need a literal { or } or , in the value part of an alias you
+# have to escape them by means of a backslash (\), this can lead to conflicts
+# with the commands \{ and \} for these it is advised to use the version @{ and
+# @} or use a double escape (\\{ and \\})
+
+ALIASES                =
+
+# Set the OPTIMIZE_OUTPUT_FOR_C tag to YES if your project consists of C sources
+# only. Doxygen will then generate output that is more tailored for C. For
+# instance, some of the names that are used will be different. The list of all
+# members will be omitted, etc.
+# The default value is: NO.
+
+OPTIMIZE_OUTPUT_FOR_C  = NO
+
+# Set the OPTIMIZE_OUTPUT_JAVA tag to YES if your project consists of Java or
+# Python sources only. Doxygen will then generate output that is more tailored
+# for that language. For instance, namespaces will be presented as packages,
+# qualified scopes will look different, etc.
+# The default value is: NO.
+
+OPTIMIZE_OUTPUT_JAVA   = NO
+
+# Set the OPTIMIZE_FOR_FORTRAN tag to YES if your project consists of Fortran
+# sources. Doxygen will then generate output that is tailored for Fortran.
+# The default value is: NO.
+
+OPTIMIZE_FOR_FORTRAN   = NO
+
+# Set the OPTIMIZE_OUTPUT_VHDL tag to YES if your project consists of VHDL
+# sources. Doxygen will then generate output that is tailored for VHDL.
+# The default value is: NO.
+
+OPTIMIZE_OUTPUT_VHDL   = NO
+
+# Set the OPTIMIZE_OUTPUT_SLICE tag to YES if your project consists of Slice
+# sources only. Doxygen will then generate output that is more tailored for that
+# language. For instance, namespaces will be presented as modules, types will be
+# separated into more groups, etc.
+# The default value is: NO.
+
+OPTIMIZE_OUTPUT_SLICE  = NO
+
+# Doxygen selects the parser to use depending on the extension of the files it
+# parses. With this tag you can assign which parser to use for a given
+# extension. Doxygen has a built-in mapping, but you can override or extend it
+# using this tag. The format is ext=language, where ext is a file extension, and
+# language is one of the parsers supported by doxygen: IDL, Java, JavaScript,
+# Csharp (C#), C, C++, Lex, D, PHP, md (Markdown), Objective-C, Python, Slice,
+# VHDL, Fortran (fixed format Fortran: FortranFixed, free formatted Fortran:
+# FortranFree, unknown formatted Fortran: Fortran. In the later case the parser
+# tries to guess whether the code is fixed or free formatted code, this is the
+# default for Fortran type files). For instance to make doxygen treat .inc files
+# as Fortran files (default is PHP), and .f files as C (default is Fortran),
+# use: inc=Fortran f=C.
+#
+# Note: For files without extension you can use no_extension as a placeholder.
+#
+# Note that for custom extensions you also need to set FILE_PATTERNS otherwise
+# the files are not read by doxygen. When specifying no_extension you should add
+# * to the FILE_PATTERNS.
+#
+# Note see also the list of default file extension mappings.
+
+EXTENSION_MAPPING      =
+
+# If the MARKDOWN_SUPPORT tag is enabled then doxygen pre-processes all comments
+# according to the Markdown format, which allows for more readable
+# documentation. See https://daringfireball.net/projects/markdown/ for details.
+# The output of markdown processing is further processed by doxygen, so you can
+# mix doxygen, HTML, and XML commands with Markdown formatting. Disable only in
+# case of backward compatibilities issues.
+# The default value is: YES.
+
+MARKDOWN_SUPPORT       = YES
+
+# When the TOC_INCLUDE_HEADINGS tag is set to a non-zero value, all headings up
+# to that level are automatically included in the table of contents, even if
+# they do not have an id attribute.
+# Note: This feature currently applies only to Markdown headings.
+# Minimum value: 0, maximum value: 99, default value: 5.
+# This tag requires that the tag MARKDOWN_SUPPORT is set to YES.
+
+TOC_INCLUDE_HEADINGS   = 5
+
+# When enabled doxygen tries to link words that correspond to documented
+# classes, or namespaces to their corresponding documentation. Such a link can
+# be prevented in individual cases by putting a % sign in front of the word or
+# globally by setting AUTOLINK_SUPPORT to NO.
+# The default value is: YES.
+
+AUTOLINK_SUPPORT       = YES
+
+# If you use STL classes (i.e. std::string, std::vector, etc.) but do not want
+# to include (a tag file for) the STL sources as input, then you should set this
+# tag to YES in order to let doxygen match functions declarations and
+# definitions whose arguments contain STL classes (e.g. func(std::string);
+# versus func(std::string) {}). This also make the inheritance and collaboration
+# diagrams that involve STL classes more complete and accurate.
+# The default value is: NO.
+
+BUILTIN_STL_SUPPORT    = NO
+
+# If you use Microsoft's C++/CLI language, you should set this option to YES to
+# enable parsing support.
+# The default value is: NO.
+
+CPP_CLI_SUPPORT        = NO
+
+# Set the SIP_SUPPORT tag to YES if your project consists of sip (see:
+# https://www.riverbankcomputing.com/software/sip/intro) sources only. Doxygen
+# will parse them like normal C++ but will assume all classes use public instead
+# of private inheritance when no explicit protection keyword is present.
+# The default value is: NO.
+
+SIP_SUPPORT            = NO
+
+# For Microsoft's IDL there are propget and propput attributes to indicate
+# getter and setter methods for a property. Setting this option to YES will make
+# doxygen to replace the get and set methods by a property in the documentation.
+# This will only work if the methods are indeed getting or setting a simple
+# type. If this is not the case, or you want to show the methods anyway, you
+# should set this option to NO.
+# The default value is: YES.
+
+IDL_PROPERTY_SUPPORT   = YES
+
+# If member grouping is used in the documentation and the DISTRIBUTE_GROUP_DOC
+# tag is set to YES then doxygen will reuse the documentation of the first
+# member in the group (if any) for the other members of the group. By default
+# all members of a group must be documented explicitly.
+# The default value is: NO.
+
+DISTRIBUTE_GROUP_DOC   = NO
+
+# If one adds a struct or class to a group and this option is enabled, then also
+# any nested class or struct is added to the same group. By default this option
+# is disabled and one has to add nested compounds explicitly via \ingroup.
+# The default value is: NO.
+
+GROUP_NESTED_COMPOUNDS = NO
+
+# Set the SUBGROUPING tag to YES to allow class member groups of the same type
+# (for instance a group of public functions) to be put as a subgroup of that
+# type (e.g. under the Public Functions section). Set it to NO to prevent
+# subgrouping. Alternatively, this can be done per class using the
+# \nosubgrouping command.
+# The default value is: YES.
+
+SUBGROUPING            = YES
+
+# When the INLINE_GROUPED_CLASSES tag is set to YES, classes, structs and unions
+# are shown inside the group in which they are included (e.g. using \ingroup)
+# instead of on a separate page (for HTML and Man pages) or section (for LaTeX
+# and RTF).
+#
+# Note that this feature does not work in combination with
+# SEPARATE_MEMBER_PAGES.
+# The default value is: NO.
+
+INLINE_GROUPED_CLASSES = NO
+
+# When the INLINE_SIMPLE_STRUCTS tag is set to YES, structs, classes, and unions
+# with only public data fields or simple typedef fields will be shown inline in
+# the documentation of the scope in which they are defined (i.e. file,
+# namespace, or group documentation), provided this scope is documented. If set
+# to NO, structs, classes, and unions are shown on a separate page (for HTML and
+# Man pages) or section (for LaTeX and RTF).
+# The default value is: NO.
+
+INLINE_SIMPLE_STRUCTS  = NO
+
+# When TYPEDEF_HIDES_STRUCT tag is enabled, a typedef of a struct, union, or
+# enum is documented as struct, union, or enum with the name of the typedef. So
+# typedef struct TypeS {} TypeT, will appear in the documentation as a struct
+# with name TypeT. When disabled the typedef will appear as a member of a file,
+# namespace, or class. And the struct will be named TypeS. This can typically be
+# useful for C code in case the coding convention dictates that all compound
+# types are typedef'ed and only the typedef is referenced, never the tag name.
+# The default value is: NO.
+
+TYPEDEF_HIDES_STRUCT   = NO
+
+# The size of the symbol lookup cache can be set using LOOKUP_CACHE_SIZE. This
+# cache is used to resolve symbols given their name and scope. Since this can be
+# an expensive process and often the same symbol appears multiple times in the
+# code, doxygen keeps a cache of pre-resolved symbols. If the cache is too small
+# doxygen will become slower. If the cache is too large, memory is wasted. The
+# cache size is given by this formula: 2^(16+LOOKUP_CACHE_SIZE). The valid range
+# is 0..9, the default is 0, corresponding to a cache size of 2^16=65536
+# symbols. At the end of a run doxygen will report the cache usage and suggest
+# the optimal cache size from a speed point of view.
+# Minimum value: 0, maximum value: 9, default value: 0.
+
+LOOKUP_CACHE_SIZE      = 0
+
+# The NUM_PROC_THREADS specifies the number of threads doxygen is allowed to use
+# during processing. When set to 0 doxygen will based this on the number of
+# cores available in the system. You can set it explicitly to a value larger
+# than 0 to get more control over the balance between CPU load and processing
+# speed. At this moment only the input processing can be done using multiple
+# threads. Since this is still an experimental feature the default is set to 1,
+# which effectively disables parallel processing. Please report any issues you
+# encounter. Generating dot graphs in parallel is controlled by the
+# DOT_NUM_THREADS setting.
+# Minimum value: 0, maximum value: 32, default value: 1.
+
+NUM_PROC_THREADS       = 1
+
+#---------------------------------------------------------------------------
+# Build related configuration options
+#---------------------------------------------------------------------------
+
+# If the EXTRACT_ALL tag is set to YES, doxygen will assume all entities in
+# documentation are documented, even if no documentation was available. Private
+# class members and static file members will be hidden unless the
+# EXTRACT_PRIVATE respectively EXTRACT_STATIC tags are set to YES.
+# Note: This will also disable the warnings about undocumented members that are
+# normally produced when WARNINGS is set to YES.
+# The default value is: NO.
+
+EXTRACT_ALL            = NO
+
+# If the EXTRACT_PRIVATE tag is set to YES, all private members of a class will
+# be included in the documentation.
+# The default value is: NO.
+
+EXTRACT_PRIVATE        = NO
+
+# If the EXTRACT_PRIV_VIRTUAL tag is set to YES, documented private virtual
+# methods of a class will be included in the documentation.
+# The default value is: NO.
+
+EXTRACT_PRIV_VIRTUAL   = NO
+
+# If the EXTRACT_PACKAGE tag is set to YES, all members with package or internal
+# scope will be included in the documentation.
+# The default value is: NO.
+
+EXTRACT_PACKAGE        = NO
+
+# If the EXTRACT_STATIC tag is set to YES, all static members of a file will be
+# included in the documentation.
+# The default value is: NO.
+
+EXTRACT_STATIC         = NO
+
+# If the EXTRACT_LOCAL_CLASSES tag is set to YES, classes (and structs) defined
+# locally in source files will be included in the documentation. If set to NO,
+# only classes defined in header files are included. Does not have any effect
+# for Java sources.
+# The default value is: YES.
+
+EXTRACT_LOCAL_CLASSES  = YES
+
+# This flag is only useful for Objective-C code. If set to YES, local methods,
+# which are defined in the implementation section but not in the interface are
+# included in the documentation. If set to NO, only methods in the interface are
+# included.
+# The default value is: NO.
+
+EXTRACT_LOCAL_METHODS  = NO
+
+# If this flag is set to YES, the members of anonymous namespaces will be
+# extracted and appear in the documentation as a namespace called
+# 'anonymous_namespace{file}', where file will be replaced with the base name of
+# the file that contains the anonymous namespace. By default anonymous namespace
+# are hidden.
+# The default value is: NO.
+
+EXTRACT_ANON_NSPACES   = NO
+
+# If this flag is set to YES, the name of an unnamed parameter in a declaration
+# will be determined by the corresponding definition. By default unnamed
+# parameters remain unnamed in the output.
+# The default value is: YES.
+
+RESOLVE_UNNAMED_PARAMS = YES
+
+# If the HIDE_UNDOC_MEMBERS tag is set to YES, doxygen will hide all
+# undocumented members inside documented classes or files. If set to NO these
+# members will be included in the various overviews, but no documentation
+# section is generated. This option has no effect if EXTRACT_ALL is enabled.
+# The default value is: NO.
+
+HIDE_UNDOC_MEMBERS     = NO
+
+# If the HIDE_UNDOC_CLASSES tag is set to YES, doxygen will hide all
+# undocumented classes that are normally visible in the class hierarchy. If set
+# to NO, these classes will be included in the various overviews. This option
+# will also hide undocumented C++ concepts if enabled. This option has no effect
+# if EXTRACT_ALL is enabled.
+# The default value is: NO.
+
+HIDE_UNDOC_CLASSES     = NO
+
+# If the HIDE_FRIEND_COMPOUNDS tag is set to YES, doxygen will hide all friend
+# declarations. If set to NO, these declarations will be included in the
+# documentation.
+# The default value is: NO.
+
+HIDE_FRIEND_COMPOUNDS  = NO
+
+# If the HIDE_IN_BODY_DOCS tag is set to YES, doxygen will hide any
+# documentation blocks found inside the body of a function. If set to NO, these
+# blocks will be appended to the function's detailed documentation block.
+# The default value is: NO.
+
+HIDE_IN_BODY_DOCS      = NO
+
+# The INTERNAL_DOCS tag determines if documentation that is typed after a
+# \internal command is included. If the tag is set to NO then the documentation
+# will be excluded. Set it to YES to include the internal documentation.
+# The default value is: NO.
+
+INTERNAL_DOCS          = NO
+
+# With the correct setting of option CASE_SENSE_NAMES doxygen will better be
+# able to match the capabilities of the underlying filesystem. In case the
+# filesystem is case sensitive (i.e. it supports files in the same directory
+# whose names only differ in casing), the option must be set to YES to properly
+# deal with such files in case they appear in the input. For filesystems that
+# are not case sensitive the option should be set to NO to properly deal with
+# output files written for symbols that only differ in casing, such as for two
+# classes, one named CLASS and the other named Class, and to also support
+# references to files without having to specify the exact matching casing. On
+# Windows (including Cygwin) and MacOS, users should typically set this option
+# to NO, whereas on Linux or other Unix flavors it should typically be set to
+# YES.
+# Possible values are: SYSTEM, NO and YES.
+# The default value is: SYSTEM.
+
+CASE_SENSE_NAMES       = SYSTEM
+
+# If the HIDE_SCOPE_NAMES tag is set to NO then doxygen will show members with
+# their full class and namespace scopes in the documentation. If set to YES, the
+# scope will be hidden.
+# The default value is: NO.
+
+HIDE_SCOPE_NAMES       = NO
+
+# If the HIDE_COMPOUND_REFERENCE tag is set to NO (default) then doxygen will
+# append additional text to a page's title, such as Class Reference. If set to
+# YES the compound reference will be hidden.
+# The default value is: NO.
+
+HIDE_COMPOUND_REFERENCE= NO
+
+# If the SHOW_HEADERFILE tag is set to YES then the documentation for a class
+# will show which file needs to be included to use the class.
+# The default value is: YES.
+
+SHOW_HEADERFILE        = YES
+
+# If the SHOW_INCLUDE_FILES tag is set to YES then doxygen will put a list of
+# the files that are included by a file in the documentation of that file.
+# The default value is: YES.
+
+SHOW_INCLUDE_FILES     = YES
+
+# If the SHOW_GROUPED_MEMB_INC tag is set to YES then Doxygen will add for each
+# grouped member an include statement to the documentation, telling the reader
+# which file to include in order to use the member.
+# The default value is: NO.
+
+SHOW_GROUPED_MEMB_INC  = NO
+
+# If the FORCE_LOCAL_INCLUDES tag is set to YES then doxygen will list include
+# files with double quotes in the documentation rather than with sharp brackets.
+# The default value is: NO.
+
+FORCE_LOCAL_INCLUDES   = NO
+
+# If the INLINE_INFO tag is set to YES then a tag [inline] is inserted in the
+# documentation for inline members.
+# The default value is: YES.
+
+INLINE_INFO            = YES
+
+# If the SORT_MEMBER_DOCS tag is set to YES then doxygen will sort the
+# (detailed) documentation of file and class members alphabetically by member
+# name. If set to NO, the members will appear in declaration order.
+# The default value is: YES.
+
+SORT_MEMBER_DOCS       = YES
+
+# If the SORT_BRIEF_DOCS tag is set to YES then doxygen will sort the brief
+# descriptions of file, namespace and class members alphabetically by member
+# name. If set to NO, the members will appear in declaration order. Note that
+# this will also influence the order of the classes in the class list.
+# The default value is: NO.
+
+SORT_BRIEF_DOCS        = NO
+
+# If the SORT_MEMBERS_CTORS_1ST tag is set to YES then doxygen will sort the
+# (brief and detailed) documentation of class members so that constructors and
+# destructors are listed first. If set to NO the constructors will appear in the
+# respective orders defined by SORT_BRIEF_DOCS and SORT_MEMBER_DOCS.
+# Note: If SORT_BRIEF_DOCS is set to NO this option is ignored for sorting brief
+# member documentation.
+# Note: If SORT_MEMBER_DOCS is set to NO this option is ignored for sorting
+# detailed member documentation.
+# The default value is: NO.
+
+SORT_MEMBERS_CTORS_1ST = NO
+
+# If the SORT_GROUP_NAMES tag is set to YES then doxygen will sort the hierarchy
+# of group names into alphabetical order. If set to NO the group names will
+# appear in their defined order.
+# The default value is: NO.
+
+SORT_GROUP_NAMES       = NO
+
+# If the SORT_BY_SCOPE_NAME tag is set to YES, the class list will be sorted by
+# fully-qualified names, including namespaces. If set to NO, the class list will
+# be sorted only by class name, not including the namespace part.
+# Note: This option is not very useful if HIDE_SCOPE_NAMES is set to YES.
+# Note: This option applies only to the class list, not to the alphabetical
+# list.
+# The default value is: NO.
+
+SORT_BY_SCOPE_NAME     = NO
+
+# If the STRICT_PROTO_MATCHING option is enabled and doxygen fails to do proper
+# type resolution of all parameters of a function it will reject a match between
+# the prototype and the implementation of a member function even if there is
+# only one candidate or it is obvious which candidate to choose by doing a
+# simple string match. By disabling STRICT_PROTO_MATCHING doxygen will still
+# accept a match between prototype and implementation in such cases.
+# The default value is: NO.
+
+STRICT_PROTO_MATCHING  = NO
+
+# The GENERATE_TODOLIST tag can be used to enable (YES) or disable (NO) the todo
+# list. This list is created by putting \todo commands in the documentation.
+# The default value is: YES.
+
+GENERATE_TODOLIST      = YES
+
+# The GENERATE_TESTLIST tag can be used to enable (YES) or disable (NO) the test
+# list. This list is created by putting \test commands in the documentation.
+# The default value is: YES.
+
+GENERATE_TESTLIST      = YES
+
+# The GENERATE_BUGLIST tag can be used to enable (YES) or disable (NO) the bug
+# list. This list is created by putting \bug commands in the documentation.
+# The default value is: YES.
+
+GENERATE_BUGLIST       = YES
+
+# The GENERATE_DEPRECATEDLIST tag can be used to enable (YES) or disable (NO)
+# the deprecated list. This list is created by putting \deprecated commands in
+# the documentation.
+# The default value is: YES.
+
+GENERATE_DEPRECATEDLIST= YES
+
+# The ENABLED_SECTIONS tag can be used to enable conditional documentation
+# sections, marked by \if <section_label> ... \endif and \cond <section_label>
+# ... \endcond blocks.
+
+ENABLED_SECTIONS       =
+
+# The MAX_INITIALIZER_LINES tag determines the maximum number of lines that the
+# initial value of a variable or macro / define can have for it to appear in the
+# documentation. If the initializer consists of more lines than specified here
+# it will be hidden. Use a value of 0 to hide initializers completely. The
+# appearance of the value of individual variables and macros / defines can be
+# controlled using \showinitializer or \hideinitializer command in the
+# documentation regardless of this setting.
+# Minimum value: 0, maximum value: 10000, default value: 30.
+
+MAX_INITIALIZER_LINES  = 30
+
+# Set the SHOW_USED_FILES tag to NO to disable the list of files generated at
+# the bottom of the documentation of classes and structs. If set to YES, the
+# list will mention the files that were used to generate the documentation.
+# The default value is: YES.
+
+SHOW_USED_FILES        = YES
+
+# Set the SHOW_FILES tag to NO to disable the generation of the Files page. This
+# will remove the Files entry from the Quick Index and from the Folder Tree View
+# (if specified).
+# The default value is: YES.
+
+SHOW_FILES             = YES
+
+# Set the SHOW_NAMESPACES tag to NO to disable the generation of the Namespaces
+# page. This will remove the Namespaces entry from the Quick Index and from the
+# Folder Tree View (if specified).
+# The default value is: YES.
+
+SHOW_NAMESPACES        = YES
+
+# The FILE_VERSION_FILTER tag can be used to specify a program or script that
+# doxygen should invoke to get the current version for each file (typically from
+# the version control system). Doxygen will invoke the program by executing (via
+# popen()) the command command input-file, where command is the value of the
+# FILE_VERSION_FILTER tag, and input-file is the name of an input file provided
+# by doxygen. Whatever the program writes to standard output is used as the file
+# version. For an example see the documentation.
+
+FILE_VERSION_FILTER    =
+
+# The LAYOUT_FILE tag can be used to specify a layout file which will be parsed
+# by doxygen. The layout file controls the global structure of the generated
+# output files in an output format independent way. To create the layout file
+# that represents doxygen's defaults, run doxygen with the -l option. You can
+# optionally specify a file name after the option, if omitted DoxygenLayout.xml
+# will be used as the name of the layout file. See also section "Changing the
+# layout of pages" for information.
+#
+# Note that if you run doxygen from a directory containing a file called
+# DoxygenLayout.xml, doxygen will parse it automatically even if the LAYOUT_FILE
+# tag is left empty.
+
+LAYOUT_FILE            =
+
+# The CITE_BIB_FILES tag can be used to specify one or more bib files containing
+# the reference definitions. This must be a list of .bib files. The .bib
+# extension is automatically appended if omitted. This requires the bibtex tool
+# to be installed. See also https://en.wikipedia.org/wiki/BibTeX for more info.
+# For LaTeX the style of the bibliography can be controlled using
+# LATEX_BIB_STYLE. To use this feature you need bibtex and perl available in the
+# search path. See also \cite for info how to create references.
+
+CITE_BIB_FILES         =
+
+#---------------------------------------------------------------------------
+# Configuration options related to warning and progress messages
+#---------------------------------------------------------------------------
+
+# The QUIET tag can be used to turn on/off the messages that are generated to
+# standard output by doxygen. If QUIET is set to YES this implies that the
+# messages are off.
+# The default value is: NO.
+
+QUIET                  = NO
+
+# The WARNINGS tag can be used to turn on/off the warning messages that are
+# generated to standard error (stderr) by doxygen. If WARNINGS is set to YES
+# this implies that the warnings are on.
+#
+# Tip: Turn warnings on while writing the documentation.
+# The default value is: YES.
+
+WARNINGS               = YES
+
+# If the WARN_IF_UNDOCUMENTED tag is set to YES then doxygen will generate
+# warnings for undocumented members. If EXTRACT_ALL is set to YES then this flag
+# will automatically be disabled.
+# The default value is: YES.
+
+WARN_IF_UNDOCUMENTED   = YES
+
+# If the WARN_IF_DOC_ERROR tag is set to YES, doxygen will generate warnings for
+# potential errors in the documentation, such as documenting some parameters in
+# a documented function twice, or documenting parameters that don't exist or
+# using markup commands wrongly.
+# The default value is: YES.
+
+WARN_IF_DOC_ERROR      = YES
+
+# If WARN_IF_INCOMPLETE_DOC is set to YES, doxygen will warn about incomplete
+# function parameter documentation. If set to NO, doxygen will accept that some
+# parameters have no documentation without warning.
+# The default value is: YES.
+
+WARN_IF_INCOMPLETE_DOC = YES
+
+# This WARN_NO_PARAMDOC option can be enabled to get warnings for functions that
+# are documented, but have no documentation for their parameters or return
+# value. If set to NO, doxygen will only warn about wrong parameter
+# documentation, but not about the absence of documentation. If EXTRACT_ALL is
+# set to YES then this flag will automatically be disabled. See also
+# WARN_IF_INCOMPLETE_DOC
+# The default value is: NO.
+
+WARN_NO_PARAMDOC       = NO
+
+# If WARN_IF_UNDOC_ENUM_VAL option is set to YES, doxygen will warn about
+# undocumented enumeration values. If set to NO, doxygen will accept
+# undocumented enumeration values. If EXTRACT_ALL is set to YES then this flag
+# will automatically be disabled.
+# The default value is: NO.
+
+WARN_IF_UNDOC_ENUM_VAL = NO
+
+# If the WARN_AS_ERROR tag is set to YES then doxygen will immediately stop when
+# a warning is encountered. If the WARN_AS_ERROR tag is set to FAIL_ON_WARNINGS
+# then doxygen will continue running as if WARN_AS_ERROR tag is set to NO, but
+# at the end of the doxygen process doxygen will return with a non-zero status.
+# Possible values are: NO, YES and FAIL_ON_WARNINGS.
+# The default value is: NO.
+
+WARN_AS_ERROR          = NO
+
+# The WARN_FORMAT tag determines the format of the warning messages that doxygen
+# can produce. The string should contain the $file, $line, and $text tags, which
+# will be replaced by the file and line number from which the warning originated
+# and the warning text. Optionally the format may contain $version, which will
+# be replaced by the version of the file (if it could be obtained via
+# FILE_VERSION_FILTER)
+# See also: WARN_LINE_FORMAT
+# The default value is: $file:$line: $text.
+
+WARN_FORMAT            = "$file:$line: $text"
+
+# In the $text part of the WARN_FORMAT command it is possible that a reference
+# to a more specific place is given. To make it easier to jump to this place
+# (outside of doxygen) the user can define a custom "cut" / "paste" string.
+# Example:
+# WARN_LINE_FORMAT = "'vi $file +$line'"
+# See also: WARN_FORMAT
+# The default value is: at line $line of file $file.
+
+WARN_LINE_FORMAT       = "at line $line of file $file"
+
+# The WARN_LOGFILE tag can be used to specify a file to which warning and error
+# messages should be written. If left blank the output is written to standard
+# error (stderr). In case the file specified cannot be opened for writing the
+# warning and error messages are written to standard error. When as file - is
+# specified the warning and error messages are written to standard output
+# (stdout).
+
+WARN_LOGFILE           =
+
+#---------------------------------------------------------------------------
+# Configuration options related to the input files
+#---------------------------------------------------------------------------
+
+# The INPUT tag is used to specify the files and/or directories that contain
+# documented source files. You may enter file names like myfile.cpp or
+# directories like /usr/src/myproject. Separate the files or directories with
+# spaces. See also FILE_PATTERNS and EXTENSION_MAPPING
+# Note: If this tag is empty the current directory is searched.
+
+INPUT                  =
+
+# This tag can be used to specify the character encoding of the source files
+# that doxygen parses. Internally doxygen uses the UTF-8 encoding. Doxygen uses
+# libiconv (or the iconv built into libc) for the transcoding. See the libiconv
+# documentation (see:
+# https://www.gnu.org/software/libiconv/) for the list of possible encodings.
+# See also: INPUT_FILE_ENCODING
+# The default value is: UTF-8.
+
+INPUT_ENCODING         = UTF-8
+
+# This tag can be used to specify the character encoding of the source files
+# that doxygen parses The INPUT_FILE_ENCODING tag can be used to specify
+# character encoding on a per file pattern basis. Doxygen will compare the file
+# name with each pattern and apply the encoding instead of the default
+# INPUT_ENCODING) if there is a match. The character encodings are a list of the
+# form: pattern=encoding (like *.php=ISO-8859-1). See cfg_input_encoding
+# "INPUT_ENCODING" for further information on supported encodings.
+
+INPUT_FILE_ENCODING    =
+
+# If the value of the INPUT tag contains directories, you can use the
+# FILE_PATTERNS tag to specify one or more wildcard patterns (like *.cpp and
+# *.h) to filter out the source-files in the directories.
+#
+# Note that for custom extensions or not directly supported extensions you also
+# need to set EXTENSION_MAPPING for the extension otherwise the files are not
+# read by doxygen.
+#
+# Note the list of default checked file patterns might differ from the list of
+# default file extension mappings.
+#
+# If left blank the following patterns are tested:*.c, *.cc, *.cxx, *.cpp,
+# *.c++, *.java, *.ii, *.ixx, *.ipp, *.i++, *.inl, *.idl, *.ddl, *.odl, *.h,
+# *.hh, *.hxx, *.hpp, *.h++, *.l, *.cs, *.d, *.php, *.php4, *.php5, *.phtml,
+# *.inc, *.m, *.markdown, *.md, *.mm, *.dox (to be provided as doxygen C
+# comment), *.py, *.pyw, *.f90, *.f95, *.f03, *.f08, *.f18, *.f, *.for, *.vhd,
+# *.vhdl, *.ucf, *.qsf and *.ice.
+
+FILE_PATTERNS          = *.c \
+                         *.cc \
+                         *.cxx \
+                         *.cpp \
+                         *.c++ \
+                         *.java \
+                         *.ii \
+                         *.ixx \
+                         *.ipp \
+                         *.i++ \
+                         *.inl \
+                         *.idl \
+                         *.ddl \
+                         *.odl \
+                         *.h \
+                         *.hh \
+                         *.hxx \
+                         *.hpp \
+                         *.h++ \
+                         *.l \
+                         *.cs \
+                         *.d \
+                         *.php \
+                         *.php4 \
+                         *.php5 \
+                         *.phtml \
+                         *.inc \
+                         *.m \
+                         *.markdown \
+                         *.md \
+                         *.mm \
+                         *.dox \
+                         *.py \
+                         *.pyw \
+                         *.f90 \
+                         *.f95 \
+                         *.f03 \
+                         *.f08 \
+                         *.f18 \
+                         *.f \
+                         *.for \
+                         *.vhd \
+                         *.vhdl \
+                         *.ucf \
+                         *.qsf \
+                         *.ice
+
+# The RECURSIVE tag can be used to specify whether or not subdirectories should
+# be searched for input files as well.
+# The default value is: NO.
+
+RECURSIVE              = YES
+
+# The EXCLUDE tag can be used to specify files and/or directories that should be
+# excluded from the INPUT source files. This way you can easily exclude a
+# subdirectory from a directory tree whose root is specified with the INPUT tag.
+#
+# Note that relative paths are relative to the directory from which doxygen is
+# run.
+
+EXCLUDE                =
+
+# The EXCLUDE_SYMLINKS tag can be used to select whether or not files or
+# directories that are symbolic links (a Unix file system feature) are excluded
+# from the input.
+# The default value is: NO.
+
+EXCLUDE_SYMLINKS       = NO
+
+# If the value of the INPUT tag contains directories, you can use the
+# EXCLUDE_PATTERNS tag to specify one or more wildcard patterns to exclude
+# certain files from those directories.
+#
+# Note that the wildcards are matched against the file with absolute path, so to
+# exclude all test directories for example use the pattern */test/*
+
+EXCLUDE_PATTERNS       =
+
+# The EXCLUDE_SYMBOLS tag can be used to specify one or more symbol names
+# (namespaces, classes, functions, etc.) that should be excluded from the
+# output. The symbol name can be a fully qualified name, a word, or if the
+# wildcard * is used, a substring. Examples: ANamespace, AClass,
+# ANamespace::AClass, ANamespace::*Test
+#
+# Note that the wildcards are matched against the file with absolute path, so to
+# exclude all test directories use the pattern */test/*
+
+EXCLUDE_SYMBOLS        =
+
+# The EXAMPLE_PATH tag can be used to specify one or more files or directories
+# that contain example code fragments that are included (see the \include
+# command).
+
+EXAMPLE_PATH           =
+
+# If the value of the EXAMPLE_PATH tag contains directories, you can use the
+# EXAMPLE_PATTERNS tag to specify one or more wildcard pattern (like *.cpp and
+# *.h) to filter out the source-files in the directories. If left blank all
+# files are included.
+
+EXAMPLE_PATTERNS       = *
+
+# If the EXAMPLE_RECURSIVE tag is set to YES then subdirectories will be
+# searched for input files to be used with the \include or \dontinclude commands
+# irrespective of the value of the RECURSIVE tag.
+# The default value is: NO.
+
+EXAMPLE_RECURSIVE      = NO
+
+# The IMAGE_PATH tag can be used to specify one or more files or directories
+# that contain images that are to be included in the documentation (see the
+# \image command).
+
+IMAGE_PATH             =
+
+# The INPUT_FILTER tag can be used to specify a program that doxygen should
+# invoke to filter for each input file. Doxygen will invoke the filter program
+# by executing (via popen()) the command:
+#
+# <filter> <input-file>
+#
+# where <filter> is the value of the INPUT_FILTER tag, and <input-file> is the
+# name of an input file. Doxygen will then use the output that the filter
+# program writes to standard output. If FILTER_PATTERNS is specified, this tag
+# will be ignored.
+#
+# Note that the filter must not add or remove lines; it is applied before the
+# code is scanned, but not when the output code is generated. If lines are added
+# or removed, the anchors will not be placed correctly.
+#
+# Note that doxygen will use the data processed and written to standard output
+# for further processing, therefore nothing else, like debug statements or used
+# commands (so in case of a Windows batch file always use @echo OFF), should be
+# written to standard output.
+#
+# Note that for custom extensions or not directly supported extensions you also
+# need to set EXTENSION_MAPPING for the extension otherwise the files are not
+# properly processed by doxygen.
+
+INPUT_FILTER           =
+
+# The FILTER_PATTERNS tag can be used to specify filters on a per file pattern
+# basis. Doxygen will compare the file name with each pattern and apply the
+# filter if there is a match. The filters are a list of the form: pattern=filter
+# (like *.cpp=my_cpp_filter). See INPUT_FILTER for further information on how
+# filters are used. If the FILTER_PATTERNS tag is empty or if none of the
+# patterns match the file name, INPUT_FILTER is applied.
+#
+# Note that for custom extensions or not directly supported extensions you also
+# need to set EXTENSION_MAPPING for the extension otherwise the files are not
+# properly processed by doxygen.
+
+FILTER_PATTERNS        =
+
+# If the FILTER_SOURCE_FILES tag is set to YES, the input filter (if set using
+# INPUT_FILTER) will also be used to filter the input files that are used for
+# producing the source files to browse (i.e. when SOURCE_BROWSER is set to YES).
+# The default value is: NO.
+
+FILTER_SOURCE_FILES    = NO
+
+# The FILTER_SOURCE_PATTERNS tag can be used to specify source filters per file
+# pattern. A pattern will override the setting for FILTER_PATTERN (if any) and
+# it is also possible to disable source filtering for a specific pattern using
+# *.ext= (so without naming a filter).
+# This tag requires that the tag FILTER_SOURCE_FILES is set to YES.
+
+FILTER_SOURCE_PATTERNS =
+
+# If the USE_MDFILE_AS_MAINPAGE tag refers to the name of a markdown file that
+# is part of the input, its contents will be placed on the main page
+# (index.html). This can be useful if you have a project on for instance GitHub
+# and want to reuse the introduction page also for the doxygen output.
+
+USE_MDFILE_AS_MAINPAGE =
+
+# The Fortran standard specifies that for fixed formatted Fortran code all
+# characters from position 72 are to be considered as comment. A common
+# extension is to allow longer lines before the automatic comment starts. The
+# setting FORTRAN_COMMENT_AFTER will also make it possible that longer lines can
+# be processed before the automatic comment starts.
+# Minimum value: 7, maximum value: 10000, default value: 72.
+
+FORTRAN_COMMENT_AFTER  = 72
+
+#---------------------------------------------------------------------------
+# Configuration options related to source browsing
+#---------------------------------------------------------------------------
+
+# If the SOURCE_BROWSER tag is set to YES then a list of source files will be
+# generated. Documented entities will be cross-referenced with these sources.
+#
+# Note: To get rid of all source code in the generated output, make sure that
+# also VERBATIM_HEADERS is set to NO.
+# The default value is: NO.
+
+SOURCE_BROWSER         = NO
+
+# Setting the INLINE_SOURCES tag to YES will include the body of functions,
+# classes and enums directly into the documentation.
+# The default value is: NO.
+
+INLINE_SOURCES         = NO
+
+# Setting the STRIP_CODE_COMMENTS tag to YES will instruct doxygen to hide any
+# special comment blocks from generated source code fragments. Normal C, C++ and
+# Fortran comments will always remain visible.
+# The default value is: YES.
+
+STRIP_CODE_COMMENTS    = YES
+
+# If the REFERENCED_BY_RELATION tag is set to YES then for each documented
+# entity all documented functions referencing it will be listed.
+# The default value is: NO.
+
+REFERENCED_BY_RELATION = NO
+
+# If the REFERENCES_RELATION tag is set to YES then for each documented function
+# all documented entities called/used by that function will be listed.
+# The default value is: NO.
+
+REFERENCES_RELATION    = NO
+
+# If the REFERENCES_LINK_SOURCE tag is set to YES and SOURCE_BROWSER tag is set
+# to YES then the hyperlinks from functions in REFERENCES_RELATION and
+# REFERENCED_BY_RELATION lists will link to the source code. Otherwise they will
+# link to the documentation.
+# The default value is: YES.
+
+REFERENCES_LINK_SOURCE = YES
+
+# If SOURCE_TOOLTIPS is enabled (the default) then hovering a hyperlink in the
+# source code will show a tooltip with additional information such as prototype,
+# brief description and links to the definition and documentation. Since this
+# will make the HTML file larger and loading of large files a bit slower, you
+# can opt to disable this feature.
+# The default value is: YES.
+# This tag requires that the tag SOURCE_BROWSER is set to YES.
+
+SOURCE_TOOLTIPS        = YES
+
+# If the USE_HTAGS tag is set to YES then the references to source code will
+# point to the HTML generated by the htags(1) tool instead of doxygen built-in
+# source browser. The htags tool is part of GNU's global source tagging system
+# (see https://www.gnu.org/software/global/global.html). You will need version
+# 4.8.6 or higher.
+#
+# To use it do the following:
+# - Install the latest version of global
+# - Enable SOURCE_BROWSER and USE_HTAGS in the configuration file
+# - Make sure the INPUT points to the root of the source tree
+# - Run doxygen as normal
+#
+# Doxygen will invoke htags (and that will in turn invoke gtags), so these
+# tools must be available from the command line (i.e. in the search path).
+#
+# The result: instead of the source browser generated by doxygen, the links to
+# source code will now point to the output of htags.
+# The default value is: NO.
+# This tag requires that the tag SOURCE_BROWSER is set to YES.
+
+USE_HTAGS              = NO
+
+# If the VERBATIM_HEADERS tag is set the YES then doxygen will generate a
+# verbatim copy of the header file for each class for which an include is
+# specified. Set to NO to disable this.
+# See also: Section \class.
+# The default value is: YES.
+
+VERBATIM_HEADERS       = YES
+
+#---------------------------------------------------------------------------
+# Configuration options related to the alphabetical class index
+#---------------------------------------------------------------------------
+
+# If the ALPHABETICAL_INDEX tag is set to YES, an alphabetical index of all
+# compounds will be generated. Enable this if the project contains a lot of
+# classes, structs, unions or interfaces.
+# The default value is: YES.
+
+ALPHABETICAL_INDEX     = YES
+
+# The IGNORE_PREFIX tag can be used to specify a prefix (or a list of prefixes)
+# that should be ignored while generating the index headers. The IGNORE_PREFIX
+# tag works for classes, function and member names. The entity will be placed in
+# the alphabetical list under the first letter of the entity name that remains
+# after removing the prefix.
+# This tag requires that the tag ALPHABETICAL_INDEX is set to YES.
+
+IGNORE_PREFIX          =
+
+#---------------------------------------------------------------------------
+# Configuration options related to the HTML output
+#---------------------------------------------------------------------------
+
+# If the GENERATE_HTML tag is set to YES, doxygen will generate HTML output
+# The default value is: YES.
+
+GENERATE_HTML          = YES
+
+# The HTML_OUTPUT tag is used to specify where the HTML docs will be put. If a
+# relative path is entered the value of OUTPUT_DIRECTORY will be put in front of
+# it.
+# The default directory is: html.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+HTML_OUTPUT            = html
+
+# The HTML_FILE_EXTENSION tag can be used to specify the file extension for each
+# generated HTML page (for example: .htm, .php, .asp).
+# The default value is: .html.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+HTML_FILE_EXTENSION    = .html
+
+# The HTML_HEADER tag can be used to specify a user-defined HTML header file for
+# each generated HTML page. If the tag is left blank doxygen will generate a
+# standard header.
+#
+# To get valid HTML the header file that includes any scripts and style sheets
+# that doxygen needs, which is dependent on the configuration options used (e.g.
+# the setting GENERATE_TREEVIEW). It is highly recommended to start with a
+# default header using
+# doxygen -w html new_header.html new_footer.html new_stylesheet.css
+# YourConfigFile
+# and then modify the file new_header.html. See also section "Doxygen usage"
+# for information on how to generate the default header that doxygen normally
+# uses.
+# Note: The header is subject to change so you typically have to regenerate the
+# default header when upgrading to a newer version of doxygen. For a description
+# of the possible markers and block names see the documentation.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+HTML_HEADER            =
+
+# The HTML_FOOTER tag can be used to specify a user-defined HTML footer for each
+# generated HTML page. If the tag is left blank doxygen will generate a standard
+# footer. See HTML_HEADER for more information on how to generate a default
+# footer and what special commands can be used inside the footer. See also
+# section "Doxygen usage" for information on how to generate the default footer
+# that doxygen normally uses.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+HTML_FOOTER            =
+
+# The HTML_STYLESHEET tag can be used to specify a user-defined cascading style
+# sheet that is used by each HTML page. It can be used to fine-tune the look of
+# the HTML output. If left blank doxygen will generate a default style sheet.
+# See also section "Doxygen usage" for information on how to generate the style
+# sheet that doxygen normally uses.
+# Note: It is recommended to use HTML_EXTRA_STYLESHEET instead of this tag, as
+# it is more robust and this tag (HTML_STYLESHEET) will in the future become
+# obsolete.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+HTML_STYLESHEET        =
+
+# The HTML_EXTRA_STYLESHEET tag can be used to specify additional user-defined
+# cascading style sheets that are included after the standard style sheets
+# created by doxygen. Using this option one can overrule certain style aspects.
+# This is preferred over using HTML_STYLESHEET since it does not replace the
+# standard style sheet and is therefore more robust against future updates.
+# Doxygen will copy the style sheet files to the output directory.
+# Note: The order of the extra style sheet files is of importance (e.g. the last
+# style sheet in the list overrules the setting of the previous ones in the
+# list).
+# Note: Since the styling of scrollbars can currently not be overruled in
+# Webkit/Chromium, the styling will be left out of the default doxygen.css if
+# one or more extra stylesheets have been specified. So if scrollbar
+# customization is desired it has to be added explicitly. For an example see the
+# documentation.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+HTML_EXTRA_STYLESHEET  =
+
+# The HTML_EXTRA_FILES tag can be used to specify one or more extra images or
+# other source files which should be copied to the HTML output directory. Note
+# that these files will be copied to the base HTML output directory. Use the
+# $relpath^ marker in the HTML_HEADER and/or HTML_FOOTER files to load these
+# files. In the HTML_STYLESHEET file, use the file name only. Also note that the
+# files will be copied as-is; there are no commands or markers available.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+HTML_EXTRA_FILES       =
+
+# The HTML_COLORSTYLE tag can be used to specify if the generated HTML output
+# should be rendered with a dark or light theme.
+# Possible values are: LIGHT always generate light mode output, DARK always
+# generate dark mode output, AUTO_LIGHT automatically set the mode according to
+# the user preference, use light mode if no preference is set (the default),
+# AUTO_DARK automatically set the mode according to the user preference, use
+# dark mode if no preference is set and TOGGLE allow to user to switch between
+# light and dark mode via a button.
+# The default value is: AUTO_LIGHT.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+HTML_COLORSTYLE        = AUTO_LIGHT
+
+# The HTML_COLORSTYLE_HUE tag controls the color of the HTML output. Doxygen
+# will adjust the colors in the style sheet and background images according to
+# this color. Hue is specified as an angle on a color-wheel, see
+# https://en.wikipedia.org/wiki/Hue for more information. For instance the value
+# 0 represents red, 60 is yellow, 120 is green, 180 is cyan, 240 is blue, 300
+# purple, and 360 is red again.
+# Minimum value: 0, maximum value: 359, default value: 220.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+HTML_COLORSTYLE_HUE    = 220
+
+# The HTML_COLORSTYLE_SAT tag controls the purity (or saturation) of the colors
+# in the HTML output. For a value of 0 the output will use gray-scales only. A
+# value of 255 will produce the most vivid colors.
+# Minimum value: 0, maximum value: 255, default value: 100.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+HTML_COLORSTYLE_SAT    = 100
+
+# The HTML_COLORSTYLE_GAMMA tag controls the gamma correction applied to the
+# luminance component of the colors in the HTML output. Values below 100
+# gradually make the output lighter, whereas values above 100 make the output
+# darker. The value divided by 100 is the actual gamma applied, so 80 represents
+# a gamma of 0.8, The value 220 represents a gamma of 2.2, and 100 does not
+# change the gamma.
+# Minimum value: 40, maximum value: 240, default value: 80.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+HTML_COLORSTYLE_GAMMA  = 80
+
+# If the HTML_TIMESTAMP tag is set to YES then the footer of each generated HTML
+# page will contain the date and time when the page was generated. Setting this
+# to YES can help to show when doxygen was last run and thus if the
+# documentation is up to date.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+HTML_TIMESTAMP         = NO
+
+# If the HTML_DYNAMIC_MENUS tag is set to YES then the generated HTML
+# documentation will contain a main index with vertical navigation menus that
+# are dynamically created via JavaScript. If disabled, the navigation index will
+# consists of multiple levels of tabs that are statically embedded in every HTML
+# page. Disable this option to support browsers that do not have JavaScript,
+# like the Qt help browser.
+# The default value is: YES.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+HTML_DYNAMIC_MENUS     = YES
+
+# If the HTML_DYNAMIC_SECTIONS tag is set to YES then the generated HTML
+# documentation will contain sections that can be hidden and shown after the
+# page has loaded.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+HTML_DYNAMIC_SECTIONS  = NO
+
+# With HTML_INDEX_NUM_ENTRIES one can control the preferred number of entries
+# shown in the various tree structured indices initially; the user can expand
+# and collapse entries dynamically later on. Doxygen will expand the tree to
+# such a level that at most the specified number of entries are visible (unless
+# a fully collapsed tree already exceeds this amount). So setting the number of
+# entries 1 will produce a full collapsed tree by default. 0 is a special value
+# representing an infinite number of entries and will result in a full expanded
+# tree by default.
+# Minimum value: 0, maximum value: 9999, default value: 100.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+HTML_INDEX_NUM_ENTRIES = 100
+
+# If the GENERATE_DOCSET tag is set to YES, additional index files will be
+# generated that can be used as input for Apple's Xcode 3 integrated development
+# environment (see:
+# https://developer.apple.com/xcode/), introduced with OSX 10.5 (Leopard). To
+# create a documentation set, doxygen will generate a Makefile in the HTML
+# output directory. Running make will produce the docset in that directory and
+# running make install will install the docset in
+# ~/Library/Developer/Shared/Documentation/DocSets so that Xcode will find it at
+# startup. See https://developer.apple.com/library/archive/featuredarticles/Doxy
+# genXcode/_index.html for more information.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+GENERATE_DOCSET        = NO
+
+# This tag determines the name of the docset feed. A documentation feed provides
+# an umbrella under which multiple documentation sets from a single provider
+# (such as a company or product suite) can be grouped.
+# The default value is: Doxygen generated docs.
+# This tag requires that the tag GENERATE_DOCSET is set to YES.
+
+DOCSET_FEEDNAME        = "Doxygen generated docs"
+
+# This tag determines the URL of the docset feed. A documentation feed provides
+# an umbrella under which multiple documentation sets from a single provider
+# (such as a company or product suite) can be grouped.
+# This tag requires that the tag GENERATE_DOCSET is set to YES.
+
+DOCSET_FEEDURL         =
+
+# This tag specifies a string that should uniquely identify the documentation
+# set bundle. This should be a reverse domain-name style string, e.g.
+# com.mycompany.MyDocSet. Doxygen will append .docset to the name.
+# The default value is: org.doxygen.Project.
+# This tag requires that the tag GENERATE_DOCSET is set to YES.
+
+DOCSET_BUNDLE_ID       = org.doxygen.Project
+
+# The DOCSET_PUBLISHER_ID tag specifies a string that should uniquely identify
+# the documentation publisher. This should be a reverse domain-name style
+# string, e.g. com.mycompany.MyDocSet.documentation.
+# The default value is: org.doxygen.Publisher.
+# This tag requires that the tag GENERATE_DOCSET is set to YES.
+
+DOCSET_PUBLISHER_ID    = org.doxygen.Publisher
+
+# The DOCSET_PUBLISHER_NAME tag identifies the documentation publisher.
+# The default value is: Publisher.
+# This tag requires that the tag GENERATE_DOCSET is set to YES.
+
+DOCSET_PUBLISHER_NAME  = Publisher
+
+# If the GENERATE_HTMLHELP tag is set to YES then doxygen generates three
+# additional HTML index files: index.hhp, index.hhc, and index.hhk. The
+# index.hhp is a project file that can be read by Microsoft's HTML Help Workshop
+# on Windows. In the beginning of 2021 Microsoft took the original page, with
+# a.o. the download links, offline the HTML help workshop was already many years
+# in maintenance mode). You can download the HTML help workshop from the web
+# archives at Installation executable (see:
+# http://web.archive.org/web/20160201063255/http://download.microsoft.com/downlo
+# ad/0/A/9/0A939EF6-E31C-430F-A3DF-DFAE7960D564/htmlhelp.exe).
+#
+# The HTML Help Workshop contains a compiler that can convert all HTML output
+# generated by doxygen into a single compiled HTML file (.chm). Compiled HTML
+# files are now used as the Windows 98 help format, and will replace the old
+# Windows help format (.hlp) on all Windows platforms in the future. Compressed
+# HTML files also contain an index, a table of contents, and you can search for
+# words in the documentation. The HTML workshop also contains a viewer for
+# compressed HTML files.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+GENERATE_HTMLHELP      = NO
+
+# The CHM_FILE tag can be used to specify the file name of the resulting .chm
+# file. You can add a path in front of the file if the result should not be
+# written to the html output directory.
+# This tag requires that the tag GENERATE_HTMLHELP is set to YES.
+
+CHM_FILE               =
+
+# The HHC_LOCATION tag can be used to specify the location (absolute path
+# including file name) of the HTML help compiler (hhc.exe). If non-empty,
+# doxygen will try to run the HTML help compiler on the generated index.hhp.
+# The file has to be specified with full path.
+# This tag requires that the tag GENERATE_HTMLHELP is set to YES.
+
+HHC_LOCATION           =
+
+# The GENERATE_CHI flag controls if a separate .chi index file is generated
+# (YES) or that it should be included in the main .chm file (NO).
+# The default value is: NO.
+# This tag requires that the tag GENERATE_HTMLHELP is set to YES.
+
+GENERATE_CHI           = NO
+
+# The CHM_INDEX_ENCODING is used to encode HtmlHelp index (hhk), content (hhc)
+# and project file content.
+# This tag requires that the tag GENERATE_HTMLHELP is set to YES.
+
+CHM_INDEX_ENCODING     =
+
+# The BINARY_TOC flag controls whether a binary table of contents is generated
+# (YES) or a normal table of contents (NO) in the .chm file. Furthermore it
+# enables the Previous and Next buttons.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_HTMLHELP is set to YES.
+
+BINARY_TOC             = NO
+
+# The TOC_EXPAND flag can be set to YES to add extra items for group members to
+# the table of contents of the HTML help documentation and to the tree view.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_HTMLHELP is set to YES.
+
+TOC_EXPAND             = NO
+
+# If the GENERATE_QHP tag is set to YES and both QHP_NAMESPACE and
+# QHP_VIRTUAL_FOLDER are set, an additional index file will be generated that
+# can be used as input for Qt's qhelpgenerator to generate a Qt Compressed Help
+# (.qch) of the generated HTML documentation.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+GENERATE_QHP           = NO
+
+# If the QHG_LOCATION tag is specified, the QCH_FILE tag can be used to specify
+# the file name of the resulting .qch file. The path specified is relative to
+# the HTML output folder.
+# This tag requires that the tag GENERATE_QHP is set to YES.
+
+QCH_FILE               =
+
+# The QHP_NAMESPACE tag specifies the namespace to use when generating Qt Help
+# Project output. For more information please see Qt Help Project / Namespace
+# (see:
+# https://doc.qt.io/archives/qt-4.8/qthelpproject.html#namespace).
+# The default value is: org.doxygen.Project.
+# This tag requires that the tag GENERATE_QHP is set to YES.
+
+QHP_NAMESPACE          = org.doxygen.Project
+
+# The QHP_VIRTUAL_FOLDER tag specifies the namespace to use when generating Qt
+# Help Project output. For more information please see Qt Help Project / Virtual
+# Folders (see:
+# https://doc.qt.io/archives/qt-4.8/qthelpproject.html#virtual-folders).
+# The default value is: doc.
+# This tag requires that the tag GENERATE_QHP is set to YES.
+
+QHP_VIRTUAL_FOLDER     = doc
+
+# If the QHP_CUST_FILTER_NAME tag is set, it specifies the name of a custom
+# filter to add. For more information please see Qt Help Project / Custom
+# Filters (see:
+# https://doc.qt.io/archives/qt-4.8/qthelpproject.html#custom-filters).
+# This tag requires that the tag GENERATE_QHP is set to YES.
+
+QHP_CUST_FILTER_NAME   =
+
+# The QHP_CUST_FILTER_ATTRS tag specifies the list of the attributes of the
+# custom filter to add. For more information please see Qt Help Project / Custom
+# Filters (see:
+# https://doc.qt.io/archives/qt-4.8/qthelpproject.html#custom-filters).
+# This tag requires that the tag GENERATE_QHP is set to YES.
+
+QHP_CUST_FILTER_ATTRS  =
+
+# The QHP_SECT_FILTER_ATTRS tag specifies the list of the attributes this
+# project's filter section matches. Qt Help Project / Filter Attributes (see:
+# https://doc.qt.io/archives/qt-4.8/qthelpproject.html#filter-attributes).
+# This tag requires that the tag GENERATE_QHP is set to YES.
+
+QHP_SECT_FILTER_ATTRS  =
+
+# The QHG_LOCATION tag can be used to specify the location (absolute path
+# including file name) of Qt's qhelpgenerator. If non-empty doxygen will try to
+# run qhelpgenerator on the generated .qhp file.
+# This tag requires that the tag GENERATE_QHP is set to YES.
+
+QHG_LOCATION           =
+
+# If the GENERATE_ECLIPSEHELP tag is set to YES, additional index files will be
+# generated, together with the HTML files, they form an Eclipse help plugin. To
+# install this plugin and make it available under the help contents menu in
+# Eclipse, the contents of the directory containing the HTML and XML files needs
+# to be copied into the plugins directory of eclipse. The name of the directory
+# within the plugins directory should be the same as the ECLIPSE_DOC_ID value.
+# After copying Eclipse needs to be restarted before the help appears.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+GENERATE_ECLIPSEHELP   = NO
+
+# A unique identifier for the Eclipse help plugin. When installing the plugin
+# the directory name containing the HTML and XML files should also have this
+# name. Each documentation set should have its own identifier.
+# The default value is: org.doxygen.Project.
+# This tag requires that the tag GENERATE_ECLIPSEHELP is set to YES.
+
+ECLIPSE_DOC_ID         = org.doxygen.Project
+
+# If you want full control over the layout of the generated HTML pages it might
+# be necessary to disable the index and replace it with your own. The
+# DISABLE_INDEX tag can be used to turn on/off the condensed index (tabs) at top
+# of each HTML page. A value of NO enables the index and the value YES disables
+# it. Since the tabs in the index contain the same information as the navigation
+# tree, you can set this option to YES if you also set GENERATE_TREEVIEW to YES.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+DISABLE_INDEX          = NO
+
+# The GENERATE_TREEVIEW tag is used to specify whether a tree-like index
+# structure should be generated to display hierarchical information. If the tag
+# value is set to YES, a side panel will be generated containing a tree-like
+# index structure (just like the one that is generated for HTML Help). For this
+# to work a browser that supports JavaScript, DHTML, CSS and frames is required
+# (i.e. any modern browser). Windows users are probably better off using the
+# HTML help feature. Via custom style sheets (see HTML_EXTRA_STYLESHEET) one can
+# further fine tune the look of the index (see "Fine-tuning the output"). As an
+# example, the default style sheet generated by doxygen has an example that
+# shows how to put an image at the root of the tree instead of the PROJECT_NAME.
+# Since the tree basically has the same information as the tab index, you could
+# consider setting DISABLE_INDEX to YES when enabling this option.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+GENERATE_TREEVIEW      = NO
+
+# When both GENERATE_TREEVIEW and DISABLE_INDEX are set to YES, then the
+# FULL_SIDEBAR option determines if the side bar is limited to only the treeview
+# area (value NO) or if it should extend to the full height of the window (value
+# YES). Setting this to YES gives a layout similar to
+# https://docs.readthedocs.io with more room for contents, but less room for the
+# project logo, title, and description. If either GENERATE_TREEVIEW or
+# DISABLE_INDEX is set to NO, this option has no effect.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+FULL_SIDEBAR           = NO
+
+# The ENUM_VALUES_PER_LINE tag can be used to set the number of enum values that
+# doxygen will group on one line in the generated HTML documentation.
+#
+# Note that a value of 0 will completely suppress the enum values from appearing
+# in the overview section.
+# Minimum value: 0, maximum value: 20, default value: 4.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+ENUM_VALUES_PER_LINE   = 4
+
+# If the treeview is enabled (see GENERATE_TREEVIEW) then this tag can be used
+# to set the initial width (in pixels) of the frame in which the tree is shown.
+# Minimum value: 0, maximum value: 1500, default value: 250.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+TREEVIEW_WIDTH         = 250
+
+# If the EXT_LINKS_IN_WINDOW option is set to YES, doxygen will open links to
+# external symbols imported via tag files in a separate window.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+EXT_LINKS_IN_WINDOW    = NO
+
+# If the OBFUSCATE_EMAILS tag is set to YES, doxygen will obfuscate email
+# addresses.
+# The default value is: YES.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+OBFUSCATE_EMAILS       = YES
+
+# If the HTML_FORMULA_FORMAT option is set to svg, doxygen will use the pdf2svg
+# tool (see https://github.com/dawbarton/pdf2svg) or inkscape (see
+# https://inkscape.org) to generate formulas as SVG images instead of PNGs for
+# the HTML output. These images will generally look nicer at scaled resolutions.
+# Possible values are: png (the default) and svg (looks nicer but requires the
+# pdf2svg or inkscape tool).
+# The default value is: png.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+HTML_FORMULA_FORMAT    = png
+
+# Use this tag to change the font size of LaTeX formulas included as images in
+# the HTML documentation. When you change the font size after a successful
+# doxygen run you need to manually remove any form_*.png images from the HTML
+# output directory to force them to be regenerated.
+# Minimum value: 8, maximum value: 50, default value: 10.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+FORMULA_FONTSIZE       = 10
+
+# The FORMULA_MACROFILE can contain LaTeX \newcommand and \renewcommand commands
+# to create new LaTeX commands to be used in formulas as building blocks. See
+# the section "Including formulas" for details.
+
+FORMULA_MACROFILE      =
+
+# Enable the USE_MATHJAX option to render LaTeX formulas using MathJax (see
+# https://www.mathjax.org) which uses client side JavaScript for the rendering
+# instead of using pre-rendered bitmaps. Use this if you do not have LaTeX
+# installed or if you want to formulas look prettier in the HTML output. When
+# enabled you may also need to install MathJax separately and configure the path
+# to it using the MATHJAX_RELPATH option.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+USE_MATHJAX            = NO
+
+# With MATHJAX_VERSION it is possible to specify the MathJax version to be used.
+# Note that the different versions of MathJax have different requirements with
+# regards to the different settings, so it is possible that also other MathJax
+# settings have to be changed when switching between the different MathJax
+# versions.
+# Possible values are: MathJax_2 and MathJax_3.
+# The default value is: MathJax_2.
+# This tag requires that the tag USE_MATHJAX is set to YES.
+
+MATHJAX_VERSION        = MathJax_2
+
+# When MathJax is enabled you can set the default output format to be used for
+# the MathJax output. For more details about the output format see MathJax
+# version 2 (see:
+# http://docs.mathjax.org/en/v2.7-latest/output.html) and MathJax version 3
+# (see:
+# http://docs.mathjax.org/en/latest/web/components/output.html).
+# Possible values are: HTML-CSS (which is slower, but has the best
+# compatibility. This is the name for Mathjax version 2, for MathJax version 3
+# this will be translated into chtml), NativeMML (i.e. MathML. Only supported
+# for NathJax 2. For MathJax version 3 chtml will be used instead.), chtml (This
+# is the name for Mathjax version 3, for MathJax version 2 this will be
+# translated into HTML-CSS) and SVG.
+# The default value is: HTML-CSS.
+# This tag requires that the tag USE_MATHJAX is set to YES.
+
+MATHJAX_FORMAT         = HTML-CSS
+
+# When MathJax is enabled you need to specify the location relative to the HTML
+# output directory using the MATHJAX_RELPATH option. The destination directory
+# should contain the MathJax.js script. For instance, if the mathjax directory
+# is located at the same level as the HTML output directory, then
+# MATHJAX_RELPATH should be ../mathjax. The default value points to the MathJax
+# Content Delivery Network so you can quickly see the result without installing
+# MathJax. However, it is strongly recommended to install a local copy of
+# MathJax from https://www.mathjax.org before deployment. The default value is:
+# - in case of MathJax version 2: https://cdn.jsdelivr.net/npm/mathjax@2
+# - in case of MathJax version 3: https://cdn.jsdelivr.net/npm/mathjax@3
+# This tag requires that the tag USE_MATHJAX is set to YES.
+
+MATHJAX_RELPATH        =
+
+# The MATHJAX_EXTENSIONS tag can be used to specify one or more MathJax
+# extension names that should be enabled during MathJax rendering. For example
+# for MathJax version 2 (see
+# https://docs.mathjax.org/en/v2.7-latest/tex.html#tex-and-latex-extensions):
+# MATHJAX_EXTENSIONS = TeX/AMSmath TeX/AMSsymbols
+# For example for MathJax version 3 (see
+# http://docs.mathjax.org/en/latest/input/tex/extensions/index.html):
+# MATHJAX_EXTENSIONS = ams
+# This tag requires that the tag USE_MATHJAX is set to YES.
+
+MATHJAX_EXTENSIONS     =
+
+# The MATHJAX_CODEFILE tag can be used to specify a file with javascript pieces
+# of code that will be used on startup of the MathJax code. See the MathJax site
+# (see:
+# http://docs.mathjax.org/en/v2.7-latest/output.html) for more details. For an
+# example see the documentation.
+# This tag requires that the tag USE_MATHJAX is set to YES.
+
+MATHJAX_CODEFILE       =
+
+# When the SEARCHENGINE tag is enabled doxygen will generate a search box for
+# the HTML output. The underlying search engine uses javascript and DHTML and
+# should work on any modern browser. Note that when using HTML help
+# (GENERATE_HTMLHELP), Qt help (GENERATE_QHP), or docsets (GENERATE_DOCSET)
+# there is already a search function so this one should typically be disabled.
+# For large projects the javascript based search engine can be slow, then
+# enabling SERVER_BASED_SEARCH may provide a better solution. It is possible to
+# search using the keyboard; to jump to the search box use <access key> + S
+# (what the <access key> is depends on the OS and browser, but it is typically
+# <CTRL>, <ALT>/<option>, or both). Inside the search box use the <cursor down
+# key> to jump into the search results window, the results can be navigated
+# using the <cursor keys>. Press <Enter> to select an item or <escape> to cancel
+# the search. The filter options can be selected when the cursor is inside the
+# search box by pressing <Shift>+<cursor down>. Also here use the <cursor keys>
+# to select a filter and <Enter> or <escape> to activate or cancel the filter
+# option.
+# The default value is: YES.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+SEARCHENGINE           = YES
+
+# When the SERVER_BASED_SEARCH tag is enabled the search engine will be
+# implemented using a web server instead of a web client using JavaScript. There
+# are two flavors of web server based searching depending on the EXTERNAL_SEARCH
+# setting. When disabled, doxygen will generate a PHP script for searching and
+# an index file used by the script. When EXTERNAL_SEARCH is enabled the indexing
+# and searching needs to be provided by external tools. See the section
+# "External Indexing and Searching" for details.
+# The default value is: NO.
+# This tag requires that the tag SEARCHENGINE is set to YES.
+
+SERVER_BASED_SEARCH    = NO
+
+# When EXTERNAL_SEARCH tag is enabled doxygen will no longer generate the PHP
+# script for searching. Instead the search results are written to an XML file
+# which needs to be processed by an external indexer. Doxygen will invoke an
+# external search engine pointed to by the SEARCHENGINE_URL option to obtain the
+# search results.
+#
+# Doxygen ships with an example indexer (doxyindexer) and search engine
+# (doxysearch.cgi) which are based on the open source search engine library
+# Xapian (see:
+# https://xapian.org/).
+#
+# See the section "External Indexing and Searching" for details.
+# The default value is: NO.
+# This tag requires that the tag SEARCHENGINE is set to YES.
+
+EXTERNAL_SEARCH        = NO
+
+# The SEARCHENGINE_URL should point to a search engine hosted by a web server
+# which will return the search results when EXTERNAL_SEARCH is enabled.
+#
+# Doxygen ships with an example indexer (doxyindexer) and search engine
+# (doxysearch.cgi) which are based on the open source search engine library
+# Xapian (see:
+# https://xapian.org/). See the section "External Indexing and Searching" for
+# details.
+# This tag requires that the tag SEARCHENGINE is set to YES.
+
+SEARCHENGINE_URL       =
+
+# When SERVER_BASED_SEARCH and EXTERNAL_SEARCH are both enabled the unindexed
+# search data is written to a file for indexing by an external tool. With the
+# SEARCHDATA_FILE tag the name of this file can be specified.
+# The default file is: searchdata.xml.
+# This tag requires that the tag SEARCHENGINE is set to YES.
+
+SEARCHDATA_FILE        = searchdata.xml
+
+# When SERVER_BASED_SEARCH and EXTERNAL_SEARCH are both enabled the
+# EXTERNAL_SEARCH_ID tag can be used as an identifier for the project. This is
+# useful in combination with EXTRA_SEARCH_MAPPINGS to search through multiple
+# projects and redirect the results back to the right project.
+# This tag requires that the tag SEARCHENGINE is set to YES.
+
+EXTERNAL_SEARCH_ID     =
+
+# The EXTRA_SEARCH_MAPPINGS tag can be used to enable searching through doxygen
+# projects other than the one defined by this configuration file, but that are
+# all added to the same external search index. Each project needs to have a
+# unique id set via EXTERNAL_SEARCH_ID. The search mapping then maps the id of
+# to a relative location where the documentation can be found. The format is:
+# EXTRA_SEARCH_MAPPINGS = tagname1=loc1 tagname2=loc2 ...
+# This tag requires that the tag SEARCHENGINE is set to YES.
+
+EXTRA_SEARCH_MAPPINGS  =
+
+#---------------------------------------------------------------------------
+# Configuration options related to the LaTeX output
+#---------------------------------------------------------------------------
+
+# If the GENERATE_LATEX tag is set to YES, doxygen will generate LaTeX output.
+# The default value is: YES.
+
+GENERATE_LATEX         = YES
+
+# The LATEX_OUTPUT tag is used to specify where the LaTeX docs will be put. If a
+# relative path is entered the value of OUTPUT_DIRECTORY will be put in front of
+# it.
+# The default directory is: latex.
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+LATEX_OUTPUT           = latex
+
+# The LATEX_CMD_NAME tag can be used to specify the LaTeX command name to be
+# invoked.
+#
+# Note that when not enabling USE_PDFLATEX the default is latex when enabling
+# USE_PDFLATEX the default is pdflatex and when in the later case latex is
+# chosen this is overwritten by pdflatex. For specific output languages the
+# default can have been set differently, this depends on the implementation of
+# the output language.
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+LATEX_CMD_NAME         =
+
+# The MAKEINDEX_CMD_NAME tag can be used to specify the command name to generate
+# index for LaTeX.
+# Note: This tag is used in the Makefile / make.bat.
+# See also: LATEX_MAKEINDEX_CMD for the part in the generated output file
+# (.tex).
+# The default file is: makeindex.
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+MAKEINDEX_CMD_NAME     = makeindex
+
+# The LATEX_MAKEINDEX_CMD tag can be used to specify the command name to
+# generate index for LaTeX. In case there is no backslash (\) as first character
+# it will be automatically added in the LaTeX code.
+# Note: This tag is used in the generated output file (.tex).
+# See also: MAKEINDEX_CMD_NAME for the part in the Makefile / make.bat.
+# The default value is: makeindex.
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+LATEX_MAKEINDEX_CMD    = makeindex
+
+# If the COMPACT_LATEX tag is set to YES, doxygen generates more compact LaTeX
+# documents. This may be useful for small projects and may help to save some
+# trees in general.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+COMPACT_LATEX          = NO
+
+# The PAPER_TYPE tag can be used to set the paper type that is used by the
+# printer.
+# Possible values are: a4 (210 x 297 mm), letter (8.5 x 11 inches), legal (8.5 x
+# 14 inches) and executive (7.25 x 10.5 inches).
+# The default value is: a4.
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+PAPER_TYPE             = a4
+
+# The EXTRA_PACKAGES tag can be used to specify one or more LaTeX package names
+# that should be included in the LaTeX output. The package can be specified just
+# by its name or with the correct syntax as to be used with the LaTeX
+# \usepackage command. To get the times font for instance you can specify :
+# EXTRA_PACKAGES=times or EXTRA_PACKAGES={times}
+# To use the option intlimits with the amsmath package you can specify:
+# EXTRA_PACKAGES=[intlimits]{amsmath}
+# If left blank no extra packages will be included.
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+EXTRA_PACKAGES         =
+
+# The LATEX_HEADER tag can be used to specify a user-defined LaTeX header for
+# the generated LaTeX document. The header should contain everything until the
+# first chapter. If it is left blank doxygen will generate a standard header. It
+# is highly recommended to start with a default header using
+# doxygen -w latex new_header.tex new_footer.tex new_stylesheet.sty
+# and then modify the file new_header.tex. See also section "Doxygen usage" for
+# information on how to generate the default header that doxygen normally uses.
+#
+# Note: Only use a user-defined header if you know what you are doing!
+# Note: The header is subject to change so you typically have to regenerate the
+# default header when upgrading to a newer version of doxygen. The following
+# commands have a special meaning inside the header (and footer): For a
+# description of the possible markers and block names see the documentation.
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+LATEX_HEADER           =
+
+# The LATEX_FOOTER tag can be used to specify a user-defined LaTeX footer for
+# the generated LaTeX document. The footer should contain everything after the
+# last chapter. If it is left blank doxygen will generate a standard footer. See
+# LATEX_HEADER for more information on how to generate a default footer and what
+# special commands can be used inside the footer. See also section "Doxygen
+# usage" for information on how to generate the default footer that doxygen
+# normally uses. Note: Only use a user-defined footer if you know what you are
+# doing!
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+LATEX_FOOTER           =
+
+# The LATEX_EXTRA_STYLESHEET tag can be used to specify additional user-defined
+# LaTeX style sheets that are included after the standard style sheets created
+# by doxygen. Using this option one can overrule certain style aspects. Doxygen
+# will copy the style sheet files to the output directory.
+# Note: The order of the extra style sheet files is of importance (e.g. the last
+# style sheet in the list overrules the setting of the previous ones in the
+# list).
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+LATEX_EXTRA_STYLESHEET =
+
+# The LATEX_EXTRA_FILES tag can be used to specify one or more extra images or
+# other source files which should be copied to the LATEX_OUTPUT output
+# directory. Note that the files will be copied as-is; there are no commands or
+# markers available.
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+LATEX_EXTRA_FILES      =
+
+# If the PDF_HYPERLINKS tag is set to YES, the LaTeX that is generated is
+# prepared for conversion to PDF (using ps2pdf or pdflatex). The PDF file will
+# contain links (just like the HTML output) instead of page references. This
+# makes the output suitable for online browsing using a PDF viewer.
+# The default value is: YES.
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+PDF_HYPERLINKS         = YES
+
+# If the USE_PDFLATEX tag is set to YES, doxygen will use the engine as
+# specified with LATEX_CMD_NAME to generate the PDF file directly from the LaTeX
+# files. Set this option to YES, to get a higher quality PDF documentation.
+#
+# See also section LATEX_CMD_NAME for selecting the engine.
+# The default value is: YES.
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+USE_PDFLATEX           = YES
+
+# If the LATEX_BATCHMODE tag is set to YES, doxygen will add the \batchmode
+# command to the generated LaTeX files. This will instruct LaTeX to keep running
+# if errors occur, instead of asking the user for help.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+LATEX_BATCHMODE        = NO
+
+# If the LATEX_HIDE_INDICES tag is set to YES then doxygen will not include the
+# index chapters (such as File Index, Compound Index, etc.) in the output.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+LATEX_HIDE_INDICES     = NO
+
+# The LATEX_BIB_STYLE tag can be used to specify the style to use for the
+# bibliography, e.g. plainnat, or ieeetr. See
+# https://en.wikipedia.org/wiki/BibTeX and \cite for more info.
+# The default value is: plain.
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+LATEX_BIB_STYLE        = plain
+
+# If the LATEX_TIMESTAMP tag is set to YES then the footer of each generated
+# page will contain the date and time when the page was generated. Setting this
+# to NO can help when comparing the output of multiple runs.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+LATEX_TIMESTAMP        = NO
+
+# The LATEX_EMOJI_DIRECTORY tag is used to specify the (relative or absolute)
+# path from which the emoji images will be read. If a relative path is entered,
+# it will be relative to the LATEX_OUTPUT directory. If left blank the
+# LATEX_OUTPUT directory will be used.
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+LATEX_EMOJI_DIRECTORY  =
+
+#---------------------------------------------------------------------------
+# Configuration options related to the RTF output
+#---------------------------------------------------------------------------
+
+# If the GENERATE_RTF tag is set to YES, doxygen will generate RTF output. The
+# RTF output is optimized for Word 97 and may not look too pretty with other RTF
+# readers/editors.
+# The default value is: NO.
+
+GENERATE_RTF           = NO
+
+# The RTF_OUTPUT tag is used to specify where the RTF docs will be put. If a
+# relative path is entered the value of OUTPUT_DIRECTORY will be put in front of
+# it.
+# The default directory is: rtf.
+# This tag requires that the tag GENERATE_RTF is set to YES.
+
+RTF_OUTPUT             = rtf
+
+# If the COMPACT_RTF tag is set to YES, doxygen generates more compact RTF
+# documents. This may be useful for small projects and may help to save some
+# trees in general.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_RTF is set to YES.
+
+COMPACT_RTF            = NO
+
+# If the RTF_HYPERLINKS tag is set to YES, the RTF that is generated will
+# contain hyperlink fields. The RTF file will contain links (just like the HTML
+# output) instead of page references. This makes the output suitable for online
+# browsing using Word or some other Word compatible readers that support those
+# fields.
+#
+# Note: WordPad (write) and others do not support links.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_RTF is set to YES.
+
+RTF_HYPERLINKS         = NO
+
+# Load stylesheet definitions from file. Syntax is similar to doxygen's
+# configuration file, i.e. a series of assignments. You only have to provide
+# replacements, missing definitions are set to their default value.
+#
+# See also section "Doxygen usage" for information on how to generate the
+# default style sheet that doxygen normally uses.
+# This tag requires that the tag GENERATE_RTF is set to YES.
+
+RTF_STYLESHEET_FILE    =
+
+# Set optional variables used in the generation of an RTF document. Syntax is
+# similar to doxygen's configuration file. A template extensions file can be
+# generated using doxygen -e rtf extensionFile.
+# This tag requires that the tag GENERATE_RTF is set to YES.
+
+RTF_EXTENSIONS_FILE    =
+
+#---------------------------------------------------------------------------
+# Configuration options related to the man page output
+#---------------------------------------------------------------------------
+
+# If the GENERATE_MAN tag is set to YES, doxygen will generate man pages for
+# classes and files.
+# The default value is: NO.
+
+GENERATE_MAN           = NO
+
+# The MAN_OUTPUT tag is used to specify where the man pages will be put. If a
+# relative path is entered the value of OUTPUT_DIRECTORY will be put in front of
+# it. A directory man3 will be created inside the directory specified by
+# MAN_OUTPUT.
+# The default directory is: man.
+# This tag requires that the tag GENERATE_MAN is set to YES.
+
+MAN_OUTPUT             = man
+
+# The MAN_EXTENSION tag determines the extension that is added to the generated
+# man pages. In case the manual section does not start with a number, the number
+# 3 is prepended. The dot (.) at the beginning of the MAN_EXTENSION tag is
+# optional.
+# The default value is: .3.
+# This tag requires that the tag GENERATE_MAN is set to YES.
+
+MAN_EXTENSION          = .3
+
+# The MAN_SUBDIR tag determines the name of the directory created within
+# MAN_OUTPUT in which the man pages are placed. If defaults to man followed by
+# MAN_EXTENSION with the initial . removed.
+# This tag requires that the tag GENERATE_MAN is set to YES.
+
+MAN_SUBDIR             =
+
+# If the MAN_LINKS tag is set to YES and doxygen generates man output, then it
+# will generate one additional man file for each entity documented in the real
+# man page(s). These additional files only source the real man page, but without
+# them the man command would be unable to find the correct page.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_MAN is set to YES.
+
+MAN_LINKS              = NO
+
+#---------------------------------------------------------------------------
+# Configuration options related to the XML output
+#---------------------------------------------------------------------------
+
+# If the GENERATE_XML tag is set to YES, doxygen will generate an XML file that
+# captures the structure of the code including all documentation.
+# The default value is: NO.
+
+GENERATE_XML           = NO
+
+# The XML_OUTPUT tag is used to specify where the XML pages will be put. If a
+# relative path is entered the value of OUTPUT_DIRECTORY will be put in front of
+# it.
+# The default directory is: xml.
+# This tag requires that the tag GENERATE_XML is set to YES.
+
+XML_OUTPUT             = xml
+
+# If the XML_PROGRAMLISTING tag is set to YES, doxygen will dump the program
+# listings (including syntax highlighting and cross-referencing information) to
+# the XML output. Note that enabling this will significantly increase the size
+# of the XML output.
+# The default value is: YES.
+# This tag requires that the tag GENERATE_XML is set to YES.
+
+XML_PROGRAMLISTING     = YES
+
+# If the XML_NS_MEMB_FILE_SCOPE tag is set to YES, doxygen will include
+# namespace members in file scope as well, matching the HTML output.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_XML is set to YES.
+
+XML_NS_MEMB_FILE_SCOPE = NO
+
+#---------------------------------------------------------------------------
+# Configuration options related to the DOCBOOK output
+#---------------------------------------------------------------------------
+
+# If the GENERATE_DOCBOOK tag is set to YES, doxygen will generate Docbook files
+# that can be used to generate PDF.
+# The default value is: NO.
+
+GENERATE_DOCBOOK       = NO
+
+# The DOCBOOK_OUTPUT tag is used to specify where the Docbook pages will be put.
+# If a relative path is entered the value of OUTPUT_DIRECTORY will be put in
+# front of it.
+# The default directory is: docbook.
+# This tag requires that the tag GENERATE_DOCBOOK is set to YES.
+
+DOCBOOK_OUTPUT         = docbook
+
+#---------------------------------------------------------------------------
+# Configuration options for the AutoGen Definitions output
+#---------------------------------------------------------------------------
+
+# If the GENERATE_AUTOGEN_DEF tag is set to YES, doxygen will generate an
+# AutoGen Definitions (see http://autogen.sourceforge.net/) file that captures
+# the structure of the code including all documentation. Note that this feature
+# is still experimental and incomplete at the moment.
+# The default value is: NO.
+
+GENERATE_AUTOGEN_DEF   = NO
+
+#---------------------------------------------------------------------------
+# Configuration options related to the Perl module output
+#---------------------------------------------------------------------------
+
+# If the GENERATE_PERLMOD tag is set to YES, doxygen will generate a Perl module
+# file that captures the structure of the code including all documentation.
+#
+# Note that this feature is still experimental and incomplete at the moment.
+# The default value is: NO.
+
+GENERATE_PERLMOD       = NO
+
+# If the PERLMOD_LATEX tag is set to YES, doxygen will generate the necessary
+# Makefile rules, Perl scripts and LaTeX code to be able to generate PDF and DVI
+# output from the Perl module output.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_PERLMOD is set to YES.
+
+PERLMOD_LATEX          = NO
+
+# If the PERLMOD_PRETTY tag is set to YES, the Perl module output will be nicely
+# formatted so it can be parsed by a human reader. This is useful if you want to
+# understand what is going on. On the other hand, if this tag is set to NO, the
+# size of the Perl module output will be much smaller and Perl will parse it
+# just the same.
+# The default value is: YES.
+# This tag requires that the tag GENERATE_PERLMOD is set to YES.
+
+PERLMOD_PRETTY         = YES
+
+# The names of the make variables in the generated doxyrules.make file are
+# prefixed with the string contained in PERLMOD_MAKEVAR_PREFIX. This is useful
+# so different doxyrules.make files included by the same Makefile don't
+# overwrite each other's variables.
+# This tag requires that the tag GENERATE_PERLMOD is set to YES.
+
+PERLMOD_MAKEVAR_PREFIX =
+
+#---------------------------------------------------------------------------
+# Configuration options related to the preprocessor
+#---------------------------------------------------------------------------
+
+# If the ENABLE_PREPROCESSING tag is set to YES, doxygen will evaluate all
+# C-preprocessor directives found in the sources and include files.
+# The default value is: YES.
+
+ENABLE_PREPROCESSING   = YES
+
+# If the MACRO_EXPANSION tag is set to YES, doxygen will expand all macro names
+# in the source code. If set to NO, only conditional compilation will be
+# performed. Macro expansion can be done in a controlled way by setting
+# EXPAND_ONLY_PREDEF to YES.
+# The default value is: NO.
+# This tag requires that the tag ENABLE_PREPROCESSING is set to YES.
+
+MACRO_EXPANSION        = NO
+
+# If the EXPAND_ONLY_PREDEF and MACRO_EXPANSION tags are both set to YES then
+# the macro expansion is limited to the macros specified with the PREDEFINED and
+# EXPAND_AS_DEFINED tags.
+# The default value is: NO.
+# This tag requires that the tag ENABLE_PREPROCESSING is set to YES.
+
+EXPAND_ONLY_PREDEF     = NO
+
+# If the SEARCH_INCLUDES tag is set to YES, the include files in the
+# INCLUDE_PATH will be searched if a #include is found.
+# The default value is: YES.
+# This tag requires that the tag ENABLE_PREPROCESSING is set to YES.
+
+SEARCH_INCLUDES        = YES
+
+# The INCLUDE_PATH tag can be used to specify one or more directories that
+# contain include files that are not input files but should be processed by the
+# preprocessor. Note that the INCLUDE_PATH is not recursive, so the setting of
+# RECURSIVE has no effect here.
+# This tag requires that the tag SEARCH_INCLUDES is set to YES.
+
+INCLUDE_PATH           =
+
+# You can use the INCLUDE_FILE_PATTERNS tag to specify one or more wildcard
+# patterns (like *.h and *.hpp) to filter out the header-files in the
+# directories. If left blank, the patterns specified with FILE_PATTERNS will be
+# used.
+# This tag requires that the tag ENABLE_PREPROCESSING is set to YES.
+
+INCLUDE_FILE_PATTERNS  =
+
+# The PREDEFINED tag can be used to specify one or more macro names that are
+# defined before the preprocessor is started (similar to the -D option of e.g.
+# gcc). The argument of the tag is a list of macros of the form: name or
+# name=definition (no spaces). If the definition and the "=" are omitted, "=1"
+# is assumed. To prevent a macro definition from being undefined via #undef or
+# recursively expanded use the := operator instead of the = operator.
+# This tag requires that the tag ENABLE_PREPROCESSING is set to YES.
+
+PREDEFINED             =
+
+# If the MACRO_EXPANSION and EXPAND_ONLY_PREDEF tags are set to YES then this
+# tag can be used to specify a list of macro names that should be expanded. The
+# macro definition that is found in the sources will be used. Use the PREDEFINED
+# tag if you want to use a different macro definition that overrules the
+# definition found in the source code.
+# This tag requires that the tag ENABLE_PREPROCESSING is set to YES.
+
+EXPAND_AS_DEFINED      =
+
+# If the SKIP_FUNCTION_MACROS tag is set to YES then doxygen's preprocessor will
+# remove all references to function-like macros that are alone on a line, have
+# an all uppercase name, and do not end with a semicolon. Such function macros
+# are typically used for boiler-plate code, and will confuse the parser if not
+# removed.
+# The default value is: YES.
+# This tag requires that the tag ENABLE_PREPROCESSING is set to YES.
+
+SKIP_FUNCTION_MACROS   = YES
+
+#---------------------------------------------------------------------------
+# Configuration options related to external references
+#---------------------------------------------------------------------------
+
+# The TAGFILES tag can be used to specify one or more tag files. For each tag
+# file the location of the external documentation should be added. The format of
+# a tag file without this location is as follows:
+# TAGFILES = file1 file2 ...
+# Adding location for the tag files is done as follows:
+# TAGFILES = file1=loc1 "file2 = loc2" ...
+# where loc1 and loc2 can be relative or absolute paths or URLs. See the
+# section "Linking to external documentation" for more information about the use
+# of tag files.
+# Note: Each tag file must have a unique name (where the name does NOT include
+# the path). If a tag file is not located in the directory in which doxygen is
+# run, you must also specify the path to the tagfile here.
+
+TAGFILES               =
+
+# When a file name is specified after GENERATE_TAGFILE, doxygen will create a
+# tag file that is based on the input files it reads. See section "Linking to
+# external documentation" for more information about the usage of tag files.
+
+GENERATE_TAGFILE       =
+
+# If the ALLEXTERNALS tag is set to YES, all external class will be listed in
+# the class index. If set to NO, only the inherited external classes will be
+# listed.
+# The default value is: NO.
+
+ALLEXTERNALS           = NO
+
+# If the EXTERNAL_GROUPS tag is set to YES, all external groups will be listed
+# in the modules index. If set to NO, only the current project's groups will be
+# listed.
+# The default value is: YES.
+
+EXTERNAL_GROUPS        = YES
+
+# If the EXTERNAL_PAGES tag is set to YES, all external pages will be listed in
+# the related pages index. If set to NO, only the current project's pages will
+# be listed.
+# The default value is: YES.
+
+EXTERNAL_PAGES         = YES
+
+#---------------------------------------------------------------------------
+# Configuration options related to the dot tool
+#---------------------------------------------------------------------------
+
+# You can include diagrams made with dia in doxygen documentation. Doxygen will
+# then run dia to produce the diagram and insert it in the documentation. The
+# DIA_PATH tag allows you to specify the directory where the dia binary resides.
+# If left empty dia is assumed to be found in the default search path.
+
+DIA_PATH               =
+
+# If set to YES the inheritance and collaboration graphs will hide inheritance
+# and usage relations if the target is undocumented or is not a class.
+# The default value is: YES.
+
+HIDE_UNDOC_RELATIONS   = YES
+
+# If you set the HAVE_DOT tag to YES then doxygen will assume the dot tool is
+# available from the path. This tool is part of Graphviz (see:
+# http://www.graphviz.org/), a graph visualization toolkit from AT&T and Lucent
+# Bell Labs. The other options in this section have no effect if this option is
+# set to NO
+# The default value is: NO.
+
+HAVE_DOT               = NO
+
+# The DOT_NUM_THREADS specifies the number of dot invocations doxygen is allowed
+# to run in parallel. When set to 0 doxygen will base this on the number of
+# processors available in the system. You can set it explicitly to a value
+# larger than 0 to get control over the balance between CPU load and processing
+# speed.
+# Minimum value: 0, maximum value: 32, default value: 0.
+# This tag requires that the tag HAVE_DOT is set to YES.
+
+DOT_NUM_THREADS        = 0
+
+# DOT_COMMON_ATTR is common attributes for nodes, edges and labels of
+# subgraphs. When you want a differently looking font in the dot files that
+# doxygen generates you can specify fontname, fontcolor and fontsize attributes.
+# For details please see <a href=https://graphviz.org/doc/info/attrs.html>Node,
+# Edge and Graph Attributes specification</a> You need to make sure dot is able
+# to find the font, which can be done by putting it in a standard location or by
+# setting the DOTFONTPATH environment variable or by setting DOT_FONTPATH to the
+# directory containing the font. Default graphviz fontsize is 14.
+# The default value is: fontname=Helvetica,fontsize=10.
+# This tag requires that the tag HAVE_DOT is set to YES.
+
+DOT_COMMON_ATTR        = "fontname=Helvetica,fontsize=10"
+
+# DOT_EDGE_ATTR is concatenated with DOT_COMMON_ATTR. For elegant style you can
+# add 'arrowhead=open, arrowtail=open, arrowsize=0.5'. <a
+# href=https://graphviz.org/doc/info/arrows.html>Complete documentation about
+# arrows shapes.</a>
+# The default value is: labelfontname=Helvetica,labelfontsize=10.
+# This tag requires that the tag HAVE_DOT is set to YES.
+
+DOT_EDGE_ATTR          = "labelfontname=Helvetica,labelfontsize=10"
+
+# DOT_NODE_ATTR is concatenated with DOT_COMMON_ATTR. For view without boxes
+# around nodes set 'shape=plain' or 'shape=plaintext' <a
+# href=https://www.graphviz.org/doc/info/shapes.html>Shapes specification</a>
+# The default value is: shape=box,height=0.2,width=0.4.
+# This tag requires that the tag HAVE_DOT is set to YES.
+
+DOT_NODE_ATTR          = "shape=box,height=0.2,width=0.4"
+
+# You can set the path where dot can find font specified with fontname in
+# DOT_COMMON_ATTR and others dot attributes.
+# This tag requires that the tag HAVE_DOT is set to YES.
+
+DOT_FONTPATH           =
+
+# If the CLASS_GRAPH tag is set to YES (or GRAPH) then doxygen will generate a
+# graph for each documented class showing the direct and indirect inheritance
+# relations. In case HAVE_DOT is set as well dot will be used to draw the graph,
+# otherwise the built-in generator will be used. If the CLASS_GRAPH tag is set
+# to TEXT the direct and indirect inheritance relations will be shown as texts /
+# links.
+# Possible values are: NO, YES, TEXT and GRAPH.
+# The default value is: YES.
+
+CLASS_GRAPH            = YES
+
+# If the COLLABORATION_GRAPH tag is set to YES then doxygen will generate a
+# graph for each documented class showing the direct and indirect implementation
+# dependencies (inheritance, containment, and class references variables) of the
+# class with other documented classes.
+# The default value is: YES.
+# This tag requires that the tag HAVE_DOT is set to YES.
+
+COLLABORATION_GRAPH    = YES
+
+# If the GROUP_GRAPHS tag is set to YES then doxygen will generate a graph for
+# groups, showing the direct groups dependencies. See also the chapter Grouping
+# in the manual.
+# The default value is: YES.
+# This tag requires that the tag HAVE_DOT is set to YES.
+
+GROUP_GRAPHS           = YES
+
+# If the UML_LOOK tag is set to YES, doxygen will generate inheritance and
+# collaboration diagrams in a style similar to the OMG's Unified Modeling
+# Language.
+# The default value is: NO.
+# This tag requires that the tag HAVE_DOT is set to YES.
+
+UML_LOOK               = NO
+
+# If the UML_LOOK tag is enabled, the fields and methods are shown inside the
+# class node. If there are many fields or methods and many nodes the graph may
+# become too big to be useful. The UML_LIMIT_NUM_FIELDS threshold limits the
+# number of items for each type to make the size more manageable. Set this to 0
+# for no limit. Note that the threshold may be exceeded by 50% before the limit
+# is enforced. So when you set the threshold to 10, up to 15 fields may appear,
+# but if the number exceeds 15, the total amount of fields shown is limited to
+# 10.
+# Minimum value: 0, maximum value: 100, default value: 10.
+# This tag requires that the tag UML_LOOK is set to YES.
+
+UML_LIMIT_NUM_FIELDS   = 10
+
+# If the DOT_UML_DETAILS tag is set to NO, doxygen will show attributes and
+# methods without types and arguments in the UML graphs. If the DOT_UML_DETAILS
+# tag is set to YES, doxygen will add type and arguments for attributes and
+# methods in the UML graphs. If the DOT_UML_DETAILS tag is set to NONE, doxygen
+# will not generate fields with class member information in the UML graphs. The
+# class diagrams will look similar to the default class diagrams but using UML
+# notation for the relationships.
+# Possible values are: NO, YES and NONE.
+# The default value is: NO.
+# This tag requires that the tag UML_LOOK is set to YES.
+
+DOT_UML_DETAILS        = NO
+
+# The DOT_WRAP_THRESHOLD tag can be used to set the maximum number of characters
+# to display on a single line. If the actual line length exceeds this threshold
+# significantly it will wrapped across multiple lines. Some heuristics are apply
+# to avoid ugly line breaks.
+# Minimum value: 0, maximum value: 1000, default value: 17.
+# This tag requires that the tag HAVE_DOT is set to YES.
+
+DOT_WRAP_THRESHOLD     = 17
+
+# If the TEMPLATE_RELATIONS tag is set to YES then the inheritance and
+# collaboration graphs will show the relations between templates and their
+# instances.
+# The default value is: NO.
+# This tag requires that the tag HAVE_DOT is set to YES.
+
+TEMPLATE_RELATIONS     = NO
+
+# If the INCLUDE_GRAPH, ENABLE_PREPROCESSING and SEARCH_INCLUDES tags are set to
+# YES then doxygen will generate a graph for each documented file showing the
+# direct and indirect include dependencies of the file with other documented
+# files.
+# The default value is: YES.
+# This tag requires that the tag HAVE_DOT is set to YES.
+
+INCLUDE_GRAPH          = YES
+
+# If the INCLUDED_BY_GRAPH, ENABLE_PREPROCESSING and SEARCH_INCLUDES tags are
+# set to YES then doxygen will generate a graph for each documented file showing
+# the direct and indirect include dependencies of the file with other documented
+# files.
+# The default value is: YES.
+# This tag requires that the tag HAVE_DOT is set to YES.
+
+INCLUDED_BY_GRAPH      = YES
+
+# If the CALL_GRAPH tag is set to YES then doxygen will generate a call
+# dependency graph for every global function or class method.
+#
+# Note that enabling this option will significantly increase the time of a run.
+# So in most cases it will be better to enable call graphs for selected
+# functions only using the \callgraph command. Disabling a call graph can be
+# accomplished by means of the command \hidecallgraph.
+# The default value is: NO.
+# This tag requires that the tag HAVE_DOT is set to YES.
+
+CALL_GRAPH             = NO
+
+# If the CALLER_GRAPH tag is set to YES then doxygen will generate a caller
+# dependency graph for every global function or class method.
+#
+# Note that enabling this option will significantly increase the time of a run.
+# So in most cases it will be better to enable caller graphs for selected
+# functions only using the \callergraph command. Disabling a caller graph can be
+# accomplished by means of the command \hidecallergraph.
+# The default value is: NO.
+# This tag requires that the tag HAVE_DOT is set to YES.
+
+CALLER_GRAPH           = NO
+
+# If the GRAPHICAL_HIERARCHY tag is set to YES then doxygen will graphical
+# hierarchy of all classes instead of a textual one.
+# The default value is: YES.
+# This tag requires that the tag HAVE_DOT is set to YES.
+
+GRAPHICAL_HIERARCHY    = YES
+
+# If the DIRECTORY_GRAPH tag is set to YES then doxygen will show the
+# dependencies a directory has on other directories in a graphical way. The
+# dependency relations are determined by the #include relations between the
+# files in the directories.
+# The default value is: YES.
+# This tag requires that the tag HAVE_DOT is set to YES.
+
+DIRECTORY_GRAPH        = YES
+
+# The DIR_GRAPH_MAX_DEPTH tag can be used to limit the maximum number of levels
+# of child directories generated in directory dependency graphs by dot.
+# Minimum value: 1, maximum value: 25, default value: 1.
+# This tag requires that the tag DIRECTORY_GRAPH is set to YES.
+
+DIR_GRAPH_MAX_DEPTH    = 1
+
+# The DOT_IMAGE_FORMAT tag can be used to set the image format of the images
+# generated by dot. For an explanation of the image formats see the section
+# output formats in the documentation of the dot tool (Graphviz (see:
+# http://www.graphviz.org/)).
+# Note: If you choose svg you need to set HTML_FILE_EXTENSION to xhtml in order
+# to make the SVG files visible in IE 9+ (other browsers do not have this
+# requirement).
+# Possible values are: png, jpg, gif, svg, png:gd, png:gd:gd, png:cairo,
+# png:cairo:gd, png:cairo:cairo, png:cairo:gdiplus, png:gdiplus and
+# png:gdiplus:gdiplus.
+# The default value is: png.
+# This tag requires that the tag HAVE_DOT is set to YES.
+
+DOT_IMAGE_FORMAT       = png
+
+# If DOT_IMAGE_FORMAT is set to svg, then this option can be set to YES to
+# enable generation of interactive SVG images that allow zooming and panning.
+#
+# Note that this requires a modern browser other than Internet Explorer. Tested
+# and working are Firefox, Chrome, Safari, and Opera.
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+<meta name="generator" content="Doxygen 1.9.6"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>RIT VEXU Core API: Class List</title>
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+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
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+<div class="header">
+  <div class="headertitle"><div class="title">Class List</div></div>
+</div><!--header-->
+<div class="contents">
+<div class="textblock">Here are the classes, structs, unions and interfaces with brief descriptions:</div><div class="directory">
+<div class="levels">[detail level <span onclick="javascript:toggleLevel(1);">1</span><span onclick="javascript:toggleLevel(2);">2</span>]</div><table class="directory">
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+<tr id="row_3_" class="even"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classCommandController.html" target="_self">CommandController</a></td><td class="desc"></td></tr>
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+<tr id="row_6_" class="odd"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classDriveForwardCommand.html" target="_self">DriveForwardCommand</a></td><td class="desc"></td></tr>
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+<tr id="row_10_" class="odd"><td class="entry"><span style="width:0px;display:inline-block;">&#160;</span><span id="arr_10_" class="arrow" onclick="toggleFolder('10_')">&#9660;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classFeedForward.html" target="_self">FeedForward</a></td><td class="desc"></td></tr>
+<tr id="row_10_0_" class="even"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structFeedForward_1_1ff__config__t.html" target="_self">ff_config_t</a></td><td class="desc"></td></tr>
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+<li class="navelem"><a class="el" href="dir_d44c64559bbebec7f509842c48db8b23.html">include</a></li><li class="navelem"><a class="el" href="dir_821002d4f10779a80d4fb17bc32f21f1.html">utils</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle"><div class="title">auto_chooser.h</div></div>
+</div><!--header-->
+<div class="contents">
+<div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno">    1</span><span class="preprocessor">#pragma once</span></div>
+<div class="line"><a id="l00002" name="l00002"></a><span class="lineno">    2</span><span class="preprocessor">#include &quot;vex.h&quot;</span></div>
+<div class="line"><a id="l00003" name="l00003"></a><span class="lineno">    3</span><span class="preprocessor">#include &lt;string&gt;</span></div>
+<div class="line"><a id="l00004" name="l00004"></a><span class="lineno">    4</span><span class="preprocessor">#include &lt;vector&gt;</span></div>
+<div class="line"><a id="l00005" name="l00005"></a><span class="lineno">    5</span> </div>
+<div class="line"><a id="l00006" name="l00006"></a><span class="lineno">    6</span> </div>
+<div class="line"><a id="l00015" name="l00015"></a><span class="lineno"><a class="line" href="classAutoChooser.html">   15</a></span><span class="keyword">class </span><a class="code hl_class" href="classAutoChooser.html">AutoChooser</a></div>
+<div class="line"><a id="l00016" name="l00016"></a><span class="lineno">   16</span>{</div>
+<div class="line"><a id="l00017" name="l00017"></a><span class="lineno">   17</span>  <span class="keyword">public</span>:</div>
+<div class="line"><a id="l00023" name="l00023"></a><span class="lineno">   23</span>  <a class="code hl_class" href="classAutoChooser.html">AutoChooser</a>(vex::brain &amp;<a class="code hl_variable" href="classAutoChooser.html#a9889be17b1b6243563f975dd421802b4">brain</a>);</div>
+<div class="line"><a id="l00024" name="l00024"></a><span class="lineno">   24</span>  </div>
+<div class="line"><a id="l00029" name="l00029"></a><span class="lineno">   29</span>  <span class="keywordtype">void</span> <a class="code hl_function" href="classAutoChooser.html#a67b80bf6b62cfced155519f5b608e08c">add</a>(std::string name);</div>
+<div class="line"><a id="l00030" name="l00030"></a><span class="lineno">   30</span> </div>
+<div class="line"><a id="l00035" name="l00035"></a><span class="lineno">   35</span>  std::string <a class="code hl_function" href="classAutoChooser.html#ada27d20c06baeb169c3abed5fd0b06bb">get_choice</a>();</div>
+<div class="line"><a id="l00036" name="l00036"></a><span class="lineno">   36</span> </div>
+<div class="line"><a id="l00037" name="l00037"></a><span class="lineno">   37</span>  <span class="keyword">protected</span>:</div>
+<div class="line"><a id="l00038" name="l00038"></a><span class="lineno">   38</span> </div>
+<div class="line"><a id="l00042" name="l00042"></a><span class="lineno"><a class="line" href="structAutoChooser_1_1entry__t.html">   42</a></span>  <span class="keyword">struct </span><a class="code hl_struct" href="structAutoChooser_1_1entry__t.html">entry_t</a></div>
+<div class="line"><a id="l00043" name="l00043"></a><span class="lineno">   43</span>  {</div>
+<div class="line"><a id="l00044" name="l00044"></a><span class="lineno"><a class="line" href="structAutoChooser_1_1entry__t.html#a7aa2aaaccd195c358c88afa6e24b5f73">   44</a></span>    <span class="keywordtype">int</span> <a class="code hl_variable" href="structAutoChooser_1_1entry__t.html#a7aa2aaaccd195c358c88afa6e24b5f73">x</a>; </div>
+<div class="line"><a id="l00045" name="l00045"></a><span class="lineno"><a class="line" href="structAutoChooser_1_1entry__t.html#a2e303a71790d85a67819830302c4dcee">   45</a></span>    <span class="keywordtype">int</span> <a class="code hl_variable" href="structAutoChooser_1_1entry__t.html#a2e303a71790d85a67819830302c4dcee">y</a>; </div>
+<div class="line"><a id="l00046" name="l00046"></a><span class="lineno"><a class="line" href="structAutoChooser_1_1entry__t.html#a2459ffe56c165e35f3a63bec99990367">   46</a></span>    <span class="keywordtype">int</span> <a class="code hl_variable" href="structAutoChooser_1_1entry__t.html#a2459ffe56c165e35f3a63bec99990367">width</a>; </div>
+<div class="line"><a id="l00047" name="l00047"></a><span class="lineno"><a class="line" href="structAutoChooser_1_1entry__t.html#a957eb90ff083c4a4f8dc90da976b86c7">   47</a></span>    <span class="keywordtype">int</span> <a class="code hl_variable" href="structAutoChooser_1_1entry__t.html#a957eb90ff083c4a4f8dc90da976b86c7">height</a>; </div>
+<div class="line"><a id="l00048" name="l00048"></a><span class="lineno"><a class="line" href="structAutoChooser_1_1entry__t.html#ab876b8f9fa8bf03a91c45c55c2a7fa23">   48</a></span>    std::string <a class="code hl_variable" href="structAutoChooser_1_1entry__t.html#ab876b8f9fa8bf03a91c45c55c2a7fa23">name</a>; </div>
+<div class="line"><a id="l00049" name="l00049"></a><span class="lineno">   49</span>  };</div>
+<div class="line"><a id="l00050" name="l00050"></a><span class="lineno">   50</span> </div>
+<div class="line"><a id="l00051" name="l00051"></a><span class="lineno">   51</span>  <span class="keywordtype">void</span> <a class="code hl_function" href="classAutoChooser.html#a9365d354e3401d819e58a999721c07d9">render</a>(<a class="code hl_struct" href="structAutoChooser_1_1entry__t.html">entry_t</a> *selected);</div>
+<div class="line"><a id="l00052" name="l00052"></a><span class="lineno">   52</span> </div>
+<div class="line"><a id="l00053" name="l00053"></a><span class="lineno"><a class="line" href="classAutoChooser.html#a473e03a3e74487a38e94d3b5957f34bc">   53</a></span>  std::string <a class="code hl_variable" href="classAutoChooser.html#a473e03a3e74487a38e94d3b5957f34bc">choice</a>; </div>
+<div class="line"><a id="l00054" name="l00054"></a><span class="lineno"><a class="line" href="classAutoChooser.html#a5c2b8683579011b529b95aab423b120a">   54</a></span>  std::vector&lt;entry_t&gt; <a class="code hl_variable" href="classAutoChooser.html#a5c2b8683579011b529b95aab423b120a">list</a> ;</div>
+<div class="line"><a id="l00055" name="l00055"></a><span class="lineno"><a class="line" href="classAutoChooser.html#a9889be17b1b6243563f975dd421802b4">   55</a></span>  vex::brain &amp;<a class="code hl_variable" href="classAutoChooser.html#a9889be17b1b6243563f975dd421802b4">brain</a>; </div>
+<div class="line"><a id="l00058" name="l00058"></a><span class="lineno">   58</span>};</div>
+<div class="ttc" id="aclassAutoChooser_html"><div class="ttname"><a href="classAutoChooser.html">AutoChooser</a></div><div class="ttdef"><b>Definition:</b> auto_chooser.h:16</div></div>
+<div class="ttc" id="aclassAutoChooser_html_a473e03a3e74487a38e94d3b5957f34bc"><div class="ttname"><a href="classAutoChooser.html#a473e03a3e74487a38e94d3b5957f34bc">AutoChooser::choice</a></div><div class="ttdeci">std::string choice</div><div class="ttdef"><b>Definition:</b> auto_chooser.h:53</div></div>
+<div class="ttc" id="aclassAutoChooser_html_a5c2b8683579011b529b95aab423b120a"><div class="ttname"><a href="classAutoChooser.html#a5c2b8683579011b529b95aab423b120a">AutoChooser::list</a></div><div class="ttdeci">std::vector&lt; entry_t &gt; list</div><div class="ttdef"><b>Definition:</b> auto_chooser.h:54</div></div>
+<div class="ttc" id="aclassAutoChooser_html_a67b80bf6b62cfced155519f5b608e08c"><div class="ttname"><a href="classAutoChooser.html#a67b80bf6b62cfced155519f5b608e08c">AutoChooser::add</a></div><div class="ttdeci">void add(std::string name)</div><div class="ttdef"><b>Definition:</b> auto_chooser.cpp:66</div></div>
+<div class="ttc" id="aclassAutoChooser_html_a9365d354e3401d819e58a999721c07d9"><div class="ttname"><a href="classAutoChooser.html#a9365d354e3401d819e58a999721c07d9">AutoChooser::render</a></div><div class="ttdeci">void render(entry_t *selected)</div><div class="ttdef"><b>Definition:</b> auto_chooser.cpp:47</div></div>
+<div class="ttc" id="aclassAutoChooser_html_a9889be17b1b6243563f975dd421802b4"><div class="ttname"><a href="classAutoChooser.html#a9889be17b1b6243563f975dd421802b4">AutoChooser::brain</a></div><div class="ttdeci">vex::brain &amp; brain</div><div class="ttdef"><b>Definition:</b> auto_chooser.h:55</div></div>
+<div class="ttc" id="aclassAutoChooser_html_ada27d20c06baeb169c3abed5fd0b06bb"><div class="ttname"><a href="classAutoChooser.html#ada27d20c06baeb169c3abed5fd0b06bb">AutoChooser::get_choice</a></div><div class="ttdeci">std::string get_choice()</div><div class="ttdef"><b>Definition:</b> auto_chooser.cpp:85</div></div>
+<div class="ttc" id="astructAutoChooser_1_1entry__t_html"><div class="ttname"><a href="structAutoChooser_1_1entry__t.html">AutoChooser::entry_t</a></div><div class="ttdef"><b>Definition:</b> auto_chooser.h:43</div></div>
+<div class="ttc" id="astructAutoChooser_1_1entry__t_html_a2459ffe56c165e35f3a63bec99990367"><div class="ttname"><a href="structAutoChooser_1_1entry__t.html#a2459ffe56c165e35f3a63bec99990367">AutoChooser::entry_t::width</a></div><div class="ttdeci">int width</div><div class="ttdef"><b>Definition:</b> auto_chooser.h:46</div></div>
+<div class="ttc" id="astructAutoChooser_1_1entry__t_html_a2e303a71790d85a67819830302c4dcee"><div class="ttname"><a href="structAutoChooser_1_1entry__t.html#a2e303a71790d85a67819830302c4dcee">AutoChooser::entry_t::y</a></div><div class="ttdeci">int y</div><div class="ttdef"><b>Definition:</b> auto_chooser.h:45</div></div>
+<div class="ttc" id="astructAutoChooser_1_1entry__t_html_a7aa2aaaccd195c358c88afa6e24b5f73"><div class="ttname"><a href="structAutoChooser_1_1entry__t.html#a7aa2aaaccd195c358c88afa6e24b5f73">AutoChooser::entry_t::x</a></div><div class="ttdeci">int x</div><div class="ttdef"><b>Definition:</b> auto_chooser.h:44</div></div>
+<div class="ttc" id="astructAutoChooser_1_1entry__t_html_a957eb90ff083c4a4f8dc90da976b86c7"><div class="ttname"><a href="structAutoChooser_1_1entry__t.html#a957eb90ff083c4a4f8dc90da976b86c7">AutoChooser::entry_t::height</a></div><div class="ttdeci">int height</div><div class="ttdef"><b>Definition:</b> auto_chooser.h:47</div></div>
+<div class="ttc" id="astructAutoChooser_1_1entry__t_html_ab876b8f9fa8bf03a91c45c55c2a7fa23"><div class="ttname"><a href="structAutoChooser_1_1entry__t.html#ab876b8f9fa8bf03a91c45c55c2a7fa23">AutoChooser::entry_t::name</a></div><div class="ttdeci">std::string name</div><div class="ttdef"><b>Definition:</b> auto_chooser.h:48</div></div>
+</div><!-- fragment --></div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.6
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diff --git a/documentation/html/auto__command_8h_source.html b/documentation/html/auto__command_8h_source.html
new file mode 100644
index 0000000..a8c192c
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+++ b/documentation/html/auto__command_8h_source.html
@@ -0,0 +1,109 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
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+<meta name="generator" content="Doxygen 1.9.6"/>
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+<title>RIT VEXU Core API: include/utils/command_structure/auto_command.h Source File</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
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+  <td id="projectalign">
+   <div id="projectname">RIT VEXU Core API
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+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.6 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+var searchBox = new SearchBox("searchBox", "search/",'.html');
+/* @license-end */
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+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
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+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<div id="MSearchResults">
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+<div id="nav-path" class="navpath">
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+<li class="navelem"><a class="el" href="dir_d44c64559bbebec7f509842c48db8b23.html">include</a></li><li class="navelem"><a class="el" href="dir_821002d4f10779a80d4fb17bc32f21f1.html">utils</a></li><li class="navelem"><a class="el" href="dir_e0729c835bcfebced7012c88d9b3a1d3.html">command_structure</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle"><div class="title">auto_command.h</div></div>
+</div><!--header-->
+<div class="contents">
+<div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno">    1</span> </div>
+<div class="line"><a id="l00007" name="l00007"></a><span class="lineno">    7</span><span class="preprocessor">#pragma once</span></div>
+<div class="line"><a id="l00008" name="l00008"></a><span class="lineno">    8</span> </div>
+<div class="line"><a id="l00009" name="l00009"></a><span class="lineno">    9</span><span class="preprocessor">#include &quot;vex.h&quot;</span></div>
+<div class="line"><a id="l00010" name="l00010"></a><span class="lineno">   10</span> </div>
+<div class="line"><a id="l00011" name="l00011"></a><span class="lineno"><a class="line" href="classAutoCommand.html">   11</a></span><span class="keyword">class </span><a class="code hl_class" href="classAutoCommand.html">AutoCommand</a> {</div>
+<div class="line"><a id="l00012" name="l00012"></a><span class="lineno">   12</span>  <span class="keyword">public</span>:</div>
+<div class="line"><a id="l00018" name="l00018"></a><span class="lineno"><a class="line" href="classAutoCommand.html#a9f58c576ca6378b18a4136f60df50560">   18</a></span>    <span class="keyword">virtual</span> <span class="keywordtype">bool</span> <a class="code hl_function" href="classAutoCommand.html#a9f58c576ca6378b18a4136f60df50560">run</a>() { <span class="keywordflow">return</span> <span class="keyword">true</span>; }</div>
+<div class="line"><a id="l00022" name="l00022"></a><span class="lineno"><a class="line" href="classAutoCommand.html#a68475854d11e7c3be90e9c6e8fc9e982">   22</a></span>    <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classAutoCommand.html#a68475854d11e7c3be90e9c6e8fc9e982">on_timeout</a>(){}</div>
+<div class="line"><a id="l00023" name="l00023"></a><span class="lineno">   23</span>    <a class="code hl_class" href="classAutoCommand.html">AutoCommand</a>* withTimeout(<span class="keywordtype">double</span> t_seconds){</div>
+<div class="line"><a id="l00024" name="l00024"></a><span class="lineno">   24</span>&lt;&lt;&lt;&lt;&lt;&lt;&lt; HEAD</div>
+<div class="line"><a id="l00025" name="l00025"></a><span class="lineno">   25</span>      this-&gt;<a class="code hl_variable" href="classAutoCommand.html#ac3be7be26e49981ad1978491fd313472">timeout_seconds</a> = t_seconds;</div>
+<div class="line"><a id="l00026" name="l00026"></a><span class="lineno">   26</span>=======</div>
+<div class="line"><a id="l00027" name="l00027"></a><span class="lineno">   27</span>      <a class="code hl_variable" href="classAutoCommand.html#ac3be7be26e49981ad1978491fd313472">timeout_seconds</a> = t_seconds;</div>
+<div class="line"><a id="l00028" name="l00028"></a><span class="lineno">   28</span>&gt;&gt;&gt;&gt;&gt;&gt;&gt; refs/subrepo/core/fetch</div>
+<div class="line"><a id="l00029" name="l00029"></a><span class="lineno">   29</span>      <span class="keywordflow">return</span> <span class="keyword">this</span>;</div>
+<div class="line"><a id="l00030" name="l00030"></a><span class="lineno">   30</span>    }</div>
+<div class="line"><a id="l00040" name="l00040"></a><span class="lineno"><a class="line" href="classAutoCommand.html#ac3be7be26e49981ad1978491fd313472">   40</a></span>    <span class="keywordtype">double</span> <a class="code hl_variable" href="classAutoCommand.html#ac3be7be26e49981ad1978491fd313472">timeout_seconds</a> = 10.0;</div>
+<div class="line"><a id="l00041" name="l00041"></a><span class="lineno">   41</span> </div>
+<div class="line"><a id="l00042" name="l00042"></a><span class="lineno">   42</span>};</div>
+<div class="ttc" id="aclassAutoCommand_html"><div class="ttname"><a href="classAutoCommand.html">AutoCommand</a></div><div class="ttdef"><b>Definition:</b> auto_command.h:11</div></div>
+<div class="ttc" id="aclassAutoCommand_html_a68475854d11e7c3be90e9c6e8fc9e982"><div class="ttname"><a href="classAutoCommand.html#a68475854d11e7c3be90e9c6e8fc9e982">AutoCommand::on_timeout</a></div><div class="ttdeci">virtual void on_timeout()</div><div class="ttdef"><b>Definition:</b> auto_command.h:22</div></div>
+<div class="ttc" id="aclassAutoCommand_html_a9f58c576ca6378b18a4136f60df50560"><div class="ttname"><a href="classAutoCommand.html#a9f58c576ca6378b18a4136f60df50560">AutoCommand::run</a></div><div class="ttdeci">virtual bool run()</div><div class="ttdef"><b>Definition:</b> auto_command.h:18</div></div>
+<div class="ttc" id="aclassAutoCommand_html_ac3be7be26e49981ad1978491fd313472"><div class="ttname"><a href="classAutoCommand.html#ac3be7be26e49981ad1978491fd313472">AutoCommand::timeout_seconds</a></div><div class="ttdeci">double timeout_seconds</div><div class="ttdef"><b>Definition:</b> auto_command.h:40</div></div>
+</div><!-- fragment --></div><!-- contents -->
+<!-- start footer part -->
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+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.6
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+  <tr class="odd"><td class="entry"><a class="el" href="classAutoChooser.html#a6e4f8f87e9cf0d0df2e36cda803f2c51">AutoChooser</a>(vex::brain &amp;brain)</td><td class="entry"><a class="el" href="classAutoChooser.html">AutoChooser</a></td><td class="entry"></td></tr>
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+</div>
+
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#nested-classes">Classes</a> &#124;
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pro-methods">Protected Member Functions</a> &#124;
+<a href="#pro-attribs">Protected Attributes</a> &#124;
+<a href="classAutoChooser-members.html">List of all members</a>  </div>
+  <div class="headertitle"><div class="title">AutoChooser Class Reference</div></div>
+</div><!--header-->
+<div class="contents">
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+<p><code>#include &lt;<a class="el" href="auto__chooser_8h_source.html">auto_chooser.h</a>&gt;</code></p>
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+</table><table class="memberdecls">
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+Protected Member Functions</h2></td></tr>
+<tr class="memitem:a9365d354e3401d819e58a999721c07d9"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classAutoChooser.html#a9365d354e3401d819e58a999721c07d9">render</a> (<a class="el" href="structAutoChooser_1_1entry__t.html">entry_t</a> *selected)</td></tr>
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+Protected Attributes</h2></td></tr>
+<tr class="memitem:a473e03a3e74487a38e94d3b5957f34bc"><td class="memItemLeft" align="right" valign="top">std::string&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classAutoChooser.html#a473e03a3e74487a38e94d3b5957f34bc">choice</a></td></tr>
+<tr class="separator:a473e03a3e74487a38e94d3b5957f34bc"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a5c2b8683579011b529b95aab423b120a"><td class="memItemLeft" align="right" valign="top">std::vector&lt; <a class="el" href="structAutoChooser_1_1entry__t.html">entry_t</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classAutoChooser.html#a5c2b8683579011b529b95aab423b120a">list</a></td></tr>
+<tr class="separator:a5c2b8683579011b529b95aab423b120a"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a9889be17b1b6243563f975dd421802b4"><td class="memItemLeft" align="right" valign="top">vex::brain &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classAutoChooser.html#a9889be17b1b6243563f975dd421802b4">brain</a></td></tr>
+<tr class="separator:a9889be17b1b6243563f975dd421802b4"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>Autochooser is a utility to make selecting robot autonomous programs easier source: RIT VexU Wiki During a season, we usually code between 4 and 6 autonomous programs. Most teams will change their entire robot program as a way of choosing autonomi but this may cause issues if you have an emergency patch to upload during a competition. This class was built as a way of using the robot screen to list autonomous programs, and the touchscreen to select them. </p>
+</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="a6e4f8f87e9cf0d0df2e36cda803f2c51" name="a6e4f8f87e9cf0d0df2e36cda803f2c51"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a6e4f8f87e9cf0d0df2e36cda803f2c51">&#9670;&#160;</a></span>AutoChooser()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">AutoChooser::AutoChooser </td>
+          <td>(</td>
+          <td class="paramtype">vex::brain &amp;&#160;</td>
+          <td class="paramname"><em>brain</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<p>Initialize the auto-chooser. This class places a choice menu on the brain screen, so the driver can choose which autonomous to run. </p><dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">brain</td><td>the brain on which to draw the selection boxes </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
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+<h2 class="memtitle"><span class="permalink"><a href="#a67b80bf6b62cfced155519f5b608e08c">&#9670;&#160;</a></span>add()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">void AutoChooser::add </td>
+          <td>(</td>
+          <td class="paramtype">std::string&#160;</td>
+          <td class="paramname"><em>name</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
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+<p>Add an auto path to the chooser </p><dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">name</td><td>The name of the path. This should be used as an human readable identifier to the auto path</td></tr>
+  </table>
+  </dd>
+</dl>
+<p>Add a new autonomous option. There are 3 options per row. </p>
+
+</div>
+</div>
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+<h2 class="memtitle"><span class="permalink"><a href="#ada27d20c06baeb169c3abed5fd0b06bb">&#9670;&#160;</a></span>get_choice()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">std::string AutoChooser::get_choice </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<p>Get the currently selected auto choice </p><dl class="section return"><dt>Returns</dt><dd>the identifier to the auto path</dd></dl>
+<p>Return the selected autonomous </p>
+
+</div>
+</div>
+<a id="a9365d354e3401d819e58a999721c07d9" name="a9365d354e3401d819e58a999721c07d9"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a9365d354e3401d819e58a999721c07d9">&#9670;&#160;</a></span>render()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">void AutoChooser::render </td>
+          <td>(</td>
+          <td class="paramtype"><a class="el" href="structAutoChooser_1_1entry__t.html">entry_t</a> *&#160;</td>
+          <td class="paramname"><em>selected</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">protected</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<p>Place all the autonomous choices on the screen. If one is selected, change it's color </p><dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">selected</td><td>the choice that is currently selected </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<h2 class="groupheader">Member Data Documentation</h2>
+<a id="a9889be17b1b6243563f975dd421802b4" name="a9889be17b1b6243563f975dd421802b4"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a9889be17b1b6243563f975dd421802b4">&#9670;&#160;</a></span>brain</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">vex::brain&amp; AutoChooser::brain</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">protected</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<p>the brain to show the choices on </p>
+
+</div>
+</div>
+<a id="a473e03a3e74487a38e94d3b5957f34bc" name="a473e03a3e74487a38e94d3b5957f34bc"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a473e03a3e74487a38e94d3b5957f34bc">&#9670;&#160;</a></span>choice</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">std::string AutoChooser::choice</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">protected</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<p>the current choice of auto </p>
+
+</div>
+</div>
+<a id="a5c2b8683579011b529b95aab423b120a" name="a5c2b8683579011b529b95aab423b120a"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a5c2b8683579011b529b95aab423b120a">&#9670;&#160;</a></span>list</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">std::vector&lt;<a class="el" href="structAutoChooser_1_1entry__t.html">entry_t</a>&gt; AutoChooser::list</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">protected</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<p>&lt; a list of all possible auto choices </p>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following files:<ul>
+<li>include/utils/<a class="el" href="auto__chooser_8h_source.html">auto_chooser.h</a></li>
+<li>src/utils/auto_chooser.cpp</li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.6
+</small></address>
+</body>
+</html>
diff --git a/documentation/html/classAutoCommand-members.html b/documentation/html/classAutoCommand-members.html
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+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=11"/>
+<meta name="generator" content="Doxygen 1.9.6"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>RIT VEXU Core API: Member List</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr id="projectrow">
+  <td id="projectalign">
+   <div id="projectname">RIT VEXU Core API
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.6 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
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+/* @license-end */
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
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+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
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+<div class="SRStatus" id="Loading">Loading...</div>
+<div class="SRStatus" id="Searching">Searching...</div>
+<div class="SRStatus" id="NoMatches">No Matches</div>
+</div>
+</div>
+</div>
+</div>
+
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle"><div class="title">AutoCommand Member List</div></div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classAutoCommand.html">AutoCommand</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classAutoCommand.html#a68475854d11e7c3be90e9c6e8fc9e982">on_timeout</a>()</td><td class="entry"><a class="el" href="classAutoCommand.html">AutoCommand</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classAutoCommand.html#a9f58c576ca6378b18a4136f60df50560">run</a>()</td><td class="entry"><a class="el" href="classAutoCommand.html">AutoCommand</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classAutoCommand.html#ac3be7be26e49981ad1978491fd313472">timeout_seconds</a></td><td class="entry"><a class="el" href="classAutoCommand.html">AutoCommand</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="odd"><td class="entry"><b>withTimeout</b>(double t_seconds) (defined in <a class="el" href="classAutoCommand.html">AutoCommand</a>)</td><td class="entry"><a class="el" href="classAutoCommand.html">AutoCommand</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+</table></div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.6
+</small></address>
+</body>
+</html>
diff --git a/documentation/html/classAutoCommand.html b/documentation/html/classAutoCommand.html
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--- /dev/null
+++ b/documentation/html/classAutoCommand.html
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+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml" lang="en-US">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=11"/>
+<meta name="generator" content="Doxygen 1.9.6"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>RIT VEXU Core API: AutoCommand Class Reference</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr id="projectrow">
+  <td id="projectalign">
+   <div id="projectname">RIT VEXU Core API
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.6 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+var searchBox = new SearchBox("searchBox", "search/",'.html');
+/* @license-end */
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
+/* @license-end */
+</script>
+<div id="main-nav"></div>
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
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+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<div id="MSearchResults">
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+<div class="SRStatus" id="Loading">Loading...</div>
+<div class="SRStatus" id="Searching">Searching...</div>
+<div class="SRStatus" id="NoMatches">No Matches</div>
+</div>
+</div>
+</div>
+</div>
+
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pub-attribs">Public Attributes</a> &#124;
+<a href="classAutoCommand-members.html">List of all members</a>  </div>
+  <div class="headertitle"><div class="title">AutoCommand Class Reference</div></div>
+</div><!--header-->
+<div class="contents">
+
+<p><code>#include &lt;<a class="el" href="auto__command_8h_source.html">auto_command.h</a>&gt;</code></p>
+<div class="dynheader">
+Inheritance diagram for AutoCommand:</div>
+<div class="dyncontent">
+ <div class="center">
+  <img src="classAutoCommand.png" usemap="#AutoCommand_map" alt=""/>
+  <map id="AutoCommand_map" name="AutoCommand_map">
+<area href="classDelayCommand.html" alt="DelayCommand" shape="rect" coords="208,56,406,80"/>
+<area href="classDriveForwardCommand.html" alt="DriveForwardCommand" shape="rect" coords="208,112,406,136"/>
+<area href="classDriveStopCommand.html" alt="DriveStopCommand" shape="rect" coords="208,168,406,192"/>
+<area href="classDriveToPointCommand.html" alt="DriveToPointCommand" shape="rect" coords="208,224,406,248"/>
+<area href="classFlywheelStopCommand.html" alt="FlywheelStopCommand" shape="rect" coords="208,280,406,304"/>
+<area href="classFlywheelStopMotorsCommand.html" alt="FlywheelStopMotorsCommand" shape="rect" coords="208,336,406,360"/>
+<area href="classFlywheelStopNonTasksCommand.html" alt="FlywheelStopNonTasksCommand" shape="rect" coords="208,392,406,416"/>
+<area href="classOdomSetPosition.html" alt="OdomSetPosition" shape="rect" coords="208,448,406,472"/>
+<area href="classSpinRPMCommand.html" alt="SpinRPMCommand" shape="rect" coords="208,504,406,528"/>
+<area href="classTurnDegreesCommand.html" alt="TurnDegreesCommand" shape="rect" coords="208,560,406,584"/>
+<area href="classTurnToHeadingCommand.html" alt="TurnToHeadingCommand" shape="rect" coords="208,616,406,640"/>
+<area href="classWaitUntilUpToSpeedCommand.html" alt="WaitUntilUpToSpeedCommand" shape="rect" coords="208,672,406,696"/>
+  </map>
+</div></div>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-methods" name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
+<tr class="memitem:a9f58c576ca6378b18a4136f60df50560"><td class="memItemLeft" align="right" valign="top">virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classAutoCommand.html#a9f58c576ca6378b18a4136f60df50560">run</a> ()</td></tr>
+<tr class="separator:a9f58c576ca6378b18a4136f60df50560"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a68475854d11e7c3be90e9c6e8fc9e982"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classAutoCommand.html#a68475854d11e7c3be90e9c6e8fc9e982">on_timeout</a> ()</td></tr>
+<tr class="separator:a68475854d11e7c3be90e9c6e8fc9e982"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a75b2b87e945fd7b98b758617feb30404"><td class="memItemLeft" align="right" valign="top"><a id="a75b2b87e945fd7b98b758617feb30404" name="a75b2b87e945fd7b98b758617feb30404"></a>
+<a class="el" href="classAutoCommand.html">AutoCommand</a> *&#160;</td><td class="memItemRight" valign="bottom"><b>withTimeout</b> (double t_seconds)</td></tr>
+<tr class="separator:a75b2b87e945fd7b98b758617feb30404"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-attribs" name="pub-attribs"></a>
+Public Attributes</h2></td></tr>
+<tr class="memitem:ac3be7be26e49981ad1978491fd313472"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classAutoCommand.html#ac3be7be26e49981ad1978491fd313472">timeout_seconds</a> = 10.0</td></tr>
+<tr class="separator:ac3be7be26e49981ad1978491fd313472"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>File: <a class="el" href="auto__command_8h_source.html">auto_command.h</a> Desc: Interface for module-specifc commands </p>
+</div><h2 class="groupheader">Member Function Documentation</h2>
+<a id="a68475854d11e7c3be90e9c6e8fc9e982" name="a68475854d11e7c3be90e9c6e8fc9e982"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a68475854d11e7c3be90e9c6e8fc9e982">&#9670;&#160;</a></span>on_timeout()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">virtual void AutoCommand::on_timeout </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<p>What to do if we timeout instead of finishing. timeout is specified by the timeout seconds in the constructor </p>
+
+<p>Reimplemented in <a class="el" href="classDriveForwardCommand.html#a52b4e1ff386eeb1c00f219f40738d0af">DriveForwardCommand</a>, <a class="el" href="classTurnDegreesCommand.html#abd912b5906bafd9f4117e005eaeccb18">TurnDegreesCommand</a>, and <a class="el" href="classTurnToHeadingCommand.html#acaa3b650ed9f02315eb6ba901181bc85">TurnToHeadingCommand</a>.</p>
+
+</div>
+</div>
+<a id="a9f58c576ca6378b18a4136f60df50560" name="a9f58c576ca6378b18a4136f60df50560"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a9f58c576ca6378b18a4136f60df50560">&#9670;&#160;</a></span>run()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">virtual bool AutoCommand::run </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<p>Executes the command Overridden by child classes </p><dl class="section return"><dt>Returns</dt><dd>true when the command is finished, false otherwise </dd></dl>
+
+<p>Reimplemented in <a class="el" href="classDelayCommand.html#a6cff8fe05b3ca36ec2ab20e411cfd9ab">DelayCommand</a>, <a class="el" href="classDriveForwardCommand.html#aff482b72cab23cd569eb01efac6d1d31">DriveForwardCommand</a>, <a class="el" href="classTurnDegreesCommand.html#a2206e4c5073a2e83f6bfa3eeca46a370">TurnDegreesCommand</a>, <a class="el" href="classDriveToPointCommand.html#a8ed58921bc3eeb8c04d0b11b4f7e4fbe">DriveToPointCommand</a>, <a class="el" href="classTurnToHeadingCommand.html#af571168ca078be95cbc735c99c2f4093">TurnToHeadingCommand</a>, <a class="el" href="classDriveStopCommand.html#a3b37806449b50b2f2c19179f1039237b">DriveStopCommand</a>, <a class="el" href="classOdomSetPosition.html#a611e74a12a9eeb0fce1f38a596c3c467">OdomSetPosition</a>, <a class="el" href="classSpinRPMCommand.html#af12f71f87967de0d9991272d9659b6ef">SpinRPMCommand</a>, <a class="el" href="classWaitUntilUpToSpeedCommand.html#a38f75c01a4740d87a380c15cc51c6396">WaitUntilUpToSpeedCommand</a>, <a class="el" href="classFlywheelStopCommand.html#a9be8ca8422bd7b5f5a03cbf8e21025a7">FlywheelStopCommand</a>, and <a class="el" href="classFlywheelStopMotorsCommand.html#ab5b75338d50c3674a5fe27a5e77698bc">FlywheelStopMotorsCommand</a>.</p>
+
+</div>
+</div>
+<h2 class="groupheader">Member Data Documentation</h2>
+<a id="ac3be7be26e49981ad1978491fd313472" name="ac3be7be26e49981ad1978491fd313472"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ac3be7be26e49981ad1978491fd313472">&#9670;&#160;</a></span>timeout_seconds</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">double AutoCommand::timeout_seconds = 10.0</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<p>How long to run until we cancel this command. If the command is cancelled, <a class="el" href="classAutoCommand.html#a68475854d11e7c3be90e9c6e8fc9e982">on_timeout()</a> is called to allow any cleanup from the function. If the timeout_seconds &lt;= 0, no timeout will be applied and this command will run forever A timeout can come in handy for some commands that can not reach the end due to some physical limitation such as</p><ul>
+<li>a drive command hitting a wall and not being able to reach its target</li>
+<li>a command that waits until something is up to speed that never gets up to speed because of battery voltage</li>
+<li>something else... </li>
+</ul>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>include/utils/command_structure/<a class="el" href="auto__command_8h_source.html">auto_command.h</a></li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
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+  <div class="headertitle"><div class="title">CommandController Member List</div></div>
+</div><!--header-->
+<div class="contents">
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+<p>This is the complete list of members for <a class="el" href="classCommandController.html">CommandController</a>, including all inherited members.</p>
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+  <tr class="even"><td class="entry"><a class="el" href="classCommandController.html#a4cb2c06abd92fb99578f0da75c1411e5">add</a>(AutoCommand *cmd, double timeout_seconds=10.0)</td><td class="entry"><a class="el" href="classCommandController.html">CommandController</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classCommandController.html#a03fc0dd37c12ae7f43200d5588c768b8">add</a>(std::vector&lt; AutoCommand * &gt; cmds)</td><td class="entry"><a class="el" href="classCommandController.html">CommandController</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classCommandController.html#ae06b054f4aeea86e8c6bee56458dc6d1">add_delay</a>(int ms)</td><td class="entry"><a class="el" href="classCommandController.html">CommandController</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classCommandController.html#a23306007060f97ab7f57715c5d8d0c57">last_command_timed_out</a>()</td><td class="entry"><a class="el" href="classCommandController.html">CommandController</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classCommandController.html#a0f7f6ccce0304c577521205ad37bb36a">run</a>()</td><td class="entry"><a class="el" href="classCommandController.html">CommandController</a></td><td class="entry"></td></tr>
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+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
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+  <div class="headertitle"><div class="title">CommandController Class Reference</div></div>
+</div><!--header-->
+<div class="contents">
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+<p><code>#include &lt;<a class="el" href="command__controller_8h_source.html">command_controller.h</a>&gt;</code></p>
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+<tr class="separator:a0f7f6ccce0304c577521205ad37bb36a"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a23306007060f97ab7f57715c5d8d0c57"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classCommandController.html#a23306007060f97ab7f57715c5d8d0c57">last_command_timed_out</a> ()</td></tr>
+<tr class="separator:a23306007060f97ab7f57715c5d8d0c57"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>File: <a class="el" href="command__controller_8h_source.html">command_controller.h</a> Desc: A <a class="el" href="classCommandController.html">CommandController</a> manages the AutoCommands that make up an autonomous route. The AutoCommands are kept in a queue and get executed and removed from the queue in FIFO order. </p>
+</div><h2 class="groupheader">Member Function Documentation</h2>
+<a id="a4cb2c06abd92fb99578f0da75c1411e5" name="a4cb2c06abd92fb99578f0da75c1411e5"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4cb2c06abd92fb99578f0da75c1411e5">&#9670;&#160;</a></span>add() <span class="overload">[1/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">void CommandController::add </td>
+          <td>(</td>
+          <td class="paramtype"><a class="el" href="classAutoCommand.html">AutoCommand</a> *&#160;</td>
+          <td class="paramname"><em>cmd</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">double&#160;</td>
+          <td class="paramname"><em>timeout_seconds</em> = <code>10.0</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<p>Adds a command to the queue </p><dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">cmd</td><td>the <a class="el" href="classAutoCommand.html">AutoCommand</a> we want to add to our list </td></tr>
+    <tr><td class="paramname">timeout_seconds</td><td>the number of seconds we will let the command run for. If it exceeds this, we cancel it and run on_timeout. if it is &lt;= 0 no time out will be applied</td></tr>
+  </table>
+  </dd>
+</dl>
+<p>File: command_controller.cpp Desc: A <a class="el" href="classCommandController.html">CommandController</a> manages the AutoCommands that make up an autonomous route. The AutoCommands are kept in a queue and get executed and removed from the queue in FIFO order. Adds a command to the queue </p><dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">cmd</td><td>the <a class="el" href="classAutoCommand.html">AutoCommand</a> we want to add to our list </td></tr>
+    <tr><td class="paramname">timeout_seconds</td><td>the number of seconds we will let the command run for. If it exceeds this, we cancel it and run on_timeout </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="a03fc0dd37c12ae7f43200d5588c768b8" name="a03fc0dd37c12ae7f43200d5588c768b8"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a03fc0dd37c12ae7f43200d5588c768b8">&#9670;&#160;</a></span>add() <span class="overload">[2/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">void CommandController::add </td>
+          <td>(</td>
+          <td class="paramtype">std::vector&lt; <a class="el" href="classAutoCommand.html">AutoCommand</a> * &gt;&#160;</td>
+          <td class="paramname"><em>cmds</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<p>Add multiple commands to the queue. No timeout here. </p><dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">cmds</td><td>the AutoCommands we want to add to our list </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="ae06b054f4aeea86e8c6bee56458dc6d1" name="ae06b054f4aeea86e8c6bee56458dc6d1"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ae06b054f4aeea86e8c6bee56458dc6d1">&#9670;&#160;</a></span>add_delay()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">void CommandController::add_delay </td>
+          <td>(</td>
+          <td class="paramtype">int&#160;</td>
+          <td class="paramname"><em>ms</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<p>Adds a command that will delay progression of the queue </p><dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">ms</td><td>- number of milliseconds to wait before continuing execution of autonomous </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="a23306007060f97ab7f57715c5d8d0c57" name="a23306007060f97ab7f57715c5d8d0c57"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a23306007060f97ab7f57715c5d8d0c57">&#9670;&#160;</a></span>last_command_timed_out()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">bool CommandController::last_command_timed_out </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<p>last_command_timed_out tells how the last command ended Use this if you want to make decisions based on the end of the last command </p><dl class="section return"><dt>Returns</dt><dd>true if the last command timed out. false if it finished regularly </dd></dl>
+
+</div>
+</div>
+<a id="a0f7f6ccce0304c577521205ad37bb36a" name="a0f7f6ccce0304c577521205ad37bb36a"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a0f7f6ccce0304c577521205ad37bb36a">&#9670;&#160;</a></span>run()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">void CommandController::run </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<p>Begin execution of the queue Execute and remove commands in FIFO order </p>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following files:<ul>
+<li>include/utils/command_structure/<a class="el" href="command__controller_8h_source.html">command_controller.h</a></li>
+<li>src/utils/command_structure/command_controller.cpp</li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.6
+</small></address>
+</body>
+</html>
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+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>RIT VEXU Core API: Member List</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
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+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr id="projectrow">
+  <td id="projectalign">
+   <div id="projectname">RIT VEXU Core API
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.6 -->
+<script type="text/javascript">
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+/* @license-end */
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
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+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
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+<div class="SRStatus" id="Loading">Loading...</div>
+<div class="SRStatus" id="Searching">Searching...</div>
+<div class="SRStatus" id="NoMatches">No Matches</div>
+</div>
+</div>
+</div>
+</div>
+
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle"><div class="title">CustomEncoder Member List</div></div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classCustomEncoder.html">CustomEncoder</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classCustomEncoder.html#a6c17b425b7a899107be1bb7ed7e80b9d">CustomEncoder</a>(vex::triport::port &amp;port, double ticks_per_rev)</td><td class="entry"><a class="el" href="classCustomEncoder.html">CustomEncoder</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classCustomEncoder.html#ab891fa278911c232bd0bf502a5ed95eb">position</a>(vex::rotationUnits units)</td><td class="entry"><a class="el" href="classCustomEncoder.html">CustomEncoder</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classCustomEncoder.html#a853fa3a11f2563d71f08ee3c3f38ff01">rotation</a>(vex::rotationUnits units)</td><td class="entry"><a class="el" href="classCustomEncoder.html">CustomEncoder</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classCustomEncoder.html#a0edd50e16020ccad5eafa55e0f80288d">setPosition</a>(double val, vex::rotationUnits units)</td><td class="entry"><a class="el" href="classCustomEncoder.html">CustomEncoder</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classCustomEncoder.html#abcb003c4627f59faa25c748c597da7fd">setRotation</a>(double val, vex::rotationUnits units)</td><td class="entry"><a class="el" href="classCustomEncoder.html">CustomEncoder</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classCustomEncoder.html#a92fe3a3227b4c4bc1ad1389b7b758455">velocity</a>(vex::velocityUnits units)</td><td class="entry"><a class="el" href="classCustomEncoder.html">CustomEncoder</a></td><td class="entry"></td></tr>
+</table></div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.6
+</small></address>
+</body>
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diff --git a/documentation/html/classCustomEncoder.html b/documentation/html/classCustomEncoder.html
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--- /dev/null
+++ b/documentation/html/classCustomEncoder.html
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+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml" lang="en-US">
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+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=11"/>
+<meta name="generator" content="Doxygen 1.9.6"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>RIT VEXU Core API: CustomEncoder Class Reference</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
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+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr id="projectrow">
+  <td id="projectalign">
+   <div id="projectname">RIT VEXU Core API
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.6 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+var searchBox = new SearchBox("searchBox", "search/",'.html');
+/* @license-end */
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+$(function() {
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+  $(document).ready(function() { init_search(); });
+});
+/* @license-end */
+</script>
+<div id="main-nav"></div>
+<!-- window showing the filter options -->
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+     onmouseover="return searchBox.OnSearchSelectShow()"
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+</div>
+</div>
+</div>
+</div>
+
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="classCustomEncoder-members.html">List of all members</a>  </div>
+  <div class="headertitle"><div class="title">CustomEncoder Class Reference</div></div>
+</div><!--header-->
+<div class="contents">
+
+<p><code>#include &lt;<a class="el" href="custom__encoder_8h_source.html">custom_encoder.h</a>&gt;</code></p>
+<div class="dynheader">
+Inheritance diagram for CustomEncoder:</div>
+<div class="dyncontent">
+ <div class="center">
+  <img src="classCustomEncoder.png" alt=""/>
+ </div></div>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-methods" name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
+<tr class="memitem:a6c17b425b7a899107be1bb7ed7e80b9d"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classCustomEncoder.html#a6c17b425b7a899107be1bb7ed7e80b9d">CustomEncoder</a> (vex::triport::port &amp;port, double ticks_per_rev)</td></tr>
+<tr class="separator:a6c17b425b7a899107be1bb7ed7e80b9d"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:abcb003c4627f59faa25c748c597da7fd"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classCustomEncoder.html#abcb003c4627f59faa25c748c597da7fd">setRotation</a> (double val, vex::rotationUnits units)</td></tr>
+<tr class="separator:abcb003c4627f59faa25c748c597da7fd"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a0edd50e16020ccad5eafa55e0f80288d"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classCustomEncoder.html#a0edd50e16020ccad5eafa55e0f80288d">setPosition</a> (double val, vex::rotationUnits units)</td></tr>
+<tr class="separator:a0edd50e16020ccad5eafa55e0f80288d"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a853fa3a11f2563d71f08ee3c3f38ff01"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classCustomEncoder.html#a853fa3a11f2563d71f08ee3c3f38ff01">rotation</a> (vex::rotationUnits units)</td></tr>
+<tr class="separator:a853fa3a11f2563d71f08ee3c3f38ff01"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ab891fa278911c232bd0bf502a5ed95eb"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classCustomEncoder.html#ab891fa278911c232bd0bf502a5ed95eb">position</a> (vex::rotationUnits units)</td></tr>
+<tr class="separator:ab891fa278911c232bd0bf502a5ed95eb"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a92fe3a3227b4c4bc1ad1389b7b758455"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classCustomEncoder.html#a92fe3a3227b4c4bc1ad1389b7b758455">velocity</a> (vex::velocityUnits units)</td></tr>
+<tr class="separator:a92fe3a3227b4c4bc1ad1389b7b758455"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>A wrapper class for the vex encoder that allows the use of 3rd party encoders with different tick-per-revolution values. </p>
+</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="a6c17b425b7a899107be1bb7ed7e80b9d" name="a6c17b425b7a899107be1bb7ed7e80b9d"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a6c17b425b7a899107be1bb7ed7e80b9d">&#9670;&#160;</a></span>CustomEncoder()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">CustomEncoder::CustomEncoder </td>
+          <td>(</td>
+          <td class="paramtype">vex::triport::port &amp;&#160;</td>
+          <td class="paramname"><em>port</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">double&#160;</td>
+          <td class="paramname"><em>ticks_per_rev</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<p>Construct an encoder with a custom number of ticks </p><dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">port</td><td>the triport port on the brain the encoder is plugged into </td></tr>
+    <tr><td class="paramname">ticks_per_rev</td><td>the number of ticks the encoder will report for one revolution </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="ab891fa278911c232bd0bf502a5ed95eb" name="ab891fa278911c232bd0bf502a5ed95eb"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ab891fa278911c232bd0bf502a5ed95eb">&#9670;&#160;</a></span>position()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">double CustomEncoder::position </td>
+          <td>(</td>
+          <td class="paramtype">vex::rotationUnits&#160;</td>
+          <td class="paramname"><em>units</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<p>get the position that the encoder is at </p><dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">units</td><td>the unit we want the return value to be in </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>the position of the encoder in the units specified </dd></dl>
+
+</div>
+</div>
+<a id="a853fa3a11f2563d71f08ee3c3f38ff01" name="a853fa3a11f2563d71f08ee3c3f38ff01"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a853fa3a11f2563d71f08ee3c3f38ff01">&#9670;&#160;</a></span>rotation()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">double CustomEncoder::rotation </td>
+          <td>(</td>
+          <td class="paramtype">vex::rotationUnits&#160;</td>
+          <td class="paramname"><em>units</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<p>get the rotation that the encoder is at </p><dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">units</td><td>the unit we want the return value to be in </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>the rotation of the encoder in the units specified </dd></dl>
+
+</div>
+</div>
+<a id="a0edd50e16020ccad5eafa55e0f80288d" name="a0edd50e16020ccad5eafa55e0f80288d"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a0edd50e16020ccad5eafa55e0f80288d">&#9670;&#160;</a></span>setPosition()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">void CustomEncoder::setPosition </td>
+          <td>(</td>
+          <td class="paramtype">double&#160;</td>
+          <td class="paramname"><em>val</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">vex::rotationUnits&#160;</td>
+          <td class="paramname"><em>units</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<p>sets the stored position of the encoder. Any further movements will be from this value </p><dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">val</td><td>the numerical value of the position we are setting to </td></tr>
+    <tr><td class="paramname">units</td><td>the unit of val </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="abcb003c4627f59faa25c748c597da7fd" name="abcb003c4627f59faa25c748c597da7fd"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#abcb003c4627f59faa25c748c597da7fd">&#9670;&#160;</a></span>setRotation()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">void CustomEncoder::setRotation </td>
+          <td>(</td>
+          <td class="paramtype">double&#160;</td>
+          <td class="paramname"><em>val</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">vex::rotationUnits&#160;</td>
+          <td class="paramname"><em>units</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<p>sets the stored rotation of the encoder. Any further movements will be from this value </p><dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">val</td><td>the numerical value of the angle we are setting to </td></tr>
+    <tr><td class="paramname">units</td><td>the unit of val </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="a92fe3a3227b4c4bc1ad1389b7b758455" name="a92fe3a3227b4c4bc1ad1389b7b758455"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a92fe3a3227b4c4bc1ad1389b7b758455">&#9670;&#160;</a></span>velocity()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">double CustomEncoder::velocity </td>
+          <td>(</td>
+          <td class="paramtype">vex::velocityUnits&#160;</td>
+          <td class="paramname"><em>units</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<p>get the velocity that the encoder is moving at </p><dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">units</td><td>the unit we want the return value to be in </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>the velocity of the encoder in the units specified </dd></dl>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following files:<ul>
+<li>include/subsystems/<a class="el" href="custom__encoder_8h_source.html">custom_encoder.h</a></li>
+<li>src/subsystems/custom_encoder.cpp</li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.6
+</small></address>
+</body>
+</html>
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+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
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+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr id="projectrow">
+  <td id="projectalign">
+   <div id="projectname">RIT VEXU Core API
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
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+<!-- Generated by Doxygen 1.9.6 -->
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+<div class="SRStatus" id="NoMatches">No Matches</div>
+</div>
+</div>
+</div>
+</div>
+
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle"><div class="title">DelayCommand Member List</div></div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classDelayCommand.html">DelayCommand</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classDelayCommand.html#a7dc6d1e547ec24b51d91aada84d1febb">DelayCommand</a>(int ms)</td><td class="entry"><a class="el" href="classDelayCommand.html">DelayCommand</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classAutoCommand.html#a68475854d11e7c3be90e9c6e8fc9e982">on_timeout</a>()</td><td class="entry"><a class="el" href="classAutoCommand.html">AutoCommand</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classDelayCommand.html#a6cff8fe05b3ca36ec2ab20e411cfd9ab">run</a>() override</td><td class="entry"><a class="el" href="classDelayCommand.html">DelayCommand</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classAutoCommand.html#ac3be7be26e49981ad1978491fd313472">timeout_seconds</a></td><td class="entry"><a class="el" href="classAutoCommand.html">AutoCommand</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>withTimeout</b>(double t_seconds) (defined in <a class="el" href="classAutoCommand.html">AutoCommand</a>)</td><td class="entry"><a class="el" href="classAutoCommand.html">AutoCommand</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+</table></div><!-- contents -->
+<!-- start footer part -->
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+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.6
+</small></address>
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diff --git a/documentation/html/classDelayCommand.html b/documentation/html/classDelayCommand.html
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+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>RIT VEXU Core API: DelayCommand Class Reference</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
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+<div id="titlearea">
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+ <tbody>
+ <tr id="projectrow">
+  <td id="projectalign">
+   <div id="projectname">RIT VEXU Core API
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+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.6 -->
+<script type="text/javascript">
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+var searchBox = new SearchBox("searchBox", "search/",'.html');
+/* @license-end */
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
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+  $(document).ready(function() { init_search(); });
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+</div>
+</div>
+</div>
+</div>
+
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="classDelayCommand-members.html">List of all members</a>  </div>
+  <div class="headertitle"><div class="title">DelayCommand Class Reference</div></div>
+</div><!--header-->
+<div class="contents">
+
+<p><code>#include &lt;<a class="el" href="delay__command_8h_source.html">delay_command.h</a>&gt;</code></p>
+<div class="dynheader">
+Inheritance diagram for DelayCommand:</div>
+<div class="dyncontent">
+ <div class="center">
+  <img src="classDelayCommand.png" usemap="#DelayCommand_map" alt=""/>
+  <map id="DelayCommand_map" name="DelayCommand_map">
+<area href="classAutoCommand.html" alt="AutoCommand" shape="rect" coords="0,0,100,24"/>
+  </map>
+</div></div>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-methods" name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
+<tr class="memitem:a7dc6d1e547ec24b51d91aada84d1febb"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classDelayCommand.html#a7dc6d1e547ec24b51d91aada84d1febb">DelayCommand</a> (int ms)</td></tr>
+<tr class="separator:a7dc6d1e547ec24b51d91aada84d1febb"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a6cff8fe05b3ca36ec2ab20e411cfd9ab"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classDelayCommand.html#a6cff8fe05b3ca36ec2ab20e411cfd9ab">run</a> () override</td></tr>
+<tr class="separator:a6cff8fe05b3ca36ec2ab20e411cfd9ab"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_methods_classAutoCommand"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classAutoCommand')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="classAutoCommand.html">AutoCommand</a></td></tr>
+<tr class="memitem:a9f58c576ca6378b18a4136f60df50560 inherit pub_methods_classAutoCommand"><td class="memItemLeft" align="right" valign="top">virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classAutoCommand.html#a9f58c576ca6378b18a4136f60df50560">run</a> ()</td></tr>
+<tr class="separator:a9f58c576ca6378b18a4136f60df50560 inherit pub_methods_classAutoCommand"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a68475854d11e7c3be90e9c6e8fc9e982 inherit pub_methods_classAutoCommand"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classAutoCommand.html#a68475854d11e7c3be90e9c6e8fc9e982">on_timeout</a> ()</td></tr>
+<tr class="separator:a68475854d11e7c3be90e9c6e8fc9e982 inherit pub_methods_classAutoCommand"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a75b2b87e945fd7b98b758617feb30404 inherit pub_methods_classAutoCommand"><td class="memItemLeft" align="right" valign="top"><a id="a75b2b87e945fd7b98b758617feb30404" name="a75b2b87e945fd7b98b758617feb30404"></a>
+<a class="el" href="classAutoCommand.html">AutoCommand</a> *&#160;</td><td class="memItemRight" valign="bottom"><b>withTimeout</b> (double t_seconds)</td></tr>
+<tr class="separator:a75b2b87e945fd7b98b758617feb30404 inherit pub_methods_classAutoCommand"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="inherited" name="inherited"></a>
+Additional Inherited Members</h2></td></tr>
+<tr class="inherit_header pub_attribs_classAutoCommand"><td colspan="2" onclick="javascript:toggleInherit('pub_attribs_classAutoCommand')"><img src="closed.png" alt="-"/>&#160;Public Attributes inherited from <a class="el" href="classAutoCommand.html">AutoCommand</a></td></tr>
+<tr class="memitem:ac3be7be26e49981ad1978491fd313472 inherit pub_attribs_classAutoCommand"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classAutoCommand.html#ac3be7be26e49981ad1978491fd313472">timeout_seconds</a> = 10.0</td></tr>
+<tr class="separator:ac3be7be26e49981ad1978491fd313472 inherit pub_attribs_classAutoCommand"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>File: <a class="el" href="delay__command_8h_source.html">delay_command.h</a> Desc: A <a class="el" href="classDelayCommand.html">DelayCommand</a> will make the robot wait the set amount of milliseconds before continuing execution of the autonomous route </p>
+</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="a7dc6d1e547ec24b51d91aada84d1febb" name="a7dc6d1e547ec24b51d91aada84d1febb"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a7dc6d1e547ec24b51d91aada84d1febb">&#9670;&#160;</a></span>DelayCommand()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">DelayCommand::DelayCommand </td>
+          <td>(</td>
+          <td class="paramtype">int&#160;</td>
+          <td class="paramname"><em>ms</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<p>Construct a delay command </p><dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">ms</td><td>the number of milliseconds to delay for </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a6cff8fe05b3ca36ec2ab20e411cfd9ab" name="a6cff8fe05b3ca36ec2ab20e411cfd9ab"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a6cff8fe05b3ca36ec2ab20e411cfd9ab">&#9670;&#160;</a></span>run()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">bool DelayCommand::run </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
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+</div><div class="memdoc">
+<p>Delays for the amount of milliseconds stored in the command Overrides run from <a class="el" href="classAutoCommand.html">AutoCommand</a> </p><dl class="section return"><dt>Returns</dt><dd>true when complete </dd></dl>
+
+<p>Reimplemented from <a class="el" href="classAutoCommand.html#a9f58c576ca6378b18a4136f60df50560">AutoCommand</a>.</p>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>include/utils/command_structure/<a class="el" href="delay__command_8h_source.html">delay_command.h</a></li>
+</ul>
+</div><!-- contents -->
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+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr id="projectrow">
+  <td id="projectalign">
+   <div id="projectname">RIT VEXU Core API
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+  </td>
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+</div><!-- top -->
+<div class="header">
+  <div class="headertitle"><div class="title">DriveForwardCommand Member List</div></div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classDriveForwardCommand.html">DriveForwardCommand</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classDriveForwardCommand.html#a09fb0fc75fa06951c9dc160de169d726">DriveForwardCommand</a>(TankDrive &amp;drive_sys, Feedback &amp;feedback, double inches, directionType dir, double max_speed=1)</td><td class="entry"><a class="el" href="classDriveForwardCommand.html">DriveForwardCommand</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classDriveForwardCommand.html#a52b4e1ff386eeb1c00f219f40738d0af">on_timeout</a>() override</td><td class="entry"><a class="el" href="classDriveForwardCommand.html">DriveForwardCommand</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classDriveForwardCommand.html#aff482b72cab23cd569eb01efac6d1d31">run</a>() override</td><td class="entry"><a class="el" href="classDriveForwardCommand.html">DriveForwardCommand</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classAutoCommand.html#ac3be7be26e49981ad1978491fd313472">timeout_seconds</a></td><td class="entry"><a class="el" href="classAutoCommand.html">AutoCommand</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>withTimeout</b>(double t_seconds) (defined in <a class="el" href="classAutoCommand.html">AutoCommand</a>)</td><td class="entry"><a class="el" href="classAutoCommand.html">AutoCommand</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+</table></div><!-- contents -->
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+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.6
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+<meta name="generator" content="Doxygen 1.9.6"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>RIT VEXU Core API: DriveForwardCommand Class Reference</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
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+/* @license-end */
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
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+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="classDriveForwardCommand-members.html">List of all members</a>  </div>
+  <div class="headertitle"><div class="title">DriveForwardCommand Class Reference</div></div>
+</div><!--header-->
+<div class="contents">
+
+<p><code>#include &lt;<a class="el" href="drive__commands_8h_source.html">drive_commands.h</a>&gt;</code></p>
+<div class="dynheader">
+Inheritance diagram for DriveForwardCommand:</div>
+<div class="dyncontent">
+ <div class="center">
+  <img src="classDriveForwardCommand.png" usemap="#DriveForwardCommand_map" alt=""/>
+  <map id="DriveForwardCommand_map" name="DriveForwardCommand_map">
+<area href="classAutoCommand.html" alt="AutoCommand" shape="rect" coords="0,0,146,24"/>
+  </map>
+</div></div>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-methods" name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
+<tr class="memitem:a09fb0fc75fa06951c9dc160de169d726"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classDriveForwardCommand.html#a09fb0fc75fa06951c9dc160de169d726">DriveForwardCommand</a> (<a class="el" href="classTankDrive.html">TankDrive</a> &amp;drive_sys, <a class="el" href="classFeedback.html">Feedback</a> &amp;feedback, double inches, directionType dir, double max_speed=1)</td></tr>
+<tr class="separator:a09fb0fc75fa06951c9dc160de169d726"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aff482b72cab23cd569eb01efac6d1d31"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classDriveForwardCommand.html#aff482b72cab23cd569eb01efac6d1d31">run</a> () override</td></tr>
+<tr class="separator:aff482b72cab23cd569eb01efac6d1d31"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a52b4e1ff386eeb1c00f219f40738d0af"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classDriveForwardCommand.html#a52b4e1ff386eeb1c00f219f40738d0af">on_timeout</a> () override</td></tr>
+<tr class="separator:a52b4e1ff386eeb1c00f219f40738d0af"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_methods_classAutoCommand"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classAutoCommand')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="classAutoCommand.html">AutoCommand</a></td></tr>
+<tr class="memitem:a9f58c576ca6378b18a4136f60df50560 inherit pub_methods_classAutoCommand"><td class="memItemLeft" align="right" valign="top">virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classAutoCommand.html#a9f58c576ca6378b18a4136f60df50560">run</a> ()</td></tr>
+<tr class="separator:a9f58c576ca6378b18a4136f60df50560 inherit pub_methods_classAutoCommand"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a68475854d11e7c3be90e9c6e8fc9e982 inherit pub_methods_classAutoCommand"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classAutoCommand.html#a68475854d11e7c3be90e9c6e8fc9e982">on_timeout</a> ()</td></tr>
+<tr class="separator:a68475854d11e7c3be90e9c6e8fc9e982 inherit pub_methods_classAutoCommand"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a75b2b87e945fd7b98b758617feb30404 inherit pub_methods_classAutoCommand"><td class="memItemLeft" align="right" valign="top"><a id="a75b2b87e945fd7b98b758617feb30404" name="a75b2b87e945fd7b98b758617feb30404"></a>
+<a class="el" href="classAutoCommand.html">AutoCommand</a> *&#160;</td><td class="memItemRight" valign="bottom"><b>withTimeout</b> (double t_seconds)</td></tr>
+<tr class="separator:a75b2b87e945fd7b98b758617feb30404 inherit pub_methods_classAutoCommand"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="inherited" name="inherited"></a>
+Additional Inherited Members</h2></td></tr>
+<tr class="inherit_header pub_attribs_classAutoCommand"><td colspan="2" onclick="javascript:toggleInherit('pub_attribs_classAutoCommand')"><img src="closed.png" alt="-"/>&#160;Public Attributes inherited from <a class="el" href="classAutoCommand.html">AutoCommand</a></td></tr>
+<tr class="memitem:ac3be7be26e49981ad1978491fd313472 inherit pub_attribs_classAutoCommand"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classAutoCommand.html#ac3be7be26e49981ad1978491fd313472">timeout_seconds</a> = 10.0</td></tr>
+<tr class="separator:ac3be7be26e49981ad1978491fd313472 inherit pub_attribs_classAutoCommand"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p><a class="el" href="classAutoCommand.html">AutoCommand</a> wrapper class for the drive_forward function in the <a class="el" href="classTankDrive.html">TankDrive</a> class </p>
+</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="a09fb0fc75fa06951c9dc160de169d726" name="a09fb0fc75fa06951c9dc160de169d726"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a09fb0fc75fa06951c9dc160de169d726">&#9670;&#160;</a></span>DriveForwardCommand()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">DriveForwardCommand::DriveForwardCommand </td>
+          <td>(</td>
+          <td class="paramtype"><a class="el" href="classTankDrive.html">TankDrive</a> &amp;&#160;</td>
+          <td class="paramname"><em>drive_sys</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype"><a class="el" href="classFeedback.html">Feedback</a> &amp;&#160;</td>
+          <td class="paramname"><em>feedback</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">double&#160;</td>
+          <td class="paramname"><em>inches</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">directionType&#160;</td>
+          <td class="paramname"><em>dir</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">double&#160;</td>
+          <td class="paramname"><em>max_speed</em> = <code>1</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<p>File: <a class="el" href="drive__commands_8h_source.html">drive_commands.h</a> Desc: Holds all the <a class="el" href="classAutoCommand.html">AutoCommand</a> subclasses that wrap (currently) <a class="el" href="classTankDrive.html">TankDrive</a> functions</p>
+<p>Currently includes:</p><ul>
+<li>drive_forward</li>
+<li>turn_degrees</li>
+<li>drive_to_point</li>
+<li>turn_to_heading</li>
+<li>stop</li>
+</ul>
+<p>Also holds <a class="el" href="classAutoCommand.html">AutoCommand</a> subclasses that wrap <a class="el" href="classOdometryBase.html">OdometryBase</a> functions</p>
+<p>Currently includes:</p><ul>
+<li>set_position Construct a DriveForward Command <dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">drive_sys</td><td>the drive system we are commanding </td></tr>
+    <tr><td class="paramname">feedback</td><td>the feedback controller we are using to execute the drive </td></tr>
+    <tr><td class="paramname">inches</td><td>how far forward to drive </td></tr>
+    <tr><td class="paramname">dir</td><td>the direction to drive </td></tr>
+    <tr><td class="paramname">max_speed</td><td>0 -&gt; 1 percentage of the drive systems speed to drive at </td></tr>
+  </table>
+  </dd>
+</dl>
+</li>
+</ul>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a52b4e1ff386eeb1c00f219f40738d0af" name="a52b4e1ff386eeb1c00f219f40738d0af"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a52b4e1ff386eeb1c00f219f40738d0af">&#9670;&#160;</a></span>on_timeout()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">void DriveForwardCommand::on_timeout </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">override</span><span class="mlabel">virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<p>Cleans up drive system if we time out before finishing</p>
+<p>reset the drive system if we timeout </p>
+
+<p>Reimplemented from <a class="el" href="classAutoCommand.html#a68475854d11e7c3be90e9c6e8fc9e982">AutoCommand</a>.</p>
+
+</div>
+</div>
+<a id="aff482b72cab23cd569eb01efac6d1d31" name="aff482b72cab23cd569eb01efac6d1d31"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aff482b72cab23cd569eb01efac6d1d31">&#9670;&#160;</a></span>run()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">bool DriveForwardCommand::run </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">override</span><span class="mlabel">virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<p>Run drive_forward Overrides run from <a class="el" href="classAutoCommand.html">AutoCommand</a> </p><dl class="section return"><dt>Returns</dt><dd>true when execution is complete, false otherwise </dd></dl>
+
+<p>Reimplemented from <a class="el" href="classAutoCommand.html#a9f58c576ca6378b18a4136f60df50560">AutoCommand</a>.</p>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following files:<ul>
+<li>include/utils/command_structure/<a class="el" href="drive__commands_8h_source.html">drive_commands.h</a></li>
+<li>src/utils/command_structure/drive_commands.cpp</li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
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+  <div class="headertitle"><div class="title">DriveStopCommand Member List</div></div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classDriveStopCommand.html">DriveStopCommand</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classDriveStopCommand.html#a64cc2eeb3a4d67482549a029f93ddde1">DriveStopCommand</a>(TankDrive &amp;drive_sys)</td><td class="entry"><a class="el" href="classDriveStopCommand.html">DriveStopCommand</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classAutoCommand.html#a68475854d11e7c3be90e9c6e8fc9e982">on_timeout</a>()</td><td class="entry"><a class="el" href="classAutoCommand.html">AutoCommand</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classDriveStopCommand.html#a3b37806449b50b2f2c19179f1039237b">run</a>() override</td><td class="entry"><a class="el" href="classDriveStopCommand.html">DriveStopCommand</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
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+<div class="header">
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+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="classDriveStopCommand-members.html">List of all members</a>  </div>
+  <div class="headertitle"><div class="title">DriveStopCommand Class Reference</div></div>
+</div><!--header-->
+<div class="contents">
+
+<p><code>#include &lt;<a class="el" href="drive__commands_8h_source.html">drive_commands.h</a>&gt;</code></p>
+<div class="dynheader">
+Inheritance diagram for DriveStopCommand:</div>
+<div class="dyncontent">
+ <div class="center">
+  <img src="classDriveStopCommand.png" usemap="#DriveStopCommand_map" alt=""/>
+  <map id="DriveStopCommand_map" name="DriveStopCommand_map">
+<area href="classAutoCommand.html" alt="AutoCommand" shape="rect" coords="0,0,123,24"/>
+  </map>
+</div></div>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-methods" name="pub-methods"></a>
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+<tr class="memitem:a64cc2eeb3a4d67482549a029f93ddde1"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classDriveStopCommand.html#a64cc2eeb3a4d67482549a029f93ddde1">DriveStopCommand</a> (<a class="el" href="classTankDrive.html">TankDrive</a> &amp;drive_sys)</td></tr>
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+<tr class="memitem:a3b37806449b50b2f2c19179f1039237b"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classDriveStopCommand.html#a3b37806449b50b2f2c19179f1039237b">run</a> () override</td></tr>
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+<tr class="memitem:a9f58c576ca6378b18a4136f60df50560 inherit pub_methods_classAutoCommand"><td class="memItemLeft" align="right" valign="top">virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classAutoCommand.html#a9f58c576ca6378b18a4136f60df50560">run</a> ()</td></tr>
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+<a class="el" href="classAutoCommand.html">AutoCommand</a> *&#160;</td><td class="memItemRight" valign="bottom"><b>withTimeout</b> (double t_seconds)</td></tr>
+<tr class="separator:a75b2b87e945fd7b98b758617feb30404 inherit pub_methods_classAutoCommand"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="inherited" name="inherited"></a>
+Additional Inherited Members</h2></td></tr>
+<tr class="inherit_header pub_attribs_classAutoCommand"><td colspan="2" onclick="javascript:toggleInherit('pub_attribs_classAutoCommand')"><img src="closed.png" alt="-"/>&#160;Public Attributes inherited from <a class="el" href="classAutoCommand.html">AutoCommand</a></td></tr>
+<tr class="memitem:ac3be7be26e49981ad1978491fd313472 inherit pub_attribs_classAutoCommand"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classAutoCommand.html#ac3be7be26e49981ad1978491fd313472">timeout_seconds</a> = 10.0</td></tr>
+<tr class="separator:ac3be7be26e49981ad1978491fd313472 inherit pub_attribs_classAutoCommand"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p><a class="el" href="classAutoCommand.html">AutoCommand</a> wrapper class for the stop() function in the <a class="el" href="classTankDrive.html">TankDrive</a> class </p>
+</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="a64cc2eeb3a4d67482549a029f93ddde1" name="a64cc2eeb3a4d67482549a029f93ddde1"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a64cc2eeb3a4d67482549a029f93ddde1">&#9670;&#160;</a></span>DriveStopCommand()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">DriveStopCommand::DriveStopCommand </td>
+          <td>(</td>
+          <td class="paramtype"><a class="el" href="classTankDrive.html">TankDrive</a> &amp;&#160;</td>
+          <td class="paramname"><em>drive_sys</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<p>Construct a DriveStop Command </p><dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">drive_sys</td><td>the drive system we are commanding </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a3b37806449b50b2f2c19179f1039237b" name="a3b37806449b50b2f2c19179f1039237b"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a3b37806449b50b2f2c19179f1039237b">&#9670;&#160;</a></span>run()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">bool DriveStopCommand::run </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">override</span><span class="mlabel">virtual</span></span>  </td>
+  </tr>
+</table>
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+<p>Stop the drive system Overrides run from <a class="el" href="classAutoCommand.html">AutoCommand</a> </p><dl class="section return"><dt>Returns</dt><dd>true when execution is complete, false otherwise</dd></dl>
+<p>Stop the drive train Overrides run from <a class="el" href="classAutoCommand.html">AutoCommand</a> </p><dl class="section return"><dt>Returns</dt><dd>true when execution is complete, false otherwise </dd></dl>
+
+<p>Reimplemented from <a class="el" href="classAutoCommand.html#a9f58c576ca6378b18a4136f60df50560">AutoCommand</a>.</p>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following files:<ul>
+<li>include/utils/command_structure/<a class="el" href="drive__commands_8h_source.html">drive_commands.h</a></li>
+<li>src/utils/command_structure/drive_commands.cpp</li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.6
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+</div>
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+</div>
+
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle"><div class="title">DriveToPointCommand Member List</div></div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classDriveToPointCommand.html">DriveToPointCommand</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classDriveToPointCommand.html#ad9d5b904185abbddde096dc87e02f049">DriveToPointCommand</a>(TankDrive &amp;drive_sys, Feedback &amp;feedback, double x, double y, directionType dir, double max_speed=1)</td><td class="entry"><a class="el" href="classDriveToPointCommand.html">DriveToPointCommand</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classDriveToPointCommand.html#a716343f0c8befbd3a9c562c6a4fd6538">DriveToPointCommand</a>(TankDrive &amp;drive_sys, Feedback &amp;feedback, Vector2D::point_t point, directionType dir, double max_speed=1)</td><td class="entry"><a class="el" href="classDriveToPointCommand.html">DriveToPointCommand</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classDriveToPointCommand.html#a8ed58921bc3eeb8c04d0b11b4f7e4fbe">run</a>() override</td><td class="entry"><a class="el" href="classDriveToPointCommand.html">DriveToPointCommand</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classAutoCommand.html#ac3be7be26e49981ad1978491fd313472">timeout_seconds</a></td><td class="entry"><a class="el" href="classAutoCommand.html">AutoCommand</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>withTimeout</b>(double t_seconds) (defined in <a class="el" href="classAutoCommand.html">AutoCommand</a>)</td><td class="entry"><a class="el" href="classAutoCommand.html">AutoCommand</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+</table></div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.6
+</small></address>
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+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>RIT VEXU Core API: DriveToPointCommand Class Reference</title>
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+<script type="text/javascript" src="jquery.js"></script>
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+</div>
+</div>
+
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="classDriveToPointCommand-members.html">List of all members</a>  </div>
+  <div class="headertitle"><div class="title">DriveToPointCommand Class Reference</div></div>
+</div><!--header-->
+<div class="contents">
+
+<p><code>#include &lt;<a class="el" href="drive__commands_8h_source.html">drive_commands.h</a>&gt;</code></p>
+<div class="dynheader">
+Inheritance diagram for DriveToPointCommand:</div>
+<div class="dyncontent">
+ <div class="center">
+  <img src="classDriveToPointCommand.png" usemap="#DriveToPointCommand_map" alt=""/>
+  <map id="DriveToPointCommand_map" name="DriveToPointCommand_map">
+<area href="classAutoCommand.html" alt="AutoCommand" shape="rect" coords="0,0,140,24"/>
+  </map>
+</div></div>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-methods" name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
+<tr class="memitem:ad9d5b904185abbddde096dc87e02f049"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classDriveToPointCommand.html#ad9d5b904185abbddde096dc87e02f049">DriveToPointCommand</a> (<a class="el" href="classTankDrive.html">TankDrive</a> &amp;drive_sys, <a class="el" href="classFeedback.html">Feedback</a> &amp;feedback, double x, double y, directionType dir, double max_speed=1)</td></tr>
+<tr class="separator:ad9d5b904185abbddde096dc87e02f049"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a716343f0c8befbd3a9c562c6a4fd6538"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classDriveToPointCommand.html#a716343f0c8befbd3a9c562c6a4fd6538">DriveToPointCommand</a> (<a class="el" href="classTankDrive.html">TankDrive</a> &amp;drive_sys, <a class="el" href="classFeedback.html">Feedback</a> &amp;feedback, <a class="el" href="structVector2D_1_1point__t.html">Vector2D::point_t</a> point, directionType dir, double max_speed=1)</td></tr>
+<tr class="separator:a716343f0c8befbd3a9c562c6a4fd6538"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a8ed58921bc3eeb8c04d0b11b4f7e4fbe"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classDriveToPointCommand.html#a8ed58921bc3eeb8c04d0b11b4f7e4fbe">run</a> () override</td></tr>
+<tr class="separator:a8ed58921bc3eeb8c04d0b11b4f7e4fbe"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_methods_classAutoCommand"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classAutoCommand')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="classAutoCommand.html">AutoCommand</a></td></tr>
+<tr class="memitem:a9f58c576ca6378b18a4136f60df50560 inherit pub_methods_classAutoCommand"><td class="memItemLeft" align="right" valign="top">virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classAutoCommand.html#a9f58c576ca6378b18a4136f60df50560">run</a> ()</td></tr>
+<tr class="separator:a9f58c576ca6378b18a4136f60df50560 inherit pub_methods_classAutoCommand"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a68475854d11e7c3be90e9c6e8fc9e982 inherit pub_methods_classAutoCommand"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classAutoCommand.html#a68475854d11e7c3be90e9c6e8fc9e982">on_timeout</a> ()</td></tr>
+<tr class="separator:a68475854d11e7c3be90e9c6e8fc9e982 inherit pub_methods_classAutoCommand"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a75b2b87e945fd7b98b758617feb30404 inherit pub_methods_classAutoCommand"><td class="memItemLeft" align="right" valign="top"><a id="a75b2b87e945fd7b98b758617feb30404" name="a75b2b87e945fd7b98b758617feb30404"></a>
+<a class="el" href="classAutoCommand.html">AutoCommand</a> *&#160;</td><td class="memItemRight" valign="bottom"><b>withTimeout</b> (double t_seconds)</td></tr>
+<tr class="separator:a75b2b87e945fd7b98b758617feb30404 inherit pub_methods_classAutoCommand"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="inherited" name="inherited"></a>
+Additional Inherited Members</h2></td></tr>
+<tr class="inherit_header pub_attribs_classAutoCommand"><td colspan="2" onclick="javascript:toggleInherit('pub_attribs_classAutoCommand')"><img src="closed.png" alt="-"/>&#160;Public Attributes inherited from <a class="el" href="classAutoCommand.html">AutoCommand</a></td></tr>
+<tr class="memitem:ac3be7be26e49981ad1978491fd313472 inherit pub_attribs_classAutoCommand"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classAutoCommand.html#ac3be7be26e49981ad1978491fd313472">timeout_seconds</a> = 10.0</td></tr>
+<tr class="separator:ac3be7be26e49981ad1978491fd313472 inherit pub_attribs_classAutoCommand"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p><a class="el" href="classAutoCommand.html">AutoCommand</a> wrapper class for the drive_to_point function in the <a class="el" href="classTankDrive.html">TankDrive</a> class </p>
+</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="ad9d5b904185abbddde096dc87e02f049" name="ad9d5b904185abbddde096dc87e02f049"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad9d5b904185abbddde096dc87e02f049">&#9670;&#160;</a></span>DriveToPointCommand() <span class="overload">[1/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">DriveToPointCommand::DriveToPointCommand </td>
+          <td>(</td>
+          <td class="paramtype"><a class="el" href="classTankDrive.html">TankDrive</a> &amp;&#160;</td>
+          <td class="paramname"><em>drive_sys</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype"><a class="el" href="classFeedback.html">Feedback</a> &amp;&#160;</td>
+          <td class="paramname"><em>feedback</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">double&#160;</td>
+          <td class="paramname"><em>x</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">double&#160;</td>
+          <td class="paramname"><em>y</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">directionType&#160;</td>
+          <td class="paramname"><em>dir</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">double&#160;</td>
+          <td class="paramname"><em>max_speed</em> = <code>1</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<p>Construct a DriveForward Command </p><dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">drive_sys</td><td>the drive system we are commanding </td></tr>
+    <tr><td class="paramname">feedback</td><td>the feedback controller we are using to execute the drive </td></tr>
+    <tr><td class="paramname">x</td><td>where to drive in the x dimension </td></tr>
+    <tr><td class="paramname">y</td><td>where to drive in the y dimension </td></tr>
+    <tr><td class="paramname">dir</td><td>the direction to drive </td></tr>
+    <tr><td class="paramname">max_speed</td><td>0 -&gt; 1 percentage of the drive systems speed to drive at </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="a716343f0c8befbd3a9c562c6a4fd6538" name="a716343f0c8befbd3a9c562c6a4fd6538"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a716343f0c8befbd3a9c562c6a4fd6538">&#9670;&#160;</a></span>DriveToPointCommand() <span class="overload">[2/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">DriveToPointCommand::DriveToPointCommand </td>
+          <td>(</td>
+          <td class="paramtype"><a class="el" href="classTankDrive.html">TankDrive</a> &amp;&#160;</td>
+          <td class="paramname"><em>drive_sys</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype"><a class="el" href="classFeedback.html">Feedback</a> &amp;&#160;</td>
+          <td class="paramname"><em>feedback</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype"><a class="el" href="structVector2D_1_1point__t.html">Vector2D::point_t</a>&#160;</td>
+          <td class="paramname"><em>point</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">directionType&#160;</td>
+          <td class="paramname"><em>dir</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">double&#160;</td>
+          <td class="paramname"><em>max_speed</em> = <code>1</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<p>Construct a DriveForward Command </p><dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">drive_sys</td><td>the drive system we are commanding </td></tr>
+    <tr><td class="paramname">feedback</td><td>the feedback controller we are using to execute the drive </td></tr>
+    <tr><td class="paramname">point</td><td>the point to drive to </td></tr>
+    <tr><td class="paramname">dir</td><td>the direction to drive </td></tr>
+    <tr><td class="paramname">max_speed</td><td>0 -&gt; 1 percentage of the drive systems speed to drive at </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a8ed58921bc3eeb8c04d0b11b4f7e4fbe" name="a8ed58921bc3eeb8c04d0b11b4f7e4fbe"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a8ed58921bc3eeb8c04d0b11b4f7e4fbe">&#9670;&#160;</a></span>run()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">bool DriveToPointCommand::run </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">override</span><span class="mlabel">virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<p>Run drive_to_point Overrides run from <a class="el" href="classAutoCommand.html">AutoCommand</a> </p><dl class="section return"><dt>Returns</dt><dd>true when execution is complete, false otherwise </dd></dl>
+
+<p>Reimplemented from <a class="el" href="classAutoCommand.html#a9f58c576ca6378b18a4136f60df50560">AutoCommand</a>.</p>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following files:<ul>
+<li>include/utils/command_structure/<a class="el" href="drive__commands_8h_source.html">drive_commands.h</a></li>
+<li>src/utils/command_structure/drive_commands.cpp</li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.6
+</small></address>
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+<meta name="viewport" content="width=device-width, initial-scale=1"/>
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+<div class="header">
+  <div class="headertitle"><div class="title">FeedForward Member List</div></div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classFeedForward.html">FeedForward</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classFeedForward.html#a2e2f7c12076225fa1dfd5f18aa210290">calculate</a>(double v, double a, double pid_ref=0.0)</td><td class="entry"><a class="el" href="classFeedForward.html">FeedForward</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classFeedForward.html#aeea5ddbbcc6e75a479442cf69954665c">FeedForward</a>(ff_config_t &amp;cfg)</td><td class="entry"><a class="el" href="classFeedForward.html">FeedForward</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
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+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.6
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diff --git a/documentation/html/classFeedForward.html b/documentation/html/classFeedForward.html
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+++ b/documentation/html/classFeedForward.html
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+<div class="header">
+  <div class="summary">
+<a href="#nested-classes">Classes</a> &#124;
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="classFeedForward-members.html">List of all members</a>  </div>
+  <div class="headertitle"><div class="title">FeedForward Class Reference</div></div>
+</div><!--header-->
+<div class="contents">
+
+<p><code>#include &lt;<a class="el" href="feedforward_8h_source.html">feedforward.h</a>&gt;</code></p>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="nested-classes" name="nested-classes"></a>
+Classes</h2></td></tr>
+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structFeedForward_1_1ff__config__t.html">ff_config_t</a></td></tr>
+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-methods" name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
+<tr class="memitem:aeea5ddbbcc6e75a479442cf69954665c"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classFeedForward.html#aeea5ddbbcc6e75a479442cf69954665c">FeedForward</a> (<a class="el" href="structFeedForward_1_1ff__config__t.html">ff_config_t</a> &amp;cfg)</td></tr>
+<tr class="separator:aeea5ddbbcc6e75a479442cf69954665c"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a2e2f7c12076225fa1dfd5f18aa210290"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classFeedForward.html#a2e2f7c12076225fa1dfd5f18aa210290">calculate</a> (double v, double a, double pid_ref=0.0)</td></tr>
+<tr class="memdesc:a2e2f7c12076225fa1dfd5f18aa210290"><td class="mdescLeft">&#160;</td><td class="mdescRight">Perform the feedforward calculation.  <br /></td></tr>
+<tr class="separator:a2e2f7c12076225fa1dfd5f18aa210290"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p><a class="el" href="classFeedForward.html">FeedForward</a></p>
+<p>Stores the feedfoward constants, and allows for quick computation. Feedfoward should be used in systems that require smooth precise movements and have high inertia, such as drivetrains and lifts.</p>
+<p>This is best used alongside a <a class="el" href="classPID.html">PID</a> loop, with the form: output = pid.get() + feedforward.calculate(v, a);</p>
+<p>In this case, the feedforward does the majority of the heavy lifting, and the pid loop only corrects for inconsistencies</p>
+<p>For information about tuning feedforward, I reccommend looking at this post: <a href="https://www.chiefdelphi.com/t/paper-frc-drivetrain-characterization/160915">https://www.chiefdelphi.com/t/paper-frc-drivetrain-characterization/160915</a> (yes I know it's for FRC but trust me, it's useful)</p>
+<dl class="section author"><dt>Author</dt><dd>Ryan McGee </dd></dl>
+<dl class="section date"><dt>Date</dt><dd>6/13/2022 </dd></dl>
+</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="aeea5ddbbcc6e75a479442cf69954665c" name="aeea5ddbbcc6e75a479442cf69954665c"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aeea5ddbbcc6e75a479442cf69954665c">&#9670;&#160;</a></span>FeedForward()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">FeedForward::FeedForward </td>
+          <td>(</td>
+          <td class="paramtype"><a class="el" href="structFeedForward_1_1ff__config__t.html">ff_config_t</a> &amp;&#160;</td>
+          <td class="paramname"><em>cfg</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<p>Creates a <a class="el" href="classFeedForward.html">FeedForward</a> object. </p><dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">cfg</td><td>Configuration Struct for tuning </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a2e2f7c12076225fa1dfd5f18aa210290" name="a2e2f7c12076225fa1dfd5f18aa210290"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a2e2f7c12076225fa1dfd5f18aa210290">&#9670;&#160;</a></span>calculate()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">double FeedForward::calculate </td>
+          <td>(</td>
+          <td class="paramtype">double&#160;</td>
+          <td class="paramname"><em>v</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">double&#160;</td>
+          <td class="paramname"><em>a</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">double&#160;</td>
+          <td class="paramname"><em>pid_ref</em> = <code>0.0</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Perform the feedforward calculation. </p>
+<p>This calculation is the equation: F = kG + kS*sgn(v) + kV*v + kA*a</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">v</td><td>Requested velocity of system </td></tr>
+    <tr><td class="paramname">a</td><td>Requested acceleration of system </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>A feedforward that should closely represent the system if tuned correctly </dd></dl>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>include/utils/<a class="el" href="feedforward_8h_source.html">feedforward.h</a></li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.6
+</small></address>
+</body>
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diff --git a/documentation/html/classFeedback-members.html b/documentation/html/classFeedback-members.html
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+<div class="header">
+  <div class="headertitle"><div class="title">Feedback Member List</div></div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classFeedback.html">Feedback</a>, including all inherited members.</p>
+<table class="directory">
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>FeedbackType</b> enum name (defined in <a class="el" href="classFeedback.html">Feedback</a>)</td><td class="entry"><a class="el" href="classFeedback.html">Feedback</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="odd"><td class="entry"><b>FeedforwardType</b> enum value (defined in <a class="el" href="classFeedback.html">Feedback</a>)</td><td class="entry"><a class="el" href="classFeedback.html">Feedback</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classFeedback.html#ac44bb519a6f4e25c8e8250f3d30ab359">get</a>()=0</td><td class="entry"><a class="el" href="classFeedback.html">Feedback</a></td><td class="entry"><span class="mlabel">pure virtual</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="odd"><td class="entry"><b>get_type</b>() (defined in <a class="el" href="classFeedback.html">Feedback</a>)</td><td class="entry"><a class="el" href="classFeedback.html">Feedback</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classFeedback.html#a22efb13216bfd51aea07e0b6e45135c1">init</a>(double start_pt, double set_pt)=0</td><td class="entry"><a class="el" href="classFeedback.html">Feedback</a></td><td class="entry"><span class="mlabel">pure virtual</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classFeedback.html#ae4cc835c374aab9761d22603d4329d34">is_on_target</a>()=0</td><td class="entry"><a class="el" href="classFeedback.html">Feedback</a></td><td class="entry"><span class="mlabel">pure virtual</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>OtherType</b> enum value (defined in <a class="el" href="classFeedback.html">Feedback</a>)</td><td class="entry"><a class="el" href="classFeedback.html">Feedback</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="odd"><td class="entry"><b>PIDType</b> enum value (defined in <a class="el" href="classFeedback.html">Feedback</a>)</td><td class="entry"><a class="el" href="classFeedback.html">Feedback</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classFeedback.html#a533a10b65cfc998898bf054f8b141de2">set_limits</a>(double lower, double upper)=0</td><td class="entry"><a class="el" href="classFeedback.html">Feedback</a></td><td class="entry"><span class="mlabel">pure virtual</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classFeedback.html#adda5fc7642539996be00632954dfc41f">update</a>(double val)=0</td><td class="entry"><a class="el" href="classFeedback.html">Feedback</a></td><td class="entry"><span class="mlabel">pure virtual</span></td></tr>
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+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.6
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diff --git a/documentation/html/classFeedback.html b/documentation/html/classFeedback.html
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+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<div id="MSearchResults">
+<div class="SRPage">
+<div id="SRIndex">
+<div id="SRResults"></div>
+<div class="SRStatus" id="Loading">Loading...</div>
+<div class="SRStatus" id="Searching">Searching...</div>
+<div class="SRStatus" id="NoMatches">No Matches</div>
+</div>
+</div>
+</div>
+</div>
+
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-types">Public Types</a> &#124;
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="classFeedback-members.html">List of all members</a>  </div>
+  <div class="headertitle"><div class="title">Feedback Class Reference<span class="mlabels"><span class="mlabel">abstract</span></span></div></div>
+</div><!--header-->
+<div class="contents">
+
+<p><code>#include &lt;<a class="el" href="feedback__base_8h_source.html">feedback_base.h</a>&gt;</code></p>
+<div class="dynheader">
+Inheritance diagram for Feedback:</div>
+<div class="dyncontent">
+ <div class="center">
+  <img src="classFeedback.png" usemap="#Feedback_map" alt=""/>
+  <map id="Feedback_map" name="Feedback_map">
+<area href="classMotionController.html" alt="MotionController" shape="rect" coords="0,56,106,80"/>
+<area href="classPID.html" alt="PID" shape="rect" coords="116,56,222,80"/>
+<area href="classPIDFF.html" alt="PIDFF" shape="rect" coords="232,56,338,80"/>
+  </map>
+</div></div>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-types" name="pub-types"></a>
+Public Types</h2></td></tr>
+<tr class="memitem:ac82a001abba300290790eb8414a84dce"><td class="memItemLeft" align="right" valign="top"><a id="ac82a001abba300290790eb8414a84dce" name="ac82a001abba300290790eb8414a84dce"></a>enum &#160;</td><td class="memItemRight" valign="bottom"><b>FeedbackType</b> { <b>PIDType</b>
+, <b>FeedforwardType</b>
+, <b>OtherType</b>
+ }</td></tr>
+<tr class="separator:ac82a001abba300290790eb8414a84dce"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-methods" name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
+<tr class="memitem:a22efb13216bfd51aea07e0b6e45135c1"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classFeedback.html#a22efb13216bfd51aea07e0b6e45135c1">init</a> (double start_pt, double set_pt)=0</td></tr>
+<tr class="separator:a22efb13216bfd51aea07e0b6e45135c1"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:adda5fc7642539996be00632954dfc41f"><td class="memItemLeft" align="right" valign="top">virtual double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classFeedback.html#adda5fc7642539996be00632954dfc41f">update</a> (double val)=0</td></tr>
+<tr class="separator:adda5fc7642539996be00632954dfc41f"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ac44bb519a6f4e25c8e8250f3d30ab359"><td class="memItemLeft" align="right" valign="top">virtual double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classFeedback.html#ac44bb519a6f4e25c8e8250f3d30ab359">get</a> ()=0</td></tr>
+<tr class="separator:ac44bb519a6f4e25c8e8250f3d30ab359"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a533a10b65cfc998898bf054f8b141de2"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classFeedback.html#a533a10b65cfc998898bf054f8b141de2">set_limits</a> (double lower, double upper)=0</td></tr>
+<tr class="separator:a533a10b65cfc998898bf054f8b141de2"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ae4cc835c374aab9761d22603d4329d34"><td class="memItemLeft" align="right" valign="top">virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classFeedback.html#ae4cc835c374aab9761d22603d4329d34">is_on_target</a> ()=0</td></tr>
+<tr class="separator:ae4cc835c374aab9761d22603d4329d34"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aef8981678b7bcded915ccc7e3e237208"><td class="memItemLeft" align="right" valign="top"><a id="aef8981678b7bcded915ccc7e3e237208" name="aef8981678b7bcded915ccc7e3e237208"></a>
+virtual Feedback::FeedbackType&#160;</td><td class="memItemRight" valign="bottom"><b>get_type</b> ()</td></tr>
+<tr class="separator:aef8981678b7bcded915ccc7e3e237208"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>Interface so that subsystems can easily switch between feedback loops</p>
+<dl class="section author"><dt>Author</dt><dd>Ryan McGee </dd></dl>
+<dl class="section date"><dt>Date</dt><dd>9/25/2022 </dd></dl>
+</div><h2 class="groupheader">Member Function Documentation</h2>
+<a id="ac44bb519a6f4e25c8e8250f3d30ab359" name="ac44bb519a6f4e25c8e8250f3d30ab359"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ac44bb519a6f4e25c8e8250f3d30ab359">&#9670;&#160;</a></span>get()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">virtual double Feedback::get </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">pure virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<dl class="section return"><dt>Returns</dt><dd>the last saved result from the feedback controller </dd></dl>
+
+<p>Implemented in <a class="el" href="classMotionController.html#a2a1944f590618cd91770364aea416cd5">MotionController</a>, <a class="el" href="classPID.html#a69c2e66b8ff06c86ca9701d11e21da75">PID</a>, and <a class="el" href="classPIDFF.html#a78a34d271bcc703fc803e15b275fd238">PIDFF</a>.</p>
+
+</div>
+</div>
+<a id="a22efb13216bfd51aea07e0b6e45135c1" name="a22efb13216bfd51aea07e0b6e45135c1"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a22efb13216bfd51aea07e0b6e45135c1">&#9670;&#160;</a></span>init()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">virtual void Feedback::init </td>
+          <td>(</td>
+          <td class="paramtype">double&#160;</td>
+          <td class="paramname"><em>start_pt</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">double&#160;</td>
+          <td class="paramname"><em>set_pt</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">pure virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<p>Initialize the feedback controller for a movement</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">start_pt</td><td>the current sensor value </td></tr>
+    <tr><td class="paramname">set_pt</td><td>where the sensor value should be </td></tr>
+  </table>
+  </dd>
+</dl>
+
+<p>Implemented in <a class="el" href="classMotionController.html#af0d665d9916111cbce677da6df6b6667">MotionController</a>, <a class="el" href="classPID.html#aab0f3b4351cc4ee2b8bb366105e85e95">PID</a>, and <a class="el" href="classPIDFF.html#a37226c8d3bfac97485b28105a15f29fc">PIDFF</a>.</p>
+
+</div>
+</div>
+<a id="ae4cc835c374aab9761d22603d4329d34" name="ae4cc835c374aab9761d22603d4329d34"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ae4cc835c374aab9761d22603d4329d34">&#9670;&#160;</a></span>is_on_target()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">virtual bool Feedback::is_on_target </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">pure virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<dl class="section return"><dt>Returns</dt><dd>true if the feedback controller has reached it's setpoint </dd></dl>
+
+<p>Implemented in <a class="el" href="classMotionController.html#aa9e2af88b848646889deb1d43a283173">MotionController</a>, <a class="el" href="classPID.html#a9de884c31570c4ae0dc6e24eb26daa43">PID</a>, and <a class="el" href="classPIDFF.html#a2534a33490570d839bf1849673a70bc1">PIDFF</a>.</p>
+
+</div>
+</div>
+<a id="a533a10b65cfc998898bf054f8b141de2" name="a533a10b65cfc998898bf054f8b141de2"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a533a10b65cfc998898bf054f8b141de2">&#9670;&#160;</a></span>set_limits()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">virtual void Feedback::set_limits </td>
+          <td>(</td>
+          <td class="paramtype">double&#160;</td>
+          <td class="paramname"><em>lower</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">double&#160;</td>
+          <td class="paramname"><em>upper</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">pure virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<p>Clamp the upper and lower limits of the output. If both are 0, no limits should be applied.</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">lower</td><td>Upper limit </td></tr>
+    <tr><td class="paramname">upper</td><td>Lower limit </td></tr>
+  </table>
+  </dd>
+</dl>
+
+<p>Implemented in <a class="el" href="classMotionController.html#a944c245002a1eb124dd8df40de4fcc57">MotionController</a>, <a class="el" href="classPID.html#a8411ac48e8868d89e97afcf8990cca2c">PID</a>, and <a class="el" href="classPIDFF.html#ae0dccb27a91ec687f90c930441f246bb">PIDFF</a>.</p>
+
+</div>
+</div>
+<a id="adda5fc7642539996be00632954dfc41f" name="adda5fc7642539996be00632954dfc41f"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#adda5fc7642539996be00632954dfc41f">&#9670;&#160;</a></span>update()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">virtual double Feedback::update </td>
+          <td>(</td>
+          <td class="paramtype">double&#160;</td>
+          <td class="paramname"><em>val</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">pure virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<p>Iterate the feedback loop once with an updated sensor value</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">val</td><td>value from the sensor </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>feedback loop result </dd></dl>
+
+<p>Implemented in <a class="el" href="classMotionController.html#a86ef0ef19858b5b407f7406bb5da30af">MotionController</a>, <a class="el" href="classPID.html#a53b5c34ba5e81fb79ed4258a143015b9">PID</a>, and <a class="el" href="classPIDFF.html#a9a9b05ec43e4430019652b62799e761c">PIDFF</a>.</p>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>include/utils/<a class="el" href="feedback__base_8h_source.html">feedback_base.h</a></li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.6
+</small></address>
+</body>
+</html>
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+<meta http-equiv="X-UA-Compatible" content="IE=11"/>
+<meta name="generator" content="Doxygen 1.9.6"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>RIT VEXU Core API: Member List</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
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+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
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+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr id="projectrow">
+  <td id="projectalign">
+   <div id="projectname">RIT VEXU Core API
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+</div>
+</div>
+</div>
+</div>
+
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle"><div class="title">Flywheel Member List</div></div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classFlywheel.html">Flywheel</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classFlywheel.html#a61a1ba81b716c6f99a8d63394f8d185f">Flywheel</a>(motor_group &amp;motors, PID::pid_config_t &amp;pid_config, FeedForward::ff_config_t &amp;ff_config, const double ratio)</td><td class="entry"><a class="el" href="classFlywheel.html">Flywheel</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classFlywheel.html#a38bb042949a6c6e7f283823a5786be65">Flywheel</a>(motor_group &amp;motors, FeedForward::ff_config_t &amp;ff_config, const double ratio)</td><td class="entry"><a class="el" href="classFlywheel.html">Flywheel</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classFlywheel.html#a9ce96416ffe460e013fab3ba434bae79">Flywheel</a>(motor_group &amp;motors, double tbh_gain, const double ratio)</td><td class="entry"><a class="el" href="classFlywheel.html">Flywheel</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classFlywheel.html#a3ae86041ee9dc973538fcc6caf47cd58">Flywheel</a>(motor_group &amp;motors, const double ratio)</td><td class="entry"><a class="el" href="classFlywheel.html">Flywheel</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classFlywheel.html#a5dee80fd74903884478649b6ec2f4528">getDesiredRPM</a>()</td><td class="entry"><a class="el" href="classFlywheel.html">Flywheel</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classFlywheel.html#aea43f1c07b799133113d7b9ff14a7f36">getFeedforwardValue</a>()</td><td class="entry"><a class="el" href="classFlywheel.html">Flywheel</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classFlywheel.html#a5823c1242f4b00519f582a7468cf537a">getMotors</a>()</td><td class="entry"><a class="el" href="classFlywheel.html">Flywheel</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classFlywheel.html#adf7b3fab5fd8a708f339da649c72e775">getPID</a>()</td><td class="entry"><a class="el" href="classFlywheel.html">Flywheel</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classFlywheel.html#a45bde10a01304c71e74564cd080a9052">getPIDValue</a>()</td><td class="entry"><a class="el" href="classFlywheel.html">Flywheel</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classFlywheel.html#a00e5ad15adfb23185f7713b86d9d7b9f">getRPM</a>()</td><td class="entry"><a class="el" href="classFlywheel.html">Flywheel</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classFlywheel.html#a8c1f0b98975b9d75bc5b350fa059043d">getTBHGain</a>()</td><td class="entry"><a class="el" href="classFlywheel.html">Flywheel</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classFlywheel.html#a990fde5741011926c84c45ea3c51ced3">isTaskRunning</a>()</td><td class="entry"><a class="el" href="classFlywheel.html">Flywheel</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classFlywheel.html#ae46b69a8371dca7d6fb163c30192f666">measureRPM</a>()</td><td class="entry"><a class="el" href="classFlywheel.html">Flywheel</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classFlywheel.html#a5eeb847c6ef4736b1917bf32843c69aa">setPIDTarget</a>(double value)</td><td class="entry"><a class="el" href="classFlywheel.html">Flywheel</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classFlywheel.html#a291e067bcc495a9d3da16a5832d78484">spin_manual</a>(double speed, directionType dir=fwd)</td><td class="entry"><a class="el" href="classFlywheel.html">Flywheel</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classFlywheel.html#a5f4afa2ab8976acbf9fd47776a884dd3">spin_raw</a>(double speed, directionType dir=fwd)</td><td class="entry"><a class="el" href="classFlywheel.html">Flywheel</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classFlywheel.html#aa72700130c0c8a08517ec1396fe9cc2b">spinRPM</a>(int rpm)</td><td class="entry"><a class="el" href="classFlywheel.html">Flywheel</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classFlywheel.html#a6634f5126f0404e0edeeff1e0e14d05e">stop</a>()</td><td class="entry"><a class="el" href="classFlywheel.html">Flywheel</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classFlywheel.html#a78eaa40c9c069b8b4146c3ae34a21d4e">stopMotors</a>()</td><td class="entry"><a class="el" href="classFlywheel.html">Flywheel</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classFlywheel.html#a63c9c4d3646e4ed14f3b98ce3ab28684">stopNonTasks</a>()</td><td class="entry"><a class="el" href="classFlywheel.html">Flywheel</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classFlywheel.html#aa9df5ad636fb49d76ba922ecd1115aef">updatePID</a>(double value)</td><td class="entry"><a class="el" href="classFlywheel.html">Flywheel</a></td><td class="entry"></td></tr>
+</table></div><!-- contents -->
+<!-- start footer part -->
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diff --git a/documentation/html/classFlywheel.html b/documentation/html/classFlywheel.html
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+</div>
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+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="classFlywheel-members.html">List of all members</a>  </div>
+  <div class="headertitle"><div class="title">Flywheel Class Reference</div></div>
+</div><!--header-->
+<div class="contents">
+
+<p><code>#include &lt;<a class="el" href="flywheel_8h_source.html">flywheel.h</a>&gt;</code></p>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-methods" name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
+<tr class="memitem:a61a1ba81b716c6f99a8d63394f8d185f"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classFlywheel.html#a61a1ba81b716c6f99a8d63394f8d185f">Flywheel</a> (motor_group &amp;motors, <a class="el" href="structPID_1_1pid__config__t.html">PID::pid_config_t</a> &amp;pid_config, <a class="el" href="structFeedForward_1_1ff__config__t.html">FeedForward::ff_config_t</a> &amp;ff_config, const double ratio)</td></tr>
+<tr class="separator:a61a1ba81b716c6f99a8d63394f8d185f"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a38bb042949a6c6e7f283823a5786be65"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classFlywheel.html#a38bb042949a6c6e7f283823a5786be65">Flywheel</a> (motor_group &amp;motors, <a class="el" href="structFeedForward_1_1ff__config__t.html">FeedForward::ff_config_t</a> &amp;ff_config, const double ratio)</td></tr>
+<tr class="separator:a38bb042949a6c6e7f283823a5786be65"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a9ce96416ffe460e013fab3ba434bae79"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classFlywheel.html#a9ce96416ffe460e013fab3ba434bae79">Flywheel</a> (motor_group &amp;motors, double tbh_gain, const double ratio)</td></tr>
+<tr class="separator:a9ce96416ffe460e013fab3ba434bae79"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a3ae86041ee9dc973538fcc6caf47cd58"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classFlywheel.html#a3ae86041ee9dc973538fcc6caf47cd58">Flywheel</a> (motor_group &amp;motors, const double ratio)</td></tr>
+<tr class="separator:a3ae86041ee9dc973538fcc6caf47cd58"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a5dee80fd74903884478649b6ec2f4528"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classFlywheel.html#a5dee80fd74903884478649b6ec2f4528">getDesiredRPM</a> ()</td></tr>
+<tr class="separator:a5dee80fd74903884478649b6ec2f4528"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a990fde5741011926c84c45ea3c51ced3"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classFlywheel.html#a990fde5741011926c84c45ea3c51ced3">isTaskRunning</a> ()</td></tr>
+<tr class="separator:a990fde5741011926c84c45ea3c51ced3"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a5823c1242f4b00519f582a7468cf537a"><td class="memItemLeft" align="right" valign="top">motor_group *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classFlywheel.html#a5823c1242f4b00519f582a7468cf537a">getMotors</a> ()</td></tr>
+<tr class="separator:a5823c1242f4b00519f582a7468cf537a"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ae46b69a8371dca7d6fb163c30192f666"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classFlywheel.html#ae46b69a8371dca7d6fb163c30192f666">measureRPM</a> ()</td></tr>
+<tr class="separator:ae46b69a8371dca7d6fb163c30192f666"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a00e5ad15adfb23185f7713b86d9d7b9f"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classFlywheel.html#a00e5ad15adfb23185f7713b86d9d7b9f">getRPM</a> ()</td></tr>
+<tr class="separator:a00e5ad15adfb23185f7713b86d9d7b9f"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:adf7b3fab5fd8a708f339da649c72e775"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classPID.html">PID</a> *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classFlywheel.html#adf7b3fab5fd8a708f339da649c72e775">getPID</a> ()</td></tr>
+<tr class="separator:adf7b3fab5fd8a708f339da649c72e775"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a45bde10a01304c71e74564cd080a9052"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classFlywheel.html#a45bde10a01304c71e74564cd080a9052">getPIDValue</a> ()</td></tr>
+<tr class="separator:a45bde10a01304c71e74564cd080a9052"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aea43f1c07b799133113d7b9ff14a7f36"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classFlywheel.html#aea43f1c07b799133113d7b9ff14a7f36">getFeedforwardValue</a> ()</td></tr>
+<tr class="separator:aea43f1c07b799133113d7b9ff14a7f36"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a8c1f0b98975b9d75bc5b350fa059043d"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classFlywheel.html#a8c1f0b98975b9d75bc5b350fa059043d">getTBHGain</a> ()</td></tr>
+<tr class="separator:a8c1f0b98975b9d75bc5b350fa059043d"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a5eeb847c6ef4736b1917bf32843c69aa"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classFlywheel.html#a5eeb847c6ef4736b1917bf32843c69aa">setPIDTarget</a> (double value)</td></tr>
+<tr class="separator:a5eeb847c6ef4736b1917bf32843c69aa"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aa9df5ad636fb49d76ba922ecd1115aef"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classFlywheel.html#aa9df5ad636fb49d76ba922ecd1115aef">updatePID</a> (double value)</td></tr>
+<tr class="separator:aa9df5ad636fb49d76ba922ecd1115aef"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a5f4afa2ab8976acbf9fd47776a884dd3"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classFlywheel.html#a5f4afa2ab8976acbf9fd47776a884dd3">spin_raw</a> (double speed, directionType dir=fwd)</td></tr>
+<tr class="separator:a5f4afa2ab8976acbf9fd47776a884dd3"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a291e067bcc495a9d3da16a5832d78484"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classFlywheel.html#a291e067bcc495a9d3da16a5832d78484">spin_manual</a> (double speed, directionType dir=fwd)</td></tr>
+<tr class="separator:a291e067bcc495a9d3da16a5832d78484"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aa72700130c0c8a08517ec1396fe9cc2b"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classFlywheel.html#aa72700130c0c8a08517ec1396fe9cc2b">spinRPM</a> (int rpm)</td></tr>
+<tr class="separator:aa72700130c0c8a08517ec1396fe9cc2b"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a6634f5126f0404e0edeeff1e0e14d05e"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classFlywheel.html#a6634f5126f0404e0edeeff1e0e14d05e">stop</a> ()</td></tr>
+<tr class="separator:a6634f5126f0404e0edeeff1e0e14d05e"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a78eaa40c9c069b8b4146c3ae34a21d4e"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classFlywheel.html#a78eaa40c9c069b8b4146c3ae34a21d4e">stopMotors</a> ()</td></tr>
+<tr class="separator:a78eaa40c9c069b8b4146c3ae34a21d4e"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a63c9c4d3646e4ed14f3b98ce3ab28684"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classFlywheel.html#a63c9c4d3646e4ed14f3b98ce3ab28684">stopNonTasks</a> ()</td></tr>
+<tr class="separator:a63c9c4d3646e4ed14f3b98ce3ab28684"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>a <a class="el" href="classFlywheel.html">Flywheel</a> class that handles all control of a high inertia spinning disk It gives multiple options for what control system to use in order to control wheel velocity and functions alerting the user when the flywheel is up to speed. <a class="el" href="classFlywheel.html">Flywheel</a> is a set and forget class. Once you create it you can call spinRPM or stop on it at any time and it will take all necessary steps to accomplish this </p>
+</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="a61a1ba81b716c6f99a8d63394f8d185f" name="a61a1ba81b716c6f99a8d63394f8d185f"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a61a1ba81b716c6f99a8d63394f8d185f">&#9670;&#160;</a></span>Flywheel() <span class="overload">[1/4]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">Flywheel::Flywheel </td>
+          <td>(</td>
+          <td class="paramtype">motor_group &amp;&#160;</td>
+          <td class="paramname"><em>motors</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype"><a class="el" href="structPID_1_1pid__config__t.html">PID::pid_config_t</a> &amp;&#160;</td>
+          <td class="paramname"><em>pid_config</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype"><a class="el" href="structFeedForward_1_1ff__config__t.html">FeedForward::ff_config_t</a> &amp;&#160;</td>
+          <td class="paramname"><em>ff_config</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const double&#160;</td>
+          <td class="paramname"><em>ratio</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<p>Create the <a class="el" href="classFlywheel.html">Flywheel</a> object using <a class="el" href="classPID.html">PID</a> + feedforward for control. </p><dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">motors</td><td>pointer to the motors on the fly wheel </td></tr>
+    <tr><td class="paramname">pid_config</td><td>pointer the pid config to use </td></tr>
+    <tr><td class="paramname">ff_config</td><td>the feedforward config to use </td></tr>
+    <tr><td class="paramname">ratio</td><td>ratio of the whatever just multiplies the velocity</td></tr>
+  </table>
+  </dd>
+</dl>
+<p>Create the <a class="el" href="classFlywheel.html">Flywheel</a> object using <a class="el" href="classPID.html">PID</a> + feedforward for control. </p>
+
+</div>
+</div>
+<a id="a38bb042949a6c6e7f283823a5786be65" name="a38bb042949a6c6e7f283823a5786be65"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a38bb042949a6c6e7f283823a5786be65">&#9670;&#160;</a></span>Flywheel() <span class="overload">[2/4]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">Flywheel::Flywheel </td>
+          <td>(</td>
+          <td class="paramtype">motor_group &amp;&#160;</td>
+          <td class="paramname"><em>motors</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype"><a class="el" href="structFeedForward_1_1ff__config__t.html">FeedForward::ff_config_t</a> &amp;&#160;</td>
+          <td class="paramname"><em>ff_config</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const double&#160;</td>
+          <td class="paramname"><em>ratio</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<p>Create the <a class="el" href="classFlywheel.html">Flywheel</a> object using only feedforward for control </p><dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">motors</td><td>the motors on the fly wheel </td></tr>
+    <tr><td class="paramname">ff_config</td><td>the feedforward config to use </td></tr>
+    <tr><td class="paramname">ratio</td><td>ratio of the whatever just multiplies the velocity</td></tr>
+  </table>
+  </dd>
+</dl>
+<p>Create the <a class="el" href="classFlywheel.html">Flywheel</a> object using only feedforward for control </p>
+
+</div>
+</div>
+<a id="a9ce96416ffe460e013fab3ba434bae79" name="a9ce96416ffe460e013fab3ba434bae79"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a9ce96416ffe460e013fab3ba434bae79">&#9670;&#160;</a></span>Flywheel() <span class="overload">[3/4]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">Flywheel::Flywheel </td>
+          <td>(</td>
+          <td class="paramtype">motor_group &amp;&#160;</td>
+          <td class="paramname"><em>motors</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">double&#160;</td>
+          <td class="paramname"><em>tbh_gain</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const double&#160;</td>
+          <td class="paramname"><em>ratio</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<p>Create the <a class="el" href="classFlywheel.html">Flywheel</a> object using Take Back Half for control </p><dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">motors</td><td>the motors on the fly wheel </td></tr>
+    <tr><td class="paramname">tbh_gain</td><td>the TBH control paramater </td></tr>
+    <tr><td class="paramname">ratio</td><td>ratio of the whatever just multiplies the velocity</td></tr>
+  </table>
+  </dd>
+</dl>
+<p>Create the <a class="el" href="classFlywheel.html">Flywheel</a> object using Take Back Half for control </p>
+
+</div>
+</div>
+<a id="a3ae86041ee9dc973538fcc6caf47cd58" name="a3ae86041ee9dc973538fcc6caf47cd58"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a3ae86041ee9dc973538fcc6caf47cd58">&#9670;&#160;</a></span>Flywheel() <span class="overload">[4/4]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">Flywheel::Flywheel </td>
+          <td>(</td>
+          <td class="paramtype">motor_group &amp;&#160;</td>
+          <td class="paramname"><em>motors</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const double&#160;</td>
+          <td class="paramname"><em>ratio</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<p>Create the <a class="el" href="classFlywheel.html">Flywheel</a> object using Bang Bang for control </p><dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">motors</td><td>the motors on the fly wheel </td></tr>
+    <tr><td class="paramname">ratio</td><td>ratio of the whatever just multiplies the velocity</td></tr>
+  </table>
+  </dd>
+</dl>
+<p>Create the <a class="el" href="classFlywheel.html">Flywheel</a> object using Bang Bang for control </p>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a5dee80fd74903884478649b6ec2f4528" name="a5dee80fd74903884478649b6ec2f4528"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a5dee80fd74903884478649b6ec2f4528">&#9670;&#160;</a></span>getDesiredRPM()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">double Flywheel::getDesiredRPM </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<p>Return the RPM that the flywheel is currently trying to achieve </p><dl class="section return"><dt>Returns</dt><dd>RPM the target rpm</dd></dl>
+<p>Return the current value that the RPM should be set to </p>
+
+</div>
+</div>
+<a id="aea43f1c07b799133113d7b9ff14a7f36" name="aea43f1c07b799133113d7b9ff14a7f36"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aea43f1c07b799133113d7b9ff14a7f36">&#9670;&#160;</a></span>getFeedforwardValue()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">double Flywheel::getFeedforwardValue </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<p>returns the current OUT value of the <a class="el" href="classPID.html">PID</a> - the value that the <a class="el" href="classPID.html">PID</a> would set the motors to</p>
+<p>returns the current OUT value of the Feedforward - the value that the Feedforward would set the motors to </p><dl class="section return"><dt>Returns</dt><dd>the voltage that feedforward wants the motors at to achieve the target RPM </dd></dl>
+
+</div>
+</div>
+<a id="a5823c1242f4b00519f582a7468cf537a" name="a5823c1242f4b00519f582a7468cf537a"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a5823c1242f4b00519f582a7468cf537a">&#9670;&#160;</a></span>getMotors()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">motor_group * Flywheel::getMotors </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<p>Returns a POINTER to the motors</p>
+<p>Returns a POINTER TO the motors; not currently used. </p><dl class="section return"><dt>Returns</dt><dd>motorPointer -pointer to the motors </dd></dl>
+
+</div>
+</div>
+<a id="adf7b3fab5fd8a708f339da649c72e775" name="adf7b3fab5fd8a708f339da649c72e775"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#adf7b3fab5fd8a708f339da649c72e775">&#9670;&#160;</a></span>getPID()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname"><a class="el" href="classPID.html">PID</a> * Flywheel::getPID </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<p>Returns a POINTER to the <a class="el" href="classPID.html">PID</a>.</p>
+<p>Returns a POINTER TO the <a class="el" href="classPID.html">PID</a>; not currently used. </p><dl class="section return"><dt>Returns</dt><dd>pidPointer -pointer to the <a class="el" href="classPID.html">PID</a> </dd></dl>
+
+</div>
+</div>
+<a id="a45bde10a01304c71e74564cd080a9052" name="a45bde10a01304c71e74564cd080a9052"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a45bde10a01304c71e74564cd080a9052">&#9670;&#160;</a></span>getPIDValue()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">double Flywheel::getPIDValue </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<p>returns the current OUT value of the <a class="el" href="classPID.html">PID</a> - the value that the <a class="el" href="classPID.html">PID</a> would set the motors to</p>
+<p>returns the current OUT value of the <a class="el" href="classPID.html">PID</a> - the value that the <a class="el" href="classPID.html">PID</a> would set the motors to </p><dl class="section return"><dt>Returns</dt><dd>the voltage that <a class="el" href="classPID.html">PID</a> wants the motors at to achieve the target RPM </dd></dl>
+
+</div>
+</div>
+<a id="a00e5ad15adfb23185f7713b86d9d7b9f" name="a00e5ad15adfb23185f7713b86d9d7b9f"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a00e5ad15adfb23185f7713b86d9d7b9f">&#9670;&#160;</a></span>getRPM()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">double Flywheel::getRPM </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<p>return the current smoothed velocity of the flywheel motors, in RPM </p>
+
+</div>
+</div>
+<a id="a8c1f0b98975b9d75bc5b350fa059043d" name="a8c1f0b98975b9d75bc5b350fa059043d"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a8c1f0b98975b9d75bc5b350fa059043d">&#9670;&#160;</a></span>getTBHGain()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">double Flywheel::getTBHGain </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<p>get the gain used for TBH control</p>
+<p>get the gain used for TBH control </p><dl class="section return"><dt>Returns</dt><dd>the gain used in TBH control </dd></dl>
+
+</div>
+</div>
+<a id="a990fde5741011926c84c45ea3c51ced3" name="a990fde5741011926c84c45ea3c51ced3"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a990fde5741011926c84c45ea3c51ced3">&#9670;&#160;</a></span>isTaskRunning()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">bool Flywheel::isTaskRunning </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<p>Checks if the background RPM controlling task is running </p><dl class="section return"><dt>Returns</dt><dd>true if the task is running</dd></dl>
+<p>Checks if the background RPM controlling task is running </p><dl class="section return"><dt>Returns</dt><dd>taskRunning - If the task is running </dd></dl>
+
+</div>
+</div>
+<a id="ae46b69a8371dca7d6fb163c30192f666" name="ae46b69a8371dca7d6fb163c30192f666"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ae46b69a8371dca7d6fb163c30192f666">&#9670;&#160;</a></span>measureRPM()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">double Flywheel::measureRPM </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<p>make a measurement of the current RPM of the flywheel motor and return a smoothed version</p>
+<p>return the current velocity of the flywheel motors, in RPM </p><dl class="section return"><dt>Returns</dt><dd>the measured velocity of the flywheel </dd></dl>
+
+</div>
+</div>
+<a id="a5eeb847c6ef4736b1917bf32843c69aa" name="a5eeb847c6ef4736b1917bf32843c69aa"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a5eeb847c6ef4736b1917bf32843c69aa">&#9670;&#160;</a></span>setPIDTarget()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">void Flywheel::setPIDTarget </td>
+          <td>(</td>
+          <td class="paramtype">double&#160;</td>
+          <td class="paramname"><em>value</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<p>Sets the value of the <a class="el" href="classPID.html">PID</a> target </p><dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">value</td><td>- desired value of the <a class="el" href="classPID.html">PID</a> </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="a291e067bcc495a9d3da16a5832d78484" name="a291e067bcc495a9d3da16a5832d78484"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a291e067bcc495a9d3da16a5832d78484">&#9670;&#160;</a></span>spin_manual()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">void Flywheel::spin_manual </td>
+          <td>(</td>
+          <td class="paramtype">double&#160;</td>
+          <td class="paramname"><em>speed</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">directionType&#160;</td>
+          <td class="paramname"><em>dir</em> = <code>fwd</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<p>Spin motors using voltage; defaults forward at 12 volts FOR USE BY OPCONTROL AND AUTONOMOUS - this only applies if the RPM thread is not running </p><dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">speed</td><td>- speed (between -1 and 1) to set the motor </td></tr>
+    <tr><td class="paramname">dir</td><td>- direction that the motor moves in; defaults to forward </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="a5f4afa2ab8976acbf9fd47776a884dd3" name="a5f4afa2ab8976acbf9fd47776a884dd3"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a5f4afa2ab8976acbf9fd47776a884dd3">&#9670;&#160;</a></span>spin_raw()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">void Flywheel::spin_raw </td>
+          <td>(</td>
+          <td class="paramtype">double&#160;</td>
+          <td class="paramname"><em>speed</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">directionType&#160;</td>
+          <td class="paramname"><em>dir</em> = <code>fwd</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<p>Spin motors using voltage; defaults forward at 12 volts FOR USE BY TASKS ONLY </p><dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">speed</td><td>- speed (between -1 and 1) to set the motor </td></tr>
+    <tr><td class="paramname">dir</td><td>- direction that the motor moves in; defaults to forward </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="aa72700130c0c8a08517ec1396fe9cc2b" name="aa72700130c0c8a08517ec1396fe9cc2b"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aa72700130c0c8a08517ec1396fe9cc2b">&#9670;&#160;</a></span>spinRPM()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">void Flywheel::spinRPM </td>
+          <td>(</td>
+          <td class="paramtype">int&#160;</td>
+          <td class="paramname"><em>inputRPM</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<p>starts or sets the RPM thread at new value what control scheme is dependent on control_style </p><dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">rpm</td><td>- the RPM we want to spin at</td></tr>
+  </table>
+  </dd>
+</dl>
+<p>starts or sets the RPM thread at new value what control scheme is dependent on control_style </p><dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">inputRPM</td><td>- set the current RPM </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="a6634f5126f0404e0edeeff1e0e14d05e" name="a6634f5126f0404e0edeeff1e0e14d05e"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a6634f5126f0404e0edeeff1e0e14d05e">&#9670;&#160;</a></span>stop()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">void Flywheel::stop </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<p>stop the RPM thread and the wheel </p>
+
+</div>
+</div>
+<a id="a78eaa40c9c069b8b4146c3ae34a21d4e" name="a78eaa40c9c069b8b4146c3ae34a21d4e"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a78eaa40c9c069b8b4146c3ae34a21d4e">&#9670;&#160;</a></span>stopMotors()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">void Flywheel::stopMotors </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<p>stop only the motors; exclusively for BANG BANG use </p>
+
+</div>
+</div>
+<a id="a63c9c4d3646e4ed14f3b98ce3ab28684" name="a63c9c4d3646e4ed14f3b98ce3ab28684"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a63c9c4d3646e4ed14f3b98ce3ab28684">&#9670;&#160;</a></span>stopNonTasks()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">void Flywheel::stopNonTasks </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<p>Stop the motors if the task isn't running - stop manual control </p>
+
+</div>
+</div>
+<a id="aa9df5ad636fb49d76ba922ecd1115aef" name="aa9df5ad636fb49d76ba922ecd1115aef"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aa9df5ad636fb49d76ba922ecd1115aef">&#9670;&#160;</a></span>updatePID()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">void Flywheel::updatePID </td>
+          <td>(</td>
+          <td class="paramtype">double&#160;</td>
+          <td class="paramname"><em>value</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<p>updates the value of the <a class="el" href="classPID.html">PID</a> </p><dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">value</td><td>- value to update the <a class="el" href="classPID.html">PID</a> with </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following files:<ul>
+<li>include/subsystems/<a class="el" href="flywheel_8h_source.html">flywheel.h</a></li>
+<li>src/subsystems/flywheel.cpp</li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.6
+</small></address>
+</body>
+</html>
diff --git a/documentation/html/classFlywheelStopCommand-members.html b/documentation/html/classFlywheelStopCommand-members.html
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+</div>
+</div>
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+</div><!-- top -->
+<div class="header">
+  <div class="headertitle"><div class="title">FlywheelStopCommand Member List</div></div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classFlywheelStopCommand.html">FlywheelStopCommand</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classFlywheelStopCommand.html#a3e94b6c95ab4ad8216c9a87a22c07c4b">FlywheelStopCommand</a>(Flywheel &amp;flywheel)</td><td class="entry"><a class="el" href="classFlywheelStopCommand.html">FlywheelStopCommand</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classAutoCommand.html#a68475854d11e7c3be90e9c6e8fc9e982">on_timeout</a>()</td><td class="entry"><a class="el" href="classAutoCommand.html">AutoCommand</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classFlywheelStopCommand.html#a9be8ca8422bd7b5f5a03cbf8e21025a7">run</a>() override</td><td class="entry"><a class="el" href="classFlywheelStopCommand.html">FlywheelStopCommand</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classAutoCommand.html#ac3be7be26e49981ad1978491fd313472">timeout_seconds</a></td><td class="entry"><a class="el" href="classAutoCommand.html">AutoCommand</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>withTimeout</b>(double t_seconds) (defined in <a class="el" href="classAutoCommand.html">AutoCommand</a>)</td><td class="entry"><a class="el" href="classAutoCommand.html">AutoCommand</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
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+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>RIT VEXU Core API: FlywheelStopCommand Class Reference</title>
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+<script type="text/javascript" src="jquery.js"></script>
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+</div>
+</div>
+</div>
+</div>
+
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="classFlywheelStopCommand-members.html">List of all members</a>  </div>
+  <div class="headertitle"><div class="title">FlywheelStopCommand Class Reference</div></div>
+</div><!--header-->
+<div class="contents">
+
+<p><code>#include &lt;<a class="el" href="flywheel__commands_8h_source.html">flywheel_commands.h</a>&gt;</code></p>
+<div class="dynheader">
+Inheritance diagram for FlywheelStopCommand:</div>
+<div class="dyncontent">
+ <div class="center">
+  <img src="classFlywheelStopCommand.png" usemap="#FlywheelStopCommand_map" alt=""/>
+  <map id="FlywheelStopCommand_map" name="FlywheelStopCommand_map">
+<area href="classAutoCommand.html" alt="AutoCommand" shape="rect" coords="0,0,143,24"/>
+  </map>
+</div></div>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-methods" name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
+<tr class="memitem:a3e94b6c95ab4ad8216c9a87a22c07c4b"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classFlywheelStopCommand.html#a3e94b6c95ab4ad8216c9a87a22c07c4b">FlywheelStopCommand</a> (<a class="el" href="classFlywheel.html">Flywheel</a> &amp;flywheel)</td></tr>
+<tr class="separator:a3e94b6c95ab4ad8216c9a87a22c07c4b"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a9be8ca8422bd7b5f5a03cbf8e21025a7"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classFlywheelStopCommand.html#a9be8ca8422bd7b5f5a03cbf8e21025a7">run</a> () override</td></tr>
+<tr class="separator:a9be8ca8422bd7b5f5a03cbf8e21025a7"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_methods_classAutoCommand"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classAutoCommand')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="classAutoCommand.html">AutoCommand</a></td></tr>
+<tr class="memitem:a9f58c576ca6378b18a4136f60df50560 inherit pub_methods_classAutoCommand"><td class="memItemLeft" align="right" valign="top">virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classAutoCommand.html#a9f58c576ca6378b18a4136f60df50560">run</a> ()</td></tr>
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+<tr class="memitem:a68475854d11e7c3be90e9c6e8fc9e982 inherit pub_methods_classAutoCommand"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classAutoCommand.html#a68475854d11e7c3be90e9c6e8fc9e982">on_timeout</a> ()</td></tr>
+<tr class="separator:a68475854d11e7c3be90e9c6e8fc9e982 inherit pub_methods_classAutoCommand"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a75b2b87e945fd7b98b758617feb30404 inherit pub_methods_classAutoCommand"><td class="memItemLeft" align="right" valign="top"><a id="a75b2b87e945fd7b98b758617feb30404" name="a75b2b87e945fd7b98b758617feb30404"></a>
+<a class="el" href="classAutoCommand.html">AutoCommand</a> *&#160;</td><td class="memItemRight" valign="bottom"><b>withTimeout</b> (double t_seconds)</td></tr>
+<tr class="separator:a75b2b87e945fd7b98b758617feb30404 inherit pub_methods_classAutoCommand"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="inherited" name="inherited"></a>
+Additional Inherited Members</h2></td></tr>
+<tr class="inherit_header pub_attribs_classAutoCommand"><td colspan="2" onclick="javascript:toggleInherit('pub_attribs_classAutoCommand')"><img src="closed.png" alt="-"/>&#160;Public Attributes inherited from <a class="el" href="classAutoCommand.html">AutoCommand</a></td></tr>
+<tr class="memitem:ac3be7be26e49981ad1978491fd313472 inherit pub_attribs_classAutoCommand"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classAutoCommand.html#ac3be7be26e49981ad1978491fd313472">timeout_seconds</a> = 10.0</td></tr>
+<tr class="separator:ac3be7be26e49981ad1978491fd313472 inherit pub_attribs_classAutoCommand"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p><a class="el" href="classAutoCommand.html">AutoCommand</a> wrapper class for the stop function in the <a class="el" href="classFlywheel.html">Flywheel</a> class </p>
+</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="a3e94b6c95ab4ad8216c9a87a22c07c4b" name="a3e94b6c95ab4ad8216c9a87a22c07c4b"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a3e94b6c95ab4ad8216c9a87a22c07c4b">&#9670;&#160;</a></span>FlywheelStopCommand()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">FlywheelStopCommand::FlywheelStopCommand </td>
+          <td>(</td>
+          <td class="paramtype"><a class="el" href="classFlywheel.html">Flywheel</a> &amp;&#160;</td>
+          <td class="paramname"><em>flywheel</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<p>Construct a <a class="el" href="classFlywheelStopCommand.html">FlywheelStopCommand</a> </p><dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">flywheel</td><td>the flywheel system we are commanding </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a9be8ca8422bd7b5f5a03cbf8e21025a7" name="a9be8ca8422bd7b5f5a03cbf8e21025a7"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a9be8ca8422bd7b5f5a03cbf8e21025a7">&#9670;&#160;</a></span>run()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">bool FlywheelStopCommand::run </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">override</span><span class="mlabel">virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<p>Run stop Overrides run from <a class="el" href="classAutoCommand.html">AutoCommand</a> </p><dl class="section return"><dt>Returns</dt><dd>true when execution is complete, false otherwise </dd></dl>
+
+<p>Reimplemented from <a class="el" href="classAutoCommand.html#a9f58c576ca6378b18a4136f60df50560">AutoCommand</a>.</p>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following files:<ul>
+<li>include/utils/command_structure/<a class="el" href="flywheel__commands_8h_source.html">flywheel_commands.h</a></li>
+<li>src/utils/command_structure/flywheel_commands.cpp</li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.6
+</small></address>
+</body>
+</html>
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+<meta name="generator" content="Doxygen 1.9.6"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>RIT VEXU Core API: Member List</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
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+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr id="projectrow">
+  <td id="projectalign">
+   <div id="projectname">RIT VEXU Core API
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+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.6 -->
+<script type="text/javascript">
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+var searchBox = new SearchBox("searchBox", "search/",'.html');
+/* @license-end */
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
+/* @license-end */
+</script>
+<div id="main-nav"></div>
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
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+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<div id="MSearchResults">
+<div class="SRPage">
+<div id="SRIndex">
+<div id="SRResults"></div>
+<div class="SRStatus" id="Loading">Loading...</div>
+<div class="SRStatus" id="Searching">Searching...</div>
+<div class="SRStatus" id="NoMatches">No Matches</div>
+</div>
+</div>
+</div>
+</div>
+
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle"><div class="title">FlywheelStopMotorsCommand Member List</div></div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classFlywheelStopMotorsCommand.html">FlywheelStopMotorsCommand</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classFlywheelStopMotorsCommand.html#a0e7ce6586a6ae1ec9322114ede691a13">FlywheelStopMotorsCommand</a>(Flywheel &amp;flywheel)</td><td class="entry"><a class="el" href="classFlywheelStopMotorsCommand.html">FlywheelStopMotorsCommand</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classAutoCommand.html#a68475854d11e7c3be90e9c6e8fc9e982">on_timeout</a>()</td><td class="entry"><a class="el" href="classAutoCommand.html">AutoCommand</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classFlywheelStopMotorsCommand.html#ab5b75338d50c3674a5fe27a5e77698bc">run</a>() override</td><td class="entry"><a class="el" href="classFlywheelStopMotorsCommand.html">FlywheelStopMotorsCommand</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classAutoCommand.html#ac3be7be26e49981ad1978491fd313472">timeout_seconds</a></td><td class="entry"><a class="el" href="classAutoCommand.html">AutoCommand</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>withTimeout</b>(double t_seconds) (defined in <a class="el" href="classAutoCommand.html">AutoCommand</a>)</td><td class="entry"><a class="el" href="classAutoCommand.html">AutoCommand</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
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+</div>
+</div>
+
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="classFlywheelStopMotorsCommand-members.html">List of all members</a>  </div>
+  <div class="headertitle"><div class="title">FlywheelStopMotorsCommand Class Reference</div></div>
+</div><!--header-->
+<div class="contents">
+
+<p><code>#include &lt;<a class="el" href="flywheel__commands_8h_source.html">flywheel_commands.h</a>&gt;</code></p>
+<div class="dynheader">
+Inheritance diagram for FlywheelStopMotorsCommand:</div>
+<div class="dyncontent">
+ <div class="center">
+  <img src="classFlywheelStopMotorsCommand.png" usemap="#FlywheelStopMotorsCommand_map" alt=""/>
+  <map id="FlywheelStopMotorsCommand_map" name="FlywheelStopMotorsCommand_map">
+<area href="classAutoCommand.html" alt="AutoCommand" shape="rect" coords="0,0,182,24"/>
+  </map>
+</div></div>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-methods" name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
+<tr class="memitem:a0e7ce6586a6ae1ec9322114ede691a13"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classFlywheelStopMotorsCommand.html#a0e7ce6586a6ae1ec9322114ede691a13">FlywheelStopMotorsCommand</a> (<a class="el" href="classFlywheel.html">Flywheel</a> &amp;flywheel)</td></tr>
+<tr class="separator:a0e7ce6586a6ae1ec9322114ede691a13"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ab5b75338d50c3674a5fe27a5e77698bc"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classFlywheelStopMotorsCommand.html#ab5b75338d50c3674a5fe27a5e77698bc">run</a> () override</td></tr>
+<tr class="separator:ab5b75338d50c3674a5fe27a5e77698bc"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_methods_classAutoCommand"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classAutoCommand')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="classAutoCommand.html">AutoCommand</a></td></tr>
+<tr class="memitem:a9f58c576ca6378b18a4136f60df50560 inherit pub_methods_classAutoCommand"><td class="memItemLeft" align="right" valign="top">virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classAutoCommand.html#a9f58c576ca6378b18a4136f60df50560">run</a> ()</td></tr>
+<tr class="separator:a9f58c576ca6378b18a4136f60df50560 inherit pub_methods_classAutoCommand"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a68475854d11e7c3be90e9c6e8fc9e982 inherit pub_methods_classAutoCommand"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classAutoCommand.html#a68475854d11e7c3be90e9c6e8fc9e982">on_timeout</a> ()</td></tr>
+<tr class="separator:a68475854d11e7c3be90e9c6e8fc9e982 inherit pub_methods_classAutoCommand"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a75b2b87e945fd7b98b758617feb30404 inherit pub_methods_classAutoCommand"><td class="memItemLeft" align="right" valign="top"><a id="a75b2b87e945fd7b98b758617feb30404" name="a75b2b87e945fd7b98b758617feb30404"></a>
+<a class="el" href="classAutoCommand.html">AutoCommand</a> *&#160;</td><td class="memItemRight" valign="bottom"><b>withTimeout</b> (double t_seconds)</td></tr>
+<tr class="separator:a75b2b87e945fd7b98b758617feb30404 inherit pub_methods_classAutoCommand"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="inherited" name="inherited"></a>
+Additional Inherited Members</h2></td></tr>
+<tr class="inherit_header pub_attribs_classAutoCommand"><td colspan="2" onclick="javascript:toggleInherit('pub_attribs_classAutoCommand')"><img src="closed.png" alt="-"/>&#160;Public Attributes inherited from <a class="el" href="classAutoCommand.html">AutoCommand</a></td></tr>
+<tr class="memitem:ac3be7be26e49981ad1978491fd313472 inherit pub_attribs_classAutoCommand"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classAutoCommand.html#ac3be7be26e49981ad1978491fd313472">timeout_seconds</a> = 10.0</td></tr>
+<tr class="separator:ac3be7be26e49981ad1978491fd313472 inherit pub_attribs_classAutoCommand"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p><a class="el" href="classAutoCommand.html">AutoCommand</a> wrapper class for the stopMotors function in the <a class="el" href="classFlywheel.html">Flywheel</a> class </p>
+</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="a0e7ce6586a6ae1ec9322114ede691a13" name="a0e7ce6586a6ae1ec9322114ede691a13"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a0e7ce6586a6ae1ec9322114ede691a13">&#9670;&#160;</a></span>FlywheelStopMotorsCommand()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">FlywheelStopMotorsCommand::FlywheelStopMotorsCommand </td>
+          <td>(</td>
+          <td class="paramtype"><a class="el" href="classFlywheel.html">Flywheel</a> &amp;&#160;</td>
+          <td class="paramname"><em>flywheel</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<p>Construct a FlywheeStopMotors Command </p><dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">flywheel</td><td>the flywheel system we are commanding </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="ab5b75338d50c3674a5fe27a5e77698bc" name="ab5b75338d50c3674a5fe27a5e77698bc"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ab5b75338d50c3674a5fe27a5e77698bc">&#9670;&#160;</a></span>run()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
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+          <td class="memname">bool FlywheelStopMotorsCommand::run </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">override</span><span class="mlabel">virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<p>Run stop Overrides run from <a class="el" href="classAutoCommand.html">AutoCommand</a> </p><dl class="section return"><dt>Returns</dt><dd>true when execution is complete, false otherwise </dd></dl>
+
+<p>Reimplemented from <a class="el" href="classAutoCommand.html#a9f58c576ca6378b18a4136f60df50560">AutoCommand</a>.</p>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following files:<ul>
+<li>include/utils/command_structure/<a class="el" href="flywheel__commands_8h_source.html">flywheel_commands.h</a></li>
+<li>src/utils/command_structure/flywheel_commands.cpp</li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.6
+</small></address>
+</body>
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+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>RIT VEXU Core API: Member List</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
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+   <div id="projectname">RIT VEXU Core API
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+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.6 -->
+<script type="text/javascript">
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+  $(document).ready(function() { init_search(); });
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+</div>
+
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle"><div class="title">FlywheelStopNonTasksCommand Member List</div></div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classFlywheelStopNonTasksCommand.html">FlywheelStopNonTasksCommand</a>, including all inherited members.</p>
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+  <tr class="even"><td class="entry"><a class="el" href="classAutoCommand.html#a68475854d11e7c3be90e9c6e8fc9e982">on_timeout</a>()</td><td class="entry"><a class="el" href="classAutoCommand.html">AutoCommand</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classAutoCommand.html#ac3be7be26e49981ad1978491fd313472">timeout_seconds</a></td><td class="entry"><a class="el" href="classAutoCommand.html">AutoCommand</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>withTimeout</b>(double t_seconds) (defined in <a class="el" href="classAutoCommand.html">AutoCommand</a>)</td><td class="entry"><a class="el" href="classAutoCommand.html">AutoCommand</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+</table></div><!-- contents -->
+<!-- start footer part -->
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+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.6
+</small></address>
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diff --git a/documentation/html/classFlywheelStopNonTasksCommand.html b/documentation/html/classFlywheelStopNonTasksCommand.html
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+<meta http-equiv="X-UA-Compatible" content="IE=11"/>
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+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>RIT VEXU Core API: FlywheelStopNonTasksCommand Class Reference</title>
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+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
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+</table>
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+/* @license-end */
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+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
+/* @license-end */
+</script>
+<div id="main-nav"></div>
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
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+<!-- iframe showing the search results (closed by default) -->
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+<div id="MSearchResults">
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+<div id="SRIndex">
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+<div class="SRStatus" id="Loading">Loading...</div>
+<div class="SRStatus" id="Searching">Searching...</div>
+<div class="SRStatus" id="NoMatches">No Matches</div>
+</div>
+</div>
+</div>
+</div>
+
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="classFlywheelStopNonTasksCommand-members.html">List of all members</a>  </div>
+  <div class="headertitle"><div class="title">FlywheelStopNonTasksCommand Class Reference</div></div>
+</div><!--header-->
+<div class="contents">
+
+<p><code>#include &lt;<a class="el" href="flywheel__commands_8h_source.html">flywheel_commands.h</a>&gt;</code></p>
+<div class="dynheader">
+Inheritance diagram for FlywheelStopNonTasksCommand:</div>
+<div class="dyncontent">
+ <div class="center">
+  <img src="classFlywheelStopNonTasksCommand.png" usemap="#FlywheelStopNonTasksCommand_map" alt=""/>
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+<table class="memberdecls">
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+<tr class="separator:a68475854d11e7c3be90e9c6e8fc9e982 inherit pub_methods_classAutoCommand"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a75b2b87e945fd7b98b758617feb30404 inherit pub_methods_classAutoCommand"><td class="memItemLeft" align="right" valign="top"><a id="a75b2b87e945fd7b98b758617feb30404" name="a75b2b87e945fd7b98b758617feb30404"></a>
+<a class="el" href="classAutoCommand.html">AutoCommand</a> *&#160;</td><td class="memItemRight" valign="bottom"><b>withTimeout</b> (double t_seconds)</td></tr>
+<tr class="separator:a75b2b87e945fd7b98b758617feb30404 inherit pub_methods_classAutoCommand"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_attribs_classAutoCommand"><td colspan="2" onclick="javascript:toggleInherit('pub_attribs_classAutoCommand')"><img src="closed.png" alt="-"/>&#160;Public Attributes inherited from <a class="el" href="classAutoCommand.html">AutoCommand</a></td></tr>
+<tr class="memitem:ac3be7be26e49981ad1978491fd313472 inherit pub_attribs_classAutoCommand"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classAutoCommand.html#ac3be7be26e49981ad1978491fd313472">timeout_seconds</a> = 10.0</td></tr>
+<tr class="separator:ac3be7be26e49981ad1978491fd313472 inherit pub_attribs_classAutoCommand"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p><a class="el" href="classAutoCommand.html">AutoCommand</a> wrapper class for the stopNonTasks function in the <a class="el" href="classFlywheel.html">Flywheel</a> class </p>
+</div><hr/>The documentation for this class was generated from the following files:<ul>
+<li>include/utils/command_structure/<a class="el" href="flywheel__commands_8h_source.html">flywheel_commands.h</a></li>
+<li>src/utils/command_structure/flywheel_commands.cpp</li>
+</ul>
+</div><!-- contents -->
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+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.6
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+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>RIT VEXU Core API: Member List</title>
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+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
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+<div id="titlearea">
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+   <div id="projectname">RIT VEXU Core API
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+</div>
+</div>
+</div>
+</div>
+
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle"><div class="title">GenericAuto Member List</div></div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classGenericAuto.html">GenericAuto</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classGenericAuto.html#af48629556173af1f5106f7405a196f47">add</a>(state_ptr new_state)</td><td class="entry"><a class="el" href="classGenericAuto.html">GenericAuto</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classGenericAuto.html#a938fb69c14735d4cf88ebc7589dcad1c">add_async</a>(state_ptr async_state)</td><td class="entry"><a class="el" href="classGenericAuto.html">GenericAuto</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classGenericAuto.html#aaadc99efe49a375f0dc80db7e886d96c">add_delay</a>(int ms)</td><td class="entry"><a class="el" href="classGenericAuto.html">GenericAuto</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classGenericAuto.html#af25dcaaf074980064382c458812b3c9c">run</a>(bool blocking)</td><td class="entry"><a class="el" href="classGenericAuto.html">GenericAuto</a></td><td class="entry"></td></tr>
+</table></div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.6
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+<meta name="viewport" content="width=device-width, initial-scale=1"/>
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+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
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+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
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+  <td id="projectalign">
+   <div id="projectname">RIT VEXU Core API
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+/* @license-end */
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+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
+/* @license-end */
+</script>
+<div id="main-nav"></div>
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
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+<div class="SRStatus" id="NoMatches">No Matches</div>
+</div>
+</div>
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+</div>
+
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="classGenericAuto-members.html">List of all members</a>  </div>
+  <div class="headertitle"><div class="title">GenericAuto Class Reference</div></div>
+</div><!--header-->
+<div class="contents">
+
+<p><code>#include &lt;<a class="el" href="generic__auto_8h_source.html">generic_auto.h</a>&gt;</code></p>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-methods" name="pub-methods"></a>
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+<tr class="memitem:af25dcaaf074980064382c458812b3c9c"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classGenericAuto.html#af25dcaaf074980064382c458812b3c9c">run</a> (bool blocking)</td></tr>
+<tr class="separator:af25dcaaf074980064382c458812b3c9c"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:af48629556173af1f5106f7405a196f47"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classGenericAuto.html#af48629556173af1f5106f7405a196f47">add</a> (state_ptr new_state)</td></tr>
+<tr class="separator:af48629556173af1f5106f7405a196f47"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a938fb69c14735d4cf88ebc7589dcad1c"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classGenericAuto.html#a938fb69c14735d4cf88ebc7589dcad1c">add_async</a> (state_ptr async_state)</td></tr>
+<tr class="separator:a938fb69c14735d4cf88ebc7589dcad1c"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aaadc99efe49a375f0dc80db7e886d96c"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classGenericAuto.html#aaadc99efe49a375f0dc80db7e886d96c">add_delay</a> (int ms)</td></tr>
+<tr class="separator:aaadc99efe49a375f0dc80db7e886d96c"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p><a class="el" href="classGenericAuto.html">GenericAuto</a> provides a pleasant interface for organizing an auto path steps of the path can be added with <a class="el" href="classGenericAuto.html#af48629556173af1f5106f7405a196f47">add()</a> and when ready, calling <a class="el" href="classGenericAuto.html#af25dcaaf074980064382c458812b3c9c">run()</a> will begin executing the path </p>
+</div><h2 class="groupheader">Member Function Documentation</h2>
+<a id="af48629556173af1f5106f7405a196f47" name="af48629556173af1f5106f7405a196f47"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#af48629556173af1f5106f7405a196f47">&#9670;&#160;</a></span>add()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">void GenericAuto::add </td>
+          <td>(</td>
+          <td class="paramtype">state_ptr&#160;</td>
+          <td class="paramname"><em>new_state</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<p>Add a new state to the autonomous via function point of type "bool (ptr*)()" </p><dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">new_state</td><td>the function to run </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="a938fb69c14735d4cf88ebc7589dcad1c" name="a938fb69c14735d4cf88ebc7589dcad1c"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a938fb69c14735d4cf88ebc7589dcad1c">&#9670;&#160;</a></span>add_async()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">void GenericAuto::add_async </td>
+          <td>(</td>
+          <td class="paramtype">state_ptr&#160;</td>
+          <td class="paramname"><em>async_state</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<p>Add a new state to the autonomous via function point of type "bool (ptr*)()" that will run asynchronously </p><dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">async_state</td><td>the function to run </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="aaadc99efe49a375f0dc80db7e886d96c" name="aaadc99efe49a375f0dc80db7e886d96c"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aaadc99efe49a375f0dc80db7e886d96c">&#9670;&#160;</a></span>add_delay()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">void GenericAuto::add_delay </td>
+          <td>(</td>
+          <td class="paramtype">int&#160;</td>
+          <td class="paramname"><em>ms</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<p>add_delay adds a period where the auto system will simply wait for the specified time </p><dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">ms</td><td>how long to wait in milliseconds </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="af25dcaaf074980064382c458812b3c9c" name="af25dcaaf074980064382c458812b3c9c"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#af25dcaaf074980064382c458812b3c9c">&#9670;&#160;</a></span>run()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">bool GenericAuto::run </td>
+          <td>(</td>
+          <td class="paramtype">bool&#160;</td>
+          <td class="paramname"><em>blocking</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<p>The method that runs the autonomous. If 'blocking' is true, then this method will run through every state until it finished.</p>
+<p>If blocking is false, then assuming every state is also non-blocking, the method will run through the current state in the list and return immediately.</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">blocking</td><td>Whether or not to block the thread until all states have run </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>true after all states have finished. </dd></dl>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following files:<ul>
+<li>include/utils/<a class="el" href="generic__auto_8h_source.html">generic_auto.h</a></li>
+<li>src/utils/generic_auto.cpp</li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.6
+</small></address>
+</body>
+</html>
diff --git a/documentation/html/classGraphDrawer-members.html b/documentation/html/classGraphDrawer-members.html
new file mode 100644
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+<html xmlns="http://www.w3.org/1999/xhtml" lang="en-US">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=11"/>
+<meta name="generator" content="Doxygen 1.9.6"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>RIT VEXU Core API: Member List</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
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+   <div id="projectname">RIT VEXU Core API
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+<div class="header">
+  <div class="headertitle"><div class="title">GraphDrawer Member List</div></div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classGraphDrawer.html">GraphDrawer</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classGraphDrawer.html#a41cadd5ade1ae9de1a82cc97ee15557c">add_sample</a>(Vector2D::point_t sample)</td><td class="entry"><a class="el" href="classGraphDrawer.html">GraphDrawer</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classGraphDrawer.html#a420b88cacbf91908dc64624eb113d197">draw</a>(int x, int y, int width, int height)</td><td class="entry"><a class="el" href="classGraphDrawer.html">GraphDrawer</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classGraphDrawer.html#a8066ff51adb3cbbeca34268d13f34c5f">GraphDrawer</a>(vex::brain::lcd &amp;screen, int num_samples, std::string x_label, std::string y_label, vex::color col, bool draw_border, double lower_bound, double upper_bound)</td><td class="entry"><a class="el" href="classGraphDrawer.html">GraphDrawer</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+</table></div><!-- contents -->
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+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.6
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+</html>
diff --git a/documentation/html/classGraphDrawer.html b/documentation/html/classGraphDrawer.html
new file mode 100644
index 0000000..20307e4
--- /dev/null
+++ b/documentation/html/classGraphDrawer.html
@@ -0,0 +1,277 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
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+<title>RIT VEXU Core API: GraphDrawer Class Reference</title>
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+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="classGraphDrawer-members.html">List of all members</a>  </div>
+  <div class="headertitle"><div class="title">GraphDrawer Class Reference</div></div>
+</div><!--header-->
+<div class="contents">
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-methods" name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
+<tr class="memitem:a8066ff51adb3cbbeca34268d13f34c5f"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classGraphDrawer.html#a8066ff51adb3cbbeca34268d13f34c5f">GraphDrawer</a> (vex::brain::lcd &amp;screen, int num_samples, std::string x_label, std::string y_label, vex::color col, bool draw_border, double lower_bound, double upper_bound)</td></tr>
+<tr class="memdesc:a8066ff51adb3cbbeca34268d13f34c5f"><td class="mdescLeft">&#160;</td><td class="mdescRight">a helper class to graph values on the brain screen  <br /></td></tr>
+<tr class="separator:a8066ff51adb3cbbeca34268d13f34c5f"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a41cadd5ade1ae9de1a82cc97ee15557c"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classGraphDrawer.html#a41cadd5ade1ae9de1a82cc97ee15557c">add_sample</a> (<a class="el" href="structVector2D_1_1point__t.html">Vector2D::point_t</a> sample)</td></tr>
+<tr class="separator:a41cadd5ade1ae9de1a82cc97ee15557c"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a420b88cacbf91908dc64624eb113d197"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classGraphDrawer.html#a420b88cacbf91908dc64624eb113d197">draw</a> (int x, int y, int width, int height)</td></tr>
+<tr class="separator:a420b88cacbf91908dc64624eb113d197"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="a8066ff51adb3cbbeca34268d13f34c5f" name="a8066ff51adb3cbbeca34268d13f34c5f"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a8066ff51adb3cbbeca34268d13f34c5f">&#9670;&#160;</a></span>GraphDrawer()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">GraphDrawer::GraphDrawer </td>
+          <td>(</td>
+          <td class="paramtype">vex::brain::lcd &amp;&#160;</td>
+          <td class="paramname"><em>screen</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">int&#160;</td>
+          <td class="paramname"><em>num_samples</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">std::string&#160;</td>
+          <td class="paramname"><em>x_label</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">std::string&#160;</td>
+          <td class="paramname"><em>y_label</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">vex::color&#160;</td>
+          <td class="paramname"><em>col</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">bool&#160;</td>
+          <td class="paramname"><em>draw_border</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">double&#160;</td>
+          <td class="paramname"><em>lower_bound</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">double&#160;</td>
+          <td class="paramname"><em>upper_bound</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>a helper class to graph values on the brain screen </p>
+<p>Construct a <a class="el" href="classGraphDrawer.html">GraphDrawer</a> </p><dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">screen</td><td>a reference to Brain.screen we can save for later </td></tr>
+    <tr><td class="paramname">num_samples</td><td>the graph works on a fixed window and will plot the last <code>num_samples</code> before the history is forgotten. Larger values give more context but may slow down if you have many graphs or an exceptionally high </td></tr>
+    <tr><td class="paramname">x_label</td><td>the name of the x axis (currently unused) </td></tr>
+    <tr><td class="paramname">y_label</td><td>the name of the y axis (currently unused) </td></tr>
+    <tr><td class="paramname">draw_border</td><td>whether to draw the border around the graph. can be turned off if there are multiple graphs in the same space ie. a graph of error and output </td></tr>
+    <tr><td class="paramname">lower_bound</td><td>the bottom of the window to graph. if lower_bound == upperbound, the graph will scale to it's datapoints <br  />
+ </td></tr>
+    <tr><td class="paramname">upper_bound</td><td>the top of the window to graph. if lower_bound == upperbound, the graph will scale to it's datapoints <br  />
+ </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a41cadd5ade1ae9de1a82cc97ee15557c" name="a41cadd5ade1ae9de1a82cc97ee15557c"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a41cadd5ade1ae9de1a82cc97ee15557c">&#9670;&#160;</a></span>add_sample()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">void GraphDrawer::add_sample </td>
+          <td>(</td>
+          <td class="paramtype"><a class="el" href="structVector2D_1_1point__t.html">Vector2D::point_t</a>&#160;</td>
+          <td class="paramname"><em>sample</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<p>add_sample adds a point to the graph, removing one from the back </p><dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">sample</td><td>an x, y coordinate of the next point to graph </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="a420b88cacbf91908dc64624eb113d197" name="a420b88cacbf91908dc64624eb113d197"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a420b88cacbf91908dc64624eb113d197">&#9670;&#160;</a></span>draw()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">void GraphDrawer::draw </td>
+          <td>(</td>
+          <td class="paramtype">int&#160;</td>
+          <td class="paramname"><em>x</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">int&#160;</td>
+          <td class="paramname"><em>y</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">int&#160;</td>
+          <td class="paramname"><em>width</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">int&#160;</td>
+          <td class="paramname"><em>height</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<p>draws the graph to the screen in the constructor </p><dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">x</td><td>x position of the top left of the graphed region </td></tr>
+    <tr><td class="paramname">y</td><td>y position of the top left of the graphed region </td></tr>
+    <tr><td class="paramname">width</td><td>the width of the graphed region </td></tr>
+    <tr><td class="paramname">height</td><td>the height of the graphed region </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>include/utils/<a class="el" href="graph__drawer_8h_source.html">graph_drawer.h</a></li>
+</ul>
+</div><!-- contents -->
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+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.6
+</small></address>
+</body>
+</html>
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+  <div class="headertitle"><div class="title">Lift&lt; T &gt; Member List</div></div>
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+<p>This is the complete list of members for <a class="el" href="classLift.html">Lift&lt; T &gt;</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classLift.html#ae585cb81d733c975a65bfa7914a6bfeb">control_continuous</a>(bool up_ctrl, bool down_ctrl)</td><td class="entry"><a class="el" href="classLift.html">Lift&lt; T &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classLift.html#acfeaf4547de1b6a01982e8e51b0bb224">control_manual</a>(bool up_btn, bool down_btn, int volt_up, int volt_down)</td><td class="entry"><a class="el" href="classLift.html">Lift&lt; T &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classLift.html#a7197ad879474798a5c1fec4963058c3a">control_setpoints</a>(bool up_step, bool down_step, vector&lt; T &gt; pos_list)</td><td class="entry"><a class="el" href="classLift.html">Lift&lt; T &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
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+  <tr class="even"><td class="entry"><a class="el" href="classLift.html#adaa6cb65351d0c8a2c199a87a318b133">get_setpoint</a>()</td><td class="entry"><a class="el" href="classLift.html">Lift&lt; T &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classLift.html#a9afcbf54cdd919a2c5a68f95c7a0c9e8">hold</a>()</td><td class="entry"><a class="el" href="classLift.html">Lift&lt; T &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classLift.html#ab53178b13037a4c6b1fd07657cff1f25">home</a>()</td><td class="entry"><a class="el" href="classLift.html">Lift&lt; T &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classLift.html#aa5723874330725dec5176ec4174e9ea8">Lift</a>(motor_group &amp;lift_motors, lift_cfg_t &amp;lift_cfg, map&lt; T, double &gt; &amp;setpoint_map, limit *homing_switch=NULL)</td><td class="entry"><a class="el" href="classLift.html">Lift&lt; T &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classLift.html#a7f37703180518390ec38cba9a780282b">set_async</a>(bool val)</td><td class="entry"><a class="el" href="classLift.html">Lift&lt; T &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classLift.html#ab3cb7bc86faa079ec1249b5026ea6a85">set_position</a>(T pos)</td><td class="entry"><a class="el" href="classLift.html">Lift&lt; T &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classLift.html#a08b7cdcfc9390f4945dd3737ac0e5ddc">set_sensor_function</a>(double(*fn_ptr)(void))</td><td class="entry"><a class="el" href="classLift.html">Lift&lt; T &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classLift.html#a70b8e7cff5cd3b5827d8da07a02d92e6">set_sensor_reset</a>(void(*fn_ptr)(void))</td><td class="entry"><a class="el" href="classLift.html">Lift&lt; T &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classLift.html#a662bdc055d706699ef5cf308cd8872f8">set_setpoint</a>(double val)</td><td class="entry"><a class="el" href="classLift.html">Lift&lt; T &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+</table></div><!-- contents -->
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+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.6
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+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#nested-classes">Classes</a> &#124;
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="classLift-members.html">List of all members</a>  </div>
+  <div class="headertitle"><div class="title">Lift&lt; T &gt; Class Template Reference</div></div>
+</div><!--header-->
+<div class="contents">
+
+<p><code>#include &lt;<a class="el" href="lift_8h_source.html">lift.h</a>&gt;</code></p>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="nested-classes" name="nested-classes"></a>
+Classes</h2></td></tr>
+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structLift_1_1lift__cfg__t.html">lift_cfg_t</a></td></tr>
+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-methods" name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
+<tr class="memitem:aa5723874330725dec5176ec4174e9ea8"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classLift.html#aa5723874330725dec5176ec4174e9ea8">Lift</a> (motor_group &amp;lift_motors, <a class="el" href="structLift_1_1lift__cfg__t.html">lift_cfg_t</a> &amp;lift_cfg, map&lt; T, double &gt; &amp;setpoint_map, limit *homing_switch=NULL)</td></tr>
+<tr class="separator:aa5723874330725dec5176ec4174e9ea8"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ae585cb81d733c975a65bfa7914a6bfeb"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classLift.html#ae585cb81d733c975a65bfa7914a6bfeb">control_continuous</a> (bool up_ctrl, bool down_ctrl)</td></tr>
+<tr class="separator:ae585cb81d733c975a65bfa7914a6bfeb"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:acfeaf4547de1b6a01982e8e51b0bb224"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classLift.html#acfeaf4547de1b6a01982e8e51b0bb224">control_manual</a> (bool up_btn, bool down_btn, int volt_up, int volt_down)</td></tr>
+<tr class="separator:acfeaf4547de1b6a01982e8e51b0bb224"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a7197ad879474798a5c1fec4963058c3a"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classLift.html#a7197ad879474798a5c1fec4963058c3a">control_setpoints</a> (bool up_step, bool down_step, vector&lt; T &gt; pos_list)</td></tr>
+<tr class="separator:a7197ad879474798a5c1fec4963058c3a"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ab3cb7bc86faa079ec1249b5026ea6a85"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classLift.html#ab3cb7bc86faa079ec1249b5026ea6a85">set_position</a> (T pos)</td></tr>
+<tr class="separator:ab3cb7bc86faa079ec1249b5026ea6a85"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a662bdc055d706699ef5cf308cd8872f8"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classLift.html#a662bdc055d706699ef5cf308cd8872f8">set_setpoint</a> (double val)</td></tr>
+<tr class="separator:a662bdc055d706699ef5cf308cd8872f8"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:adaa6cb65351d0c8a2c199a87a318b133"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classLift.html#adaa6cb65351d0c8a2c199a87a318b133">get_setpoint</a> ()</td></tr>
+<tr class="separator:adaa6cb65351d0c8a2c199a87a318b133"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a9afcbf54cdd919a2c5a68f95c7a0c9e8"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classLift.html#a9afcbf54cdd919a2c5a68f95c7a0c9e8">hold</a> ()</td></tr>
+<tr class="separator:a9afcbf54cdd919a2c5a68f95c7a0c9e8"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ab53178b13037a4c6b1fd07657cff1f25"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classLift.html#ab53178b13037a4c6b1fd07657cff1f25">home</a> ()</td></tr>
+<tr class="separator:ab53178b13037a4c6b1fd07657cff1f25"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a6913ab2df38f0429641c256ec9288370"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classLift.html#a6913ab2df38f0429641c256ec9288370">get_async</a> ()</td></tr>
+<tr class="separator:a6913ab2df38f0429641c256ec9288370"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a7f37703180518390ec38cba9a780282b"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classLift.html#a7f37703180518390ec38cba9a780282b">set_async</a> (bool val)</td></tr>
+<tr class="separator:a7f37703180518390ec38cba9a780282b"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a08b7cdcfc9390f4945dd3737ac0e5ddc"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classLift.html#a08b7cdcfc9390f4945dd3737ac0e5ddc">set_sensor_function</a> (double(*fn_ptr)(void))</td></tr>
+<tr class="separator:a08b7cdcfc9390f4945dd3737ac0e5ddc"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a70b8e7cff5cd3b5827d8da07a02d92e6"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classLift.html#a70b8e7cff5cd3b5827d8da07a02d92e6">set_sensor_reset</a> (void(*fn_ptr)(void))</td></tr>
+<tr class="separator:a70b8e7cff5cd3b5827d8da07a02d92e6"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><div class="compoundTemplParams">template&lt;typename T&gt;<br />
+class Lift&lt; T &gt;</div><p>LIFT A general class for lifts (e.g. 4bar, dr4bar, linear, etc) Uses a <a class="el" href="classPID.html">PID</a> to hold the lift at a certain height under load, and to move the lift to different heights</p>
+<dl class="section author"><dt>Author</dt><dd>Ryan McGee </dd></dl>
+</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="aa5723874330725dec5176ec4174e9ea8" name="aa5723874330725dec5176ec4174e9ea8"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aa5723874330725dec5176ec4174e9ea8">&#9670;&#160;</a></span>Lift()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename T &gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname"><a class="el" href="classLift.html">Lift</a>&lt; T &gt;<a class="el" href="classLift.html">::Lift</a> </td>
+          <td>(</td>
+          <td class="paramtype">motor_group &amp;&#160;</td>
+          <td class="paramname"><em>lift_motors</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype"><a class="el" href="structLift_1_1lift__cfg__t.html">lift_cfg_t</a> &amp;&#160;</td>
+          <td class="paramname"><em>lift_cfg</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">map&lt; T, double &gt; &amp;&#160;</td>
+          <td class="paramname"><em>setpoint_map</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">limit *&#160;</td>
+          <td class="paramname"><em>homing_switch</em> = <code>NULL</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<p>Construct the <a class="el" href="classLift.html">Lift</a> object and begin the background task that controls the lift.</p>
+<p>Usage example: /code{.cpp} enum Positions {UP, MID, DOWN}; map&lt;Positions, double&gt; setpt_map { {DOWN, 0.0}, {MID, 0.5}, {UP, 1.0} }; Lift&lt;Positions&gt; my_lift(motors, lift_cfg, setpt_map); /endcode</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">lift_motors</td><td>A set of motors, all set that positive rotation correlates with the lift going up </td></tr>
+    <tr><td class="paramname">lift_cfg</td><td><a class="el" href="classLift.html">Lift</a> characterization information; <a class="el" href="classPID.html">PID</a> tunings and movement speeds </td></tr>
+    <tr><td class="paramname">setpoint_map</td><td>A map of enum type T, in which each enum entry corresponds to a different lift height </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="ae585cb81d733c975a65bfa7914a6bfeb" name="ae585cb81d733c975a65bfa7914a6bfeb"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ae585cb81d733c975a65bfa7914a6bfeb">&#9670;&#160;</a></span>control_continuous()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename T &gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">void <a class="el" href="classLift.html">Lift</a>&lt; T &gt;::control_continuous </td>
+          <td>(</td>
+          <td class="paramtype">bool&#160;</td>
+          <td class="paramname"><em>up_ctrl</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">bool&#160;</td>
+          <td class="paramname"><em>down_ctrl</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<p>Control the lift with an "up" button and a "down" button. Use <a class="el" href="classPID.html">PID</a> to hold the lift when letting go. </p><dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">up_ctrl</td><td>Button controlling the "UP" motion </td></tr>
+    <tr><td class="paramname">down_ctrl</td><td>Button controlling the "DOWN" motion </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="acfeaf4547de1b6a01982e8e51b0bb224" name="acfeaf4547de1b6a01982e8e51b0bb224"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#acfeaf4547de1b6a01982e8e51b0bb224">&#9670;&#160;</a></span>control_manual()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename T &gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">void <a class="el" href="classLift.html">Lift</a>&lt; T &gt;::control_manual </td>
+          <td>(</td>
+          <td class="paramtype">bool&#160;</td>
+          <td class="paramname"><em>up_btn</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">bool&#160;</td>
+          <td class="paramname"><em>down_btn</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">int&#160;</td>
+          <td class="paramname"><em>volt_up</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">int&#160;</td>
+          <td class="paramname"><em>volt_down</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<p>Control the lift with manual controls (no holding voltage)</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">up_btn</td><td>Raise the lift when true </td></tr>
+    <tr><td class="paramname">down_btn</td><td>Lower the lift when true </td></tr>
+    <tr><td class="paramname">volt_up</td><td>Motor voltage when raising the lift </td></tr>
+    <tr><td class="paramname">volt_down</td><td>Motor voltage when lowering the lift </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="a7197ad879474798a5c1fec4963058c3a" name="a7197ad879474798a5c1fec4963058c3a"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a7197ad879474798a5c1fec4963058c3a">&#9670;&#160;</a></span>control_setpoints()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename T &gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">void <a class="el" href="classLift.html">Lift</a>&lt; T &gt;::control_setpoints </td>
+          <td>(</td>
+          <td class="paramtype">bool&#160;</td>
+          <td class="paramname"><em>up_step</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">bool&#160;</td>
+          <td class="paramname"><em>down_step</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">vector&lt; T &gt;&#160;</td>
+          <td class="paramname"><em>pos_list</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<p>Control the lift in "steps". When the "up" button is pressed, the lift will go to the next position as defined by pos_list. Order matters!</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">up_step</td><td>A button that increments the position of the lift. </td></tr>
+    <tr><td class="paramname">down_step</td><td>A button that decrements the position of the lift. </td></tr>
+    <tr><td class="paramname">pos_list</td><td>A list of positions for the lift to go through. The higher the index, the higher the lift should be (generally). </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="a6913ab2df38f0429641c256ec9288370" name="a6913ab2df38f0429641c256ec9288370"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a6913ab2df38f0429641c256ec9288370">&#9670;&#160;</a></span>get_async()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename T &gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">bool <a class="el" href="classLift.html">Lift</a>&lt; T &gt;::get_async </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<dl class="section return"><dt>Returns</dt><dd>whether or not the background thread is running the lift </dd></dl>
+
+</div>
+</div>
+<a id="adaa6cb65351d0c8a2c199a87a318b133" name="adaa6cb65351d0c8a2c199a87a318b133"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#adaa6cb65351d0c8a2c199a87a318b133">&#9670;&#160;</a></span>get_setpoint()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename T &gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">double <a class="el" href="classLift.html">Lift</a>&lt; T &gt;::get_setpoint </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<dl class="section return"><dt>Returns</dt><dd>The current setpoint for the lift </dd></dl>
+
+</div>
+</div>
+<a id="a9afcbf54cdd919a2c5a68f95c7a0c9e8" name="a9afcbf54cdd919a2c5a68f95c7a0c9e8"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a9afcbf54cdd919a2c5a68f95c7a0c9e8">&#9670;&#160;</a></span>hold()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename T &gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">void <a class="el" href="classLift.html">Lift</a>&lt; T &gt;::hold </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<p>Target the class's setpoint. Calculate the <a class="el" href="classPID.html">PID</a> output and set the lift motors accordingly. </p>
+
+</div>
+</div>
+<a id="ab53178b13037a4c6b1fd07657cff1f25" name="ab53178b13037a4c6b1fd07657cff1f25"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ab53178b13037a4c6b1fd07657cff1f25">&#9670;&#160;</a></span>home()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename T &gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">void <a class="el" href="classLift.html">Lift</a>&lt; T &gt;::home </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<p>A blocking function that automatically homes the lift based on a sensor or hard stop, and sets the position to 0. A watchdog times out after 3 seconds, to avoid damage. </p>
+
+</div>
+</div>
+<a id="a7f37703180518390ec38cba9a780282b" name="a7f37703180518390ec38cba9a780282b"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a7f37703180518390ec38cba9a780282b">&#9670;&#160;</a></span>set_async()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename T &gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">void <a class="el" href="classLift.html">Lift</a>&lt; T &gt;::set_async </td>
+          <td>(</td>
+          <td class="paramtype">bool&#160;</td>
+          <td class="paramname"><em>val</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<p>Enables or disables the background task. Note that running the control functions, or set_position functions will immediately re-enable the task for autonomous use. </p><dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">Whether</td><td>or not the background thread should run the lift </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="ab3cb7bc86faa079ec1249b5026ea6a85" name="ab3cb7bc86faa079ec1249b5026ea6a85"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ab3cb7bc86faa079ec1249b5026ea6a85">&#9670;&#160;</a></span>set_position()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename T &gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">bool <a class="el" href="classLift.html">Lift</a>&lt; T &gt;::set_position </td>
+          <td>(</td>
+          <td class="paramtype">T&#160;</td>
+          <td class="paramname"><em>pos</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<p>Enable the background task, and send the lift to a position, specified by the setpoint map from the constructor.</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">pos</td><td>A lift position enum type </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>True if the pid has reached the setpoint </dd></dl>
+
+</div>
+</div>
+<a id="a08b7cdcfc9390f4945dd3737ac0e5ddc" name="a08b7cdcfc9390f4945dd3737ac0e5ddc"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a08b7cdcfc9390f4945dd3737ac0e5ddc">&#9670;&#160;</a></span>set_sensor_function()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename T &gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">void <a class="el" href="classLift.html">Lift</a>&lt; T &gt;::set_sensor_function </td>
+          <td>(</td>
+          <td class="paramtype">double(*)(void)&#160;</td>
+          <td class="paramname"><em>fn_ptr</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<p>Creates a custom hook for any other type of sensor to be used on the lift. Example: /code{.cpp} my_lift.set_sensor_function( [](){return my_sensor.position();} ); /endcode</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">fn_ptr</td><td>Pointer to custom sensor function </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="a70b8e7cff5cd3b5827d8da07a02d92e6" name="a70b8e7cff5cd3b5827d8da07a02d92e6"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a70b8e7cff5cd3b5827d8da07a02d92e6">&#9670;&#160;</a></span>set_sensor_reset()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename T &gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">void <a class="el" href="classLift.html">Lift</a>&lt; T &gt;::set_sensor_reset </td>
+          <td>(</td>
+          <td class="paramtype">void(*)(void)&#160;</td>
+          <td class="paramname"><em>fn_ptr</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<p>Creates a custom hook to reset the sensor used in <a class="el" href="classLift.html#a08b7cdcfc9390f4945dd3737ac0e5ddc">set_sensor_function()</a>. Example: /code{.cpp} my_lift.set_sensor_reset( my_sensor.resetPosition ); /endcode </p>
+
+</div>
+</div>
+<a id="a662bdc055d706699ef5cf308cd8872f8" name="a662bdc055d706699ef5cf308cd8872f8"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a662bdc055d706699ef5cf308cd8872f8">&#9670;&#160;</a></span>set_setpoint()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename T &gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">bool <a class="el" href="classLift.html">Lift</a>&lt; T &gt;::set_setpoint </td>
+          <td>(</td>
+          <td class="paramtype">double&#160;</td>
+          <td class="paramname"><em>val</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<p>Manually set a setpoint value for the lift <a class="el" href="classPID.html">PID</a> to go to. </p><dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">val</td><td><a class="el" href="classLift.html">Lift</a> setpoint, in motor revolutions or sensor units defined by get_sensor. Cannot be outside the softstops. </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>True if the pid has reached the setpoint </dd></dl>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>include/subsystems/<a class="el" href="lift_8h_source.html">lift.h</a></li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.6
+</small></address>
+</body>
+</html>
diff --git a/documentation/html/classMecanumDrive-members.html b/documentation/html/classMecanumDrive-members.html
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+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
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+<meta name="generator" content="Doxygen 1.9.6"/>
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+<title>RIT VEXU Core API: Member List</title>
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+<script type="text/javascript" src="dynsections.js"></script>
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+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
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+<table cellspacing="0" cellpadding="0">
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+  <td id="projectalign">
+   <div id="projectname">RIT VEXU Core API
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.6 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
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+<script type="text/javascript">
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+  $(document).ready(function() { init_search(); });
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+<div class="header">
+  <div class="headertitle"><div class="title">MecanumDrive Member List</div></div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classMecanumDrive.html">MecanumDrive</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classMecanumDrive.html#aa0cfb8683fee99e0a534c3a725d338fd">auto_drive</a>(double inches, double direction, double speed, bool gyro_correction=true)</td><td class="entry"><a class="el" href="classMecanumDrive.html">MecanumDrive</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classMecanumDrive.html#ac8813aafec14f2d25c3abafefdb81498">auto_turn</a>(double degrees, double speed, bool ignore_imu=false)</td><td class="entry"><a class="el" href="classMecanumDrive.html">MecanumDrive</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classMecanumDrive.html#ac7a660a606aea694d21a4a2dd12faa24">drive</a>(double left_y, double left_x, double right_x, int power=2)</td><td class="entry"><a class="el" href="classMecanumDrive.html">MecanumDrive</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classMecanumDrive.html#a756383ba74cf555d42a147584f9ae646">drive_raw</a>(double direction_deg, double magnitude, double rotation)</td><td class="entry"><a class="el" href="classMecanumDrive.html">MecanumDrive</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classMecanumDrive.html#a780908c5b55ea8b9f228c84540a6c5f7">MecanumDrive</a>(vex::motor &amp;left_front, vex::motor &amp;right_front, vex::motor &amp;left_rear, vex::motor &amp;right_rear, vex::rotation *lateral_wheel=NULL, vex::inertial *imu=NULL, mecanumdrive_config_t *config=NULL)</td><td class="entry"><a class="el" href="classMecanumDrive.html">MecanumDrive</a></td><td class="entry"></td></tr>
+</table></div><!-- contents -->
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+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.6
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+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.6 -->
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+<div class="header">
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+<a href="#nested-classes">Classes</a> &#124;
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="classMecanumDrive-members.html">List of all members</a>  </div>
+  <div class="headertitle"><div class="title">MecanumDrive Class Reference</div></div>
+</div><!--header-->
+<div class="contents">
+
+<p><code>#include &lt;<a class="el" href="mecanum__drive_8h_source.html">mecanum_drive.h</a>&gt;</code></p>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="nested-classes" name="nested-classes"></a>
+Classes</h2></td></tr>
+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structMecanumDrive_1_1mecanumdrive__config__t.html">mecanumdrive_config_t</a></td></tr>
+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-methods" name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
+<tr class="memitem:a780908c5b55ea8b9f228c84540a6c5f7"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classMecanumDrive.html#a780908c5b55ea8b9f228c84540a6c5f7">MecanumDrive</a> (vex::motor &amp;left_front, vex::motor &amp;right_front, vex::motor &amp;left_rear, vex::motor &amp;right_rear, vex::rotation *lateral_wheel=NULL, vex::inertial *imu=NULL, <a class="el" href="structMecanumDrive_1_1mecanumdrive__config__t.html">mecanumdrive_config_t</a> *config=NULL)</td></tr>
+<tr class="separator:a780908c5b55ea8b9f228c84540a6c5f7"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a756383ba74cf555d42a147584f9ae646"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classMecanumDrive.html#a756383ba74cf555d42a147584f9ae646">drive_raw</a> (double direction_deg, double magnitude, double rotation)</td></tr>
+<tr class="separator:a756383ba74cf555d42a147584f9ae646"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ac7a660a606aea694d21a4a2dd12faa24"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classMecanumDrive.html#ac7a660a606aea694d21a4a2dd12faa24">drive</a> (double left_y, double left_x, double right_x, int power=2)</td></tr>
+<tr class="separator:ac7a660a606aea694d21a4a2dd12faa24"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aa0cfb8683fee99e0a534c3a725d338fd"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classMecanumDrive.html#aa0cfb8683fee99e0a534c3a725d338fd">auto_drive</a> (double inches, double direction, double speed, bool gyro_correction=true)</td></tr>
+<tr class="separator:aa0cfb8683fee99e0a534c3a725d338fd"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ac8813aafec14f2d25c3abafefdb81498"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classMecanumDrive.html#ac8813aafec14f2d25c3abafefdb81498">auto_turn</a> (double degrees, double speed, bool ignore_imu=false)</td></tr>
+<tr class="separator:ac8813aafec14f2d25c3abafefdb81498"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>A class representing the Mecanum drivetrain. Contains 4 motors, a possible IMU (intertial), and a possible undriven perpendicular wheel. </p>
+</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="a780908c5b55ea8b9f228c84540a6c5f7" name="a780908c5b55ea8b9f228c84540a6c5f7"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a780908c5b55ea8b9f228c84540a6c5f7">&#9670;&#160;</a></span>MecanumDrive()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">MecanumDrive::MecanumDrive </td>
+          <td>(</td>
+          <td class="paramtype">vex::motor &amp;&#160;</td>
+          <td class="paramname"><em>left_front</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">vex::motor &amp;&#160;</td>
+          <td class="paramname"><em>right_front</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">vex::motor &amp;&#160;</td>
+          <td class="paramname"><em>left_rear</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">vex::motor &amp;&#160;</td>
+          <td class="paramname"><em>right_rear</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">vex::rotation *&#160;</td>
+          <td class="paramname"><em>lateral_wheel</em> = <code>NULL</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">vex::inertial *&#160;</td>
+          <td class="paramname"><em>imu</em> = <code>NULL</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype"><a class="el" href="structMecanumDrive_1_1mecanumdrive__config__t.html">mecanumdrive_config_t</a> *&#160;</td>
+          <td class="paramname"><em>config</em> = <code>NULL</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<p>Create the Mecanum drivetrain object </p>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="aa0cfb8683fee99e0a534c3a725d338fd" name="aa0cfb8683fee99e0a534c3a725d338fd"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aa0cfb8683fee99e0a534c3a725d338fd">&#9670;&#160;</a></span>auto_drive()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">bool MecanumDrive::auto_drive </td>
+          <td>(</td>
+          <td class="paramtype">double&#160;</td>
+          <td class="paramname"><em>inches</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">double&#160;</td>
+          <td class="paramname"><em>direction</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">double&#160;</td>
+          <td class="paramname"><em>speed</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">bool&#160;</td>
+          <td class="paramname"><em>gyro_correction</em> = <code>true</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<p>Drive the robot in a straight line automatically. If the inertial was declared in the constructor, use it to correct while driving. If the lateral wheel was declared in the constructor, use it for more accurate positioning while strafing.</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">inches</td><td>How far the robot should drive, in inches </td></tr>
+    <tr><td class="paramname">direction</td><td>What direction the robot should travel in, in degrees. 0 is forward, +/-180 is reverse, clockwise is positive. </td></tr>
+    <tr><td class="paramname">speed</td><td>The maximum speed the robot should travel, in percent: -1.0-&gt;+1.0 </td></tr>
+    <tr><td class="paramname">gyro_correction</td><td>=true Whether or not to use the gyro to help correct while driving. Will always be false if no gyro was declared in the constructor.</td></tr>
+  </table>
+  </dd>
+</dl>
+<p>Drive the robot in a straight line automatically. If the inertial was declared in the constructor, use it to correct while driving. If the lateral wheel was declared in the constructor, use it for more accurate positioning while strafing.</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">inches</td><td>How far the robot should drive, in inches </td></tr>
+    <tr><td class="paramname">direction</td><td>What direction the robot should travel in, in degrees. 0 is forward, +/-180 is reverse, clockwise is positive. </td></tr>
+    <tr><td class="paramname">speed</td><td>The maximum speed the robot should travel, in percent: -1.0-&gt;+1.0 </td></tr>
+    <tr><td class="paramname">gyro_correction</td><td>= true Whether or not to use the gyro to help correct while driving. Will always be false if no gyro was declared in the constructor. </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>Whether or not the maneuver is complete. </dd></dl>
+
+</div>
+</div>
+<a id="ac8813aafec14f2d25c3abafefdb81498" name="ac8813aafec14f2d25c3abafefdb81498"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ac8813aafec14f2d25c3abafefdb81498">&#9670;&#160;</a></span>auto_turn()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">bool MecanumDrive::auto_turn </td>
+          <td>(</td>
+          <td class="paramtype">double&#160;</td>
+          <td class="paramname"><em>degrees</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">double&#160;</td>
+          <td class="paramname"><em>speed</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">bool&#160;</td>
+          <td class="paramname"><em>ignore_imu</em> = <code>false</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<p>Autonomously turn the robot X degrees over it's center point. Uses a closed loop for control. </p><dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">degrees</td><td>How many degrees to rotate the robot. Clockwise postive. </td></tr>
+    <tr><td class="paramname">speed</td><td>What percentage to run the motors at: 0.0 -&gt; 1.0 </td></tr>
+    <tr><td class="paramname">ignore_imu</td><td>=false Whether or not to use the Inertial for determining angle. Will instead use circumference formula + robot's wheelbase + encoders to determine.</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>whether or not the robot has finished the maneuver</dd></dl>
+<p>Autonomously turn the robot X degrees over it's center point. Uses a closed loop for control. </p><dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">degrees</td><td>How many degrees to rotate the robot. Clockwise postive. </td></tr>
+    <tr><td class="paramname">speed</td><td>What percentage to run the motors at: 0.0 -&gt; 1.0 </td></tr>
+    <tr><td class="paramname">ignore_imu</td><td>= false Whether or not to use the Inertial for determining angle. Will instead use circumference formula + robot's wheelbase + encoders to determine.</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>whether or not the robot has finished the maneuver </dd></dl>
+
+</div>
+</div>
+<a id="ac7a660a606aea694d21a4a2dd12faa24" name="ac7a660a606aea694d21a4a2dd12faa24"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ac7a660a606aea694d21a4a2dd12faa24">&#9670;&#160;</a></span>drive()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">void MecanumDrive::drive </td>
+          <td>(</td>
+          <td class="paramtype">double&#160;</td>
+          <td class="paramname"><em>left_y</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">double&#160;</td>
+          <td class="paramname"><em>left_x</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">double&#160;</td>
+          <td class="paramname"><em>right_x</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">int&#160;</td>
+          <td class="paramname"><em>power</em> = <code>2</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<p>Drive the robot with a mecanum-style / arcade drive. Inputs are in percent (-100.0 -&gt; 100.0) straight from the controller. Controls are mixed, so the robot can drive forward / strafe / rotate all at the same time.</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">left_y</td><td>left joystick, Y axis (forward / backwards) </td></tr>
+    <tr><td class="paramname">left_x</td><td>left joystick, X axis (strafe left / right) </td></tr>
+    <tr><td class="paramname">right_x</td><td>right joystick, X axis (rotation left / right) </td></tr>
+    <tr><td class="paramname">power</td><td>=2 how much of a "curve" there should be on drive controls; better for low speed maneuvers. Leave blank for a default curve of 2 (higher means more fidelity)</td></tr>
+  </table>
+  </dd>
+</dl>
+<p>Drive the robot with a mecanum-style / arcade drive. Inputs are in percent (-100.0 -&gt; 100.0) straight from the controller. Controls are mixed, so the robot can drive forward / strafe / rotate all at the same time.</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">left_y</td><td>left joystick, Y axis (forward / backwards) </td></tr>
+    <tr><td class="paramname">left_x</td><td>left joystick, X axis (strafe left / right) </td></tr>
+    <tr><td class="paramname">right_x</td><td>right joystick, X axis (rotation left / right) </td></tr>
+    <tr><td class="paramname">power</td><td>= 2 how much of a "curve" there should be on drive controls; better for low speed maneuvers. Leave blank for a default curve of 2 (higher means more fidelity) </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="a756383ba74cf555d42a147584f9ae646" name="a756383ba74cf555d42a147584f9ae646"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a756383ba74cf555d42a147584f9ae646">&#9670;&#160;</a></span>drive_raw()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">void MecanumDrive::drive_raw </td>
+          <td>(</td>
+          <td class="paramtype">double&#160;</td>
+          <td class="paramname"><em>direction_deg</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">double&#160;</td>
+          <td class="paramname"><em>magnitude</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">double&#160;</td>
+          <td class="paramname"><em>rotation</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<p>Drive the robot using vectors. This handles all the math required for mecanum control.</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">direction_deg</td><td>the direction to drive the robot, in degrees. 0 is forward, 180 is back, clockwise is positive, counterclockwise is negative. </td></tr>
+    <tr><td class="paramname">magnitude</td><td>How fast the robot should drive, in percent: 0.0-&gt;1.0 </td></tr>
+    <tr><td class="paramname">rotation</td><td>How fast the robot should rotate, in percent: -1.0-&gt;+1.0 </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following files:<ul>
+<li>include/subsystems/<a class="el" href="mecanum__drive_8h_source.html">mecanum_drive.h</a></li>
+<li>src/subsystems/mecanum_drive.cpp</li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.6
+</small></address>
+</body>
+</html>
diff --git a/documentation/html/classMotionController-members.html b/documentation/html/classMotionController-members.html
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+<title>RIT VEXU Core API: Member List</title>
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+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr id="projectrow">
+  <td id="projectalign">
+   <div id="projectname">RIT VEXU Core API
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.6 -->
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+</div><!-- top -->
+<div class="header">
+  <div class="headertitle"><div class="title">MotionController Member List</div></div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classMotionController.html">MotionController</a>, including all inherited members.</p>
+<table class="directory">
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>FeedbackType</b> enum name (defined in <a class="el" href="classFeedback.html">Feedback</a>)</td><td class="entry"><a class="el" href="classFeedback.html">Feedback</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="odd"><td class="entry"><b>FeedforwardType</b> enum value (defined in <a class="el" href="classFeedback.html">Feedback</a>)</td><td class="entry"><a class="el" href="classFeedback.html">Feedback</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classMotionController.html#a2a1944f590618cd91770364aea416cd5">get</a>() override</td><td class="entry"><a class="el" href="classMotionController.html">MotionController</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classMotionController.html#ab958ce97fbc4929f4dd03965671e8d4d">get_motion</a>()</td><td class="entry"><a class="el" href="classMotionController.html">MotionController</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>get_type</b>() (defined in <a class="el" href="classFeedback.html">Feedback</a>)</td><td class="entry"><a class="el" href="classFeedback.html">Feedback</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classMotionController.html#af0d665d9916111cbce677da6df6b6667">init</a>(double start_pt, double end_pt) override</td><td class="entry"><a class="el" href="classMotionController.html">MotionController</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classMotionController.html#aa9e2af88b848646889deb1d43a283173">is_on_target</a>() override</td><td class="entry"><a class="el" href="classMotionController.html">MotionController</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classMotionController.html#a076c5aa4ea383dccaeec76f7554a7467">MotionController</a>(m_profile_cfg_t &amp;config)</td><td class="entry"><a class="el" href="classMotionController.html">MotionController</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>OtherType</b> enum value (defined in <a class="el" href="classFeedback.html">Feedback</a>)</td><td class="entry"><a class="el" href="classFeedback.html">Feedback</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="odd"><td class="entry"><b>PIDType</b> enum value (defined in <a class="el" href="classFeedback.html">Feedback</a>)</td><td class="entry"><a class="el" href="classFeedback.html">Feedback</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classMotionController.html#a944c245002a1eb124dd8df40de4fcc57">set_limits</a>(double lower, double upper) override</td><td class="entry"><a class="el" href="classMotionController.html">MotionController</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classMotionController.html#a20749b6a4bd3cf509a3acf682831eb00">tune_feedforward</a>(TankDrive &amp;drive, OdometryTank &amp;odometry, double pct=0.6, double duration=2)</td><td class="entry"><a class="el" href="classMotionController.html">MotionController</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classMotionController.html#a86ef0ef19858b5b407f7406bb5da30af">update</a>(double sensor_val) override</td><td class="entry"><a class="el" href="classMotionController.html">MotionController</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
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+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#nested-classes">Classes</a> &#124;
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pub-static-methods">Static Public Member Functions</a> &#124;
+<a href="classMotionController-members.html">List of all members</a>  </div>
+  <div class="headertitle"><div class="title">MotionController Class Reference</div></div>
+</div><!--header-->
+<div class="contents">
+
+<p><code>#include &lt;<a class="el" href="motion__controller_8h_source.html">motion_controller.h</a>&gt;</code></p>
+<div class="dynheader">
+Inheritance diagram for MotionController:</div>
+<div class="dyncontent">
+ <div class="center">
+  <img src="classMotionController.png" usemap="#MotionController_map" alt=""/>
+  <map id="MotionController_map" name="MotionController_map">
+<area href="classFeedback.html" alt="Feedback" shape="rect" coords="0,0,106,24"/>
+  </map>
+</div></div>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="nested-classes" name="nested-classes"></a>
+Classes</h2></td></tr>
+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structMotionController_1_1m__profile__cfg__t.html">m_profile_cfg_t</a></td></tr>
+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-methods" name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
+<tr class="memitem:a076c5aa4ea383dccaeec76f7554a7467"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classMotionController.html#a076c5aa4ea383dccaeec76f7554a7467">MotionController</a> (<a class="el" href="structMotionController_1_1m__profile__cfg__t.html">m_profile_cfg_t</a> &amp;config)</td></tr>
+<tr class="memdesc:a076c5aa4ea383dccaeec76f7554a7467"><td class="mdescLeft">&#160;</td><td class="mdescRight">Construct a new Motion Controller object.  <br /></td></tr>
+<tr class="separator:a076c5aa4ea383dccaeec76f7554a7467"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:af0d665d9916111cbce677da6df6b6667"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classMotionController.html#af0d665d9916111cbce677da6df6b6667">init</a> (double start_pt, double end_pt) override</td></tr>
+<tr class="memdesc:af0d665d9916111cbce677da6df6b6667"><td class="mdescLeft">&#160;</td><td class="mdescRight">Initialize the motion profile for a new movement This will also reset the <a class="el" href="classPID.html">PID</a> and profile timers.  <br /></td></tr>
+<tr class="separator:af0d665d9916111cbce677da6df6b6667"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a86ef0ef19858b5b407f7406bb5da30af"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classMotionController.html#a86ef0ef19858b5b407f7406bb5da30af">update</a> (double sensor_val) override</td></tr>
+<tr class="memdesc:a86ef0ef19858b5b407f7406bb5da30af"><td class="mdescLeft">&#160;</td><td class="mdescRight">Update the motion profile with a new sensor value.  <br /></td></tr>
+<tr class="separator:a86ef0ef19858b5b407f7406bb5da30af"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a2a1944f590618cd91770364aea416cd5"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classMotionController.html#a2a1944f590618cd91770364aea416cd5">get</a> () override</td></tr>
+<tr class="separator:a2a1944f590618cd91770364aea416cd5"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a944c245002a1eb124dd8df40de4fcc57"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classMotionController.html#a944c245002a1eb124dd8df40de4fcc57">set_limits</a> (double lower, double upper) override</td></tr>
+<tr class="separator:a944c245002a1eb124dd8df40de4fcc57"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aa9e2af88b848646889deb1d43a283173"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classMotionController.html#aa9e2af88b848646889deb1d43a283173">is_on_target</a> () override</td></tr>
+<tr class="separator:aa9e2af88b848646889deb1d43a283173"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ab958ce97fbc4929f4dd03965671e8d4d"><td class="memItemLeft" align="right" valign="top"><a class="el" href="structmotion__t.html">motion_t</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classMotionController.html#ab958ce97fbc4929f4dd03965671e8d4d">get_motion</a> ()</td></tr>
+<tr class="separator:ab958ce97fbc4929f4dd03965671e8d4d"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_methods_classFeedback"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classFeedback')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="classFeedback.html">Feedback</a></td></tr>
+<tr class="memitem:a22efb13216bfd51aea07e0b6e45135c1 inherit pub_methods_classFeedback"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classFeedback.html#a22efb13216bfd51aea07e0b6e45135c1">init</a> (double start_pt, double set_pt)=0</td></tr>
+<tr class="separator:a22efb13216bfd51aea07e0b6e45135c1 inherit pub_methods_classFeedback"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:adda5fc7642539996be00632954dfc41f inherit pub_methods_classFeedback"><td class="memItemLeft" align="right" valign="top">virtual double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classFeedback.html#adda5fc7642539996be00632954dfc41f">update</a> (double val)=0</td></tr>
+<tr class="separator:adda5fc7642539996be00632954dfc41f inherit pub_methods_classFeedback"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ac44bb519a6f4e25c8e8250f3d30ab359 inherit pub_methods_classFeedback"><td class="memItemLeft" align="right" valign="top">virtual double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classFeedback.html#ac44bb519a6f4e25c8e8250f3d30ab359">get</a> ()=0</td></tr>
+<tr class="separator:ac44bb519a6f4e25c8e8250f3d30ab359 inherit pub_methods_classFeedback"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a533a10b65cfc998898bf054f8b141de2 inherit pub_methods_classFeedback"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classFeedback.html#a533a10b65cfc998898bf054f8b141de2">set_limits</a> (double lower, double upper)=0</td></tr>
+<tr class="separator:a533a10b65cfc998898bf054f8b141de2 inherit pub_methods_classFeedback"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ae4cc835c374aab9761d22603d4329d34 inherit pub_methods_classFeedback"><td class="memItemLeft" align="right" valign="top">virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classFeedback.html#ae4cc835c374aab9761d22603d4329d34">is_on_target</a> ()=0</td></tr>
+<tr class="separator:ae4cc835c374aab9761d22603d4329d34 inherit pub_methods_classFeedback"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aef8981678b7bcded915ccc7e3e237208 inherit pub_methods_classFeedback"><td class="memItemLeft" align="right" valign="top"><a id="aef8981678b7bcded915ccc7e3e237208" name="aef8981678b7bcded915ccc7e3e237208"></a>
+virtual Feedback::FeedbackType&#160;</td><td class="memItemRight" valign="bottom"><b>get_type</b> ()</td></tr>
+<tr class="separator:aef8981678b7bcded915ccc7e3e237208 inherit pub_methods_classFeedback"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-static-methods" name="pub-static-methods"></a>
+Static Public Member Functions</h2></td></tr>
+<tr class="memitem:a20749b6a4bd3cf509a3acf682831eb00"><td class="memItemLeft" align="right" valign="top">static <a class="el" href="structFeedForward_1_1ff__config__t.html">FeedForward::ff_config_t</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classMotionController.html#a20749b6a4bd3cf509a3acf682831eb00">tune_feedforward</a> (<a class="el" href="classTankDrive.html">TankDrive</a> &amp;drive, <a class="el" href="classOdometryTank.html">OdometryTank</a> &amp;odometry, double pct=0.6, double duration=2)</td></tr>
+<tr class="separator:a20749b6a4bd3cf509a3acf682831eb00"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="inherited" name="inherited"></a>
+Additional Inherited Members</h2></td></tr>
+<tr class="inherit_header pub_types_classFeedback"><td colspan="2" onclick="javascript:toggleInherit('pub_types_classFeedback')"><img src="closed.png" alt="-"/>&#160;Public Types inherited from <a class="el" href="classFeedback.html">Feedback</a></td></tr>
+<tr class="memitem:ac82a001abba300290790eb8414a84dce inherit pub_types_classFeedback"><td class="memItemLeft" align="right" valign="top"><a id="ac82a001abba300290790eb8414a84dce" name="ac82a001abba300290790eb8414a84dce"></a>enum &#160;</td><td class="memItemRight" valign="bottom"><b>FeedbackType</b> { <b>PIDType</b>
+, <b>FeedforwardType</b>
+, <b>OtherType</b>
+ }</td></tr>
+<tr class="separator:ac82a001abba300290790eb8414a84dce inherit pub_types_classFeedback"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>Motion Controller class</p>
+<p>This class defines a top-level motion profile, which can act as an intermediate between a subsystem class and the motors themselves</p>
+<p>This takes the constants kS, kV, kA, kP, kI, kD, max_v and acceleration and wraps around a feedforward, <a class="el" href="classPID.html">PID</a> and trapezoid profile. It does so with the following formula:</p>
+<p>out = feedfoward.calculate(motion_profile.get(time_s)) + pid.get(motion_profile.get(time_s))</p>
+<p>For <a class="el" href="classPID.html">PID</a> and Feedforward specific formulae, see <a class="el" href="pid_8h_source.html">pid.h</a>, <a class="el" href="feedforward_8h_source.html">feedforward.h</a>, and <a class="el" href="trapezoid__profile_8h_source.html">trapezoid_profile.h</a></p>
+<dl class="section author"><dt>Author</dt><dd>Ryan McGee </dd></dl>
+<dl class="section date"><dt>Date</dt><dd>7/13/2022 </dd></dl>
+</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="a076c5aa4ea383dccaeec76f7554a7467" name="a076c5aa4ea383dccaeec76f7554a7467"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a076c5aa4ea383dccaeec76f7554a7467">&#9670;&#160;</a></span>MotionController()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">MotionController::MotionController </td>
+          <td>(</td>
+          <td class="paramtype"><a class="el" href="structMotionController_1_1m__profile__cfg__t.html">m_profile_cfg_t</a> &amp;&#160;</td>
+          <td class="paramname"><em>config</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Construct a new Motion Controller object. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">config</td><td>The definition of how the robot is able to move max_v Maximum velocity the movement is capable of accel Acceleration / deceleration of the movement pid_cfg Definitions of kP, kI, and kD ff_cfg Definitions of kS, kV, and kA</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">config</td><td>The definition of how the robot is able to move max_v Maximum velocity the movement is capable of accel Acceleration / deceleration of the movement pid_cfg Definitions of kP, kI, and kD ff_cfg Definitions of kS, kV, and kA </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a2a1944f590618cd91770364aea416cd5" name="a2a1944f590618cd91770364aea416cd5"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a2a1944f590618cd91770364aea416cd5">&#9670;&#160;</a></span>get()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">double MotionController::get </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">override</span><span class="mlabel">virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<dl class="section return"><dt>Returns</dt><dd>the last saved result from the feedback controller </dd></dl>
+
+<p>Implements <a class="el" href="classFeedback.html#ac44bb519a6f4e25c8e8250f3d30ab359">Feedback</a>.</p>
+
+</div>
+</div>
+<a id="ab958ce97fbc4929f4dd03965671e8d4d" name="ab958ce97fbc4929f4dd03965671e8d4d"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ab958ce97fbc4929f4dd03965671e8d4d">&#9670;&#160;</a></span>get_motion()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname"><a class="el" href="structmotion__t.html">motion_t</a> MotionController::get_motion </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<dl class="section return"><dt>Returns</dt><dd>The current postion, velocity and acceleration setpoints </dd></dl>
+
+</div>
+</div>
+<a id="af0d665d9916111cbce677da6df6b6667" name="af0d665d9916111cbce677da6df6b6667"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#af0d665d9916111cbce677da6df6b6667">&#9670;&#160;</a></span>init()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">void MotionController::init </td>
+          <td>(</td>
+          <td class="paramtype">double&#160;</td>
+          <td class="paramname"><em>start_pt</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">double&#160;</td>
+          <td class="paramname"><em>end_pt</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">override</span><span class="mlabel">virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Initialize the motion profile for a new movement This will also reset the <a class="el" href="classPID.html">PID</a> and profile timers. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">start_pt</td><td>Movement starting position </td></tr>
+    <tr><td class="paramname">end_pt</td><td>Movement ending posiiton </td></tr>
+  </table>
+  </dd>
+</dl>
+
+<p>Implements <a class="el" href="classFeedback.html#a22efb13216bfd51aea07e0b6e45135c1">Feedback</a>.</p>
+
+</div>
+</div>
+<a id="aa9e2af88b848646889deb1d43a283173" name="aa9e2af88b848646889deb1d43a283173"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aa9e2af88b848646889deb1d43a283173">&#9670;&#160;</a></span>is_on_target()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">bool MotionController::is_on_target </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">override</span><span class="mlabel">virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<dl class="section return"><dt>Returns</dt><dd>Whether or not the movement has finished, and the <a class="el" href="classPID.html">PID</a> confirms it is on target </dd></dl>
+
+<p>Implements <a class="el" href="classFeedback.html#ae4cc835c374aab9761d22603d4329d34">Feedback</a>.</p>
+
+</div>
+</div>
+<a id="a944c245002a1eb124dd8df40de4fcc57" name="a944c245002a1eb124dd8df40de4fcc57"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a944c245002a1eb124dd8df40de4fcc57">&#9670;&#160;</a></span>set_limits()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">void MotionController::set_limits </td>
+          <td>(</td>
+          <td class="paramtype">double&#160;</td>
+          <td class="paramname"><em>lower</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">double&#160;</td>
+          <td class="paramname"><em>upper</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">override</span><span class="mlabel">virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<p>Clamp the upper and lower limits of the output. If both are 0, no limits should be applied. if limits are applied, the controller will not target any value below lower or above upper</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">lower</td><td>upper limit </td></tr>
+    <tr><td class="paramname">upper</td><td>lower limiet</td></tr>
+  </table>
+  </dd>
+</dl>
+<p>Clamp the upper and lower limits of the output. If both are 0, no limits should be applied.</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">lower</td><td>Upper limit </td></tr>
+    <tr><td class="paramname">upper</td><td>Lower limit </td></tr>
+  </table>
+  </dd>
+</dl>
+
+<p>Implements <a class="el" href="classFeedback.html#a533a10b65cfc998898bf054f8b141de2">Feedback</a>.</p>
+
+</div>
+</div>
+<a id="a20749b6a4bd3cf509a3acf682831eb00" name="a20749b6a4bd3cf509a3acf682831eb00"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a20749b6a4bd3cf509a3acf682831eb00">&#9670;&#160;</a></span>tune_feedforward()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname"><a class="el" href="structFeedForward_1_1ff__config__t.html">FeedForward::ff_config_t</a> MotionController::tune_feedforward </td>
+          <td>(</td>
+          <td class="paramtype"><a class="el" href="classTankDrive.html">TankDrive</a> &amp;&#160;</td>
+          <td class="paramname"><em>drive</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype"><a class="el" href="classOdometryTank.html">OdometryTank</a> &amp;&#160;</td>
+          <td class="paramname"><em>odometry</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">double&#160;</td>
+          <td class="paramname"><em>pct</em> = <code>0.6</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">double&#160;</td>
+          <td class="paramname"><em>duration</em> = <code>2</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<p>This method attempts to characterize the robot's drivetrain and automatically tune the feedforward. It does this by first calculating the kS (voltage to overcome static friction) by slowly increasing the voltage until it moves.</p>
+<p>Next is kV (voltage to sustain a certain velocity), where the robot will record it's steady-state velocity at 'pct' speed.</p>
+<p>Finally, kA (voltage needed to accelerate by a certain rate), where the robot will record the entire movement's velocity and acceleration, record a plot of [X=(pct-kV*V-kS), Y=(Acceleration)] along the movement, and since kA*Accel = pct-kV*V-kS, the reciprocal of the linear regression is the kA value.</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">drive</td><td>The tankdrive to operate on </td></tr>
+    <tr><td class="paramname">odometry</td><td>The robot's odometry subsystem </td></tr>
+    <tr><td class="paramname">pct</td><td>Maximum velocity in percent (0-&gt;1.0) </td></tr>
+    <tr><td class="paramname">duration</td><td>Amount of time the robot should be moving for the test </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>A tuned feedforward object </dd></dl>
+
+</div>
+</div>
+<a id="a86ef0ef19858b5b407f7406bb5da30af" name="a86ef0ef19858b5b407f7406bb5da30af"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a86ef0ef19858b5b407f7406bb5da30af">&#9670;&#160;</a></span>update()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">double MotionController::update </td>
+          <td>(</td>
+          <td class="paramtype">double&#160;</td>
+          <td class="paramname"><em>sensor_val</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">override</span><span class="mlabel">virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Update the motion profile with a new sensor value. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">sensor_val</td><td>Value from the sensor </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>the motor input generated from the motion profile</dd></dl>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">sensor_val</td><td>Value from the sensor </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>the motor input generated from the motion profile </dd></dl>
+
+<p>Implements <a class="el" href="classFeedback.html#adda5fc7642539996be00632954dfc41f">Feedback</a>.</p>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following files:<ul>
+<li>include/utils/<a class="el" href="motion__controller_8h_source.html">motion_controller.h</a></li>
+<li>src/utils/motion_controller.cpp</li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.6
+</small></address>
+</body>
+</html>
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+<meta name="viewport" content="width=device-width, initial-scale=1"/>
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+<script type="text/javascript" src="dynsections.js"></script>
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+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr id="projectrow">
+  <td id="projectalign">
+   <div id="projectname">RIT VEXU Core API
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
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+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.6 -->
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+<script type="text/javascript" src="menudata.js"></script>
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+  $(document).ready(function() { init_search(); });
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+<!-- window showing the filter options -->
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+<!-- iframe showing the search results (closed by default) -->
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+<div id="MSearchResults">
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+<div id="SRIndex">
+<div id="SRResults"></div>
+<div class="SRStatus" id="Loading">Loading...</div>
+<div class="SRStatus" id="Searching">Searching...</div>
+<div class="SRStatus" id="NoMatches">No Matches</div>
+</div>
+</div>
+</div>
+</div>
+
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle"><div class="title">MovingAverage Member List</div></div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classMovingAverage.html">MovingAverage</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classMovingAverage.html#a6c85ea575428ef7faf1f1f111a985db8">add_entry</a>(double n)</td><td class="entry"><a class="el" href="classMovingAverage.html">MovingAverage</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classMovingAverage.html#aa91e650064d361abe51bfa0b166ac6c0">get_average</a>()</td><td class="entry"><a class="el" href="classMovingAverage.html">MovingAverage</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classMovingAverage.html#ac45976e15321d2c2f52d1f281475b53d">get_size</a>()</td><td class="entry"><a class="el" href="classMovingAverage.html">MovingAverage</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classMovingAverage.html#a2455b651d3c6ad1f14d1a0d65b2394b2">MovingAverage</a>(int buffer_size)</td><td class="entry"><a class="el" href="classMovingAverage.html">MovingAverage</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classMovingAverage.html#afd1c880fdd617fcbf02f54ac87f45d6f">MovingAverage</a>(int buffer_size, double starting_value)</td><td class="entry"><a class="el" href="classMovingAverage.html">MovingAverage</a></td><td class="entry"></td></tr>
+</table></div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.6
+</small></address>
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+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
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+  <td id="projectalign">
+   <div id="projectname">RIT VEXU Core API
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+<!-- Generated by Doxygen 1.9.6 -->
+<script type="text/javascript">
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+/* @license-end */
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+  $(document).ready(function() { init_search(); });
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+<div class="SRStatus" id="Searching">Searching...</div>
+<div class="SRStatus" id="NoMatches">No Matches</div>
+</div>
+</div>
+</div>
+</div>
+
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="classMovingAverage-members.html">List of all members</a>  </div>
+  <div class="headertitle"><div class="title">MovingAverage Class Reference</div></div>
+</div><!--header-->
+<div class="contents">
+
+<p><code>#include &lt;<a class="el" href="moving__average_8h_source.html">moving_average.h</a>&gt;</code></p>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-methods" name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
+<tr class="memitem:a2455b651d3c6ad1f14d1a0d65b2394b2"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classMovingAverage.html#a2455b651d3c6ad1f14d1a0d65b2394b2">MovingAverage</a> (int buffer_size)</td></tr>
+<tr class="separator:a2455b651d3c6ad1f14d1a0d65b2394b2"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:afd1c880fdd617fcbf02f54ac87f45d6f"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classMovingAverage.html#afd1c880fdd617fcbf02f54ac87f45d6f">MovingAverage</a> (int buffer_size, double starting_value)</td></tr>
+<tr class="separator:afd1c880fdd617fcbf02f54ac87f45d6f"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a6c85ea575428ef7faf1f1f111a985db8"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classMovingAverage.html#a6c85ea575428ef7faf1f1f111a985db8">add_entry</a> (double n)</td></tr>
+<tr class="separator:a6c85ea575428ef7faf1f1f111a985db8"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aa91e650064d361abe51bfa0b166ac6c0"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classMovingAverage.html#aa91e650064d361abe51bfa0b166ac6c0">get_average</a> ()</td></tr>
+<tr class="separator:aa91e650064d361abe51bfa0b166ac6c0"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ac45976e15321d2c2f52d1f281475b53d"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classMovingAverage.html#ac45976e15321d2c2f52d1f281475b53d">get_size</a> ()</td></tr>
+<tr class="separator:ac45976e15321d2c2f52d1f281475b53d"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p><a class="el" href="classMovingAverage.html">MovingAverage</a></p>
+<p>A moving average is a way of smoothing out noisy data. For many sensor readings, the noise is roughly symmetric around the actual value. This means that if you collect enough samples those that are too high are cancelled out by the samples that are too low leaving the real value.</p>
+<p>The <a class="el" href="classMovingAverage.html">MovingAverage</a> class provides a simple interface to do this smoothing from our noisy sensor values.</p>
+<p>WARNING: because we need a lot of samples to get the actual value, the value given by the <a class="el" href="classMovingAverage.html">MovingAverage</a> will 'lag' behind the actual value that the sensor is reading. Using a <a class="el" href="classMovingAverage.html">MovingAverage</a> is thus a tradeoff between accuracy and lag time (more samples) vs. less accuracy and faster updating (less samples). <br  />
+ </p>
+</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="a2455b651d3c6ad1f14d1a0d65b2394b2" name="a2455b651d3c6ad1f14d1a0d65b2394b2"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a2455b651d3c6ad1f14d1a0d65b2394b2">&#9670;&#160;</a></span>MovingAverage() <span class="overload">[1/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">MovingAverage::MovingAverage </td>
+          <td>(</td>
+          <td class="paramtype">int&#160;</td>
+          <td class="paramname"><em>buffer_size</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<p>Create a moving average calculator with 0 as the default value</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">buffer_size</td><td>The size of the buffer. The number of samples that constitute a valid reading </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="afd1c880fdd617fcbf02f54ac87f45d6f" name="afd1c880fdd617fcbf02f54ac87f45d6f"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#afd1c880fdd617fcbf02f54ac87f45d6f">&#9670;&#160;</a></span>MovingAverage() <span class="overload">[2/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">MovingAverage::MovingAverage </td>
+          <td>(</td>
+          <td class="paramtype">int&#160;</td>
+          <td class="paramname"><em>buffer_size</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">double&#160;</td>
+          <td class="paramname"><em>starting_value</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<p>Create a moving average calculator with a specified default value </p><dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">buffer_size</td><td>The size of the buffer. The number of samples that constitute a valid reading </td></tr>
+    <tr><td class="paramname">starting_value</td><td>The value that the average will be before any data is added </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a6c85ea575428ef7faf1f1f111a985db8" name="a6c85ea575428ef7faf1f1f111a985db8"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a6c85ea575428ef7faf1f1f111a985db8">&#9670;&#160;</a></span>add_entry()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">void MovingAverage::add_entry </td>
+          <td>(</td>
+          <td class="paramtype">double&#160;</td>
+          <td class="paramname"><em>n</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<p>Add a reading to the buffer Before: [ 1 1 2 2 3 3] =&gt; 2 ^ After: [ 2 1 2 2 3 3] =&gt; 2.16 ^ </p><dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">n</td><td>the sample that will be added to the moving average. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="aa91e650064d361abe51bfa0b166ac6c0" name="aa91e650064d361abe51bfa0b166ac6c0"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aa91e650064d361abe51bfa0b166ac6c0">&#9670;&#160;</a></span>get_average()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">double MovingAverage::get_average </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<p>Returns the average based off of all the samples collected so far </p><dl class="section return"><dt>Returns</dt><dd>the calculated average. sum(samples)/numsamples</dd></dl>
+<p>How many samples the average is made from </p><dl class="section return"><dt>Returns</dt><dd>the number of samples used to calculate this average </dd></dl>
+
+</div>
+</div>
+<a id="ac45976e15321d2c2f52d1f281475b53d" name="ac45976e15321d2c2f52d1f281475b53d"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ac45976e15321d2c2f52d1f281475b53d">&#9670;&#160;</a></span>get_size()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">int MovingAverage::get_size </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<p>How many samples the average is made from </p><dl class="section return"><dt>Returns</dt><dd>the number of samples used to calculate this average </dd></dl>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following files:<ul>
+<li>include/utils/<a class="el" href="moving__average_8h_source.html">moving_average.h</a></li>
+<li>src/utils/moving_average.cpp</li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.6
+</small></address>
+</body>
+</html>
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+<meta http-equiv="X-UA-Compatible" content="IE=11"/>
+<meta name="generator" content="Doxygen 1.9.6"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>RIT VEXU Core API: Member List</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
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+<script type="text/javascript" src="dynsections.js"></script>
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+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr id="projectrow">
+  <td id="projectalign">
+   <div id="projectname">RIT VEXU Core API
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.6 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
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+/* @license-end */
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+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
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+</div>
+</div>
+</div>
+</div>
+
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle"><div class="title">OdomSetPosition Member List</div></div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classOdomSetPosition.html">OdomSetPosition</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classOdomSetPosition.html#afcd92592689e2c3262dd9120286bbac2">OdomSetPosition</a>(OdometryBase &amp;odom, const position_t &amp;newpos=OdometryBase::zero_pos)</td><td class="entry"><a class="el" href="classOdomSetPosition.html">OdomSetPosition</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classAutoCommand.html#a68475854d11e7c3be90e9c6e8fc9e982">on_timeout</a>()</td><td class="entry"><a class="el" href="classAutoCommand.html">AutoCommand</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classOdomSetPosition.html#a611e74a12a9eeb0fce1f38a596c3c467">run</a>() override</td><td class="entry"><a class="el" href="classOdomSetPosition.html">OdomSetPosition</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classAutoCommand.html#ac3be7be26e49981ad1978491fd313472">timeout_seconds</a></td><td class="entry"><a class="el" href="classAutoCommand.html">AutoCommand</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>withTimeout</b>(double t_seconds) (defined in <a class="el" href="classAutoCommand.html">AutoCommand</a>)</td><td class="entry"><a class="el" href="classAutoCommand.html">AutoCommand</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+</table></div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.6
+</small></address>
+</body>
+</html>
diff --git a/documentation/html/classOdomSetPosition.html b/documentation/html/classOdomSetPosition.html
new file mode 100644
index 0000000..1c0897d
--- /dev/null
+++ b/documentation/html/classOdomSetPosition.html
@@ -0,0 +1,195 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
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+<meta name="generator" content="Doxygen 1.9.6"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>RIT VEXU Core API: OdomSetPosition Class Reference</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
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+  <td id="projectalign">
+   <div id="projectname">RIT VEXU Core API
+   </div>
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+ </tr>
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+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.6 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
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+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="classOdomSetPosition-members.html">List of all members</a>  </div>
+  <div class="headertitle"><div class="title">OdomSetPosition Class Reference</div></div>
+</div><!--header-->
+<div class="contents">
+
+<p><code>#include &lt;<a class="el" href="drive__commands_8h_source.html">drive_commands.h</a>&gt;</code></p>
+<div class="dynheader">
+Inheritance diagram for OdomSetPosition:</div>
+<div class="dyncontent">
+ <div class="center">
+  <img src="classOdomSetPosition.png" usemap="#OdomSetPosition_map" alt=""/>
+  <map id="OdomSetPosition_map" name="OdomSetPosition_map">
+<area href="classAutoCommand.html" alt="AutoCommand" shape="rect" coords="0,0,107,24"/>
+  </map>
+</div></div>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-methods" name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
+<tr class="memitem:afcd92592689e2c3262dd9120286bbac2"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classOdomSetPosition.html#afcd92592689e2c3262dd9120286bbac2">OdomSetPosition</a> (<a class="el" href="classOdometryBase.html">OdometryBase</a> &amp;odom, const <a class="el" href="structposition__t.html">position_t</a> &amp;newpos=<a class="el" href="classOdometryBase.html#a7bd3fd09b3a6fa78af3a5ed5e25b8d74">OdometryBase::zero_pos</a>)</td></tr>
+<tr class="separator:afcd92592689e2c3262dd9120286bbac2"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a611e74a12a9eeb0fce1f38a596c3c467"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classOdomSetPosition.html#a611e74a12a9eeb0fce1f38a596c3c467">run</a> () override</td></tr>
+<tr class="separator:a611e74a12a9eeb0fce1f38a596c3c467"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_methods_classAutoCommand"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classAutoCommand')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="classAutoCommand.html">AutoCommand</a></td></tr>
+<tr class="memitem:a9f58c576ca6378b18a4136f60df50560 inherit pub_methods_classAutoCommand"><td class="memItemLeft" align="right" valign="top">virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classAutoCommand.html#a9f58c576ca6378b18a4136f60df50560">run</a> ()</td></tr>
+<tr class="separator:a9f58c576ca6378b18a4136f60df50560 inherit pub_methods_classAutoCommand"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a68475854d11e7c3be90e9c6e8fc9e982 inherit pub_methods_classAutoCommand"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classAutoCommand.html#a68475854d11e7c3be90e9c6e8fc9e982">on_timeout</a> ()</td></tr>
+<tr class="separator:a68475854d11e7c3be90e9c6e8fc9e982 inherit pub_methods_classAutoCommand"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a75b2b87e945fd7b98b758617feb30404 inherit pub_methods_classAutoCommand"><td class="memItemLeft" align="right" valign="top"><a id="a75b2b87e945fd7b98b758617feb30404" name="a75b2b87e945fd7b98b758617feb30404"></a>
+<a class="el" href="classAutoCommand.html">AutoCommand</a> *&#160;</td><td class="memItemRight" valign="bottom"><b>withTimeout</b> (double t_seconds)</td></tr>
+<tr class="separator:a75b2b87e945fd7b98b758617feb30404 inherit pub_methods_classAutoCommand"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="inherited" name="inherited"></a>
+Additional Inherited Members</h2></td></tr>
+<tr class="inherit_header pub_attribs_classAutoCommand"><td colspan="2" onclick="javascript:toggleInherit('pub_attribs_classAutoCommand')"><img src="closed.png" alt="-"/>&#160;Public Attributes inherited from <a class="el" href="classAutoCommand.html">AutoCommand</a></td></tr>
+<tr class="memitem:ac3be7be26e49981ad1978491fd313472 inherit pub_attribs_classAutoCommand"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classAutoCommand.html#ac3be7be26e49981ad1978491fd313472">timeout_seconds</a> = 10.0</td></tr>
+<tr class="separator:ac3be7be26e49981ad1978491fd313472 inherit pub_attribs_classAutoCommand"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p><a class="el" href="classAutoCommand.html">AutoCommand</a> wrapper class for the set_position function in the Odometry class </p>
+</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="afcd92592689e2c3262dd9120286bbac2" name="afcd92592689e2c3262dd9120286bbac2"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#afcd92592689e2c3262dd9120286bbac2">&#9670;&#160;</a></span>OdomSetPosition()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">OdomSetPosition::OdomSetPosition </td>
+          <td>(</td>
+          <td class="paramtype"><a class="el" href="classOdometryBase.html">OdometryBase</a> &amp;&#160;</td>
+          <td class="paramname"><em>odom</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const <a class="el" href="structposition__t.html">position_t</a> &amp;&#160;</td>
+          <td class="paramname"><em>newpos</em> = <code><a class="el" href="classOdometryBase.html#a7bd3fd09b3a6fa78af3a5ed5e25b8d74">OdometryBase::zero_pos</a></code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<p>constructs a new <a class="el" href="classOdomSetPosition.html">OdomSetPosition</a> command </p><dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">odom</td><td>the odometry system we are setting </td></tr>
+    <tr><td class="paramname">newpos</td><td>the position we are telling the odometry to take. defaults to (0, 0), angle = 90</td></tr>
+  </table>
+  </dd>
+</dl>
+<p>Construct an Odometry set pos </p><dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">odom</td><td>the odometry system we are setting </td></tr>
+    <tr><td class="paramname">newpos</td><td>the now position to set the odometry to </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a611e74a12a9eeb0fce1f38a596c3c467" name="a611e74a12a9eeb0fce1f38a596c3c467"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a611e74a12a9eeb0fce1f38a596c3c467">&#9670;&#160;</a></span>run()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">bool OdomSetPosition::run </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">override</span><span class="mlabel">virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<p>Run set_position Overrides run from <a class="el" href="classAutoCommand.html">AutoCommand</a> </p><dl class="section return"><dt>Returns</dt><dd>true when execution is complete, false otherwise </dd></dl>
+
+<p>Reimplemented from <a class="el" href="classAutoCommand.html#a9f58c576ca6378b18a4136f60df50560">AutoCommand</a>.</p>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following files:<ul>
+<li>include/utils/command_structure/<a class="el" href="drive__commands_8h_source.html">drive_commands.h</a></li>
+<li>src/utils/command_structure/drive_commands.cpp</li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.6
+</small></address>
+</body>
+</html>
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diff --git a/documentation/html/classOdometry3Wheel-members.html b/documentation/html/classOdometry3Wheel-members.html
new file mode 100644
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+++ b/documentation/html/classOdometry3Wheel-members.html
@@ -0,0 +1,108 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
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+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=11"/>
+<meta name="generator" content="Doxygen 1.9.6"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>RIT VEXU Core API: Member List</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr id="projectrow">
+  <td id="projectalign">
+   <div id="projectname">RIT VEXU Core API
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.6 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+var searchBox = new SearchBox("searchBox", "search/",'.html');
+/* @license-end */
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
+/* @license-end */
+</script>
+<div id="main-nav"></div>
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<div id="MSearchResults">
+<div class="SRPage">
+<div id="SRIndex">
+<div id="SRResults"></div>
+<div class="SRStatus" id="Loading">Loading...</div>
+<div class="SRStatus" id="Searching">Searching...</div>
+<div class="SRStatus" id="NoMatches">No Matches</div>
+</div>
+</div>
+</div>
+</div>
+
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle"><div class="title">Odometry3Wheel Member List</div></div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classOdometry3Wheel.html">Odometry3Wheel</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classOdometryBase.html#a94c814dfb542dd891d84db7e74537249">accel</a></td><td class="entry"><a class="el" href="classOdometryBase.html">OdometryBase</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classOdometryBase.html#a01f14bfcecbcde7a74b9b98376deb19f">ang_accel_deg</a></td><td class="entry"><a class="el" href="classOdometryBase.html">OdometryBase</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classOdometryBase.html#a250ceb6ed296ea579e37851e4a0048fb">ang_speed_deg</a></td><td class="entry"><a class="el" href="classOdometryBase.html">OdometryBase</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classOdometryBase.html#a17a014f79b282ddfb715835214f3e2fb">background_task</a>(void *ptr)</td><td class="entry"><a class="el" href="classOdometryBase.html">OdometryBase</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classOdometryBase.html#a6870aebb6e05dcd152d3295462f559c3">current_pos</a></td><td class="entry"><a class="el" href="classOdometryBase.html">OdometryBase</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classOdometryBase.html#ab65ccaa80d4bb0d0aa20e82b3b991436">end_async</a>()</td><td class="entry"><a class="el" href="classOdometryBase.html">OdometryBase</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classOdometryBase.html#ae6e35ee98b4410f034cd37c0d2055a8d">end_task</a></td><td class="entry"><a class="el" href="classOdometryBase.html">OdometryBase</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classOdometryBase.html#a3223bac952f79bf910b979690499b965">get_accel</a>()</td><td class="entry"><a class="el" href="classOdometryBase.html">OdometryBase</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classOdometryBase.html#a456e6433e51971d2640ff96ed3a59432">get_angular_accel_deg</a>()</td><td class="entry"><a class="el" href="classOdometryBase.html">OdometryBase</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classOdometryBase.html#af30d97a35e9e9c4f9be0a81390e6c0f1">get_angular_speed_deg</a>()</td><td class="entry"><a class="el" href="classOdometryBase.html">OdometryBase</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classOdometryBase.html#a3cdcfcf70ef02e0efc2efd902fac3811">get_position</a>(void)</td><td class="entry"><a class="el" href="classOdometryBase.html">OdometryBase</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classOdometryBase.html#a96c7be68db7424ddbe3704770dd1889f">get_speed</a>()</td><td class="entry"><a class="el" href="classOdometryBase.html">OdometryBase</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classOdometryBase.html#ae5308f20a4dfef9594631010c7612dab">handle</a></td><td class="entry"><a class="el" href="classOdometryBase.html">OdometryBase</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classOdometryBase.html#a88bb48858ca6ff8300a41e23482ec6f6">mut</a></td><td class="entry"><a class="el" href="classOdometryBase.html">OdometryBase</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classOdometry3Wheel.html#a6755014965483b84e06e42d8e289bf40">Odometry3Wheel</a>(CustomEncoder &amp;lside_fwd, CustomEncoder &amp;rside_fwd, CustomEncoder &amp;off_axis, odometry3wheel_cfg_t &amp;cfg, bool is_async=true)</td><td class="entry"><a class="el" href="classOdometry3Wheel.html">Odometry3Wheel</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classOdometryBase.html#a61286bd1c5105adbfa5b52c74f9e9466">OdometryBase</a>(bool is_async)</td><td class="entry"><a class="el" href="classOdometryBase.html">OdometryBase</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classOdometryBase.html#a8a248f027d3ff98cb2df2e3cd90e1f66">pos_diff</a>(position_t start_pos, position_t end_pos)</td><td class="entry"><a class="el" href="classOdometryBase.html">OdometryBase</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classOdometryBase.html#ab1f1a09cda37d799c82003b5284c6856">rot_diff</a>(position_t pos1, position_t pos2)</td><td class="entry"><a class="el" href="classOdometryBase.html">OdometryBase</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classOdometryBase.html#a34e4bd8567933d1b6bd6e41327a36549">set_position</a>(const position_t &amp;newpos=zero_pos)</td><td class="entry"><a class="el" href="classOdometryBase.html">OdometryBase</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classOdometryBase.html#a70ec71e9fb2e14f0a191a6bac927d36b">smallest_angle</a>(double start_deg, double end_deg)</td><td class="entry"><a class="el" href="classOdometryBase.html">OdometryBase</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classOdometryBase.html#a6119ab3ce0b685e67a8b57871e0a2c26">speed</a></td><td class="entry"><a class="el" href="classOdometryBase.html">OdometryBase</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classOdometry3Wheel.html#acb23dbf715d342566fc7e44f58ebf654">tune</a>(vex::controller &amp;con, TankDrive &amp;drive)</td><td class="entry"><a class="el" href="classOdometry3Wheel.html">Odometry3Wheel</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classOdometry3Wheel.html#a85c5661989dae181a4db7d91bd0526f7">update</a>() override</td><td class="entry"><a class="el" href="classOdometry3Wheel.html">Odometry3Wheel</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classOdometryBase.html#a7bd3fd09b3a6fa78af3a5ed5e25b8d74">zero_pos</a></td><td class="entry"><a class="el" href="classOdometryBase.html">OdometryBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+</table></div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.6
+</small></address>
+</body>
+</html>
diff --git a/documentation/html/classOdometry3Wheel.html b/documentation/html/classOdometry3Wheel.html
new file mode 100644
index 0000000..b566fbb
--- /dev/null
+++ b/documentation/html/classOdometry3Wheel.html
@@ -0,0 +1,303 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml" lang="en-US">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=11"/>
+<meta name="generator" content="Doxygen 1.9.6"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>RIT VEXU Core API: Odometry3Wheel Class Reference</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr id="projectrow">
+  <td id="projectalign">
+   <div id="projectname">RIT VEXU Core API
+   </div>
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+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.6 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
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+/* @license-end */
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
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+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
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+  $(document).ready(function() { init_search(); });
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+<div class="SRStatus" id="Loading">Loading...</div>
+<div class="SRStatus" id="Searching">Searching...</div>
+<div class="SRStatus" id="NoMatches">No Matches</div>
+</div>
+</div>
+</div>
+</div>
+
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#nested-classes">Classes</a> &#124;
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="classOdometry3Wheel-members.html">List of all members</a>  </div>
+  <div class="headertitle"><div class="title">Odometry3Wheel Class Reference</div></div>
+</div><!--header-->
+<div class="contents">
+
+<p><code>#include &lt;<a class="el" href="odometry__3wheel_8h_source.html">odometry_3wheel.h</a>&gt;</code></p>
+<div class="dynheader">
+Inheritance diagram for Odometry3Wheel:</div>
+<div class="dyncontent">
+ <div class="center">
+  <img src="classOdometry3Wheel.png" usemap="#Odometry3Wheel_map" alt=""/>
+  <map id="Odometry3Wheel_map" name="Odometry3Wheel_map">
+<area href="classOdometryBase.html" alt="OdometryBase" shape="rect" coords="0,0,109,24"/>
+  </map>
+</div></div>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="nested-classes" name="nested-classes"></a>
+Classes</h2></td></tr>
+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structOdometry3Wheel_1_1odometry3wheel__cfg__t.html">odometry3wheel_cfg_t</a></td></tr>
+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-methods" name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
+<tr class="memitem:a6755014965483b84e06e42d8e289bf40"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classOdometry3Wheel.html#a6755014965483b84e06e42d8e289bf40">Odometry3Wheel</a> (<a class="el" href="classCustomEncoder.html">CustomEncoder</a> &amp;lside_fwd, <a class="el" href="classCustomEncoder.html">CustomEncoder</a> &amp;rside_fwd, <a class="el" href="classCustomEncoder.html">CustomEncoder</a> &amp;off_axis, <a class="el" href="structOdometry3Wheel_1_1odometry3wheel__cfg__t.html">odometry3wheel_cfg_t</a> &amp;cfg, bool is_async=true)</td></tr>
+<tr class="separator:a6755014965483b84e06e42d8e289bf40"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a85c5661989dae181a4db7d91bd0526f7"><td class="memItemLeft" align="right" valign="top"><a class="el" href="structposition__t.html">position_t</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classOdometry3Wheel.html#a85c5661989dae181a4db7d91bd0526f7">update</a> () override</td></tr>
+<tr class="separator:a85c5661989dae181a4db7d91bd0526f7"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:acb23dbf715d342566fc7e44f58ebf654"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classOdometry3Wheel.html#acb23dbf715d342566fc7e44f58ebf654">tune</a> (vex::controller &amp;con, <a class="el" href="classTankDrive.html">TankDrive</a> &amp;drive)</td></tr>
+<tr class="separator:acb23dbf715d342566fc7e44f58ebf654"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_methods_classOdometryBase"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classOdometryBase')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="classOdometryBase.html">OdometryBase</a></td></tr>
+<tr class="memitem:a61286bd1c5105adbfa5b52c74f9e9466 inherit pub_methods_classOdometryBase"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classOdometryBase.html#a61286bd1c5105adbfa5b52c74f9e9466">OdometryBase</a> (bool is_async)</td></tr>
+<tr class="separator:a61286bd1c5105adbfa5b52c74f9e9466 inherit pub_methods_classOdometryBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a96c7be68db7424ddbe3704770dd1889f inherit pub_methods_classOdometryBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a3223bac952f79bf910b979690499b965 inherit pub_methods_classOdometryBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:af30d97a35e9e9c4f9be0a81390e6c0f1 inherit pub_methods_classOdometryBase"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classOdometryBase.html#af30d97a35e9e9c4f9be0a81390e6c0f1">get_angular_speed_deg</a> ()</td></tr>
+<tr class="separator:af30d97a35e9e9c4f9be0a81390e6c0f1 inherit pub_methods_classOdometryBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a456e6433e51971d2640ff96ed3a59432 inherit pub_methods_classOdometryBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="inherited" name="inherited"></a>
+Additional Inherited Members</h2></td></tr>
+<tr class="inherit_header pub_static_methods_classOdometryBase"><td colspan="2" onclick="javascript:toggleInherit('pub_static_methods_classOdometryBase')"><img src="closed.png" alt="-"/>&#160;Static Public Member Functions inherited from <a class="el" href="classOdometryBase.html">OdometryBase</a></td></tr>
+<tr class="memitem:a17a014f79b282ddfb715835214f3e2fb inherit pub_static_methods_classOdometryBase"><td class="memItemLeft" align="right" valign="top">static int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classOdometryBase.html#a17a014f79b282ddfb715835214f3e2fb">background_task</a> (void *ptr)</td></tr>
+<tr class="separator:a17a014f79b282ddfb715835214f3e2fb inherit pub_static_methods_classOdometryBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a8a248f027d3ff98cb2df2e3cd90e1f66 inherit pub_static_methods_classOdometryBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:ab1f1a09cda37d799c82003b5284c6856 inherit pub_static_methods_classOdometryBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a70ec71e9fb2e14f0a191a6bac927d36b inherit pub_static_methods_classOdometryBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_attribs_classOdometryBase"><td colspan="2" onclick="javascript:toggleInherit('pub_attribs_classOdometryBase')"><img src="closed.png" alt="-"/>&#160;Public Attributes inherited from <a class="el" href="classOdometryBase.html">OdometryBase</a></td></tr>
+<tr class="memitem:ae6e35ee98b4410f034cd37c0d2055a8d inherit pub_attribs_classOdometryBase"><td class="memItemLeft" align="right" valign="top"><a id="ae6e35ee98b4410f034cd37c0d2055a8d" name="ae6e35ee98b4410f034cd37c0d2055a8d"></a>
+bool&#160;</td><td class="memItemRight" valign="bottom"><b>end_task</b> = false</td></tr>
+<tr class="memdesc:ae6e35ee98b4410f034cd37c0d2055a8d inherit pub_attribs_classOdometryBase"><td class="mdescLeft">&#160;</td><td class="mdescRight">end_task is true if we instruct the odometry thread to shut down <br /></td></tr>
+<tr class="separator:ae6e35ee98b4410f034cd37c0d2055a8d inherit pub_attribs_classOdometryBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_static_attribs_classOdometryBase"><td colspan="2" onclick="javascript:toggleInherit('pub_static_attribs_classOdometryBase')"><img src="closed.png" alt="-"/>&#160;Static Public Attributes inherited from <a class="el" href="classOdometryBase.html">OdometryBase</a></td></tr>
+<tr class="memitem:a7bd3fd09b3a6fa78af3a5ed5e25b8d74 inherit pub_static_attribs_classOdometryBase"><td class="memItemLeft" align="right" valign="top">static constexpr <a class="el" href="structposition__t.html">position_t</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classOdometryBase.html#a7bd3fd09b3a6fa78af3a5ed5e25b8d74">zero_pos</a> = {.x=0.0L, .y=0.0L, .rot=90.0L}</td></tr>
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+<tr class="inherit_header pro_attribs_classOdometryBase"><td colspan="2" onclick="javascript:toggleInherit('pro_attribs_classOdometryBase')"><img src="closed.png" alt="-"/>&#160;Protected Attributes inherited from <a class="el" href="classOdometryBase.html">OdometryBase</a></td></tr>
+<tr class="memitem:ae5308f20a4dfef9594631010c7612dab inherit pro_attribs_classOdometryBase"><td class="memItemLeft" align="right" valign="top">vex::task *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classOdometryBase.html#ae5308f20a4dfef9594631010c7612dab">handle</a></td></tr>
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+<tr class="separator:a6119ab3ce0b685e67a8b57871e0a2c26 inherit pro_attribs_classOdometryBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a250ceb6ed296ea579e37851e4a0048fb inherit pro_attribs_classOdometryBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a01f14bfcecbcde7a74b9b98376deb19f inherit pro_attribs_classOdometryBase"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classOdometryBase.html#a01f14bfcecbcde7a74b9b98376deb19f">ang_accel_deg</a></td></tr>
+<tr class="separator:a01f14bfcecbcde7a74b9b98376deb19f inherit pro_attribs_classOdometryBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p><a class="el" href="classOdometry3Wheel.html">Odometry3Wheel</a></p>
+<p>This class handles the code for a standard 3-pod odometry setup, where there are 3 "pods" made up of undriven (dead) wheels connected to encoders in the following configuration:</p>
+<p>+Y ------------&mdash; ^ | | | | | | | || O || | | | | | | === | | ------------&mdash; | +----------------&mdash;&gt; + X</p>
+<p>Where O is the center of rotation. The robot will monitor the changes in rotation of these wheels and calculate the robot's X, Y and rotation on the field.</p>
+<p>This is a "set and forget" class, meaning once the object is created, the robot will immediately begin tracking it's movement in the background.</p>
+<dl class="section author"><dt>Author</dt><dd>Ryan McGee </dd></dl>
+<dl class="section date"><dt>Date</dt><dd>Oct 31 2022 </dd></dl>
+</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="a6755014965483b84e06e42d8e289bf40" name="a6755014965483b84e06e42d8e289bf40"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a6755014965483b84e06e42d8e289bf40">&#9670;&#160;</a></span>Odometry3Wheel()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">Odometry3Wheel::Odometry3Wheel </td>
+          <td>(</td>
+          <td class="paramtype"><a class="el" href="classCustomEncoder.html">CustomEncoder</a> &amp;&#160;</td>
+          <td class="paramname"><em>lside_fwd</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype"><a class="el" href="classCustomEncoder.html">CustomEncoder</a> &amp;&#160;</td>
+          <td class="paramname"><em>rside_fwd</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype"><a class="el" href="classCustomEncoder.html">CustomEncoder</a> &amp;&#160;</td>
+          <td class="paramname"><em>off_axis</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype"><a class="el" href="structOdometry3Wheel_1_1odometry3wheel__cfg__t.html">odometry3wheel_cfg_t</a> &amp;&#160;</td>
+          <td class="paramname"><em>cfg</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">bool&#160;</td>
+          <td class="paramname"><em>is_async</em> = <code>true</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<p>Construct a new Odometry 3 Wheel object</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">lside_fwd</td><td>left-side encoder reference </td></tr>
+    <tr><td class="paramname">rside_fwd</td><td>right-side encoder reference </td></tr>
+    <tr><td class="paramname">off_axis</td><td>off-axis (perpendicular) encoder reference </td></tr>
+    <tr><td class="paramname">cfg</td><td>robot odometry configuration </td></tr>
+    <tr><td class="paramname">is_async</td><td>true to constantly run in the background </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="acb23dbf715d342566fc7e44f58ebf654" name="acb23dbf715d342566fc7e44f58ebf654"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#acb23dbf715d342566fc7e44f58ebf654">&#9670;&#160;</a></span>tune()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">void Odometry3Wheel::tune </td>
+          <td>(</td>
+          <td class="paramtype">vex::controller &amp;&#160;</td>
+          <td class="paramname"><em>con</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype"><a class="el" href="classTankDrive.html">TankDrive</a> &amp;&#160;</td>
+          <td class="paramname"><em>drive</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<p>A guided tuning process to automatically find tuning parameters. This method is blocking, and returns when tuning has finished. Follow the instructions on the controller to complete the tuning process</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">con</td><td>Controller reference, for screen and button control </td></tr>
+    <tr><td class="paramname">drive</td><td>Drivetrain reference for robot control</td></tr>
+  </table>
+  </dd>
+</dl>
+<p>A guided tuning process to automatically find tuning parameters. This method is blocking, and returns when tuning has finished. Follow the instructions on the controller to complete the tuning process</p>
+<p>It is assumed the gear ratio and encoder PPR have been set correctly </p>
+
+</div>
+</div>
+<a id="a85c5661989dae181a4db7d91bd0526f7" name="a85c5661989dae181a4db7d91bd0526f7"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a85c5661989dae181a4db7d91bd0526f7">&#9670;&#160;</a></span>update()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname"><a class="el" href="structposition__t.html">position_t</a> Odometry3Wheel::update </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">override</span><span class="mlabel">virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<p>Update the current position of the robot once, using the current state of the encoders and the previous known location</p>
+<dl class="section return"><dt>Returns</dt><dd>the robot's updated position </dd></dl>
+
+<p>Implements <a class="el" href="classOdometryBase.html#a5d55b7987d97a9af721838596a520dec">OdometryBase</a>.</p>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following files:<ul>
+<li>include/subsystems/odometry/<a class="el" href="odometry__3wheel_8h_source.html">odometry_3wheel.h</a></li>
+<li>src/subsystems/odometry/odometry_3wheel.cpp</li>
+</ul>
+</div><!-- contents -->
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+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.6
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+  <div class="headertitle"><div class="title">OdometryBase Member List</div></div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classOdometryBase.html">OdometryBase</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classOdometryBase.html#a94c814dfb542dd891d84db7e74537249">accel</a></td><td class="entry"><a class="el" href="classOdometryBase.html">OdometryBase</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classOdometryBase.html#a01f14bfcecbcde7a74b9b98376deb19f">ang_accel_deg</a></td><td class="entry"><a class="el" href="classOdometryBase.html">OdometryBase</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classOdometryBase.html#a250ceb6ed296ea579e37851e4a0048fb">ang_speed_deg</a></td><td class="entry"><a class="el" href="classOdometryBase.html">OdometryBase</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classOdometryBase.html#a17a014f79b282ddfb715835214f3e2fb">background_task</a>(void *ptr)</td><td class="entry"><a class="el" href="classOdometryBase.html">OdometryBase</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classOdometryBase.html#a6870aebb6e05dcd152d3295462f559c3">current_pos</a></td><td class="entry"><a class="el" href="classOdometryBase.html">OdometryBase</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classOdometryBase.html#ab65ccaa80d4bb0d0aa20e82b3b991436">end_async</a>()</td><td class="entry"><a class="el" href="classOdometryBase.html">OdometryBase</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classOdometryBase.html#ae6e35ee98b4410f034cd37c0d2055a8d">end_task</a></td><td class="entry"><a class="el" href="classOdometryBase.html">OdometryBase</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classOdometryBase.html#a3223bac952f79bf910b979690499b965">get_accel</a>()</td><td class="entry"><a class="el" href="classOdometryBase.html">OdometryBase</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classOdometryBase.html#a456e6433e51971d2640ff96ed3a59432">get_angular_accel_deg</a>()</td><td class="entry"><a class="el" href="classOdometryBase.html">OdometryBase</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classOdometryBase.html#af30d97a35e9e9c4f9be0a81390e6c0f1">get_angular_speed_deg</a>()</td><td class="entry"><a class="el" href="classOdometryBase.html">OdometryBase</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classOdometryBase.html#a3cdcfcf70ef02e0efc2efd902fac3811">get_position</a>(void)</td><td class="entry"><a class="el" href="classOdometryBase.html">OdometryBase</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classOdometryBase.html#a96c7be68db7424ddbe3704770dd1889f">get_speed</a>()</td><td class="entry"><a class="el" href="classOdometryBase.html">OdometryBase</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classOdometryBase.html#ae5308f20a4dfef9594631010c7612dab">handle</a></td><td class="entry"><a class="el" href="classOdometryBase.html">OdometryBase</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classOdometryBase.html#a88bb48858ca6ff8300a41e23482ec6f6">mut</a></td><td class="entry"><a class="el" href="classOdometryBase.html">OdometryBase</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classOdometryBase.html#a61286bd1c5105adbfa5b52c74f9e9466">OdometryBase</a>(bool is_async)</td><td class="entry"><a class="el" href="classOdometryBase.html">OdometryBase</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classOdometryBase.html#a8a248f027d3ff98cb2df2e3cd90e1f66">pos_diff</a>(position_t start_pos, position_t end_pos)</td><td class="entry"><a class="el" href="classOdometryBase.html">OdometryBase</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classOdometryBase.html#ab1f1a09cda37d799c82003b5284c6856">rot_diff</a>(position_t pos1, position_t pos2)</td><td class="entry"><a class="el" href="classOdometryBase.html">OdometryBase</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classOdometryBase.html#a34e4bd8567933d1b6bd6e41327a36549">set_position</a>(const position_t &amp;newpos=zero_pos)</td><td class="entry"><a class="el" href="classOdometryBase.html">OdometryBase</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classOdometryBase.html#a70ec71e9fb2e14f0a191a6bac927d36b">smallest_angle</a>(double start_deg, double end_deg)</td><td class="entry"><a class="el" href="classOdometryBase.html">OdometryBase</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classOdometryBase.html#a6119ab3ce0b685e67a8b57871e0a2c26">speed</a></td><td class="entry"><a class="el" href="classOdometryBase.html">OdometryBase</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classOdometryBase.html#a5d55b7987d97a9af721838596a520dec">update</a>()=0</td><td class="entry"><a class="el" href="classOdometryBase.html">OdometryBase</a></td><td class="entry"><span class="mlabel">pure virtual</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classOdometryBase.html#a7bd3fd09b3a6fa78af3a5ed5e25b8d74">zero_pos</a></td><td class="entry"><a class="el" href="classOdometryBase.html">OdometryBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
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+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pub-static-methods">Static Public Member Functions</a> &#124;
+<a href="#pub-attribs">Public Attributes</a> &#124;
+<a href="#pub-static-attribs">Static Public Attributes</a> &#124;
+<a href="#pro-attribs">Protected Attributes</a> &#124;
+<a href="classOdometryBase-members.html">List of all members</a>  </div>
+  <div class="headertitle"><div class="title">OdometryBase Class Reference<span class="mlabels"><span class="mlabel">abstract</span></span></div></div>
+</div><!--header-->
+<div class="contents">
+
+<p><code>#include &lt;<a class="el" href="odometry__base_8h_source.html">odometry_base.h</a>&gt;</code></p>
+<div class="dynheader">
+Inheritance diagram for OdometryBase:</div>
+<div class="dyncontent">
+ <div class="center">
+  <img src="classOdometryBase.png" usemap="#OdometryBase_map" alt=""/>
+  <map id="OdometryBase_map" name="OdometryBase_map">
+<area href="classOdometry3Wheel.html" alt="Odometry3Wheel" shape="rect" coords="0,56,109,80"/>
+<area href="classOdometryTank.html" alt="OdometryTank" shape="rect" coords="119,56,228,80"/>
+  </map>
+</div></div>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-methods" name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
+<tr class="memitem:a61286bd1c5105adbfa5b52c74f9e9466"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classOdometryBase.html#a61286bd1c5105adbfa5b52c74f9e9466">OdometryBase</a> (bool is_async)</td></tr>
+<tr class="separator:a61286bd1c5105adbfa5b52c74f9e9466"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a3cdcfcf70ef02e0efc2efd902fac3811"><td class="memItemLeft" align="right" valign="top"><a class="el" href="structposition__t.html">position_t</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classOdometryBase.html#a3cdcfcf70ef02e0efc2efd902fac3811">get_position</a> (void)</td></tr>
+<tr class="separator:a3cdcfcf70ef02e0efc2efd902fac3811"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a34e4bd8567933d1b6bd6e41327a36549"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classOdometryBase.html#a34e4bd8567933d1b6bd6e41327a36549">set_position</a> (const <a class="el" href="structposition__t.html">position_t</a> &amp;newpos=<a class="el" href="classOdometryBase.html#a7bd3fd09b3a6fa78af3a5ed5e25b8d74">zero_pos</a>)</td></tr>
+<tr class="separator:a34e4bd8567933d1b6bd6e41327a36549"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a5d55b7987d97a9af721838596a520dec"><td class="memItemLeft" align="right" valign="top">virtual <a class="el" href="structposition__t.html">position_t</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classOdometryBase.html#a5d55b7987d97a9af721838596a520dec">update</a> ()=0</td></tr>
+<tr class="separator:a5d55b7987d97a9af721838596a520dec"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ab65ccaa80d4bb0d0aa20e82b3b991436"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classOdometryBase.html#ab65ccaa80d4bb0d0aa20e82b3b991436">end_async</a> ()</td></tr>
+<tr class="separator:ab65ccaa80d4bb0d0aa20e82b3b991436"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a96c7be68db7424ddbe3704770dd1889f"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classOdometryBase.html#a96c7be68db7424ddbe3704770dd1889f">get_speed</a> ()</td></tr>
+<tr class="separator:a96c7be68db7424ddbe3704770dd1889f"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a3223bac952f79bf910b979690499b965"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classOdometryBase.html#a3223bac952f79bf910b979690499b965">get_accel</a> ()</td></tr>
+<tr class="separator:a3223bac952f79bf910b979690499b965"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:af30d97a35e9e9c4f9be0a81390e6c0f1"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classOdometryBase.html#af30d97a35e9e9c4f9be0a81390e6c0f1">get_angular_speed_deg</a> ()</td></tr>
+<tr class="separator:af30d97a35e9e9c4f9be0a81390e6c0f1"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a456e6433e51971d2640ff96ed3a59432"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classOdometryBase.html#a456e6433e51971d2640ff96ed3a59432">get_angular_accel_deg</a> ()</td></tr>
+<tr class="separator:a456e6433e51971d2640ff96ed3a59432"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-static-methods" name="pub-static-methods"></a>
+Static Public Member Functions</h2></td></tr>
+<tr class="memitem:a17a014f79b282ddfb715835214f3e2fb"><td class="memItemLeft" align="right" valign="top">static int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classOdometryBase.html#a17a014f79b282ddfb715835214f3e2fb">background_task</a> (void *ptr)</td></tr>
+<tr class="separator:a17a014f79b282ddfb715835214f3e2fb"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a8a248f027d3ff98cb2df2e3cd90e1f66"><td class="memItemLeft" align="right" valign="top">static double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classOdometryBase.html#a8a248f027d3ff98cb2df2e3cd90e1f66">pos_diff</a> (<a class="el" href="structposition__t.html">position_t</a> start_pos, <a class="el" href="structposition__t.html">position_t</a> end_pos)</td></tr>
+<tr class="separator:a8a248f027d3ff98cb2df2e3cd90e1f66"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ab1f1a09cda37d799c82003b5284c6856"><td class="memItemLeft" align="right" valign="top">static double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classOdometryBase.html#ab1f1a09cda37d799c82003b5284c6856">rot_diff</a> (<a class="el" href="structposition__t.html">position_t</a> pos1, <a class="el" href="structposition__t.html">position_t</a> pos2)</td></tr>
+<tr class="separator:ab1f1a09cda37d799c82003b5284c6856"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a70ec71e9fb2e14f0a191a6bac927d36b"><td class="memItemLeft" align="right" valign="top">static double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classOdometryBase.html#a70ec71e9fb2e14f0a191a6bac927d36b">smallest_angle</a> (double start_deg, double end_deg)</td></tr>
+<tr class="separator:a70ec71e9fb2e14f0a191a6bac927d36b"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-attribs" name="pub-attribs"></a>
+Public Attributes</h2></td></tr>
+<tr class="memitem:ae6e35ee98b4410f034cd37c0d2055a8d"><td class="memItemLeft" align="right" valign="top"><a id="ae6e35ee98b4410f034cd37c0d2055a8d" name="ae6e35ee98b4410f034cd37c0d2055a8d"></a>
+bool&#160;</td><td class="memItemRight" valign="bottom"><b>end_task</b> = false</td></tr>
+<tr class="memdesc:ae6e35ee98b4410f034cd37c0d2055a8d"><td class="mdescLeft">&#160;</td><td class="mdescRight">end_task is true if we instruct the odometry thread to shut down <br /></td></tr>
+<tr class="separator:ae6e35ee98b4410f034cd37c0d2055a8d"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-static-attribs" name="pub-static-attribs"></a>
+Static Public Attributes</h2></td></tr>
+<tr class="memitem:a7bd3fd09b3a6fa78af3a5ed5e25b8d74"><td class="memItemLeft" align="right" valign="top">static constexpr <a class="el" href="structposition__t.html">position_t</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classOdometryBase.html#a7bd3fd09b3a6fa78af3a5ed5e25b8d74">zero_pos</a> = {.x=0.0L, .y=0.0L, .rot=90.0L}</td></tr>
+<tr class="separator:a7bd3fd09b3a6fa78af3a5ed5e25b8d74"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pro-attribs" name="pro-attribs"></a>
+Protected Attributes</h2></td></tr>
+<tr class="memitem:ae5308f20a4dfef9594631010c7612dab"><td class="memItemLeft" align="right" valign="top">vex::task *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classOdometryBase.html#ae5308f20a4dfef9594631010c7612dab">handle</a></td></tr>
+<tr class="separator:ae5308f20a4dfef9594631010c7612dab"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a88bb48858ca6ff8300a41e23482ec6f6"><td class="memItemLeft" align="right" valign="top">vex::mutex&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classOdometryBase.html#a88bb48858ca6ff8300a41e23482ec6f6">mut</a></td></tr>
+<tr class="separator:a88bb48858ca6ff8300a41e23482ec6f6"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a6870aebb6e05dcd152d3295462f559c3"><td class="memItemLeft" align="right" valign="top"><a class="el" href="structposition__t.html">position_t</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classOdometryBase.html#a6870aebb6e05dcd152d3295462f559c3">current_pos</a></td></tr>
+<tr class="separator:a6870aebb6e05dcd152d3295462f559c3"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a6119ab3ce0b685e67a8b57871e0a2c26"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classOdometryBase.html#a6119ab3ce0b685e67a8b57871e0a2c26">speed</a></td></tr>
+<tr class="separator:a6119ab3ce0b685e67a8b57871e0a2c26"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a94c814dfb542dd891d84db7e74537249"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classOdometryBase.html#a94c814dfb542dd891d84db7e74537249">accel</a></td></tr>
+<tr class="separator:a94c814dfb542dd891d84db7e74537249"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a250ceb6ed296ea579e37851e4a0048fb"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classOdometryBase.html#a250ceb6ed296ea579e37851e4a0048fb">ang_speed_deg</a></td></tr>
+<tr class="separator:a250ceb6ed296ea579e37851e4a0048fb"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a01f14bfcecbcde7a74b9b98376deb19f"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classOdometryBase.html#a01f14bfcecbcde7a74b9b98376deb19f">ang_accel_deg</a></td></tr>
+<tr class="separator:a01f14bfcecbcde7a74b9b98376deb19f"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p><a class="el" href="classOdometryBase.html">OdometryBase</a></p>
+<p>This base class contains all the shared code between different implementations of odometry. It handles the asynchronous management, position input/output and basic math functions, and holds positional types specific to field orientation.</p>
+<p>All future odometry implementations should extend this file and redefine <a class="el" href="classOdometryBase.html#a5d55b7987d97a9af721838596a520dec">update()</a> function.</p>
+<dl class="section author"><dt>Author</dt><dd>Ryan McGee </dd></dl>
+<dl class="section date"><dt>Date</dt><dd>Aug 11 2021 </dd></dl>
+</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="a61286bd1c5105adbfa5b52c74f9e9466" name="a61286bd1c5105adbfa5b52c74f9e9466"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a61286bd1c5105adbfa5b52c74f9e9466">&#9670;&#160;</a></span>OdometryBase()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">OdometryBase::OdometryBase </td>
+          <td>(</td>
+          <td class="paramtype">bool&#160;</td>
+          <td class="paramname"><em>is_async</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<p>Construct a new Odometry Base object</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">is_async</td><td>True to run constantly in the background, false to call <a class="el" href="classOdometryBase.html#a5d55b7987d97a9af721838596a520dec">update()</a> manually </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a17a014f79b282ddfb715835214f3e2fb" name="a17a014f79b282ddfb715835214f3e2fb"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a17a014f79b282ddfb715835214f3e2fb">&#9670;&#160;</a></span>background_task()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">int OdometryBase::background_task </td>
+          <td>(</td>
+          <td class="paramtype">void *&#160;</td>
+          <td class="paramname"><em>ptr</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<p>Function that runs in the background task. This function pointer is passed to the vex::task constructor.</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">ptr</td><td>Pointer to <a class="el" href="classOdometryBase.html">OdometryBase</a> object </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>Required integer return code. Unused. </dd></dl>
+
+</div>
+</div>
+<a id="ab65ccaa80d4bb0d0aa20e82b3b991436" name="ab65ccaa80d4bb0d0aa20e82b3b991436"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ab65ccaa80d4bb0d0aa20e82b3b991436">&#9670;&#160;</a></span>end_async()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">void OdometryBase::end_async </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<p>End the background task. Cannot be restarted. If the user wants to end the thread but keep the data up to date, they must run the <a class="el" href="classOdometryBase.html#a5d55b7987d97a9af721838596a520dec">update()</a> function manually from then on. </p>
+
+</div>
+</div>
+<a id="a3223bac952f79bf910b979690499b965" name="a3223bac952f79bf910b979690499b965"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a3223bac952f79bf910b979690499b965">&#9670;&#160;</a></span>get_accel()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">double OdometryBase::get_accel </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<p>Get the current acceleration </p><dl class="section return"><dt>Returns</dt><dd>the acceleration rate of the robot (inch/s^2) </dd></dl>
+
+</div>
+</div>
+<a id="a456e6433e51971d2640ff96ed3a59432" name="a456e6433e51971d2640ff96ed3a59432"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a456e6433e51971d2640ff96ed3a59432">&#9670;&#160;</a></span>get_angular_accel_deg()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">double OdometryBase::get_angular_accel_deg </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<p>Get the current angular acceleration in degrees </p><dl class="section return"><dt>Returns</dt><dd>the angular acceleration at which we are turning (deg/s^2) </dd></dl>
+
+</div>
+</div>
+<a id="af30d97a35e9e9c4f9be0a81390e6c0f1" name="af30d97a35e9e9c4f9be0a81390e6c0f1"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#af30d97a35e9e9c4f9be0a81390e6c0f1">&#9670;&#160;</a></span>get_angular_speed_deg()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">double OdometryBase::get_angular_speed_deg </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<p>Get the current angular speed in degrees </p><dl class="section return"><dt>Returns</dt><dd>the angular velocity at which we are turning (deg/s) </dd></dl>
+
+</div>
+</div>
+<a id="a3cdcfcf70ef02e0efc2efd902fac3811" name="a3cdcfcf70ef02e0efc2efd902fac3811"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a3cdcfcf70ef02e0efc2efd902fac3811">&#9670;&#160;</a></span>get_position()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname"><a class="el" href="structposition__t.html">position_t</a> OdometryBase::get_position </td>
+          <td>(</td>
+          <td class="paramtype">void&#160;</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<p>Gets the current position and rotation </p><dl class="section return"><dt>Returns</dt><dd>the position that the odometry believes the robot is at</dd></dl>
+<p>Gets the current position and rotation </p>
+
+</div>
+</div>
+<a id="a96c7be68db7424ddbe3704770dd1889f" name="a96c7be68db7424ddbe3704770dd1889f"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a96c7be68db7424ddbe3704770dd1889f">&#9670;&#160;</a></span>get_speed()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">double OdometryBase::get_speed </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<p>Get the current speed </p><dl class="section return"><dt>Returns</dt><dd>the speed at which the robot is moving and grooving (inch/s) </dd></dl>
+
+</div>
+</div>
+<a id="a8a248f027d3ff98cb2df2e3cd90e1f66" name="a8a248f027d3ff98cb2df2e3cd90e1f66"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a8a248f027d3ff98cb2df2e3cd90e1f66">&#9670;&#160;</a></span>pos_diff()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">double OdometryBase::pos_diff </td>
+          <td>(</td>
+          <td class="paramtype"><a class="el" href="structposition__t.html">position_t</a>&#160;</td>
+          <td class="paramname"><em>start_pos</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype"><a class="el" href="structposition__t.html">position_t</a>&#160;</td>
+          <td class="paramname"><em>end_pos</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<p>Get the distance between two points </p><dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">start_pos</td><td>distance from this point </td></tr>
+    <tr><td class="paramname">end_pos</td><td>to this point </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>the euclidean distance between start_pos and end_pos </dd></dl>
+
+</div>
+</div>
+<a id="ab1f1a09cda37d799c82003b5284c6856" name="ab1f1a09cda37d799c82003b5284c6856"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ab1f1a09cda37d799c82003b5284c6856">&#9670;&#160;</a></span>rot_diff()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">double OdometryBase::rot_diff </td>
+          <td>(</td>
+          <td class="paramtype"><a class="el" href="structposition__t.html">position_t</a>&#160;</td>
+          <td class="paramname"><em>pos1</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype"><a class="el" href="structposition__t.html">position_t</a>&#160;</td>
+          <td class="paramname"><em>pos2</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<p>Get the change in rotation between two points </p><dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">pos1</td><td>position with initial rotation </td></tr>
+    <tr><td class="paramname">pos2</td><td>position with final rotation </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>change in rotation between pos1 and pos2</dd></dl>
+<p>Get the change in rotation between two points </p>
+
+</div>
+</div>
+<a id="a34e4bd8567933d1b6bd6e41327a36549" name="a34e4bd8567933d1b6bd6e41327a36549"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a34e4bd8567933d1b6bd6e41327a36549">&#9670;&#160;</a></span>set_position()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">void OdometryBase::set_position </td>
+          <td>(</td>
+          <td class="paramtype">const <a class="el" href="structposition__t.html">position_t</a> &amp;&#160;</td>
+          <td class="paramname"><em>newpos</em> = <code><a class="el" href="classOdometryBase.html#a7bd3fd09b3a6fa78af3a5ed5e25b8d74">zero_pos</a></code></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<p>Sets the current position of the robot </p><dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">newpos</td><td>the new position that the odometry will believe it is at</td></tr>
+  </table>
+  </dd>
+</dl>
+<p>Sets the current position of the robot </p>
+
+<p>Reimplemented in <a class="el" href="classOdometryTank.html#ad3b4bcf351767992e2383ab000645335">OdometryTank</a>.</p>
+
+</div>
+</div>
+<a id="a70ec71e9fb2e14f0a191a6bac927d36b" name="a70ec71e9fb2e14f0a191a6bac927d36b"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a70ec71e9fb2e14f0a191a6bac927d36b">&#9670;&#160;</a></span>smallest_angle()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">double OdometryBase::smallest_angle </td>
+          <td>(</td>
+          <td class="paramtype">double&#160;</td>
+          <td class="paramname"><em>start_deg</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">double&#160;</td>
+          <td class="paramname"><em>end_deg</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<p>Get the smallest difference in angle between a start heading and end heading. Returns the difference between -180 degrees and +180 degrees, representing the robot turning left or right, respectively. </p><dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">start_deg</td><td>intitial angle (degrees) </td></tr>
+    <tr><td class="paramname">end_deg</td><td>final angle (degrees) </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>the smallest angle from the initial to the final angle. This takes into account the wrapping of rotations around 360 degrees</dd></dl>
+<p>Get the smallest difference in angle between a start heading and end heading. Returns the difference between -180 degrees and +180 degrees, representing the robot turning left or right, respectively. </p>
+
+</div>
+</div>
+<a id="a5d55b7987d97a9af721838596a520dec" name="a5d55b7987d97a9af721838596a520dec"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a5d55b7987d97a9af721838596a520dec">&#9670;&#160;</a></span>update()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">virtual <a class="el" href="structposition__t.html">position_t</a> OdometryBase::update </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">pure virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<p>Update the current position on the field based on the sensors </p><dl class="section return"><dt>Returns</dt><dd>the location that the robot is at after the odometry does its calculations </dd></dl>
+
+<p>Implemented in <a class="el" href="classOdometry3Wheel.html#a85c5661989dae181a4db7d91bd0526f7">Odometry3Wheel</a>, and <a class="el" href="classOdometryTank.html#a02508433d771c661c89d14f204a61d13">OdometryTank</a>.</p>
+
+</div>
+</div>
+<h2 class="groupheader">Member Data Documentation</h2>
+<a id="a94c814dfb542dd891d84db7e74537249" name="a94c814dfb542dd891d84db7e74537249"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a94c814dfb542dd891d84db7e74537249">&#9670;&#160;</a></span>accel</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">double OdometryBase::accel</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">protected</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<p>the rate at which we are accelerating (inch/s^2) </p>
+
+</div>
+</div>
+<a id="a01f14bfcecbcde7a74b9b98376deb19f" name="a01f14bfcecbcde7a74b9b98376deb19f"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a01f14bfcecbcde7a74b9b98376deb19f">&#9670;&#160;</a></span>ang_accel_deg</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">double OdometryBase::ang_accel_deg</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">protected</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<p>the rate at which we are accelerating our turn (deg/s^2) </p>
+
+</div>
+</div>
+<a id="a250ceb6ed296ea579e37851e4a0048fb" name="a250ceb6ed296ea579e37851e4a0048fb"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a250ceb6ed296ea579e37851e4a0048fb">&#9670;&#160;</a></span>ang_speed_deg</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">double OdometryBase::ang_speed_deg</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">protected</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<p>the speed at which we are turning (deg/s) </p>
+
+</div>
+</div>
+<a id="a6870aebb6e05dcd152d3295462f559c3" name="a6870aebb6e05dcd152d3295462f559c3"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a6870aebb6e05dcd152d3295462f559c3">&#9670;&#160;</a></span>current_pos</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname"><a class="el" href="structposition__t.html">position_t</a> OdometryBase::current_pos</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">protected</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<p>Current position of the robot in terms of x,y,rotation </p>
+
+</div>
+</div>
+<a id="ae5308f20a4dfef9594631010c7612dab" name="ae5308f20a4dfef9594631010c7612dab"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ae5308f20a4dfef9594631010c7612dab">&#9670;&#160;</a></span>handle</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">vex::task* OdometryBase::handle</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">protected</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<p>handle to the vex task that is running the odometry code </p>
+
+</div>
+</div>
+<a id="a88bb48858ca6ff8300a41e23482ec6f6" name="a88bb48858ca6ff8300a41e23482ec6f6"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a88bb48858ca6ff8300a41e23482ec6f6">&#9670;&#160;</a></span>mut</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">vex::mutex OdometryBase::mut</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">protected</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<p>Mutex to control multithreading </p>
+
+</div>
+</div>
+<a id="a6119ab3ce0b685e67a8b57871e0a2c26" name="a6119ab3ce0b685e67a8b57871e0a2c26"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a6119ab3ce0b685e67a8b57871e0a2c26">&#9670;&#160;</a></span>speed</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">double OdometryBase::speed</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">protected</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<p>the speed at which we are travelling (inch/s) </p>
+
+</div>
+</div>
+<a id="a7bd3fd09b3a6fa78af3a5ed5e25b8d74" name="a7bd3fd09b3a6fa78af3a5ed5e25b8d74"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a7bd3fd09b3a6fa78af3a5ed5e25b8d74">&#9670;&#160;</a></span>zero_pos</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">constexpr <a class="el" href="structposition__t.html">position_t</a> OdometryBase::zero_pos = {.x=0.0L, .y=0.0L, .rot=90.0L}</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">static</span><span class="mlabel">constexpr</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<p>Zeroed position. X=0, Y=0, Rotation= 90 degrees </p>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following files:<ul>
+<li>include/subsystems/odometry/<a class="el" href="odometry__base_8h_source.html">odometry_base.h</a></li>
+<li>src/subsystems/odometry/odometry_base.cpp</li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.6
+</small></address>
+</body>
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diff --git a/documentation/html/classOdometryTank-members.html b/documentation/html/classOdometryTank-members.html
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+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=11"/>
+<meta name="generator" content="Doxygen 1.9.6"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>RIT VEXU Core API: Member List</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
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+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
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+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
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+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr id="projectrow">
+  <td id="projectalign">
+   <div id="projectname">RIT VEXU Core API
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.6 -->
+<script type="text/javascript">
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+/* @license-end */
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
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+  $(document).ready(function() { init_search(); });
+});
+/* @license-end */
+</script>
+<div id="main-nav"></div>
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
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+</div>
+
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle"><div class="title">OdometryTank Member List</div></div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classOdometryTank.html">OdometryTank</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classOdometryBase.html#a94c814dfb542dd891d84db7e74537249">accel</a></td><td class="entry"><a class="el" href="classOdometryBase.html">OdometryBase</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classOdometryBase.html#a01f14bfcecbcde7a74b9b98376deb19f">ang_accel_deg</a></td><td class="entry"><a class="el" href="classOdometryBase.html">OdometryBase</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classOdometryBase.html#a250ceb6ed296ea579e37851e4a0048fb">ang_speed_deg</a></td><td class="entry"><a class="el" href="classOdometryBase.html">OdometryBase</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classOdometryBase.html#a17a014f79b282ddfb715835214f3e2fb">background_task</a>(void *ptr)</td><td class="entry"><a class="el" href="classOdometryBase.html">OdometryBase</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classOdometryBase.html#a6870aebb6e05dcd152d3295462f559c3">current_pos</a></td><td class="entry"><a class="el" href="classOdometryBase.html">OdometryBase</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classOdometryBase.html#ab65ccaa80d4bb0d0aa20e82b3b991436">end_async</a>()</td><td class="entry"><a class="el" href="classOdometryBase.html">OdometryBase</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classOdometryBase.html#ae6e35ee98b4410f034cd37c0d2055a8d">end_task</a></td><td class="entry"><a class="el" href="classOdometryBase.html">OdometryBase</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classOdometryBase.html#a3223bac952f79bf910b979690499b965">get_accel</a>()</td><td class="entry"><a class="el" href="classOdometryBase.html">OdometryBase</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classOdometryBase.html#a456e6433e51971d2640ff96ed3a59432">get_angular_accel_deg</a>()</td><td class="entry"><a class="el" href="classOdometryBase.html">OdometryBase</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classOdometryBase.html#af30d97a35e9e9c4f9be0a81390e6c0f1">get_angular_speed_deg</a>()</td><td class="entry"><a class="el" href="classOdometryBase.html">OdometryBase</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classOdometryBase.html#a3cdcfcf70ef02e0efc2efd902fac3811">get_position</a>(void)</td><td class="entry"><a class="el" href="classOdometryBase.html">OdometryBase</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classOdometryBase.html#a96c7be68db7424ddbe3704770dd1889f">get_speed</a>()</td><td class="entry"><a class="el" href="classOdometryBase.html">OdometryBase</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classOdometryBase.html#ae5308f20a4dfef9594631010c7612dab">handle</a></td><td class="entry"><a class="el" href="classOdometryBase.html">OdometryBase</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classOdometryBase.html#a88bb48858ca6ff8300a41e23482ec6f6">mut</a></td><td class="entry"><a class="el" href="classOdometryBase.html">OdometryBase</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classOdometryBase.html#a61286bd1c5105adbfa5b52c74f9e9466">OdometryBase</a>(bool is_async)</td><td class="entry"><a class="el" href="classOdometryBase.html">OdometryBase</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classOdometryTank.html#add83c3320e43e90963c38f25ce06c4da">OdometryTank</a>(vex::motor_group &amp;left_side, vex::motor_group &amp;right_side, robot_specs_t &amp;config, vex::inertial *imu=NULL, bool is_async=true)</td><td class="entry"><a class="el" href="classOdometryTank.html">OdometryTank</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classOdometryTank.html#a0fdb5e855104301ad83588362974b75a">OdometryTank</a>(CustomEncoder &amp;left_enc, CustomEncoder &amp;right_enc, robot_specs_t &amp;config, vex::inertial *imu=NULL, bool is_async=true)</td><td class="entry"><a class="el" href="classOdometryTank.html">OdometryTank</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classOdometryBase.html#a8a248f027d3ff98cb2df2e3cd90e1f66">pos_diff</a>(position_t start_pos, position_t end_pos)</td><td class="entry"><a class="el" href="classOdometryBase.html">OdometryBase</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classOdometryBase.html#ab1f1a09cda37d799c82003b5284c6856">rot_diff</a>(position_t pos1, position_t pos2)</td><td class="entry"><a class="el" href="classOdometryBase.html">OdometryBase</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classOdometryTank.html#ad3b4bcf351767992e2383ab000645335">set_position</a>(const position_t &amp;newpos=zero_pos) override</td><td class="entry"><a class="el" href="classOdometryTank.html">OdometryTank</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classOdometryBase.html#a70ec71e9fb2e14f0a191a6bac927d36b">smallest_angle</a>(double start_deg, double end_deg)</td><td class="entry"><a class="el" href="classOdometryBase.html">OdometryBase</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classOdometryBase.html#a6119ab3ce0b685e67a8b57871e0a2c26">speed</a></td><td class="entry"><a class="el" href="classOdometryBase.html">OdometryBase</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classOdometryTank.html#a02508433d771c661c89d14f204a61d13">update</a>() override</td><td class="entry"><a class="el" href="classOdometryTank.html">OdometryTank</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classOdometryBase.html#a7bd3fd09b3a6fa78af3a5ed5e25b8d74">zero_pos</a></td><td class="entry"><a class="el" href="classOdometryBase.html">OdometryBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+</table></div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.6
+</small></address>
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+</html>
diff --git a/documentation/html/classOdometryTank.html b/documentation/html/classOdometryTank.html
new file mode 100644
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+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
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+<meta name="generator" content="Doxygen 1.9.6"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>RIT VEXU Core API: OdometryTank Class Reference</title>
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+</div>
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+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="classOdometryTank-members.html">List of all members</a>  </div>
+  <div class="headertitle"><div class="title">OdometryTank Class Reference</div></div>
+</div><!--header-->
+<div class="contents">
+
+<p><code>#include &lt;<a class="el" href="odometry__tank_8h_source.html">odometry_tank.h</a>&gt;</code></p>
+<div class="dynheader">
+Inheritance diagram for OdometryTank:</div>
+<div class="dyncontent">
+ <div class="center">
+  <img src="classOdometryTank.png" usemap="#OdometryTank_map" alt=""/>
+  <map id="OdometryTank_map" name="OdometryTank_map">
+<area href="classOdometryBase.html" alt="OdometryBase" shape="rect" coords="0,0,95,24"/>
+  </map>
+</div></div>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-methods" name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
+<tr class="memitem:add83c3320e43e90963c38f25ce06c4da"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classOdometryTank.html#add83c3320e43e90963c38f25ce06c4da">OdometryTank</a> (vex::motor_group &amp;left_side, vex::motor_group &amp;right_side, <a class="el" href="structrobot__specs__t.html">robot_specs_t</a> &amp;config, vex::inertial *imu=NULL, bool is_async=true)</td></tr>
+<tr class="separator:add83c3320e43e90963c38f25ce06c4da"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a0fdb5e855104301ad83588362974b75a"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classOdometryTank.html#a0fdb5e855104301ad83588362974b75a">OdometryTank</a> (<a class="el" href="classCustomEncoder.html">CustomEncoder</a> &amp;left_enc, <a class="el" href="classCustomEncoder.html">CustomEncoder</a> &amp;right_enc, <a class="el" href="structrobot__specs__t.html">robot_specs_t</a> &amp;config, vex::inertial *imu=NULL, bool is_async=true)</td></tr>
+<tr class="separator:a0fdb5e855104301ad83588362974b75a"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a02508433d771c661c89d14f204a61d13"><td class="memItemLeft" align="right" valign="top"><a class="el" href="structposition__t.html">position_t</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classOdometryTank.html#a02508433d771c661c89d14f204a61d13">update</a> () override</td></tr>
+<tr class="separator:a02508433d771c661c89d14f204a61d13"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ad3b4bcf351767992e2383ab000645335"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classOdometryTank.html#ad3b4bcf351767992e2383ab000645335">set_position</a> (const <a class="el" href="structposition__t.html">position_t</a> &amp;newpos=<a class="el" href="classOdometryBase.html#a7bd3fd09b3a6fa78af3a5ed5e25b8d74">zero_pos</a>) override</td></tr>
+<tr class="separator:ad3b4bcf351767992e2383ab000645335"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_methods_classOdometryBase"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classOdometryBase')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="classOdometryBase.html">OdometryBase</a></td></tr>
+<tr class="memitem:a61286bd1c5105adbfa5b52c74f9e9466 inherit pub_methods_classOdometryBase"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classOdometryBase.html#a61286bd1c5105adbfa5b52c74f9e9466">OdometryBase</a> (bool is_async)</td></tr>
+<tr class="separator:a61286bd1c5105adbfa5b52c74f9e9466 inherit pub_methods_classOdometryBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a3cdcfcf70ef02e0efc2efd902fac3811 inherit pub_methods_classOdometryBase"><td class="memItemLeft" align="right" valign="top"><a class="el" href="structposition__t.html">position_t</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classOdometryBase.html#a3cdcfcf70ef02e0efc2efd902fac3811">get_position</a> (void)</td></tr>
+<tr class="separator:a3cdcfcf70ef02e0efc2efd902fac3811 inherit pub_methods_classOdometryBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a34e4bd8567933d1b6bd6e41327a36549 inherit pub_methods_classOdometryBase"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classOdometryBase.html#a34e4bd8567933d1b6bd6e41327a36549">set_position</a> (const <a class="el" href="structposition__t.html">position_t</a> &amp;newpos=<a class="el" href="classOdometryBase.html#a7bd3fd09b3a6fa78af3a5ed5e25b8d74">zero_pos</a>)</td></tr>
+<tr class="separator:a34e4bd8567933d1b6bd6e41327a36549 inherit pub_methods_classOdometryBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a5d55b7987d97a9af721838596a520dec inherit pub_methods_classOdometryBase"><td class="memItemLeft" align="right" valign="top">virtual <a class="el" href="structposition__t.html">position_t</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classOdometryBase.html#a5d55b7987d97a9af721838596a520dec">update</a> ()=0</td></tr>
+<tr class="separator:a5d55b7987d97a9af721838596a520dec inherit pub_methods_classOdometryBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ab65ccaa80d4bb0d0aa20e82b3b991436 inherit pub_methods_classOdometryBase"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classOdometryBase.html#ab65ccaa80d4bb0d0aa20e82b3b991436">end_async</a> ()</td></tr>
+<tr class="separator:ab65ccaa80d4bb0d0aa20e82b3b991436 inherit pub_methods_classOdometryBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a96c7be68db7424ddbe3704770dd1889f inherit pub_methods_classOdometryBase"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classOdometryBase.html#a96c7be68db7424ddbe3704770dd1889f">get_speed</a> ()</td></tr>
+<tr class="separator:a96c7be68db7424ddbe3704770dd1889f inherit pub_methods_classOdometryBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a3223bac952f79bf910b979690499b965 inherit pub_methods_classOdometryBase"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classOdometryBase.html#a3223bac952f79bf910b979690499b965">get_accel</a> ()</td></tr>
+<tr class="separator:a3223bac952f79bf910b979690499b965 inherit pub_methods_classOdometryBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:af30d97a35e9e9c4f9be0a81390e6c0f1 inherit pub_methods_classOdometryBase"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classOdometryBase.html#af30d97a35e9e9c4f9be0a81390e6c0f1">get_angular_speed_deg</a> ()</td></tr>
+<tr class="separator:af30d97a35e9e9c4f9be0a81390e6c0f1 inherit pub_methods_classOdometryBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a456e6433e51971d2640ff96ed3a59432 inherit pub_methods_classOdometryBase"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classOdometryBase.html#a456e6433e51971d2640ff96ed3a59432">get_angular_accel_deg</a> ()</td></tr>
+<tr class="separator:a456e6433e51971d2640ff96ed3a59432 inherit pub_methods_classOdometryBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="inherited" name="inherited"></a>
+Additional Inherited Members</h2></td></tr>
+<tr class="inherit_header pub_static_methods_classOdometryBase"><td colspan="2" onclick="javascript:toggleInherit('pub_static_methods_classOdometryBase')"><img src="closed.png" alt="-"/>&#160;Static Public Member Functions inherited from <a class="el" href="classOdometryBase.html">OdometryBase</a></td></tr>
+<tr class="memitem:a17a014f79b282ddfb715835214f3e2fb inherit pub_static_methods_classOdometryBase"><td class="memItemLeft" align="right" valign="top">static int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classOdometryBase.html#a17a014f79b282ddfb715835214f3e2fb">background_task</a> (void *ptr)</td></tr>
+<tr class="separator:a17a014f79b282ddfb715835214f3e2fb inherit pub_static_methods_classOdometryBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a8a248f027d3ff98cb2df2e3cd90e1f66 inherit pub_static_methods_classOdometryBase"><td class="memItemLeft" align="right" valign="top">static double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classOdometryBase.html#a8a248f027d3ff98cb2df2e3cd90e1f66">pos_diff</a> (<a class="el" href="structposition__t.html">position_t</a> start_pos, <a class="el" href="structposition__t.html">position_t</a> end_pos)</td></tr>
+<tr class="separator:a8a248f027d3ff98cb2df2e3cd90e1f66 inherit pub_static_methods_classOdometryBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ab1f1a09cda37d799c82003b5284c6856 inherit pub_static_methods_classOdometryBase"><td class="memItemLeft" align="right" valign="top">static double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classOdometryBase.html#ab1f1a09cda37d799c82003b5284c6856">rot_diff</a> (<a class="el" href="structposition__t.html">position_t</a> pos1, <a class="el" href="structposition__t.html">position_t</a> pos2)</td></tr>
+<tr class="separator:ab1f1a09cda37d799c82003b5284c6856 inherit pub_static_methods_classOdometryBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a70ec71e9fb2e14f0a191a6bac927d36b inherit pub_static_methods_classOdometryBase"><td class="memItemLeft" align="right" valign="top">static double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classOdometryBase.html#a70ec71e9fb2e14f0a191a6bac927d36b">smallest_angle</a> (double start_deg, double end_deg)</td></tr>
+<tr class="separator:a70ec71e9fb2e14f0a191a6bac927d36b inherit pub_static_methods_classOdometryBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_attribs_classOdometryBase"><td colspan="2" onclick="javascript:toggleInherit('pub_attribs_classOdometryBase')"><img src="closed.png" alt="-"/>&#160;Public Attributes inherited from <a class="el" href="classOdometryBase.html">OdometryBase</a></td></tr>
+<tr class="memitem:ae6e35ee98b4410f034cd37c0d2055a8d inherit pub_attribs_classOdometryBase"><td class="memItemLeft" align="right" valign="top"><a id="ae6e35ee98b4410f034cd37c0d2055a8d" name="ae6e35ee98b4410f034cd37c0d2055a8d"></a>
+bool&#160;</td><td class="memItemRight" valign="bottom"><b>end_task</b> = false</td></tr>
+<tr class="memdesc:ae6e35ee98b4410f034cd37c0d2055a8d inherit pub_attribs_classOdometryBase"><td class="mdescLeft">&#160;</td><td class="mdescRight">end_task is true if we instruct the odometry thread to shut down <br /></td></tr>
+<tr class="separator:ae6e35ee98b4410f034cd37c0d2055a8d inherit pub_attribs_classOdometryBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_static_attribs_classOdometryBase"><td colspan="2" onclick="javascript:toggleInherit('pub_static_attribs_classOdometryBase')"><img src="closed.png" alt="-"/>&#160;Static Public Attributes inherited from <a class="el" href="classOdometryBase.html">OdometryBase</a></td></tr>
+<tr class="memitem:a7bd3fd09b3a6fa78af3a5ed5e25b8d74 inherit pub_static_attribs_classOdometryBase"><td class="memItemLeft" align="right" valign="top">static constexpr <a class="el" href="structposition__t.html">position_t</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classOdometryBase.html#a7bd3fd09b3a6fa78af3a5ed5e25b8d74">zero_pos</a> = {.x=0.0L, .y=0.0L, .rot=90.0L}</td></tr>
+<tr class="separator:a7bd3fd09b3a6fa78af3a5ed5e25b8d74 inherit pub_static_attribs_classOdometryBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pro_attribs_classOdometryBase"><td colspan="2" onclick="javascript:toggleInherit('pro_attribs_classOdometryBase')"><img src="closed.png" alt="-"/>&#160;Protected Attributes inherited from <a class="el" href="classOdometryBase.html">OdometryBase</a></td></tr>
+<tr class="memitem:ae5308f20a4dfef9594631010c7612dab inherit pro_attribs_classOdometryBase"><td class="memItemLeft" align="right" valign="top">vex::task *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classOdometryBase.html#ae5308f20a4dfef9594631010c7612dab">handle</a></td></tr>
+<tr class="separator:ae5308f20a4dfef9594631010c7612dab inherit pro_attribs_classOdometryBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a88bb48858ca6ff8300a41e23482ec6f6 inherit pro_attribs_classOdometryBase"><td class="memItemLeft" align="right" valign="top">vex::mutex&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classOdometryBase.html#a88bb48858ca6ff8300a41e23482ec6f6">mut</a></td></tr>
+<tr class="separator:a88bb48858ca6ff8300a41e23482ec6f6 inherit pro_attribs_classOdometryBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a6870aebb6e05dcd152d3295462f559c3 inherit pro_attribs_classOdometryBase"><td class="memItemLeft" align="right" valign="top"><a class="el" href="structposition__t.html">position_t</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classOdometryBase.html#a6870aebb6e05dcd152d3295462f559c3">current_pos</a></td></tr>
+<tr class="separator:a6870aebb6e05dcd152d3295462f559c3 inherit pro_attribs_classOdometryBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a6119ab3ce0b685e67a8b57871e0a2c26 inherit pro_attribs_classOdometryBase"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classOdometryBase.html#a6119ab3ce0b685e67a8b57871e0a2c26">speed</a></td></tr>
+<tr class="separator:a6119ab3ce0b685e67a8b57871e0a2c26 inherit pro_attribs_classOdometryBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a94c814dfb542dd891d84db7e74537249 inherit pro_attribs_classOdometryBase"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classOdometryBase.html#a94c814dfb542dd891d84db7e74537249">accel</a></td></tr>
+<tr class="separator:a94c814dfb542dd891d84db7e74537249 inherit pro_attribs_classOdometryBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a250ceb6ed296ea579e37851e4a0048fb inherit pro_attribs_classOdometryBase"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classOdometryBase.html#a250ceb6ed296ea579e37851e4a0048fb">ang_speed_deg</a></td></tr>
+<tr class="separator:a250ceb6ed296ea579e37851e4a0048fb inherit pro_attribs_classOdometryBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a01f14bfcecbcde7a74b9b98376deb19f inherit pro_attribs_classOdometryBase"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classOdometryBase.html#a01f14bfcecbcde7a74b9b98376deb19f">ang_accel_deg</a></td></tr>
+<tr class="separator:a01f14bfcecbcde7a74b9b98376deb19f inherit pro_attribs_classOdometryBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p><a class="el" href="classOdometryTank.html">OdometryTank</a> defines an odometry system for a tank drivetrain This requires encoders in the same orientation as the drive wheels Odometry is a "start and forget" subsystem, which means once it's created and configured, it will constantly run in the background and track the robot's X, Y and rotation coordinates. </p>
+</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="add83c3320e43e90963c38f25ce06c4da" name="add83c3320e43e90963c38f25ce06c4da"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#add83c3320e43e90963c38f25ce06c4da">&#9670;&#160;</a></span>OdometryTank() <span class="overload">[1/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">OdometryTank::OdometryTank </td>
+          <td>(</td>
+          <td class="paramtype">vex::motor_group &amp;&#160;</td>
+          <td class="paramname"><em>left_side</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">vex::motor_group &amp;&#160;</td>
+          <td class="paramname"><em>right_side</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype"><a class="el" href="structrobot__specs__t.html">robot_specs_t</a> &amp;&#160;</td>
+          <td class="paramname"><em>config</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">vex::inertial *&#160;</td>
+          <td class="paramname"><em>imu</em> = <code>NULL</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">bool&#160;</td>
+          <td class="paramname"><em>is_async</em> = <code>true</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<p>Initialize the Odometry module, calculating position from the drive motors. </p><dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">left_side</td><td>The left motors </td></tr>
+    <tr><td class="paramname">right_side</td><td>The right motors </td></tr>
+    <tr><td class="paramname">config</td><td>the specifications that supply the odometry with descriptions of the robot. See <a class="el" href="structrobot__specs__t.html">robot_specs_t</a> for what is contained </td></tr>
+    <tr><td class="paramname">imu</td><td>The robot's inertial sensor. If not included, rotation is calculated from the encoders. </td></tr>
+    <tr><td class="paramname">is_async</td><td>If true, position will be updated in the background continuously. If false, the programmer will have to manually call <a class="el" href="classOdometryTank.html#a02508433d771c661c89d14f204a61d13">update()</a>. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="a0fdb5e855104301ad83588362974b75a" name="a0fdb5e855104301ad83588362974b75a"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a0fdb5e855104301ad83588362974b75a">&#9670;&#160;</a></span>OdometryTank() <span class="overload">[2/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">OdometryTank::OdometryTank </td>
+          <td>(</td>
+          <td class="paramtype"><a class="el" href="classCustomEncoder.html">CustomEncoder</a> &amp;&#160;</td>
+          <td class="paramname"><em>left_enc</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype"><a class="el" href="classCustomEncoder.html">CustomEncoder</a> &amp;&#160;</td>
+          <td class="paramname"><em>right_enc</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype"><a class="el" href="structrobot__specs__t.html">robot_specs_t</a> &amp;&#160;</td>
+          <td class="paramname"><em>config</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">vex::inertial *&#160;</td>
+          <td class="paramname"><em>imu</em> = <code>NULL</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">bool&#160;</td>
+          <td class="paramname"><em>is_async</em> = <code>true</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<p>Initialize the Odometry module, calculating position from the drive motors. </p><dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">left_enc</td><td>The left motors </td></tr>
+    <tr><td class="paramname">right_enc</td><td>The right motors </td></tr>
+    <tr><td class="paramname">config</td><td>the specifications that supply the odometry with descriptions of the robot. See <a class="el" href="structrobot__specs__t.html">robot_specs_t</a> for what is contained </td></tr>
+    <tr><td class="paramname">imu</td><td>The robot's inertial sensor. If not included, rotation is calculated from the encoders. </td></tr>
+    <tr><td class="paramname">is_async</td><td>If true, position will be updated in the background continuously. If false, the programmer will have to manually call <a class="el" href="classOdometryTank.html#a02508433d771c661c89d14f204a61d13">update()</a>. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="ad3b4bcf351767992e2383ab000645335" name="ad3b4bcf351767992e2383ab000645335"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad3b4bcf351767992e2383ab000645335">&#9670;&#160;</a></span>set_position()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">void OdometryTank::set_position </td>
+          <td>(</td>
+          <td class="paramtype">const <a class="el" href="structposition__t.html">position_t</a> &amp;&#160;</td>
+          <td class="paramname"><em>newpos</em> = <code><a class="el" href="classOdometryBase.html#a7bd3fd09b3a6fa78af3a5ed5e25b8d74">zero_pos</a></code></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">override</span><span class="mlabel">virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<p>set_position tells the odometry to place itself at a position </p><dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">newpos</td><td>the position the odometry will take</td></tr>
+  </table>
+  </dd>
+</dl>
+<p>Resets the position and rotational data to the input. </p>
+
+<p>Reimplemented from <a class="el" href="classOdometryBase.html#a34e4bd8567933d1b6bd6e41327a36549">OdometryBase</a>.</p>
+
+</div>
+</div>
+<a id="a02508433d771c661c89d14f204a61d13" name="a02508433d771c661c89d14f204a61d13"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a02508433d771c661c89d14f204a61d13">&#9670;&#160;</a></span>update()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname"><a class="el" href="structposition__t.html">position_t</a> OdometryTank::update </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">override</span><span class="mlabel">virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<p>Update the current position on the field based on the sensors </p><dl class="section return"><dt>Returns</dt><dd>the position that odometry has calculated itself to be at</dd></dl>
+<p>Update, store and return the current position of the robot. Only use if not initializing with a separate thread. </p>
+
+<p>Implements <a class="el" href="classOdometryBase.html#a5d55b7987d97a9af721838596a520dec">OdometryBase</a>.</p>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following files:<ul>
+<li>include/subsystems/odometry/<a class="el" href="odometry__tank_8h_source.html">odometry_tank.h</a></li>
+<li>src/subsystems/odometry/odometry_tank.cpp</li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.6
+</small></address>
+</body>
+</html>
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diff --git a/documentation/html/classPID-members.html b/documentation/html/classPID-members.html
new file mode 100644
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--- /dev/null
+++ b/documentation/html/classPID-members.html
@@ -0,0 +1,103 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
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+<meta http-equiv="X-UA-Compatible" content="IE=11"/>
+<meta name="generator" content="Doxygen 1.9.6"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>RIT VEXU Core API: Member List</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr id="projectrow">
+  <td id="projectalign">
+   <div id="projectname">RIT VEXU Core API
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.6 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
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+/* @license-end */
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
+/* @license-end */
+</script>
+<div id="main-nav"></div>
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
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+
+<!-- iframe showing the search results (closed by default) -->
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+<div class="header">
+  <div class="headertitle"><div class="title">PID Member List</div></div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classPID.html">PID</a>, including all inherited members.</p>
+<table class="directory">
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>ANGULAR</b> enum value (defined in <a class="el" href="classPID.html">PID</a>)</td><td class="entry"><a class="el" href="classPID.html">PID</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classPID.html#a67626fa764b201c7190ace37e068666b">config</a></td><td class="entry"><a class="el" href="classPID.html">PID</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classPID.html#a259eb7bfd0750c7afd4a058c5d1c58a1">ERROR_TYPE</a> enum name</td><td class="entry"><a class="el" href="classPID.html">PID</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="odd"><td class="entry"><b>FeedbackType</b> enum name (defined in <a class="el" href="classFeedback.html">Feedback</a>)</td><td class="entry"><a class="el" href="classFeedback.html">Feedback</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>FeedforwardType</b> enum value (defined in <a class="el" href="classFeedback.html">Feedback</a>)</td><td class="entry"><a class="el" href="classFeedback.html">Feedback</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classPID.html#a69c2e66b8ff06c86ca9701d11e21da75">get</a>() override</td><td class="entry"><a class="el" href="classPID.html">PID</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classPID.html#ab5cdb296dbcce80703a9a98b9605c500">get_error</a>()</td><td class="entry"><a class="el" href="classPID.html">PID</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classPID.html#a1cd58cedeccc45b67551e331ee547be9">get_target</a>()</td><td class="entry"><a class="el" href="classPID.html">PID</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>get_type</b>() override (defined in <a class="el" href="classPID.html">PID</a>)</td><td class="entry"><a class="el" href="classPID.html">PID</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classPID.html#aab0f3b4351cc4ee2b8bb366105e85e95">init</a>(double start_pt, double set_pt) override</td><td class="entry"><a class="el" href="classPID.html">PID</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classPID.html#a9de884c31570c4ae0dc6e24eb26daa43">is_on_target</a>() override</td><td class="entry"><a class="el" href="classPID.html">PID</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="odd"><td class="entry"><b>LINEAR</b> enum value (defined in <a class="el" href="classPID.html">PID</a>)</td><td class="entry"><a class="el" href="classPID.html">PID</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>OtherType</b> enum value (defined in <a class="el" href="classFeedback.html">Feedback</a>)</td><td class="entry"><a class="el" href="classFeedback.html">Feedback</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classPID.html#a3b6b678b2d52a2be7fb572b766e43994">PID</a>(pid_config_t &amp;config)</td><td class="entry"><a class="el" href="classPID.html">PID</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>PIDType</b> enum value (defined in <a class="el" href="classFeedback.html">Feedback</a>)</td><td class="entry"><a class="el" href="classFeedback.html">Feedback</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classPID.html#af9677e76cb1beffbcf3f54cbc627c530">reset</a>()</td><td class="entry"><a class="el" href="classPID.html">PID</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classPID.html#a8411ac48e8868d89e97afcf8990cca2c">set_limits</a>(double lower, double upper) override</td><td class="entry"><a class="el" href="classPID.html">PID</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classPID.html#a2e301ab123c9e18e677b4873b03550dd">set_target</a>(double target)</td><td class="entry"><a class="el" href="classPID.html">PID</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classPID.html#a53b5c34ba5e81fb79ed4258a143015b9">update</a>(double sensor_val) override</td><td class="entry"><a class="el" href="classPID.html">PID</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+</table></div><!-- contents -->
+<!-- start footer part -->
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+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.6
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+</body>
+</html>
diff --git a/documentation/html/classPID.html b/documentation/html/classPID.html
new file mode 100644
index 0000000..f418f70
--- /dev/null
+++ b/documentation/html/classPID.html
@@ -0,0 +1,509 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
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+<meta name="generator" content="Doxygen 1.9.6"/>
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+<title>RIT VEXU Core API: PID Class Reference</title>
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+   <div id="projectname">RIT VEXU Core API
+   </div>
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+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.6 -->
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+<div class="SRStatus" id="NoMatches">No Matches</div>
+</div>
+</div>
+</div>
+</div>
+
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#nested-classes">Classes</a> &#124;
+<a href="#pub-types">Public Types</a> &#124;
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pub-attribs">Public Attributes</a> &#124;
+<a href="classPID-members.html">List of all members</a>  </div>
+  <div class="headertitle"><div class="title">PID Class Reference</div></div>
+</div><!--header-->
+<div class="contents">
+
+<p><code>#include &lt;<a class="el" href="pid_8h_source.html">pid.h</a>&gt;</code></p>
+<div class="dynheader">
+Inheritance diagram for PID:</div>
+<div class="dyncontent">
+ <div class="center">
+  <img src="classPID.png" usemap="#PID_map" alt=""/>
+  <map id="PID_map" name="PID_map">
+<area href="classFeedback.html" alt="Feedback" shape="rect" coords="0,0,68,24"/>
+  </map>
+</div></div>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="nested-classes" name="nested-classes"></a>
+Classes</h2></td></tr>
+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structPID_1_1pid__config__t.html">pid_config_t</a></td></tr>
+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-types" name="pub-types"></a>
+Public Types</h2></td></tr>
+<tr class="memitem:a259eb7bfd0750c7afd4a058c5d1c58a1"><td class="memItemLeft" align="right" valign="top">enum &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPID.html#a259eb7bfd0750c7afd4a058c5d1c58a1">ERROR_TYPE</a> { <b>LINEAR</b>
+, <b>ANGULAR</b>
+ }</td></tr>
+<tr class="separator:a259eb7bfd0750c7afd4a058c5d1c58a1"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_types_classFeedback"><td colspan="2" onclick="javascript:toggleInherit('pub_types_classFeedback')"><img src="closed.png" alt="-"/>&#160;Public Types inherited from <a class="el" href="classFeedback.html">Feedback</a></td></tr>
+<tr class="memitem:ac82a001abba300290790eb8414a84dce inherit pub_types_classFeedback"><td class="memItemLeft" align="right" valign="top"><a id="ac82a001abba300290790eb8414a84dce" name="ac82a001abba300290790eb8414a84dce"></a>enum &#160;</td><td class="memItemRight" valign="bottom"><b>FeedbackType</b> { <b>PIDType</b>
+, <b>FeedforwardType</b>
+, <b>OtherType</b>
+ }</td></tr>
+<tr class="separator:ac82a001abba300290790eb8414a84dce inherit pub_types_classFeedback"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-methods" name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
+<tr class="memitem:a3b6b678b2d52a2be7fb572b766e43994"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPID.html#a3b6b678b2d52a2be7fb572b766e43994">PID</a> (<a class="el" href="structPID_1_1pid__config__t.html">pid_config_t</a> &amp;<a class="el" href="classPID.html#a67626fa764b201c7190ace37e068666b">config</a>)</td></tr>
+<tr class="separator:a3b6b678b2d52a2be7fb572b766e43994"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aab0f3b4351cc4ee2b8bb366105e85e95"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPID.html#aab0f3b4351cc4ee2b8bb366105e85e95">init</a> (double start_pt, double set_pt) override</td></tr>
+<tr class="separator:aab0f3b4351cc4ee2b8bb366105e85e95"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a53b5c34ba5e81fb79ed4258a143015b9"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPID.html#a53b5c34ba5e81fb79ed4258a143015b9">update</a> (double sensor_val) override</td></tr>
+<tr class="separator:a53b5c34ba5e81fb79ed4258a143015b9"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a69c2e66b8ff06c86ca9701d11e21da75"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPID.html#a69c2e66b8ff06c86ca9701d11e21da75">get</a> () override</td></tr>
+<tr class="separator:a69c2e66b8ff06c86ca9701d11e21da75"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a8411ac48e8868d89e97afcf8990cca2c"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPID.html#a8411ac48e8868d89e97afcf8990cca2c">set_limits</a> (double lower, double upper) override</td></tr>
+<tr class="separator:a8411ac48e8868d89e97afcf8990cca2c"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a9de884c31570c4ae0dc6e24eb26daa43"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPID.html#a9de884c31570c4ae0dc6e24eb26daa43">is_on_target</a> () override</td></tr>
+<tr class="separator:a9de884c31570c4ae0dc6e24eb26daa43"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:af9677e76cb1beffbcf3f54cbc627c530"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPID.html#af9677e76cb1beffbcf3f54cbc627c530">reset</a> ()</td></tr>
+<tr class="separator:af9677e76cb1beffbcf3f54cbc627c530"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ab5cdb296dbcce80703a9a98b9605c500"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPID.html#ab5cdb296dbcce80703a9a98b9605c500">get_error</a> ()</td></tr>
+<tr class="separator:ab5cdb296dbcce80703a9a98b9605c500"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a1cd58cedeccc45b67551e331ee547be9"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPID.html#a1cd58cedeccc45b67551e331ee547be9">get_target</a> ()</td></tr>
+<tr class="separator:a1cd58cedeccc45b67551e331ee547be9"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a2e301ab123c9e18e677b4873b03550dd"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPID.html#a2e301ab123c9e18e677b4873b03550dd">set_target</a> (double target)</td></tr>
+<tr class="separator:a2e301ab123c9e18e677b4873b03550dd"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ad131484741b61858cb3b5901d974d5ce"><td class="memItemLeft" align="right" valign="top">Feedback::FeedbackType&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPID.html#ad131484741b61858cb3b5901d974d5ce">get_type</a> () override</td></tr>
+<tr class="separator:ad131484741b61858cb3b5901d974d5ce"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a22efb13216bfd51aea07e0b6e45135c1"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classFeedback.html#a22efb13216bfd51aea07e0b6e45135c1">init</a> (double start_pt, double set_pt)=0</td></tr>
+<tr class="separator:a22efb13216bfd51aea07e0b6e45135c1"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:adda5fc7642539996be00632954dfc41f"><td class="memItemLeft" align="right" valign="top">virtual double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classFeedback.html#adda5fc7642539996be00632954dfc41f">update</a> (double val)=0</td></tr>
+<tr class="separator:adda5fc7642539996be00632954dfc41f"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ac44bb519a6f4e25c8e8250f3d30ab359"><td class="memItemLeft" align="right" valign="top">virtual double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classFeedback.html#ac44bb519a6f4e25c8e8250f3d30ab359">get</a> ()=0</td></tr>
+<tr class="separator:ac44bb519a6f4e25c8e8250f3d30ab359"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a533a10b65cfc998898bf054f8b141de2"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classFeedback.html#a533a10b65cfc998898bf054f8b141de2">set_limits</a> (double lower, double upper)=0</td></tr>
+<tr class="separator:a533a10b65cfc998898bf054f8b141de2"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ae4cc835c374aab9761d22603d4329d34"><td class="memItemLeft" align="right" valign="top">virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classFeedback.html#ae4cc835c374aab9761d22603d4329d34">is_on_target</a> ()=0</td></tr>
+<tr class="separator:ae4cc835c374aab9761d22603d4329d34"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aef8981678b7bcded915ccc7e3e237208"><td class="memItemLeft" align="right" valign="top"><a id="aef8981678b7bcded915ccc7e3e237208" name="aef8981678b7bcded915ccc7e3e237208"></a>
+virtual Feedback::FeedbackType&#160;</td><td class="memItemRight" valign="bottom"><b>get_type</b> ()</td></tr>
+<tr class="separator:aef8981678b7bcded915ccc7e3e237208"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-attribs" name="pub-attribs"></a>
+Public Attributes</h2></td></tr>
+<tr class="memitem:a67626fa764b201c7190ace37e068666b"><td class="memItemLeft" align="right" valign="top"><a id="a67626fa764b201c7190ace37e068666b" name="a67626fa764b201c7190ace37e068666b"></a>
+<a class="el" href="structPID_1_1pid__config__t.html">pid_config_t</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><b>config</b></td></tr>
+<tr class="memdesc:a67626fa764b201c7190ace37e068666b"><td class="mdescLeft">&#160;</td><td class="mdescRight">configuration struct for this controller. see <a class="el" href="structPID_1_1pid__config__t.html">pid_config_t</a> for information about what this contains <br /></td></tr>
+<tr class="separator:a67626fa764b201c7190ace37e068666b"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p><a class="el" href="classPID.html">PID</a> Class</p>
+<p>Defines a standard feedback loop using the constants kP, kI, kD, deadband, and on_target_time. The formula is:</p>
+<p>out = kP*error + kI*integral(d Error) + kD*(dError/dt)</p>
+<p>The <a class="el" href="classPID.html">PID</a> object will determine it is "on target" when the error is within the deadband, for a duration of on_target_time</p>
+<dl class="section author"><dt>Author</dt><dd>Ryan McGee </dd></dl>
+<dl class="section date"><dt>Date</dt><dd>4/3/2020 </dd></dl>
+</div><h2 class="groupheader">Member Enumeration Documentation</h2>
+<a id="a259eb7bfd0750c7afd4a058c5d1c58a1" name="a259eb7bfd0750c7afd4a058c5d1c58a1"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a259eb7bfd0750c7afd4a058c5d1c58a1">&#9670;&#160;</a></span>ERROR_TYPE</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">enum <a class="el" href="classPID.html#a259eb7bfd0750c7afd4a058c5d1c58a1">PID::ERROR_TYPE</a></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<p>An enum to distinguish between a linear and angular caluclation of <a class="el" href="classPID.html">PID</a> error. </p>
+
+</div>
+</div>
+<h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="a3b6b678b2d52a2be7fb572b766e43994" name="a3b6b678b2d52a2be7fb572b766e43994"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a3b6b678b2d52a2be7fb572b766e43994">&#9670;&#160;</a></span>PID()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">PID::PID </td>
+          <td>(</td>
+          <td class="paramtype"><a class="el" href="structPID_1_1pid__config__t.html">pid_config_t</a> &amp;&#160;</td>
+          <td class="paramname"><em>config</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<p>Create the <a class="el" href="classPID.html">PID</a> object </p><dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">config</td><td>the configuration data for this controller</td></tr>
+  </table>
+  </dd>
+</dl>
+<p>Create the <a class="el" href="classPID.html">PID</a> object </p>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a69c2e66b8ff06c86ca9701d11e21da75" name="a69c2e66b8ff06c86ca9701d11e21da75"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a69c2e66b8ff06c86ca9701d11e21da75">&#9670;&#160;</a></span>get()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">double PID::get </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">override</span><span class="mlabel">virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<p>Gets the current <a class="el" href="classPID.html">PID</a> out value, from when <a class="el" href="classPID.html#a53b5c34ba5e81fb79ed4258a143015b9">update()</a> was last run </p><dl class="section return"><dt>Returns</dt><dd>the Out value of the controller (voltage, RPM, whatever the <a class="el" href="classPID.html">PID</a> controller is controlling)</dd></dl>
+<p>Gets the current <a class="el" href="classPID.html">PID</a> out value, from when <a class="el" href="classPID.html#a53b5c34ba5e81fb79ed4258a143015b9">update()</a> was last run </p>
+
+<p>Implements <a class="el" href="classFeedback.html#ac44bb519a6f4e25c8e8250f3d30ab359">Feedback</a>.</p>
+
+</div>
+</div>
+<a id="ab5cdb296dbcce80703a9a98b9605c500" name="ab5cdb296dbcce80703a9a98b9605c500"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ab5cdb296dbcce80703a9a98b9605c500">&#9670;&#160;</a></span>get_error()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">double PID::get_error </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<p>Get the delta between the current sensor data and the target </p><dl class="section return"><dt>Returns</dt><dd>the error calculated. how it is calculated depends on error_method specified in <a class="el" href="structPID_1_1pid__config__t.html">pid_config_t</a></dd></dl>
+<p>Get the delta between the current sensor data and the target </p>
+
+</div>
+</div>
+<a id="a1cd58cedeccc45b67551e331ee547be9" name="a1cd58cedeccc45b67551e331ee547be9"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a1cd58cedeccc45b67551e331ee547be9">&#9670;&#160;</a></span>get_target()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">double PID::get_target </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<p>Get the <a class="el" href="classPID.html">PID</a>'s target </p><dl class="section return"><dt>Returns</dt><dd>the target the <a class="el" href="classPID.html">PID</a> controller is trying to achieve </dd></dl>
+
+</div>
+</div>
+<a id="ad131484741b61858cb3b5901d974d5ce" name="ad131484741b61858cb3b5901d974d5ce"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad131484741b61858cb3b5901d974d5ce">&#9670;&#160;</a></span>get_type()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">Feedback::FeedbackType PID::get_type </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">override</span><span class="mlabel">virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Reimplemented from <a class="el" href="classFeedback.html">Feedback</a>.</p>
+
+</div>
+</div>
+<a id="aab0f3b4351cc4ee2b8bb366105e85e95" name="aab0f3b4351cc4ee2b8bb366105e85e95"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aab0f3b4351cc4ee2b8bb366105e85e95">&#9670;&#160;</a></span>init()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">void PID::init </td>
+          <td>(</td>
+          <td class="paramtype">double&#160;</td>
+          <td class="paramname"><em>start_pt</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">double&#160;</td>
+          <td class="paramname"><em>set_pt</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">override</span><span class="mlabel">virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<p>Inherited from <a class="el" href="classFeedback.html">Feedback</a> for interoperability. Update the setpoint and reset integral accumulation</p>
+<p>start_pt can be safely ignored in this feedback controller </p><dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">start_pt</td><td>commpletely ignored for <a class="el" href="classPID.html">PID</a>. necessary to satisfy <a class="el" href="classFeedback.html">Feedback</a> base </td></tr>
+    <tr><td class="paramname">set_pt</td><td>sets the target of the <a class="el" href="classPID.html">PID</a> controller </td></tr>
+  </table>
+  </dd>
+</dl>
+
+<p>Implements <a class="el" href="classFeedback.html#a22efb13216bfd51aea07e0b6e45135c1">Feedback</a>.</p>
+
+</div>
+</div>
+<a id="a9de884c31570c4ae0dc6e24eb26daa43" name="a9de884c31570c4ae0dc6e24eb26daa43"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a9de884c31570c4ae0dc6e24eb26daa43">&#9670;&#160;</a></span>is_on_target()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">bool PID::is_on_target </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">override</span><span class="mlabel">virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<p>Checks if the <a class="el" href="classPID.html">PID</a> controller is on target. <br  />
+ </p><dl class="section return"><dt>Returns</dt><dd>true if the loop is within [deadband] for [on_target_time] seconds</dd></dl>
+<p>Returns true if the loop is within [deadband] for [on_target_time] seconds </p>
+
+<p>Implements <a class="el" href="classFeedback.html#ae4cc835c374aab9761d22603d4329d34">Feedback</a>.</p>
+
+</div>
+</div>
+<a id="af9677e76cb1beffbcf3f54cbc627c530" name="af9677e76cb1beffbcf3f54cbc627c530"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#af9677e76cb1beffbcf3f54cbc627c530">&#9670;&#160;</a></span>reset()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">void PID::reset </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<p>Reset the <a class="el" href="classPID.html">PID</a> loop by resetting time since 0 and accumulated error. </p>
+
+</div>
+</div>
+<a id="a8411ac48e8868d89e97afcf8990cca2c" name="a8411ac48e8868d89e97afcf8990cca2c"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a8411ac48e8868d89e97afcf8990cca2c">&#9670;&#160;</a></span>set_limits()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">void PID::set_limits </td>
+          <td>(</td>
+          <td class="paramtype">double&#160;</td>
+          <td class="paramname"><em>lower</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">double&#160;</td>
+          <td class="paramname"><em>upper</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">override</span><span class="mlabel">virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<p>Set the limits on the <a class="el" href="classPID.html">PID</a> out. The <a class="el" href="classPID.html">PID</a> out will "clip" itself to be between the limits. </p><dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">lower</td><td>the lower limit. the <a class="el" href="classPID.html">PID</a> controller will never command the output go below <code>lower</code> </td></tr>
+    <tr><td class="paramname">upper</td><td>the upper limit. the <a class="el" href="classPID.html">PID</a> controller will never command the output go higher than <code>upper</code></td></tr>
+  </table>
+  </dd>
+</dl>
+<p>Set the limits on the <a class="el" href="classPID.html">PID</a> out. The <a class="el" href="classPID.html">PID</a> out will "clip" itself to be between the limits. </p>
+
+<p>Implements <a class="el" href="classFeedback.html#a533a10b65cfc998898bf054f8b141de2">Feedback</a>.</p>
+
+</div>
+</div>
+<a id="a2e301ab123c9e18e677b4873b03550dd" name="a2e301ab123c9e18e677b4873b03550dd"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a2e301ab123c9e18e677b4873b03550dd">&#9670;&#160;</a></span>set_target()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">void PID::set_target </td>
+          <td>(</td>
+          <td class="paramtype">double&#160;</td>
+          <td class="paramname"><em>target</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<p>Set the target for the <a class="el" href="classPID.html">PID</a> loop, where the robot is trying to end up </p><dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">target</td><td>the sensor reading we would like to achieve</td></tr>
+  </table>
+  </dd>
+</dl>
+<p>Set the target for the <a class="el" href="classPID.html">PID</a> loop, where the robot is trying to end up </p>
+
+</div>
+</div>
+<a id="a53b5c34ba5e81fb79ed4258a143015b9" name="a53b5c34ba5e81fb79ed4258a143015b9"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a53b5c34ba5e81fb79ed4258a143015b9">&#9670;&#160;</a></span>update()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">double PID::update </td>
+          <td>(</td>
+          <td class="paramtype">double&#160;</td>
+          <td class="paramname"><em>sensor_val</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">override</span><span class="mlabel">virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<p>Update the <a class="el" href="classPID.html">PID</a> loop by taking the time difference from last update, and running the <a class="el" href="classPID.html">PID</a> formula with the new sensor data </p><dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">sensor_val</td><td>the distance, angle, encoder position or whatever it is we are measuring </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>the new output. What would be returned by <a class="el" href="classPID.html#a69c2e66b8ff06c86ca9701d11e21da75">PID::get()</a> </dd></dl>
+
+<p>Implements <a class="el" href="classFeedback.html#adda5fc7642539996be00632954dfc41f">Feedback</a>.</p>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following files:<ul>
+<li>include/utils/<a class="el" href="pid_8h_source.html">pid.h</a></li>
+<li>src/utils/pid.cpp</li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.6
+</small></address>
+</body>
+</html>
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+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=11"/>
+<meta name="generator" content="Doxygen 1.9.6"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>RIT VEXU Core API: Member List</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr id="projectrow">
+  <td id="projectalign">
+   <div id="projectname">RIT VEXU Core API
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.6 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
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+  $(document).ready(function() { init_search(); });
+});
+/* @license-end */
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+<div id="main-nav"></div>
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
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+<div id="MSearchResults">
+<div class="SRPage">
+<div id="SRIndex">
+<div id="SRResults"></div>
+<div class="SRStatus" id="Loading">Loading...</div>
+<div class="SRStatus" id="Searching">Searching...</div>
+<div class="SRStatus" id="NoMatches">No Matches</div>
+</div>
+</div>
+</div>
+</div>
+
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle"><div class="title">PIDFF Member List</div></div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classPIDFF.html">PIDFF</a>, including all inherited members.</p>
+<table class="directory">
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>FeedbackType</b> enum name (defined in <a class="el" href="classFeedback.html">Feedback</a>)</td><td class="entry"><a class="el" href="classFeedback.html">Feedback</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="odd"><td class="entry"><b>FeedforwardType</b> enum value (defined in <a class="el" href="classFeedback.html">Feedback</a>)</td><td class="entry"><a class="el" href="classFeedback.html">Feedback</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classPIDFF.html#a78a34d271bcc703fc803e15b275fd238">get</a>() override</td><td class="entry"><a class="el" href="classPIDFF.html">PIDFF</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="odd"><td class="entry"><b>get_type</b>() (defined in <a class="el" href="classFeedback.html">Feedback</a>)</td><td class="entry"><a class="el" href="classFeedback.html">Feedback</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classPIDFF.html#a37226c8d3bfac97485b28105a15f29fc">init</a>(double start_pt, double set_pt) override</td><td class="entry"><a class="el" href="classPIDFF.html">PIDFF</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classPIDFF.html#a2534a33490570d839bf1849673a70bc1">is_on_target</a>() override</td><td class="entry"><a class="el" href="classPIDFF.html">PIDFF</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>OtherType</b> enum value (defined in <a class="el" href="classFeedback.html">Feedback</a>)</td><td class="entry"><a class="el" href="classFeedback.html">Feedback</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="odd"><td class="entry"><b>pid</b> (defined in <a class="el" href="classPIDFF.html">PIDFF</a>)</td><td class="entry"><a class="el" href="classPIDFF.html">PIDFF</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>PIDFF</b>(PID::pid_config_t &amp;pid_cfg, FeedForward::ff_config_t &amp;ff_cfg) (defined in <a class="el" href="classPIDFF.html">PIDFF</a>)</td><td class="entry"><a class="el" href="classPIDFF.html">PIDFF</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="odd"><td class="entry"><b>PIDType</b> enum value (defined in <a class="el" href="classFeedback.html">Feedback</a>)</td><td class="entry"><a class="el" href="classFeedback.html">Feedback</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classPIDFF.html#ae0dccb27a91ec687f90c930441f246bb">set_limits</a>(double lower, double upper) override</td><td class="entry"><a class="el" href="classPIDFF.html">PIDFF</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classPIDFF.html#a5b5584e4ca036b0e51c693a24a23b50b">set_target</a>(double set_pt)</td><td class="entry"><a class="el" href="classPIDFF.html">PIDFF</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classPIDFF.html#a9a9b05ec43e4430019652b62799e761c">update</a>(double val) override</td><td class="entry"><a class="el" href="classPIDFF.html">PIDFF</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classPIDFF.html#a015bebe6d1028451e612f103ee2c1c2c">update</a>(double val, double vel_setpt, double a_setpt=0)</td><td class="entry"><a class="el" href="classPIDFF.html">PIDFF</a></td><td class="entry"></td></tr>
+</table></div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.6
+</small></address>
+</body>
+</html>
diff --git a/documentation/html/classPIDFF.html b/documentation/html/classPIDFF.html
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+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=11"/>
+<meta name="generator" content="Doxygen 1.9.6"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>RIT VEXU Core API: PIDFF Class Reference</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
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+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
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+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr id="projectrow">
+  <td id="projectalign">
+   <div id="projectname">RIT VEXU Core API
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.6 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+var searchBox = new SearchBox("searchBox", "search/",'.html');
+/* @license-end */
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
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+  $(document).ready(function() { init_search(); });
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+/* @license-end */
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+<div id="main-nav"></div>
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
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+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<div id="MSearchResults">
+<div class="SRPage">
+<div id="SRIndex">
+<div id="SRResults"></div>
+<div class="SRStatus" id="Loading">Loading...</div>
+<div class="SRStatus" id="Searching">Searching...</div>
+<div class="SRStatus" id="NoMatches">No Matches</div>
+</div>
+</div>
+</div>
+</div>
+
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pub-attribs">Public Attributes</a> &#124;
+<a href="classPIDFF-members.html">List of all members</a>  </div>
+  <div class="headertitle"><div class="title">PIDFF Class Reference</div></div>
+</div><!--header-->
+<div class="contents">
+<div class="dynheader">
+Inheritance diagram for PIDFF:</div>
+<div class="dyncontent">
+ <div class="center">
+  <img src="classPIDFF.png" usemap="#PIDFF_map" alt=""/>
+  <map id="PIDFF_map" name="PIDFF_map">
+<area href="classFeedback.html" alt="Feedback" shape="rect" coords="0,0,68,24"/>
+  </map>
+</div></div>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-methods" name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
+<tr class="memitem:a3ac78262b4dbe5f2dba3d415ae357c32"><td class="memItemLeft" align="right" valign="top"><a id="a3ac78262b4dbe5f2dba3d415ae357c32" name="a3ac78262b4dbe5f2dba3d415ae357c32"></a>
+&#160;</td><td class="memItemRight" valign="bottom"><b>PIDFF</b> (<a class="el" href="structPID_1_1pid__config__t.html">PID::pid_config_t</a> &amp;pid_cfg, <a class="el" href="structFeedForward_1_1ff__config__t.html">FeedForward::ff_config_t</a> &amp;ff_cfg)</td></tr>
+<tr class="separator:a3ac78262b4dbe5f2dba3d415ae357c32"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a37226c8d3bfac97485b28105a15f29fc"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPIDFF.html#a37226c8d3bfac97485b28105a15f29fc">init</a> (double start_pt, double set_pt) override</td></tr>
+<tr class="separator:a37226c8d3bfac97485b28105a15f29fc"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a5b5584e4ca036b0e51c693a24a23b50b"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPIDFF.html#a5b5584e4ca036b0e51c693a24a23b50b">set_target</a> (double set_pt)</td></tr>
+<tr class="separator:a5b5584e4ca036b0e51c693a24a23b50b"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a9a9b05ec43e4430019652b62799e761c"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPIDFF.html#a9a9b05ec43e4430019652b62799e761c">update</a> (double val) override</td></tr>
+<tr class="separator:a9a9b05ec43e4430019652b62799e761c"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a015bebe6d1028451e612f103ee2c1c2c"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPIDFF.html#a015bebe6d1028451e612f103ee2c1c2c">update</a> (double val, double vel_setpt, double a_setpt=0)</td></tr>
+<tr class="separator:a015bebe6d1028451e612f103ee2c1c2c"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a78a34d271bcc703fc803e15b275fd238"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPIDFF.html#a78a34d271bcc703fc803e15b275fd238">get</a> () override</td></tr>
+<tr class="separator:a78a34d271bcc703fc803e15b275fd238"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ae0dccb27a91ec687f90c930441f246bb"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPIDFF.html#ae0dccb27a91ec687f90c930441f246bb">set_limits</a> (double lower, double upper) override</td></tr>
+<tr class="separator:ae0dccb27a91ec687f90c930441f246bb"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a2534a33490570d839bf1849673a70bc1"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPIDFF.html#a2534a33490570d839bf1849673a70bc1">is_on_target</a> () override</td></tr>
+<tr class="separator:a2534a33490570d839bf1849673a70bc1"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_methods_classFeedback"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classFeedback')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="classFeedback.html">Feedback</a></td></tr>
+<tr class="memitem:a22efb13216bfd51aea07e0b6e45135c1 inherit pub_methods_classFeedback"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classFeedback.html#a22efb13216bfd51aea07e0b6e45135c1">init</a> (double start_pt, double set_pt)=0</td></tr>
+<tr class="separator:a22efb13216bfd51aea07e0b6e45135c1 inherit pub_methods_classFeedback"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:adda5fc7642539996be00632954dfc41f inherit pub_methods_classFeedback"><td class="memItemLeft" align="right" valign="top">virtual double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classFeedback.html#adda5fc7642539996be00632954dfc41f">update</a> (double val)=0</td></tr>
+<tr class="separator:adda5fc7642539996be00632954dfc41f inherit pub_methods_classFeedback"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ac44bb519a6f4e25c8e8250f3d30ab359 inherit pub_methods_classFeedback"><td class="memItemLeft" align="right" valign="top">virtual double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classFeedback.html#ac44bb519a6f4e25c8e8250f3d30ab359">get</a> ()=0</td></tr>
+<tr class="separator:ac44bb519a6f4e25c8e8250f3d30ab359 inherit pub_methods_classFeedback"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a533a10b65cfc998898bf054f8b141de2 inherit pub_methods_classFeedback"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classFeedback.html#a533a10b65cfc998898bf054f8b141de2">set_limits</a> (double lower, double upper)=0</td></tr>
+<tr class="separator:a533a10b65cfc998898bf054f8b141de2 inherit pub_methods_classFeedback"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ae4cc835c374aab9761d22603d4329d34 inherit pub_methods_classFeedback"><td class="memItemLeft" align="right" valign="top">virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classFeedback.html#ae4cc835c374aab9761d22603d4329d34">is_on_target</a> ()=0</td></tr>
+<tr class="separator:ae4cc835c374aab9761d22603d4329d34 inherit pub_methods_classFeedback"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aef8981678b7bcded915ccc7e3e237208 inherit pub_methods_classFeedback"><td class="memItemLeft" align="right" valign="top"><a id="aef8981678b7bcded915ccc7e3e237208" name="aef8981678b7bcded915ccc7e3e237208"></a>
+virtual Feedback::FeedbackType&#160;</td><td class="memItemRight" valign="bottom"><b>get_type</b> ()</td></tr>
+<tr class="separator:aef8981678b7bcded915ccc7e3e237208 inherit pub_methods_classFeedback"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-attribs" name="pub-attribs"></a>
+Public Attributes</h2></td></tr>
+<tr class="memitem:a68affb443aa4a7992f7f03b9a50aed5a"><td class="memItemLeft" align="right" valign="top"><a id="a68affb443aa4a7992f7f03b9a50aed5a" name="a68affb443aa4a7992f7f03b9a50aed5a"></a>
+<a class="el" href="classPID.html">PID</a>&#160;</td><td class="memItemRight" valign="bottom"><b>pid</b></td></tr>
+<tr class="separator:a68affb443aa4a7992f7f03b9a50aed5a"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="inherited" name="inherited"></a>
+Additional Inherited Members</h2></td></tr>
+<tr class="inherit_header pub_types_classFeedback"><td colspan="2" onclick="javascript:toggleInherit('pub_types_classFeedback')"><img src="closed.png" alt="-"/>&#160;Public Types inherited from <a class="el" href="classFeedback.html">Feedback</a></td></tr>
+<tr class="memitem:ac82a001abba300290790eb8414a84dce inherit pub_types_classFeedback"><td class="memItemLeft" align="right" valign="top"><a id="ac82a001abba300290790eb8414a84dce" name="ac82a001abba300290790eb8414a84dce"></a>enum &#160;</td><td class="memItemRight" valign="bottom"><b>FeedbackType</b> { <b>PIDType</b>
+, <b>FeedforwardType</b>
+, <b>OtherType</b>
+ }</td></tr>
+<tr class="separator:ac82a001abba300290790eb8414a84dce inherit pub_types_classFeedback"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a78a34d271bcc703fc803e15b275fd238" name="a78a34d271bcc703fc803e15b275fd238"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a78a34d271bcc703fc803e15b275fd238">&#9670;&#160;</a></span>get()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">double PIDFF::get </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">override</span><span class="mlabel">virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<dl class="section return"><dt>Returns</dt><dd>the last saved result from the feedback controller </dd></dl>
+
+<p>Implements <a class="el" href="classFeedback.html#ac44bb519a6f4e25c8e8250f3d30ab359">Feedback</a>.</p>
+
+</div>
+</div>
+<a id="a37226c8d3bfac97485b28105a15f29fc" name="a37226c8d3bfac97485b28105a15f29fc"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a37226c8d3bfac97485b28105a15f29fc">&#9670;&#160;</a></span>init()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">void PIDFF::init </td>
+          <td>(</td>
+          <td class="paramtype">double&#160;</td>
+          <td class="paramname"><em>start_pt</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">double&#160;</td>
+          <td class="paramname"><em>set_pt</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">override</span><span class="mlabel">virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<p>Initialize the feedback controller for a movement</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">start_pt</td><td>the current sensor value </td></tr>
+    <tr><td class="paramname">set_pt</td><td>where the sensor value should be </td></tr>
+  </table>
+  </dd>
+</dl>
+
+<p>Implements <a class="el" href="classFeedback.html#a22efb13216bfd51aea07e0b6e45135c1">Feedback</a>.</p>
+
+</div>
+</div>
+<a id="a2534a33490570d839bf1849673a70bc1" name="a2534a33490570d839bf1849673a70bc1"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a2534a33490570d839bf1849673a70bc1">&#9670;&#160;</a></span>is_on_target()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">bool PIDFF::is_on_target </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">override</span><span class="mlabel">virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<dl class="section return"><dt>Returns</dt><dd>true if the feedback controller has reached it's setpoint </dd></dl>
+
+<p>Implements <a class="el" href="classFeedback.html#ae4cc835c374aab9761d22603d4329d34">Feedback</a>.</p>
+
+</div>
+</div>
+<a id="ae0dccb27a91ec687f90c930441f246bb" name="ae0dccb27a91ec687f90c930441f246bb"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ae0dccb27a91ec687f90c930441f246bb">&#9670;&#160;</a></span>set_limits()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">void PIDFF::set_limits </td>
+          <td>(</td>
+          <td class="paramtype">double&#160;</td>
+          <td class="paramname"><em>lower</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">double&#160;</td>
+          <td class="paramname"><em>upper</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">override</span><span class="mlabel">virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<p>Clamp the upper and lower limits of the output. If both are 0, no limits should be applied.</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">lower</td><td>Upper limit </td></tr>
+    <tr><td class="paramname">upper</td><td>Lower limit </td></tr>
+  </table>
+  </dd>
+</dl>
+
+<p>Implements <a class="el" href="classFeedback.html#a533a10b65cfc998898bf054f8b141de2">Feedback</a>.</p>
+
+</div>
+</div>
+<a id="a5b5584e4ca036b0e51c693a24a23b50b" name="a5b5584e4ca036b0e51c693a24a23b50b"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a5b5584e4ca036b0e51c693a24a23b50b">&#9670;&#160;</a></span>set_target()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">void PIDFF::set_target </td>
+          <td>(</td>
+          <td class="paramtype">double&#160;</td>
+          <td class="paramname"><em>set_pt</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<p>Set the target of the <a class="el" href="classPID.html">PID</a> loop </p><dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">set_pt</td><td>Setpoint / target value </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="a9a9b05ec43e4430019652b62799e761c" name="a9a9b05ec43e4430019652b62799e761c"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a9a9b05ec43e4430019652b62799e761c">&#9670;&#160;</a></span>update() <span class="overload">[1/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">double PIDFF::update </td>
+          <td>(</td>
+          <td class="paramtype">double&#160;</td>
+          <td class="paramname"><em>val</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">override</span><span class="mlabel">virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<p>Iterate the feedback loop once with an updated sensor value. Only kS for feedfoward will be applied.</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">val</td><td>value from the sensor </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>feedback loop result </dd></dl>
+
+<p>Implements <a class="el" href="classFeedback.html#adda5fc7642539996be00632954dfc41f">Feedback</a>.</p>
+
+</div>
+</div>
+<a id="a015bebe6d1028451e612f103ee2c1c2c" name="a015bebe6d1028451e612f103ee2c1c2c"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a015bebe6d1028451e612f103ee2c1c2c">&#9670;&#160;</a></span>update() <span class="overload">[2/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">double PIDFF::update </td>
+          <td>(</td>
+          <td class="paramtype">double&#160;</td>
+          <td class="paramname"><em>val</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">double&#160;</td>
+          <td class="paramname"><em>vel_setpt</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">double&#160;</td>
+          <td class="paramname"><em>a_setpt</em> = <code>0</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<p>Iterate the feedback loop once with an updated sensor value</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">val</td><td>value from the sensor </td></tr>
+    <tr><td class="paramname">vel_setpt</td><td>Velocity for feedforward </td></tr>
+    <tr><td class="paramname">a_setpt</td><td>Acceleration for feedfoward </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>feedback loop result </dd></dl>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following files:<ul>
+<li>include/utils/<a class="el" href="pidff_8h_source.html">pidff.h</a></li>
+<li>src/utils/pidff.cpp</li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.6
+</small></address>
+</body>
+</html>
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diff --git a/documentation/html/classSpinRPMCommand-members.html b/documentation/html/classSpinRPMCommand-members.html
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+<html xmlns="http://www.w3.org/1999/xhtml" lang="en-US">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=11"/>
+<meta name="generator" content="Doxygen 1.9.6"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>RIT VEXU Core API: Member List</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr id="projectrow">
+  <td id="projectalign">
+   <div id="projectname">RIT VEXU Core API
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.6 -->
+<script type="text/javascript">
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+  $(document).ready(function() { init_search(); });
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+<div class="SRStatus" id="NoMatches">No Matches</div>
+</div>
+</div>
+</div>
+</div>
+
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle"><div class="title">SpinRPMCommand Member List</div></div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classSpinRPMCommand.html">SpinRPMCommand</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classAutoCommand.html#a68475854d11e7c3be90e9c6e8fc9e982">on_timeout</a>()</td><td class="entry"><a class="el" href="classAutoCommand.html">AutoCommand</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classSpinRPMCommand.html#af12f71f87967de0d9991272d9659b6ef">run</a>() override</td><td class="entry"><a class="el" href="classSpinRPMCommand.html">SpinRPMCommand</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSpinRPMCommand.html#a9bfcf882448d6d4e0860c1a7de90f9ea">SpinRPMCommand</a>(Flywheel &amp;flywheel, int rpm)</td><td class="entry"><a class="el" href="classSpinRPMCommand.html">SpinRPMCommand</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classAutoCommand.html#ac3be7be26e49981ad1978491fd313472">timeout_seconds</a></td><td class="entry"><a class="el" href="classAutoCommand.html">AutoCommand</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>withTimeout</b>(double t_seconds) (defined in <a class="el" href="classAutoCommand.html">AutoCommand</a>)</td><td class="entry"><a class="el" href="classAutoCommand.html">AutoCommand</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+</table></div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.6
+</small></address>
+</body>
+</html>
diff --git a/documentation/html/classSpinRPMCommand.html b/documentation/html/classSpinRPMCommand.html
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+<html xmlns="http://www.w3.org/1999/xhtml" lang="en-US">
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+<meta http-equiv="X-UA-Compatible" content="IE=11"/>
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+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>RIT VEXU Core API: SpinRPMCommand Class Reference</title>
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+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
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+ <tbody>
+ <tr id="projectrow">
+  <td id="projectalign">
+   <div id="projectname">RIT VEXU Core API
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.6 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+var searchBox = new SearchBox("searchBox", "search/",'.html');
+/* @license-end */
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
+/* @license-end */
+</script>
+<div id="main-nav"></div>
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
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+<div id="MSearchResults">
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+<div id="SRResults"></div>
+<div class="SRStatus" id="Loading">Loading...</div>
+<div class="SRStatus" id="Searching">Searching...</div>
+<div class="SRStatus" id="NoMatches">No Matches</div>
+</div>
+</div>
+</div>
+</div>
+
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="classSpinRPMCommand-members.html">List of all members</a>  </div>
+  <div class="headertitle"><div class="title">SpinRPMCommand Class Reference</div></div>
+</div><!--header-->
+<div class="contents">
+
+<p><code>#include &lt;<a class="el" href="flywheel__commands_8h_source.html">flywheel_commands.h</a>&gt;</code></p>
+<div class="dynheader">
+Inheritance diagram for SpinRPMCommand:</div>
+<div class="dyncontent">
+ <div class="center">
+  <img src="classSpinRPMCommand.png" usemap="#SpinRPMCommand_map" alt=""/>
+  <map id="SpinRPMCommand_map" name="SpinRPMCommand_map">
+<area href="classAutoCommand.html" alt="AutoCommand" shape="rect" coords="0,0,119,24"/>
+  </map>
+</div></div>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-methods" name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
+<tr class="memitem:a9bfcf882448d6d4e0860c1a7de90f9ea"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSpinRPMCommand.html#a9bfcf882448d6d4e0860c1a7de90f9ea">SpinRPMCommand</a> (<a class="el" href="classFlywheel.html">Flywheel</a> &amp;flywheel, int rpm)</td></tr>
+<tr class="separator:a9bfcf882448d6d4e0860c1a7de90f9ea"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:af12f71f87967de0d9991272d9659b6ef"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSpinRPMCommand.html#af12f71f87967de0d9991272d9659b6ef">run</a> () override</td></tr>
+<tr class="separator:af12f71f87967de0d9991272d9659b6ef"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_methods_classAutoCommand"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classAutoCommand')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="classAutoCommand.html">AutoCommand</a></td></tr>
+<tr class="memitem:a9f58c576ca6378b18a4136f60df50560 inherit pub_methods_classAutoCommand"><td class="memItemLeft" align="right" valign="top">virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classAutoCommand.html#a9f58c576ca6378b18a4136f60df50560">run</a> ()</td></tr>
+<tr class="separator:a9f58c576ca6378b18a4136f60df50560 inherit pub_methods_classAutoCommand"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a68475854d11e7c3be90e9c6e8fc9e982 inherit pub_methods_classAutoCommand"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classAutoCommand.html#a68475854d11e7c3be90e9c6e8fc9e982">on_timeout</a> ()</td></tr>
+<tr class="separator:a68475854d11e7c3be90e9c6e8fc9e982 inherit pub_methods_classAutoCommand"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a75b2b87e945fd7b98b758617feb30404 inherit pub_methods_classAutoCommand"><td class="memItemLeft" align="right" valign="top"><a id="a75b2b87e945fd7b98b758617feb30404" name="a75b2b87e945fd7b98b758617feb30404"></a>
+<a class="el" href="classAutoCommand.html">AutoCommand</a> *&#160;</td><td class="memItemRight" valign="bottom"><b>withTimeout</b> (double t_seconds)</td></tr>
+<tr class="separator:a75b2b87e945fd7b98b758617feb30404 inherit pub_methods_classAutoCommand"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="inherited" name="inherited"></a>
+Additional Inherited Members</h2></td></tr>
+<tr class="inherit_header pub_attribs_classAutoCommand"><td colspan="2" onclick="javascript:toggleInherit('pub_attribs_classAutoCommand')"><img src="closed.png" alt="-"/>&#160;Public Attributes inherited from <a class="el" href="classAutoCommand.html">AutoCommand</a></td></tr>
+<tr class="memitem:ac3be7be26e49981ad1978491fd313472 inherit pub_attribs_classAutoCommand"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classAutoCommand.html#ac3be7be26e49981ad1978491fd313472">timeout_seconds</a> = 10.0</td></tr>
+<tr class="separator:ac3be7be26e49981ad1978491fd313472 inherit pub_attribs_classAutoCommand"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>File: <a class="el" href="flywheel__commands_8h_source.html">flywheel_commands.h</a> Desc: [insert meaningful desc] <a class="el" href="classAutoCommand.html">AutoCommand</a> wrapper class for the spinRPM function in the <a class="el" href="classFlywheel.html">Flywheel</a> class </p>
+</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="a9bfcf882448d6d4e0860c1a7de90f9ea" name="a9bfcf882448d6d4e0860c1a7de90f9ea"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a9bfcf882448d6d4e0860c1a7de90f9ea">&#9670;&#160;</a></span>SpinRPMCommand()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">SpinRPMCommand::SpinRPMCommand </td>
+          <td>(</td>
+          <td class="paramtype"><a class="el" href="classFlywheel.html">Flywheel</a> &amp;&#160;</td>
+          <td class="paramname"><em>flywheel</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">int&#160;</td>
+          <td class="paramname"><em>rpm</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<p>Construct a SpinRPM Command </p><dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">flywheel</td><td>the flywheel sys to command </td></tr>
+    <tr><td class="paramname">rpm</td><td>the rpm that we should spin at</td></tr>
+  </table>
+  </dd>
+</dl>
+<p>File: flywheel_commands.cpp Desc: [insert meaningful desc] </p>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="af12f71f87967de0d9991272d9659b6ef" name="af12f71f87967de0d9991272d9659b6ef"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#af12f71f87967de0d9991272d9659b6ef">&#9670;&#160;</a></span>run()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">bool SpinRPMCommand::run </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">override</span><span class="mlabel">virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<p>Run spin_manual Overrides run from <a class="el" href="classAutoCommand.html">AutoCommand</a> </p><dl class="section return"><dt>Returns</dt><dd>true when execution is complete, false otherwise </dd></dl>
+
+<p>Reimplemented from <a class="el" href="classAutoCommand.html#a9f58c576ca6378b18a4136f60df50560">AutoCommand</a>.</p>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following files:<ul>
+<li>include/utils/command_structure/<a class="el" href="flywheel__commands_8h_source.html">flywheel_commands.h</a></li>
+<li>src/utils/command_structure/flywheel_commands.cpp</li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.6
+</small></address>
+</body>
+</html>
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+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml" lang="en-US">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=11"/>
+<meta name="generator" content="Doxygen 1.9.6"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>RIT VEXU Core API: Member List</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr id="projectrow">
+  <td id="projectalign">
+   <div id="projectname">RIT VEXU Core API
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.6 -->
+<script type="text/javascript">
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+<script type="text/javascript" src="menudata.js"></script>
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+  $(document).ready(function() { init_search(); });
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+<div id="main-nav"></div>
+<!-- window showing the filter options -->
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+</div>
+
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle"><div class="title">TankDrive Member List</div></div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classTankDrive.html">TankDrive</a>, including all inherited members.</p>
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+  <tr class="odd"><td class="entry"><a class="el" href="classTankDrive.html#a267114928d17e16d36ad14fd4d3bf91a">drive_to_point</a>(double x, double y, vex::directionType dir, double max_speed=1)</td><td class="entry"><a class="el" href="classTankDrive.html">TankDrive</a></td><td class="entry"></td></tr>
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+  <tr class="even"><td class="entry"><a class="el" href="classTankDrive.html#aaa68eae1521e5b87ecfed2a60b15bf34">reset_auto</a>()</td><td class="entry"><a class="el" href="classTankDrive.html">TankDrive</a></td><td class="entry"></td></tr>
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+  <tr class="even"><td class="entry"><a class="el" href="classTankDrive.html#a34f305bb1c996e3748c925af259aeeb4">TankDrive</a>(motor_group &amp;left_motors, motor_group &amp;right_motors, robot_specs_t &amp;config, OdometryBase *odom=NULL)</td><td class="entry"><a class="el" href="classTankDrive.html">TankDrive</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classTankDrive.html#ac1ce9895b82b7298465d8e59fae95763">turn_degrees</a>(double degrees, Feedback &amp;feedback, double max_speed=1)</td><td class="entry"><a class="el" href="classTankDrive.html">TankDrive</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classTankDrive.html#a26d51cc12145f2520ea0c4355716184d">turn_degrees</a>(double degrees, double max_speed=1)</td><td class="entry"><a class="el" href="classTankDrive.html">TankDrive</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classTankDrive.html#a25030a7b5e9404a911f7b776a7df7f05">turn_to_heading</a>(double heading_deg, Feedback &amp;feedback, double max_speed=1)</td><td class="entry"><a class="el" href="classTankDrive.html">TankDrive</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classTankDrive.html#ab003af6cf2de93e649cce5245b092a36">turn_to_heading</a>(double heading_deg, double max_speed=1)</td><td class="entry"><a class="el" href="classTankDrive.html">TankDrive</a></td><td class="entry"></td></tr>
+</table></div><!-- contents -->
+<!-- start footer part -->
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+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.6
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+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>RIT VEXU Core API: TankDrive Class Reference</title>
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+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pub-static-methods">Static Public Member Functions</a> &#124;
+<a href="classTankDrive-members.html">List of all members</a>  </div>
+  <div class="headertitle"><div class="title">TankDrive Class Reference</div></div>
+</div><!--header-->
+<div class="contents">
+
+<p><code>#include &lt;<a class="el" href="tank__drive_8h_source.html">tank_drive.h</a>&gt;</code></p>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-methods" name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
+<tr class="memitem:a34f305bb1c996e3748c925af259aeeb4"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classTankDrive.html#a34f305bb1c996e3748c925af259aeeb4">TankDrive</a> (motor_group &amp;left_motors, motor_group &amp;right_motors, <a class="el" href="structrobot__specs__t.html">robot_specs_t</a> &amp;config, <a class="el" href="classOdometryBase.html">OdometryBase</a> *odom=NULL)</td></tr>
+<tr class="separator:a34f305bb1c996e3748c925af259aeeb4"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:af10e648e4de35fa72859fb96a9a80485"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classTankDrive.html#af10e648e4de35fa72859fb96a9a80485">stop</a> ()</td></tr>
+<tr class="separator:af10e648e4de35fa72859fb96a9a80485"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a1dff7827546fb3d17e0d2ca150bdf630"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classTankDrive.html#a1dff7827546fb3d17e0d2ca150bdf630">drive_tank</a> (double left, double right, int power=1, bool isdriver=false)</td></tr>
+<tr class="separator:a1dff7827546fb3d17e0d2ca150bdf630"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a4c52b51a9b149d97e9b0b175a10652ef"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classTankDrive.html#a4c52b51a9b149d97e9b0b175a10652ef">drive_arcade</a> (double forward_back, double left_right, int power=1)</td></tr>
+<tr class="separator:a4c52b51a9b149d97e9b0b175a10652ef"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a1fb3d661076afbb91452649cdaf8550f"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classTankDrive.html#a1fb3d661076afbb91452649cdaf8550f">drive_forward</a> (double inches, directionType dir, <a class="el" href="classFeedback.html">Feedback</a> &amp;feedback, double max_speed=1)</td></tr>
+<tr class="separator:a1fb3d661076afbb91452649cdaf8550f"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a8edcf4316d5a22c32849d7d1d5d0a793"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classTankDrive.html#a8edcf4316d5a22c32849d7d1d5d0a793">drive_forward</a> (double inches, directionType dir, double max_speed=1)</td></tr>
+<tr class="separator:a8edcf4316d5a22c32849d7d1d5d0a793"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ac1ce9895b82b7298465d8e59fae95763"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classTankDrive.html#ac1ce9895b82b7298465d8e59fae95763">turn_degrees</a> (double degrees, <a class="el" href="classFeedback.html">Feedback</a> &amp;feedback, double max_speed=1)</td></tr>
+<tr class="separator:ac1ce9895b82b7298465d8e59fae95763"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a26d51cc12145f2520ea0c4355716184d"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classTankDrive.html#a26d51cc12145f2520ea0c4355716184d">turn_degrees</a> (double degrees, double max_speed=1)</td></tr>
+<tr class="separator:a26d51cc12145f2520ea0c4355716184d"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ad64cf88b180865f7e0f9810a344db791"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classTankDrive.html#ad64cf88b180865f7e0f9810a344db791">drive_to_point</a> (double x, double y, vex::directionType dir, <a class="el" href="classFeedback.html">Feedback</a> &amp;feedback, double max_speed=1)</td></tr>
+<tr class="separator:ad64cf88b180865f7e0f9810a344db791"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a267114928d17e16d36ad14fd4d3bf91a"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classTankDrive.html#a267114928d17e16d36ad14fd4d3bf91a">drive_to_point</a> (double x, double y, vex::directionType dir, double max_speed=1)</td></tr>
+<tr class="separator:a267114928d17e16d36ad14fd4d3bf91a"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a25030a7b5e9404a911f7b776a7df7f05"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classTankDrive.html#a25030a7b5e9404a911f7b776a7df7f05">turn_to_heading</a> (double heading_deg, <a class="el" href="classFeedback.html">Feedback</a> &amp;feedback, double max_speed=1)</td></tr>
+<tr class="separator:a25030a7b5e9404a911f7b776a7df7f05"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ab003af6cf2de93e649cce5245b092a36"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classTankDrive.html#ab003af6cf2de93e649cce5245b092a36">turn_to_heading</a> (double heading_deg, double max_speed=1)</td></tr>
+<tr class="separator:ab003af6cf2de93e649cce5245b092a36"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aaa68eae1521e5b87ecfed2a60b15bf34"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classTankDrive.html#aaa68eae1521e5b87ecfed2a60b15bf34">reset_auto</a> ()</td></tr>
+<tr class="separator:aaa68eae1521e5b87ecfed2a60b15bf34"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a13bb19d1cf97b7f3534f4f2a0a13bf27"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classTankDrive.html#a13bb19d1cf97b7f3534f4f2a0a13bf27">pure_pursuit</a> (std::vector&lt; <a class="el" href="structPurePursuit_1_1hermite__point.html">PurePursuit::hermite_point</a> &gt; path, directionType dir, double radius, double res, <a class="el" href="classFeedback.html">Feedback</a> &amp;feedback, double max_speed=1)</td></tr>
+<tr class="separator:a13bb19d1cf97b7f3534f4f2a0a13bf27"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-static-methods" name="pub-static-methods"></a>
+Static Public Member Functions</h2></td></tr>
+<tr class="memitem:abb511cf1be40ef7be89c2ccff6a09cab"><td class="memItemLeft" align="right" valign="top">static double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classTankDrive.html#abb511cf1be40ef7be89c2ccff6a09cab">modify_inputs</a> (double input, int power=2)</td></tr>
+<tr class="separator:abb511cf1be40ef7be89c2ccff6a09cab"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p><a class="el" href="classTankDrive.html">TankDrive</a> is a class to run a tank drive system. A tank drive system, sometimes called differential drive, has a motor (or group of synchronized motors) on the left and right side </p>
+</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="a34f305bb1c996e3748c925af259aeeb4" name="a34f305bb1c996e3748c925af259aeeb4"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a34f305bb1c996e3748c925af259aeeb4">&#9670;&#160;</a></span>TankDrive()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">TankDrive::TankDrive </td>
+          <td>(</td>
+          <td class="paramtype">motor_group &amp;&#160;</td>
+          <td class="paramname"><em>left_motors</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">motor_group &amp;&#160;</td>
+          <td class="paramname"><em>right_motors</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype"><a class="el" href="structrobot__specs__t.html">robot_specs_t</a> &amp;&#160;</td>
+          <td class="paramname"><em>config</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype"><a class="el" href="classOdometryBase.html">OdometryBase</a> *&#160;</td>
+          <td class="paramname"><em>odom</em> = <code>NULL</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<p>Create the <a class="el" href="classTankDrive.html">TankDrive</a> object </p><dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">left_motors</td><td>left side drive motors </td></tr>
+    <tr><td class="paramname">right_motors</td><td>right side drive motors </td></tr>
+    <tr><td class="paramname">config</td><td>the configuration specification defining physical dimensions about the robot. See <a class="el" href="structrobot__specs__t.html">robot_specs_t</a> for more info </td></tr>
+    <tr><td class="paramname">odom</td><td>an odometry system to track position and rotation. this is necessary to execute autonomous paths </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a4c52b51a9b149d97e9b0b175a10652ef" name="a4c52b51a9b149d97e9b0b175a10652ef"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4c52b51a9b149d97e9b0b175a10652ef">&#9670;&#160;</a></span>drive_arcade()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">void TankDrive::drive_arcade </td>
+          <td>(</td>
+          <td class="paramtype">double&#160;</td>
+          <td class="paramname"><em>forward_back</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">double&#160;</td>
+          <td class="paramname"><em>left_right</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">int&#160;</td>
+          <td class="paramname"><em>power</em> = <code>1</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<p>Drive the robot using arcade style controls. forward_back controls the linear motion, left_right controls the turning.</p>
+<p>forward_back and left_right are in "percent": -1.0 -&gt; 1.0</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">forward_back</td><td>the percent to move forward or backward </td></tr>
+    <tr><td class="paramname">left_right</td><td>the percent to turn left or right </td></tr>
+    <tr><td class="paramname">power</td><td>modifies the input velocities left^power, right^power</td></tr>
+  </table>
+  </dd>
+</dl>
+<p>Drive the robot using arcade style controls. forward_back controls the linear motion, left_right controls the turning.</p>
+<p>left_motors and right_motors are in "percent": -1.0 -&gt; 1.0 </p>
+
+</div>
+</div>
+<a id="a8edcf4316d5a22c32849d7d1d5d0a793" name="a8edcf4316d5a22c32849d7d1d5d0a793"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a8edcf4316d5a22c32849d7d1d5d0a793">&#9670;&#160;</a></span>drive_forward() <span class="overload">[1/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">bool TankDrive::drive_forward </td>
+          <td>(</td>
+          <td class="paramtype">double&#160;</td>
+          <td class="paramname"><em>inches</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">directionType&#160;</td>
+          <td class="paramname"><em>dir</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">double&#160;</td>
+          <td class="paramname"><em>max_speed</em> = <code>1</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<p>Autonomously drive the robot forward a certain distance</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">inches</td><td>degrees by which we will turn relative to the robot (+) turns ccw, (-) turns cw </td></tr>
+    <tr><td class="paramname">dir</td><td>the direction we want to travel forward and backward </td></tr>
+    <tr><td class="paramname">max_speed</td><td>the maximum percentage of robot speed at which the robot will travel. 1 = full power</td></tr>
+  </table>
+  </dd>
+</dl>
+<p>Autonomously drive the robot forward a certain distance</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">inches</td><td>degrees by which we will turn relative to the robot (+) turns ccw, (-) turns cw </td></tr>
+    <tr><td class="paramname">dir</td><td>the direction we want to travel forward and backward </td></tr>
+    <tr><td class="paramname">max_speed</td><td>the maximum percentage of robot speed at which the robot will travel. 1 = full power </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>true if we have finished driving to our point </dd></dl>
+
+</div>
+</div>
+<a id="a1fb3d661076afbb91452649cdaf8550f" name="a1fb3d661076afbb91452649cdaf8550f"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a1fb3d661076afbb91452649cdaf8550f">&#9670;&#160;</a></span>drive_forward() <span class="overload">[2/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">bool TankDrive::drive_forward </td>
+          <td>(</td>
+          <td class="paramtype">double&#160;</td>
+          <td class="paramname"><em>inches</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">directionType&#160;</td>
+          <td class="paramname"><em>dir</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype"><a class="el" href="classFeedback.html">Feedback</a> &amp;&#160;</td>
+          <td class="paramname"><em>feedback</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">double&#160;</td>
+          <td class="paramname"><em>max_speed</em> = <code>1</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<p>Use odometry to drive forward a certain distance using a custom feedback controller</p>
+<p>Returns whether or not the robot has reached it's destination. </p><dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">inches</td><td>the distance to drive forward </td></tr>
+    <tr><td class="paramname">dir</td><td>the direction we want to travel forward and backward </td></tr>
+    <tr><td class="paramname">feedback</td><td>the custom feedback controller we will use to travel. controls the rate at which we accelerate and drive. </td></tr>
+    <tr><td class="paramname">max_speed</td><td>the maximum percentage of robot speed at which the robot will travel. 1 = full power </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>true when we have reached our target distance</dd></dl>
+<p>Use odometry to drive forward a certain distance using a custom feedback controller</p>
+<p>Returns whether or not the robot has reached it's destination. </p><dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">inches</td><td>the distance to drive forward </td></tr>
+    <tr><td class="paramname">dir</td><td>the direction we want to travel forward and backward </td></tr>
+    <tr><td class="paramname">feedback</td><td>the custom feedback controller we will use to travel. controls the rate at which we accelerate and drive. </td></tr>
+    <tr><td class="paramname">max_speed</td><td>the maximum percentage of robot speed at which the robot will travel. 1 = full power </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="a1dff7827546fb3d17e0d2ca150bdf630" name="a1dff7827546fb3d17e0d2ca150bdf630"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a1dff7827546fb3d17e0d2ca150bdf630">&#9670;&#160;</a></span>drive_tank()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">void TankDrive::drive_tank </td>
+          <td>(</td>
+          <td class="paramtype">double&#160;</td>
+          <td class="paramname"><em>left</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">double&#160;</td>
+          <td class="paramname"><em>right</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">int&#160;</td>
+          <td class="paramname"><em>power</em> = <code>1</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">bool&#160;</td>
+          <td class="paramname"><em>isdriver</em> = <code>false</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<p>Drive the robot using differential style controls. left_motors controls the left motors, right_motors controls the right motors.</p>
+<p>left_motors and right_motors are in "percent": -1.0 -&gt; 1.0 </p><dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">left</td><td>the percent to run the left motors </td></tr>
+    <tr><td class="paramname">right</td><td>the percent to run the right motors </td></tr>
+    <tr><td class="paramname">power</td><td>modifies the input velocities left^power, right^power </td></tr>
+    <tr><td class="paramname">isdriver</td><td>default false. if true uses motor percentage. if false uses plain percentage of maximum voltage</td></tr>
+  </table>
+  </dd>
+</dl>
+<p>Drive the robot using differential style controls. left_motors controls the left motors, right_motors controls the right motors.</p>
+<p>left_motors and right_motors are in "percent": -1.0 -&gt; 1.0 </p>
+
+</div>
+</div>
+<a id="a267114928d17e16d36ad14fd4d3bf91a" name="a267114928d17e16d36ad14fd4d3bf91a"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a267114928d17e16d36ad14fd4d3bf91a">&#9670;&#160;</a></span>drive_to_point() <span class="overload">[1/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">bool TankDrive::drive_to_point </td>
+          <td>(</td>
+          <td class="paramtype">double&#160;</td>
+          <td class="paramname"><em>x</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">double&#160;</td>
+          <td class="paramname"><em>y</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">vex::directionType&#160;</td>
+          <td class="paramname"><em>dir</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">double&#160;</td>
+          <td class="paramname"><em>max_speed</em> = <code>1</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<p>Use odometry to automatically drive the robot to a point on the field. X and Y is the final point we want the robot. Here we use the default feedback controller from the drive_sys</p>
+<p>Returns whether or not the robot has reached it's destination. </p><dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">x</td><td>the x position of the target </td></tr>
+    <tr><td class="paramname">y</td><td>the y position of the target </td></tr>
+    <tr><td class="paramname">dir</td><td>the direction we want to travel forward and backward </td></tr>
+    <tr><td class="paramname">max_speed</td><td>the maximum percentage of robot speed at which the robot will travel. 1 = full power</td></tr>
+  </table>
+  </dd>
+</dl>
+<p>Use odometry to automatically drive the robot to a point on the field. X and Y is the final point we want the robot. Here we use the default feedback controller from the drive_sys</p>
+<p>Returns whether or not the robot has reached it's destination. </p><dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">x</td><td>the x position of the target </td></tr>
+    <tr><td class="paramname">y</td><td>the y position of the target </td></tr>
+    <tr><td class="paramname">dir</td><td>the direction we want to travel forward and backward </td></tr>
+    <tr><td class="paramname">max_speed</td><td>the maximum percentage of robot speed at which the robot will travel. 1 = full power </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>true if we have reached our target point </dd></dl>
+
+</div>
+</div>
+<a id="ad64cf88b180865f7e0f9810a344db791" name="ad64cf88b180865f7e0f9810a344db791"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad64cf88b180865f7e0f9810a344db791">&#9670;&#160;</a></span>drive_to_point() <span class="overload">[2/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">bool TankDrive::drive_to_point </td>
+          <td>(</td>
+          <td class="paramtype">double&#160;</td>
+          <td class="paramname"><em>x</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">double&#160;</td>
+          <td class="paramname"><em>y</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">vex::directionType&#160;</td>
+          <td class="paramname"><em>dir</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype"><a class="el" href="classFeedback.html">Feedback</a> &amp;&#160;</td>
+          <td class="paramname"><em>feedback</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">double&#160;</td>
+          <td class="paramname"><em>max_speed</em> = <code>1</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<p>Use odometry to automatically drive the robot to a point on the field. X and Y is the final point we want the robot.</p>
+<p>Returns whether or not the robot has reached it's destination. </p><dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">x</td><td>the x position of the target </td></tr>
+    <tr><td class="paramname">y</td><td>the y position of the target </td></tr>
+    <tr><td class="paramname">dir</td><td>the direction we want to travel forward and backward </td></tr>
+    <tr><td class="paramname">feedback</td><td>the feedback controller we will use to travel. controls the rate at which we accelerate and drive. </td></tr>
+    <tr><td class="paramname">max_speed</td><td>the maximum percentage of robot speed at which the robot will travel. 1 = full power</td></tr>
+  </table>
+  </dd>
+</dl>
+<p>Use odometry to automatically drive the robot to a point on the field. X and Y is the final point we want the robot.</p>
+<p>Returns whether or not the robot has reached it's destination. </p><dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">x</td><td>the x position of the target </td></tr>
+    <tr><td class="paramname">y</td><td>the y position of the target </td></tr>
+    <tr><td class="paramname">dir</td><td>the direction we want to travel forward and backward </td></tr>
+    <tr><td class="paramname">feedback</td><td>the feedback controller we will use to travel. controls the rate at which we accelerate and drive. </td></tr>
+    <tr><td class="paramname">max_speed</td><td>the maximum percentage of robot speed at which the robot will travel. 1 = full power </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>true if we have reached our target point </dd></dl>
+
+</div>
+</div>
+<a id="abb511cf1be40ef7be89c2ccff6a09cab" name="abb511cf1be40ef7be89c2ccff6a09cab"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#abb511cf1be40ef7be89c2ccff6a09cab">&#9670;&#160;</a></span>modify_inputs()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">double TankDrive::modify_inputs </td>
+          <td>(</td>
+          <td class="paramtype">double&#160;</td>
+          <td class="paramname"><em>input</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">int&#160;</td>
+          <td class="paramname"><em>power</em> = <code>2</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<p>Create a curve for the inputs, so that drivers have more control at lower speeds. Curves are exponential, with the default being squaring the inputs.</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">input</td><td>the input before modification </td></tr>
+    <tr><td class="paramname">power</td><td>the power to raise input to </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>input ^ power (accounts for negative inputs and odd numbered powers)</dd></dl>
+<p>Modify the inputs from the controller by squaring / cubing, etc Allows for better control of the robot at slower speeds </p><dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">input</td><td>the input signal -1 -&gt; 1 </td></tr>
+    <tr><td class="paramname">power</td><td>the power to raise the signal to </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>input^power accounting for any sign issues that would arise with this naive solution </dd></dl>
+
+</div>
+</div>
+<a id="a13bb19d1cf97b7f3534f4f2a0a13bf27" name="a13bb19d1cf97b7f3534f4f2a0a13bf27"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a13bb19d1cf97b7f3534f4f2a0a13bf27">&#9670;&#160;</a></span>pure_pursuit()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">bool TankDrive::pure_pursuit </td>
+          <td>(</td>
+          <td class="paramtype">std::vector&lt; <a class="el" href="structPurePursuit_1_1hermite__point.html">PurePursuit::hermite_point</a> &gt;&#160;</td>
+          <td class="paramname"><em>path</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">directionType&#160;</td>
+          <td class="paramname"><em>dir</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">double&#160;</td>
+          <td class="paramname"><em>radius</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">double&#160;</td>
+          <td class="paramname"><em>res</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype"><a class="el" href="classFeedback.html">Feedback</a> &amp;&#160;</td>
+          <td class="paramname"><em>feedback</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">double&#160;</td>
+          <td class="paramname"><em>max_speed</em> = <code>1</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<p>Follow a hermite curve using the pure pursuit algorithm.</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">path</td><td>The hermite curve for the robot to take. Must have 2 or more points. </td></tr>
+    <tr><td class="paramname">dir</td><td>Whether the robot should move forward or backwards </td></tr>
+    <tr><td class="paramname">radius</td><td>How the pure pursuit radius, in inches, for finding the lookahead point </td></tr>
+    <tr><td class="paramname">res</td><td>The number of points to use along the path; the hermite curve is split up into "res" individual points. </td></tr>
+    <tr><td class="paramname">feedback</td><td>The feedback controller to use </td></tr>
+    <tr><td class="paramname">max_speed</td><td>Robot's maximum speed throughout the path, between 0 and 1.0 </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>true when we reach the end of the path </dd></dl>
+
+</div>
+</div>
+<a id="aaa68eae1521e5b87ecfed2a60b15bf34" name="aaa68eae1521e5b87ecfed2a60b15bf34"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aaa68eae1521e5b87ecfed2a60b15bf34">&#9670;&#160;</a></span>reset_auto()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">void TankDrive::reset_auto </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<p>Reset the initialization for autonomous drive functions </p>
+
+</div>
+</div>
+<a id="af10e648e4de35fa72859fb96a9a80485" name="af10e648e4de35fa72859fb96a9a80485"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#af10e648e4de35fa72859fb96a9a80485">&#9670;&#160;</a></span>stop()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">void TankDrive::stop </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<p>Stops rotation of all the motors using their "brake mode" </p>
+
+</div>
+</div>
+<a id="a26d51cc12145f2520ea0c4355716184d" name="a26d51cc12145f2520ea0c4355716184d"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a26d51cc12145f2520ea0c4355716184d">&#9670;&#160;</a></span>turn_degrees() <span class="overload">[1/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">bool TankDrive::turn_degrees </td>
+          <td>(</td>
+          <td class="paramtype">double&#160;</td>
+          <td class="paramname"><em>degrees</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">double&#160;</td>
+          <td class="paramname"><em>max_speed</em> = <code>1</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<p>Autonomously turn the robot X degrees to counterclockwise (negative for clockwise), with a maximum motor speed of percent_speed (-1.0 -&gt; 1.0)</p>
+<p>Uses the defualt turning feedback of the drive system.</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">degrees</td><td>degrees by which we will turn relative to the robot (+) turns ccw, (-) turns cw </td></tr>
+    <tr><td class="paramname">max_speed</td><td>the maximum percentage of robot speed at which the robot will travel. 1 = full power</td></tr>
+  </table>
+  </dd>
+</dl>
+<p>Autonomously turn the robot X degrees to counterclockwise (negative for clockwise), with a maximum motor speed of percent_speed (-1.0 -&gt; 1.0)</p>
+<p>Uses the defualt turning feedback of the drive system.</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">degrees</td><td>degrees by which we will turn relative to the robot (+) turns ccw, (-) turns cw </td></tr>
+    <tr><td class="paramname">max_speed</td><td>the maximum percentage of robot speed at which the robot will travel. 1 = full power </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>true if we turned te target number of degrees </dd></dl>
+
+</div>
+</div>
+<a id="ac1ce9895b82b7298465d8e59fae95763" name="ac1ce9895b82b7298465d8e59fae95763"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ac1ce9895b82b7298465d8e59fae95763">&#9670;&#160;</a></span>turn_degrees() <span class="overload">[2/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">bool TankDrive::turn_degrees </td>
+          <td>(</td>
+          <td class="paramtype">double&#160;</td>
+          <td class="paramname"><em>degrees</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype"><a class="el" href="classFeedback.html">Feedback</a> &amp;&#160;</td>
+          <td class="paramname"><em>feedback</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">double&#160;</td>
+          <td class="paramname"><em>max_speed</em> = <code>1</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<p>Autonomously turn the robot X degrees counterclockwise (negative for clockwise), with a maximum motor speed of percent_speed (-1.0 -&gt; 1.0)</p>
+<p>Uses <a class="el" href="classPID.html">PID</a> + Feedforward for it's control.</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">degrees</td><td>degrees by which we will turn relative to the robot (+) turns ccw, (-) turns cw </td></tr>
+    <tr><td class="paramname">feedback</td><td>the feedback controller we will use to travel. controls the rate at which we accelerate and drive. </td></tr>
+    <tr><td class="paramname">max_speed</td><td>the maximum percentage of robot speed at which the robot will travel. 1 = full power</td></tr>
+  </table>
+  </dd>
+</dl>
+<p>Autonomously turn the robot X degrees to counterclockwise (negative for clockwise), with a maximum motor speed of percent_speed (-1.0 -&gt; 1.0)</p>
+<p>Uses the specified feedback for it's control.</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">degrees</td><td>degrees by which we will turn relative to the robot (+) turns ccw, (-) turns cw </td></tr>
+    <tr><td class="paramname">feedback</td><td>the feedback controller we will use to travel. controls the rate at which we accelerate and drive. </td></tr>
+    <tr><td class="paramname">max_speed</td><td>the maximum percentage of robot speed at which the robot will travel. 1 = full power </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>true if we have turned our target number of degrees </dd></dl>
+
+</div>
+</div>
+<a id="ab003af6cf2de93e649cce5245b092a36" name="ab003af6cf2de93e649cce5245b092a36"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ab003af6cf2de93e649cce5245b092a36">&#9670;&#160;</a></span>turn_to_heading() <span class="overload">[1/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">bool TankDrive::turn_to_heading </td>
+          <td>(</td>
+          <td class="paramtype">double&#160;</td>
+          <td class="paramname"><em>heading_deg</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">double&#160;</td>
+          <td class="paramname"><em>max_speed</em> = <code>1</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<p>Turn the robot in place to an exact heading relative to the field. 0 is forward. Uses the defualt turn feedback of the drive system</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">heading_deg</td><td>the heading to which we will turn </td></tr>
+    <tr><td class="paramname">max_speed</td><td>the maximum percentage of robot speed at which the robot will travel. 1 = full power</td></tr>
+  </table>
+  </dd>
+</dl>
+<p>Turn the robot in place to an exact heading relative to the field. 0 is forward. Uses the defualt turn feedback of the drive system</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">heading_deg</td><td>the heading to which we will turn </td></tr>
+    <tr><td class="paramname">max_speed</td><td>the maximum percentage of robot speed at which the robot will travel. 1 = full power </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>true if we have reached our target heading </dd></dl>
+
+</div>
+</div>
+<a id="a25030a7b5e9404a911f7b776a7df7f05" name="a25030a7b5e9404a911f7b776a7df7f05"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a25030a7b5e9404a911f7b776a7df7f05">&#9670;&#160;</a></span>turn_to_heading() <span class="overload">[2/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">bool TankDrive::turn_to_heading </td>
+          <td>(</td>
+          <td class="paramtype">double&#160;</td>
+          <td class="paramname"><em>heading_deg</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype"><a class="el" href="classFeedback.html">Feedback</a> &amp;&#160;</td>
+          <td class="paramname"><em>feedback</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">double&#160;</td>
+          <td class="paramname"><em>max_speed</em> = <code>1</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<p>Turn the robot in place to an exact heading relative to the field. 0 is forward.</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">heading_deg</td><td>the heading to which we will turn </td></tr>
+    <tr><td class="paramname">feedback</td><td>the feedback controller we will use to travel. controls the rate at which we accelerate and drive. </td></tr>
+    <tr><td class="paramname">max_speed</td><td>the maximum percentage of robot speed at which the robot will travel. 1 = full power</td></tr>
+  </table>
+  </dd>
+</dl>
+<p>Turn the robot in place to an exact heading relative to the field. 0 is forward.</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">heading_deg</td><td>the heading to which we will turn </td></tr>
+    <tr><td class="paramname">feedback</td><td>the feedback controller we will use to travel. controls the rate at which we accelerate and drive. </td></tr>
+    <tr><td class="paramname">max_speed</td><td>the maximum percentage of robot speed at which the robot will travel. 1 = full power </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>true if we have reached our target heading </dd></dl>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following files:<ul>
+<li>include/subsystems/<a class="el" href="tank__drive_8h_source.html">tank_drive.h</a></li>
+<li>src/subsystems/tank_drive.cpp</li>
+</ul>
+</div><!-- contents -->
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+   <div id="projectname">RIT VEXU Core API
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+<div class="header">
+  <div class="headertitle"><div class="title">TrapezoidProfile Member List</div></div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classTrapezoidProfile.html">TrapezoidProfile</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classTrapezoidProfile.html#a0b65a924664e6e052a16db19f73af17c">calculate</a>(double time_s)</td><td class="entry"><a class="el" href="classTrapezoidProfile.html">TrapezoidProfile</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classTrapezoidProfile.html#abd551042dfffe0923200c4546d109c55">get_movement_time</a>()</td><td class="entry"><a class="el" href="classTrapezoidProfile.html">TrapezoidProfile</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classTrapezoidProfile.html#a1dcdfa1c290347cf0af48aca5afd167c">set_accel</a>(double accel)</td><td class="entry"><a class="el" href="classTrapezoidProfile.html">TrapezoidProfile</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classTrapezoidProfile.html#a1d28f3fa6bf1dfa7f5c1a34d0d3b17b5">set_endpts</a>(double start, double end)</td><td class="entry"><a class="el" href="classTrapezoidProfile.html">TrapezoidProfile</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classTrapezoidProfile.html#a6c08d08d8eadaa719f4dc9e607f9fe97">set_max_v</a>(double max_v)</td><td class="entry"><a class="el" href="classTrapezoidProfile.html">TrapezoidProfile</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classTrapezoidProfile.html#af693ca740c0112cfbf4a9ee13bbb6c5d">TrapezoidProfile</a>(double max_v, double accel)</td><td class="entry"><a class="el" href="classTrapezoidProfile.html">TrapezoidProfile</a></td><td class="entry"></td></tr>
+</table></div><!-- contents -->
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+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.6
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diff --git a/documentation/html/classTrapezoidProfile.html b/documentation/html/classTrapezoidProfile.html
new file mode 100644
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+++ b/documentation/html/classTrapezoidProfile.html
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+<title>RIT VEXU Core API: TrapezoidProfile Class Reference</title>
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+   <div id="projectname">RIT VEXU Core API
+   </div>
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+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.6 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
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+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="classTrapezoidProfile-members.html">List of all members</a>  </div>
+  <div class="headertitle"><div class="title">TrapezoidProfile Class Reference</div></div>
+</div><!--header-->
+<div class="contents">
+
+<p><code>#include &lt;<a class="el" href="trapezoid__profile_8h_source.html">trapezoid_profile.h</a>&gt;</code></p>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-methods" name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
+<tr class="memitem:af693ca740c0112cfbf4a9ee13bbb6c5d"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classTrapezoidProfile.html#af693ca740c0112cfbf4a9ee13bbb6c5d">TrapezoidProfile</a> (double max_v, double accel)</td></tr>
+<tr class="memdesc:af693ca740c0112cfbf4a9ee13bbb6c5d"><td class="mdescLeft">&#160;</td><td class="mdescRight">Construct a new Trapezoid Profile object.  <br /></td></tr>
+<tr class="separator:af693ca740c0112cfbf4a9ee13bbb6c5d"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a0b65a924664e6e052a16db19f73af17c"><td class="memItemLeft" align="right" valign="top"><a class="el" href="structmotion__t.html">motion_t</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classTrapezoidProfile.html#a0b65a924664e6e052a16db19f73af17c">calculate</a> (double time_s)</td></tr>
+<tr class="memdesc:a0b65a924664e6e052a16db19f73af17c"><td class="mdescLeft">&#160;</td><td class="mdescRight">Run the trapezoidal profile based on the time that's ellapsed.  <br /></td></tr>
+<tr class="separator:a0b65a924664e6e052a16db19f73af17c"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a1d28f3fa6bf1dfa7f5c1a34d0d3b17b5"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classTrapezoidProfile.html#a1d28f3fa6bf1dfa7f5c1a34d0d3b17b5">set_endpts</a> (double start, double end)</td></tr>
+<tr class="separator:a1d28f3fa6bf1dfa7f5c1a34d0d3b17b5"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a1dcdfa1c290347cf0af48aca5afd167c"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classTrapezoidProfile.html#a1dcdfa1c290347cf0af48aca5afd167c">set_accel</a> (double accel)</td></tr>
+<tr class="separator:a1dcdfa1c290347cf0af48aca5afd167c"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a6c08d08d8eadaa719f4dc9e607f9fe97"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classTrapezoidProfile.html#a6c08d08d8eadaa719f4dc9e607f9fe97">set_max_v</a> (double max_v)</td></tr>
+<tr class="separator:a6c08d08d8eadaa719f4dc9e607f9fe97"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:abd551042dfffe0923200c4546d109c55"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classTrapezoidProfile.html#abd551042dfffe0923200c4546d109c55">get_movement_time</a> ()</td></tr>
+<tr class="separator:abd551042dfffe0923200c4546d109c55"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>Trapezoid Profile</p>
+<p>This is a motion profile defined by an acceleration, maximum velocity, start point and end point. Using this information, a parametric function is generated, with a period of acceleration, constant velocity, and deceleration. The velocity graph looks like a trapezoid, giving it it's name.</p>
+<p>If the maximum velocity is set high enough, this will become a S-curve profile, with only acceleration and deceleration.</p>
+<p>This class is designed for use in properly modelling the motion of the robots to create a feedfoward and target for <a class="el" href="classPID.html">PID</a>. Acceleration and Maximum velocity should be measured on the robot and tuned down slightly to account for battery drop.</p>
+<p>Here are the equations graphed for ease of understanding: <a href="https://www.desmos.com/calculator/rkm3ivu1yk">https://www.desmos.com/calculator/rkm3ivu1yk</a></p>
+<dl class="section author"><dt>Author</dt><dd>Ryan McGee </dd></dl>
+<dl class="section date"><dt>Date</dt><dd>7/12/2022 </dd></dl>
+</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="af693ca740c0112cfbf4a9ee13bbb6c5d" name="af693ca740c0112cfbf4a9ee13bbb6c5d"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#af693ca740c0112cfbf4a9ee13bbb6c5d">&#9670;&#160;</a></span>TrapezoidProfile()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">TrapezoidProfile::TrapezoidProfile </td>
+          <td>(</td>
+          <td class="paramtype">double&#160;</td>
+          <td class="paramname"><em>max_v</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">double&#160;</td>
+          <td class="paramname"><em>accel</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Construct a new Trapezoid Profile object. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">max_v</td><td>Maximum velocity the robot can run at </td></tr>
+    <tr><td class="paramname">accel</td><td>Maximum acceleration of the robot </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a0b65a924664e6e052a16db19f73af17c" name="a0b65a924664e6e052a16db19f73af17c"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a0b65a924664e6e052a16db19f73af17c">&#9670;&#160;</a></span>calculate()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname"><a class="el" href="structmotion__t.html">motion_t</a> TrapezoidProfile::calculate </td>
+          <td>(</td>
+          <td class="paramtype">double&#160;</td>
+          <td class="paramname"><em>time_s</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Run the trapezoidal profile based on the time that's ellapsed. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">time_s</td><td>Time since start of movement </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd><a class="el" href="structmotion__t.html">motion_t</a> Position, velocity and acceleration</dd></dl>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">time_s</td><td>Time since start of movement </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd><a class="el" href="structmotion__t.html">motion_t</a> Position, velocity and acceleration </dd></dl>
+
+</div>
+</div>
+<a id="abd551042dfffe0923200c4546d109c55" name="abd551042dfffe0923200c4546d109c55"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#abd551042dfffe0923200c4546d109c55">&#9670;&#160;</a></span>get_movement_time()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">double TrapezoidProfile::get_movement_time </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<p>uses the kinematic equations to and specified accel and max_v to figure out how long moving along the profile would take </p><dl class="section return"><dt>Returns</dt><dd>the time the path will take to travel </dd></dl>
+
+</div>
+</div>
+<a id="a1dcdfa1c290347cf0af48aca5afd167c" name="a1dcdfa1c290347cf0af48aca5afd167c"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a1dcdfa1c290347cf0af48aca5afd167c">&#9670;&#160;</a></span>set_accel()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">void TrapezoidProfile::set_accel </td>
+          <td>(</td>
+          <td class="paramtype">double&#160;</td>
+          <td class="paramname"><em>accel</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<p>set_accel sets the acceleration this profile will use (the left and right legs of the trapezoid) </p><dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">accel</td><td>the acceleration amount to use </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="a1d28f3fa6bf1dfa7f5c1a34d0d3b17b5" name="a1d28f3fa6bf1dfa7f5c1a34d0d3b17b5"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a1d28f3fa6bf1dfa7f5c1a34d0d3b17b5">&#9670;&#160;</a></span>set_endpts()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">void TrapezoidProfile::set_endpts </td>
+          <td>(</td>
+          <td class="paramtype">double&#160;</td>
+          <td class="paramname"><em>start</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">double&#160;</td>
+          <td class="paramname"><em>end</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<p>set_endpts defines a start and end position </p><dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">start</td><td>the starting position of the path </td></tr>
+    <tr><td class="paramname">end</td><td>the ending position of the path </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="a6c08d08d8eadaa719f4dc9e607f9fe97" name="a6c08d08d8eadaa719f4dc9e607f9fe97"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a6c08d08d8eadaa719f4dc9e607f9fe97">&#9670;&#160;</a></span>set_max_v()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">void TrapezoidProfile::set_max_v </td>
+          <td>(</td>
+          <td class="paramtype">double&#160;</td>
+          <td class="paramname"><em>max_v</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<p>sets the maximum velocity for the profile (the height of the top of the trapezoid) </p><dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">max_v</td><td>the maximum velocity the robot can travel at </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following files:<ul>
+<li>include/utils/<a class="el" href="trapezoid__profile_8h_source.html">trapezoid_profile.h</a></li>
+<li>src/utils/trapezoid_profile.cpp</li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.6
+</small></address>
+</body>
+</html>
diff --git a/documentation/html/classTurnDegreesCommand-members.html b/documentation/html/classTurnDegreesCommand-members.html
new file mode 100644
index 0000000..70f2a65
--- /dev/null
+++ b/documentation/html/classTurnDegreesCommand-members.html
@@ -0,0 +1,89 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
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+  <div class="headertitle"><div class="title">TurnDegreesCommand Member List</div></div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classTurnDegreesCommand.html">TurnDegreesCommand</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classTurnDegreesCommand.html#abd912b5906bafd9f4117e005eaeccb18">on_timeout</a>() override</td><td class="entry"><a class="el" href="classTurnDegreesCommand.html">TurnDegreesCommand</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classTurnDegreesCommand.html#a2206e4c5073a2e83f6bfa3eeca46a370">run</a>() override</td><td class="entry"><a class="el" href="classTurnDegreesCommand.html">TurnDegreesCommand</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classAutoCommand.html#ac3be7be26e49981ad1978491fd313472">timeout_seconds</a></td><td class="entry"><a class="el" href="classAutoCommand.html">AutoCommand</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classTurnDegreesCommand.html#a70a7e4688c10f1b351e6d79a3a7862ee">TurnDegreesCommand</a>(TankDrive &amp;drive_sys, Feedback &amp;feedback, double degrees, double max_speed=1)</td><td class="entry"><a class="el" href="classTurnDegreesCommand.html">TurnDegreesCommand</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>withTimeout</b>(double t_seconds) (defined in <a class="el" href="classAutoCommand.html">AutoCommand</a>)</td><td class="entry"><a class="el" href="classAutoCommand.html">AutoCommand</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
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+<title>RIT VEXU Core API: TurnDegreesCommand Class Reference</title>
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+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
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+
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="classTurnDegreesCommand-members.html">List of all members</a>  </div>
+  <div class="headertitle"><div class="title">TurnDegreesCommand Class Reference</div></div>
+</div><!--header-->
+<div class="contents">
+
+<p><code>#include &lt;<a class="el" href="drive__commands_8h_source.html">drive_commands.h</a>&gt;</code></p>
+<div class="dynheader">
+Inheritance diagram for TurnDegreesCommand:</div>
+<div class="dyncontent">
+ <div class="center">
+  <img src="classTurnDegreesCommand.png" usemap="#TurnDegreesCommand_map" alt=""/>
+  <map id="TurnDegreesCommand_map" name="TurnDegreesCommand_map">
+<area href="classAutoCommand.html" alt="AutoCommand" shape="rect" coords="0,0,141,24"/>
+  </map>
+</div></div>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-methods" name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
+<tr class="memitem:a70a7e4688c10f1b351e6d79a3a7862ee"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classTurnDegreesCommand.html#a70a7e4688c10f1b351e6d79a3a7862ee">TurnDegreesCommand</a> (<a class="el" href="classTankDrive.html">TankDrive</a> &amp;drive_sys, <a class="el" href="classFeedback.html">Feedback</a> &amp;feedback, double degrees, double max_speed=1)</td></tr>
+<tr class="separator:a70a7e4688c10f1b351e6d79a3a7862ee"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a2206e4c5073a2e83f6bfa3eeca46a370"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classTurnDegreesCommand.html#a2206e4c5073a2e83f6bfa3eeca46a370">run</a> () override</td></tr>
+<tr class="separator:a2206e4c5073a2e83f6bfa3eeca46a370"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:abd912b5906bafd9f4117e005eaeccb18"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classTurnDegreesCommand.html#abd912b5906bafd9f4117e005eaeccb18">on_timeout</a> () override</td></tr>
+<tr class="separator:abd912b5906bafd9f4117e005eaeccb18"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_methods_classAutoCommand"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classAutoCommand')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="classAutoCommand.html">AutoCommand</a></td></tr>
+<tr class="memitem:a9f58c576ca6378b18a4136f60df50560 inherit pub_methods_classAutoCommand"><td class="memItemLeft" align="right" valign="top">virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classAutoCommand.html#a9f58c576ca6378b18a4136f60df50560">run</a> ()</td></tr>
+<tr class="separator:a9f58c576ca6378b18a4136f60df50560 inherit pub_methods_classAutoCommand"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a68475854d11e7c3be90e9c6e8fc9e982 inherit pub_methods_classAutoCommand"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classAutoCommand.html#a68475854d11e7c3be90e9c6e8fc9e982">on_timeout</a> ()</td></tr>
+<tr class="separator:a68475854d11e7c3be90e9c6e8fc9e982 inherit pub_methods_classAutoCommand"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a75b2b87e945fd7b98b758617feb30404 inherit pub_methods_classAutoCommand"><td class="memItemLeft" align="right" valign="top"><a id="a75b2b87e945fd7b98b758617feb30404" name="a75b2b87e945fd7b98b758617feb30404"></a>
+<a class="el" href="classAutoCommand.html">AutoCommand</a> *&#160;</td><td class="memItemRight" valign="bottom"><b>withTimeout</b> (double t_seconds)</td></tr>
+<tr class="separator:a75b2b87e945fd7b98b758617feb30404 inherit pub_methods_classAutoCommand"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="inherited" name="inherited"></a>
+Additional Inherited Members</h2></td></tr>
+<tr class="inherit_header pub_attribs_classAutoCommand"><td colspan="2" onclick="javascript:toggleInherit('pub_attribs_classAutoCommand')"><img src="closed.png" alt="-"/>&#160;Public Attributes inherited from <a class="el" href="classAutoCommand.html">AutoCommand</a></td></tr>
+<tr class="memitem:ac3be7be26e49981ad1978491fd313472 inherit pub_attribs_classAutoCommand"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classAutoCommand.html#ac3be7be26e49981ad1978491fd313472">timeout_seconds</a> = 10.0</td></tr>
+<tr class="separator:ac3be7be26e49981ad1978491fd313472 inherit pub_attribs_classAutoCommand"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p><a class="el" href="classAutoCommand.html">AutoCommand</a> wrapper class for the turn_degrees function in the <a class="el" href="classTankDrive.html">TankDrive</a> class </p>
+</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="a70a7e4688c10f1b351e6d79a3a7862ee" name="a70a7e4688c10f1b351e6d79a3a7862ee"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a70a7e4688c10f1b351e6d79a3a7862ee">&#9670;&#160;</a></span>TurnDegreesCommand()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">TurnDegreesCommand::TurnDegreesCommand </td>
+          <td>(</td>
+          <td class="paramtype"><a class="el" href="classTankDrive.html">TankDrive</a> &amp;&#160;</td>
+          <td class="paramname"><em>drive_sys</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype"><a class="el" href="classFeedback.html">Feedback</a> &amp;&#160;</td>
+          <td class="paramname"><em>feedback</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">double&#160;</td>
+          <td class="paramname"><em>degrees</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">double&#160;</td>
+          <td class="paramname"><em>max_speed</em> = <code>1</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<p>Construct a <a class="el" href="classTurnDegreesCommand.html">TurnDegreesCommand</a> Command </p><dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">drive_sys</td><td>the drive system we are commanding </td></tr>
+    <tr><td class="paramname">feedback</td><td>the feedback controller we are using to execute the turn </td></tr>
+    <tr><td class="paramname">degrees</td><td>how many degrees to rotate </td></tr>
+    <tr><td class="paramname">max_speed</td><td>0 -&gt; 1 percentage of the drive systems speed to drive at </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="abd912b5906bafd9f4117e005eaeccb18" name="abd912b5906bafd9f4117e005eaeccb18"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#abd912b5906bafd9f4117e005eaeccb18">&#9670;&#160;</a></span>on_timeout()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">void TurnDegreesCommand::on_timeout </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">override</span><span class="mlabel">virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<p>Cleans up drive system if we time out before finishing</p>
+<p>reset the drive system if we timeout </p>
+
+<p>Reimplemented from <a class="el" href="classAutoCommand.html#a68475854d11e7c3be90e9c6e8fc9e982">AutoCommand</a>.</p>
+
+</div>
+</div>
+<a id="a2206e4c5073a2e83f6bfa3eeca46a370" name="a2206e4c5073a2e83f6bfa3eeca46a370"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a2206e4c5073a2e83f6bfa3eeca46a370">&#9670;&#160;</a></span>run()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">bool TurnDegreesCommand::run </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">override</span><span class="mlabel">virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<p>Run turn_degrees Overrides run from <a class="el" href="classAutoCommand.html">AutoCommand</a> </p><dl class="section return"><dt>Returns</dt><dd>true when execution is complete, false otherwise </dd></dl>
+
+<p>Reimplemented from <a class="el" href="classAutoCommand.html#a9f58c576ca6378b18a4136f60df50560">AutoCommand</a>.</p>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following files:<ul>
+<li>include/utils/command_structure/<a class="el" href="drive__commands_8h_source.html">drive_commands.h</a></li>
+<li>src/utils/command_structure/drive_commands.cpp</li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.6
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+/* @license-end */
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+</div>
+</div>
+</div>
+</div>
+
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle"><div class="title">TurnToHeadingCommand Member List</div></div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classTurnToHeadingCommand.html">TurnToHeadingCommand</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classTurnToHeadingCommand.html#acaa3b650ed9f02315eb6ba901181bc85">on_timeout</a>() override</td><td class="entry"><a class="el" href="classTurnToHeadingCommand.html">TurnToHeadingCommand</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classTurnToHeadingCommand.html#af571168ca078be95cbc735c99c2f4093">run</a>() override</td><td class="entry"><a class="el" href="classTurnToHeadingCommand.html">TurnToHeadingCommand</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classAutoCommand.html#ac3be7be26e49981ad1978491fd313472">timeout_seconds</a></td><td class="entry"><a class="el" href="classAutoCommand.html">AutoCommand</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classTurnToHeadingCommand.html#a9a958d75babe94709827c827807d423d">TurnToHeadingCommand</a>(TankDrive &amp;drive_sys, Feedback &amp;feedback, double heading_deg, double speed=1)</td><td class="entry"><a class="el" href="classTurnToHeadingCommand.html">TurnToHeadingCommand</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>withTimeout</b>(double t_seconds) (defined in <a class="el" href="classAutoCommand.html">AutoCommand</a>)</td><td class="entry"><a class="el" href="classAutoCommand.html">AutoCommand</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+</table></div><!-- contents -->
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diff --git a/documentation/html/classTurnToHeadingCommand.html b/documentation/html/classTurnToHeadingCommand.html
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+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>RIT VEXU Core API: TurnToHeadingCommand Class Reference</title>
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+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
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+   <div id="projectname">RIT VEXU Core API
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+/* @license-end */
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+</div>
+</div>
+</div>
+
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="classTurnToHeadingCommand-members.html">List of all members</a>  </div>
+  <div class="headertitle"><div class="title">TurnToHeadingCommand Class Reference</div></div>
+</div><!--header-->
+<div class="contents">
+
+<p><code>#include &lt;<a class="el" href="drive__commands_8h_source.html">drive_commands.h</a>&gt;</code></p>
+<div class="dynheader">
+Inheritance diagram for TurnToHeadingCommand:</div>
+<div class="dyncontent">
+ <div class="center">
+  <img src="classTurnToHeadingCommand.png" usemap="#TurnToHeadingCommand_map" alt=""/>
+  <map id="TurnToHeadingCommand_map" name="TurnToHeadingCommand_map">
+<area href="classAutoCommand.html" alt="AutoCommand" shape="rect" coords="0,0,154,24"/>
+  </map>
+</div></div>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-methods" name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
+<tr class="memitem:a9a958d75babe94709827c827807d423d"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classTurnToHeadingCommand.html#a9a958d75babe94709827c827807d423d">TurnToHeadingCommand</a> (<a class="el" href="classTankDrive.html">TankDrive</a> &amp;drive_sys, <a class="el" href="classFeedback.html">Feedback</a> &amp;feedback, double heading_deg, double speed=1)</td></tr>
+<tr class="separator:a9a958d75babe94709827c827807d423d"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:af571168ca078be95cbc735c99c2f4093"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classTurnToHeadingCommand.html#af571168ca078be95cbc735c99c2f4093">run</a> () override</td></tr>
+<tr class="separator:af571168ca078be95cbc735c99c2f4093"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:acaa3b650ed9f02315eb6ba901181bc85"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classTurnToHeadingCommand.html#acaa3b650ed9f02315eb6ba901181bc85">on_timeout</a> () override</td></tr>
+<tr class="separator:acaa3b650ed9f02315eb6ba901181bc85"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_methods_classAutoCommand"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classAutoCommand')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="classAutoCommand.html">AutoCommand</a></td></tr>
+<tr class="memitem:a9f58c576ca6378b18a4136f60df50560 inherit pub_methods_classAutoCommand"><td class="memItemLeft" align="right" valign="top">virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classAutoCommand.html#a9f58c576ca6378b18a4136f60df50560">run</a> ()</td></tr>
+<tr class="separator:a9f58c576ca6378b18a4136f60df50560 inherit pub_methods_classAutoCommand"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a68475854d11e7c3be90e9c6e8fc9e982 inherit pub_methods_classAutoCommand"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classAutoCommand.html#a68475854d11e7c3be90e9c6e8fc9e982">on_timeout</a> ()</td></tr>
+<tr class="separator:a68475854d11e7c3be90e9c6e8fc9e982 inherit pub_methods_classAutoCommand"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a75b2b87e945fd7b98b758617feb30404 inherit pub_methods_classAutoCommand"><td class="memItemLeft" align="right" valign="top"><a id="a75b2b87e945fd7b98b758617feb30404" name="a75b2b87e945fd7b98b758617feb30404"></a>
+<a class="el" href="classAutoCommand.html">AutoCommand</a> *&#160;</td><td class="memItemRight" valign="bottom"><b>withTimeout</b> (double t_seconds)</td></tr>
+<tr class="separator:a75b2b87e945fd7b98b758617feb30404 inherit pub_methods_classAutoCommand"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="inherited" name="inherited"></a>
+Additional Inherited Members</h2></td></tr>
+<tr class="inherit_header pub_attribs_classAutoCommand"><td colspan="2" onclick="javascript:toggleInherit('pub_attribs_classAutoCommand')"><img src="closed.png" alt="-"/>&#160;Public Attributes inherited from <a class="el" href="classAutoCommand.html">AutoCommand</a></td></tr>
+<tr class="memitem:ac3be7be26e49981ad1978491fd313472 inherit pub_attribs_classAutoCommand"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classAutoCommand.html#ac3be7be26e49981ad1978491fd313472">timeout_seconds</a> = 10.0</td></tr>
+<tr class="separator:ac3be7be26e49981ad1978491fd313472 inherit pub_attribs_classAutoCommand"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p><a class="el" href="classAutoCommand.html">AutoCommand</a> wrapper class for the turn_to_heading() function in the <a class="el" href="classTankDrive.html">TankDrive</a> class </p>
+</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="a9a958d75babe94709827c827807d423d" name="a9a958d75babe94709827c827807d423d"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a9a958d75babe94709827c827807d423d">&#9670;&#160;</a></span>TurnToHeadingCommand()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">TurnToHeadingCommand::TurnToHeadingCommand </td>
+          <td>(</td>
+          <td class="paramtype"><a class="el" href="classTankDrive.html">TankDrive</a> &amp;&#160;</td>
+          <td class="paramname"><em>drive_sys</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype"><a class="el" href="classFeedback.html">Feedback</a> &amp;&#160;</td>
+          <td class="paramname"><em>feedback</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">double&#160;</td>
+          <td class="paramname"><em>heading_deg</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">double&#160;</td>
+          <td class="paramname"><em>max_speed</em> = <code>1</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<p>Construct a <a class="el" href="classTurnToHeadingCommand.html">TurnToHeadingCommand</a> Command </p><dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">drive_sys</td><td>the drive system we are commanding </td></tr>
+    <tr><td class="paramname">feedback</td><td>the feedback controller we are using to execute the drive </td></tr>
+    <tr><td class="paramname">heading_deg</td><td>the heading to turn to in degrees </td></tr>
+    <tr><td class="paramname">max_speed</td><td>0 -&gt; 1 percentage of the drive systems speed to drive at </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="acaa3b650ed9f02315eb6ba901181bc85" name="acaa3b650ed9f02315eb6ba901181bc85"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#acaa3b650ed9f02315eb6ba901181bc85">&#9670;&#160;</a></span>on_timeout()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">void TurnToHeadingCommand::on_timeout </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">override</span><span class="mlabel">virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<p>Cleans up drive system if we time out before finishing</p>
+<p>reset the drive system if we don't hit our target </p>
+
+<p>Reimplemented from <a class="el" href="classAutoCommand.html#a68475854d11e7c3be90e9c6e8fc9e982">AutoCommand</a>.</p>
+
+</div>
+</div>
+<a id="af571168ca078be95cbc735c99c2f4093" name="af571168ca078be95cbc735c99c2f4093"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#af571168ca078be95cbc735c99c2f4093">&#9670;&#160;</a></span>run()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">bool TurnToHeadingCommand::run </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">override</span><span class="mlabel">virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<p>Run turn_to_heading Overrides run from <a class="el" href="classAutoCommand.html">AutoCommand</a> </p><dl class="section return"><dt>Returns</dt><dd>true when execution is complete, false otherwise </dd></dl>
+
+<p>Reimplemented from <a class="el" href="classAutoCommand.html#a9f58c576ca6378b18a4136f60df50560">AutoCommand</a>.</p>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following files:<ul>
+<li>include/utils/command_structure/<a class="el" href="drive__commands_8h_source.html">drive_commands.h</a></li>
+<li>src/utils/command_structure/drive_commands.cpp</li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.6
+</small></address>
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+<div class="header">
+  <div class="headertitle"><div class="title">Vector2D Member List</div></div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classVector2D.html">Vector2D</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classVector2D.html#a683dab4e55cfc8483a32c6805cd29980">get_dir</a>() const</td><td class="entry"><a class="el" href="classVector2D.html">Vector2D</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classVector2D.html#a4da6f92b5874470ed5642587a973c3df">get_mag</a>() const</td><td class="entry"><a class="el" href="classVector2D.html">Vector2D</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classVector2D.html#a240e649d36dbda8bcba031f5fe5a2438">get_x</a>() const</td><td class="entry"><a class="el" href="classVector2D.html">Vector2D</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classVector2D.html#aee94b809a4a63b972c72b22257fa3f30">get_y</a>() const</td><td class="entry"><a class="el" href="classVector2D.html">Vector2D</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classVector2D.html#a0bb684df2d724e4378dc5fbf0d4faa99">normalize</a>()</td><td class="entry"><a class="el" href="classVector2D.html">Vector2D</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classVector2D.html#a00a0dc6776995d47659b3ddd58c33a78">operator*</a>(const double &amp;x)</td><td class="entry"><a class="el" href="classVector2D.html">Vector2D</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classVector2D.html#a2bed654f65df8c3bedbf8cd7d07071df">operator+</a>(const Vector2D &amp;other)</td><td class="entry"><a class="el" href="classVector2D.html">Vector2D</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classVector2D.html#a07a043fc63572c1cf3104ec0a9a4e796">operator-</a>(const Vector2D &amp;other)</td><td class="entry"><a class="el" href="classVector2D.html">Vector2D</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classVector2D.html#a567227aaadc7eceae0cbccf7f611aff4">point</a>()</td><td class="entry"><a class="el" href="classVector2D.html">Vector2D</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classVector2D.html#af3084a6d83b0c8220c548fbf74df2744">Vector2D</a>(double dir, double mag)</td><td class="entry"><a class="el" href="classVector2D.html">Vector2D</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classVector2D.html#ae6429e185a05c8174d97beeec27432b5">Vector2D</a>(point_t p)</td><td class="entry"><a class="el" href="classVector2D.html">Vector2D</a></td><td class="entry"></td></tr>
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+<div class="header">
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+<a href="#nested-classes">Classes</a> &#124;
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="classVector2D-members.html">List of all members</a>  </div>
+  <div class="headertitle"><div class="title">Vector2D Class Reference</div></div>
+</div><!--header-->
+<div class="contents">
+
+<p><code>#include &lt;<a class="el" href="vector2d_8h_source.html">vector2d.h</a>&gt;</code></p>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="nested-classes" name="nested-classes"></a>
+Classes</h2></td></tr>
+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structVector2D_1_1point__t.html">point_t</a></td></tr>
+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-methods" name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
+<tr class="memitem:af3084a6d83b0c8220c548fbf74df2744"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classVector2D.html#af3084a6d83b0c8220c548fbf74df2744">Vector2D</a> (double dir, double mag)</td></tr>
+<tr class="separator:af3084a6d83b0c8220c548fbf74df2744"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ae6429e185a05c8174d97beeec27432b5"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classVector2D.html#ae6429e185a05c8174d97beeec27432b5">Vector2D</a> (<a class="el" href="structVector2D_1_1point__t.html">point_t</a> p)</td></tr>
+<tr class="separator:ae6429e185a05c8174d97beeec27432b5"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a683dab4e55cfc8483a32c6805cd29980"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classVector2D.html#a683dab4e55cfc8483a32c6805cd29980">get_dir</a> () const</td></tr>
+<tr class="separator:a683dab4e55cfc8483a32c6805cd29980"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a4da6f92b5874470ed5642587a973c3df"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classVector2D.html#a4da6f92b5874470ed5642587a973c3df">get_mag</a> () const</td></tr>
+<tr class="separator:a4da6f92b5874470ed5642587a973c3df"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a240e649d36dbda8bcba031f5fe5a2438"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classVector2D.html#a240e649d36dbda8bcba031f5fe5a2438">get_x</a> () const</td></tr>
+<tr class="separator:a240e649d36dbda8bcba031f5fe5a2438"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aee94b809a4a63b972c72b22257fa3f30"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classVector2D.html#aee94b809a4a63b972c72b22257fa3f30">get_y</a> () const</td></tr>
+<tr class="separator:aee94b809a4a63b972c72b22257fa3f30"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a0bb684df2d724e4378dc5fbf0d4faa99"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classVector2D.html">Vector2D</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classVector2D.html#a0bb684df2d724e4378dc5fbf0d4faa99">normalize</a> ()</td></tr>
+<tr class="separator:a0bb684df2d724e4378dc5fbf0d4faa99"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a567227aaadc7eceae0cbccf7f611aff4"><td class="memItemLeft" align="right" valign="top"><a class="el" href="structVector2D_1_1point__t.html">Vector2D::point_t</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classVector2D.html#a567227aaadc7eceae0cbccf7f611aff4">point</a> ()</td></tr>
+<tr class="separator:a567227aaadc7eceae0cbccf7f611aff4"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a00a0dc6776995d47659b3ddd58c33a78"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classVector2D.html">Vector2D</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classVector2D.html#a00a0dc6776995d47659b3ddd58c33a78">operator*</a> (const double &amp;x)</td></tr>
+<tr class="separator:a00a0dc6776995d47659b3ddd58c33a78"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a2bed654f65df8c3bedbf8cd7d07071df"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classVector2D.html">Vector2D</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classVector2D.html#a2bed654f65df8c3bedbf8cd7d07071df">operator+</a> (const <a class="el" href="classVector2D.html">Vector2D</a> &amp;other)</td></tr>
+<tr class="separator:a2bed654f65df8c3bedbf8cd7d07071df"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a07a043fc63572c1cf3104ec0a9a4e796"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classVector2D.html">Vector2D</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classVector2D.html#a07a043fc63572c1cf3104ec0a9a4e796">operator-</a> (const <a class="el" href="classVector2D.html">Vector2D</a> &amp;other)</td></tr>
+<tr class="separator:a07a043fc63572c1cf3104ec0a9a4e796"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p><a class="el" href="classVector2D.html">Vector2D</a> is an x,y pair Used to represent 2D locations on the field. It can also be treated as a direction and magnitude </p>
+</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="af3084a6d83b0c8220c548fbf74df2744" name="af3084a6d83b0c8220c548fbf74df2744"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#af3084a6d83b0c8220c548fbf74df2744">&#9670;&#160;</a></span>Vector2D() <span class="overload">[1/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">Vector2D::Vector2D </td>
+          <td>(</td>
+          <td class="paramtype">double&#160;</td>
+          <td class="paramname"><em>dir</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">double&#160;</td>
+          <td class="paramname"><em>mag</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<p>Construct a vector object.</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">dir</td><td>Direction, in radians. 'foward' is 0, clockwise positive when viewed from the top. </td></tr>
+    <tr><td class="paramname">mag</td><td>Magnitude. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="ae6429e185a05c8174d97beeec27432b5" name="ae6429e185a05c8174d97beeec27432b5"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ae6429e185a05c8174d97beeec27432b5">&#9670;&#160;</a></span>Vector2D() <span class="overload">[2/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">Vector2D::Vector2D </td>
+          <td>(</td>
+          <td class="paramtype"><a class="el" href="structVector2D_1_1point__t.html">point_t</a>&#160;</td>
+          <td class="paramname"><em>p</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<p>Construct a vector object from a cartesian point.</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">p</td><td><a class="el" href="structVector2D_1_1point__t.html#ad139f137dd3554335c4ed9b51c8e3bd9" title="the x position in space">point_t.x</a> , <a class="el" href="structVector2D_1_1point__t.html#a8290e79feb502e69cd95a7580cf6f1fe" title="the y position in space">point_t.y</a> </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a683dab4e55cfc8483a32c6805cd29980" name="a683dab4e55cfc8483a32c6805cd29980"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a683dab4e55cfc8483a32c6805cd29980">&#9670;&#160;</a></span>get_dir()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">double Vector2D::get_dir </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td> const</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<p>Get the direction of the vector, in radians. '0' is forward, clockwise positive when viewed from the top.</p>
+<p>Use r2d() to convert. </p><dl class="section return"><dt>Returns</dt><dd>the direction of the vetctor in radians</dd></dl>
+<p>Get the direction of the vector, in radians. '0' is forward, clockwise positive when viewed from the top.</p>
+<p>Use r2d() to convert. </p>
+
+</div>
+</div>
+<a id="a4da6f92b5874470ed5642587a973c3df" name="a4da6f92b5874470ed5642587a973c3df"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4da6f92b5874470ed5642587a973c3df">&#9670;&#160;</a></span>get_mag()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">double Vector2D::get_mag </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td> const</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<dl class="section return"><dt>Returns</dt><dd>the magnitude of the vector</dd></dl>
+<p>Get the magnitude of the vector </p>
+
+</div>
+</div>
+<a id="a240e649d36dbda8bcba031f5fe5a2438" name="a240e649d36dbda8bcba031f5fe5a2438"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a240e649d36dbda8bcba031f5fe5a2438">&#9670;&#160;</a></span>get_x()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">double Vector2D::get_x </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td> const</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<dl class="section return"><dt>Returns</dt><dd>the X component of the vector; positive to the right.</dd></dl>
+<p>Get the X component of the vector; positive to the right. </p>
+
+</div>
+</div>
+<a id="aee94b809a4a63b972c72b22257fa3f30" name="aee94b809a4a63b972c72b22257fa3f30"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aee94b809a4a63b972c72b22257fa3f30">&#9670;&#160;</a></span>get_y()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">double Vector2D::get_y </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td> const</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<dl class="section return"><dt>Returns</dt><dd>the Y component of the vector, positive forward.</dd></dl>
+<p>Get the Y component of the vector, positive forward. </p>
+
+</div>
+</div>
+<a id="a0bb684df2d724e4378dc5fbf0d4faa99" name="a0bb684df2d724e4378dc5fbf0d4faa99"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a0bb684df2d724e4378dc5fbf0d4faa99">&#9670;&#160;</a></span>normalize()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname"><a class="el" href="classVector2D.html">Vector2D</a> Vector2D::normalize </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<p>Changes the magnitude of the vector to 1 </p><dl class="section return"><dt>Returns</dt><dd>the normalized vector</dd></dl>
+<p>Changes the magnetude of the vector to 1 </p>
+
+</div>
+</div>
+<a id="a00a0dc6776995d47659b3ddd58c33a78" name="a00a0dc6776995d47659b3ddd58c33a78"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a00a0dc6776995d47659b3ddd58c33a78">&#9670;&#160;</a></span>operator*()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname"><a class="el" href="classVector2D.html">Vector2D</a> Vector2D::operator* </td>
+          <td>(</td>
+          <td class="paramtype">const double &amp;&#160;</td>
+          <td class="paramname"><em>x</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<p>Scales a <a class="el" href="classVector2D.html">Vector2D</a> by a scalar with the * operator </p><dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">x</td><td>the value to scale the vector by </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>the this <a class="el" href="classVector2D.html">Vector2D</a> scaled by x </dd></dl>
+
+</div>
+</div>
+<a id="a2bed654f65df8c3bedbf8cd7d07071df" name="a2bed654f65df8c3bedbf8cd7d07071df"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a2bed654f65df8c3bedbf8cd7d07071df">&#9670;&#160;</a></span>operator+()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname"><a class="el" href="classVector2D.html">Vector2D</a> Vector2D::operator+ </td>
+          <td>(</td>
+          <td class="paramtype">const <a class="el" href="classVector2D.html">Vector2D</a> &amp;&#160;</td>
+          <td class="paramname"><em>other</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<p>Add the components of two vectors together <a class="el" href="classVector2D.html">Vector2D</a> + <a class="el" href="classVector2D.html">Vector2D</a> = (this.x + other.x, this.y + other.y) </p><dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">other</td><td>the vector to add to this </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>the sum of the vectors </dd></dl>
+
+</div>
+</div>
+<a id="a07a043fc63572c1cf3104ec0a9a4e796" name="a07a043fc63572c1cf3104ec0a9a4e796"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a07a043fc63572c1cf3104ec0a9a4e796">&#9670;&#160;</a></span>operator-()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname"><a class="el" href="classVector2D.html">Vector2D</a> Vector2D::operator- </td>
+          <td>(</td>
+          <td class="paramtype">const <a class="el" href="classVector2D.html">Vector2D</a> &amp;&#160;</td>
+          <td class="paramname"><em>other</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<p>Subtract the components of two vectors together <a class="el" href="classVector2D.html">Vector2D</a> - <a class="el" href="classVector2D.html">Vector2D</a> = (this.x - other.x, this.y - other.y) </p><dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">other</td><td>the vector to subtract from this </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>the difference of the vectors </dd></dl>
+
+</div>
+</div>
+<a id="a567227aaadc7eceae0cbccf7f611aff4" name="a567227aaadc7eceae0cbccf7f611aff4"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a567227aaadc7eceae0cbccf7f611aff4">&#9670;&#160;</a></span>point()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname"><a class="el" href="structVector2D_1_1point__t.html">Vector2D::point_t</a> Vector2D::point </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<p>Returns a point from the vector </p><dl class="section return"><dt>Returns</dt><dd>the point represented by the vector</dd></dl>
+<p>Convert a direction and magnitude representation to an x, y representation </p><dl class="section return"><dt>Returns</dt><dd>the x, y representation of the vector </dd></dl>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following files:<ul>
+<li>include/utils/<a class="el" href="vector2d_8h_source.html">vector2d.h</a></li>
+<li>src/utils/vector2d.cpp</li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.6
+</small></address>
+</body>
+</html>
diff --git a/documentation/html/classWaitUntilUpToSpeedCommand-members.html b/documentation/html/classWaitUntilUpToSpeedCommand-members.html
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+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>RIT VEXU Core API: Member List</title>
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+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
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+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr id="projectrow">
+  <td id="projectalign">
+   <div id="projectname">RIT VEXU Core API
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.6 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
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+/* @license-end */
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
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+<!-- window showing the filter options -->
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+<div id="SRResults"></div>
+<div class="SRStatus" id="Loading">Loading...</div>
+<div class="SRStatus" id="Searching">Searching...</div>
+<div class="SRStatus" id="NoMatches">No Matches</div>
+</div>
+</div>
+</div>
+</div>
+
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle"><div class="title">WaitUntilUpToSpeedCommand Member List</div></div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classWaitUntilUpToSpeedCommand.html">WaitUntilUpToSpeedCommand</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classAutoCommand.html#a68475854d11e7c3be90e9c6e8fc9e982">on_timeout</a>()</td><td class="entry"><a class="el" href="classAutoCommand.html">AutoCommand</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classWaitUntilUpToSpeedCommand.html#a38f75c01a4740d87a380c15cc51c6396">run</a>() override</td><td class="entry"><a class="el" href="classWaitUntilUpToSpeedCommand.html">WaitUntilUpToSpeedCommand</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classAutoCommand.html#ac3be7be26e49981ad1978491fd313472">timeout_seconds</a></td><td class="entry"><a class="el" href="classAutoCommand.html">AutoCommand</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classWaitUntilUpToSpeedCommand.html#afd000a8f148291a9d2310b76b9354fea">WaitUntilUpToSpeedCommand</a>(Flywheel &amp;flywheel, int threshold_rpm)</td><td class="entry"><a class="el" href="classWaitUntilUpToSpeedCommand.html">WaitUntilUpToSpeedCommand</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>withTimeout</b>(double t_seconds) (defined in <a class="el" href="classAutoCommand.html">AutoCommand</a>)</td><td class="entry"><a class="el" href="classAutoCommand.html">AutoCommand</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+</table></div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.6
+</small></address>
+</body>
+</html>
diff --git a/documentation/html/classWaitUntilUpToSpeedCommand.html b/documentation/html/classWaitUntilUpToSpeedCommand.html
new file mode 100644
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--- /dev/null
+++ b/documentation/html/classWaitUntilUpToSpeedCommand.html
@@ -0,0 +1,188 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml" lang="en-US">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=11"/>
+<meta name="generator" content="Doxygen 1.9.6"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>RIT VEXU Core API: WaitUntilUpToSpeedCommand Class Reference</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
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+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr id="projectrow">
+  <td id="projectalign">
+   <div id="projectname">RIT VEXU Core API
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.6 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+var searchBox = new SearchBox("searchBox", "search/",'.html');
+/* @license-end */
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
+/* @license-end */
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+<div id="main-nav"></div>
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
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+<!-- iframe showing the search results (closed by default) -->
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+<div id="SRIndex">
+<div id="SRResults"></div>
+<div class="SRStatus" id="Loading">Loading...</div>
+<div class="SRStatus" id="Searching">Searching...</div>
+<div class="SRStatus" id="NoMatches">No Matches</div>
+</div>
+</div>
+</div>
+</div>
+
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="classWaitUntilUpToSpeedCommand-members.html">List of all members</a>  </div>
+  <div class="headertitle"><div class="title">WaitUntilUpToSpeedCommand Class Reference</div></div>
+</div><!--header-->
+<div class="contents">
+
+<p><code>#include &lt;<a class="el" href="flywheel__commands_8h_source.html">flywheel_commands.h</a>&gt;</code></p>
+<div class="dynheader">
+Inheritance diagram for WaitUntilUpToSpeedCommand:</div>
+<div class="dyncontent">
+ <div class="center">
+  <img src="classWaitUntilUpToSpeedCommand.png" usemap="#WaitUntilUpToSpeedCommand_map" alt=""/>
+  <map id="WaitUntilUpToSpeedCommand_map" name="WaitUntilUpToSpeedCommand_map">
+<area href="classAutoCommand.html" alt="AutoCommand" shape="rect" coords="0,0,180,24"/>
+  </map>
+</div></div>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-methods" name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
+<tr class="memitem:afd000a8f148291a9d2310b76b9354fea"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classWaitUntilUpToSpeedCommand.html#afd000a8f148291a9d2310b76b9354fea">WaitUntilUpToSpeedCommand</a> (<a class="el" href="classFlywheel.html">Flywheel</a> &amp;flywheel, int threshold_rpm)</td></tr>
+<tr class="separator:afd000a8f148291a9d2310b76b9354fea"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a38f75c01a4740d87a380c15cc51c6396"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classWaitUntilUpToSpeedCommand.html#a38f75c01a4740d87a380c15cc51c6396">run</a> () override</td></tr>
+<tr class="separator:a38f75c01a4740d87a380c15cc51c6396"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_methods_classAutoCommand"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classAutoCommand')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="classAutoCommand.html">AutoCommand</a></td></tr>
+<tr class="memitem:a9f58c576ca6378b18a4136f60df50560 inherit pub_methods_classAutoCommand"><td class="memItemLeft" align="right" valign="top">virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classAutoCommand.html#a9f58c576ca6378b18a4136f60df50560">run</a> ()</td></tr>
+<tr class="separator:a9f58c576ca6378b18a4136f60df50560 inherit pub_methods_classAutoCommand"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a68475854d11e7c3be90e9c6e8fc9e982 inherit pub_methods_classAutoCommand"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classAutoCommand.html#a68475854d11e7c3be90e9c6e8fc9e982">on_timeout</a> ()</td></tr>
+<tr class="separator:a68475854d11e7c3be90e9c6e8fc9e982 inherit pub_methods_classAutoCommand"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a75b2b87e945fd7b98b758617feb30404 inherit pub_methods_classAutoCommand"><td class="memItemLeft" align="right" valign="top"><a id="a75b2b87e945fd7b98b758617feb30404" name="a75b2b87e945fd7b98b758617feb30404"></a>
+<a class="el" href="classAutoCommand.html">AutoCommand</a> *&#160;</td><td class="memItemRight" valign="bottom"><b>withTimeout</b> (double t_seconds)</td></tr>
+<tr class="separator:a75b2b87e945fd7b98b758617feb30404 inherit pub_methods_classAutoCommand"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="inherited" name="inherited"></a>
+Additional Inherited Members</h2></td></tr>
+<tr class="inherit_header pub_attribs_classAutoCommand"><td colspan="2" onclick="javascript:toggleInherit('pub_attribs_classAutoCommand')"><img src="closed.png" alt="-"/>&#160;Public Attributes inherited from <a class="el" href="classAutoCommand.html">AutoCommand</a></td></tr>
+<tr class="memitem:ac3be7be26e49981ad1978491fd313472 inherit pub_attribs_classAutoCommand"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classAutoCommand.html#ac3be7be26e49981ad1978491fd313472">timeout_seconds</a> = 10.0</td></tr>
+<tr class="separator:ac3be7be26e49981ad1978491fd313472 inherit pub_attribs_classAutoCommand"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p><a class="el" href="classAutoCommand.html">AutoCommand</a> that listens to the <a class="el" href="classFlywheel.html">Flywheel</a> and waits until it is at its target speed +/- the specified threshold </p>
+</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="afd000a8f148291a9d2310b76b9354fea" name="afd000a8f148291a9d2310b76b9354fea"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#afd000a8f148291a9d2310b76b9354fea">&#9670;&#160;</a></span>WaitUntilUpToSpeedCommand()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">WaitUntilUpToSpeedCommand::WaitUntilUpToSpeedCommand </td>
+          <td>(</td>
+          <td class="paramtype"><a class="el" href="classFlywheel.html">Flywheel</a> &amp;&#160;</td>
+          <td class="paramname"><em>flywheel</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">int&#160;</td>
+          <td class="paramname"><em>threshold_rpm</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<p>Creat a <a class="el" href="classWaitUntilUpToSpeedCommand.html">WaitUntilUpToSpeedCommand</a> </p><dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">flywheel</td><td>the flywheel system we are commanding </td></tr>
+    <tr><td class="paramname">threshold_rpm</td><td>the threshold over and under the flywheel target RPM that we define to be acceptable </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a38f75c01a4740d87a380c15cc51c6396" name="a38f75c01a4740d87a380c15cc51c6396"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a38f75c01a4740d87a380c15cc51c6396">&#9670;&#160;</a></span>run()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">bool WaitUntilUpToSpeedCommand::run </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">override</span><span class="mlabel">virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<p>Run spin_manual Overrides run from <a class="el" href="classAutoCommand.html">AutoCommand</a> </p><dl class="section return"><dt>Returns</dt><dd>true when execution is complete, false otherwise </dd></dl>
+
+<p>Reimplemented from <a class="el" href="classAutoCommand.html#a9f58c576ca6378b18a4136f60df50560">AutoCommand</a>.</p>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following files:<ul>
+<li>include/utils/command_structure/<a class="el" href="flywheel__commands_8h_source.html">flywheel_commands.h</a></li>
+<li>src/utils/command_structure/flywheel_commands.cpp</li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.6
+</small></address>
+</body>
+</html>
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+<div class="header">
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+<div class="contents">
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+<div class="ttc" id="aclassAutoCommand_html"><div class="ttname"><a href="classAutoCommand.html">AutoCommand</a></div><div class="ttdef"><b>Definition:</b> auto_command.h:11</div></div>
+<div class="ttc" id="aclassCommandController_html"><div class="ttname"><a href="classCommandController.html">CommandController</a></div><div class="ttdef"><b>Definition:</b> command_controller.h:15</div></div>
+<div class="ttc" id="aclassCommandController_html_a0f7f6ccce0304c577521205ad37bb36a"><div class="ttname"><a href="classCommandController.html#a0f7f6ccce0304c577521205ad37bb36a">CommandController::run</a></div><div class="ttdeci">void run()</div><div class="ttdef"><b>Definition:</b> command_controller.cpp:48</div></div>
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+<div class="ttc" id="aclassCommandController_html_a4cb2c06abd92fb99578f0da75c1411e5"><div class="ttname"><a href="classCommandController.html#a4cb2c06abd92fb99578f0da75c1411e5">CommandController::add</a></div><div class="ttdeci">void add(AutoCommand *cmd, double timeout_seconds=10.0)</div><div class="ttdef"><b>Definition:</b> command_controller.cpp:18</div></div>
+<div class="ttc" id="aclassCommandController_html_ae06b054f4aeea86e8c6bee56458dc6d1"><div class="ttname"><a href="classCommandController.html#ae06b054f4aeea86e8c6bee56458dc6d1">CommandController::add_delay</a></div><div class="ttdeci">void add_delay(int ms)</div><div class="ttdef"><b>Definition:</b> command_controller.cpp:39</div></div>
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+  <div class="headertitle"><div class="title">custom_encoder.h</div></div>
+</div><!--header-->
+<div class="contents">
+<div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno">    1</span><span class="preprocessor">#pragma once</span></div>
+<div class="line"><a id="l00002" name="l00002"></a><span class="lineno">    2</span><span class="preprocessor">#include &quot;vex.h&quot;</span></div>
+<div class="line"><a id="l00003" name="l00003"></a><span class="lineno">    3</span> </div>
+<div class="line"><a id="l00008" name="l00008"></a><span class="lineno"><a class="line" href="classCustomEncoder.html">    8</a></span><span class="keyword">class </span><a class="code hl_class" href="classCustomEncoder.html">CustomEncoder</a> : <span class="keyword">public</span> vex::encoder</div>
+<div class="line"><a id="l00009" name="l00009"></a><span class="lineno">    9</span>{</div>
+<div class="line"><a id="l00010" name="l00010"></a><span class="lineno">   10</span>  <span class="keyword">typedef</span> vex::encoder super;</div>
+<div class="line"><a id="l00011" name="l00011"></a><span class="lineno">   11</span> </div>
+<div class="line"><a id="l00012" name="l00012"></a><span class="lineno">   12</span>  <span class="keyword">public</span>:</div>
+<div class="line"><a id="l00018" name="l00018"></a><span class="lineno">   18</span>  <a class="code hl_class" href="classCustomEncoder.html">CustomEncoder</a>(vex::triport::port &amp;port, <span class="keywordtype">double</span> ticks_per_rev);</div>
+<div class="line"><a id="l00019" name="l00019"></a><span class="lineno">   19</span> </div>
+<div class="line"><a id="l00025" name="l00025"></a><span class="lineno">   25</span>  <span class="keywordtype">void</span> <a class="code hl_function" href="classCustomEncoder.html#abcb003c4627f59faa25c748c597da7fd">setRotation</a>(<span class="keywordtype">double</span> val, vex::rotationUnits units);</div>
+<div class="line"><a id="l00026" name="l00026"></a><span class="lineno">   26</span> </div>
+<div class="line"><a id="l00032" name="l00032"></a><span class="lineno">   32</span>  <span class="keywordtype">void</span> <a class="code hl_function" href="classCustomEncoder.html#a0edd50e16020ccad5eafa55e0f80288d">setPosition</a>(<span class="keywordtype">double</span> val, vex::rotationUnits units);</div>
+<div class="line"><a id="l00033" name="l00033"></a><span class="lineno">   33</span> </div>
+<div class="line"><a id="l00039" name="l00039"></a><span class="lineno">   39</span>  <span class="keywordtype">double</span> <a class="code hl_function" href="classCustomEncoder.html#a853fa3a11f2563d71f08ee3c3f38ff01">rotation</a>(vex::rotationUnits units);</div>
+<div class="line"><a id="l00040" name="l00040"></a><span class="lineno">   40</span> </div>
+<div class="line"><a id="l00046" name="l00046"></a><span class="lineno">   46</span>  <span class="keywordtype">double</span> <a class="code hl_function" href="classCustomEncoder.html#ab891fa278911c232bd0bf502a5ed95eb">position</a>(vex::rotationUnits units);</div>
+<div class="line"><a id="l00047" name="l00047"></a><span class="lineno">   47</span> </div>
+<div class="line"><a id="l00053" name="l00053"></a><span class="lineno">   53</span>  <span class="keywordtype">double</span> <a class="code hl_function" href="classCustomEncoder.html#a92fe3a3227b4c4bc1ad1389b7b758455">velocity</a>(vex::velocityUnits units);</div>
+<div class="line"><a id="l00054" name="l00054"></a><span class="lineno">   54</span> </div>
+<div class="line"><a id="l00055" name="l00055"></a><span class="lineno">   55</span> </div>
+<div class="line"><a id="l00056" name="l00056"></a><span class="lineno">   56</span>  <span class="keyword">private</span>:</div>
+<div class="line"><a id="l00057" name="l00057"></a><span class="lineno">   57</span>  <span class="keywordtype">double</span> tick_scalar;</div>
+<div class="line"><a id="l00058" name="l00058"></a><span class="lineno">   58</span>};</div>
+<div class="ttc" id="aclassCustomEncoder_html"><div class="ttname"><a href="classCustomEncoder.html">CustomEncoder</a></div><div class="ttdef"><b>Definition:</b> custom_encoder.h:9</div></div>
+<div class="ttc" id="aclassCustomEncoder_html_a0edd50e16020ccad5eafa55e0f80288d"><div class="ttname"><a href="classCustomEncoder.html#a0edd50e16020ccad5eafa55e0f80288d">CustomEncoder::setPosition</a></div><div class="ttdeci">void setPosition(double val, vex::rotationUnits units)</div><div class="ttdef"><b>Definition:</b> custom_encoder.cpp:15</div></div>
+<div class="ttc" id="aclassCustomEncoder_html_a853fa3a11f2563d71f08ee3c3f38ff01"><div class="ttname"><a href="classCustomEncoder.html#a853fa3a11f2563d71f08ee3c3f38ff01">CustomEncoder::rotation</a></div><div class="ttdeci">double rotation(vex::rotationUnits units)</div><div class="ttdef"><b>Definition:</b> custom_encoder.cpp:20</div></div>
+<div class="ttc" id="aclassCustomEncoder_html_a92fe3a3227b4c4bc1ad1389b7b758455"><div class="ttname"><a href="classCustomEncoder.html#a92fe3a3227b4c4bc1ad1389b7b758455">CustomEncoder::velocity</a></div><div class="ttdeci">double velocity(vex::velocityUnits units)</div><div class="ttdef"><b>Definition:</b> custom_encoder.cpp:36</div></div>
+<div class="ttc" id="aclassCustomEncoder_html_ab891fa278911c232bd0bf502a5ed95eb"><div class="ttname"><a href="classCustomEncoder.html#ab891fa278911c232bd0bf502a5ed95eb">CustomEncoder::position</a></div><div class="ttdeci">double position(vex::rotationUnits units)</div><div class="ttdef"><b>Definition:</b> custom_encoder.cpp:28</div></div>
+<div class="ttc" id="aclassCustomEncoder_html_abcb003c4627f59faa25c748c597da7fd"><div class="ttname"><a href="classCustomEncoder.html#abcb003c4627f59faa25c748c597da7fd">CustomEncoder::setRotation</a></div><div class="ttdeci">void setRotation(double val, vex::rotationUnits units)</div><div class="ttdef"><b>Definition:</b> custom_encoder.cpp:10</div></div>
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diff --git a/documentation/html/delay__command_8h_source.html b/documentation/html/delay__command_8h_source.html
new file mode 100644
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+++ b/documentation/html/delay__command_8h_source.html
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+<!-- end header part -->
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+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle"><div class="title">delay_command.h</div></div>
+</div><!--header-->
+<div class="contents">
+<div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno">    1</span> </div>
+<div class="line"><a id="l00008" name="l00008"></a><span class="lineno">    8</span><span class="preprocessor">#pragma once</span></div>
+<div class="line"><a id="l00009" name="l00009"></a><span class="lineno">    9</span> </div>
+<div class="line"><a id="l00010" name="l00010"></a><span class="lineno">   10</span><span class="preprocessor">#include &quot;../core/include/utils/command_structure/auto_command.h&quot;</span></div>
+<div class="line"><a id="l00011" name="l00011"></a><span class="lineno">   11</span> </div>
+<div class="line"><a id="l00012" name="l00012"></a><span class="lineno"><a class="line" href="classDelayCommand.html">   12</a></span><span class="keyword">class </span><a class="code hl_class" href="classDelayCommand.html">DelayCommand</a>: <span class="keyword">public</span> <a class="code hl_class" href="classAutoCommand.html">AutoCommand</a> {</div>
+<div class="line"><a id="l00013" name="l00013"></a><span class="lineno">   13</span>  <span class="keyword">public</span>:</div>
+<div class="line"><a id="l00018" name="l00018"></a><span class="lineno"><a class="line" href="classDelayCommand.html#a7dc6d1e547ec24b51d91aada84d1febb">   18</a></span>    <a class="code hl_function" href="classDelayCommand.html#a7dc6d1e547ec24b51d91aada84d1febb">DelayCommand</a>(<span class="keywordtype">int</span> ms): ms(ms) {}</div>
+<div class="line"><a id="l00019" name="l00019"></a><span class="lineno">   19</span>    </div>
+<div class="line"><a id="l00025" name="l00025"></a><span class="lineno"><a class="line" href="classDelayCommand.html#a6cff8fe05b3ca36ec2ab20e411cfd9ab">   25</a></span>    <span class="keywordtype">bool</span> <a class="code hl_function" href="classDelayCommand.html#a6cff8fe05b3ca36ec2ab20e411cfd9ab">run</a>()<span class="keyword"> override </span>{</div>
+<div class="line"><a id="l00026" name="l00026"></a><span class="lineno">   26</span>      vexDelay(ms);</div>
+<div class="line"><a id="l00027" name="l00027"></a><span class="lineno">   27</span>      <span class="keywordflow">return</span> <span class="keyword">true</span>;</div>
+<div class="line"><a id="l00028" name="l00028"></a><span class="lineno">   28</span>    }</div>
+<div class="line"><a id="l00029" name="l00029"></a><span class="lineno">   29</span> </div>
+<div class="line"><a id="l00030" name="l00030"></a><span class="lineno">   30</span>  <span class="keyword">private</span>:</div>
+<div class="line"><a id="l00031" name="l00031"></a><span class="lineno">   31</span>    <span class="comment">// amount of milliseconds to wait</span></div>
+<div class="line"><a id="l00032" name="l00032"></a><span class="lineno">   32</span>    <span class="keywordtype">int</span> ms;</div>
+<div class="line"><a id="l00033" name="l00033"></a><span class="lineno">   33</span>};</div>
+<div class="ttc" id="aclassAutoCommand_html"><div class="ttname"><a href="classAutoCommand.html">AutoCommand</a></div><div class="ttdef"><b>Definition:</b> auto_command.h:11</div></div>
+<div class="ttc" id="aclassDelayCommand_html"><div class="ttname"><a href="classDelayCommand.html">DelayCommand</a></div><div class="ttdef"><b>Definition:</b> delay_command.h:12</div></div>
+<div class="ttc" id="aclassDelayCommand_html_a6cff8fe05b3ca36ec2ab20e411cfd9ab"><div class="ttname"><a href="classDelayCommand.html#a6cff8fe05b3ca36ec2ab20e411cfd9ab">DelayCommand::run</a></div><div class="ttdeci">bool run() override</div><div class="ttdef"><b>Definition:</b> delay_command.h:25</div></div>
+<div class="ttc" id="aclassDelayCommand_html_a7dc6d1e547ec24b51d91aada84d1febb"><div class="ttname"><a href="classDelayCommand.html#a7dc6d1e547ec24b51d91aada84d1febb">DelayCommand::DelayCommand</a></div><div class="ttdeci">DelayCommand(int ms)</div><div class="ttdef"><b>Definition:</b> delay_command.h:18</div></div>
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+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.6
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+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">directory &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="dir_d9631e0f4b8929605c336e8f080acaa3.html">command_structure</a></td></tr>
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+     onmouseout="return searchBox.OnSearchSelectHide()"
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+<div class="SRStatus" id="NoMatches">No Matches</div>
+</div>
+</div>
+</div>
+</div>
+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="dir_d44c64559bbebec7f509842c48db8b23.html">include</a></li><li class="navelem"><a class="el" href="dir_821002d4f10779a80d4fb17bc32f21f1.html">utils</a></li><li class="navelem"><a class="el" href="dir_e0729c835bcfebced7012c88d9b3a1d3.html">command_structure</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle"><div class="title">command_structure Directory Reference</div></div>
+</div><!--header-->
+<div class="contents">
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="files" name="files"></a>
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+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">file &#160;</td><td class="memItemRight" valign="bottom"><b>auto_command.h</b> <a href="auto__command_8h_source.html">[code]</a></td></tr>
+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">file &#160;</td><td class="memItemRight" valign="bottom"><b>command_controller.h</b> <a href="command__controller_8h_source.html">[code]</a></td></tr>
+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">file &#160;</td><td class="memItemRight" valign="bottom"><b>delay_command.h</b> <a href="delay__command_8h_source.html">[code]</a></td></tr>
+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">file &#160;</td><td class="memItemRight" valign="bottom"><b>drive_commands.h</b> <a href="drive__commands_8h_source.html">[code]</a></td></tr>
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+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">file &#160;</td><td class="memItemRight" valign="bottom"><b>flywheel_commands.h</b> <a href="flywheel__commands_8h_source.html">[code]</a></td></tr>
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+--search-magnification-image: url('mag.svg');
+--search-magnification-select-image: url('mag_sel.svg');
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+--font-family-icon: Arial,Helvetica;
+--font-family-tooltip: Roboto,sans-serif;
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+}
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+/* page base colors */
+--page-background-color: black;
+--page-foreground-color: #C9D1D9;
+--page-link-color: #90A5CE;
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+/** code fragments */
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+--font-family-monospace: monospace,fixed;
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+--font-family-title: Tahoma,Arial,sans-serif;
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+--font-family-search: Arial,Verdana,sans-serif;
+--font-family-icon: Arial,Helvetica;
+--font-family-tooltip: Roboto,sans-serif;
+
+}}
+body {
+    background-color: var(--page-background-color);
+    color: var(--page-foreground-color);
+}
+
+body, table, div, p, dl {
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+	font-size: 14px;
+	font-family: var(--font-family-normal);
+	line-height: 22px;
+}
+
+/* @group Heading Levels */
+
+.title {
+	font-weight: 400;
+	font-size: 14px;
+	font-family: var(--font-family-normal);
+	line-height: 28px;
+	font-size: 150%;
+	font-weight: bold;
+	margin: 10px 2px;
+}
+
+h1.groupheader {
+	font-size: 150%;
+}
+
+h2.groupheader {
+	border-bottom: 1px solid var(--group-header-separator-color);
+	color: var(--group-header-color);
+	font-size: 150%;
+	font-weight: normal;
+	margin-top: 1.75em;
+	padding-top: 8px;
+	padding-bottom: 4px;
+	width: 100%;
+}
+
+h3.groupheader {
+	font-size: 100%;
+}
+
+h1, h2, h3, h4, h5, h6 {
+	-webkit-transition: text-shadow 0.5s linear;
+	-moz-transition: text-shadow 0.5s linear;
+	-ms-transition: text-shadow 0.5s linear;
+	-o-transition: text-shadow 0.5s linear;
+	transition: text-shadow 0.5s linear;
+	margin-right: 15px;
+}
+
+h1.glow, h2.glow, h3.glow, h4.glow, h5.glow, h6.glow {
+	text-shadow: 0 0 15px var(--glow-color);
+}
+
+dt {
+	font-weight: bold;
+}
+
+p.startli, p.startdd {
+	margin-top: 2px;
+}
+
+th p.starttd, th p.intertd, th p.endtd {
+        font-size: 100%;
+        font-weight: 700;
+}
+
+p.starttd {
+	margin-top: 0px;
+}
+
+p.endli {
+	margin-bottom: 0px;
+}
+
+p.enddd {
+	margin-bottom: 4px;
+}
+
+p.endtd {
+	margin-bottom: 2px;
+}
+
+p.interli {
+}
+
+p.interdd {
+}
+
+p.intertd {
+}
+
+/* @end */
+
+caption {
+	font-weight: bold;
+}
+
+span.legend {
+	font-size: 70%;
+	text-align: center;
+}
+
+h3.version {
+	font-size: 90%;
+	text-align: center;
+}
+
+div.navtab {
+	padding-right: 15px;
+	text-align: right;
+	line-height: 110%;
+}
+
+div.navtab table {
+	border-spacing: 0;
+}
+
+td.navtab {
+	padding-right: 6px;
+	padding-left: 6px;
+}
+
+td.navtabHL {
+	background-image: var(--nav-gradient-active-image);
+	background-repeat:repeat-x;
+	padding-right: 6px;
+	padding-left: 6px;
+}
+
+td.navtabHL a, td.navtabHL a:visited {
+	color: var(--nav-text-hover-color);
+	text-shadow: var(--nav-text-hover-shadow);
+}
+
+a.navtab {
+	font-weight: bold;
+}
+
+div.qindex{
+	text-align: center;
+	width: 100%;
+	line-height: 140%;
+	font-size: 130%;
+	color: var(--index-separator-color);
+}
+
+dt.alphachar{
+	font-size: 180%;
+	font-weight: bold;
+}
+
+.alphachar a{
+	color: var(--index-header-color);
+}
+
+.alphachar a:hover, .alphachar a:visited{
+	text-decoration: none;
+}
+
+.classindex dl {
+	padding: 25px;
+	column-count:1
+}
+
+.classindex dd {
+	display:inline-block;
+	margin-left: 50px;
+	width: 90%;
+	line-height: 1.15em;
+}
+
+.classindex dl.even {
+	background-color: var(--index-even-item-bg-color);
+}
+
+.classindex dl.odd {
+	background-color: var(--index-odd-item-bg-color);
+}
+
+@media(min-width: 1120px) {
+	.classindex dl {
+		column-count:2
+	}
+}
+
+@media(min-width: 1320px) {
+	.classindex dl {
+		column-count:3
+	}
+}
+
+
+/* @group Link Styling */
+
+a {
+	color: var(--page-link-color);
+	font-weight: normal;
+	text-decoration: none;
+}
+
+.contents a:visited {
+	color: var(--page-visited-link-color);
+}
+
+a:hover {
+	text-decoration: underline;
+}
+
+a.el {
+	font-weight: bold;
+}
+
+a.elRef {
+}
+
+a.code, a.code:visited, a.line, a.line:visited {
+	color: var(--code-link-color);
+}
+
+a.codeRef, a.codeRef:visited, a.lineRef, a.lineRef:visited {
+	color: var(--code-external-link-color);
+}
+
+a.code.hl_class { /* style for links to class names in code snippets */ }
+a.code.hl_struct { /* style for links to struct names in code snippets */ }
+a.code.hl_union { /* style for links to union names in code snippets */ }
+a.code.hl_interface { /* style for links to interface names in code snippets */ }
+a.code.hl_protocol { /* style for links to protocol names in code snippets */ }
+a.code.hl_category { /* style for links to category names in code snippets */ }
+a.code.hl_exception { /* style for links to exception names in code snippets */ }
+a.code.hl_service { /* style for links to service names in code snippets */ }
+a.code.hl_singleton { /* style for links to singleton names in code snippets */ }
+a.code.hl_concept { /* style for links to concept names in code snippets */ }
+a.code.hl_namespace { /* style for links to namespace names in code snippets */ }
+a.code.hl_package { /* style for links to package names in code snippets */ }
+a.code.hl_define { /* style for links to macro names in code snippets */ }
+a.code.hl_function { /* style for links to function names in code snippets */ }
+a.code.hl_variable { /* style for links to variable names in code snippets */ }
+a.code.hl_typedef { /* style for links to typedef names in code snippets */ }
+a.code.hl_enumvalue { /* style for links to enum value names in code snippets */ }
+a.code.hl_enumeration { /* style for links to enumeration names in code snippets */ }
+a.code.hl_signal { /* style for links to Qt signal names in code snippets */ }
+a.code.hl_slot { /* style for links to Qt slot names in code snippets */ }
+a.code.hl_friend { /* style for links to friend names in code snippets */ }
+a.code.hl_dcop { /* style for links to KDE3 DCOP names in code snippets */ }
+a.code.hl_property { /* style for links to property names in code snippets */ }
+a.code.hl_event { /* style for links to event names in code snippets */ }
+a.code.hl_sequence { /* style for links to sequence names in code snippets */ }
+a.code.hl_dictionary { /* style for links to dictionary names in code snippets */ }
+
+/* @end */
+
+dl.el {
+	margin-left: -1cm;
+}
+
+ul {
+  overflow: visible;
+}
+
+ul.multicol {
+        -moz-column-gap: 1em;
+        -webkit-column-gap: 1em;
+        column-gap: 1em;
+        -moz-column-count: 3;
+        -webkit-column-count: 3;
+        column-count: 3;
+        list-style-type: none;
+}
+
+#side-nav ul {
+  overflow: visible; /* reset ul rule for scroll bar in GENERATE_TREEVIEW window */
+}
+
+#main-nav ul {
+  overflow: visible; /* reset ul rule for the navigation bar drop down lists */
+}
+
+.fragment {
+  text-align: left;
+  direction: ltr;
+  overflow-x: auto; /*Fixed: fragment lines overlap floating elements*/
+  overflow-y: hidden;
+}
+
+pre.fragment {
+        border: 1px solid var(--fragment-border-color);
+        background-color: var(--fragment-background-color);
+	color: var(--fragment-foreground-color);
+        padding: 4px 6px;
+        margin: 4px 8px 4px 2px;
+        overflow: auto;
+        word-wrap: break-word;
+        font-size:  9pt;
+        line-height: 125%;
+        font-family: var(--font-family-monospace);
+        font-size: 105%;
+}
+
+div.fragment {
+	padding: 0 0 1px 0; /*Fixed: last line underline overlap border*/
+	margin: 4px 8px 4px 2px;
+	color: var(--fragment-foreground-color);
+	background-color: var(--fragment-background-color);
+	border: 1px solid var(--fragment-border-color);
+}
+
+div.line {
+	font-family: var(--font-family-monospace);
+        font-size: 13px;
+	min-height: 13px;
+	line-height: 1.0;
+	text-wrap: unrestricted;
+	white-space: -moz-pre-wrap; /* Moz */
+	white-space: -pre-wrap;     /* Opera 4-6 */
+	white-space: -o-pre-wrap;   /* Opera 7 */
+	white-space: pre-wrap;      /* CSS3  */
+	word-wrap: break-word;      /* IE 5.5+ */
+	text-indent: -53px;
+	padding-left: 53px;
+	padding-bottom: 0px;
+	margin: 0px;
+	-webkit-transition-property: background-color, box-shadow;
+	-webkit-transition-duration: 0.5s;
+	-moz-transition-property: background-color, box-shadow;
+	-moz-transition-duration: 0.5s;
+	-ms-transition-property: background-color, box-shadow;
+	-ms-transition-duration: 0.5s;
+	-o-transition-property: background-color, box-shadow;
+	-o-transition-duration: 0.5s;
+	transition-property: background-color, box-shadow;
+	transition-duration: 0.5s;
+}
+
+div.line:after {
+    content:"\000A";
+    white-space: pre;
+}
+
+div.line.glow {
+	background-color: var(--glow-color);
+	box-shadow: 0 0 10px var(--glow-color);
+}
+
+
+span.lineno {
+	padding-right: 4px;
+        margin-right: 9px;
+	text-align: right;
+	border-right: 2px solid var(--fragment-lineno-border-color);
+	color: var(--fragment-lineno-foreground-color);
+	background-color: var(--fragment-lineno-background-color);
+        white-space: pre;
+}
+span.lineno a, span.lineno a:visited {
+	color: var(--fragment-lineno-link-fg-color);
+	background-color: var(--fragment-lineno-link-bg-color);
+}
+
+span.lineno a:hover {
+	color: var(--fragment-lineno-link-hover-fg-color);
+	background-color: var(--fragment-lineno-link-hover-bg-color);
+}
+
+.lineno {
+	-webkit-touch-callout: none;
+	-webkit-user-select: none;
+	-khtml-user-select: none;
+	-moz-user-select: none;
+	-ms-user-select: none;
+	user-select: none;
+}
+
+div.classindex ul {
+        list-style: none;
+        padding-left: 0;
+}
+
+div.classindex span.ai {
+        display: inline-block;
+}
+
+div.groupHeader {
+	margin-left: 16px;
+	margin-top: 12px;
+	font-weight: bold;
+}
+
+div.groupText {
+	margin-left: 16px;
+	font-style: italic;
+}
+
+body {
+	color: var(--page-foreground-color);
+        margin: 0;
+}
+
+div.contents {
+	margin-top: 10px;
+	margin-left: 12px;
+	margin-right: 8px;
+}
+
+p.formulaDsp {
+	text-align: center;
+}
+
+img.dark-mode-visible {
+	display: none;
+}
+img.light-mode-visible {
+	display: none;
+}
+
+img.formulaDsp {
+	
+}
+
+img.formulaInl, img.inline {
+	vertical-align: middle;
+}
+
+div.center {
+	text-align: center;
+        margin-top: 0px;
+        margin-bottom: 0px;
+        padding: 0px;
+}
+
+div.center img {
+	border: 0px;
+}
+
+address.footer {
+	text-align: right;
+	padding-right: 12px;
+}
+
+img.footer {
+	border: 0px;
+	vertical-align: middle;
+	width: var(--footer-logo-width);
+}
+
+.compoundTemplParams {
+	color: var(--memdecl-template-color);
+	font-size: 80%;
+	line-height: 120%;
+}
+
+/* @group Code Colorization */
+
+span.keyword {
+	color: var(--code-keyword-color);
+}
+
+span.keywordtype {
+	color: var(--code-type-keyword-color);
+}
+
+span.keywordflow {
+	color: var(--code-flow-keyword-color);
+}
+
+span.comment {
+	color: var(--code-comment-color);
+}
+
+span.preprocessor {
+	color: var(--code-preprocessor-color);
+}
+
+span.stringliteral {
+	color: var(--code-string-literal-color);
+}
+
+span.charliteral {
+	color: var(--code-char-literal-color);
+}
+
+span.vhdldigit { 
+	color: var(--code-vhdl-digit-color);
+}
+
+span.vhdlchar { 
+	color: var(--code-vhdl-char-color);
+}
+
+span.vhdlkeyword { 
+	color: var(--code-vhdl-keyword-color);
+}
+
+span.vhdllogic { 
+	color: var(--code-vhdl-logic-color);
+}
+
+blockquote {
+        background-color: var(--blockquote-background-color);
+        border-left: 2px solid var(--blockquote-border-color);
+        margin: 0 24px 0 4px;
+        padding: 0 12px 0 16px;
+}
+
+/* @end */
+
+td.tiny {
+	font-size: 75%;
+}
+
+.dirtab {
+	padding: 4px;
+	border-collapse: collapse;
+	border: 1px solid var(--table-cell-border-color);
+}
+
+th.dirtab {
+	background-color: var(--table-header-background-color);
+	color: var(--table-header-foreground-color);
+	font-weight: bold;
+}
+
+hr {
+	height: 0px;
+	border: none;
+	border-top: 1px solid var(--separator-color);
+}
+
+hr.footer {
+	height: 1px;
+}
+
+/* @group Member Descriptions */
+
+table.memberdecls {
+	border-spacing: 0px;
+	padding: 0px;
+}
+
+.memberdecls td, .fieldtable tr {
+	-webkit-transition-property: background-color, box-shadow;
+	-webkit-transition-duration: 0.5s;
+	-moz-transition-property: background-color, box-shadow;
+	-moz-transition-duration: 0.5s;
+	-ms-transition-property: background-color, box-shadow;
+	-ms-transition-duration: 0.5s;
+	-o-transition-property: background-color, box-shadow;
+	-o-transition-duration: 0.5s;
+	transition-property: background-color, box-shadow;
+	transition-duration: 0.5s;
+}
+
+.memberdecls td.glow, .fieldtable tr.glow {
+	background-color: var(--glow-color);
+	box-shadow: 0 0 15px var(--glow-color);
+}
+
+.mdescLeft, .mdescRight,
+.memItemLeft, .memItemRight,
+.memTemplItemLeft, .memTemplItemRight, .memTemplParams {
+	background-color: var(--memdecl-background-color);
+	border: none;
+	margin: 4px;
+	padding: 1px 0 0 8px;
+}
+
+.mdescLeft, .mdescRight {
+	padding: 0px 8px 4px 8px;
+	color: var(--memdecl-foreground-color);
+}
+
+.memSeparator {
+        border-bottom: 1px solid var(--memdecl-separator-color);
+        line-height: 1px;
+        margin: 0px;
+        padding: 0px;
+}
+
+.memItemLeft, .memTemplItemLeft {
+        white-space: nowrap;
+}
+
+.memItemRight, .memTemplItemRight {
+	width: 100%;
+}
+
+.memTemplParams {
+	color: var(--memdecl-template-color);
+        white-space: nowrap;
+	font-size: 80%;
+}
+
+/* @end */
+
+/* @group Member Details */
+
+/* Styles for detailed member documentation */
+
+.memtitle {
+	padding: 8px;
+	border-top: 1px solid var(--memdef-border-color);
+	border-left: 1px solid var(--memdef-border-color);
+	border-right: 1px solid var(--memdef-border-color);
+	border-top-right-radius: 4px;
+	border-top-left-radius: 4px;
+	margin-bottom: -1px;
+	background-image: var(--memdef-title-gradient-image);
+	background-repeat: repeat-x;
+	background-color: var(--memdef-title-background-color);
+	line-height: 1.25;
+	font-weight: 300;
+	float:left;
+}
+
+.permalink
+{
+        font-size: 65%;
+        display: inline-block;
+        vertical-align: middle;
+}
+
+.memtemplate {
+	font-size: 80%;
+	color: var(--memdef-template-color);
+	font-weight: normal;
+	margin-left: 9px;
+}
+
+.mempage {
+	width: 100%;
+}
+
+.memitem {
+	padding: 0;
+	margin-bottom: 10px;
+	margin-right: 5px;
+        -webkit-transition: box-shadow 0.5s linear;
+        -moz-transition: box-shadow 0.5s linear;
+        -ms-transition: box-shadow 0.5s linear;
+        -o-transition: box-shadow 0.5s linear;
+        transition: box-shadow 0.5s linear;
+        display: table !important;
+        width: 100%;
+}
+
+.memitem.glow {
+         box-shadow: 0 0 15px var(--glow-color);
+}
+
+.memname {
+        font-weight: 400;
+        margin-left: 6px;
+}
+
+.memname td {
+	vertical-align: bottom;
+}
+
+.memproto, dl.reflist dt {
+        border-top: 1px solid var(--memdef-border-color);
+        border-left: 1px solid var(--memdef-border-color);
+        border-right: 1px solid var(--memdef-border-color);
+        padding: 6px 0px 6px 0px;
+        color: var(--memdef-proto-text-color);
+        font-weight: bold;
+        text-shadow: var(--memdef-proto-text-shadow);
+        background-color: var(--memdef-proto-background-color);
+        box-shadow: 5px 5px 5px rgba(0, 0, 0, 0.15);
+        border-top-right-radius: 4px;
+}
+
+.overload {
+        font-family: var(--font-family-monospace);
+	font-size: 65%;
+}
+
+.memdoc, dl.reflist dd {
+        border-bottom: 1px solid var(--memdef-border-color);
+        border-left: 1px solid var(--memdef-border-color);
+        border-right: 1px solid var(--memdef-border-color);
+        padding: 6px 10px 2px 10px;
+        border-top-width: 0;
+        background-image:url('nav_g.png');
+        background-repeat:repeat-x;
+        background-color: var(--memdef-doc-background-color);
+        /* opera specific markup */
+        border-bottom-left-radius: 4px;
+        border-bottom-right-radius: 4px;
+        box-shadow: 5px 5px 5px rgba(0, 0, 0, 0.15);
+        /* firefox specific markup */
+        -moz-border-radius-bottomleft: 4px;
+        -moz-border-radius-bottomright: 4px;
+        -moz-box-shadow: rgba(0, 0, 0, 0.15) 5px 5px 5px;
+        /* webkit specific markup */
+        -webkit-border-bottom-left-radius: 4px;
+        -webkit-border-bottom-right-radius: 4px;
+        -webkit-box-shadow: 5px 5px 5px rgba(0, 0, 0, 0.15);
+}
+
+dl.reflist dt {
+        padding: 5px;
+}
+
+dl.reflist dd {
+        margin: 0px 0px 10px 0px;
+        padding: 5px;
+}
+
+.paramkey {
+	text-align: right;
+}
+
+.paramtype {
+	white-space: nowrap;
+}
+
+.paramname {
+	color: var(--memdef-param-name-color);
+	white-space: nowrap;
+}
+.paramname em {
+	font-style: normal;
+}
+.paramname code {
+        line-height: 14px;
+}
+
+.params, .retval, .exception, .tparams {
+        margin-left: 0px;
+        padding-left: 0px;
+}
+
+.params .paramname, .retval .paramname, .tparams .paramname, .exception .paramname {
+        font-weight: bold;
+        vertical-align: top;
+}
+
+.params .paramtype, .tparams .paramtype {
+        font-style: italic;
+        vertical-align: top;
+}
+
+.params .paramdir, .tparams .paramdir {
+        font-family: var(--font-family-monospace);
+        vertical-align: top;
+}
+
+table.mlabels {
+	border-spacing: 0px;
+}
+
+td.mlabels-left {
+	width: 100%;
+	padding: 0px;
+}
+
+td.mlabels-right {
+	vertical-align: bottom;
+	padding: 0px;
+	white-space: nowrap;
+}
+
+span.mlabels {
+        margin-left: 8px;
+}
+
+span.mlabel {
+        background-color: var(--label-background-color);
+        border-top:1px solid var(--label-left-top-border-color);
+        border-left:1px solid var(--label-left-top-border-color);
+        border-right:1px solid var(--label-right-bottom-border-color);
+        border-bottom:1px solid var(--label-right-bottom-border-color);
+	text-shadow: none;
+	color: var(--label-foreground-color);
+	margin-right: 4px;
+	padding: 2px 3px;
+	border-radius: 3px;
+	font-size: 7pt;
+	white-space: nowrap;
+	vertical-align: middle;
+}
+
+
+
+/* @end */
+
+/* these are for tree view inside a (index) page */
+
+div.directory {
+        margin: 10px 0px;
+        border-top: 1px solid var(--directory-separator-color);
+        border-bottom: 1px solid var(--directory-separator-color);
+        width: 100%;
+}
+
+.directory table {
+        border-collapse:collapse;
+}
+
+.directory td {
+        margin: 0px;
+        padding: 0px;
+	vertical-align: top;
+}
+
+.directory td.entry {
+        white-space: nowrap;
+        padding-right: 6px;
+	padding-top: 3px;
+}
+
+.directory td.entry a {
+        outline:none;
+}
+
+.directory td.entry a img {
+        border: none;
+}
+
+.directory td.desc {
+        width: 100%;
+        padding-left: 6px;
+	padding-right: 6px;
+	padding-top: 3px;
+	border-left: 1px solid rgba(0,0,0,0.05);
+}
+
+.directory tr.odd {
+	padding-left: 6px;
+	background-color: var(--index-odd-item-bg-color);
+}
+
+.directory tr.even {
+	padding-left: 6px;
+	background-color: var(--index-even-item-bg-color);
+}
+
+.directory img {
+	vertical-align: -30%;
+}
+
+.directory .levels {
+        white-space: nowrap;
+        width: 100%;
+        text-align: right;
+        font-size: 9pt;
+}
+
+.directory .levels span {
+        cursor: pointer;
+        padding-left: 2px;
+        padding-right: 2px;
+	color: var(--page-link-color);
+}
+
+.arrow {
+    color: var(--nav-arrow-color);
+    -webkit-user-select: none;
+    -khtml-user-select: none;
+    -moz-user-select: none;
+    -ms-user-select: none;
+    user-select: none;
+    cursor: pointer;
+    font-size: 80%;
+    display: inline-block;
+    width: 16px;
+    height: 22px;
+}
+
+.icon {
+    font-family: var(--font-family-icon);
+    line-height: normal;
+    font-weight: bold;
+    font-size: 12px;
+    height: 14px;
+    width: 16px;
+    display: inline-block;
+    background-color: var(--icon-background-color);
+    color: var(--icon-foreground-color);
+    text-align: center;
+    border-radius: 4px;
+    margin-left: 2px;
+    margin-right: 2px;
+}
+
+.icona {
+    width: 24px;
+    height: 22px;
+    display: inline-block;
+}
+
+.iconfopen {
+    width: 24px;
+    height: 18px;
+    margin-bottom: 4px;
+    background-image:url('folderopen.png');
+    background-position: 0px -4px;
+    background-repeat: repeat-y;
+    vertical-align:top;
+    display: inline-block;
+}
+
+.iconfclosed {
+    width: 24px;
+    height: 18px;
+    margin-bottom: 4px;
+    background-image:url('folderclosed.png');
+    background-position: 0px -4px;
+    background-repeat: repeat-y;
+    vertical-align:top;
+    display: inline-block;
+}
+
+.icondoc {
+    width: 24px;
+    height: 18px;
+    margin-bottom: 4px;
+    background-image:var(--icon-doc-image);
+    background-position: 0px -4px;
+    background-repeat: repeat-y;
+    vertical-align:top;
+    display: inline-block;
+}
+
+/* @end */
+
+div.dynheader {
+        margin-top: 8px;
+	-webkit-touch-callout: none;
+	-webkit-user-select: none;
+	-khtml-user-select: none;
+	-moz-user-select: none;
+	-ms-user-select: none;
+	user-select: none;
+}
+
+address {
+	font-style: normal;
+	color: var(--footer-foreground-color);
+}
+
+table.doxtable caption {
+	caption-side: top;
+}
+
+table.doxtable {
+	border-collapse:collapse;
+        margin-top: 4px;
+        margin-bottom: 4px;
+}
+
+table.doxtable td, table.doxtable th {
+	border: 1px solid var(--table-cell-border-color);
+	padding: 3px 7px 2px;
+}
+
+table.doxtable th {
+	background-color: var(--table-header-background-color);
+	color: var(--table-header-foreground-color);
+	font-size: 110%;
+	padding-bottom: 4px;
+	padding-top: 5px;
+}
+
+table.fieldtable {
+        margin-bottom: 10px;
+        border: 1px solid var(--memdef-border-color);
+        border-spacing: 0px;
+        border-radius: 4px;
+        box-shadow: 2px 2px 2px rgba(0, 0, 0, 0.15);
+}
+
+.fieldtable td, .fieldtable th {
+        padding: 3px 7px 2px;
+}
+
+.fieldtable td.fieldtype, .fieldtable td.fieldname {
+        white-space: nowrap;
+        border-right: 1px solid var(--memdef-border-color);
+        border-bottom: 1px solid var(--memdef-border-color);
+        vertical-align: top;
+}
+
+.fieldtable td.fieldname {
+        padding-top: 3px;
+}
+
+.fieldtable td.fielddoc {
+        border-bottom: 1px solid var(--memdef-border-color);
+}
+
+.fieldtable td.fielddoc p:first-child {
+        margin-top: 0px;
+}
+
+.fieldtable td.fielddoc p:last-child {
+        margin-bottom: 2px;
+}
+
+.fieldtable tr:last-child td {
+        border-bottom: none;
+}
+
+.fieldtable th {
+        background-image: var(--memdef-title-gradient-image);
+        background-repeat:repeat-x;
+        background-color: var(--memdef-title-background-color);
+        font-size: 90%;
+        color: var(--memdef-proto-text-color);
+        padding-bottom: 4px;
+        padding-top: 5px;
+        text-align:left;
+        font-weight: 400;
+        border-top-left-radius: 4px;
+        border-top-right-radius: 4px;
+        border-bottom: 1px solid var(--memdef-border-color);
+}
+
+
+.tabsearch {
+	top: 0px;
+	left: 10px;
+	height: 36px;
+	background-image: var(--nav-gradient-image);
+	z-index: 101;
+	overflow: hidden;
+	font-size: 13px;
+}
+
+.navpath ul
+{
+	font-size: 11px;
+	background-image: var(--nav-gradient-image);
+	background-repeat:repeat-x;
+	background-position: 0 -5px;
+	height:30px;
+	line-height:30px;
+	color:var(--nav-text-normal-color);
+	border:solid 1px var(--nav-breadcrumb-border-color);
+	overflow:hidden;
+	margin:0px;
+	padding:0px;
+}
+
+.navpath li
+{
+	list-style-type:none;
+	float:left;
+	padding-left:10px;
+	padding-right:15px;
+	background-image:var(--nav-breadcrumb-image);
+	background-repeat:no-repeat;
+	background-position:right;
+	color: var(--nav-foreground-color);
+}
+
+.navpath li.navelem a
+{
+	height:32px;
+	display:block;
+	text-decoration: none;
+	outline: none;
+	color: var(--nav-text-normal-color);
+	font-family: var(--font-family-nav);
+	text-shadow: var(--nav-text-normal-shadow);
+	text-decoration: none;
+}
+
+.navpath li.navelem a:hover
+{
+	color: var(--nav-text-hover-color);
+	text-shadow: var(--nav-text-hover-shadow);
+}
+
+.navpath li.footer
+{
+        list-style-type:none;
+        float:right;
+        padding-left:10px;
+        padding-right:15px;
+        background-image:none;
+        background-repeat:no-repeat;
+        background-position:right;
+        color: var(--footer-foreground-color);
+        font-size: 8pt;
+}
+
+
+div.summary
+{
+	float: right;
+	font-size: 8pt;
+	padding-right: 5px;
+	width: 50%;
+	text-align: right;
+}
+
+div.summary a
+{
+	white-space: nowrap;
+}
+
+table.classindex
+{
+        margin: 10px;
+        white-space: nowrap;
+        margin-left: 3%;
+        margin-right: 3%;
+        width: 94%;
+        border: 0;
+        border-spacing: 0;
+        padding: 0;
+}
+
+div.ingroups
+{
+	font-size: 8pt;
+	width: 50%;
+	text-align: left;
+}
+
+div.ingroups a
+{
+	white-space: nowrap;
+}
+
+div.header
+{
+        background-image: var(--header-gradient-image);
+        background-repeat:repeat-x;
+	background-color: var(--header-background-color);
+	margin:  0px;
+	border-bottom: 1px solid var(--header-separator-color);
+}
+
+div.headertitle
+{
+	padding: 5px 5px 5px 10px;
+}
+
+.PageDocRTL-title div.headertitle {
+  text-align: right;
+  direction: rtl;
+}
+
+dl {
+        padding: 0 0 0 0;
+}
+
+/* dl.note, dl.warning, dl.attention, dl.pre, dl.post, dl.invariant, dl.deprecated, dl.todo, dl.test, dl.bug, dl.examples */
+dl.section {
+	margin-left: 0px;
+	padding-left: 0px;
+}
+
+dl.note {
+  margin-left: -7px;
+  padding-left: 3px;
+  border-left: 4px solid;
+  border-color: #D0C000;
+}
+
+dl.warning, dl.attention {
+  margin-left: -7px;
+  padding-left: 3px;
+  border-left: 4px solid;
+  border-color: #FF0000;
+}
+
+dl.pre, dl.post, dl.invariant {
+  margin-left: -7px;
+  padding-left: 3px;
+  border-left: 4px solid;
+  border-color: #00D000;
+}
+
+dl.deprecated {
+  margin-left: -7px;
+  padding-left: 3px;
+  border-left: 4px solid;
+  border-color: #505050;
+}
+
+dl.todo {
+  margin-left: -7px;
+  padding-left: 3px;
+  border-left: 4px solid;
+  border-color: #00C0E0;
+}
+
+dl.test {
+  margin-left: -7px;
+  padding-left: 3px;
+  border-left: 4px solid;
+  border-color: #3030E0;
+}
+
+dl.bug {
+  margin-left: -7px;
+  padding-left: 3px;
+  border-left: 4px solid;
+  border-color: #C08050;
+}
+
+dl.section dd {
+	margin-bottom: 6px;
+}
+
+
+#projectrow
+{
+	height: 56px;
+}
+
+#projectlogo
+{
+	text-align: center;
+	vertical-align: bottom;
+	border-collapse: separate;
+}
+ 
+#projectlogo img
+{ 
+	border: 0px none;
+}
+ 
+#projectalign
+{
+        vertical-align: middle;
+        padding-left: 0.5em;
+}
+
+#projectname
+{
+	font-size: 200%;
+	font-family: var(--font-family-title);
+	margin: 0px;
+	padding: 2px 0px;
+}
+
+#projectbrief
+{
+	font-size: 90%;
+        font-family: var(--font-family-title);
+	margin: 0px;
+	padding: 0px;
+}
+
+#projectnumber
+{
+	font-size: 50%;
+	font-family: 50% var(--font-family-title);
+	margin: 0px;
+	padding: 0px;
+}
+
+#titlearea
+{
+	padding: 0px;
+	margin: 0px;
+	width: 100%;
+	border-bottom: 1px solid var(--title-separator-color);
+	background-color: var(--title-background-color);
+}
+
+.image
+{
+        text-align: center;
+}
+
+.dotgraph
+{
+        text-align: center;
+}
+
+.mscgraph
+{
+        text-align: center;
+}
+
+.plantumlgraph
+{
+        text-align: center;
+}
+
+.diagraph
+{
+        text-align: center;
+}
+
+.caption
+{
+	font-weight: bold;
+}
+
+dl.citelist {
+        margin-bottom:50px;
+}
+
+dl.citelist dt {
+        color:var(--citation-label-color);
+        float:left;
+        font-weight:bold;
+        margin-right:10px;
+        padding:5px;
+        text-align:right;
+        width:52px;
+}
+
+dl.citelist dd {
+        margin:2px 0 2px 72px;
+        padding:5px 0;
+}
+
+div.toc {
+        padding: 14px 25px;
+        background-color: var(--toc-background-color);
+        border: 1px solid var(--toc-border-color);
+        border-radius: 7px 7px 7px 7px;
+        float: right;
+        height: auto;
+        margin: 0 8px 10px 10px;
+        width: 200px;
+}
+
+div.toc li {
+        background: url("bdwn.png") no-repeat scroll 0 5px transparent;
+        font: 10px/1.2 var(--font-family-toc);
+        margin-top: 5px;
+        padding-left: 10px;
+        padding-top: 2px;
+}
+
+div.toc h3 {
+        font: bold 12px/1.2 var(--font-family-toc);
+	color: var(--toc-header-color);
+        border-bottom: 0 none;
+        margin: 0;
+}
+
+div.toc ul {
+        list-style: none outside none;
+        border: medium none;
+        padding: 0px;
+}
+
+div.toc li.level1 {
+        margin-left: 0px;
+}
+
+div.toc li.level2 {
+        margin-left: 15px;
+}
+
+div.toc li.level3 {
+        margin-left: 30px;
+}
+
+div.toc li.level4 {
+        margin-left: 45px;
+}
+
+span.emoji {
+        /* font family used at the site: https://unicode.org/emoji/charts/full-emoji-list.html
+         * font-family: "Noto Color Emoji", "Apple Color Emoji", "Segoe UI Emoji", Times, Symbola, Aegyptus, Code2000, Code2001, Code2002, Musica, serif, LastResort;
+         */
+}
+
+span.obfuscator {
+  display: none;
+}
+
+.inherit_header {
+        font-weight: bold;
+        color: var(--inherit-header-color);
+        cursor: pointer;
+	-webkit-touch-callout: none;
+	-webkit-user-select: none;
+	-khtml-user-select: none;
+	-moz-user-select: none;
+	-ms-user-select: none;
+	user-select: none;
+}
+
+.inherit_header td {
+        padding: 6px 0px 2px 5px;
+}
+
+.inherit {
+        display: none;
+}
+
+tr.heading h2 {
+        margin-top: 12px;
+        margin-bottom: 4px;
+}
+
+/* tooltip related style info */
+
+.ttc {
+        position: absolute;
+        display: none;
+}
+
+#powerTip {
+	cursor: default;
+	/*white-space: nowrap;*/
+        color: var(--tooltip-foreground-color);
+	background-color: var(--tooltip-background-color);
+	border: 1px solid var(--tooltip-border-color);
+	border-radius: 4px 4px 4px 4px;
+	box-shadow: var(--tooltip-shadow);
+	display: none;
+	font-size: smaller;
+	max-width: 80%;
+	opacity: 0.9;
+	padding: 1ex 1em 1em;
+	position: absolute;
+	z-index: 2147483647;
+}
+
+#powerTip div.ttdoc {
+        color: var(--tooltip-doc-color);
+	font-style: italic;
+}
+
+#powerTip div.ttname a {
+        font-weight: bold;
+}
+
+#powerTip a {
+	color: var(--tooltip-link-color);
+}
+
+#powerTip div.ttname {
+        font-weight: bold;
+}
+
+#powerTip div.ttdeci {
+        color: var(--tooltip-declaration-color);
+}
+
+#powerTip div {
+        margin: 0px;
+        padding: 0px;
+        font-size: 12px;
+       	font-family: var(--font-family-tooltip);
+	line-height: 16px;
+}
+
+#powerTip:before, #powerTip:after {
+	content: "";
+	position: absolute;
+	margin: 0px;
+}
+
+#powerTip.n:after,  #powerTip.n:before,
+#powerTip.s:after,  #powerTip.s:before,
+#powerTip.w:after,  #powerTip.w:before,
+#powerTip.e:after,  #powerTip.e:before,
+#powerTip.ne:after, #powerTip.ne:before,
+#powerTip.se:after, #powerTip.se:before,
+#powerTip.nw:after, #powerTip.nw:before,
+#powerTip.sw:after, #powerTip.sw:before {
+	border: solid transparent;
+	content: " ";
+	height: 0;
+	width: 0;
+	position: absolute;
+}
+
+#powerTip.n:after,  #powerTip.s:after,
+#powerTip.w:after,  #powerTip.e:after,
+#powerTip.nw:after, #powerTip.ne:after,
+#powerTip.sw:after, #powerTip.se:after {
+	border-color: rgba(255, 255, 255, 0);
+}
+
+#powerTip.n:before,  #powerTip.s:before,
+#powerTip.w:before,  #powerTip.e:before,
+#powerTip.nw:before, #powerTip.ne:before,
+#powerTip.sw:before, #powerTip.se:before {
+	border-color: rgba(128, 128, 128, 0);
+}
+
+#powerTip.n:after,  #powerTip.n:before,
+#powerTip.ne:after, #powerTip.ne:before,
+#powerTip.nw:after, #powerTip.nw:before {
+	top: 100%;
+}
+
+#powerTip.n:after, #powerTip.ne:after, #powerTip.nw:after {
+	border-top-color: var(--tooltip-background-color);
+	border-width: 10px;
+	margin: 0px -10px;
+}
+#powerTip.n:before, #powerTip.ne:before, #powerTip.nw:before {
+	border-top-color: var(--tooltip-border-color);
+	border-width: 11px;
+	margin: 0px -11px;
+}
+#powerTip.n:after, #powerTip.n:before {
+	left: 50%;
+}
+
+#powerTip.nw:after, #powerTip.nw:before {
+	right: 14px;
+}
+
+#powerTip.ne:after, #powerTip.ne:before {
+	left: 14px;
+}
+
+#powerTip.s:after,  #powerTip.s:before,
+#powerTip.se:after, #powerTip.se:before,
+#powerTip.sw:after, #powerTip.sw:before {
+	bottom: 100%;
+}
+
+#powerTip.s:after, #powerTip.se:after, #powerTip.sw:after {
+	border-bottom-color: var(--tooltip-background-color);
+	border-width: 10px;
+	margin: 0px -10px;
+}
+
+#powerTip.s:before, #powerTip.se:before, #powerTip.sw:before {
+	border-bottom-color: var(--tooltip-border-color);
+	border-width: 11px;
+	margin: 0px -11px;
+}
+
+#powerTip.s:after, #powerTip.s:before {
+	left: 50%;
+}
+
+#powerTip.sw:after, #powerTip.sw:before {
+	right: 14px;
+}
+
+#powerTip.se:after, #powerTip.se:before {
+	left: 14px;
+}
+
+#powerTip.e:after, #powerTip.e:before {
+	left: 100%;
+}
+#powerTip.e:after {
+	border-left-color: var(--tooltip-border-color);
+	border-width: 10px;
+	top: 50%;
+	margin-top: -10px;
+}
+#powerTip.e:before {
+	border-left-color: var(--tooltip-border-color);
+	border-width: 11px;
+	top: 50%;
+	margin-top: -11px;
+}
+
+#powerTip.w:after, #powerTip.w:before {
+	right: 100%;
+}
+#powerTip.w:after {
+	border-right-color: var(--tooltip-border-color);
+	border-width: 10px;
+	top: 50%;
+	margin-top: -10px;
+}
+#powerTip.w:before {
+	border-right-color: var(--tooltip-border-color);
+	border-width: 11px;
+	top: 50%;
+	margin-top: -11px;
+}
+
+@media print
+{
+  #top { display: none; }
+  #side-nav { display: none; }
+  #nav-path { display: none; }
+  body { overflow:visible; }
+  h1, h2, h3, h4, h5, h6 { page-break-after: avoid; }
+  .summary { display: none; }
+  .memitem { page-break-inside: avoid; }
+  #doc-content
+  {
+    margin-left:0 !important;
+    height:auto !important;
+    width:auto !important;
+    overflow:inherit;
+    display:inline;
+  }
+}
+
+/* @group Markdown */
+
+table.markdownTable {
+	border-collapse:collapse;
+        margin-top: 4px;
+        margin-bottom: 4px;
+}
+
+table.markdownTable td, table.markdownTable th {
+	border: 1px solid var(--table-cell-border-color);
+	padding: 3px 7px 2px;
+}
+
+table.markdownTable tr {
+}
+
+th.markdownTableHeadLeft, th.markdownTableHeadRight, th.markdownTableHeadCenter, th.markdownTableHeadNone {
+	background-color: var(--table-header-background-color);
+	color: var(--table-header-foreground-color);
+	font-size: 110%;
+	padding-bottom: 4px;
+	padding-top: 5px;
+}
+
+th.markdownTableHeadLeft, td.markdownTableBodyLeft {
+	text-align: left
+}
+
+th.markdownTableHeadRight, td.markdownTableBodyRight {
+	text-align: right
+}
+
+th.markdownTableHeadCenter, td.markdownTableBodyCenter {
+	text-align: center
+}
+
+tt, code, kbd, samp
+{
+  display: inline-block;
+}
+/* @end */
+
+u {
+	text-decoration: underline;
+}
+
+details>summary {
+  list-style-type: none;
+}
+
+details > summary::-webkit-details-marker {
+    display: none;
+}
+
+details>summary::before {
+    content: "\25ba";
+    padding-right:4px;
+    font-size: 80%;
+}
+
+details[open]>summary::before {
+    content: "\25bc";
+    padding-right:4px;
+    font-size: 80%;
+}
+
+body {
+    scrollbar-color: var(--scrollbar-thumb-color) var(--scrollbar-background-color);
+}
+
+::-webkit-scrollbar {
+        background-color: var(--scrollbar-background-color);
+        height: 12px;
+        width: 12px;
+}
+::-webkit-scrollbar-thumb {
+        border-radius: 6px;
+        box-shadow: inset 0 0 12px 12px var(--scrollbar-thumb-color);
+        border: solid 2px transparent;
+}
+::-webkit-scrollbar-corner {
+        background-color: var(--scrollbar-background-color);
+}
+
diff --git a/documentation/html/doxygen.svg b/documentation/html/doxygen.svg
new file mode 100644
index 0000000..d42dad5
--- /dev/null
+++ b/documentation/html/doxygen.svg
@@ -0,0 +1,26 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<svg version="1.1" viewBox="0 0 104 31" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink">
+ <defs>
+  <linearGradient id="a">
+   <stop stop-color="#5373B4" offset="0"/>
+   <stop stop-color="#7C95C6" offset="1"/>
+  </linearGradient>
+  <linearGradient id="d" x1="31.474" x2="31.474" y1="24.821" y2="26.773" gradientUnits="userSpaceOnUse" xlink:href="#a"/>
+  <linearGradient id="c" x1="31.474" x2="31.474" y1="24.821" y2="26.773" gradientTransform="matrix(.6816 0 0 1.0248 72.391 -.91809)" gradientUnits="userSpaceOnUse" xlink:href="#a"/>
+  <linearGradient id="b" x1="56.295" x2="56.295" y1="24.622" y2="26.574" gradientUnits="userSpaceOnUse" xlink:href="#a"/>
+  <linearGradient id="e" x1="49.067" x2="48.956" y1="19.719" y2="9.5227" gradientTransform="matrix(.97968 0 0 1.0207 -.25579 -.25579)" gradientUnits="userSpaceOnUse">
+   <stop stop-color="#C0CCE3" offset="0"/>
+   <stop stop-color="#EEF1F7" offset="1"/>
+  </linearGradient>
+  <filter id="f" x="-.010676" y="-.045304" width="1.0214" height="1.0906" color-interpolation-filters="sRGB">
+   <feGaussianBlur stdDeviation="0.45293203"/>
+  </filter>
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diff --git a/documentation/html/drive__commands_8h_source.html b/documentation/html/drive__commands_8h_source.html
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+  <ul>
+<li class="navelem"><a class="el" href="dir_d44c64559bbebec7f509842c48db8b23.html">include</a></li><li class="navelem"><a class="el" href="dir_821002d4f10779a80d4fb17bc32f21f1.html">utils</a></li><li class="navelem"><a class="el" href="dir_e0729c835bcfebced7012c88d9b3a1d3.html">command_structure</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle"><div class="title">drive_commands.h</div></div>
+</div><!--header-->
+<div class="contents">
+<div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno">    1</span> </div>
+<div class="line"><a id="l00019" name="l00019"></a><span class="lineno">   19</span><span class="preprocessor">#pragma once</span></div>
+<div class="line"><a id="l00020" name="l00020"></a><span class="lineno">   20</span> </div>
+<div class="line"><a id="l00021" name="l00021"></a><span class="lineno">   21</span><span class="preprocessor">#include &quot;vex.h&quot;</span></div>
+<div class="line"><a id="l00022" name="l00022"></a><span class="lineno">   22</span><span class="preprocessor">#include &quot;../core/include/utils/command_structure/auto_command.h&quot;</span></div>
+<div class="line"><a id="l00023" name="l00023"></a><span class="lineno">   23</span><span class="preprocessor">#include &quot;../core/include/subsystems/tank_drive.h&quot;</span></div>
+<div class="line"><a id="l00024" name="l00024"></a><span class="lineno">   24</span> </div>
+<div class="line"><a id="l00025" name="l00025"></a><span class="lineno">   25</span><span class="keyword">using namespace </span>vex;</div>
+<div class="line"><a id="l00026" name="l00026"></a><span class="lineno">   26</span> </div>
+<div class="line"><a id="l00027" name="l00027"></a><span class="lineno">   27</span> </div>
+<div class="line"><a id="l00028" name="l00028"></a><span class="lineno">   28</span><span class="comment">// ==== DRIVING ====</span></div>
+<div class="line"><a id="l00029" name="l00029"></a><span class="lineno">   29</span> </div>
+<div class="line"><a id="l00035" name="l00035"></a><span class="lineno"><a class="line" href="classDriveForwardCommand.html">   35</a></span><span class="keyword">class </span><a class="code hl_class" href="classDriveForwardCommand.html">DriveForwardCommand</a>: <span class="keyword">public</span> <a class="code hl_class" href="classAutoCommand.html">AutoCommand</a> {</div>
+<div class="line"><a id="l00036" name="l00036"></a><span class="lineno">   36</span>  <span class="keyword">public</span>:</div>
+<div class="line"><a id="l00037" name="l00037"></a><span class="lineno">   37</span>    <a class="code hl_class" href="classDriveForwardCommand.html">DriveForwardCommand</a>(<a class="code hl_class" href="classTankDrive.html">TankDrive</a> &amp;drive_sys, <a class="code hl_class" href="classFeedback.html">Feedback</a> &amp;feedback, <span class="keywordtype">double</span> inches, directionType dir, <span class="keywordtype">double</span> max_speed=1);</div>
+<div class="line"><a id="l00038" name="l00038"></a><span class="lineno">   38</span> </div>
+<div class="line"><a id="l00044" name="l00044"></a><span class="lineno">   44</span>    <span class="keywordtype">bool</span> <a class="code hl_function" href="classDriveForwardCommand.html#aff482b72cab23cd569eb01efac6d1d31">run</a>() <span class="keyword">override</span>;</div>
+<div class="line"><a id="l00048" name="l00048"></a><span class="lineno">   48</span>    <span class="keywordtype">void</span> <a class="code hl_function" href="classDriveForwardCommand.html#a52b4e1ff386eeb1c00f219f40738d0af">on_timeout</a>() <span class="keyword">override</span>;</div>
+<div class="line"><a id="l00049" name="l00049"></a><span class="lineno">   49</span> </div>
+<div class="line"><a id="l00050" name="l00050"></a><span class="lineno">   50</span>  <span class="keyword">private</span>:</div>
+<div class="line"><a id="l00051" name="l00051"></a><span class="lineno">   51</span>    <span class="comment">// drive system to run the function on</span></div>
+<div class="line"><a id="l00052" name="l00052"></a><span class="lineno">   52</span>    <a class="code hl_class" href="classTankDrive.html">TankDrive</a> &amp;drive_sys;</div>
+<div class="line"><a id="l00053" name="l00053"></a><span class="lineno">   53</span> </div>
+<div class="line"><a id="l00054" name="l00054"></a><span class="lineno">   54</span>    <span class="comment">// feedback controller to use</span></div>
+<div class="line"><a id="l00055" name="l00055"></a><span class="lineno">   55</span>    <a class="code hl_class" href="classFeedback.html">Feedback</a> &amp;feedback;</div>
+<div class="line"><a id="l00056" name="l00056"></a><span class="lineno">   56</span> </div>
+<div class="line"><a id="l00057" name="l00057"></a><span class="lineno">   57</span>    <span class="comment">// parameters for drive_forward</span></div>
+<div class="line"><a id="l00058" name="l00058"></a><span class="lineno">   58</span>    <span class="keywordtype">double</span> inches;</div>
+<div class="line"><a id="l00059" name="l00059"></a><span class="lineno">   59</span>    directionType dir;</div>
+<div class="line"><a id="l00060" name="l00060"></a><span class="lineno">   60</span>    <span class="keywordtype">double</span> max_speed;</div>
+<div class="line"><a id="l00061" name="l00061"></a><span class="lineno">   61</span>};</div>
+<div class="line"><a id="l00062" name="l00062"></a><span class="lineno">   62</span> </div>
+<div class="line"><a id="l00067" name="l00067"></a><span class="lineno"><a class="line" href="classTurnDegreesCommand.html">   67</a></span><span class="keyword">class </span><a class="code hl_class" href="classTurnDegreesCommand.html">TurnDegreesCommand</a>: <span class="keyword">public</span> <a class="code hl_class" href="classAutoCommand.html">AutoCommand</a> {</div>
+<div class="line"><a id="l00068" name="l00068"></a><span class="lineno">   68</span>  <span class="keyword">public</span>:</div>
+<div class="line"><a id="l00069" name="l00069"></a><span class="lineno">   69</span>    <a class="code hl_class" href="classTurnDegreesCommand.html">TurnDegreesCommand</a>(<a class="code hl_class" href="classTankDrive.html">TankDrive</a> &amp;drive_sys, <a class="code hl_class" href="classFeedback.html">Feedback</a> &amp;feedback, <span class="keywordtype">double</span> degrees, <span class="keywordtype">double</span> max_speed = 1);</div>
+<div class="line"><a id="l00070" name="l00070"></a><span class="lineno">   70</span> </div>
+<div class="line"><a id="l00076" name="l00076"></a><span class="lineno">   76</span>    <span class="keywordtype">bool</span> <a class="code hl_function" href="classTurnDegreesCommand.html#a2206e4c5073a2e83f6bfa3eeca46a370">run</a>() <span class="keyword">override</span>;</div>
+<div class="line"><a id="l00080" name="l00080"></a><span class="lineno">   80</span>    <span class="keywordtype">void</span> <a class="code hl_function" href="classTurnDegreesCommand.html#abd912b5906bafd9f4117e005eaeccb18">on_timeout</a>() <span class="keyword">override</span>;</div>
+<div class="line"><a id="l00081" name="l00081"></a><span class="lineno">   81</span> </div>
+<div class="line"><a id="l00082" name="l00082"></a><span class="lineno">   82</span> </div>
+<div class="line"><a id="l00083" name="l00083"></a><span class="lineno">   83</span>  <span class="keyword">private</span>:</div>
+<div class="line"><a id="l00084" name="l00084"></a><span class="lineno">   84</span>    <span class="comment">// drive system to run the function on</span></div>
+<div class="line"><a id="l00085" name="l00085"></a><span class="lineno">   85</span>    <a class="code hl_class" href="classTankDrive.html">TankDrive</a> &amp;drive_sys;</div>
+<div class="line"><a id="l00086" name="l00086"></a><span class="lineno">   86</span>    </div>
+<div class="line"><a id="l00087" name="l00087"></a><span class="lineno">   87</span>    <span class="comment">// feedback controller to use</span></div>
+<div class="line"><a id="l00088" name="l00088"></a><span class="lineno">   88</span>    <a class="code hl_class" href="classFeedback.html">Feedback</a> &amp;feedback;</div>
+<div class="line"><a id="l00089" name="l00089"></a><span class="lineno">   89</span> </div>
+<div class="line"><a id="l00090" name="l00090"></a><span class="lineno">   90</span>    <span class="comment">// parameters for turn_degrees</span></div>
+<div class="line"><a id="l00091" name="l00091"></a><span class="lineno">   91</span>    <span class="keywordtype">double</span> degrees;</div>
+<div class="line"><a id="l00092" name="l00092"></a><span class="lineno">   92</span>    <span class="keywordtype">double</span> max_speed;</div>
+<div class="line"><a id="l00093" name="l00093"></a><span class="lineno">   93</span>};</div>
+<div class="line"><a id="l00094" name="l00094"></a><span class="lineno">   94</span> </div>
+<div class="line"><a id="l00099" name="l00099"></a><span class="lineno"><a class="line" href="classDriveToPointCommand.html">   99</a></span><span class="keyword">class </span><a class="code hl_class" href="classDriveToPointCommand.html">DriveToPointCommand</a>: <span class="keyword">public</span> <a class="code hl_class" href="classAutoCommand.html">AutoCommand</a> {</div>
+<div class="line"><a id="l00100" name="l00100"></a><span class="lineno">  100</span>  <span class="keyword">public</span>:</div>
+<div class="line"><a id="l00101" name="l00101"></a><span class="lineno">  101</span>    <a class="code hl_class" href="classDriveToPointCommand.html">DriveToPointCommand</a>(<a class="code hl_class" href="classTankDrive.html">TankDrive</a> &amp;drive_sys, <a class="code hl_class" href="classFeedback.html">Feedback</a> &amp;feedback, <span class="keywordtype">double</span> x, <span class="keywordtype">double</span> y, directionType dir, <span class="keywordtype">double</span> max_speed = 1);</div>
+<div class="line"><a id="l00102" name="l00102"></a><span class="lineno">  102</span>    <a class="code hl_class" href="classDriveToPointCommand.html">DriveToPointCommand</a>(<a class="code hl_class" href="classTankDrive.html">TankDrive</a> &amp;drive_sys, <a class="code hl_class" href="classFeedback.html">Feedback</a> &amp;feedback, <a class="code hl_struct" href="structVector2D_1_1point__t.html">Vector2D::point_t</a> point, directionType dir, <span class="keywordtype">double</span> max_speed=1);</div>
+<div class="line"><a id="l00103" name="l00103"></a><span class="lineno">  103</span> </div>
+<div class="line"><a id="l00109" name="l00109"></a><span class="lineno">  109</span>    <span class="keywordtype">bool</span> <a class="code hl_function" href="classDriveToPointCommand.html#a8ed58921bc3eeb8c04d0b11b4f7e4fbe">run</a>() <span class="keyword">override</span>;</div>
+<div class="line"><a id="l00110" name="l00110"></a><span class="lineno">  110</span> </div>
+<div class="line"><a id="l00111" name="l00111"></a><span class="lineno">  111</span>  <span class="keyword">private</span>:</div>
+<div class="line"><a id="l00112" name="l00112"></a><span class="lineno">  112</span>    <span class="comment">// drive system to run the function on</span></div>
+<div class="line"><a id="l00113" name="l00113"></a><span class="lineno">  113</span>    <a class="code hl_class" href="classTankDrive.html">TankDrive</a> &amp;drive_sys;</div>
+<div class="line"><a id="l00114" name="l00114"></a><span class="lineno">  114</span>    </div>
+<div class="line"><a id="l00118" name="l00118"></a><span class="lineno">  118</span>    <span class="keywordtype">void</span> on_timeout() <span class="keyword">override</span>;</div>
+<div class="line"><a id="l00119" name="l00119"></a><span class="lineno">  119</span> </div>
+<div class="line"><a id="l00120" name="l00120"></a><span class="lineno">  120</span> </div>
+<div class="line"><a id="l00121" name="l00121"></a><span class="lineno">  121</span>    <span class="comment">// feedback controller to use</span></div>
+<div class="line"><a id="l00122" name="l00122"></a><span class="lineno">  122</span>    <a class="code hl_class" href="classFeedback.html">Feedback</a> &amp;feedback;</div>
+<div class="line"><a id="l00123" name="l00123"></a><span class="lineno">  123</span> </div>
+<div class="line"><a id="l00124" name="l00124"></a><span class="lineno">  124</span>    <span class="comment">// parameters for drive_to_point</span></div>
+<div class="line"><a id="l00125" name="l00125"></a><span class="lineno">  125</span>    <span class="keywordtype">double</span> x;</div>
+<div class="line"><a id="l00126" name="l00126"></a><span class="lineno">  126</span>    <span class="keywordtype">double</span> y;</div>
+<div class="line"><a id="l00127" name="l00127"></a><span class="lineno">  127</span>    directionType dir;</div>
+<div class="line"><a id="l00128" name="l00128"></a><span class="lineno">  128</span>    <span class="keywordtype">double</span> max_speed;</div>
+<div class="line"><a id="l00129" name="l00129"></a><span class="lineno">  129</span>    </div>
+<div class="line"><a id="l00130" name="l00130"></a><span class="lineno">  130</span>};</div>
+<div class="line"><a id="l00131" name="l00131"></a><span class="lineno">  131</span> </div>
+<div class="line"><a id="l00137" name="l00137"></a><span class="lineno"><a class="line" href="classTurnToHeadingCommand.html">  137</a></span><span class="keyword">class </span><a class="code hl_class" href="classTurnToHeadingCommand.html">TurnToHeadingCommand</a>: <span class="keyword">public</span> <a class="code hl_class" href="classAutoCommand.html">AutoCommand</a> {</div>
+<div class="line"><a id="l00138" name="l00138"></a><span class="lineno">  138</span>  <span class="keyword">public</span>:</div>
+<div class="line"><a id="l00139" name="l00139"></a><span class="lineno">  139</span>    <a class="code hl_class" href="classTurnToHeadingCommand.html">TurnToHeadingCommand</a>(<a class="code hl_class" href="classTankDrive.html">TankDrive</a> &amp;drive_sys, <a class="code hl_class" href="classFeedback.html">Feedback</a> &amp;feedback, <span class="keywordtype">double</span> heading_deg, <span class="keywordtype">double</span> speed = 1);</div>
+<div class="line"><a id="l00140" name="l00140"></a><span class="lineno">  140</span> </div>
+<div class="line"><a id="l00146" name="l00146"></a><span class="lineno">  146</span>    <span class="keywordtype">bool</span> <a class="code hl_function" href="classTurnToHeadingCommand.html#af571168ca078be95cbc735c99c2f4093">run</a>() <span class="keyword">override</span>;</div>
+<div class="line"><a id="l00150" name="l00150"></a><span class="lineno">  150</span>    <span class="keywordtype">void</span> <a class="code hl_function" href="classTurnToHeadingCommand.html#acaa3b650ed9f02315eb6ba901181bc85">on_timeout</a>() <span class="keyword">override</span>;</div>
+<div class="line"><a id="l00151" name="l00151"></a><span class="lineno">  151</span> </div>
+<div class="line"><a id="l00152" name="l00152"></a><span class="lineno">  152</span> </div>
+<div class="line"><a id="l00153" name="l00153"></a><span class="lineno">  153</span>  <span class="keyword">private</span>:</div>
+<div class="line"><a id="l00154" name="l00154"></a><span class="lineno">  154</span>    <span class="comment">// drive system to run the function on</span></div>
+<div class="line"><a id="l00155" name="l00155"></a><span class="lineno">  155</span>    <a class="code hl_class" href="classTankDrive.html">TankDrive</a> &amp;drive_sys;</div>
+<div class="line"><a id="l00156" name="l00156"></a><span class="lineno">  156</span> </div>
+<div class="line"><a id="l00157" name="l00157"></a><span class="lineno">  157</span>    <span class="comment">// feedback controller to use</span></div>
+<div class="line"><a id="l00158" name="l00158"></a><span class="lineno">  158</span>    <a class="code hl_class" href="classFeedback.html">Feedback</a> &amp;feedback;</div>
+<div class="line"><a id="l00159" name="l00159"></a><span class="lineno">  159</span> </div>
+<div class="line"><a id="l00160" name="l00160"></a><span class="lineno">  160</span>    <span class="comment">// parameters for turn_to_heading</span></div>
+<div class="line"><a id="l00161" name="l00161"></a><span class="lineno">  161</span>    <span class="keywordtype">double</span> heading_deg;</div>
+<div class="line"><a id="l00162" name="l00162"></a><span class="lineno">  162</span>    <span class="keywordtype">double</span> max_speed;</div>
+<div class="line"><a id="l00163" name="l00163"></a><span class="lineno">  163</span>};</div>
+<div class="line"><a id="l00164" name="l00164"></a><span class="lineno">  164</span> </div>
+<div class="line"><a id="l00169" name="l00169"></a><span class="lineno"><a class="line" href="classDriveStopCommand.html">  169</a></span><span class="keyword">class </span><a class="code hl_class" href="classDriveStopCommand.html">DriveStopCommand</a>: <span class="keyword">public</span> <a class="code hl_class" href="classAutoCommand.html">AutoCommand</a> {</div>
+<div class="line"><a id="l00170" name="l00170"></a><span class="lineno">  170</span>  <span class="keyword">public</span>:</div>
+<div class="line"><a id="l00171" name="l00171"></a><span class="lineno">  171</span>    <a class="code hl_class" href="classDriveStopCommand.html">DriveStopCommand</a>(<a class="code hl_class" href="classTankDrive.html">TankDrive</a> &amp;drive_sys);</div>
+<div class="line"><a id="l00172" name="l00172"></a><span class="lineno">  172</span> </div>
+<div class="line"><a id="l00178" name="l00178"></a><span class="lineno">  178</span>    <span class="keywordtype">bool</span> <a class="code hl_function" href="classDriveStopCommand.html#a3b37806449b50b2f2c19179f1039237b">run</a>() <span class="keyword">override</span>;</div>
+<div class="line"><a id="l00179" name="l00179"></a><span class="lineno">  179</span> </div>
+<div class="line"><a id="l00180" name="l00180"></a><span class="lineno">  180</span>  <span class="keyword">private</span>:</div>
+<div class="line"><a id="l00181" name="l00181"></a><span class="lineno">  181</span>    <span class="comment">// drive system to run the function on</span></div>
+<div class="line"><a id="l00182" name="l00182"></a><span class="lineno">  182</span>    <a class="code hl_class" href="classTankDrive.html">TankDrive</a> &amp;drive_sys;</div>
+<div class="line"><a id="l00183" name="l00183"></a><span class="lineno">  183</span>};</div>
+<div class="line"><a id="l00184" name="l00184"></a><span class="lineno">  184</span> </div>
+<div class="line"><a id="l00185" name="l00185"></a><span class="lineno">  185</span> </div>
+<div class="line"><a id="l00186" name="l00186"></a><span class="lineno">  186</span><span class="comment">// ==== ODOMETRY ====</span></div>
+<div class="line"><a id="l00187" name="l00187"></a><span class="lineno">  187</span> </div>
+<div class="line"><a id="l00192" name="l00192"></a><span class="lineno"><a class="line" href="classOdomSetPosition.html">  192</a></span><span class="keyword">class </span><a class="code hl_class" href="classOdomSetPosition.html">OdomSetPosition</a>: <span class="keyword">public</span> <a class="code hl_class" href="classAutoCommand.html">AutoCommand</a> {</div>
+<div class="line"><a id="l00193" name="l00193"></a><span class="lineno">  193</span>  <span class="keyword">public</span>:</div>
+<div class="line"><a id="l00199" name="l00199"></a><span class="lineno">  199</span>    <a class="code hl_class" href="classOdomSetPosition.html">OdomSetPosition</a>(<a class="code hl_class" href="classOdometryBase.html">OdometryBase</a> &amp;odom, <span class="keyword">const</span> <a class="code hl_struct" href="structposition__t.html">position_t</a> &amp;newpos=<a class="code hl_variable" href="classOdometryBase.html#a7bd3fd09b3a6fa78af3a5ed5e25b8d74">OdometryBase::zero_pos</a>);</div>
+<div class="line"><a id="l00200" name="l00200"></a><span class="lineno">  200</span> </div>
+<div class="line"><a id="l00206" name="l00206"></a><span class="lineno">  206</span>    <span class="keywordtype">bool</span> <a class="code hl_function" href="classOdomSetPosition.html#a611e74a12a9eeb0fce1f38a596c3c467">run</a>() <span class="keyword">override</span>;</div>
+<div class="line"><a id="l00207" name="l00207"></a><span class="lineno">  207</span> </div>
+<div class="line"><a id="l00208" name="l00208"></a><span class="lineno">  208</span>  <span class="keyword">private</span>:</div>
+<div class="line"><a id="l00209" name="l00209"></a><span class="lineno">  209</span>    <span class="comment">// drive system with an odometry config</span></div>
+<div class="line"><a id="l00210" name="l00210"></a><span class="lineno">  210</span>    <a class="code hl_class" href="classOdometryBase.html">OdometryBase</a> &amp;odom;</div>
+<div class="line"><a id="l00211" name="l00211"></a><span class="lineno">  211</span>    <a class="code hl_struct" href="structposition__t.html">position_t</a> newpos;</div>
+<div class="line"><a id="l00212" name="l00212"></a><span class="lineno">  212</span>};</div>
+<div class="ttc" id="aclassAutoCommand_html"><div class="ttname"><a href="classAutoCommand.html">AutoCommand</a></div><div class="ttdef"><b>Definition:</b> auto_command.h:11</div></div>
+<div class="ttc" id="aclassDriveForwardCommand_html"><div class="ttname"><a href="classDriveForwardCommand.html">DriveForwardCommand</a></div><div class="ttdef"><b>Definition:</b> drive_commands.h:35</div></div>
+<div class="ttc" id="aclassDriveForwardCommand_html_a52b4e1ff386eeb1c00f219f40738d0af"><div class="ttname"><a href="classDriveForwardCommand.html#a52b4e1ff386eeb1c00f219f40738d0af">DriveForwardCommand::on_timeout</a></div><div class="ttdeci">void on_timeout() override</div><div class="ttdef"><b>Definition:</b> drive_commands.cpp:47</div></div>
+<div class="ttc" id="aclassDriveForwardCommand_html_aff482b72cab23cd569eb01efac6d1d31"><div class="ttname"><a href="classDriveForwardCommand.html#aff482b72cab23cd569eb01efac6d1d31">DriveForwardCommand::run</a></div><div class="ttdeci">bool run() override</div><div class="ttdef"><b>Definition:</b> drive_commands.cpp:40</div></div>
+<div class="ttc" id="aclassDriveStopCommand_html"><div class="ttname"><a href="classDriveStopCommand.html">DriveStopCommand</a></div><div class="ttdef"><b>Definition:</b> drive_commands.h:169</div></div>
+<div class="ttc" id="aclassDriveStopCommand_html_a3b37806449b50b2f2c19179f1039237b"><div class="ttname"><a href="classDriveStopCommand.html#a3b37806449b50b2f2c19179f1039237b">DriveStopCommand::run</a></div><div class="ttdeci">bool run() override</div><div class="ttdef"><b>Definition:</b> drive_commands.cpp:164</div></div>
+<div class="ttc" id="aclassDriveToPointCommand_html"><div class="ttname"><a href="classDriveToPointCommand.html">DriveToPointCommand</a></div><div class="ttdef"><b>Definition:</b> drive_commands.h:99</div></div>
+<div class="ttc" id="aclassDriveToPointCommand_html_a8ed58921bc3eeb8c04d0b11b4f7e4fbe"><div class="ttname"><a href="classDriveToPointCommand.html#a8ed58921bc3eeb8c04d0b11b4f7e4fbe">DriveToPointCommand::run</a></div><div class="ttdeci">bool run() override</div><div class="ttdef"><b>Definition:</b> drive_commands.cpp:108</div></div>
+<div class="ttc" id="aclassFeedback_html"><div class="ttname"><a href="classFeedback.html">Feedback</a></div><div class="ttdef"><b>Definition:</b> feedback_base.h:11</div></div>
+<div class="ttc" id="aclassOdomSetPosition_html"><div class="ttname"><a href="classOdomSetPosition.html">OdomSetPosition</a></div><div class="ttdef"><b>Definition:</b> drive_commands.h:192</div></div>
+<div class="ttc" id="aclassOdomSetPosition_html_a611e74a12a9eeb0fce1f38a596c3c467"><div class="ttname"><a href="classOdomSetPosition.html#a611e74a12a9eeb0fce1f38a596c3c467">OdomSetPosition::run</a></div><div class="ttdeci">bool run() override</div><div class="ttdef"><b>Definition:</b> drive_commands.cpp:178</div></div>
+<div class="ttc" id="aclassOdometryBase_html"><div class="ttname"><a href="classOdometryBase.html">OdometryBase</a></div><div class="ttdef"><b>Definition:</b> odometry_base.h:33</div></div>
+<div class="ttc" id="aclassOdometryBase_html_a7bd3fd09b3a6fa78af3a5ed5e25b8d74"><div class="ttname"><a href="classOdometryBase.html#a7bd3fd09b3a6fa78af3a5ed5e25b8d74">OdometryBase::zero_pos</a></div><div class="ttdeci">static constexpr position_t zero_pos</div><div class="ttdef"><b>Definition:</b> odometry_base.h:133</div></div>
+<div class="ttc" id="aclassTankDrive_html"><div class="ttname"><a href="classTankDrive.html">TankDrive</a></div><div class="ttdef"><b>Definition:</b> tank_drive.h:23</div></div>
+<div class="ttc" id="aclassTurnDegreesCommand_html"><div class="ttname"><a href="classTurnDegreesCommand.html">TurnDegreesCommand</a></div><div class="ttdef"><b>Definition:</b> drive_commands.h:67</div></div>
+<div class="ttc" id="aclassTurnDegreesCommand_html_a2206e4c5073a2e83f6bfa3eeca46a370"><div class="ttname"><a href="classTurnDegreesCommand.html#a2206e4c5073a2e83f6bfa3eeca46a370">TurnDegreesCommand::run</a></div><div class="ttdeci">bool run() override</div><div class="ttdef"><b>Definition:</b> drive_commands.cpp:68</div></div>
+<div class="ttc" id="aclassTurnDegreesCommand_html_abd912b5906bafd9f4117e005eaeccb18"><div class="ttname"><a href="classTurnDegreesCommand.html#abd912b5906bafd9f4117e005eaeccb18">TurnDegreesCommand::on_timeout</a></div><div class="ttdeci">void on_timeout() override</div><div class="ttdef"><b>Definition:</b> drive_commands.cpp:74</div></div>
+<div class="ttc" id="aclassTurnToHeadingCommand_html"><div class="ttname"><a href="classTurnToHeadingCommand.html">TurnToHeadingCommand</a></div><div class="ttdef"><b>Definition:</b> drive_commands.h:137</div></div>
+<div class="ttc" id="aclassTurnToHeadingCommand_html_acaa3b650ed9f02315eb6ba901181bc85"><div class="ttname"><a href="classTurnToHeadingCommand.html#acaa3b650ed9f02315eb6ba901181bc85">TurnToHeadingCommand::on_timeout</a></div><div class="ttdeci">void on_timeout() override</div><div class="ttdef"><b>Definition:</b> drive_commands.cpp:141</div></div>
+<div class="ttc" id="aclassTurnToHeadingCommand_html_af571168ca078be95cbc735c99c2f4093"><div class="ttname"><a href="classTurnToHeadingCommand.html#af571168ca078be95cbc735c99c2f4093">TurnToHeadingCommand::run</a></div><div class="ttdeci">bool run() override</div><div class="ttdef"><b>Definition:</b> drive_commands.cpp:135</div></div>
+<div class="ttc" id="astructVector2D_1_1point__t_html"><div class="ttname"><a href="structVector2D_1_1point__t.html">Vector2D::point_t</a></div><div class="ttdef"><b>Definition:</b> vector2d.h:21</div></div>
+<div class="ttc" id="astructposition__t_html"><div class="ttname"><a href="structposition__t.html">position_t</a></div><div class="ttdef"><b>Definition:</b> odometry_base.h:14</div></div>
+</div><!-- fragment --></div><!-- contents -->
+<!-- start footer part -->
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+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.6
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+++ b/documentation/html/dynsections.js
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+/*
+ @licstart  The following is the entire license notice for the JavaScript code in this file.
+
+ The MIT License (MIT)
+
+ Copyright (C) 1997-2020 by Dimitri van Heesch
+
+ Permission is hereby granted, free of charge, to any person obtaining a copy of this software
+ and associated documentation files (the "Software"), to deal in the Software without restriction,
+ including without limitation the rights to use, copy, modify, merge, publish, distribute,
+ sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is
+ furnished to do so, subject to the following conditions:
+
+ The above copyright notice and this permission notice shall be included in all copies or
+ substantial portions of the Software.
+
+ THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING
+ BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
+ DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+
+ @licend  The above is the entire license notice for the JavaScript code in this file
+ */
+function toggleVisibility(linkObj)
+{
+ var base = $(linkObj).attr('id');
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+   summary.hide();
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+ return false;
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+    childRowsSpans.filter(".iconfopen").removeClass("iconfopen").addClass("iconfclosed");
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+    childRows.show(); //show all children
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+  updateStripes();
+}
+
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+    $(img).attr('src',src.substring(0,src.length-8)+'closed.png');
+  } else {
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+    $(img).attr('src',src.substring(0,src.length-10)+'open.png');
+  }
+}
+/* @license-end */
diff --git a/documentation/html/feedback__base_8h_source.html b/documentation/html/feedback__base_8h_source.html
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+</div><!--header-->
+<div class="contents">
+<div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno">    1</span><span class="preprocessor">#pragma once</span></div>
+<div class="line"><a id="l00002" name="l00002"></a><span class="lineno">    2</span> </div>
+<div class="line"><a id="l00010" name="l00010"></a><span class="lineno"><a class="line" href="classFeedback.html">   10</a></span><span class="keyword">class </span><a class="code hl_class" href="classFeedback.html">Feedback</a></div>
+<div class="line"><a id="l00011" name="l00011"></a><span class="lineno">   11</span>{</div>
+<div class="line"><a id="l00012" name="l00012"></a><span class="lineno">   12</span><span class="keyword">public</span>:</div>
+<div class="line"><a id="l00013" name="l00013"></a><span class="lineno">   13</span>    <span class="keyword">enum</span> FeedbackType</div>
+<div class="line"><a id="l00014" name="l00014"></a><span class="lineno">   14</span>    {</div>
+<div class="line"><a id="l00015" name="l00015"></a><span class="lineno">   15</span>        PIDType,</div>
+<div class="line"><a id="l00016" name="l00016"></a><span class="lineno">   16</span>        FeedforwardType,</div>
+<div class="line"><a id="l00017" name="l00017"></a><span class="lineno">   17</span>        OtherType,</div>
+<div class="line"><a id="l00018" name="l00018"></a><span class="lineno">   18</span>    };</div>
+<div class="line"><a id="l00019" name="l00019"></a><span class="lineno">   19</span> </div>
+<div class="line"><a id="l00026" name="l00026"></a><span class="lineno"><a class="line" href="classFeedback.html#a22efb13216bfd51aea07e0b6e45135c1">   26</a></span>    <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classFeedback.html#a22efb13216bfd51aea07e0b6e45135c1">init</a>(<span class="keywordtype">double</span> start_pt, <span class="keywordtype">double</span> set_pt) = 0;</div>
+<div class="line"><a id="l00027" name="l00027"></a><span class="lineno">   27</span> </div>
+<div class="line"><a id="l00034" name="l00034"></a><span class="lineno"><a class="line" href="classFeedback.html#adda5fc7642539996be00632954dfc41f">   34</a></span>    <span class="keyword">virtual</span> <span class="keywordtype">double</span> <a class="code hl_function" href="classFeedback.html#adda5fc7642539996be00632954dfc41f">update</a>(<span class="keywordtype">double</span> val) = 0;</div>
+<div class="line"><a id="l00035" name="l00035"></a><span class="lineno">   35</span> </div>
+<div class="line"><a id="l00039" name="l00039"></a><span class="lineno"><a class="line" href="classFeedback.html#ac44bb519a6f4e25c8e8250f3d30ab359">   39</a></span>    <span class="keyword">virtual</span> <span class="keywordtype">double</span> <a class="code hl_function" href="classFeedback.html#ac44bb519a6f4e25c8e8250f3d30ab359">get</a>() = 0;</div>
+<div class="line"><a id="l00040" name="l00040"></a><span class="lineno">   40</span> </div>
+<div class="line"><a id="l00047" name="l00047"></a><span class="lineno"><a class="line" href="classFeedback.html#a533a10b65cfc998898bf054f8b141de2">   47</a></span>    <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classFeedback.html#a533a10b65cfc998898bf054f8b141de2">set_limits</a>(<span class="keywordtype">double</span> lower, <span class="keywordtype">double</span> upper) = 0;</div>
+<div class="line"><a id="l00048" name="l00048"></a><span class="lineno">   48</span> </div>
+<div class="line"><a id="l00052" name="l00052"></a><span class="lineno"><a class="line" href="classFeedback.html#ae4cc835c374aab9761d22603d4329d34">   52</a></span>    <span class="keyword">virtual</span> <span class="keywordtype">bool</span> <a class="code hl_function" href="classFeedback.html#ae4cc835c374aab9761d22603d4329d34">is_on_target</a>() = 0;</div>
+<div class="line"><a id="l00053" name="l00053"></a><span class="lineno">   53</span> </div>
+<div class="line"><a id="l00054" name="l00054"></a><span class="lineno">   54</span>    <span class="keyword">virtual</span> Feedback::FeedbackType get_type()</div>
+<div class="line"><a id="l00055" name="l00055"></a><span class="lineno">   55</span>    {</div>
+<div class="line"><a id="l00056" name="l00056"></a><span class="lineno">   56</span>        <span class="keywordflow">return</span> FeedbackType::OtherType;</div>
+<div class="line"><a id="l00057" name="l00057"></a><span class="lineno">   57</span>    }</div>
+<div class="line"><a id="l00058" name="l00058"></a><span class="lineno">   58</span>};</div>
+<div class="ttc" id="aclassFeedback_html"><div class="ttname"><a href="classFeedback.html">Feedback</a></div><div class="ttdef"><b>Definition:</b> feedback_base.h:11</div></div>
+<div class="ttc" id="aclassFeedback_html_a22efb13216bfd51aea07e0b6e45135c1"><div class="ttname"><a href="classFeedback.html#a22efb13216bfd51aea07e0b6e45135c1">Feedback::init</a></div><div class="ttdeci">virtual void init(double start_pt, double set_pt)=0</div></div>
+<div class="ttc" id="aclassFeedback_html_a533a10b65cfc998898bf054f8b141de2"><div class="ttname"><a href="classFeedback.html#a533a10b65cfc998898bf054f8b141de2">Feedback::set_limits</a></div><div class="ttdeci">virtual void set_limits(double lower, double upper)=0</div></div>
+<div class="ttc" id="aclassFeedback_html_ac44bb519a6f4e25c8e8250f3d30ab359"><div class="ttname"><a href="classFeedback.html#ac44bb519a6f4e25c8e8250f3d30ab359">Feedback::get</a></div><div class="ttdeci">virtual double get()=0</div></div>
+<div class="ttc" id="aclassFeedback_html_adda5fc7642539996be00632954dfc41f"><div class="ttname"><a href="classFeedback.html#adda5fc7642539996be00632954dfc41f">Feedback::update</a></div><div class="ttdeci">virtual double update(double val)=0</div></div>
+<div class="ttc" id="aclassFeedback_html_ae4cc835c374aab9761d22603d4329d34"><div class="ttname"><a href="classFeedback.html#ae4cc835c374aab9761d22603d4329d34">Feedback::is_on_target</a></div><div class="ttdeci">virtual bool is_on_target()=0</div></div>
+</div><!-- fragment --></div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.6
+</small></address>
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+</html>
diff --git a/documentation/html/feedforward_8h_source.html b/documentation/html/feedforward_8h_source.html
new file mode 100644
index 0000000..4b70867
--- /dev/null
+++ b/documentation/html/feedforward_8h_source.html
@@ -0,0 +1,135 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
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+<meta name="generator" content="Doxygen 1.9.6"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>RIT VEXU Core API: include/utils/feedforward.h Source File</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
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+   <div id="projectname">RIT VEXU Core API
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+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.6 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
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+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="dir_d44c64559bbebec7f509842c48db8b23.html">include</a></li><li class="navelem"><a class="el" href="dir_821002d4f10779a80d4fb17bc32f21f1.html">utils</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle"><div class="title">feedforward.h</div></div>
+</div><!--header-->
+<div class="contents">
+<div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno">    1</span><span class="preprocessor">#pragma once</span></div>
+<div class="line"><a id="l00002" name="l00002"></a><span class="lineno">    2</span> </div>
+<div class="line"><a id="l00003" name="l00003"></a><span class="lineno">    3</span><span class="preprocessor">#include &lt;math.h&gt;</span></div>
+<div class="line"><a id="l00004" name="l00004"></a><span class="lineno">    4</span><span class="preprocessor">#include &lt;vector&gt;</span></div>
+<div class="line"><a id="l00005" name="l00005"></a><span class="lineno">    5</span><span class="preprocessor">#include &quot;../core/include/utils/math_util.h&quot;</span></div>
+<div class="line"><a id="l00006" name="l00006"></a><span class="lineno">    6</span><span class="preprocessor">#include &quot;../core/include/utils/moving_average.h&quot;</span></div>
+<div class="line"><a id="l00007" name="l00007"></a><span class="lineno">    7</span><span class="preprocessor">#include &quot;vex.h&quot;</span></div>
+<div class="line"><a id="l00008" name="l00008"></a><span class="lineno">    8</span> </div>
+<div class="line"><a id="l00029" name="l00029"></a><span class="lineno"><a class="line" href="classFeedForward.html">   29</a></span><span class="keyword">class </span><a class="code hl_class" href="classFeedForward.html">FeedForward</a></div>
+<div class="line"><a id="l00030" name="l00030"></a><span class="lineno">   30</span>{</div>
+<div class="line"><a id="l00031" name="l00031"></a><span class="lineno">   31</span>    <span class="keyword">public</span>:</div>
+<div class="line"><a id="l00032" name="l00032"></a><span class="lineno">   32</span> </div>
+<div class="line"><a id="l00041" name="l00041"></a><span class="lineno"><a class="line" href="structFeedForward_1_1ff__config__t.html">   41</a></span>    <span class="keyword">typedef</span> <span class="keyword">struct</span></div>
+<div class="line"><a id="l00042" name="l00042"></a><span class="lineno">   42</span>    {</div>
+<div class="line"><a id="l00043" name="l00043"></a><span class="lineno"><a class="line" href="structFeedForward_1_1ff__config__t.html#af140ce6afc074040571d229b6a455c50">   43</a></span>        <span class="keywordtype">double</span> <a class="code hl_variable" href="structFeedForward_1_1ff__config__t.html#af140ce6afc074040571d229b6a455c50">kS</a>; </div>
+<div class="line"><a id="l00044" name="l00044"></a><span class="lineno"><a class="line" href="structFeedForward_1_1ff__config__t.html#afd4e01b20b64750ad2604b17ac10f57e">   44</a></span>        <span class="keywordtype">double</span> <a class="code hl_variable" href="structFeedForward_1_1ff__config__t.html#afd4e01b20b64750ad2604b17ac10f57e">kV</a>; </div>
+<div class="line"><a id="l00045" name="l00045"></a><span class="lineno"><a class="line" href="structFeedForward_1_1ff__config__t.html#a8528f04936dbcbf0bc406d0bfc6b8428">   45</a></span>        <span class="keywordtype">double</span> <a class="code hl_variable" href="structFeedForward_1_1ff__config__t.html#a8528f04936dbcbf0bc406d0bfc6b8428">kA</a>; </div>
+<div class="line"><a id="l00046" name="l00046"></a><span class="lineno"><a class="line" href="structFeedForward_1_1ff__config__t.html#a1eab464040edd69a63b528d6d21f0644">   46</a></span>        <span class="keywordtype">double</span> <a class="code hl_variable" href="structFeedForward_1_1ff__config__t.html#a1eab464040edd69a63b528d6d21f0644">kG</a>; </div>
+<div class="line"><a id="l00047" name="l00047"></a><span class="lineno">   47</span>    } <a class="code hl_struct" href="structFeedForward_1_1ff__config__t.html">ff_config_t</a>;</div>
+<div class="line"><a id="l00048" name="l00048"></a><span class="lineno">   48</span> </div>
+<div class="line"><a id="l00049" name="l00049"></a><span class="lineno">   49</span>    </div>
+<div class="line"><a id="l00054" name="l00054"></a><span class="lineno"><a class="line" href="classFeedForward.html#aeea5ddbbcc6e75a479442cf69954665c">   54</a></span>    <a class="code hl_function" href="classFeedForward.html#aeea5ddbbcc6e75a479442cf69954665c">FeedForward</a>(<a class="code hl_struct" href="structFeedForward_1_1ff__config__t.html">ff_config_t</a> &amp;cfg) : cfg(cfg) {}</div>
+<div class="line"><a id="l00055" name="l00055"></a><span class="lineno">   55</span> </div>
+<div class="line"><a id="l00066" name="l00066"></a><span class="lineno"><a class="line" href="classFeedForward.html#a2e2f7c12076225fa1dfd5f18aa210290">   66</a></span>    <span class="keywordtype">double</span> <a class="code hl_function" href="classFeedForward.html#a2e2f7c12076225fa1dfd5f18aa210290">calculate</a>(<span class="keywordtype">double</span> v, <span class="keywordtype">double</span> a, <span class="keywordtype">double</span> pid_ref=0.0)</div>
+<div class="line"><a id="l00067" name="l00067"></a><span class="lineno">   67</span>    {</div>
+<div class="line"><a id="l00068" name="l00068"></a><span class="lineno">   68</span>        <span class="keywordtype">double</span> ks_sign = 0;</div>
+<div class="line"><a id="l00069" name="l00069"></a><span class="lineno">   69</span>        <span class="keywordflow">if</span>(v != 0)</div>
+<div class="line"><a id="l00070" name="l00070"></a><span class="lineno">   70</span>            ks_sign = sign(v);</div>
+<div class="line"><a id="l00071" name="l00071"></a><span class="lineno">   71</span>        <span class="keywordflow">else</span> <span class="keywordflow">if</span>(pid_ref != 0)</div>
+<div class="line"><a id="l00072" name="l00072"></a><span class="lineno">   72</span>            ks_sign = sign(pid_ref);</div>
+<div class="line"><a id="l00073" name="l00073"></a><span class="lineno">   73</span>        </div>
+<div class="line"><a id="l00074" name="l00074"></a><span class="lineno">   74</span>        <span class="keywordflow">return</span> (cfg.<a class="code hl_variable" href="structFeedForward_1_1ff__config__t.html#af140ce6afc074040571d229b6a455c50">kS</a> * ks_sign) + (cfg.<a class="code hl_variable" href="structFeedForward_1_1ff__config__t.html#afd4e01b20b64750ad2604b17ac10f57e">kV</a> * v) + (cfg.<a class="code hl_variable" href="structFeedForward_1_1ff__config__t.html#a8528f04936dbcbf0bc406d0bfc6b8428">kA</a> * a) + cfg.<a class="code hl_variable" href="structFeedForward_1_1ff__config__t.html#a1eab464040edd69a63b528d6d21f0644">kG</a>;</div>
+<div class="line"><a id="l00075" name="l00075"></a><span class="lineno">   75</span>    }</div>
+<div class="line"><a id="l00076" name="l00076"></a><span class="lineno">   76</span> </div>
+<div class="line"><a id="l00077" name="l00077"></a><span class="lineno">   77</span>    <span class="keyword">private</span>:</div>
+<div class="line"><a id="l00078" name="l00078"></a><span class="lineno">   78</span> </div>
+<div class="line"><a id="l00079" name="l00079"></a><span class="lineno">   79</span>    ff_config_t &amp;cfg;</div>
+<div class="line"><a id="l00080" name="l00080"></a><span class="lineno">   80</span> </div>
+<div class="line"><a id="l00081" name="l00081"></a><span class="lineno">   81</span>};</div>
+<div class="line"><a id="l00082" name="l00082"></a><span class="lineno">   82</span> </div>
+<div class="line"><a id="l00083" name="l00083"></a><span class="lineno">   83</span> </div>
+<div class="line"><a id="l00091" name="l00091"></a><span class="lineno">   91</span><a class="code hl_struct" href="structFeedForward_1_1ff__config__t.html">FeedForward::ff_config_t</a> tune_feedforward(vex::motor_group &amp;motor, <span class="keywordtype">double</span> pct, <span class="keywordtype">double</span> duration);</div>
+<div class="ttc" id="aclassFeedForward_html"><div class="ttname"><a href="classFeedForward.html">FeedForward</a></div><div class="ttdef"><b>Definition:</b> feedforward.h:30</div></div>
+<div class="ttc" id="aclassFeedForward_html_a2e2f7c12076225fa1dfd5f18aa210290"><div class="ttname"><a href="classFeedForward.html#a2e2f7c12076225fa1dfd5f18aa210290">FeedForward::calculate</a></div><div class="ttdeci">double calculate(double v, double a, double pid_ref=0.0)</div><div class="ttdoc">Perform the feedforward calculation.</div><div class="ttdef"><b>Definition:</b> feedforward.h:66</div></div>
+<div class="ttc" id="aclassFeedForward_html_aeea5ddbbcc6e75a479442cf69954665c"><div class="ttname"><a href="classFeedForward.html#aeea5ddbbcc6e75a479442cf69954665c">FeedForward::FeedForward</a></div><div class="ttdeci">FeedForward(ff_config_t &amp;cfg)</div><div class="ttdef"><b>Definition:</b> feedforward.h:54</div></div>
+<div class="ttc" id="astructFeedForward_1_1ff__config__t_html"><div class="ttname"><a href="structFeedForward_1_1ff__config__t.html">FeedForward::ff_config_t</a></div><div class="ttdef"><b>Definition:</b> feedforward.h:42</div></div>
+<div class="ttc" id="astructFeedForward_1_1ff__config__t_html_a1eab464040edd69a63b528d6d21f0644"><div class="ttname"><a href="structFeedForward_1_1ff__config__t.html#a1eab464040edd69a63b528d6d21f0644">FeedForward::ff_config_t::kG</a></div><div class="ttdeci">double kG</div><div class="ttdef"><b>Definition:</b> feedforward.h:46</div></div>
+<div class="ttc" id="astructFeedForward_1_1ff__config__t_html_a8528f04936dbcbf0bc406d0bfc6b8428"><div class="ttname"><a href="structFeedForward_1_1ff__config__t.html#a8528f04936dbcbf0bc406d0bfc6b8428">FeedForward::ff_config_t::kA</a></div><div class="ttdeci">double kA</div><div class="ttdef"><b>Definition:</b> feedforward.h:45</div></div>
+<div class="ttc" id="astructFeedForward_1_1ff__config__t_html_af140ce6afc074040571d229b6a455c50"><div class="ttname"><a href="structFeedForward_1_1ff__config__t.html#af140ce6afc074040571d229b6a455c50">FeedForward::ff_config_t::kS</a></div><div class="ttdeci">double kS</div><div class="ttdef"><b>Definition:</b> feedforward.h:43</div></div>
+<div class="ttc" id="astructFeedForward_1_1ff__config__t_html_afd4e01b20b64750ad2604b17ac10f57e"><div class="ttname"><a href="structFeedForward_1_1ff__config__t.html#afd4e01b20b64750ad2604b17ac10f57e">FeedForward::ff_config_t::kV</a></div><div class="ttdeci">double kV</div><div class="ttdef"><b>Definition:</b> feedforward.h:44</div></div>
+</div><!-- fragment --></div><!-- contents -->
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+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.6
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diff --git a/documentation/html/files.html b/documentation/html/files.html
new file mode 100644
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+<meta name="generator" content="Doxygen 1.9.6"/>
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+  <div class="headertitle"><div class="title">File List</div></div>
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+<div class="contents">
+<div class="textblock">Here is a list of all documented files with brief descriptions:</div><div class="directory">
+<div class="levels">[detail level <span onclick="javascript:toggleLevel(1);">1</span><span onclick="javascript:toggleLevel(2);">2</span><span onclick="javascript:toggleLevel(3);">3</span><span onclick="javascript:toggleLevel(4);">4</span>]</div><table class="directory">
+<tr id="row_0_" class="even"><td class="entry"><span style="width:0px;display:inline-block;">&#160;</span><span id="arr_0_" class="arrow" onclick="toggleFolder('0_')">&#9660;</span><span id="img_0_" class="iconfopen" onclick="toggleFolder('0_')">&#160;</span><a class="el" href="dir_d44c64559bbebec7f509842c48db8b23.html" target="_self">include</a></td><td class="desc"></td></tr>
+<tr id="row_0_0_" class="odd"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span id="arr_0_0_" class="arrow" onclick="toggleFolder('0_0_')">&#9660;</span><span id="img_0_0_" class="iconfopen" onclick="toggleFolder('0_0_')">&#160;</span><a class="el" href="dir_8e84b5daa2b3f33b7b3fb9ecedbe5637.html" target="_self">subsystems</a></td><td class="desc"></td></tr>
+<tr id="row_0_0_0_" class="even"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span id="arr_0_0_0_" class="arrow" onclick="toggleFolder('0_0_0_')">&#9660;</span><span id="img_0_0_0_" class="iconfopen" onclick="toggleFolder('0_0_0_')">&#160;</span><a class="el" href="dir_883d6c53cd62ec60a5d421a7bc1a2629.html" target="_self">odometry</a></td><td class="desc"></td></tr>
+<tr id="row_0_0_0_0_" class="odd"><td class="entry"><span style="width:64px;display:inline-block;">&#160;</span><a href="odometry__3wheel_8h_source.html"><span class="icondoc"></span></a><b>odometry_3wheel.h</b></td><td class="desc"></td></tr>
+<tr id="row_0_0_0_1_" class="even"><td class="entry"><span style="width:64px;display:inline-block;">&#160;</span><a href="odometry__base_8h_source.html"><span class="icondoc"></span></a><b>odometry_base.h</b></td><td class="desc"></td></tr>
+<tr id="row_0_0_0_2_" class="odd"><td class="entry"><span style="width:64px;display:inline-block;">&#160;</span><a href="odometry__tank_8h_source.html"><span class="icondoc"></span></a><b>odometry_tank.h</b></td><td class="desc"></td></tr>
+<tr id="row_0_0_1_" class="even"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><a href="custom__encoder_8h_source.html"><span class="icondoc"></span></a><b>custom_encoder.h</b></td><td class="desc"></td></tr>
+<tr id="row_0_0_2_" class="odd"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><a href="flywheel_8h_source.html"><span class="icondoc"></span></a><b>flywheel.h</b></td><td class="desc"></td></tr>
+<tr id="row_0_0_3_" class="even"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><a href="lift_8h_source.html"><span class="icondoc"></span></a><b>lift.h</b></td><td class="desc"></td></tr>
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+<tr id="row_0_0_5_" class="even"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><a href="screen_8h_source.html"><span class="icondoc"></span></a><b>screen.h</b></td><td class="desc"></td></tr>
+<tr id="row_0_0_6_" class="odd"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><a href="tank__drive_8h_source.html"><span class="icondoc"></span></a><b>tank_drive.h</b></td><td class="desc"></td></tr>
+<tr id="row_0_1_" class="even"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span id="arr_0_1_" class="arrow" onclick="toggleFolder('0_1_')">&#9660;</span><span id="img_0_1_" class="iconfopen" onclick="toggleFolder('0_1_')">&#160;</span><a class="el" href="dir_821002d4f10779a80d4fb17bc32f21f1.html" target="_self">utils</a></td><td class="desc"></td></tr>
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+<tr id="row_0_1_0_0_" class="even"><td class="entry"><span style="width:64px;display:inline-block;">&#160;</span><a href="auto__command_8h_source.html"><span class="icondoc"></span></a><b>auto_command.h</b></td><td class="desc"></td></tr>
+<tr id="row_0_1_0_1_" class="odd"><td class="entry"><span style="width:64px;display:inline-block;">&#160;</span><a href="command__controller_8h_source.html"><span class="icondoc"></span></a><b>command_controller.h</b></td><td class="desc"></td></tr>
+<tr id="row_0_1_0_2_" class="even"><td class="entry"><span style="width:64px;display:inline-block;">&#160;</span><a href="delay__command_8h_source.html"><span class="icondoc"></span></a><b>delay_command.h</b></td><td class="desc"></td></tr>
+<tr id="row_0_1_0_3_" class="odd"><td class="entry"><span style="width:64px;display:inline-block;">&#160;</span><a href="drive__commands_8h_source.html"><span class="icondoc"></span></a><b>drive_commands.h</b></td><td class="desc"></td></tr>
+<tr id="row_0_1_0_4_" class="even"><td class="entry"><span style="width:64px;display:inline-block;">&#160;</span><a href="flywheel__commands_8h_source.html"><span class="icondoc"></span></a><b>flywheel_commands.h</b></td><td class="desc"></td></tr>
+<tr id="row_0_1_1_" class="odd"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><a href="auto__chooser_8h_source.html"><span class="icondoc"></span></a><b>auto_chooser.h</b></td><td class="desc"></td></tr>
+<tr id="row_0_1_2_" class="even"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><a href="feedback__base_8h_source.html"><span class="icondoc"></span></a><b>feedback_base.h</b></td><td class="desc"></td></tr>
+<tr id="row_0_1_3_" class="odd"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><a href="feedforward_8h_source.html"><span class="icondoc"></span></a><b>feedforward.h</b></td><td class="desc"></td></tr>
+<tr id="row_0_1_4_" class="even"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><a href="generic__auto_8h_source.html"><span class="icondoc"></span></a><b>generic_auto.h</b></td><td class="desc"></td></tr>
+<tr id="row_0_1_5_" class="odd"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><a href="graph__drawer_8h_source.html"><span class="icondoc"></span></a><b>graph_drawer.h</b></td><td class="desc"></td></tr>
+<tr id="row_0_1_6_" class="even"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><a href="math__util_8h_source.html"><span class="icondoc"></span></a><b>math_util.h</b></td><td class="desc"></td></tr>
+<tr id="row_0_1_7_" class="odd"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><a href="motion__controller_8h_source.html"><span class="icondoc"></span></a><b>motion_controller.h</b></td><td class="desc"></td></tr>
+<tr id="row_0_1_8_" class="even"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><a href="moving__average_8h_source.html"><span class="icondoc"></span></a><b>moving_average.h</b></td><td class="desc"></td></tr>
+<tr id="row_0_1_9_" class="odd"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><a href="pid_8h_source.html"><span class="icondoc"></span></a><b>pid.h</b></td><td class="desc"></td></tr>
+<tr id="row_0_1_10_" class="even"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><a href="pidff_8h_source.html"><span class="icondoc"></span></a><b>pidff.h</b></td><td class="desc"></td></tr>
+<tr id="row_0_1_11_" class="odd"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><a href="pure__pursuit_8h_source.html"><span class="icondoc"></span></a><b>pure_pursuit.h</b></td><td class="desc"></td></tr>
+<tr id="row_0_1_12_" class="even"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><a href="trapezoid__profile_8h_source.html"><span class="icondoc"></span></a><b>trapezoid_profile.h</b></td><td class="desc"></td></tr>
+<tr id="row_0_1_13_" class="odd"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><a href="vector2d_8h_source.html"><span class="icondoc"></span></a><b>vector2d.h</b></td><td class="desc"></td></tr>
+<tr id="row_0_2_" class="even"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><a href="robot__specs_8h_source.html"><span class="icondoc"></span></a><b>robot_specs.h</b></td><td class="desc"></td></tr>
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diff --git a/documentation/html/flywheel_8h_source.html b/documentation/html/flywheel_8h_source.html
new file mode 100644
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+  <ul>
+<li class="navelem"><a class="el" href="dir_d44c64559bbebec7f509842c48db8b23.html">include</a></li><li class="navelem"><a class="el" href="dir_8e84b5daa2b3f33b7b3fb9ecedbe5637.html">subsystems</a></li>  </ul>
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+<div class="header">
+  <div class="headertitle"><div class="title">flywheel.h</div></div>
+</div><!--header-->
+<div class="contents">
+<div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno">    1</span><span class="preprocessor">#pragma once</span></div>
+<div class="line"><a id="l00002" name="l00002"></a><span class="lineno">    2</span><span class="comment">/*********************************************************</span></div>
+<div class="line"><a id="l00003" name="l00003"></a><span class="lineno">    3</span><span class="comment">*</span></div>
+<div class="line"><a id="l00004" name="l00004"></a><span class="lineno">    4</span><span class="comment">*     File:     Flywheel.h</span></div>
+<div class="line"><a id="l00005" name="l00005"></a><span class="lineno">    5</span><span class="comment">*     Purpose:  Generalized flywheel class for Core.</span></div>
+<div class="line"><a id="l00006" name="l00006"></a><span class="lineno">    6</span><span class="comment">*     Author:   Chris Nokes</span></div>
+<div class="line"><a id="l00007" name="l00007"></a><span class="lineno">    7</span><span class="comment">*     </span></div>
+<div class="line"><a id="l00008" name="l00008"></a><span class="lineno">    8</span><span class="comment">**********************************************************</span></div>
+<div class="line"><a id="l00009" name="l00009"></a><span class="lineno">    9</span><span class="comment">* EDIT HISTORY</span></div>
+<div class="line"><a id="l00010" name="l00010"></a><span class="lineno">   10</span><span class="comment">**********************************************************</span></div>
+<div class="line"><a id="l00011" name="l00011"></a><span class="lineno">   11</span><span class="comment">* 09/23/2022  &lt;CRN&gt; Reorganized, added documentation.</span></div>
+<div class="line"><a id="l00012" name="l00012"></a><span class="lineno">   12</span><span class="comment">* 09/23/2022  &lt;CRN&gt; Added functions elaborated on in .cpp.</span></div>
+<div class="line"><a id="l00013" name="l00013"></a><span class="lineno">   13</span><span class="comment">*********************************************************/</span></div>
+<div class="line"><a id="l00014" name="l00014"></a><span class="lineno">   14</span><span class="preprocessor">#include &quot;../core/include/utils/feedforward.h&quot;</span></div>
+<div class="line"><a id="l00015" name="l00015"></a><span class="lineno">   15</span><span class="preprocessor">#include &quot;vex.h&quot;</span></div>
+<div class="line"><a id="l00016" name="l00016"></a><span class="lineno">   16</span><span class="preprocessor">#include &quot;../core/include/robot_specs.h&quot;</span></div>
+<div class="line"><a id="l00017" name="l00017"></a><span class="lineno">   17</span><span class="preprocessor">#include &quot;../core/include/utils/pid.h&quot;</span></div>
+<div class="line"><a id="l00018" name="l00018"></a><span class="lineno">   18</span><span class="preprocessor">#include &lt;atomic&gt;</span></div>
+<div class="line"><a id="l00019" name="l00019"></a><span class="lineno">   19</span> </div>
+<div class="line"><a id="l00020" name="l00020"></a><span class="lineno">   20</span><span class="keyword">using namespace </span>vex;</div>
+<div class="line"><a id="l00021" name="l00021"></a><span class="lineno">   21</span> </div>
+<div class="line"><a id="l00029" name="l00029"></a><span class="lineno"><a class="line" href="classFlywheel.html">   29</a></span><span class="keyword">class </span><a class="code hl_class" href="classFlywheel.html">Flywheel</a>{</div>
+<div class="line"><a id="l00030" name="l00030"></a><span class="lineno">   30</span>  <span class="keyword">enum</span> FlywheelControlStyle{</div>
+<div class="line"><a id="l00031" name="l00031"></a><span class="lineno">   31</span>    PID_Feedforward,</div>
+<div class="line"><a id="l00032" name="l00032"></a><span class="lineno">   32</span>    Feedforward,</div>
+<div class="line"><a id="l00033" name="l00033"></a><span class="lineno">   33</span>    Take_Back_Half,</div>
+<div class="line"><a id="l00034" name="l00034"></a><span class="lineno">   34</span>    Bang_Bang,</div>
+<div class="line"><a id="l00035" name="l00035"></a><span class="lineno">   35</span>  };</div>
+<div class="line"><a id="l00036" name="l00036"></a><span class="lineno">   36</span>  <span class="keyword">public</span>:</div>
+<div class="line"><a id="l00037" name="l00037"></a><span class="lineno">   37</span> </div>
+<div class="line"><a id="l00038" name="l00038"></a><span class="lineno">   38</span>  <span class="comment">// CONSTRUCTORS, GETTERS, AND SETTERS</span></div>
+<div class="line"><a id="l00046" name="l00046"></a><span class="lineno">   46</span><span class="comment"></span>  <a class="code hl_class" href="classFlywheel.html">Flywheel</a>(motor_group &amp;motors, <a class="code hl_struct" href="structPID_1_1pid__config__t.html">PID::pid_config_t</a> &amp;pid_config, <a class="code hl_struct" href="structFeedForward_1_1ff__config__t.html">FeedForward::ff_config_t</a> &amp;ff_config, <span class="keyword">const</span> <span class="keywordtype">double</span> ratio);</div>
+<div class="line"><a id="l00047" name="l00047"></a><span class="lineno">   47</span> </div>
+<div class="line"><a id="l00054" name="l00054"></a><span class="lineno">   54</span>  <a class="code hl_class" href="classFlywheel.html">Flywheel</a>(motor_group &amp;motors, <a class="code hl_struct" href="structFeedForward_1_1ff__config__t.html">FeedForward::ff_config_t</a> &amp;ff_config, <span class="keyword">const</span> <span class="keywordtype">double</span> ratio);</div>
+<div class="line"><a id="l00055" name="l00055"></a><span class="lineno">   55</span> </div>
+<div class="line"><a id="l00062" name="l00062"></a><span class="lineno">   62</span>  <a class="code hl_class" href="classFlywheel.html">Flywheel</a>(motor_group &amp;motors, <span class="keywordtype">double</span> tbh_gain, <span class="keyword">const</span> <span class="keywordtype">double</span> ratio);</div>
+<div class="line"><a id="l00063" name="l00063"></a><span class="lineno">   63</span> </div>
+<div class="line"><a id="l00069" name="l00069"></a><span class="lineno">   69</span>  <a class="code hl_class" href="classFlywheel.html">Flywheel</a>(motor_group &amp;motors, <span class="keyword">const</span> <span class="keywordtype">double</span> ratio);</div>
+<div class="line"><a id="l00070" name="l00070"></a><span class="lineno">   70</span> </div>
+<div class="line"><a id="l00075" name="l00075"></a><span class="lineno">   75</span>  <span class="keywordtype">double</span> <a class="code hl_function" href="classFlywheel.html#a5dee80fd74903884478649b6ec2f4528">getDesiredRPM</a>();</div>
+<div class="line"><a id="l00076" name="l00076"></a><span class="lineno">   76</span> </div>
+<div class="line"><a id="l00081" name="l00081"></a><span class="lineno">   81</span>  <span class="keywordtype">bool</span> <a class="code hl_function" href="classFlywheel.html#a990fde5741011926c84c45ea3c51ced3">isTaskRunning</a>();</div>
+<div class="line"><a id="l00082" name="l00082"></a><span class="lineno">   82</span> </div>
+<div class="line"><a id="l00086" name="l00086"></a><span class="lineno">   86</span>  motor_group* <a class="code hl_function" href="classFlywheel.html#a5823c1242f4b00519f582a7468cf537a">getMotors</a>();</div>
+<div class="line"><a id="l00087" name="l00087"></a><span class="lineno">   87</span> </div>
+<div class="line"><a id="l00091" name="l00091"></a><span class="lineno">   91</span>  <span class="keywordtype">double</span> <a class="code hl_function" href="classFlywheel.html#ae46b69a8371dca7d6fb163c30192f666">measureRPM</a>();</div>
+<div class="line"><a id="l00092" name="l00092"></a><span class="lineno">   92</span> </div>
+<div class="line"><a id="l00096" name="l00096"></a><span class="lineno">   96</span>  <span class="keywordtype">double</span> <a class="code hl_function" href="classFlywheel.html#a00e5ad15adfb23185f7713b86d9d7b9f">getRPM</a>();</div>
+<div class="line"><a id="l00100" name="l00100"></a><span class="lineno">  100</span>  <a class="code hl_class" href="classPID.html">PID</a>* <a class="code hl_function" href="classFlywheel.html#adf7b3fab5fd8a708f339da649c72e775">getPID</a>();</div>
+<div class="line"><a id="l00101" name="l00101"></a><span class="lineno">  101</span> </div>
+<div class="line"><a id="l00105" name="l00105"></a><span class="lineno">  105</span>  <span class="keywordtype">double</span> <a class="code hl_function" href="classFlywheel.html#a45bde10a01304c71e74564cd080a9052">getPIDValue</a>();</div>
+<div class="line"><a id="l00106" name="l00106"></a><span class="lineno">  106</span> </div>
+<div class="line"><a id="l00110" name="l00110"></a><span class="lineno">  110</span>  <span class="keywordtype">double</span> <a class="code hl_function" href="classFlywheel.html#aea43f1c07b799133113d7b9ff14a7f36">getFeedforwardValue</a>();</div>
+<div class="line"><a id="l00111" name="l00111"></a><span class="lineno">  111</span>  </div>
+<div class="line"><a id="l00115" name="l00115"></a><span class="lineno">  115</span>  <span class="keywordtype">double</span> <a class="code hl_function" href="classFlywheel.html#a8c1f0b98975b9d75bc5b350fa059043d">getTBHGain</a>();</div>
+<div class="line"><a id="l00116" name="l00116"></a><span class="lineno">  116</span>  </div>
+<div class="line"><a id="l00121" name="l00121"></a><span class="lineno">  121</span>  <span class="keywordtype">void</span> <a class="code hl_function" href="classFlywheel.html#a5eeb847c6ef4736b1917bf32843c69aa">setPIDTarget</a>(<span class="keywordtype">double</span> value);</div>
+<div class="line"><a id="l00122" name="l00122"></a><span class="lineno">  122</span> </div>
+<div class="line"><a id="l00127" name="l00127"></a><span class="lineno">  127</span>  <span class="keywordtype">void</span> <a class="code hl_function" href="classFlywheel.html#aa9df5ad636fb49d76ba922ecd1115aef">updatePID</a>(<span class="keywordtype">double</span> value);</div>
+<div class="line"><a id="l00128" name="l00128"></a><span class="lineno">  128</span> </div>
+<div class="line"><a id="l00129" name="l00129"></a><span class="lineno">  129</span>  <span class="comment">// SPINNERS AND STOPPERS</span></div>
+<div class="line"><a id="l00130" name="l00130"></a><span class="lineno">  130</span> </div>
+<div class="line"><a id="l00137" name="l00137"></a><span class="lineno">  137</span>  <span class="keywordtype">void</span> <a class="code hl_function" href="classFlywheel.html#a5f4afa2ab8976acbf9fd47776a884dd3">spin_raw</a>(<span class="keywordtype">double</span> speed, directionType dir=fwd);</div>
+<div class="line"><a id="l00138" name="l00138"></a><span class="lineno">  138</span>  </div>
+<div class="line"><a id="l00145" name="l00145"></a><span class="lineno">  145</span>  <span class="keywordtype">void</span> <a class="code hl_function" href="classFlywheel.html#a291e067bcc495a9d3da16a5832d78484">spin_manual</a>(<span class="keywordtype">double</span> speed, directionType dir=fwd);</div>
+<div class="line"><a id="l00146" name="l00146"></a><span class="lineno">  146</span>  </div>
+<div class="line"><a id="l00152" name="l00152"></a><span class="lineno">  152</span>  <span class="keywordtype">void</span> <a class="code hl_function" href="classFlywheel.html#aa72700130c0c8a08517ec1396fe9cc2b">spinRPM</a>(<span class="keywordtype">int</span> rpm);</div>
+<div class="line"><a id="l00153" name="l00153"></a><span class="lineno">  153</span> </div>
+<div class="line"><a id="l00157" name="l00157"></a><span class="lineno">  157</span>  <span class="keywordtype">void</span> <a class="code hl_function" href="classFlywheel.html#a6634f5126f0404e0edeeff1e0e14d05e">stop</a>();</div>
+<div class="line"><a id="l00158" name="l00158"></a><span class="lineno">  158</span> </div>
+<div class="line"><a id="l00159" name="l00159"></a><span class="lineno">  159</span>  </div>
+<div class="line"><a id="l00163" name="l00163"></a><span class="lineno">  163</span>  <span class="keywordtype">void</span> <a class="code hl_function" href="classFlywheel.html#a78eaa40c9c069b8b4146c3ae34a21d4e">stopMotors</a>();</div>
+<div class="line"><a id="l00164" name="l00164"></a><span class="lineno">  164</span> </div>
+<div class="line"><a id="l00168" name="l00168"></a><span class="lineno">  168</span>  <span class="keywordtype">void</span> <a class="code hl_function" href="classFlywheel.html#a63c9c4d3646e4ed14f3b98ce3ab28684">stopNonTasks</a>();</div>
+<div class="line"><a id="l00169" name="l00169"></a><span class="lineno">  169</span> </div>
+<div class="line"><a id="l00170" name="l00170"></a><span class="lineno">  170</span>  <span class="keyword">private</span>:</div>
+<div class="line"><a id="l00171" name="l00171"></a><span class="lineno">  171</span> </div>
+<div class="line"><a id="l00172" name="l00172"></a><span class="lineno">  172</span>  motor_group &amp;motors;                <span class="comment">// motors that make up the flywheel</span></div>
+<div class="line"><a id="l00173" name="l00173"></a><span class="lineno">  173</span>  <span class="keywordtype">bool</span> taskRunning = <span class="keyword">false</span>;           <span class="comment">// is the task (thread but not) currently running?</span></div>
+<div class="line"><a id="l00174" name="l00174"></a><span class="lineno">  174</span>  <a class="code hl_class" href="classPID.html">PID</a> pid;                            <span class="comment">// PID on the flywheel</span></div>
+<div class="line"><a id="l00175" name="l00175"></a><span class="lineno">  175</span>  <a class="code hl_class" href="classFeedForward.html">FeedForward</a> ff;                     <span class="comment">// FF constants for the flywheel</span></div>
+<div class="line"><a id="l00176" name="l00176"></a><span class="lineno">  176</span>  <span class="keywordtype">double</span> TBH_gain;                    <span class="comment">// TBH gain parameter for the flywheel</span></div>
+<div class="line"><a id="l00177" name="l00177"></a><span class="lineno">  177</span>  <span class="keywordtype">double</span> ratio;                       <span class="comment">// multiplies the velocity by this value</span></div>
+<div class="line"><a id="l00178" name="l00178"></a><span class="lineno">  178</span>  std::atomic&lt;double&gt; RPM;            <span class="comment">// Desired RPM of the flywheel. </span></div>
+<div class="line"><a id="l00179" name="l00179"></a><span class="lineno">  179</span>  task rpmTask;                       <span class="comment">// task (thread but not) that handles spinning the wheel at a given RPM</span></div>
+<div class="line"><a id="l00180" name="l00180"></a><span class="lineno">  180</span>  FlywheelControlStyle control_style; <span class="comment">// how the flywheel should be controlled</span></div>
+<div class="line"><a id="l00181" name="l00181"></a><span class="lineno">  181</span>  <span class="keywordtype">double</span> smoothedRPM;</div>
+<div class="line"><a id="l00182" name="l00182"></a><span class="lineno">  182</span>  <a class="code hl_class" href="classMovingAverage.html">MovingAverage</a> RPM_avger;</div>
+<div class="line"><a id="l00183" name="l00183"></a><span class="lineno">  183</span>  };</div>
+<div class="ttc" id="aclassFeedForward_html"><div class="ttname"><a href="classFeedForward.html">FeedForward</a></div><div class="ttdef"><b>Definition:</b> feedforward.h:30</div></div>
+<div class="ttc" id="aclassFlywheel_html"><div class="ttname"><a href="classFlywheel.html">Flywheel</a></div><div class="ttdef"><b>Definition:</b> flywheel.h:29</div></div>
+<div class="ttc" id="aclassFlywheel_html_a00e5ad15adfb23185f7713b86d9d7b9f"><div class="ttname"><a href="classFlywheel.html#a00e5ad15adfb23185f7713b86d9d7b9f">Flywheel::getRPM</a></div><div class="ttdeci">double getRPM()</div><div class="ttdef"><b>Definition:</b> flywheel.cpp:91</div></div>
+<div class="ttc" id="aclassFlywheel_html_a291e067bcc495a9d3da16a5832d78484"><div class="ttname"><a href="classFlywheel.html#a291e067bcc495a9d3da16a5832d78484">Flywheel::spin_manual</a></div><div class="ttdeci">void spin_manual(double speed, directionType dir=fwd)</div><div class="ttdef"><b>Definition:</b> flywheel.cpp:250</div></div>
+<div class="ttc" id="aclassFlywheel_html_a45bde10a01304c71e74564cd080a9052"><div class="ttname"><a href="classFlywheel.html#a45bde10a01304c71e74564cd080a9052">Flywheel::getPIDValue</a></div><div class="ttdeci">double getPIDValue()</div><div class="ttdef"><b>Definition:</b> flywheel.cpp:104</div></div>
+<div class="ttc" id="aclassFlywheel_html_a5823c1242f4b00519f582a7468cf537a"><div class="ttname"><a href="classFlywheel.html#a5823c1242f4b00519f582a7468cf537a">Flywheel::getMotors</a></div><div class="ttdeci">motor_group * getMotors()</div><div class="ttdef"><b>Definition:</b> flywheel.cpp:78</div></div>
+<div class="ttc" id="aclassFlywheel_html_a5dee80fd74903884478649b6ec2f4528"><div class="ttname"><a href="classFlywheel.html#a5dee80fd74903884478649b6ec2f4528">Flywheel::getDesiredRPM</a></div><div class="ttdeci">double getDesiredRPM()</div><div class="ttdef"><b>Definition:</b> flywheel.cpp:66</div></div>
+<div class="ttc" id="aclassFlywheel_html_a5eeb847c6ef4736b1917bf32843c69aa"><div class="ttname"><a href="classFlywheel.html#a5eeb847c6ef4736b1917bf32843c69aa">Flywheel::setPIDTarget</a></div><div class="ttdeci">void setPIDTarget(double value)</div><div class="ttdef"><b>Definition:</b> flywheel.cpp:127</div></div>
+<div class="ttc" id="aclassFlywheel_html_a5f4afa2ab8976acbf9fd47776a884dd3"><div class="ttname"><a href="classFlywheel.html#a5f4afa2ab8976acbf9fd47776a884dd3">Flywheel::spin_raw</a></div><div class="ttdeci">void spin_raw(double speed, directionType dir=fwd)</div><div class="ttdef"><b>Definition:</b> flywheel.cpp:240</div></div>
+<div class="ttc" id="aclassFlywheel_html_a63c9c4d3646e4ed14f3b98ce3ab28684"><div class="ttname"><a href="classFlywheel.html#a63c9c4d3646e4ed14f3b98ce3ab28684">Flywheel::stopNonTasks</a></div><div class="ttdeci">void stopNonTasks()</div><div class="ttdef"><b>Definition:</b> flywheel.cpp:311</div></div>
+<div class="ttc" id="aclassFlywheel_html_a6634f5126f0404e0edeeff1e0e14d05e"><div class="ttname"><a href="classFlywheel.html#a6634f5126f0404e0edeeff1e0e14d05e">Flywheel::stop</a></div><div class="ttdeci">void stop()</div><div class="ttdef"><b>Definition:</b> flywheel.cpp:295</div></div>
+<div class="ttc" id="aclassFlywheel_html_a78eaa40c9c069b8b4146c3ae34a21d4e"><div class="ttname"><a href="classFlywheel.html#a78eaa40c9c069b8b4146c3ae34a21d4e">Flywheel::stopMotors</a></div><div class="ttdeci">void stopMotors()</div><div class="ttdef"><b>Definition:</b> flywheel.cpp:306</div></div>
+<div class="ttc" id="aclassFlywheel_html_a8c1f0b98975b9d75bc5b350fa059043d"><div class="ttname"><a href="classFlywheel.html#a8c1f0b98975b9d75bc5b350fa059043d">Flywheel::getTBHGain</a></div><div class="ttdeci">double getTBHGain()</div><div class="ttdef"><b>Definition:</b> flywheel.cpp:119</div></div>
+<div class="ttc" id="aclassFlywheel_html_a990fde5741011926c84c45ea3c51ced3"><div class="ttname"><a href="classFlywheel.html#a990fde5741011926c84c45ea3c51ced3">Flywheel::isTaskRunning</a></div><div class="ttdeci">bool isTaskRunning()</div><div class="ttdef"><b>Definition:</b> flywheel.cpp:72</div></div>
+<div class="ttc" id="aclassFlywheel_html_aa72700130c0c8a08517ec1396fe9cc2b"><div class="ttname"><a href="classFlywheel.html#aa72700130c0c8a08517ec1396fe9cc2b">Flywheel::spinRPM</a></div><div class="ttdeci">void spinRPM(int rpm)</div><div class="ttdef"><b>Definition:</b> flywheel.cpp:259</div></div>
+<div class="ttc" id="aclassFlywheel_html_aa9df5ad636fb49d76ba922ecd1115aef"><div class="ttname"><a href="classFlywheel.html#aa9df5ad636fb49d76ba922ecd1115aef">Flywheel::updatePID</a></div><div class="ttdeci">void updatePID(double value)</div><div class="ttdef"><b>Definition:</b> flywheel.cpp:133</div></div>
+<div class="ttc" id="aclassFlywheel_html_adf7b3fab5fd8a708f339da649c72e775"><div class="ttname"><a href="classFlywheel.html#adf7b3fab5fd8a708f339da649c72e775">Flywheel::getPID</a></div><div class="ttdeci">PID * getPID()</div><div class="ttdef"><b>Definition:</b> flywheel.cpp:98</div></div>
+<div class="ttc" id="aclassFlywheel_html_ae46b69a8371dca7d6fb163c30192f666"><div class="ttname"><a href="classFlywheel.html#ae46b69a8371dca7d6fb163c30192f666">Flywheel::measureRPM</a></div><div class="ttdeci">double measureRPM()</div><div class="ttdef"><b>Definition:</b> flywheel.cpp:84</div></div>
+<div class="ttc" id="aclassFlywheel_html_aea43f1c07b799133113d7b9ff14a7f36"><div class="ttname"><a href="classFlywheel.html#aea43f1c07b799133113d7b9ff14a7f36">Flywheel::getFeedforwardValue</a></div><div class="ttdeci">double getFeedforwardValue()</div><div class="ttdef"><b>Definition:</b> flywheel.cpp:110</div></div>
+<div class="ttc" id="aclassMovingAverage_html"><div class="ttname"><a href="classMovingAverage.html">MovingAverage</a></div><div class="ttdef"><b>Definition:</b> moving_average.h:15</div></div>
+<div class="ttc" id="aclassPID_html"><div class="ttname"><a href="classPID.html">PID</a></div><div class="ttdef"><b>Definition:</b> pid.h:24</div></div>
+<div class="ttc" id="astructFeedForward_1_1ff__config__t_html"><div class="ttname"><a href="structFeedForward_1_1ff__config__t.html">FeedForward::ff_config_t</a></div><div class="ttdef"><b>Definition:</b> feedforward.h:42</div></div>
+<div class="ttc" id="astructPID_1_1pid__config__t_html"><div class="ttname"><a href="structPID_1_1pid__config__t.html">PID::pid_config_t</a></div><div class="ttdef"><b>Definition:</b> pid.h:41</div></div>
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+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.6
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diff --git a/documentation/html/flywheel__commands_8h_source.html b/documentation/html/flywheel__commands_8h_source.html
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+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
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+<li class="navelem"><a class="el" href="dir_d44c64559bbebec7f509842c48db8b23.html">include</a></li><li class="navelem"><a class="el" href="dir_821002d4f10779a80d4fb17bc32f21f1.html">utils</a></li><li class="navelem"><a class="el" href="dir_e0729c835bcfebced7012c88d9b3a1d3.html">command_structure</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle"><div class="title">flywheel_commands.h</div></div>
+</div><!--header-->
+<div class="contents">
+<div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno">    1</span> </div>
+<div class="line"><a id="l00007" name="l00007"></a><span class="lineno">    7</span><span class="preprocessor">#pragma once</span></div>
+<div class="line"><a id="l00008" name="l00008"></a><span class="lineno">    8</span> </div>
+<div class="line"><a id="l00009" name="l00009"></a><span class="lineno">    9</span><span class="preprocessor">#include &quot;../core/include/subsystems/flywheel.h&quot;</span></div>
+<div class="line"><a id="l00010" name="l00010"></a><span class="lineno">   10</span><span class="preprocessor">#include &quot;../core/include/utils/command_structure/auto_command.h&quot;</span></div>
+<div class="line"><a id="l00011" name="l00011"></a><span class="lineno">   11</span> </div>
+<div class="line"><a id="l00017" name="l00017"></a><span class="lineno"><a class="line" href="classSpinRPMCommand.html">   17</a></span><span class="keyword">class </span><a class="code hl_class" href="classSpinRPMCommand.html">SpinRPMCommand</a>: <span class="keyword">public</span> <a class="code hl_class" href="classAutoCommand.html">AutoCommand</a> {</div>
+<div class="line"><a id="l00018" name="l00018"></a><span class="lineno">   18</span>  <span class="keyword">public</span>:</div>
+<div class="line"><a id="l00024" name="l00024"></a><span class="lineno">   24</span>  <a class="code hl_class" href="classSpinRPMCommand.html">SpinRPMCommand</a>(<a class="code hl_class" href="classFlywheel.html">Flywheel</a> &amp;flywheel, <span class="keywordtype">int</span> rpm);</div>
+<div class="line"><a id="l00025" name="l00025"></a><span class="lineno">   25</span> </div>
+<div class="line"><a id="l00031" name="l00031"></a><span class="lineno">   31</span>    <span class="keywordtype">bool</span> <a class="code hl_function" href="classSpinRPMCommand.html#af12f71f87967de0d9991272d9659b6ef">run</a>() <span class="keyword">override</span>;</div>
+<div class="line"><a id="l00032" name="l00032"></a><span class="lineno">   32</span> </div>
+<div class="line"><a id="l00033" name="l00033"></a><span class="lineno">   33</span>  <span class="keyword">private</span>:</div>
+<div class="line"><a id="l00034" name="l00034"></a><span class="lineno">   34</span>    <span class="comment">// Flywheel instance to run the function on</span></div>
+<div class="line"><a id="l00035" name="l00035"></a><span class="lineno">   35</span>    <a class="code hl_class" href="classFlywheel.html">Flywheel</a> &amp;flywheel;</div>
+<div class="line"><a id="l00036" name="l00036"></a><span class="lineno">   36</span> </div>
+<div class="line"><a id="l00037" name="l00037"></a><span class="lineno">   37</span>    <span class="comment">// parameters for spinRPM</span></div>
+<div class="line"><a id="l00038" name="l00038"></a><span class="lineno">   38</span>    <span class="keywordtype">int</span> rpm;</div>
+<div class="line"><a id="l00039" name="l00039"></a><span class="lineno">   39</span>};</div>
+<div class="line"><a id="l00040" name="l00040"></a><span class="lineno">   40</span> </div>
+<div class="line"><a id="l00045" name="l00045"></a><span class="lineno"><a class="line" href="classWaitUntilUpToSpeedCommand.html">   45</a></span><span class="keyword">class </span><a class="code hl_class" href="classWaitUntilUpToSpeedCommand.html">WaitUntilUpToSpeedCommand</a>: <span class="keyword">public</span> <a class="code hl_class" href="classAutoCommand.html">AutoCommand</a> {</div>
+<div class="line"><a id="l00046" name="l00046"></a><span class="lineno">   46</span>  <span class="keyword">public</span>:</div>
+<div class="line"><a id="l00052" name="l00052"></a><span class="lineno">   52</span>    <a class="code hl_class" href="classWaitUntilUpToSpeedCommand.html">WaitUntilUpToSpeedCommand</a>(<a class="code hl_class" href="classFlywheel.html">Flywheel</a> &amp;flywheel, <span class="keywordtype">int</span> threshold_rpm);</div>
+<div class="line"><a id="l00053" name="l00053"></a><span class="lineno">   53</span> </div>
+<div class="line"><a id="l00059" name="l00059"></a><span class="lineno">   59</span>    <span class="keywordtype">bool</span> <a class="code hl_function" href="classWaitUntilUpToSpeedCommand.html#a38f75c01a4740d87a380c15cc51c6396">run</a>() <span class="keyword">override</span>;</div>
+<div class="line"><a id="l00060" name="l00060"></a><span class="lineno">   60</span> </div>
+<div class="line"><a id="l00061" name="l00061"></a><span class="lineno">   61</span>  <span class="keyword">private</span>:</div>
+<div class="line"><a id="l00062" name="l00062"></a><span class="lineno">   62</span>    <span class="comment">// Flywheel instance to run the function on</span></div>
+<div class="line"><a id="l00063" name="l00063"></a><span class="lineno">   63</span>    <a class="code hl_class" href="classFlywheel.html">Flywheel</a> &amp;flywheel;</div>
+<div class="line"><a id="l00064" name="l00064"></a><span class="lineno">   64</span> </div>
+<div class="line"><a id="l00065" name="l00065"></a><span class="lineno">   65</span>    <span class="comment">// if the actual speed is equal to the desired speed +/- this value, we are ready to fire</span></div>
+<div class="line"><a id="l00066" name="l00066"></a><span class="lineno">   66</span>    <span class="keywordtype">int</span> threshold_rpm;</div>
+<div class="line"><a id="l00067" name="l00067"></a><span class="lineno">   67</span>};</div>
+<div class="line"><a id="l00068" name="l00068"></a><span class="lineno">   68</span> </div>
+<div class="line"><a id="l00074" name="l00074"></a><span class="lineno"><a class="line" href="classFlywheelStopCommand.html">   74</a></span><span class="keyword">class </span><a class="code hl_class" href="classFlywheelStopCommand.html">FlywheelStopCommand</a>: <span class="keyword">public</span> <a class="code hl_class" href="classAutoCommand.html">AutoCommand</a> {</div>
+<div class="line"><a id="l00075" name="l00075"></a><span class="lineno">   75</span>  <span class="keyword">public</span>:</div>
+<div class="line"><a id="l00080" name="l00080"></a><span class="lineno">   80</span>  <a class="code hl_class" href="classFlywheelStopCommand.html">FlywheelStopCommand</a>(<a class="code hl_class" href="classFlywheel.html">Flywheel</a> &amp;flywheel);</div>
+<div class="line"><a id="l00081" name="l00081"></a><span class="lineno">   81</span> </div>
+<div class="line"><a id="l00087" name="l00087"></a><span class="lineno">   87</span>    <span class="keywordtype">bool</span> <a class="code hl_function" href="classFlywheelStopCommand.html#a9be8ca8422bd7b5f5a03cbf8e21025a7">run</a>() <span class="keyword">override</span>;</div>
+<div class="line"><a id="l00088" name="l00088"></a><span class="lineno">   88</span> </div>
+<div class="line"><a id="l00089" name="l00089"></a><span class="lineno">   89</span>  <span class="keyword">private</span>:</div>
+<div class="line"><a id="l00090" name="l00090"></a><span class="lineno">   90</span>    <span class="comment">// Flywheel instance to run the function on</span></div>
+<div class="line"><a id="l00091" name="l00091"></a><span class="lineno">   91</span>    <a class="code hl_class" href="classFlywheel.html">Flywheel</a> &amp;flywheel;</div>
+<div class="line"><a id="l00092" name="l00092"></a><span class="lineno">   92</span>};</div>
+<div class="line"><a id="l00093" name="l00093"></a><span class="lineno">   93</span> </div>
+<div class="line"><a id="l00099" name="l00099"></a><span class="lineno"><a class="line" href="classFlywheelStopMotorsCommand.html">   99</a></span><span class="keyword">class </span><a class="code hl_class" href="classFlywheelStopMotorsCommand.html">FlywheelStopMotorsCommand</a>: <span class="keyword">public</span> <a class="code hl_class" href="classAutoCommand.html">AutoCommand</a> {</div>
+<div class="line"><a id="l00100" name="l00100"></a><span class="lineno">  100</span>  <span class="keyword">public</span>:</div>
+<div class="line"><a id="l00105" name="l00105"></a><span class="lineno">  105</span>  <a class="code hl_class" href="classFlywheelStopMotorsCommand.html">FlywheelStopMotorsCommand</a>(<a class="code hl_class" href="classFlywheel.html">Flywheel</a> &amp;flywheel);</div>
+<div class="line"><a id="l00106" name="l00106"></a><span class="lineno">  106</span> </div>
+<div class="line"><a id="l00112" name="l00112"></a><span class="lineno">  112</span>    <span class="keywordtype">bool</span> <a class="code hl_function" href="classFlywheelStopMotorsCommand.html#ab5b75338d50c3674a5fe27a5e77698bc">run</a>() <span class="keyword">override</span>;</div>
+<div class="line"><a id="l00113" name="l00113"></a><span class="lineno">  113</span> </div>
+<div class="line"><a id="l00114" name="l00114"></a><span class="lineno">  114</span>  <span class="keyword">private</span>:</div>
+<div class="line"><a id="l00115" name="l00115"></a><span class="lineno">  115</span>    <span class="comment">// Flywheel instance to run the function on</span></div>
+<div class="line"><a id="l00116" name="l00116"></a><span class="lineno">  116</span>    <a class="code hl_class" href="classFlywheel.html">Flywheel</a> &amp;flywheel;</div>
+<div class="line"><a id="l00117" name="l00117"></a><span class="lineno">  117</span>};</div>
+<div class="line"><a id="l00118" name="l00118"></a><span class="lineno">  118</span> </div>
+<div class="line"><a id="l00124" name="l00124"></a><span class="lineno"><a class="line" href="classFlywheelStopNonTasksCommand.html">  124</a></span><span class="keyword">class </span><a class="code hl_class" href="classFlywheelStopNonTasksCommand.html">FlywheelStopNonTasksCommand</a>: <span class="keyword">public</span> <a class="code hl_class" href="classAutoCommand.html">AutoCommand</a> {</div>
+<div class="line"><a id="l00125" name="l00125"></a><span class="lineno">  125</span>  <a class="code hl_class" href="classFlywheelStopNonTasksCommand.html">FlywheelStopNonTasksCommand</a>(<a class="code hl_class" href="classFlywheel.html">Flywheel</a> &amp;flywheel);</div>
+<div class="line"><a id="l00126" name="l00126"></a><span class="lineno">  126</span> </div>
+<div class="line"><a id="l00132" name="l00132"></a><span class="lineno">  132</span>    <span class="keywordtype">bool</span> run() <span class="keyword">override</span>;</div>
+<div class="line"><a id="l00133" name="l00133"></a><span class="lineno">  133</span> </div>
+<div class="line"><a id="l00134" name="l00134"></a><span class="lineno">  134</span>  <span class="keyword">private</span>:</div>
+<div class="line"><a id="l00135" name="l00135"></a><span class="lineno">  135</span>    <span class="comment">// Flywheel instance to run the function on</span></div>
+<div class="line"><a id="l00136" name="l00136"></a><span class="lineno">  136</span>    <a class="code hl_class" href="classFlywheel.html">Flywheel</a> &amp;flywheel;</div>
+<div class="line"><a id="l00137" name="l00137"></a><span class="lineno">  137</span>};</div>
+<div class="ttc" id="aclassAutoCommand_html"><div class="ttname"><a href="classAutoCommand.html">AutoCommand</a></div><div class="ttdef"><b>Definition:</b> auto_command.h:11</div></div>
+<div class="ttc" id="aclassFlywheelStopCommand_html"><div class="ttname"><a href="classFlywheelStopCommand.html">FlywheelStopCommand</a></div><div class="ttdef"><b>Definition:</b> flywheel_commands.h:74</div></div>
+<div class="ttc" id="aclassFlywheelStopCommand_html_a9be8ca8422bd7b5f5a03cbf8e21025a7"><div class="ttname"><a href="classFlywheelStopCommand.html#a9be8ca8422bd7b5f5a03cbf8e21025a7">FlywheelStopCommand::run</a></div><div class="ttdeci">bool run() override</div><div class="ttdef"><b>Definition:</b> flywheel_commands.cpp:35</div></div>
+<div class="ttc" id="aclassFlywheelStopMotorsCommand_html"><div class="ttname"><a href="classFlywheelStopMotorsCommand.html">FlywheelStopMotorsCommand</a></div><div class="ttdef"><b>Definition:</b> flywheel_commands.h:99</div></div>
+<div class="ttc" id="aclassFlywheelStopMotorsCommand_html_ab5b75338d50c3674a5fe27a5e77698bc"><div class="ttname"><a href="classFlywheelStopMotorsCommand.html#ab5b75338d50c3674a5fe27a5e77698bc">FlywheelStopMotorsCommand::run</a></div><div class="ttdeci">bool run() override</div><div class="ttdef"><b>Definition:</b> flywheel_commands.cpp:44</div></div>
+<div class="ttc" id="aclassFlywheelStopNonTasksCommand_html"><div class="ttname"><a href="classFlywheelStopNonTasksCommand.html">FlywheelStopNonTasksCommand</a></div><div class="ttdef"><b>Definition:</b> flywheel_commands.h:124</div></div>
+<div class="ttc" id="aclassFlywheel_html"><div class="ttname"><a href="classFlywheel.html">Flywheel</a></div><div class="ttdef"><b>Definition:</b> flywheel.h:29</div></div>
+<div class="ttc" id="aclassSpinRPMCommand_html"><div class="ttname"><a href="classSpinRPMCommand.html">SpinRPMCommand</a></div><div class="ttdef"><b>Definition:</b> flywheel_commands.h:17</div></div>
+<div class="ttc" id="aclassSpinRPMCommand_html_af12f71f87967de0d9991272d9659b6ef"><div class="ttname"><a href="classSpinRPMCommand.html#af12f71f87967de0d9991272d9659b6ef">SpinRPMCommand::run</a></div><div class="ttdeci">bool run() override</div><div class="ttdef"><b>Definition:</b> flywheel_commands.cpp:13</div></div>
+<div class="ttc" id="aclassWaitUntilUpToSpeedCommand_html"><div class="ttname"><a href="classWaitUntilUpToSpeedCommand.html">WaitUntilUpToSpeedCommand</a></div><div class="ttdef"><b>Definition:</b> flywheel_commands.h:45</div></div>
+<div class="ttc" id="aclassWaitUntilUpToSpeedCommand_html_a38f75c01a4740d87a380c15cc51c6396"><div class="ttname"><a href="classWaitUntilUpToSpeedCommand.html#a38f75c01a4740d87a380c15cc51c6396">WaitUntilUpToSpeedCommand::run</a></div><div class="ttdeci">bool run() override</div><div class="ttdef"><b>Definition:</b> flywheel_commands.cpp:21</div></div>
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+<hr class="footer"/><address class="footer"><small>
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+<html xmlns="http://www.w3.org/1999/xhtml" lang="en-US">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=11"/>
+<meta name="generator" content="Doxygen 1.9.6"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>RIT VEXU Core API: Class Members</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr id="projectrow">
+  <td id="projectalign">
+   <div id="projectname">RIT VEXU Core API
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.6 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+var searchBox = new SearchBox("searchBox", "search/",'.html');
+/* @license-end */
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
+/* @license-end */
+</script>
+<div id="main-nav"></div>
+</div><!-- top -->
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
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+<!-- iframe showing the search results (closed by default) -->
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+<div class="SRStatus" id="NoMatches">No Matches</div>
+</div>
+</div>
+</div>
+</div>
+
+<div class="contents">
+<div class="textblock">Here is a list of all documented class members with links to the class documentation for each member:</div>
+
+<h3><a id="index_a" name="index_a"></a>- a -</h3><ul>
+<li>accel&#160;:&#160;<a class="el" href="structmotion__t.html#a0bfa8ec05af92df3b8c0e7d0945824f2">motion_t</a>, <a class="el" href="structMotionController_1_1m__profile__cfg__t.html#ac4f07f3ac52d12fd820ee4d8ce847f66">MotionController::m_profile_cfg_t</a>, <a class="el" href="classOdometryBase.html#a94c814dfb542dd891d84db7e74537249">OdometryBase</a></li>
+<li>add()&#160;:&#160;<a class="el" href="classAutoChooser.html#a67b80bf6b62cfced155519f5b608e08c">AutoChooser</a>, <a class="el" href="classCommandController.html#a4cb2c06abd92fb99578f0da75c1411e5">CommandController</a>, <a class="el" href="classGenericAuto.html#af48629556173af1f5106f7405a196f47">GenericAuto</a></li>
+<li>add_async()&#160;:&#160;<a class="el" href="classGenericAuto.html#a938fb69c14735d4cf88ebc7589dcad1c">GenericAuto</a></li>
+<li>add_delay()&#160;:&#160;<a class="el" href="classCommandController.html#ae06b054f4aeea86e8c6bee56458dc6d1">CommandController</a>, <a class="el" href="classGenericAuto.html#aaadc99efe49a375f0dc80db7e886d96c">GenericAuto</a></li>
+<li>add_entry()&#160;:&#160;<a class="el" href="classMovingAverage.html#a6c85ea575428ef7faf1f1f111a985db8">MovingAverage</a></li>
+<li>add_sample()&#160;:&#160;<a class="el" href="classGraphDrawer.html#a41cadd5ade1ae9de1a82cc97ee15557c">GraphDrawer</a></li>
+<li>ang_accel_deg&#160;:&#160;<a class="el" href="classOdometryBase.html#a01f14bfcecbcde7a74b9b98376deb19f">OdometryBase</a></li>
+<li>ang_speed_deg&#160;:&#160;<a class="el" href="classOdometryBase.html#a250ceb6ed296ea579e37851e4a0048fb">OdometryBase</a></li>
+<li>auto_drive()&#160;:&#160;<a class="el" href="classMecanumDrive.html#aa0cfb8683fee99e0a534c3a725d338fd">MecanumDrive</a></li>
+<li>auto_turn()&#160;:&#160;<a class="el" href="classMecanumDrive.html#ac8813aafec14f2d25c3abafefdb81498">MecanumDrive</a></li>
+<li>AutoChooser()&#160;:&#160;<a class="el" href="classAutoChooser.html#a6e4f8f87e9cf0d0df2e36cda803f2c51">AutoChooser</a></li>
+</ul>
+</div><!-- contents -->
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+<div id="main-nav"></div>
+</div><!-- top -->
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
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+<div id="SRIndex">
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+<div class="SRStatus" id="Loading">Loading...</div>
+<div class="SRStatus" id="Searching">Searching...</div>
+<div class="SRStatus" id="NoMatches">No Matches</div>
+</div>
+</div>
+</div>
+</div>
+
+<div class="contents">
+&#160;<ul>
+<li>ERROR_TYPE&#160;:&#160;<a class="el" href="classPID.html#a259eb7bfd0750c7afd4a058c5d1c58a1">PID</a></li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.6
+</small></address>
+</body>
+</html>
diff --git a/documentation/html/functions_f.html b/documentation/html/functions_f.html
new file mode 100644
index 0000000..9ccef83
--- /dev/null
+++ b/documentation/html/functions_f.html
@@ -0,0 +1,87 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml" lang="en-US">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=11"/>
+<meta name="generator" content="Doxygen 1.9.6"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>RIT VEXU Core API: Class Members</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr id="projectrow">
+  <td id="projectalign">
+   <div id="projectname">RIT VEXU Core API
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.6 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+var searchBox = new SearchBox("searchBox", "search/",'.html');
+/* @license-end */
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
+/* @license-end */
+</script>
+<div id="main-nav"></div>
+</div><!-- top -->
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<div id="MSearchResults">
+<div class="SRPage">
+<div id="SRIndex">
+<div id="SRResults"></div>
+<div class="SRStatus" id="Loading">Loading...</div>
+<div class="SRStatus" id="Searching">Searching...</div>
+<div class="SRStatus" id="NoMatches">No Matches</div>
+</div>
+</div>
+</div>
+</div>
+
+<div class="contents">
+<div class="textblock">Here is a list of all documented class members with links to the class documentation for each member:</div>
+
+<h3><a id="index_f" name="index_f"></a>- f -</h3><ul>
+<li>FeedForward()&#160;:&#160;<a class="el" href="classFeedForward.html#aeea5ddbbcc6e75a479442cf69954665c">FeedForward</a></li>
+<li>ff_cfg&#160;:&#160;<a class="el" href="structMotionController_1_1m__profile__cfg__t.html#ad8131facbd379321cc7083361e68ff62">MotionController::m_profile_cfg_t</a></li>
+<li>Flywheel()&#160;:&#160;<a class="el" href="classFlywheel.html#a61a1ba81b716c6f99a8d63394f8d185f">Flywheel</a></li>
+<li>FlywheelStopCommand()&#160;:&#160;<a class="el" href="classFlywheelStopCommand.html#a3e94b6c95ab4ad8216c9a87a22c07c4b">FlywheelStopCommand</a></li>
+<li>FlywheelStopMotorsCommand()&#160;:&#160;<a class="el" href="classFlywheelStopMotorsCommand.html#a0e7ce6586a6ae1ec9322114ede691a13">FlywheelStopMotorsCommand</a></li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.6
+</small></address>
+</body>
+</html>
diff --git a/documentation/html/functions_func.html b/documentation/html/functions_func.html
new file mode 100644
index 0000000..2bb052d
--- /dev/null
+++ b/documentation/html/functions_func.html
@@ -0,0 +1,282 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml" lang="en-US">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=11"/>
+<meta name="generator" content="Doxygen 1.9.6"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>RIT VEXU Core API: Class Members - Functions</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr id="projectrow">
+  <td id="projectalign">
+   <div id="projectname">RIT VEXU Core API
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.6 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+var searchBox = new SearchBox("searchBox", "search/",'.html');
+/* @license-end */
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
+/* @license-end */
+</script>
+<div id="main-nav"></div>
+</div><!-- top -->
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<div id="MSearchResults">
+<div class="SRPage">
+<div id="SRIndex">
+<div id="SRResults"></div>
+<div class="SRStatus" id="Loading">Loading...</div>
+<div class="SRStatus" id="Searching">Searching...</div>
+<div class="SRStatus" id="NoMatches">No Matches</div>
+</div>
+</div>
+</div>
+</div>
+
+<div class="contents">
+&#160;
+
+<h3><a id="index_a" name="index_a"></a>- a -</h3><ul>
+<li>add()&#160;:&#160;<a class="el" href="classAutoChooser.html#a67b80bf6b62cfced155519f5b608e08c">AutoChooser</a>, <a class="el" href="classCommandController.html#a4cb2c06abd92fb99578f0da75c1411e5">CommandController</a>, <a class="el" href="classGenericAuto.html#af48629556173af1f5106f7405a196f47">GenericAuto</a></li>
+<li>add_async()&#160;:&#160;<a class="el" href="classGenericAuto.html#a938fb69c14735d4cf88ebc7589dcad1c">GenericAuto</a></li>
+<li>add_delay()&#160;:&#160;<a class="el" href="classCommandController.html#ae06b054f4aeea86e8c6bee56458dc6d1">CommandController</a>, <a class="el" href="classGenericAuto.html#aaadc99efe49a375f0dc80db7e886d96c">GenericAuto</a></li>
+<li>add_entry()&#160;:&#160;<a class="el" href="classMovingAverage.html#a6c85ea575428ef7faf1f1f111a985db8">MovingAverage</a></li>
+<li>add_sample()&#160;:&#160;<a class="el" href="classGraphDrawer.html#a41cadd5ade1ae9de1a82cc97ee15557c">GraphDrawer</a></li>
+<li>auto_drive()&#160;:&#160;<a class="el" href="classMecanumDrive.html#aa0cfb8683fee99e0a534c3a725d338fd">MecanumDrive</a></li>
+<li>auto_turn()&#160;:&#160;<a class="el" href="classMecanumDrive.html#ac8813aafec14f2d25c3abafefdb81498">MecanumDrive</a></li>
+<li>AutoChooser()&#160;:&#160;<a class="el" href="classAutoChooser.html#a6e4f8f87e9cf0d0df2e36cda803f2c51">AutoChooser</a></li>
+</ul>
+
+
+<h3><a id="index_b" name="index_b"></a>- b -</h3><ul>
+<li>background_task()&#160;:&#160;<a class="el" href="classOdometryBase.html#a17a014f79b282ddfb715835214f3e2fb">OdometryBase</a></li>
+</ul>
+
+
+<h3><a id="index_c" name="index_c"></a>- c -</h3><ul>
+<li>calculate()&#160;:&#160;<a class="el" href="classFeedForward.html#a2e2f7c12076225fa1dfd5f18aa210290">FeedForward</a>, <a class="el" href="classTrapezoidProfile.html#a0b65a924664e6e052a16db19f73af17c">TrapezoidProfile</a></li>
+<li>control_continuous()&#160;:&#160;<a class="el" href="classLift.html#ae585cb81d733c975a65bfa7914a6bfeb">Lift&lt; T &gt;</a></li>
+<li>control_manual()&#160;:&#160;<a class="el" href="classLift.html#acfeaf4547de1b6a01982e8e51b0bb224">Lift&lt; T &gt;</a></li>
+<li>control_setpoints()&#160;:&#160;<a class="el" href="classLift.html#a7197ad879474798a5c1fec4963058c3a">Lift&lt; T &gt;</a></li>
+<li>CustomEncoder()&#160;:&#160;<a class="el" href="classCustomEncoder.html#a6c17b425b7a899107be1bb7ed7e80b9d">CustomEncoder</a></li>
+</ul>
+
+
+<h3><a id="index_d" name="index_d"></a>- d -</h3><ul>
+<li>DelayCommand()&#160;:&#160;<a class="el" href="classDelayCommand.html#a7dc6d1e547ec24b51d91aada84d1febb">DelayCommand</a></li>
+<li>dist()&#160;:&#160;<a class="el" href="structVector2D_1_1point__t.html#a118bb1552bd98c9708e452d593ed5e29">Vector2D::point_t</a></li>
+<li>draw()&#160;:&#160;<a class="el" href="classGraphDrawer.html#a420b88cacbf91908dc64624eb113d197">GraphDrawer</a></li>
+<li>drive()&#160;:&#160;<a class="el" href="classMecanumDrive.html#ac7a660a606aea694d21a4a2dd12faa24">MecanumDrive</a></li>
+<li>drive_arcade()&#160;:&#160;<a class="el" href="classTankDrive.html#a4c52b51a9b149d97e9b0b175a10652ef">TankDrive</a></li>
+<li>drive_forward()&#160;:&#160;<a class="el" href="classTankDrive.html#a1fb3d661076afbb91452649cdaf8550f">TankDrive</a></li>
+<li>drive_raw()&#160;:&#160;<a class="el" href="classMecanumDrive.html#a756383ba74cf555d42a147584f9ae646">MecanumDrive</a></li>
+<li>drive_tank()&#160;:&#160;<a class="el" href="classTankDrive.html#a1dff7827546fb3d17e0d2ca150bdf630">TankDrive</a></li>
+<li>drive_to_point()&#160;:&#160;<a class="el" href="classTankDrive.html#ad64cf88b180865f7e0f9810a344db791">TankDrive</a></li>
+<li>DriveForwardCommand()&#160;:&#160;<a class="el" href="classDriveForwardCommand.html#a09fb0fc75fa06951c9dc160de169d726">DriveForwardCommand</a></li>
+<li>DriveStopCommand()&#160;:&#160;<a class="el" href="classDriveStopCommand.html#a64cc2eeb3a4d67482549a029f93ddde1">DriveStopCommand</a></li>
+<li>DriveToPointCommand()&#160;:&#160;<a class="el" href="classDriveToPointCommand.html#ad9d5b904185abbddde096dc87e02f049">DriveToPointCommand</a></li>
+</ul>
+
+
+<h3><a id="index_e" name="index_e"></a>- e -</h3><ul>
+<li>end_async()&#160;:&#160;<a class="el" href="classOdometryBase.html#ab65ccaa80d4bb0d0aa20e82b3b991436">OdometryBase</a></li>
+</ul>
+
+
+<h3><a id="index_f" name="index_f"></a>- f -</h3><ul>
+<li>FeedForward()&#160;:&#160;<a class="el" href="classFeedForward.html#aeea5ddbbcc6e75a479442cf69954665c">FeedForward</a></li>
+<li>Flywheel()&#160;:&#160;<a class="el" href="classFlywheel.html#a61a1ba81b716c6f99a8d63394f8d185f">Flywheel</a></li>
+<li>FlywheelStopCommand()&#160;:&#160;<a class="el" href="classFlywheelStopCommand.html#a3e94b6c95ab4ad8216c9a87a22c07c4b">FlywheelStopCommand</a></li>
+<li>FlywheelStopMotorsCommand()&#160;:&#160;<a class="el" href="classFlywheelStopMotorsCommand.html#a0e7ce6586a6ae1ec9322114ede691a13">FlywheelStopMotorsCommand</a></li>
+</ul>
+
+
+<h3><a id="index_g" name="index_g"></a>- g -</h3><ul>
+<li>get()&#160;:&#160;<a class="el" href="classFeedback.html#ac44bb519a6f4e25c8e8250f3d30ab359">Feedback</a>, <a class="el" href="classMotionController.html#a2a1944f590618cd91770364aea416cd5">MotionController</a>, <a class="el" href="classPID.html#a69c2e66b8ff06c86ca9701d11e21da75">PID</a>, <a class="el" href="classPIDFF.html#a78a34d271bcc703fc803e15b275fd238">PIDFF</a></li>
+<li>get_accel()&#160;:&#160;<a class="el" href="classOdometryBase.html#a3223bac952f79bf910b979690499b965">OdometryBase</a></li>
+<li>get_angular_accel_deg()&#160;:&#160;<a class="el" href="classOdometryBase.html#a456e6433e51971d2640ff96ed3a59432">OdometryBase</a></li>
+<li>get_angular_speed_deg()&#160;:&#160;<a class="el" href="classOdometryBase.html#af30d97a35e9e9c4f9be0a81390e6c0f1">OdometryBase</a></li>
+<li>get_async()&#160;:&#160;<a class="el" href="classLift.html#a6913ab2df38f0429641c256ec9288370">Lift&lt; T &gt;</a></li>
+<li>get_average()&#160;:&#160;<a class="el" href="classMovingAverage.html#aa91e650064d361abe51bfa0b166ac6c0">MovingAverage</a></li>
+<li>get_choice()&#160;:&#160;<a class="el" href="classAutoChooser.html#ada27d20c06baeb169c3abed5fd0b06bb">AutoChooser</a></li>
+<li>get_dir()&#160;:&#160;<a class="el" href="classVector2D.html#a683dab4e55cfc8483a32c6805cd29980">Vector2D</a></li>
+<li>get_error()&#160;:&#160;<a class="el" href="classPID.html#ab5cdb296dbcce80703a9a98b9605c500">PID</a></li>
+<li>get_mag()&#160;:&#160;<a class="el" href="classVector2D.html#a4da6f92b5874470ed5642587a973c3df">Vector2D</a></li>
+<li>get_motion()&#160;:&#160;<a class="el" href="classMotionController.html#ab958ce97fbc4929f4dd03965671e8d4d">MotionController</a></li>
+<li>get_movement_time()&#160;:&#160;<a class="el" href="classTrapezoidProfile.html#abd551042dfffe0923200c4546d109c55">TrapezoidProfile</a></li>
+<li>get_position()&#160;:&#160;<a class="el" href="classOdometryBase.html#a3cdcfcf70ef02e0efc2efd902fac3811">OdometryBase</a></li>
+<li>get_setpoint()&#160;:&#160;<a class="el" href="classLift.html#adaa6cb65351d0c8a2c199a87a318b133">Lift&lt; T &gt;</a></li>
+<li>get_size()&#160;:&#160;<a class="el" href="classMovingAverage.html#ac45976e15321d2c2f52d1f281475b53d">MovingAverage</a></li>
+<li>get_speed()&#160;:&#160;<a class="el" href="classOdometryBase.html#a96c7be68db7424ddbe3704770dd1889f">OdometryBase</a></li>
+<li>get_target()&#160;:&#160;<a class="el" href="classPID.html#a1cd58cedeccc45b67551e331ee547be9">PID</a></li>
+<li>get_x()&#160;:&#160;<a class="el" href="classVector2D.html#a240e649d36dbda8bcba031f5fe5a2438">Vector2D</a></li>
+<li>get_y()&#160;:&#160;<a class="el" href="classVector2D.html#aee94b809a4a63b972c72b22257fa3f30">Vector2D</a></li>
+<li>getDesiredRPM()&#160;:&#160;<a class="el" href="classFlywheel.html#a5dee80fd74903884478649b6ec2f4528">Flywheel</a></li>
+<li>getFeedforwardValue()&#160;:&#160;<a class="el" href="classFlywheel.html#aea43f1c07b799133113d7b9ff14a7f36">Flywheel</a></li>
+<li>getMotors()&#160;:&#160;<a class="el" href="classFlywheel.html#a5823c1242f4b00519f582a7468cf537a">Flywheel</a></li>
+<li>getPID()&#160;:&#160;<a class="el" href="classFlywheel.html#adf7b3fab5fd8a708f339da649c72e775">Flywheel</a></li>
+<li>getPIDValue()&#160;:&#160;<a class="el" href="classFlywheel.html#a45bde10a01304c71e74564cd080a9052">Flywheel</a></li>
+<li>getRPM()&#160;:&#160;<a class="el" href="classFlywheel.html#a00e5ad15adfb23185f7713b86d9d7b9f">Flywheel</a></li>
+<li>getTBHGain()&#160;:&#160;<a class="el" href="classFlywheel.html#a8c1f0b98975b9d75bc5b350fa059043d">Flywheel</a></li>
+<li>GraphDrawer()&#160;:&#160;<a class="el" href="classGraphDrawer.html#a8066ff51adb3cbbeca34268d13f34c5f">GraphDrawer</a></li>
+</ul>
+
+
+<h3><a id="index_h" name="index_h"></a>- h -</h3><ul>
+<li>hold()&#160;:&#160;<a class="el" href="classLift.html#a9afcbf54cdd919a2c5a68f95c7a0c9e8">Lift&lt; T &gt;</a></li>
+<li>home()&#160;:&#160;<a class="el" href="classLift.html#ab53178b13037a4c6b1fd07657cff1f25">Lift&lt; T &gt;</a></li>
+</ul>
+
+
+<h3><a id="index_i" name="index_i"></a>- i -</h3><ul>
+<li>init()&#160;:&#160;<a class="el" href="classFeedback.html#a22efb13216bfd51aea07e0b6e45135c1">Feedback</a>, <a class="el" href="classMotionController.html#af0d665d9916111cbce677da6df6b6667">MotionController</a>, <a class="el" href="classPID.html#aab0f3b4351cc4ee2b8bb366105e85e95">PID</a>, <a class="el" href="classPIDFF.html#a37226c8d3bfac97485b28105a15f29fc">PIDFF</a></li>
+<li>is_on_target()&#160;:&#160;<a class="el" href="classFeedback.html#ae4cc835c374aab9761d22603d4329d34">Feedback</a>, <a class="el" href="classMotionController.html#aa9e2af88b848646889deb1d43a283173">MotionController</a>, <a class="el" href="classPID.html#a9de884c31570c4ae0dc6e24eb26daa43">PID</a>, <a class="el" href="classPIDFF.html#a2534a33490570d839bf1849673a70bc1">PIDFF</a></li>
+<li>isTaskRunning()&#160;:&#160;<a class="el" href="classFlywheel.html#a990fde5741011926c84c45ea3c51ced3">Flywheel</a></li>
+</ul>
+
+
+<h3><a id="index_l" name="index_l"></a>- l -</h3><ul>
+<li>last_command_timed_out()&#160;:&#160;<a class="el" href="classCommandController.html#a23306007060f97ab7f57715c5d8d0c57">CommandController</a></li>
+<li>Lift()&#160;:&#160;<a class="el" href="classLift.html#aa5723874330725dec5176ec4174e9ea8">Lift&lt; T &gt;</a></li>
+</ul>
+
+
+<h3><a id="index_m" name="index_m"></a>- m -</h3><ul>
+<li>measureRPM()&#160;:&#160;<a class="el" href="classFlywheel.html#ae46b69a8371dca7d6fb163c30192f666">Flywheel</a></li>
+<li>MecanumDrive()&#160;:&#160;<a class="el" href="classMecanumDrive.html#a780908c5b55ea8b9f228c84540a6c5f7">MecanumDrive</a></li>
+<li>modify_inputs()&#160;:&#160;<a class="el" href="classTankDrive.html#abb511cf1be40ef7be89c2ccff6a09cab">TankDrive</a></li>
+<li>MotionController()&#160;:&#160;<a class="el" href="classMotionController.html#a076c5aa4ea383dccaeec76f7554a7467">MotionController</a></li>
+<li>MovingAverage()&#160;:&#160;<a class="el" href="classMovingAverage.html#a2455b651d3c6ad1f14d1a0d65b2394b2">MovingAverage</a></li>
+</ul>
+
+
+<h3><a id="index_n" name="index_n"></a>- n -</h3><ul>
+<li>normalize()&#160;:&#160;<a class="el" href="classVector2D.html#a0bb684df2d724e4378dc5fbf0d4faa99">Vector2D</a></li>
+</ul>
+
+
+<h3><a id="index_o" name="index_o"></a>- o -</h3><ul>
+<li>Odometry3Wheel()&#160;:&#160;<a class="el" href="classOdometry3Wheel.html#a6755014965483b84e06e42d8e289bf40">Odometry3Wheel</a></li>
+<li>OdometryBase()&#160;:&#160;<a class="el" href="classOdometryBase.html#a61286bd1c5105adbfa5b52c74f9e9466">OdometryBase</a></li>
+<li>OdometryTank()&#160;:&#160;<a class="el" href="classOdometryTank.html#add83c3320e43e90963c38f25ce06c4da">OdometryTank</a></li>
+<li>OdomSetPosition()&#160;:&#160;<a class="el" href="classOdomSetPosition.html#afcd92592689e2c3262dd9120286bbac2">OdomSetPosition</a></li>
+<li>on_timeout()&#160;:&#160;<a class="el" href="classAutoCommand.html#a68475854d11e7c3be90e9c6e8fc9e982">AutoCommand</a>, <a class="el" href="classDriveForwardCommand.html#a52b4e1ff386eeb1c00f219f40738d0af">DriveForwardCommand</a>, <a class="el" href="classTurnDegreesCommand.html#abd912b5906bafd9f4117e005eaeccb18">TurnDegreesCommand</a>, <a class="el" href="classTurnToHeadingCommand.html#acaa3b650ed9f02315eb6ba901181bc85">TurnToHeadingCommand</a></li>
+<li>operator*()&#160;:&#160;<a class="el" href="classVector2D.html#a00a0dc6776995d47659b3ddd58c33a78">Vector2D</a></li>
+<li>operator+()&#160;:&#160;<a class="el" href="classVector2D.html#a2bed654f65df8c3bedbf8cd7d07071df">Vector2D</a>, <a class="el" href="structVector2D_1_1point__t.html#a80783a6446695b14693816aaf1341bdb">Vector2D::point_t</a></li>
+<li>operator-()&#160;:&#160;<a class="el" href="classVector2D.html#a07a043fc63572c1cf3104ec0a9a4e796">Vector2D</a>, <a class="el" href="structVector2D_1_1point__t.html#aac0efd68a6d8dbe4cbb2437096a0a05d">Vector2D::point_t</a></li>
+</ul>
+
+
+<h3><a id="index_p" name="index_p"></a>- p -</h3><ul>
+<li>PID()&#160;:&#160;<a class="el" href="classPID.html#a3b6b678b2d52a2be7fb572b766e43994">PID</a></li>
+<li>point()&#160;:&#160;<a class="el" href="classVector2D.html#a567227aaadc7eceae0cbccf7f611aff4">Vector2D</a></li>
+<li>pos_diff()&#160;:&#160;<a class="el" href="classOdometryBase.html#a8a248f027d3ff98cb2df2e3cd90e1f66">OdometryBase</a></li>
+<li>position()&#160;:&#160;<a class="el" href="classCustomEncoder.html#ab891fa278911c232bd0bf502a5ed95eb">CustomEncoder</a></li>
+<li>pure_pursuit()&#160;:&#160;<a class="el" href="classTankDrive.html#a13bb19d1cf97b7f3534f4f2a0a13bf27">TankDrive</a></li>
+</ul>
+
+
+<h3><a id="index_r" name="index_r"></a>- r -</h3><ul>
+<li>render()&#160;:&#160;<a class="el" href="classAutoChooser.html#a9365d354e3401d819e58a999721c07d9">AutoChooser</a></li>
+<li>reset()&#160;:&#160;<a class="el" href="classPID.html#af9677e76cb1beffbcf3f54cbc627c530">PID</a></li>
+<li>reset_auto()&#160;:&#160;<a class="el" href="classTankDrive.html#aaa68eae1521e5b87ecfed2a60b15bf34">TankDrive</a></li>
+<li>rot_diff()&#160;:&#160;<a class="el" href="classOdometryBase.html#ab1f1a09cda37d799c82003b5284c6856">OdometryBase</a></li>
+<li>rotation()&#160;:&#160;<a class="el" href="classCustomEncoder.html#a853fa3a11f2563d71f08ee3c3f38ff01">CustomEncoder</a></li>
+<li>run()&#160;:&#160;<a class="el" href="classAutoCommand.html#a9f58c576ca6378b18a4136f60df50560">AutoCommand</a>, <a class="el" href="classCommandController.html#a0f7f6ccce0304c577521205ad37bb36a">CommandController</a>, <a class="el" href="classDelayCommand.html#a6cff8fe05b3ca36ec2ab20e411cfd9ab">DelayCommand</a>, <a class="el" href="classDriveForwardCommand.html#aff482b72cab23cd569eb01efac6d1d31">DriveForwardCommand</a>, <a class="el" href="classDriveStopCommand.html#a3b37806449b50b2f2c19179f1039237b">DriveStopCommand</a>, <a class="el" href="classDriveToPointCommand.html#a8ed58921bc3eeb8c04d0b11b4f7e4fbe">DriveToPointCommand</a>, <a class="el" href="classFlywheelStopCommand.html#a9be8ca8422bd7b5f5a03cbf8e21025a7">FlywheelStopCommand</a>, <a class="el" href="classFlywheelStopMotorsCommand.html#ab5b75338d50c3674a5fe27a5e77698bc">FlywheelStopMotorsCommand</a>, <a class="el" href="classGenericAuto.html#af25dcaaf074980064382c458812b3c9c">GenericAuto</a>, <a class="el" href="classOdomSetPosition.html#a611e74a12a9eeb0fce1f38a596c3c467">OdomSetPosition</a>, <a class="el" href="classSpinRPMCommand.html#af12f71f87967de0d9991272d9659b6ef">SpinRPMCommand</a>, <a class="el" href="classTurnDegreesCommand.html#a2206e4c5073a2e83f6bfa3eeca46a370">TurnDegreesCommand</a>, <a class="el" href="classTurnToHeadingCommand.html#af571168ca078be95cbc735c99c2f4093">TurnToHeadingCommand</a>, <a class="el" href="classWaitUntilUpToSpeedCommand.html#a38f75c01a4740d87a380c15cc51c6396">WaitUntilUpToSpeedCommand</a></li>
+</ul>
+
+
+<h3><a id="index_s" name="index_s"></a>- s -</h3><ul>
+<li>set_accel()&#160;:&#160;<a class="el" href="classTrapezoidProfile.html#a1dcdfa1c290347cf0af48aca5afd167c">TrapezoidProfile</a></li>
+<li>set_async()&#160;:&#160;<a class="el" href="classLift.html#a7f37703180518390ec38cba9a780282b">Lift&lt; T &gt;</a></li>
+<li>set_endpts()&#160;:&#160;<a class="el" href="classTrapezoidProfile.html#a1d28f3fa6bf1dfa7f5c1a34d0d3b17b5">TrapezoidProfile</a></li>
+<li>set_limits()&#160;:&#160;<a class="el" href="classFeedback.html#a533a10b65cfc998898bf054f8b141de2">Feedback</a>, <a class="el" href="classMotionController.html#a944c245002a1eb124dd8df40de4fcc57">MotionController</a>, <a class="el" href="classPID.html#a8411ac48e8868d89e97afcf8990cca2c">PID</a>, <a class="el" href="classPIDFF.html#ae0dccb27a91ec687f90c930441f246bb">PIDFF</a></li>
+<li>set_max_v()&#160;:&#160;<a class="el" href="classTrapezoidProfile.html#a6c08d08d8eadaa719f4dc9e607f9fe97">TrapezoidProfile</a></li>
+<li>set_position()&#160;:&#160;<a class="el" href="classLift.html#ab3cb7bc86faa079ec1249b5026ea6a85">Lift&lt; T &gt;</a>, <a class="el" href="classOdometryBase.html#a34e4bd8567933d1b6bd6e41327a36549">OdometryBase</a>, <a class="el" href="classOdometryTank.html#ad3b4bcf351767992e2383ab000645335">OdometryTank</a></li>
+<li>set_sensor_function()&#160;:&#160;<a class="el" href="classLift.html#a08b7cdcfc9390f4945dd3737ac0e5ddc">Lift&lt; T &gt;</a></li>
+<li>set_sensor_reset()&#160;:&#160;<a class="el" href="classLift.html#a70b8e7cff5cd3b5827d8da07a02d92e6">Lift&lt; T &gt;</a></li>
+<li>set_setpoint()&#160;:&#160;<a class="el" href="classLift.html#a662bdc055d706699ef5cf308cd8872f8">Lift&lt; T &gt;</a></li>
+<li>set_target()&#160;:&#160;<a class="el" href="classPID.html#a2e301ab123c9e18e677b4873b03550dd">PID</a>, <a class="el" href="classPIDFF.html#a5b5584e4ca036b0e51c693a24a23b50b">PIDFF</a></li>
+<li>setPIDTarget()&#160;:&#160;<a class="el" href="classFlywheel.html#a5eeb847c6ef4736b1917bf32843c69aa">Flywheel</a></li>
+<li>setPosition()&#160;:&#160;<a class="el" href="classCustomEncoder.html#a0edd50e16020ccad5eafa55e0f80288d">CustomEncoder</a></li>
+<li>setRotation()&#160;:&#160;<a class="el" href="classCustomEncoder.html#abcb003c4627f59faa25c748c597da7fd">CustomEncoder</a></li>
+<li>smallest_angle()&#160;:&#160;<a class="el" href="classOdometryBase.html#a70ec71e9fb2e14f0a191a6bac927d36b">OdometryBase</a></li>
+<li>spin_manual()&#160;:&#160;<a class="el" href="classFlywheel.html#a291e067bcc495a9d3da16a5832d78484">Flywheel</a></li>
+<li>spin_raw()&#160;:&#160;<a class="el" href="classFlywheel.html#a5f4afa2ab8976acbf9fd47776a884dd3">Flywheel</a></li>
+<li>spinRPM()&#160;:&#160;<a class="el" href="classFlywheel.html#aa72700130c0c8a08517ec1396fe9cc2b">Flywheel</a></li>
+<li>SpinRPMCommand()&#160;:&#160;<a class="el" href="classSpinRPMCommand.html#a9bfcf882448d6d4e0860c1a7de90f9ea">SpinRPMCommand</a></li>
+<li>stop()&#160;:&#160;<a class="el" href="classFlywheel.html#a6634f5126f0404e0edeeff1e0e14d05e">Flywheel</a>, <a class="el" href="classTankDrive.html#af10e648e4de35fa72859fb96a9a80485">TankDrive</a></li>
+<li>stopMotors()&#160;:&#160;<a class="el" href="classFlywheel.html#a78eaa40c9c069b8b4146c3ae34a21d4e">Flywheel</a></li>
+<li>stopNonTasks()&#160;:&#160;<a class="el" href="classFlywheel.html#a63c9c4d3646e4ed14f3b98ce3ab28684">Flywheel</a></li>
+</ul>
+
+
+<h3><a id="index_t" name="index_t"></a>- t -</h3><ul>
+<li>TankDrive()&#160;:&#160;<a class="el" href="classTankDrive.html#a34f305bb1c996e3748c925af259aeeb4">TankDrive</a></li>
+<li>TrapezoidProfile()&#160;:&#160;<a class="el" href="classTrapezoidProfile.html#af693ca740c0112cfbf4a9ee13bbb6c5d">TrapezoidProfile</a></li>
+<li>tune()&#160;:&#160;<a class="el" href="classOdometry3Wheel.html#acb23dbf715d342566fc7e44f58ebf654">Odometry3Wheel</a></li>
+<li>tune_feedforward()&#160;:&#160;<a class="el" href="classMotionController.html#a20749b6a4bd3cf509a3acf682831eb00">MotionController</a></li>
+<li>turn_degrees()&#160;:&#160;<a class="el" href="classTankDrive.html#ac1ce9895b82b7298465d8e59fae95763">TankDrive</a></li>
+<li>turn_to_heading()&#160;:&#160;<a class="el" href="classTankDrive.html#a25030a7b5e9404a911f7b776a7df7f05">TankDrive</a></li>
+<li>TurnDegreesCommand()&#160;:&#160;<a class="el" href="classTurnDegreesCommand.html#a70a7e4688c10f1b351e6d79a3a7862ee">TurnDegreesCommand</a></li>
+<li>TurnToHeadingCommand()&#160;:&#160;<a class="el" href="classTurnToHeadingCommand.html#a9a958d75babe94709827c827807d423d">TurnToHeadingCommand</a></li>
+</ul>
+
+
+<h3><a id="index_u" name="index_u"></a>- u -</h3><ul>
+<li>update()&#160;:&#160;<a class="el" href="classFeedback.html#adda5fc7642539996be00632954dfc41f">Feedback</a>, <a class="el" href="classMotionController.html#a86ef0ef19858b5b407f7406bb5da30af">MotionController</a>, <a class="el" href="classOdometry3Wheel.html#a85c5661989dae181a4db7d91bd0526f7">Odometry3Wheel</a>, <a class="el" href="classOdometryBase.html#a5d55b7987d97a9af721838596a520dec">OdometryBase</a>, <a class="el" href="classOdometryTank.html#a02508433d771c661c89d14f204a61d13">OdometryTank</a>, <a class="el" href="classPID.html#a53b5c34ba5e81fb79ed4258a143015b9">PID</a>, <a class="el" href="classPIDFF.html#a9a9b05ec43e4430019652b62799e761c">PIDFF</a></li>
+<li>updatePID()&#160;:&#160;<a class="el" href="classFlywheel.html#aa9df5ad636fb49d76ba922ecd1115aef">Flywheel</a></li>
+</ul>
+
+
+<h3><a id="index_v" name="index_v"></a>- v -</h3><ul>
+<li>Vector2D()&#160;:&#160;<a class="el" href="classVector2D.html#af3084a6d83b0c8220c548fbf74df2744">Vector2D</a></li>
+<li>velocity()&#160;:&#160;<a class="el" href="classCustomEncoder.html#a92fe3a3227b4c4bc1ad1389b7b758455">CustomEncoder</a></li>
+</ul>
+
+
+<h3><a id="index_w" name="index_w"></a>- w -</h3><ul>
+<li>WaitUntilUpToSpeedCommand()&#160;:&#160;<a class="el" href="classWaitUntilUpToSpeedCommand.html#afd000a8f148291a9d2310b76b9354fea">WaitUntilUpToSpeedCommand</a></li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.6
+</small></address>
+</body>
+</html>
diff --git a/documentation/html/functions_g.html b/documentation/html/functions_g.html
new file mode 100644
index 0000000..4e74ecb
--- /dev/null
+++ b/documentation/html/functions_g.html
@@ -0,0 +1,109 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml" lang="en-US">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=11"/>
+<meta name="generator" content="Doxygen 1.9.6"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>RIT VEXU Core API: Class Members</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr id="projectrow">
+  <td id="projectalign">
+   <div id="projectname">RIT VEXU Core API
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.6 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+var searchBox = new SearchBox("searchBox", "search/",'.html');
+/* @license-end */
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
+/* @license-end */
+</script>
+<div id="main-nav"></div>
+</div><!-- top -->
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<div id="MSearchResults">
+<div class="SRPage">
+<div id="SRIndex">
+<div id="SRResults"></div>
+<div class="SRStatus" id="Loading">Loading...</div>
+<div class="SRStatus" id="Searching">Searching...</div>
+<div class="SRStatus" id="NoMatches">No Matches</div>
+</div>
+</div>
+</div>
+</div>
+
+<div class="contents">
+<div class="textblock">Here is a list of all documented class members with links to the class documentation for each member:</div>
+
+<h3><a id="index_g" name="index_g"></a>- g -</h3><ul>
+<li>get()&#160;:&#160;<a class="el" href="classFeedback.html#ac44bb519a6f4e25c8e8250f3d30ab359">Feedback</a>, <a class="el" href="classMotionController.html#a2a1944f590618cd91770364aea416cd5">MotionController</a>, <a class="el" href="classPID.html#a69c2e66b8ff06c86ca9701d11e21da75">PID</a>, <a class="el" href="classPIDFF.html#a78a34d271bcc703fc803e15b275fd238">PIDFF</a></li>
+<li>get_accel()&#160;:&#160;<a class="el" href="classOdometryBase.html#a3223bac952f79bf910b979690499b965">OdometryBase</a></li>
+<li>get_angular_accel_deg()&#160;:&#160;<a class="el" href="classOdometryBase.html#a456e6433e51971d2640ff96ed3a59432">OdometryBase</a></li>
+<li>get_angular_speed_deg()&#160;:&#160;<a class="el" href="classOdometryBase.html#af30d97a35e9e9c4f9be0a81390e6c0f1">OdometryBase</a></li>
+<li>get_async()&#160;:&#160;<a class="el" href="classLift.html#a6913ab2df38f0429641c256ec9288370">Lift&lt; T &gt;</a></li>
+<li>get_average()&#160;:&#160;<a class="el" href="classMovingAverage.html#aa91e650064d361abe51bfa0b166ac6c0">MovingAverage</a></li>
+<li>get_choice()&#160;:&#160;<a class="el" href="classAutoChooser.html#ada27d20c06baeb169c3abed5fd0b06bb">AutoChooser</a></li>
+<li>get_dir()&#160;:&#160;<a class="el" href="classVector2D.html#a683dab4e55cfc8483a32c6805cd29980">Vector2D</a></li>
+<li>get_error()&#160;:&#160;<a class="el" href="classPID.html#ab5cdb296dbcce80703a9a98b9605c500">PID</a></li>
+<li>get_mag()&#160;:&#160;<a class="el" href="classVector2D.html#a4da6f92b5874470ed5642587a973c3df">Vector2D</a></li>
+<li>get_motion()&#160;:&#160;<a class="el" href="classMotionController.html#ab958ce97fbc4929f4dd03965671e8d4d">MotionController</a></li>
+<li>get_movement_time()&#160;:&#160;<a class="el" href="classTrapezoidProfile.html#abd551042dfffe0923200c4546d109c55">TrapezoidProfile</a></li>
+<li>get_position()&#160;:&#160;<a class="el" href="classOdometryBase.html#a3cdcfcf70ef02e0efc2efd902fac3811">OdometryBase</a></li>
+<li>get_setpoint()&#160;:&#160;<a class="el" href="classLift.html#adaa6cb65351d0c8a2c199a87a318b133">Lift&lt; T &gt;</a></li>
+<li>get_size()&#160;:&#160;<a class="el" href="classMovingAverage.html#ac45976e15321d2c2f52d1f281475b53d">MovingAverage</a></li>
+<li>get_speed()&#160;:&#160;<a class="el" href="classOdometryBase.html#a96c7be68db7424ddbe3704770dd1889f">OdometryBase</a></li>
+<li>get_target()&#160;:&#160;<a class="el" href="classPID.html#a1cd58cedeccc45b67551e331ee547be9">PID</a></li>
+<li>get_x()&#160;:&#160;<a class="el" href="classVector2D.html#a240e649d36dbda8bcba031f5fe5a2438">Vector2D</a></li>
+<li>get_y()&#160;:&#160;<a class="el" href="classVector2D.html#aee94b809a4a63b972c72b22257fa3f30">Vector2D</a></li>
+<li>getDesiredRPM()&#160;:&#160;<a class="el" href="classFlywheel.html#a5dee80fd74903884478649b6ec2f4528">Flywheel</a></li>
+<li>getFeedforwardValue()&#160;:&#160;<a class="el" href="classFlywheel.html#aea43f1c07b799133113d7b9ff14a7f36">Flywheel</a></li>
+<li>getMotors()&#160;:&#160;<a class="el" href="classFlywheel.html#a5823c1242f4b00519f582a7468cf537a">Flywheel</a></li>
+<li>getPID()&#160;:&#160;<a class="el" href="classFlywheel.html#adf7b3fab5fd8a708f339da649c72e775">Flywheel</a></li>
+<li>getPIDValue()&#160;:&#160;<a class="el" href="classFlywheel.html#a45bde10a01304c71e74564cd080a9052">Flywheel</a></li>
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+<div class="contents">
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+
+<div class="contents">
+<div class="textblock">Here is a list of all documented class members with links to the class documentation for each member:</div>
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+<li>odom_gear_ratio&#160;:&#160;<a class="el" href="structrobot__specs__t.html#a8c454d8b38efdd15dfa6f075c40e4ec7">robot_specs_t</a></li>
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+
+<h3><a id="index_r" name="index_r"></a>- r -</h3><ul>
+<li>render()&#160;:&#160;<a class="el" href="classAutoChooser.html#a9365d354e3401d819e58a999721c07d9">AutoChooser</a></li>
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+</ul>
+</div><!-- contents -->
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+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.6
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+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=11"/>
+<meta name="generator" content="Doxygen 1.9.6"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>RIT VEXU Core API: Class Members</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
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+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr id="projectrow">
+  <td id="projectalign">
+   <div id="projectname">RIT VEXU Core API
+   </div>
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+<!-- Generated by Doxygen 1.9.6 -->
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+</div>
+</div>
+</div>
+</div>
+
+<div class="contents">
+<div class="textblock">Here is a list of all documented class members with links to the class documentation for each member:</div>
+
+<h3><a id="index_s" name="index_s"></a>- s -</h3><ul>
+<li>set_accel()&#160;:&#160;<a class="el" href="classTrapezoidProfile.html#a1dcdfa1c290347cf0af48aca5afd167c">TrapezoidProfile</a></li>
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+<li>set_sensor_function()&#160;:&#160;<a class="el" href="classLift.html#a08b7cdcfc9390f4945dd3737ac0e5ddc">Lift&lt; T &gt;</a></li>
+<li>set_sensor_reset()&#160;:&#160;<a class="el" href="classLift.html#a70b8e7cff5cd3b5827d8da07a02d92e6">Lift&lt; T &gt;</a></li>
+<li>set_setpoint()&#160;:&#160;<a class="el" href="classLift.html#a662bdc055d706699ef5cf308cd8872f8">Lift&lt; T &gt;</a></li>
+<li>set_target()&#160;:&#160;<a class="el" href="classPID.html#a2e301ab123c9e18e677b4873b03550dd">PID</a>, <a class="el" href="classPIDFF.html#a5b5584e4ca036b0e51c693a24a23b50b">PIDFF</a></li>
+<li>setPIDTarget()&#160;:&#160;<a class="el" href="classFlywheel.html#a5eeb847c6ef4736b1917bf32843c69aa">Flywheel</a></li>
+<li>setPosition()&#160;:&#160;<a class="el" href="classCustomEncoder.html#a0edd50e16020ccad5eafa55e0f80288d">CustomEncoder</a></li>
+<li>setRotation()&#160;:&#160;<a class="el" href="classCustomEncoder.html#abcb003c4627f59faa25c748c597da7fd">CustomEncoder</a></li>
+<li>smallest_angle()&#160;:&#160;<a class="el" href="classOdometryBase.html#a70ec71e9fb2e14f0a191a6bac927d36b">OdometryBase</a></li>
+<li>speed&#160;:&#160;<a class="el" href="classOdometryBase.html#a6119ab3ce0b685e67a8b57871e0a2c26">OdometryBase</a></li>
+<li>spin_manual()&#160;:&#160;<a class="el" href="classFlywheel.html#a291e067bcc495a9d3da16a5832d78484">Flywheel</a></li>
+<li>spin_raw()&#160;:&#160;<a class="el" href="classFlywheel.html#a5f4afa2ab8976acbf9fd47776a884dd3">Flywheel</a></li>
+<li>spinRPM()&#160;:&#160;<a class="el" href="classFlywheel.html#aa72700130c0c8a08517ec1396fe9cc2b">Flywheel</a></li>
+<li>SpinRPMCommand()&#160;:&#160;<a class="el" href="classSpinRPMCommand.html#a9bfcf882448d6d4e0860c1a7de90f9ea">SpinRPMCommand</a></li>
+<li>stop()&#160;:&#160;<a class="el" href="classFlywheel.html#a6634f5126f0404e0edeeff1e0e14d05e">Flywheel</a>, <a class="el" href="classTankDrive.html#af10e648e4de35fa72859fb96a9a80485">TankDrive</a></li>
+<li>stopMotors()&#160;:&#160;<a class="el" href="classFlywheel.html#a78eaa40c9c069b8b4146c3ae34a21d4e">Flywheel</a></li>
+<li>stopNonTasks()&#160;:&#160;<a class="el" href="classFlywheel.html#a63c9c4d3646e4ed14f3b98ce3ab28684">Flywheel</a></li>
+</ul>
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+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.6
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+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>RIT VEXU Core API: Class Members</title>
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+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
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+<div class="SRStatus" id="NoMatches">No Matches</div>
+</div>
+</div>
+</div>
+</div>
+
+<div class="contents">
+<div class="textblock">Here is a list of all documented class members with links to the class documentation for each member:</div>
+
+<h3><a id="index_t" name="index_t"></a>- t -</h3><ul>
+<li>TankDrive()&#160;:&#160;<a class="el" href="classTankDrive.html#a34f305bb1c996e3748c925af259aeeb4">TankDrive</a></li>
+<li>timeout_seconds&#160;:&#160;<a class="el" href="classAutoCommand.html#ac3be7be26e49981ad1978491fd313472">AutoCommand</a></li>
+<li>TrapezoidProfile()&#160;:&#160;<a class="el" href="classTrapezoidProfile.html#af693ca740c0112cfbf4a9ee13bbb6c5d">TrapezoidProfile</a></li>
+<li>tune()&#160;:&#160;<a class="el" href="classOdometry3Wheel.html#acb23dbf715d342566fc7e44f58ebf654">Odometry3Wheel</a></li>
+<li>tune_feedforward()&#160;:&#160;<a class="el" href="classMotionController.html#a20749b6a4bd3cf509a3acf682831eb00">MotionController</a></li>
+<li>turn_degrees()&#160;:&#160;<a class="el" href="classTankDrive.html#ac1ce9895b82b7298465d8e59fae95763">TankDrive</a></li>
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+<li>TurnDegreesCommand()&#160;:&#160;<a class="el" href="classTurnDegreesCommand.html#a70a7e4688c10f1b351e6d79a3a7862ee">TurnDegreesCommand</a></li>
+<li>TurnToHeadingCommand()&#160;:&#160;<a class="el" href="classTurnToHeadingCommand.html#a9a958d75babe94709827c827807d423d">TurnToHeadingCommand</a></li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.6
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diff --git a/documentation/html/functions_u.html b/documentation/html/functions_u.html
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+</div>
+
+<div class="contents">
+<div class="textblock">Here is a list of all documented class members with links to the class documentation for each member:</div>
+
+<h3><a id="index_u" name="index_u"></a>- u -</h3><ul>
+<li>update()&#160;:&#160;<a class="el" href="classFeedback.html#adda5fc7642539996be00632954dfc41f">Feedback</a>, <a class="el" href="classMotionController.html#a86ef0ef19858b5b407f7406bb5da30af">MotionController</a>, <a class="el" href="classOdometry3Wheel.html#a85c5661989dae181a4db7d91bd0526f7">Odometry3Wheel</a>, <a class="el" href="classOdometryBase.html#a5d55b7987d97a9af721838596a520dec">OdometryBase</a>, <a class="el" href="classOdometryTank.html#a02508433d771c661c89d14f204a61d13">OdometryTank</a>, <a class="el" href="classPID.html#a53b5c34ba5e81fb79ed4258a143015b9">PID</a>, <a class="el" href="classPIDFF.html#a9a9b05ec43e4430019652b62799e761c">PIDFF</a></li>
+<li>updatePID()&#160;:&#160;<a class="el" href="classFlywheel.html#aa9df5ad636fb49d76ba922ecd1115aef">Flywheel</a></li>
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+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
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+<div id="titlearea">
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+ <tr id="projectrow">
+  <td id="projectalign">
+   <div id="projectname">RIT VEXU Core API
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+<script type="text/javascript">
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+<title>RIT VEXU Core API: Class Members</title>
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+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
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+</div>
+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="dir_d44c64559bbebec7f509842c48db8b23.html">include</a></li><li class="navelem"><a class="el" href="dir_821002d4f10779a80d4fb17bc32f21f1.html">utils</a></li>  </ul>
+</div>
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+<div class="header">
+  <div class="headertitle"><div class="title">generic_auto.h</div></div>
+</div><!--header-->
+<div class="contents">
+<div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno">    1</span><span class="preprocessor">#pragma once</span></div>
+<div class="line"><a id="l00002" name="l00002"></a><span class="lineno">    2</span> </div>
+<div class="line"><a id="l00003" name="l00003"></a><span class="lineno">    3</span><span class="preprocessor">#include &lt;queue&gt;</span></div>
+<div class="line"><a id="l00004" name="l00004"></a><span class="lineno">    4</span><span class="preprocessor">#include &lt;map&gt;</span></div>
+<div class="line"><a id="l00005" name="l00005"></a><span class="lineno">    5</span><span class="preprocessor">#include &quot;vex.h&quot;</span></div>
+<div class="line"><a id="l00006" name="l00006"></a><span class="lineno">    6</span><span class="preprocessor">#include &lt;functional&gt;</span></div>
+<div class="line"><a id="l00007" name="l00007"></a><span class="lineno">    7</span> </div>
+<div class="line"><a id="l00008" name="l00008"></a><span class="lineno">    8</span><span class="keyword">typedef</span> std::function&lt;bool(<span class="keywordtype">void</span>)&gt; state_ptr;</div>
+<div class="line"><a id="l00009" name="l00009"></a><span class="lineno">    9</span> </div>
+<div class="line"><a id="l00014" name="l00014"></a><span class="lineno"><a class="line" href="classGenericAuto.html">   14</a></span><span class="keyword">class </span><a class="code hl_class" href="classGenericAuto.html">GenericAuto</a></div>
+<div class="line"><a id="l00015" name="l00015"></a><span class="lineno">   15</span>{</div>
+<div class="line"><a id="l00016" name="l00016"></a><span class="lineno">   16</span>  <span class="keyword">public</span>:</div>
+<div class="line"><a id="l00017" name="l00017"></a><span class="lineno">   17</span> </div>
+<div class="line"><a id="l00031" name="l00031"></a><span class="lineno">   31</span>  <span class="keywordtype">bool</span> <a class="code hl_function" href="classGenericAuto.html#af25dcaaf074980064382c458812b3c9c">run</a>(<span class="keywordtype">bool</span> blocking);</div>
+<div class="line"><a id="l00032" name="l00032"></a><span class="lineno">   32</span> </div>
+<div class="line"><a id="l00037" name="l00037"></a><span class="lineno">   37</span>  <span class="keywordtype">void</span> <a class="code hl_function" href="classGenericAuto.html#af48629556173af1f5106f7405a196f47">add</a>(state_ptr new_state);</div>
+<div class="line"><a id="l00038" name="l00038"></a><span class="lineno">   38</span> </div>
+<div class="line"><a id="l00043" name="l00043"></a><span class="lineno">   43</span>  <span class="keywordtype">void</span> <a class="code hl_function" href="classGenericAuto.html#a938fb69c14735d4cf88ebc7589dcad1c">add_async</a>(state_ptr async_state);</div>
+<div class="line"><a id="l00044" name="l00044"></a><span class="lineno">   44</span> </div>
+<div class="line"><a id="l00049" name="l00049"></a><span class="lineno">   49</span>  <span class="keywordtype">void</span> <a class="code hl_function" href="classGenericAuto.html#aaadc99efe49a375f0dc80db7e886d96c">add_delay</a>(<span class="keywordtype">int</span> ms);</div>
+<div class="line"><a id="l00050" name="l00050"></a><span class="lineno">   50</span> </div>
+<div class="line"><a id="l00051" name="l00051"></a><span class="lineno">   51</span>  <span class="keyword">private</span>:</div>
+<div class="line"><a id="l00052" name="l00052"></a><span class="lineno">   52</span> </div>
+<div class="line"><a id="l00053" name="l00053"></a><span class="lineno">   53</span>  std::queue&lt;state_ptr&gt; state_list;</div>
+<div class="line"><a id="l00054" name="l00054"></a><span class="lineno">   54</span> </div>
+<div class="line"><a id="l00055" name="l00055"></a><span class="lineno">   55</span>};</div>
+<div class="ttc" id="aclassGenericAuto_html"><div class="ttname"><a href="classGenericAuto.html">GenericAuto</a></div><div class="ttdef"><b>Definition:</b> generic_auto.h:15</div></div>
+<div class="ttc" id="aclassGenericAuto_html_a938fb69c14735d4cf88ebc7589dcad1c"><div class="ttname"><a href="classGenericAuto.html#a938fb69c14735d4cf88ebc7589dcad1c">GenericAuto::add_async</a></div><div class="ttdeci">void add_async(state_ptr async_state)</div><div class="ttdef"><b>Definition:</b> generic_auto.cpp:41</div></div>
+<div class="ttc" id="aclassGenericAuto_html_aaadc99efe49a375f0dc80db7e886d96c"><div class="ttname"><a href="classGenericAuto.html#aaadc99efe49a375f0dc80db7e886d96c">GenericAuto::add_delay</a></div><div class="ttdeci">void add_delay(int ms)</div><div class="ttdef"><b>Definition:</b> generic_auto.cpp:56</div></div>
+<div class="ttc" id="aclassGenericAuto_html_af25dcaaf074980064382c458812b3c9c"><div class="ttname"><a href="classGenericAuto.html#af25dcaaf074980064382c458812b3c9c">GenericAuto::run</a></div><div class="ttdeci">bool run(bool blocking)</div><div class="ttdef"><b>Definition:</b> generic_auto.cpp:16</div></div>
+<div class="ttc" id="aclassGenericAuto_html_af48629556173af1f5106f7405a196f47"><div class="ttname"><a href="classGenericAuto.html#af48629556173af1f5106f7405a196f47">GenericAuto::add</a></div><div class="ttdeci">void add(state_ptr new_state)</div><div class="ttdef"><b>Definition:</b> generic_auto.cpp:36</div></div>
+</div><!-- fragment --></div><!-- contents -->
+<!-- start footer part -->
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+<li class="navelem"><a class="el" href="dir_d44c64559bbebec7f509842c48db8b23.html">include</a></li><li class="navelem"><a class="el" href="dir_821002d4f10779a80d4fb17bc32f21f1.html">utils</a></li>  </ul>
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+  <div class="headertitle"><div class="title">graph_drawer.h</div></div>
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+<div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno">    1</span><span class="preprocessor">#pragma once</span></div>
+<div class="line"><a id="l00002" name="l00002"></a><span class="lineno">    2</span> </div>
+<div class="line"><a id="l00003" name="l00003"></a><span class="lineno">    3</span><span class="preprocessor">#include &lt;string&gt;</span></div>
+<div class="line"><a id="l00004" name="l00004"></a><span class="lineno">    4</span><span class="preprocessor">#include &lt;stdio.h&gt;</span></div>
+<div class="line"><a id="l00005" name="l00005"></a><span class="lineno">    5</span><span class="preprocessor">#include &lt;vector&gt;</span></div>
+<div class="line"><a id="l00006" name="l00006"></a><span class="lineno">    6</span><span class="preprocessor">#include &quot;vex.h&quot;</span></div>
+<div class="line"><a id="l00007" name="l00007"></a><span class="lineno">    7</span><span class="preprocessor">#include &quot;../core/include/utils/vector2d.h&quot;</span></div>
+<div class="line"><a id="l00008" name="l00008"></a><span class="lineno">    8</span> </div>
+<div class="line"><a id="l00009" name="l00009"></a><span class="lineno"><a class="line" href="classGraphDrawer.html">    9</a></span><span class="keyword">class </span><a class="code hl_class" href="classGraphDrawer.html">GraphDrawer</a></div>
+<div class="line"><a id="l00010" name="l00010"></a><span class="lineno">   10</span>{</div>
+<div class="line"><a id="l00011" name="l00011"></a><span class="lineno">   11</span><span class="keyword">public</span>:</div>
+<div class="line"><a id="l00023" name="l00023"></a><span class="lineno"><a class="line" href="classGraphDrawer.html#a8066ff51adb3cbbeca34268d13f34c5f">   23</a></span>  <a class="code hl_function" href="classGraphDrawer.html#a8066ff51adb3cbbeca34268d13f34c5f">GraphDrawer</a>(vex::brain::lcd &amp;screen, <span class="keywordtype">int</span> num_samples, std::string x_label, std::string y_label, vex::color col, <span class="keywordtype">bool</span> draw_border, <span class="keywordtype">double</span> lower_bound, <span class="keywordtype">double</span> upper_bound) : Screen(screen), sample_index(0), xlabel(x_label), ylabel(y_label), col(col), border(draw_border), upper(upper_bound), lower(lower_bound)</div>
+<div class="line"><a id="l00024" name="l00024"></a><span class="lineno">   24</span>  {</div>
+<div class="line"><a id="l00025" name="l00025"></a><span class="lineno">   25</span>    std::vector&lt;Vector2D::point_t&gt; temp(num_samples, <a class="code hl_struct" href="structVector2D_1_1point__t.html">Vector2D::point_t</a>{.<a class="code hl_variable" href="structVector2D_1_1point__t.html#ad139f137dd3554335c4ed9b51c8e3bd9">x</a> = 0.0, .y = 0.0});</div>
+<div class="line"><a id="l00026" name="l00026"></a><span class="lineno">   26</span>    samples = temp;</div>
+<div class="line"><a id="l00027" name="l00027"></a><span class="lineno">   27</span>  }</div>
+<div class="line"><a id="l00028" name="l00028"></a><span class="lineno">   28</span> </div>
+<div class="line"><a id="l00033" name="l00033"></a><span class="lineno"><a class="line" href="classGraphDrawer.html#a41cadd5ade1ae9de1a82cc97ee15557c">   33</a></span>  <span class="keywordtype">void</span> <a class="code hl_function" href="classGraphDrawer.html#a41cadd5ade1ae9de1a82cc97ee15557c">add_sample</a>(<a class="code hl_struct" href="structVector2D_1_1point__t.html">Vector2D::point_t</a> sample)</div>
+<div class="line"><a id="l00034" name="l00034"></a><span class="lineno">   34</span>  {</div>
+<div class="line"><a id="l00035" name="l00035"></a><span class="lineno">   35</span>    samples[sample_index] = sample;</div>
+<div class="line"><a id="l00036" name="l00036"></a><span class="lineno">   36</span>    sample_index++;</div>
+<div class="line"><a id="l00037" name="l00037"></a><span class="lineno">   37</span>    sample_index %= samples.size();</div>
+<div class="line"><a id="l00038" name="l00038"></a><span class="lineno">   38</span>  }</div>
+<div class="line"><a id="l00046" name="l00046"></a><span class="lineno"><a class="line" href="classGraphDrawer.html#a420b88cacbf91908dc64624eb113d197">   46</a></span>  <span class="keywordtype">void</span> <a class="code hl_function" href="classGraphDrawer.html#a420b88cacbf91908dc64624eb113d197">draw</a>(<span class="keywordtype">int</span> x, <span class="keywordtype">int</span> y, <span class="keywordtype">int</span> width, <span class="keywordtype">int</span> height)</div>
+<div class="line"><a id="l00047" name="l00047"></a><span class="lineno">   47</span>  {</div>
+<div class="line"><a id="l00048" name="l00048"></a><span class="lineno">   48</span>    <span class="keywordflow">if</span> (samples.size() &lt; 1)</div>
+<div class="line"><a id="l00049" name="l00049"></a><span class="lineno">   49</span>    {</div>
+<div class="line"><a id="l00050" name="l00050"></a><span class="lineno">   50</span>      <span class="keywordflow">return</span>;</div>
+<div class="line"><a id="l00051" name="l00051"></a><span class="lineno">   51</span>    }</div>
+<div class="line"><a id="l00052" name="l00052"></a><span class="lineno">   52</span> </div>
+<div class="line"><a id="l00053" name="l00053"></a><span class="lineno">   53</span>    <span class="keywordtype">double</span> current_min = samples[0].y;</div>
+<div class="line"><a id="l00054" name="l00054"></a><span class="lineno">   54</span>    <span class="keywordtype">double</span> current_max = samples[0].y;</div>
+<div class="line"><a id="l00055" name="l00055"></a><span class="lineno">   55</span>    <span class="keywordtype">double</span> earliest_time = samples[0].x;</div>
+<div class="line"><a id="l00056" name="l00056"></a><span class="lineno">   56</span>    <span class="keywordtype">double</span> latest_time = samples[0].x;</div>
+<div class="line"><a id="l00057" name="l00057"></a><span class="lineno">   57</span>    <span class="comment">// collect data</span></div>
+<div class="line"><a id="l00058" name="l00058"></a><span class="lineno">   58</span>    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; samples.size(); i++)</div>
+<div class="line"><a id="l00059" name="l00059"></a><span class="lineno">   59</span>    {</div>
+<div class="line"><a id="l00060" name="l00060"></a><span class="lineno">   60</span>      <a class="code hl_struct" href="structVector2D_1_1point__t.html">Vector2D::point_t</a> p = samples[i];</div>
+<div class="line"><a id="l00061" name="l00061"></a><span class="lineno">   61</span>      <span class="keywordflow">if</span> (p.<a class="code hl_variable" href="structVector2D_1_1point__t.html#ad139f137dd3554335c4ed9b51c8e3bd9">x</a> &lt; earliest_time)</div>
+<div class="line"><a id="l00062" name="l00062"></a><span class="lineno">   62</span>      {</div>
+<div class="line"><a id="l00063" name="l00063"></a><span class="lineno">   63</span>        earliest_time = p.<a class="code hl_variable" href="structVector2D_1_1point__t.html#ad139f137dd3554335c4ed9b51c8e3bd9">x</a>;</div>
+<div class="line"><a id="l00064" name="l00064"></a><span class="lineno">   64</span>      }</div>
+<div class="line"><a id="l00065" name="l00065"></a><span class="lineno">   65</span>      <span class="keywordflow">else</span> <span class="keywordflow">if</span> (p.<a class="code hl_variable" href="structVector2D_1_1point__t.html#ad139f137dd3554335c4ed9b51c8e3bd9">x</a> &gt; latest_time)</div>
+<div class="line"><a id="l00066" name="l00066"></a><span class="lineno">   66</span>      {</div>
+<div class="line"><a id="l00067" name="l00067"></a><span class="lineno">   67</span>        latest_time = p.<a class="code hl_variable" href="structVector2D_1_1point__t.html#ad139f137dd3554335c4ed9b51c8e3bd9">x</a>;</div>
+<div class="line"><a id="l00068" name="l00068"></a><span class="lineno">   68</span>      }</div>
+<div class="line"><a id="l00069" name="l00069"></a><span class="lineno">   69</span> </div>
+<div class="line"><a id="l00070" name="l00070"></a><span class="lineno">   70</span>      <span class="keywordflow">if</span> (p.<a class="code hl_variable" href="structVector2D_1_1point__t.html#a8290e79feb502e69cd95a7580cf6f1fe">y</a> &lt; current_min)</div>
+<div class="line"><a id="l00071" name="l00071"></a><span class="lineno">   71</span>      {</div>
+<div class="line"><a id="l00072" name="l00072"></a><span class="lineno">   72</span>        current_min = p.<a class="code hl_variable" href="structVector2D_1_1point__t.html#a8290e79feb502e69cd95a7580cf6f1fe">y</a>;</div>
+<div class="line"><a id="l00073" name="l00073"></a><span class="lineno">   73</span>      }</div>
+<div class="line"><a id="l00074" name="l00074"></a><span class="lineno">   74</span>      <span class="keywordflow">else</span> <span class="keywordflow">if</span> (p.<a class="code hl_variable" href="structVector2D_1_1point__t.html#a8290e79feb502e69cd95a7580cf6f1fe">y</a> &gt; current_max)</div>
+<div class="line"><a id="l00075" name="l00075"></a><span class="lineno">   75</span>      {</div>
+<div class="line"><a id="l00076" name="l00076"></a><span class="lineno">   76</span>        current_max = p.<a class="code hl_variable" href="structVector2D_1_1point__t.html#a8290e79feb502e69cd95a7580cf6f1fe">y</a>;</div>
+<div class="line"><a id="l00077" name="l00077"></a><span class="lineno">   77</span>      }</div>
+<div class="line"><a id="l00078" name="l00078"></a><span class="lineno">   78</span>    }</div>
+<div class="line"><a id="l00079" name="l00079"></a><span class="lineno">   79</span>    <span class="keywordflow">if</span> (fabs(latest_time - earliest_time) &lt; 0.001)</div>
+<div class="line"><a id="l00080" name="l00080"></a><span class="lineno">   80</span>    {</div>
+<div class="line"><a id="l00081" name="l00081"></a><span class="lineno">   81</span>      Screen.printAt(width / 2, height / 2, <span class="stringliteral">&quot;Not enough Data&quot;</span>);</div>
+<div class="line"><a id="l00082" name="l00082"></a><span class="lineno">   82</span>      <span class="keywordflow">return</span>;</div>
+<div class="line"><a id="l00083" name="l00083"></a><span class="lineno">   83</span>    }</div>
+<div class="line"><a id="l00084" name="l00084"></a><span class="lineno">   84</span>    <span class="keywordflow">if</span> (upper != lower)</div>
+<div class="line"><a id="l00085" name="l00085"></a><span class="lineno">   85</span>    {</div>
+<div class="line"><a id="l00086" name="l00086"></a><span class="lineno">   86</span>      current_min = lower;</div>
+<div class="line"><a id="l00087" name="l00087"></a><span class="lineno">   87</span>      current_max = upper;</div>
+<div class="line"><a id="l00088" name="l00088"></a><span class="lineno">   88</span>    }</div>
+<div class="line"><a id="l00089" name="l00089"></a><span class="lineno">   89</span> </div>
+<div class="line"><a id="l00090" name="l00090"></a><span class="lineno">   90</span>    <span class="keywordflow">if</span> (border)</div>
+<div class="line"><a id="l00091" name="l00091"></a><span class="lineno">   91</span>    {</div>
+<div class="line"><a id="l00092" name="l00092"></a><span class="lineno">   92</span>      Screen.setPenWidth(1);</div>
+<div class="line"><a id="l00093" name="l00093"></a><span class="lineno">   93</span>      Screen.setPenColor(vex::white);</div>
+<div class="line"><a id="l00094" name="l00094"></a><span class="lineno">   94</span>      Screen.setFillColor(bgcol);</div>
+<div class="line"><a id="l00095" name="l00095"></a><span class="lineno">   95</span>      Screen.drawRectangle(x, y, width, height);</div>
+<div class="line"><a id="l00096" name="l00096"></a><span class="lineno">   96</span>    }</div>
+<div class="line"><a id="l00097" name="l00097"></a><span class="lineno">   97</span> </div>
+<div class="line"><a id="l00098" name="l00098"></a><span class="lineno">   98</span>    <span class="keywordtype">double</span> time_range = latest_time - earliest_time;</div>
+<div class="line"><a id="l00099" name="l00099"></a><span class="lineno">   99</span>    <span class="keywordtype">double</span> sample_range = current_max - current_min;</div>
+<div class="line"><a id="l00100" name="l00100"></a><span class="lineno">  100</span>    <span class="keywordtype">double</span> x_s = (double)x;</div>
+<div class="line"><a id="l00101" name="l00101"></a><span class="lineno">  101</span>    <span class="keywordtype">double</span> y_s = (double)y + (<span class="keywordtype">double</span>)height;</div>
+<div class="line"><a id="l00102" name="l00102"></a><span class="lineno">  102</span>    Screen.setPenWidth(4);</div>
+<div class="line"><a id="l00103" name="l00103"></a><span class="lineno">  103</span>    Screen.setPenColor(col);</div>
+<div class="line"><a id="l00104" name="l00104"></a><span class="lineno">  104</span>    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = sample_index; i &lt; samples.size() + sample_index - 1; i++)</div>
+<div class="line"><a id="l00105" name="l00105"></a><span class="lineno">  105</span>    {</div>
+<div class="line"><a id="l00106" name="l00106"></a><span class="lineno">  106</span>      <a class="code hl_struct" href="structVector2D_1_1point__t.html">Vector2D::point_t</a> p = samples[i % samples.size()];</div>
+<div class="line"><a id="l00107" name="l00107"></a><span class="lineno">  107</span>      <span class="keywordtype">double</span> x_pos = x_s + ((p.<a class="code hl_variable" href="structVector2D_1_1point__t.html#ad139f137dd3554335c4ed9b51c8e3bd9">x</a> - earliest_time) / time_range) * (double)width;</div>
+<div class="line"><a id="l00108" name="l00108"></a><span class="lineno">  108</span>      <span class="keywordtype">double</span> y_pos = y_s + ((p.<a class="code hl_variable" href="structVector2D_1_1point__t.html#a8290e79feb502e69cd95a7580cf6f1fe">y</a> - current_min) / sample_range) * (double)(-height);</div>
+<div class="line"><a id="l00109" name="l00109"></a><span class="lineno">  109</span> </div>
+<div class="line"><a id="l00110" name="l00110"></a><span class="lineno">  110</span>      <a class="code hl_struct" href="structVector2D_1_1point__t.html">Vector2D::point_t</a> p2 = samples[(i + 1) % samples.size()];</div>
+<div class="line"><a id="l00111" name="l00111"></a><span class="lineno">  111</span>      <span class="keywordtype">double</span> x_pos2 = x_s + ((p2.<a class="code hl_variable" href="structVector2D_1_1point__t.html#ad139f137dd3554335c4ed9b51c8e3bd9">x</a> - earliest_time) / time_range) * (double)width;</div>
+<div class="line"><a id="l00112" name="l00112"></a><span class="lineno">  112</span>      <span class="keywordtype">double</span> y_pos2 = y_s + ((p2.<a class="code hl_variable" href="structVector2D_1_1point__t.html#a8290e79feb502e69cd95a7580cf6f1fe">y</a> - current_min) / sample_range) * (double)(-height);</div>
+<div class="line"><a id="l00113" name="l00113"></a><span class="lineno">  113</span> </div>
+<div class="line"><a id="l00114" name="l00114"></a><span class="lineno">  114</span>      Screen.drawLine((<span class="keywordtype">int</span>)x_pos, (int)y_pos, (<span class="keywordtype">int</span>)x_pos2, (int)y_pos2);</div>
+<div class="line"><a id="l00115" name="l00115"></a><span class="lineno">  115</span>    }</div>
+<div class="line"><a id="l00116" name="l00116"></a><span class="lineno">  116</span>  }</div>
+<div class="line"><a id="l00117" name="l00117"></a><span class="lineno">  117</span> </div>
+<div class="line"><a id="l00118" name="l00118"></a><span class="lineno">  118</span><span class="keyword">private</span>:</div>
+<div class="line"><a id="l00119" name="l00119"></a><span class="lineno">  119</span>  vex::brain::lcd &amp;Screen;</div>
+<div class="line"><a id="l00120" name="l00120"></a><span class="lineno">  120</span>  std::vector&lt;Vector2D::point_t&gt; samples;</div>
+<div class="line"><a id="l00121" name="l00121"></a><span class="lineno">  121</span>  <span class="keywordtype">int</span> sample_index = 0;</div>
+<div class="line"><a id="l00122" name="l00122"></a><span class="lineno">  122</span>  std::string xlabel;</div>
+<div class="line"><a id="l00123" name="l00123"></a><span class="lineno">  123</span>  std::string ylabel;</div>
+<div class="line"><a id="l00124" name="l00124"></a><span class="lineno">  124</span>  vex::color col = vex::red;</div>
+<div class="line"><a id="l00125" name="l00125"></a><span class="lineno">  125</span>  vex::color bgcol = vex::transparent;</div>
+<div class="line"><a id="l00126" name="l00126"></a><span class="lineno">  126</span>  <span class="keywordtype">bool</span> border;</div>
+<div class="line"><a id="l00127" name="l00127"></a><span class="lineno">  127</span>  <span class="keywordtype">double</span> upper;</div>
+<div class="line"><a id="l00128" name="l00128"></a><span class="lineno">  128</span>  <span class="keywordtype">double</span> lower;</div>
+<div class="line"><a id="l00129" name="l00129"></a><span class="lineno">  129</span>};</div>
+<div class="ttc" id="aclassGraphDrawer_html"><div class="ttname"><a href="classGraphDrawer.html">GraphDrawer</a></div><div class="ttdef"><b>Definition:</b> graph_drawer.h:10</div></div>
+<div class="ttc" id="aclassGraphDrawer_html_a41cadd5ade1ae9de1a82cc97ee15557c"><div class="ttname"><a href="classGraphDrawer.html#a41cadd5ade1ae9de1a82cc97ee15557c">GraphDrawer::add_sample</a></div><div class="ttdeci">void add_sample(Vector2D::point_t sample)</div><div class="ttdef"><b>Definition:</b> graph_drawer.h:33</div></div>
+<div class="ttc" id="aclassGraphDrawer_html_a420b88cacbf91908dc64624eb113d197"><div class="ttname"><a href="classGraphDrawer.html#a420b88cacbf91908dc64624eb113d197">GraphDrawer::draw</a></div><div class="ttdeci">void draw(int x, int y, int width, int height)</div><div class="ttdef"><b>Definition:</b> graph_drawer.h:46</div></div>
+<div class="ttc" id="aclassGraphDrawer_html_a8066ff51adb3cbbeca34268d13f34c5f"><div class="ttname"><a href="classGraphDrawer.html#a8066ff51adb3cbbeca34268d13f34c5f">GraphDrawer::GraphDrawer</a></div><div class="ttdeci">GraphDrawer(vex::brain::lcd &amp;screen, int num_samples, std::string x_label, std::string y_label, vex::color col, bool draw_border, double lower_bound, double upper_bound)</div><div class="ttdoc">a helper class to graph values on the brain screen</div><div class="ttdef"><b>Definition:</b> graph_drawer.h:23</div></div>
+<div class="ttc" id="astructVector2D_1_1point__t_html"><div class="ttname"><a href="structVector2D_1_1point__t.html">Vector2D::point_t</a></div><div class="ttdef"><b>Definition:</b> vector2d.h:21</div></div>
+<div class="ttc" id="astructVector2D_1_1point__t_html_a8290e79feb502e69cd95a7580cf6f1fe"><div class="ttname"><a href="structVector2D_1_1point__t.html#a8290e79feb502e69cd95a7580cf6f1fe">Vector2D::point_t::y</a></div><div class="ttdeci">double y</div><div class="ttdoc">the y position in space</div><div class="ttdef"><b>Definition:</b> vector2d.h:23</div></div>
+<div class="ttc" id="astructVector2D_1_1point__t_html_ad139f137dd3554335c4ed9b51c8e3bd9"><div class="ttname"><a href="structVector2D_1_1point__t.html#ad139f137dd3554335c4ed9b51c8e3bd9">Vector2D::point_t::x</a></div><div class="ttdeci">double x</div><div class="ttdoc">the x position in space</div><div class="ttdef"><b>Definition:</b> vector2d.h:22</div></div>
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i.grid?[i.grid,i.grid]:i.grid,r=a[0]||1,l=a[1]||1,u=Math.round((s.width-n.width)/r)*r,p=Math.round((s.height-n.height)/l)*l,d=n.width+u,c=n.height+p,f=i.maxWidth&&i.maxWidth<d,g=i.maxHeight&&i.maxHeight<c,m=i.minWidth&&i.minWidth>d,s=i.minHeight&&i.minHeight>c;i.grid=a,m&&(d+=r),s&&(c+=l),f&&(d-=r),g&&(c-=l),/^(se|s|e)$/.test(h)?(e.size.width=d,e.size.height=c):/^(ne)$/.test(h)?(e.size.width=d,e.size.height=c,e.position.top=o.top-p):/^(sw)$/.test(h)?(e.size.width=d,e.size.height=c,e.position.left=o.left-u):((c-l<=0||d-r<=0)&&(t=e._getPaddingPlusBorderDimensions(this)),0<c-l?(e.size.height=c,e.position.top=o.top-p):(c=l-t.height,e.size.height=c,e.position.top=o.top+n.height-c),0<d-r?(e.size.width=d,e.position.left=o.left-u):(d=r-t.width,e.size.width=d,e.position.left=o.left+n.width-d))}});y.ui.resizable});/**
+ * Copyright (c) 2007 Ariel Flesler - aflesler ○ gmail • com | https://github.com/flesler
+ * Licensed under MIT
+ * @author Ariel Flesler
+ * @version 2.1.2
+ */
+;(function(f){"use strict";"function"===typeof define&&define.amd?define(["jquery"],f):"undefined"!==typeof module&&module.exports?module.exports=f(require("jquery")):f(jQuery)})(function($){"use strict";function n(a){return!a.nodeName||-1!==$.inArray(a.nodeName.toLowerCase(),["iframe","#document","html","body"])}function h(a){return $.isFunction(a)||$.isPlainObject(a)?a:{top:a,left:a}}var p=$.scrollTo=function(a,d,b){return $(window).scrollTo(a,d,b)};p.defaults={axis:"xy",duration:0,limit:!0};$.fn.scrollTo=function(a,d,b){"object"=== typeof d&&(b=d,d=0);"function"===typeof b&&(b={onAfter:b});"max"===a&&(a=9E9);b=$.extend({},p.defaults,b);d=d||b.duration;var u=b.queue&&1<b.axis.length;u&&(d/=2);b.offset=h(b.offset);b.over=h(b.over);return this.each(function(){function k(a){var k=$.extend({},b,{queue:!0,duration:d,complete:a&&function(){a.call(q,e,b)}});r.animate(f,k)}if(null!==a){var l=n(this),q=l?this.contentWindow||window:this,r=$(q),e=a,f={},t;switch(typeof e){case "number":case "string":if(/^([+-]=?)?\d+(\.\d+)?(px|%)?$/.test(e)){e= h(e);break}e=l?$(e):$(e,q);case "object":if(e.length===0)return;if(e.is||e.style)t=(e=$(e)).offset()}var v=$.isFunction(b.offset)&&b.offset(q,e)||b.offset;$.each(b.axis.split(""),function(a,c){var d="x"===c?"Left":"Top",m=d.toLowerCase(),g="scroll"+d,h=r[g](),n=p.max(q,c);t?(f[g]=t[m]+(l?0:h-r.offset()[m]),b.margin&&(f[g]-=parseInt(e.css("margin"+d),10)||0,f[g]-=parseInt(e.css("border"+d+"Width"),10)||0),f[g]+=v[m]||0,b.over[m]&&(f[g]+=e["x"===c?"width":"height"]()*b.over[m])):(d=e[m],f[g]=d.slice&& "%"===d.slice(-1)?parseFloat(d)/100*n:d);b.limit&&/^\d+$/.test(f[g])&&(f[g]=0>=f[g]?0:Math.min(f[g],n));!a&&1<b.axis.length&&(h===f[g]?f={}:u&&(k(b.onAfterFirst),f={}))});k(b.onAfter)}})};p.max=function(a,d){var b="x"===d?"Width":"Height",h="scroll"+b;if(!n(a))return a[h]-$(a)[b.toLowerCase()]();var b="client"+b,k=a.ownerDocument||a.document,l=k.documentElement,k=k.body;return Math.max(l[h],k[h])-Math.min(l[b],k[b])};$.Tween.propHooks.scrollLeft=$.Tween.propHooks.scrollTop={get:function(a){return $(a.elem)[a.prop]()}, set:function(a){var d=this.get(a);if(a.options.interrupt&&a._last&&a._last!==d)return $(a.elem).stop();var b=Math.round(a.now);d!==b&&($(a.elem)[a.prop](b),a._last=this.get(a))}};return p});
+/*!
+ PowerTip v1.3.1 (2018-04-15)
+ https://stevenbenner.github.io/jquery-powertip/
+ Copyright (c) 2018 Steven Benner (http://stevenbenner.com/).
+ Released under MIT license.
+ https://raw.github.com/stevenbenner/jquery-powertip/master/LICENSE.txt
+*/
+(function(root,factory){if(typeof define==="function"&&define.amd){define(["jquery"],factory)}else if(typeof module==="object"&&module.exports){module.exports=factory(require("jquery"))}else{factory(root.jQuery)}})(this,function($){var $document=$(document),$window=$(window),$body=$("body");var DATA_DISPLAYCONTROLLER="displayController",DATA_HASACTIVEHOVER="hasActiveHover",DATA_FORCEDOPEN="forcedOpen",DATA_HASMOUSEMOVE="hasMouseMove",DATA_MOUSEONTOTIP="mouseOnToPopup",DATA_ORIGINALTITLE="originalTitle",DATA_POWERTIP="powertip",DATA_POWERTIPJQ="powertipjq",DATA_POWERTIPTARGET="powertiptarget",EVENT_NAMESPACE=".powertip",RAD2DEG=180/Math.PI,MOUSE_EVENTS=["click","dblclick","mousedown","mouseup","mousemove","mouseover","mouseout","mouseenter","mouseleave","contextmenu"];var 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+ * jQuery UI Touch Punch 0.2.3
+ *
+ * Copyright 2011–2014, Dave Furfero
+ * Dual licensed under the MIT or GPL Version 2 licenses.
+ *
+ * Depends:
+ *  jquery.ui.widget.js
+ *  jquery.ui.mouse.js
+ */
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+ * http://www.smartmenus.org/
+ * Copyright Vasil Dinkov, Vadikom Web Ltd. http://vadikom.com; Licensed MIT */(function(t){"function"==typeof define&&define.amd?define(["jquery"],t):"object"==typeof module&&"object"==typeof module.exports?module.exports=t(require("jquery")):t(jQuery)})(function($){function initMouseDetection(t){var e=".smartmenus_mouse";if(mouseDetectionEnabled||t)mouseDetectionEnabled&&t&&($(document).off(e),mouseDetectionEnabled=!1);else{var i=!0,s=null,o={mousemove:function(t){var e={x:t.pageX,y:t.pageY,timeStamp:(new Date).getTime()};if(s){var o=Math.abs(s.x-e.x),a=Math.abs(s.y-e.y);if((o>0||a>0)&&2>=o&&2>=a&&300>=e.timeStamp-s.timeStamp&&(mouse=!0,i)){var n=$(t.target).closest("a");n.is("a")&&$.each(menuTrees,function(){return $.contains(this.$root[0],n[0])?(this.itemEnter({currentTarget:n[0]}),!1):void 0}),i=!1}}s=e}};o[touchEvents?"touchstart":"pointerover pointermove pointerout MSPointerOver MSPointerMove 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$.SmartMenus=function(t,e){this.$root=$(t),this.opts=e,this.rootId="",this.accessIdPrefix="",this.$subArrow=null,this.activatedItems=[],this.visibleSubMenus=[],this.showTimeout=0,this.hideTimeout=0,this.scrollTimeout=0,this.clickActivated=!1,this.focusActivated=!1,this.zIndexInc=0,this.idInc=0,this.$firstLink=null,this.$firstSub=null,this.disabled=!1,this.$disableOverlay=null,this.$touchScrollingSub=null,this.cssTransforms3d="perspective"in t.style||"webkitPerspective"in t.style,this.wasCollapsible=!1,this.init()},$.extend($.SmartMenus,{hideAll:function(){$.each(menuTrees,function(){this.menuHideAll()})},destroy:function(){for(;menuTrees.length;)menuTrees[0].destroy();initMouseDetection(!0)},prototype:{init:function(t){var e=this;if(!t){menuTrees.push(this),this.rootId=((new Date).getTime()+Math.random()+"").replace(/\D/g,""),this.accessIdPrefix="sm-"+this.rootId+"-",this.$root.hasClass("sm-rtl")&&(this.opts.rightToLeftSubMenus=!0);var i=".smartmenus";this.$root.data("smartmenus",this).attr("data-smartmenus-id",this.rootId).dataSM("level",1).on(getEventsNS({"mouseover focusin":$.proxy(this.rootOver,this),"mouseout focusout":$.proxy(this.rootOut,this),keydown:$.proxy(this.rootKeyDown,this)},i)).on(getEventsNS({mouseenter:$.proxy(this.itemEnter,this),mouseleave:$.proxy(this.itemLeave,this),mousedown:$.proxy(this.itemDown,this),focus:$.proxy(this.itemFocus,this),blur:$.proxy(this.itemBlur,this),click:$.proxy(this.itemClick,this)},i),"a"),i+=this.rootId,this.opts.hideOnClick&&$(document).on(getEventsNS({touchstart:$.proxy(this.docTouchStart,this),touchmove:$.proxy(this.docTouchMove,this),touchend:$.proxy(this.docTouchEnd,this),click:$.proxy(this.docClick,this)},i)),$(window).on(getEventsNS({"resize orientationchange":$.proxy(this.winResize,this)},i)),this.opts.subIndicators&&(this.$subArrow=$("<span/>").addClass("sub-arrow"),this.opts.subIndicatorsText&&this.$subArrow.html(this.opts.subIndicatorsText)),initMouseDetection()}if(this.$firstSub=this.$root.find("ul").each(function(){e.menuInit($(this))}).eq(0),this.$firstLink=this.$root.find("a").eq(0),this.opts.markCurrentItem){var s=/(index|default)\.[^#\?\/]*/i,o=/#.*/,a=window.location.href.replace(s,""),n=a.replace(o,"");this.$root.find("a").each(function(){var t=this.href.replace(s,""),i=$(this);(t==a||t==n)&&(i.addClass("current"),e.opts.markCurrentTree&&i.parentsUntil("[data-smartmenus-id]","ul").each(function(){$(this).dataSM("parent-a").addClass("current")}))})}this.wasCollapsible=this.isCollapsible()},destroy:function(t){if(!t){var e=".smartmenus";this.$root.removeData("smartmenus").removeAttr("data-smartmenus-id").removeDataSM("level").off(e),e+=this.rootId,$(document).off(e),$(window).off(e),this.opts.subIndicators&&(this.$subArrow=null)}this.menuHideAll();var i=this;this.$root.find("ul").each(function(){var t=$(this);t.dataSM("scroll-arrows")&&t.dataSM("scroll-arrows").remove(),t.dataSM("shown-before")&&((i.opts.subMenusMinWidth||i.opts.subMenusMaxWidth)&&t.css({width:"",minWidth:"",maxWidth:""}).removeClass("sm-nowrap"),t.dataSM("scroll-arrows")&&t.dataSM("scroll-arrows").remove(),t.css({zIndex:"",top:"",left:"",marginLeft:"",marginTop:"",display:""})),0==(t.attr("id")||"").indexOf(i.accessIdPrefix)&&t.removeAttr("id")}).removeDataSM("in-mega").removeDataSM("shown-before").removeDataSM("scroll-arrows").removeDataSM("parent-a").removeDataSM("level").removeDataSM("beforefirstshowfired").removeAttr("role").removeAttr("aria-hidden").removeAttr("aria-labelledby").removeAttr("aria-expanded"),this.$root.find("a.has-submenu").each(function(){var t=$(this);0==t.attr("id").indexOf(i.accessIdPrefix)&&t.removeAttr("id")}).removeClass("has-submenu").removeDataSM("sub").removeAttr("aria-haspopup").removeAttr("aria-controls").removeAttr("aria-expanded").closest("li").removeDataSM("sub"),this.opts.subIndicators&&this.$root.find("span.sub-arrow").remove(),this.opts.markCurrentItem&&this.$root.find("a.current").removeClass("current"),t||(this.$root=null,this.$firstLink=null,this.$firstSub=null,this.$disableOverlay&&(this.$disableOverlay.remove(),this.$disableOverlay=null),menuTrees.splice($.inArray(this,menuTrees),1))},disable:function(t){if(!this.disabled){if(this.menuHideAll(),!t&&!this.opts.isPopup&&this.$root.is(":visible")){var e=this.$root.offset();this.$disableOverlay=$('<div class="sm-jquery-disable-overlay"/>').css({position:"absolute",top:e.top,left:e.left,width:this.$root.outerWidth(),height:this.$root.outerHeight(),zIndex:this.getStartZIndex(!0),opacity:0}).appendTo(document.body)}this.disabled=!0}},docClick:function(t){return this.$touchScrollingSub?(this.$touchScrollingSub=null,void 0):((this.visibleSubMenus.length&&!$.contains(this.$root[0],t.target)||$(t.target).closest("a").length)&&this.menuHideAll(),void 0)},docTouchEnd:function(){if(this.lastTouch){if(!(!this.visibleSubMenus.length||void 0!==this.lastTouch.x2&&this.lastTouch.x1!=this.lastTouch.x2||void 0!==this.lastTouch.y2&&this.lastTouch.y1!=this.lastTouch.y2||this.lastTouch.target&&$.contains(this.$root[0],this.lastTouch.target))){this.hideTimeout&&(clearTimeout(this.hideTimeout),this.hideTimeout=0);var t=this;this.hideTimeout=setTimeout(function(){t.menuHideAll()},350)}this.lastTouch=null}},docTouchMove:function(t){if(this.lastTouch){var e=t.originalEvent.touches[0];this.lastTouch.x2=e.pageX,this.lastTouch.y2=e.pageY}},docTouchStart:function(t){var e=t.originalEvent.touches[0];this.lastTouch={x1:e.pageX,y1:e.pageY,target:e.target}},enable:function(){this.disabled&&(this.$disableOverlay&&(this.$disableOverlay.remove(),this.$disableOverlay=null),this.disabled=!1)},getClosestMenu:function(t){for(var e=$(t).closest("ul");e.dataSM("in-mega");)e=e.parent().closest("ul");return e[0]||null},getHeight:function(t){return this.getOffset(t,!0)},getOffset:function(t,e){var i;"none"==t.css("display")&&(i={position:t[0].style.position,visibility:t[0].style.visibility},t.css({position:"absolute",visibility:"hidden"}).show());var s=t[0].getBoundingClientRect&&t[0].getBoundingClientRect(),o=s&&(e?s.height||s.bottom-s.top:s.width||s.right-s.left);return o||0===o||(o=e?t[0].offsetHeight:t[0].offsetWidth),i&&t.hide().css(i),o},getStartZIndex:function(t){var e=parseInt(this[t?"$root":"$firstSub"].css("z-index"));return!t&&isNaN(e)&&(e=parseInt(this.$root.css("z-index"))),isNaN(e)?1:e},getTouchPoint:function(t){return t.touches&&t.touches[0]||t.changedTouches&&t.changedTouches[0]||t},getViewport:function(t){var e=t?"Height":"Width",i=document.documentElement["client"+e],s=window["inner"+e];return s&&(i=Math.min(i,s)),i},getViewportHeight:function(){return this.getViewport(!0)},getViewportWidth:function(){return this.getViewport()},getWidth:function(t){return this.getOffset(t)},handleEvents:function(){return!this.disabled&&this.isCSSOn()},handleItemEvents:function(t){return this.handleEvents()&&!this.isLinkInMegaMenu(t)},isCollapsible:function(){return"static"==this.$firstSub.css("position")},isCSSOn:function(){return"inline"!=this.$firstLink.css("display")},isFixed:function(){var t="fixed"==this.$root.css("position");return t||this.$root.parentsUntil("body").each(function(){return"fixed"==$(this).css("position")?(t=!0,!1):void 0}),t},isLinkInMegaMenu:function(t){return $(this.getClosestMenu(t[0])).hasClass("mega-menu")},isTouchMode:function(){return!mouse||this.opts.noMouseOver||this.isCollapsible()},itemActivate:function(t,e){var i=t.closest("ul"),s=i.dataSM("level");if(s>1&&(!this.activatedItems[s-2]||this.activatedItems[s-2][0]!=i.dataSM("parent-a")[0])){var o=this;$(i.parentsUntil("[data-smartmenus-id]","ul").get().reverse()).add(i).each(function(){o.itemActivate($(this).dataSM("parent-a"))})}if((!this.isCollapsible()||e)&&this.menuHideSubMenus(this.activatedItems[s-1]&&this.activatedItems[s-1][0]==t[0]?s:s-1),this.activatedItems[s-1]=t,this.$root.triggerHandler("activate.smapi",t[0])!==!1){var a=t.dataSM("sub");a&&(this.isTouchMode()||!this.opts.showOnClick||this.clickActivated)&&this.menuShow(a)}},itemBlur:function(t){var e=$(t.currentTarget);this.handleItemEvents(e)&&this.$root.triggerHandler("blur.smapi",e[0])},itemClick:function(t){var e=$(t.currentTarget);if(this.handleItemEvents(e)){if(this.$touchScrollingSub&&this.$touchScrollingSub[0]==e.closest("ul")[0])return this.$touchScrollingSub=null,t.stopPropagation(),!1;if(this.$root.triggerHandler("click.smapi",e[0])===!1)return!1;var i=$(t.target).is(".sub-arrow"),s=e.dataSM("sub"),o=s?2==s.dataSM("level"):!1,a=this.isCollapsible(),n=/toggle$/.test(this.opts.collapsibleBehavior),r=/link$/.test(this.opts.collapsibleBehavior),h=/^accordion/.test(this.opts.collapsibleBehavior);if(s&&!s.is(":visible")){if((!r||!a||i)&&(this.opts.showOnClick&&o&&(this.clickActivated=!0),this.itemActivate(e,h),s.is(":visible")))return this.focusActivated=!0,!1}else if(a&&(n||i))return this.itemActivate(e,h),this.menuHide(s),n&&(this.focusActivated=!1),!1;return this.opts.showOnClick&&o||e.hasClass("disabled")||this.$root.triggerHandler("select.smapi",e[0])===!1?!1:void 0}},itemDown:function(t){var e=$(t.currentTarget);this.handleItemEvents(e)&&e.dataSM("mousedown",!0)},itemEnter:function(t){var e=$(t.currentTarget);if(this.handleItemEvents(e)){if(!this.isTouchMode()){this.showTimeout&&(clearTimeout(this.showTimeout),this.showTimeout=0);var i=this;this.showTimeout=setTimeout(function(){i.itemActivate(e)},this.opts.showOnClick&&1==e.closest("ul").dataSM("level")?1:this.opts.showTimeout)}this.$root.triggerHandler("mouseenter.smapi",e[0])}},itemFocus:function(t){var e=$(t.currentTarget);this.handleItemEvents(e)&&(!this.focusActivated||this.isTouchMode()&&e.dataSM("mousedown")||this.activatedItems.length&&this.activatedItems[this.activatedItems.length-1][0]==e[0]||this.itemActivate(e,!0),this.$root.triggerHandler("focus.smapi",e[0]))},itemLeave:function(t){var e=$(t.currentTarget);this.handleItemEvents(e)&&(this.isTouchMode()||(e[0].blur(),this.showTimeout&&(clearTimeout(this.showTimeout),this.showTimeout=0)),e.removeDataSM("mousedown"),this.$root.triggerHandler("mouseleave.smapi",e[0]))},menuHide:function(t){if(this.$root.triggerHandler("beforehide.smapi",t[0])!==!1&&(canAnimate&&t.stop(!0,!0),"none"!=t.css("display"))){var e=function(){t.css("z-index","")};this.isCollapsible()?canAnimate&&this.opts.collapsibleHideFunction?this.opts.collapsibleHideFunction.call(this,t,e):t.hide(this.opts.collapsibleHideDuration,e):canAnimate&&this.opts.hideFunction?this.opts.hideFunction.call(this,t,e):t.hide(this.opts.hideDuration,e),t.dataSM("scroll")&&(this.menuScrollStop(t),t.css({"touch-action":"","-ms-touch-action":"","-webkit-transform":"",transform:""}).off(".smartmenus_scroll").removeDataSM("scroll").dataSM("scroll-arrows").hide()),t.dataSM("parent-a").removeClass("highlighted").attr("aria-expanded","false"),t.attr({"aria-expanded":"false","aria-hidden":"true"});var i=t.dataSM("level");this.activatedItems.splice(i-1,1),this.visibleSubMenus.splice($.inArray(t,this.visibleSubMenus),1),this.$root.triggerHandler("hide.smapi",t[0])}},menuHideAll:function(){this.showTimeout&&(clearTimeout(this.showTimeout),this.showTimeout=0);for(var t=this.opts.isPopup?1:0,e=this.visibleSubMenus.length-1;e>=t;e--)this.menuHide(this.visibleSubMenus[e]);this.opts.isPopup&&(canAnimate&&this.$root.stop(!0,!0),this.$root.is(":visible")&&(canAnimate&&this.opts.hideFunction?this.opts.hideFunction.call(this,this.$root):this.$root.hide(this.opts.hideDuration))),this.activatedItems=[],this.visibleSubMenus=[],this.clickActivated=!1,this.focusActivated=!1,this.zIndexInc=0,this.$root.triggerHandler("hideAll.smapi")},menuHideSubMenus:function(t){for(var e=this.activatedItems.length-1;e>=t;e--){var i=this.activatedItems[e].dataSM("sub");i&&this.menuHide(i)}},menuInit:function(t){if(!t.dataSM("in-mega")){t.hasClass("mega-menu")&&t.find("ul").dataSM("in-mega",!0);for(var e=2,i=t[0];(i=i.parentNode.parentNode)!=this.$root[0];)e++;var s=t.prevAll("a").eq(-1);s.length||(s=t.prevAll().find("a").eq(-1)),s.addClass("has-submenu").dataSM("sub",t),t.dataSM("parent-a",s).dataSM("level",e).parent().dataSM("sub",t);var o=s.attr("id")||this.accessIdPrefix+ 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e,i,s=t.dataSM("parent-a"),o=s.closest("li"),a=o.parent(),n=t.dataSM("level"),r=this.getWidth(t),h=this.getHeight(t),u=s.offset(),l=u.left,c=u.top,d=this.getWidth(s),m=this.getHeight(s),p=$(window),f=p.scrollLeft(),v=p.scrollTop(),b=this.getViewportWidth(),S=this.getViewportHeight(),g=a.parent().is("[data-sm-horizontal-sub]")||2==n&&!a.hasClass("sm-vertical"),M=this.opts.rightToLeftSubMenus&&!o.is("[data-sm-reverse]")||!this.opts.rightToLeftSubMenus&&o.is("[data-sm-reverse]"),w=2==n?this.opts.mainMenuSubOffsetX:this.opts.subMenusSubOffsetX,T=2==n?this.opts.mainMenuSubOffsetY:this.opts.subMenusSubOffsetY;if(g?(e=M?d-r-w:w,i=this.opts.bottomToTopSubMenus?-h-T:m+T):(e=M?w-r:d-w,i=this.opts.bottomToTopSubMenus?m-T-h:T),this.opts.keepInViewport){var y=l+e,I=c+i;if(M&&f>y?e=g?f-y+e:d-w:!M&&y+r>f+b&&(e=g?f+b-r-y+e:w-r),g||(S>h&&I+h>v+S?i+=v+S-h-I:(h>=S||v>I)&&(i+=v-I)),g&&(I+h>v+S+.49||v>I)||!g&&h>S+.49){var x=this;t.dataSM("scroll-arrows")||t.dataSM("scroll-arrows",$([$('<span 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r=t.dataSM("level");if(this.activatedItems[r-1]&&this.activatedItems[r-1].dataSM("sub")&&this.activatedItems[r-1].dataSM("sub").is(":visible")&&this.menuHideSubMenus(r-1),o.y=o.up&&o.y>=n||!o.up&&n>=o.y?o.y:Math.abs(n-o.y)>s?o.y+(o.up?s:-s):n,t.css(this.cssTransforms3d?{"-webkit-transform":"translate3d(0, "+o.y+"px, 0)",transform:"translate3d(0, "+o.y+"px, 0)"}:{marginTop:o.y}),mouse&&(o.up&&o.y>o.downEnd||!o.up&&o.y<o.upEnd)&&a.eq(o.up?1:0).show(),o.y==n)mouse&&a.eq(o.up?0:1).hide(),this.menuScrollStop(t);else if(!e){this.opts.scrollAccelerate&&o.step<this.opts.scrollStep&&(o.step+=.2);var h=this;this.scrollTimeout=requestAnimationFrame(function(){h.menuScroll(t)})}},menuScrollMousewheel:function(t,e){if(this.getClosestMenu(e.target)==t[0]){e=e.originalEvent;var i=(e.wheelDelta||-e.detail)>0;t.dataSM("scroll-arrows").eq(i?0:1).is(":visible")&&(t.dataSM("scroll").up=i,this.menuScroll(t,!0))}e.preventDefault()},menuScrollOut:function(t,e){mouse&&(/^scroll-(up|down)/.test((e.relatedTarget||"").className)||(t[0]==e.relatedTarget||$.contains(t[0],e.relatedTarget))&&this.getClosestMenu(e.relatedTarget)==t[0]||t.dataSM("scroll-arrows").css("visibility","hidden"))},menuScrollOver:function(t,e){if(mouse&&!/^scroll-(up|down)/.test(e.target.className)&&this.getClosestMenu(e.target)==t[0]){this.menuScrollRefreshData(t);var i=t.dataSM("scroll"),s=$(window).scrollTop()-t.dataSM("parent-a").offset().top-i.itemH;t.dataSM("scroll-arrows").eq(0).css("margin-top",s).end().eq(1).css("margin-top",s+this.getViewportHeight()-i.arrowDownH).end().css("visibility","visible")}},menuScrollRefreshData:function(t){var e=t.dataSM("scroll"),i=$(window).scrollTop()-t.dataSM("parent-a").offset().top-e.itemH;this.cssTransforms3d&&(i=-(parseFloat(t.css("margin-top"))-i)),$.extend(e,{upEnd:i,downEnd:i+this.getViewportHeight()-e.subH})},menuScrollStop:function(t){return this.scrollTimeout?(cancelAnimationFrame(this.scrollTimeout),this.scrollTimeout=0,t.dataSM("scroll").step=1,!0):void 0},menuScrollTouch:function(t,e){if(e=e.originalEvent,isTouchEvent(e)){var i=this.getTouchPoint(e);if(this.getClosestMenu(i.target)==t[0]){var s=t.dataSM("scroll");if(/(start|down)$/i.test(e.type))this.menuScrollStop(t)?(e.preventDefault(),this.$touchScrollingSub=t):this.$touchScrollingSub=null,this.menuScrollRefreshData(t),$.extend(s,{touchStartY:i.pageY,touchStartTime:e.timeStamp});else if(/move$/i.test(e.type)){var o=void 0!==s.touchY?s.touchY:s.touchStartY;if(void 0!==o&&o!=i.pageY){this.$touchScrollingSub=t;var a=i.pageY>o;void 0!==s.up&&s.up!=a&&$.extend(s,{touchStartY:i.pageY,touchStartTime:e.timeStamp}),$.extend(s,{up:a,touchY:i.pageY}),this.menuScroll(t,!0,Math.abs(i.pageY-o))}e.preventDefault()}else void 0!==s.touchY&&((s.momentum=15*Math.pow(Math.abs(i.pageY-s.touchStartY)/(e.timeStamp-s.touchStartTime),2))&&(this.menuScrollStop(t),this.menuScroll(t),e.preventDefault()),delete s.touchY)}}},menuShow:function(t){if((t.dataSM("beforefirstshowfired")||(t.dataSM("beforefirstshowfired",!0),this.$root.triggerHandler("beforefirstshow.smapi",t[0])!==!1))&&this.$root.triggerHandler("beforeshow.smapi",t[0])!==!1&&(t.dataSM("shown-before",!0),canAnimate&&t.stop(!0,!0),!t.is(":visible"))){var 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+<li class="navelem"><a class="el" href="dir_d44c64559bbebec7f509842c48db8b23.html">include</a></li><li class="navelem"><a class="el" href="dir_8e84b5daa2b3f33b7b3fb9ecedbe5637.html">subsystems</a></li>  </ul>
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+  <div class="headertitle"><div class="title">lift.h</div></div>
+</div><!--header-->
+<div class="contents">
+<div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno">    1</span><span class="preprocessor">#pragma once</span></div>
+<div class="line"><a id="l00002" name="l00002"></a><span class="lineno">    2</span> </div>
+<div class="line"><a id="l00003" name="l00003"></a><span class="lineno">    3</span><span class="preprocessor">#include &quot;vex.h&quot;</span></div>
+<div class="line"><a id="l00004" name="l00004"></a><span class="lineno">    4</span><span class="preprocessor">#include &quot;../core/include/utils/pid.h&quot;</span></div>
+<div class="line"><a id="l00005" name="l00005"></a><span class="lineno">    5</span><span class="preprocessor">#include &lt;iostream&gt;</span></div>
+<div class="line"><a id="l00006" name="l00006"></a><span class="lineno">    6</span><span class="preprocessor">#include &lt;map&gt;</span></div>
+<div class="line"><a id="l00007" name="l00007"></a><span class="lineno">    7</span><span class="preprocessor">#include &lt;atomic&gt;</span></div>
+<div class="line"><a id="l00008" name="l00008"></a><span class="lineno">    8</span><span class="preprocessor">#include &lt;vector&gt;</span></div>
+<div class="line"><a id="l00009" name="l00009"></a><span class="lineno">    9</span> </div>
+<div class="line"><a id="l00010" name="l00010"></a><span class="lineno">   10</span><span class="keyword">using namespace </span>vex;</div>
+<div class="line"><a id="l00011" name="l00011"></a><span class="lineno">   11</span><span class="keyword">using namespace </span>std;</div>
+<div class="line"><a id="l00012" name="l00012"></a><span class="lineno">   12</span> </div>
+<div class="line"><a id="l00020" name="l00020"></a><span class="lineno">   20</span><span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt;</div>
+<div class="line"><a id="l00021" name="l00021"></a><span class="lineno"><a class="line" href="classLift.html">   21</a></span><span class="keyword">class </span><a class="code hl_class" href="classLift.html">Lift</a></div>
+<div class="line"><a id="l00022" name="l00022"></a><span class="lineno">   22</span>{</div>
+<div class="line"><a id="l00023" name="l00023"></a><span class="lineno">   23</span>  <span class="keyword">public</span>:</div>
+<div class="line"><a id="l00024" name="l00024"></a><span class="lineno">   24</span> </div>
+<div class="line"><a id="l00031" name="l00031"></a><span class="lineno"><a class="line" href="structLift_1_1lift__cfg__t.html">   31</a></span>  <span class="keyword">struct </span><a class="code hl_struct" href="structLift_1_1lift__cfg__t.html">lift_cfg_t</a></div>
+<div class="line"><a id="l00032" name="l00032"></a><span class="lineno">   32</span>  {</div>
+<div class="line"><a id="l00033" name="l00033"></a><span class="lineno">   33</span>    <span class="keywordtype">double</span> up_speed, down_speed;</div>
+<div class="line"><a id="l00034" name="l00034"></a><span class="lineno">   34</span>    <span class="keywordtype">double</span> softstop_up, softstop_down;</div>
+<div class="line"><a id="l00035" name="l00035"></a><span class="lineno">   35</span> </div>
+<div class="line"><a id="l00036" name="l00036"></a><span class="lineno">   36</span>    <a class="code hl_struct" href="structPID_1_1pid__config__t.html">PID::pid_config_t</a> lift_pid_cfg;</div>
+<div class="line"><a id="l00037" name="l00037"></a><span class="lineno">   37</span>  };</div>
+<div class="line"><a id="l00038" name="l00038"></a><span class="lineno">   38</span> </div>
+<div class="line"><a id="l00060" name="l00060"></a><span class="lineno"><a class="line" href="classLift.html#aa5723874330725dec5176ec4174e9ea8">   60</a></span>  <a class="code hl_function" href="classLift.html#aa5723874330725dec5176ec4174e9ea8">Lift</a>(motor_group &amp;lift_motors, <a class="code hl_struct" href="structLift_1_1lift__cfg__t.html">lift_cfg_t</a> &amp;lift_cfg, map&lt;T, double&gt; &amp;setpoint_map, limit *homing_switch=NULL)</div>
+<div class="line"><a id="l00061" name="l00061"></a><span class="lineno">   61</span>  : lift_motors(lift_motors), cfg(lift_cfg), lift_pid(cfg.lift_pid_cfg), setpoint_map(setpoint_map), homing_switch(homing_switch)</div>
+<div class="line"><a id="l00062" name="l00062"></a><span class="lineno">   62</span>  {</div>
+<div class="line"><a id="l00063" name="l00063"></a><span class="lineno">   63</span> </div>
+<div class="line"><a id="l00064" name="l00064"></a><span class="lineno">   64</span>    is_async = <span class="keyword">true</span>;</div>
+<div class="line"><a id="l00065" name="l00065"></a><span class="lineno">   65</span>    setpoint = 0;</div>
+<div class="line"><a id="l00066" name="l00066"></a><span class="lineno">   66</span>    </div>
+<div class="line"><a id="l00067" name="l00067"></a><span class="lineno">   67</span>    <span class="comment">// Create a background task that is constantly updating the lift PID, if requested.</span></div>
+<div class="line"><a id="l00068" name="l00068"></a><span class="lineno">   68</span>    <span class="comment">// Set once, and forget.</span></div>
+<div class="line"><a id="l00069" name="l00069"></a><span class="lineno">   69</span>    task t([](<span class="keywordtype">void</span>* ptr){</div>
+<div class="line"><a id="l00070" name="l00070"></a><span class="lineno">   70</span>      <a class="code hl_class" href="classLift.html">Lift</a> &amp;lift = *((<a class="code hl_class" href="classLift.html">Lift</a>*) ptr);</div>
+<div class="line"><a id="l00071" name="l00071"></a><span class="lineno">   71</span> </div>
+<div class="line"><a id="l00072" name="l00072"></a><span class="lineno">   72</span>      <span class="keywordflow">while</span>(<span class="keyword">true</span>)</div>
+<div class="line"><a id="l00073" name="l00073"></a><span class="lineno">   73</span>      {</div>
+<div class="line"><a id="l00074" name="l00074"></a><span class="lineno">   74</span>        <span class="keywordflow">if</span>(lift.<a class="code hl_function" href="classLift.html#a6913ab2df38f0429641c256ec9288370">get_async</a>())</div>
+<div class="line"><a id="l00075" name="l00075"></a><span class="lineno">   75</span>          lift.<a class="code hl_function" href="classLift.html#a9afcbf54cdd919a2c5a68f95c7a0c9e8">hold</a>();</div>
+<div class="line"><a id="l00076" name="l00076"></a><span class="lineno">   76</span> </div>
+<div class="line"><a id="l00077" name="l00077"></a><span class="lineno">   77</span>        vexDelay(50);</div>
+<div class="line"><a id="l00078" name="l00078"></a><span class="lineno">   78</span>      }</div>
+<div class="line"><a id="l00079" name="l00079"></a><span class="lineno">   79</span> </div>
+<div class="line"><a id="l00080" name="l00080"></a><span class="lineno">   80</span>      <span class="keywordflow">return</span> 0;</div>
+<div class="line"><a id="l00081" name="l00081"></a><span class="lineno">   81</span>    }, <span class="keyword">this</span>);</div>
+<div class="line"><a id="l00082" name="l00082"></a><span class="lineno">   82</span> </div>
+<div class="line"><a id="l00083" name="l00083"></a><span class="lineno">   83</span>  }</div>
+<div class="line"><a id="l00084" name="l00084"></a><span class="lineno">   84</span> </div>
+<div class="line"><a id="l00093" name="l00093"></a><span class="lineno"><a class="line" href="classLift.html#ae585cb81d733c975a65bfa7914a6bfeb">   93</a></span>  <span class="keywordtype">void</span> <a class="code hl_function" href="classLift.html#ae585cb81d733c975a65bfa7914a6bfeb">control_continuous</a>(<span class="keywordtype">bool</span> up_ctrl, <span class="keywordtype">bool</span> down_ctrl)</div>
+<div class="line"><a id="l00094" name="l00094"></a><span class="lineno">   94</span>  {</div>
+<div class="line"><a id="l00095" name="l00095"></a><span class="lineno">   95</span>    <span class="keyword">static</span> timer tmr;</div>
+<div class="line"><a id="l00096" name="l00096"></a><span class="lineno">   96</span>    </div>
+<div class="line"><a id="l00097" name="l00097"></a><span class="lineno">   97</span>    <span class="keywordtype">double</span> cur_pos = 0;</div>
+<div class="line"><a id="l00098" name="l00098"></a><span class="lineno">   98</span> </div>
+<div class="line"><a id="l00099" name="l00099"></a><span class="lineno">   99</span>    <span class="comment">// Check if there&#39;s a hook for a custom sensor. If not, use the motors.</span></div>
+<div class="line"><a id="l00100" name="l00100"></a><span class="lineno">  100</span>    <span class="keywordflow">if</span>(get_sensor == NULL)</div>
+<div class="line"><a id="l00101" name="l00101"></a><span class="lineno">  101</span>      cur_pos = lift_motors.position(rev);</div>
+<div class="line"><a id="l00102" name="l00102"></a><span class="lineno">  102</span>    <span class="keywordflow">else</span></div>
+<div class="line"><a id="l00103" name="l00103"></a><span class="lineno">  103</span>      cur_pos = get_sensor();</div>
+<div class="line"><a id="l00104" name="l00104"></a><span class="lineno">  104</span> </div>
+<div class="line"><a id="l00105" name="l00105"></a><span class="lineno">  105</span>    <span class="keywordflow">if</span>(up_ctrl &amp;&amp; cur_pos &lt; cfg.softstop_up)</div>
+<div class="line"><a id="l00106" name="l00106"></a><span class="lineno">  106</span>    {</div>
+<div class="line"><a id="l00107" name="l00107"></a><span class="lineno">  107</span>      lift_motors.spin(directionType::fwd, cfg.up_speed, volt);</div>
+<div class="line"><a id="l00108" name="l00108"></a><span class="lineno">  108</span>      setpoint = cur_pos + .3;</div>
+<div class="line"><a id="l00109" name="l00109"></a><span class="lineno">  109</span> </div>
+<div class="line"><a id="l00110" name="l00110"></a><span class="lineno">  110</span>      <span class="comment">// std::cout &lt;&lt; &quot;DEBUG OUT: UP &quot; &lt;&lt; setpoint &lt;&lt; &quot;, &quot; &lt;&lt; tmr.time(sec) &lt;&lt; &quot;, &quot; &lt;&lt; cfg.down_speed &lt;&lt; &quot;\n&quot;;</span></div>
+<div class="line"><a id="l00111" name="l00111"></a><span class="lineno">  111</span> </div>
+<div class="line"><a id="l00112" name="l00112"></a><span class="lineno">  112</span>      <span class="comment">// Disable the PID while going UP.</span></div>
+<div class="line"><a id="l00113" name="l00113"></a><span class="lineno">  113</span>      is_async = <span class="keyword">false</span>;</div>
+<div class="line"><a id="l00114" name="l00114"></a><span class="lineno">  114</span>    } <span class="keywordflow">else</span> <span class="keywordflow">if</span>(down_ctrl &amp;&amp; cur_pos &gt; cfg.softstop_down)</div>
+<div class="line"><a id="l00115" name="l00115"></a><span class="lineno">  115</span>    {</div>
+<div class="line"><a id="l00116" name="l00116"></a><span class="lineno">  116</span>      <span class="comment">// Lower the lift slowly, at a rate defined by down_speed</span></div>
+<div class="line"><a id="l00117" name="l00117"></a><span class="lineno">  117</span>      <span class="keywordflow">if</span>(setpoint &gt; cfg.softstop_down)</div>
+<div class="line"><a id="l00118" name="l00118"></a><span class="lineno">  118</span>        setpoint = setpoint - (tmr.time(sec) * cfg.down_speed);</div>
+<div class="line"><a id="l00119" name="l00119"></a><span class="lineno">  119</span>      <span class="comment">// std::cout &lt;&lt; &quot;DEBUG OUT: DOWN &quot; &lt;&lt; setpoint &lt;&lt; &quot;, &quot; &lt;&lt; tmr.time(sec) &lt;&lt; &quot;, &quot; &lt;&lt; cfg.down_speed &lt;&lt; &quot;\n&quot;;</span></div>
+<div class="line"><a id="l00120" name="l00120"></a><span class="lineno">  120</span>      is_async = <span class="keyword">true</span>;</div>
+<div class="line"><a id="l00121" name="l00121"></a><span class="lineno">  121</span>    } <span class="keywordflow">else</span></div>
+<div class="line"><a id="l00122" name="l00122"></a><span class="lineno">  122</span>    {</div>
+<div class="line"><a id="l00123" name="l00123"></a><span class="lineno">  123</span>      <span class="comment">// Hold the lift at the last setpoint</span></div>
+<div class="line"><a id="l00124" name="l00124"></a><span class="lineno">  124</span>      is_async = <span class="keyword">true</span>;</div>
+<div class="line"><a id="l00125" name="l00125"></a><span class="lineno">  125</span>    }</div>
+<div class="line"><a id="l00126" name="l00126"></a><span class="lineno">  126</span> </div>
+<div class="line"><a id="l00127" name="l00127"></a><span class="lineno">  127</span>    tmr.reset();  </div>
+<div class="line"><a id="l00128" name="l00128"></a><span class="lineno">  128</span>  }</div>
+<div class="line"><a id="l00129" name="l00129"></a><span class="lineno">  129</span> </div>
+<div class="line"><a id="l00138" name="l00138"></a><span class="lineno"><a class="line" href="classLift.html#acfeaf4547de1b6a01982e8e51b0bb224">  138</a></span>  <span class="keywordtype">void</span> <a class="code hl_function" href="classLift.html#acfeaf4547de1b6a01982e8e51b0bb224">control_manual</a>(<span class="keywordtype">bool</span> up_btn, <span class="keywordtype">bool</span> down_btn, <span class="keywordtype">int</span> volt_up, <span class="keywordtype">int</span> volt_down)</div>
+<div class="line"><a id="l00139" name="l00139"></a><span class="lineno">  139</span>  {</div>
+<div class="line"><a id="l00140" name="l00140"></a><span class="lineno">  140</span>    <span class="keyword">static</span> <span class="keywordtype">bool</span> down_hold = <span class="keyword">false</span>;</div>
+<div class="line"><a id="l00141" name="l00141"></a><span class="lineno">  141</span>    <span class="keyword">static</span> <span class="keywordtype">bool</span> init = <span class="keyword">true</span>;</div>
+<div class="line"><a id="l00142" name="l00142"></a><span class="lineno">  142</span> </div>
+<div class="line"><a id="l00143" name="l00143"></a><span class="lineno">  143</span>    <span class="comment">// Allow for setting position while still calling this function</span></div>
+<div class="line"><a id="l00144" name="l00144"></a><span class="lineno">  144</span>    <span class="keywordflow">if</span>(init || up_btn || down_btn)</div>
+<div class="line"><a id="l00145" name="l00145"></a><span class="lineno">  145</span>    {</div>
+<div class="line"><a id="l00146" name="l00146"></a><span class="lineno">  146</span>      init = <span class="keyword">false</span>;</div>
+<div class="line"><a id="l00147" name="l00147"></a><span class="lineno">  147</span>      is_async = <span class="keyword">false</span>;</div>
+<div class="line"><a id="l00148" name="l00148"></a><span class="lineno">  148</span>    }</div>
+<div class="line"><a id="l00149" name="l00149"></a><span class="lineno">  149</span> </div>
+<div class="line"><a id="l00150" name="l00150"></a><span class="lineno">  150</span>    <span class="keywordtype">double</span> rev = lift_motors.position(rotationUnits::rev);</div>
+<div class="line"><a id="l00151" name="l00151"></a><span class="lineno">  151</span> </div>
+<div class="line"><a id="l00152" name="l00152"></a><span class="lineno">  152</span>    <span class="keywordflow">if</span>(rev &lt; cfg.softstop_down &amp;&amp; down_btn)</div>
+<div class="line"><a id="l00153" name="l00153"></a><span class="lineno">  153</span>      down_hold = <span class="keyword">true</span>;</div>
+<div class="line"><a id="l00154" name="l00154"></a><span class="lineno">  154</span>    <span class="keywordflow">else</span> <span class="keywordflow">if</span>( !down_btn )</div>
+<div class="line"><a id="l00155" name="l00155"></a><span class="lineno">  155</span>      down_hold = <span class="keyword">false</span>;</div>
+<div class="line"><a id="l00156" name="l00156"></a><span class="lineno">  156</span> </div>
+<div class="line"><a id="l00157" name="l00157"></a><span class="lineno">  157</span>    <span class="keywordflow">if</span>(up_btn &amp;&amp; rev &lt; cfg.softstop_up)</div>
+<div class="line"><a id="l00158" name="l00158"></a><span class="lineno">  158</span>      lift_motors.spin(directionType::fwd, volt_up, voltageUnits::volt);</div>
+<div class="line"><a id="l00159" name="l00159"></a><span class="lineno">  159</span>    <span class="keywordflow">else</span> <span class="keywordflow">if</span>(down_btn &amp;&amp; rev &gt; cfg.softstop_down &amp;&amp; !down_hold)</div>
+<div class="line"><a id="l00160" name="l00160"></a><span class="lineno">  160</span>      lift_motors.spin(directionType::rev, volt_down, voltageUnits::volt);</div>
+<div class="line"><a id="l00161" name="l00161"></a><span class="lineno">  161</span>    <span class="keywordflow">else</span></div>
+<div class="line"><a id="l00162" name="l00162"></a><span class="lineno">  162</span>      lift_motors.spin(directionType::fwd, 0, voltageUnits::volt);</div>
+<div class="line"><a id="l00163" name="l00163"></a><span class="lineno">  163</span>  </div>
+<div class="line"><a id="l00164" name="l00164"></a><span class="lineno">  164</span>  }</div>
+<div class="line"><a id="l00165" name="l00165"></a><span class="lineno">  165</span> </div>
+<div class="line"><a id="l00177" name="l00177"></a><span class="lineno"><a class="line" href="classLift.html#a7197ad879474798a5c1fec4963058c3a">  177</a></span>  <span class="keywordtype">void</span> <a class="code hl_function" href="classLift.html#a7197ad879474798a5c1fec4963058c3a">control_setpoints</a>(<span class="keywordtype">bool</span> up_step, <span class="keywordtype">bool</span> down_step, vector&lt;T&gt; pos_list)</div>
+<div class="line"><a id="l00178" name="l00178"></a><span class="lineno">  178</span>  {</div>
+<div class="line"><a id="l00179" name="l00179"></a><span class="lineno">  179</span>    <span class="comment">// Make sure inputs are only processed on the rising edge of the button</span></div>
+<div class="line"><a id="l00180" name="l00180"></a><span class="lineno">  180</span>    <span class="keyword">static</span> <span class="keywordtype">bool</span> up_last = up_step, down_last = down_step;</div>
+<div class="line"><a id="l00181" name="l00181"></a><span class="lineno">  181</span> </div>
+<div class="line"><a id="l00182" name="l00182"></a><span class="lineno">  182</span>    <span class="keywordtype">bool</span> up_rising = up_step &amp;&amp; !up_last;</div>
+<div class="line"><a id="l00183" name="l00183"></a><span class="lineno">  183</span>    <span class="keywordtype">bool</span> down_rising = down_step &amp;&amp; !down_last;</div>
+<div class="line"><a id="l00184" name="l00184"></a><span class="lineno">  184</span> </div>
+<div class="line"><a id="l00185" name="l00185"></a><span class="lineno">  185</span>    up_last = up_step;</div>
+<div class="line"><a id="l00186" name="l00186"></a><span class="lineno">  186</span>    down_last = down_step;</div>
+<div class="line"><a id="l00187" name="l00187"></a><span class="lineno">  187</span> </div>
+<div class="line"><a id="l00188" name="l00188"></a><span class="lineno">  188</span>    <span class="keyword">static</span> <span class="keywordtype">int</span> cur_index = 0;</div>
+<div class="line"><a id="l00189" name="l00189"></a><span class="lineno">  189</span> </div>
+<div class="line"><a id="l00190" name="l00190"></a><span class="lineno">  190</span>    <span class="comment">// Avoid an index overflow. Shouldn&#39;t happen unless the user changes pos_list between calls.</span></div>
+<div class="line"><a id="l00191" name="l00191"></a><span class="lineno">  191</span>    <span class="keywordflow">if</span>(cur_index &gt;= pos_list.size())</div>
+<div class="line"><a id="l00192" name="l00192"></a><span class="lineno">  192</span>      cur_index = pos_list.size() - 1;</div>
+<div class="line"><a id="l00193" name="l00193"></a><span class="lineno">  193</span> </div>
+<div class="line"><a id="l00194" name="l00194"></a><span class="lineno">  194</span>    <span class="comment">// Increment or decrement the index of the list, bringing it up or down.</span></div>
+<div class="line"><a id="l00195" name="l00195"></a><span class="lineno">  195</span>    <span class="keywordflow">if</span>(up_rising &amp;&amp; cur_index &lt; (pos_list.size() - 1))</div>
+<div class="line"><a id="l00196" name="l00196"></a><span class="lineno">  196</span>      cur_index++;</div>
+<div class="line"><a id="l00197" name="l00197"></a><span class="lineno">  197</span>    <span class="keywordflow">else</span> <span class="keywordflow">if</span>(down_rising &amp;&amp; cur_index &gt; 0)</div>
+<div class="line"><a id="l00198" name="l00198"></a><span class="lineno">  198</span>      cur_index--;</div>
+<div class="line"><a id="l00199" name="l00199"></a><span class="lineno">  199</span> </div>
+<div class="line"><a id="l00200" name="l00200"></a><span class="lineno">  200</span>    <span class="comment">// Set the lift to hold the position in the background with the PID loop</span></div>
+<div class="line"><a id="l00201" name="l00201"></a><span class="lineno">  201</span>    <a class="code hl_function" href="classLift.html#ab3cb7bc86faa079ec1249b5026ea6a85">set_position</a>(pos_list[cur_index]);</div>
+<div class="line"><a id="l00202" name="l00202"></a><span class="lineno">  202</span>    is_async = <span class="keyword">true</span>;  </div>
+<div class="line"><a id="l00203" name="l00203"></a><span class="lineno">  203</span> </div>
+<div class="line"><a id="l00204" name="l00204"></a><span class="lineno">  204</span>  }</div>
+<div class="line"><a id="l00205" name="l00205"></a><span class="lineno">  205</span> </div>
+<div class="line"><a id="l00214" name="l00214"></a><span class="lineno"><a class="line" href="classLift.html#ab3cb7bc86faa079ec1249b5026ea6a85">  214</a></span>  <span class="keywordtype">bool</span> <a class="code hl_function" href="classLift.html#ab3cb7bc86faa079ec1249b5026ea6a85">set_position</a>(T pos)</div>
+<div class="line"><a id="l00215" name="l00215"></a><span class="lineno">  215</span>  {</div>
+<div class="line"><a id="l00216" name="l00216"></a><span class="lineno">  216</span>    this-&gt;setpoint = setpoint_map[pos];</div>
+<div class="line"><a id="l00217" name="l00217"></a><span class="lineno">  217</span>    is_async = <span class="keyword">true</span>;</div>
+<div class="line"><a id="l00218" name="l00218"></a><span class="lineno">  218</span> </div>
+<div class="line"><a id="l00219" name="l00219"></a><span class="lineno">  219</span>    <span class="keywordflow">return</span> (lift_pid.<a class="code hl_function" href="classPID.html#a1cd58cedeccc45b67551e331ee547be9">get_target</a>() == this-&gt;setpoint) &amp;&amp; lift_pid.<a class="code hl_function" href="classPID.html#a9de884c31570c4ae0dc6e24eb26daa43">is_on_target</a>();</div>
+<div class="line"><a id="l00220" name="l00220"></a><span class="lineno">  220</span>  }</div>
+<div class="line"><a id="l00221" name="l00221"></a><span class="lineno">  221</span> </div>
+<div class="line"><a id="l00228" name="l00228"></a><span class="lineno"><a class="line" href="classLift.html#a662bdc055d706699ef5cf308cd8872f8">  228</a></span>  <span class="keywordtype">bool</span> <a class="code hl_function" href="classLift.html#a662bdc055d706699ef5cf308cd8872f8">set_setpoint</a>(<span class="keywordtype">double</span> val)</div>
+<div class="line"><a id="l00229" name="l00229"></a><span class="lineno">  229</span>  {</div>
+<div class="line"><a id="l00230" name="l00230"></a><span class="lineno">  230</span>    this-&gt;setpoint = val;</div>
+<div class="line"><a id="l00231" name="l00231"></a><span class="lineno">  231</span>    <span class="keywordflow">return</span> (lift_pid.<a class="code hl_function" href="classPID.html#a1cd58cedeccc45b67551e331ee547be9">get_target</a>() == this-&gt;setpoint) &amp;&amp; lift_pid.<a class="code hl_function" href="classPID.html#a9de884c31570c4ae0dc6e24eb26daa43">is_on_target</a>();</div>
+<div class="line"><a id="l00232" name="l00232"></a><span class="lineno">  232</span>  }</div>
+<div class="line"><a id="l00233" name="l00233"></a><span class="lineno">  233</span>  </div>
+<div class="line"><a id="l00237" name="l00237"></a><span class="lineno"><a class="line" href="classLift.html#adaa6cb65351d0c8a2c199a87a318b133">  237</a></span>  <span class="keywordtype">double</span> <a class="code hl_function" href="classLift.html#adaa6cb65351d0c8a2c199a87a318b133">get_setpoint</a>()</div>
+<div class="line"><a id="l00238" name="l00238"></a><span class="lineno">  238</span>  {</div>
+<div class="line"><a id="l00239" name="l00239"></a><span class="lineno">  239</span>    <span class="keywordflow">return</span> this-&gt;setpoint;</div>
+<div class="line"><a id="l00240" name="l00240"></a><span class="lineno">  240</span>  }</div>
+<div class="line"><a id="l00241" name="l00241"></a><span class="lineno">  241</span> </div>
+<div class="line"><a id="l00246" name="l00246"></a><span class="lineno"><a class="line" href="classLift.html#a9afcbf54cdd919a2c5a68f95c7a0c9e8">  246</a></span>  <span class="keywordtype">void</span> <a class="code hl_function" href="classLift.html#a9afcbf54cdd919a2c5a68f95c7a0c9e8">hold</a>()</div>
+<div class="line"><a id="l00247" name="l00247"></a><span class="lineno">  247</span>  {</div>
+<div class="line"><a id="l00248" name="l00248"></a><span class="lineno">  248</span>    lift_pid.<a class="code hl_function" href="classPID.html#a2e301ab123c9e18e677b4873b03550dd">set_target</a>(setpoint);</div>
+<div class="line"><a id="l00249" name="l00249"></a><span class="lineno">  249</span>    <span class="comment">// std::cout &lt;&lt; &quot;DEBUG OUT: SETPOINT &quot; &lt;&lt; setpoint &lt;&lt; &quot;\n&quot;;</span></div>
+<div class="line"><a id="l00250" name="l00250"></a><span class="lineno">  250</span> </div>
+<div class="line"><a id="l00251" name="l00251"></a><span class="lineno">  251</span>    <span class="keywordflow">if</span>(get_sensor != NULL)</div>
+<div class="line"><a id="l00252" name="l00252"></a><span class="lineno">  252</span>      lift_pid.<a class="code hl_function" href="classPID.html#a53b5c34ba5e81fb79ed4258a143015b9">update</a>(get_sensor());</div>
+<div class="line"><a id="l00253" name="l00253"></a><span class="lineno">  253</span>    <span class="keywordflow">else</span></div>
+<div class="line"><a id="l00254" name="l00254"></a><span class="lineno">  254</span>      lift_pid.<a class="code hl_function" href="classPID.html#a53b5c34ba5e81fb79ed4258a143015b9">update</a>(lift_motors.position(rev));</div>
+<div class="line"><a id="l00255" name="l00255"></a><span class="lineno">  255</span> </div>
+<div class="line"><a id="l00256" name="l00256"></a><span class="lineno">  256</span>    <span class="comment">// std::cout &lt;&lt; &quot;DEBUG OUT: ROTATION &quot; &lt;&lt; lift_motors.rotation(rev) &lt;&lt; &quot;\n\n&quot;;</span></div>
+<div class="line"><a id="l00257" name="l00257"></a><span class="lineno">  257</span> </div>
+<div class="line"><a id="l00258" name="l00258"></a><span class="lineno">  258</span>    lift_motors.spin(fwd, lift_pid.<a class="code hl_function" href="classPID.html#a69c2e66b8ff06c86ca9701d11e21da75">get</a>(), volt);</div>
+<div class="line"><a id="l00259" name="l00259"></a><span class="lineno">  259</span>  }</div>
+<div class="line"><a id="l00260" name="l00260"></a><span class="lineno">  260</span> </div>
+<div class="line"><a id="l00265" name="l00265"></a><span class="lineno"><a class="line" href="classLift.html#ab53178b13037a4c6b1fd07657cff1f25">  265</a></span>  <span class="keywordtype">void</span> <a class="code hl_function" href="classLift.html#ab53178b13037a4c6b1fd07657cff1f25">home</a>()</div>
+<div class="line"><a id="l00266" name="l00266"></a><span class="lineno">  266</span>  {</div>
+<div class="line"><a id="l00267" name="l00267"></a><span class="lineno">  267</span>    <span class="keyword">static</span> timer tmr;</div>
+<div class="line"><a id="l00268" name="l00268"></a><span class="lineno">  268</span>    tmr.reset();</div>
+<div class="line"><a id="l00269" name="l00269"></a><span class="lineno">  269</span>    </div>
+<div class="line"><a id="l00270" name="l00270"></a><span class="lineno">  270</span>    <span class="keywordflow">while</span>(tmr.time(sec) &lt; 3)</div>
+<div class="line"><a id="l00271" name="l00271"></a><span class="lineno">  271</span>    {</div>
+<div class="line"><a id="l00272" name="l00272"></a><span class="lineno">  272</span>      lift_motors.spin(directionType::rev, 6, volt);</div>
+<div class="line"><a id="l00273" name="l00273"></a><span class="lineno">  273</span> </div>
+<div class="line"><a id="l00274" name="l00274"></a><span class="lineno">  274</span>      <span class="keywordflow">if</span> (homing_switch == NULL &amp;&amp; lift_motors.current(currentUnits::amp) &gt; 1.5)</div>
+<div class="line"><a id="l00275" name="l00275"></a><span class="lineno">  275</span>        <span class="keywordflow">break</span>;</div>
+<div class="line"><a id="l00276" name="l00276"></a><span class="lineno">  276</span>      <span class="keywordflow">else</span> <span class="keywordflow">if</span> (homing_switch != NULL &amp;&amp; homing_switch-&gt;pressing())</div>
+<div class="line"><a id="l00277" name="l00277"></a><span class="lineno">  277</span>        <span class="keywordflow">break</span>;</div>
+<div class="line"><a id="l00278" name="l00278"></a><span class="lineno">  278</span>    }</div>
+<div class="line"><a id="l00279" name="l00279"></a><span class="lineno">  279</span> </div>
+<div class="line"><a id="l00280" name="l00280"></a><span class="lineno">  280</span>    <span class="keywordflow">if</span>(reset_sensor != NULL)</div>
+<div class="line"><a id="l00281" name="l00281"></a><span class="lineno">  281</span>      reset_sensor();</div>
+<div class="line"><a id="l00282" name="l00282"></a><span class="lineno">  282</span>    </div>
+<div class="line"><a id="l00283" name="l00283"></a><span class="lineno">  283</span>    lift_motors.resetPosition();</div>
+<div class="line"><a id="l00284" name="l00284"></a><span class="lineno">  284</span>    lift_motors.stop();</div>
+<div class="line"><a id="l00285" name="l00285"></a><span class="lineno">  285</span> </div>
+<div class="line"><a id="l00286" name="l00286"></a><span class="lineno">  286</span>  }</div>
+<div class="line"><a id="l00287" name="l00287"></a><span class="lineno">  287</span> </div>
+<div class="line"><a id="l00291" name="l00291"></a><span class="lineno"><a class="line" href="classLift.html#a6913ab2df38f0429641c256ec9288370">  291</a></span>  <span class="keywordtype">bool</span> <a class="code hl_function" href="classLift.html#a6913ab2df38f0429641c256ec9288370">get_async</a>()</div>
+<div class="line"><a id="l00292" name="l00292"></a><span class="lineno">  292</span>  {</div>
+<div class="line"><a id="l00293" name="l00293"></a><span class="lineno">  293</span>    <span class="keywordflow">return</span> is_async;</div>
+<div class="line"><a id="l00294" name="l00294"></a><span class="lineno">  294</span>  }</div>
+<div class="line"><a id="l00295" name="l00295"></a><span class="lineno">  295</span> </div>
+<div class="line"><a id="l00301" name="l00301"></a><span class="lineno"><a class="line" href="classLift.html#a7f37703180518390ec38cba9a780282b">  301</a></span>  <span class="keywordtype">void</span> <a class="code hl_function" href="classLift.html#a7f37703180518390ec38cba9a780282b">set_async</a>(<span class="keywordtype">bool</span> val)</div>
+<div class="line"><a id="l00302" name="l00302"></a><span class="lineno">  302</span>  {</div>
+<div class="line"><a id="l00303" name="l00303"></a><span class="lineno">  303</span>    this-&gt;is_async = val;</div>
+<div class="line"><a id="l00304" name="l00304"></a><span class="lineno">  304</span>  }</div>
+<div class="line"><a id="l00305" name="l00305"></a><span class="lineno">  305</span> </div>
+<div class="line"><a id="l00315" name="l00315"></a><span class="lineno"><a class="line" href="classLift.html#a08b7cdcfc9390f4945dd3737ac0e5ddc">  315</a></span>  <span class="keywordtype">void</span> <a class="code hl_function" href="classLift.html#a08b7cdcfc9390f4945dd3737ac0e5ddc">set_sensor_function</a>(<span class="keywordtype">double</span> (*fn_ptr) (<span class="keywordtype">void</span>))</div>
+<div class="line"><a id="l00316" name="l00316"></a><span class="lineno">  316</span>  {</div>
+<div class="line"><a id="l00317" name="l00317"></a><span class="lineno">  317</span>    this-&gt;get_sensor = fn_ptr;</div>
+<div class="line"><a id="l00318" name="l00318"></a><span class="lineno">  318</span>  }</div>
+<div class="line"><a id="l00319" name="l00319"></a><span class="lineno">  319</span> </div>
+<div class="line"><a id="l00326" name="l00326"></a><span class="lineno"><a class="line" href="classLift.html#a70b8e7cff5cd3b5827d8da07a02d92e6">  326</a></span>  <span class="keywordtype">void</span> <a class="code hl_function" href="classLift.html#a70b8e7cff5cd3b5827d8da07a02d92e6">set_sensor_reset</a>(<span class="keywordtype">void</span> (*fn_ptr) (<span class="keywordtype">void</span>))</div>
+<div class="line"><a id="l00327" name="l00327"></a><span class="lineno">  327</span>  {</div>
+<div class="line"><a id="l00328" name="l00328"></a><span class="lineno">  328</span>    this-&gt;reset_sensor = fn_ptr;</div>
+<div class="line"><a id="l00329" name="l00329"></a><span class="lineno">  329</span>  }</div>
+<div class="line"><a id="l00330" name="l00330"></a><span class="lineno">  330</span> </div>
+<div class="line"><a id="l00331" name="l00331"></a><span class="lineno">  331</span>  <span class="keyword">private</span>:</div>
+<div class="line"><a id="l00332" name="l00332"></a><span class="lineno">  332</span> </div>
+<div class="line"><a id="l00333" name="l00333"></a><span class="lineno">  333</span>  motor_group &amp;lift_motors;</div>
+<div class="line"><a id="l00334" name="l00334"></a><span class="lineno">  334</span>  lift_cfg_t &amp;cfg;</div>
+<div class="line"><a id="l00335" name="l00335"></a><span class="lineno">  335</span>  <a class="code hl_class" href="classPID.html">PID</a> lift_pid;</div>
+<div class="line"><a id="l00336" name="l00336"></a><span class="lineno">  336</span>  map&lt;T, double&gt; &amp;setpoint_map;</div>
+<div class="line"><a id="l00337" name="l00337"></a><span class="lineno">  337</span>  limit *homing_switch;</div>
+<div class="line"><a id="l00338" name="l00338"></a><span class="lineno">  338</span>  </div>
+<div class="line"><a id="l00339" name="l00339"></a><span class="lineno">  339</span>  atomic&lt;double&gt; setpoint;</div>
+<div class="line"><a id="l00340" name="l00340"></a><span class="lineno">  340</span>  atomic&lt;bool&gt; is_async;</div>
+<div class="line"><a id="l00341" name="l00341"></a><span class="lineno">  341</span> </div>
+<div class="line"><a id="l00342" name="l00342"></a><span class="lineno">  342</span>  double (*get_sensor)(void) = NULL;</div>
+<div class="line"><a id="l00343" name="l00343"></a><span class="lineno">  343</span>  void (*reset_sensor)(void) = NULL;</div>
+<div class="line"><a id="l00344" name="l00344"></a><span class="lineno">  344</span>  </div>
+<div class="line"><a id="l00345" name="l00345"></a><span class="lineno">  345</span> </div>
+<div class="line"><a id="l00346" name="l00346"></a><span class="lineno">  346</span>};</div>
+<div class="ttc" id="aclassLift_html"><div class="ttname"><a href="classLift.html">Lift</a></div><div class="ttdef"><b>Definition:</b> lift.h:22</div></div>
+<div class="ttc" id="aclassLift_html_a08b7cdcfc9390f4945dd3737ac0e5ddc"><div class="ttname"><a href="classLift.html#a08b7cdcfc9390f4945dd3737ac0e5ddc">Lift::set_sensor_function</a></div><div class="ttdeci">void set_sensor_function(double(*fn_ptr)(void))</div><div class="ttdef"><b>Definition:</b> lift.h:315</div></div>
+<div class="ttc" id="aclassLift_html_a662bdc055d706699ef5cf308cd8872f8"><div class="ttname"><a href="classLift.html#a662bdc055d706699ef5cf308cd8872f8">Lift::set_setpoint</a></div><div class="ttdeci">bool set_setpoint(double val)</div><div class="ttdef"><b>Definition:</b> lift.h:228</div></div>
+<div class="ttc" id="aclassLift_html_a6913ab2df38f0429641c256ec9288370"><div class="ttname"><a href="classLift.html#a6913ab2df38f0429641c256ec9288370">Lift::get_async</a></div><div class="ttdeci">bool get_async()</div><div class="ttdef"><b>Definition:</b> lift.h:291</div></div>
+<div class="ttc" id="aclassLift_html_a70b8e7cff5cd3b5827d8da07a02d92e6"><div class="ttname"><a href="classLift.html#a70b8e7cff5cd3b5827d8da07a02d92e6">Lift::set_sensor_reset</a></div><div class="ttdeci">void set_sensor_reset(void(*fn_ptr)(void))</div><div class="ttdef"><b>Definition:</b> lift.h:326</div></div>
+<div class="ttc" id="aclassLift_html_a7197ad879474798a5c1fec4963058c3a"><div class="ttname"><a href="classLift.html#a7197ad879474798a5c1fec4963058c3a">Lift::control_setpoints</a></div><div class="ttdeci">void control_setpoints(bool up_step, bool down_step, vector&lt; T &gt; pos_list)</div><div class="ttdef"><b>Definition:</b> lift.h:177</div></div>
+<div class="ttc" id="aclassLift_html_a7f37703180518390ec38cba9a780282b"><div class="ttname"><a href="classLift.html#a7f37703180518390ec38cba9a780282b">Lift::set_async</a></div><div class="ttdeci">void set_async(bool val)</div><div class="ttdef"><b>Definition:</b> lift.h:301</div></div>
+<div class="ttc" id="aclassLift_html_a9afcbf54cdd919a2c5a68f95c7a0c9e8"><div class="ttname"><a href="classLift.html#a9afcbf54cdd919a2c5a68f95c7a0c9e8">Lift::hold</a></div><div class="ttdeci">void hold()</div><div class="ttdef"><b>Definition:</b> lift.h:246</div></div>
+<div class="ttc" id="aclassLift_html_aa5723874330725dec5176ec4174e9ea8"><div class="ttname"><a href="classLift.html#aa5723874330725dec5176ec4174e9ea8">Lift::Lift</a></div><div class="ttdeci">Lift(motor_group &amp;lift_motors, lift_cfg_t &amp;lift_cfg, map&lt; T, double &gt; &amp;setpoint_map, limit *homing_switch=NULL)</div><div class="ttdef"><b>Definition:</b> lift.h:60</div></div>
+<div class="ttc" id="aclassLift_html_ab3cb7bc86faa079ec1249b5026ea6a85"><div class="ttname"><a href="classLift.html#ab3cb7bc86faa079ec1249b5026ea6a85">Lift::set_position</a></div><div class="ttdeci">bool set_position(T pos)</div><div class="ttdef"><b>Definition:</b> lift.h:214</div></div>
+<div class="ttc" id="aclassLift_html_ab53178b13037a4c6b1fd07657cff1f25"><div class="ttname"><a href="classLift.html#ab53178b13037a4c6b1fd07657cff1f25">Lift::home</a></div><div class="ttdeci">void home()</div><div class="ttdef"><b>Definition:</b> lift.h:265</div></div>
+<div class="ttc" id="aclassLift_html_acfeaf4547de1b6a01982e8e51b0bb224"><div class="ttname"><a href="classLift.html#acfeaf4547de1b6a01982e8e51b0bb224">Lift::control_manual</a></div><div class="ttdeci">void control_manual(bool up_btn, bool down_btn, int volt_up, int volt_down)</div><div class="ttdef"><b>Definition:</b> lift.h:138</div></div>
+<div class="ttc" id="aclassLift_html_adaa6cb65351d0c8a2c199a87a318b133"><div class="ttname"><a href="classLift.html#adaa6cb65351d0c8a2c199a87a318b133">Lift::get_setpoint</a></div><div class="ttdeci">double get_setpoint()</div><div class="ttdef"><b>Definition:</b> lift.h:237</div></div>
+<div class="ttc" id="aclassLift_html_ae585cb81d733c975a65bfa7914a6bfeb"><div class="ttname"><a href="classLift.html#ae585cb81d733c975a65bfa7914a6bfeb">Lift::control_continuous</a></div><div class="ttdeci">void control_continuous(bool up_ctrl, bool down_ctrl)</div><div class="ttdef"><b>Definition:</b> lift.h:93</div></div>
+<div class="ttc" id="aclassPID_html"><div class="ttname"><a href="classPID.html">PID</a></div><div class="ttdef"><b>Definition:</b> pid.h:24</div></div>
+<div class="ttc" id="aclassPID_html_a1cd58cedeccc45b67551e331ee547be9"><div class="ttname"><a href="classPID.html#a1cd58cedeccc45b67551e331ee547be9">PID::get_target</a></div><div class="ttdeci">double get_target()</div><div class="ttdef"><b>Definition:</b> pid.cpp:97</div></div>
+<div class="ttc" id="aclassPID_html_a2e301ab123c9e18e677b4873b03550dd"><div class="ttname"><a href="classPID.html#a2e301ab123c9e18e677b4873b03550dd">PID::set_target</a></div><div class="ttdeci">void set_target(double target)</div><div class="ttdef"><b>Definition:</b> pid.cpp:105</div></div>
+<div class="ttc" id="aclassPID_html_a53b5c34ba5e81fb79ed4258a143015b9"><div class="ttname"><a href="classPID.html#a53b5c34ba5e81fb79ed4258a143015b9">PID::update</a></div><div class="ttdeci">double update(double sensor_val) override</div><div class="ttdef"><b>Definition:</b> pid.cpp:25</div></div>
+<div class="ttc" id="aclassPID_html_a69c2e66b8ff06c86ca9701d11e21da75"><div class="ttname"><a href="classPID.html#a69c2e66b8ff06c86ca9701d11e21da75">PID::get</a></div><div class="ttdeci">double get() override</div><div class="ttdef"><b>Definition:</b> pid.cpp:81</div></div>
+<div class="ttc" id="aclassPID_html_a9de884c31570c4ae0dc6e24eb26daa43"><div class="ttname"><a href="classPID.html#a9de884c31570c4ae0dc6e24eb26daa43">PID::is_on_target</a></div><div class="ttdeci">bool is_on_target() override</div><div class="ttdef"><b>Definition:</b> pid.cpp:124</div></div>
+<div class="ttc" id="astructLift_1_1lift__cfg__t_html"><div class="ttname"><a href="structLift_1_1lift__cfg__t.html">Lift::lift_cfg_t</a></div><div class="ttdef"><b>Definition:</b> lift.h:32</div></div>
+<div class="ttc" id="astructPID_1_1pid__config__t_html"><div class="ttname"><a href="structPID_1_1pid__config__t.html">PID::pid_config_t</a></div><div class="ttdef"><b>Definition:</b> pid.h:41</div></div>
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+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.6
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+  <ul>
+<li class="navelem"><a class="el" href="dir_d44c64559bbebec7f509842c48db8b23.html">include</a></li><li class="navelem"><a class="el" href="dir_821002d4f10779a80d4fb17bc32f21f1.html">utils</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle"><div class="title">math_util.h</div></div>
+</div><!--header-->
+<div class="contents">
+<div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno">    1</span><span class="preprocessor">#pragma once</span></div>
+<div class="line"><a id="l00002" name="l00002"></a><span class="lineno">    2</span><span class="preprocessor">#include &quot;math.h&quot;</span></div>
+<div class="line"><a id="l00003" name="l00003"></a><span class="lineno">    3</span><span class="preprocessor">#include &quot;vex.h&quot;</span></div>
+<div class="line"><a id="l00004" name="l00004"></a><span class="lineno">    4</span><span class="preprocessor">#include &lt;vector&gt;</span></div>
+<div class="line"><a id="l00005" name="l00005"></a><span class="lineno">    5</span> </div>
+<div class="line"><a id="l00013" name="l00013"></a><span class="lineno">   13</span><span class="keywordtype">double</span> clamp(<span class="keywordtype">double</span> value, <span class="keywordtype">double</span> low, <span class="keywordtype">double</span> high);</div>
+<div class="line"><a id="l00014" name="l00014"></a><span class="lineno">   14</span> </div>
+<div class="line"><a id="l00021" name="l00021"></a><span class="lineno">   21</span><span class="keywordtype">double</span> sign(<span class="keywordtype">double</span> x);</div>
+<div class="line"><a id="l00022" name="l00022"></a><span class="lineno">   22</span> </div>
+<div class="line"><a id="l00023" name="l00023"></a><span class="lineno">   23</span><span class="keywordtype">double</span> wrap_angle_deg(<span class="keywordtype">double</span> input);</div>
+<div class="line"><a id="l00024" name="l00024"></a><span class="lineno">   24</span><span class="keywordtype">double</span> wrap_angle_rad(<span class="keywordtype">double</span> input);</div>
+<div class="line"><a id="l00025" name="l00025"></a><span class="lineno">   25</span> </div>
+<div class="line"><a id="l00026" name="l00026"></a><span class="lineno">   26</span><span class="comment">/*</span></div>
+<div class="line"><a id="l00027" name="l00027"></a><span class="lineno">   27</span><span class="comment">Calculates the variance of  a set of numbers (needed for linear regression)</span></div>
+<div class="line"><a id="l00028" name="l00028"></a><span class="lineno">   28</span><span class="comment">https://en.wikipedia.org/wiki/Variance</span></div>
+<div class="line"><a id="l00029" name="l00029"></a><span class="lineno">   29</span><span class="comment">@param values   the values for which the variance is taken</span></div>
+<div class="line"><a id="l00030" name="l00030"></a><span class="lineno">   30</span><span class="comment">@param mean     the average of values</span></div>
+<div class="line"><a id="l00031" name="l00031"></a><span class="lineno">   31</span><span class="comment">*/</span></div>
+<div class="line"><a id="l00032" name="l00032"></a><span class="lineno">   32</span><span class="keywordtype">double</span> variance(std::vector&lt;double&gt; <span class="keyword">const</span> &amp;values, <span class="keywordtype">double</span> mean);</div>
+<div class="line"><a id="l00033" name="l00033"></a><span class="lineno">   33</span> </div>
+<div class="line"><a id="l00034" name="l00034"></a><span class="lineno">   34</span> </div>
+<div class="line"><a id="l00035" name="l00035"></a><span class="lineno">   35</span><span class="comment">/*</span></div>
+<div class="line"><a id="l00036" name="l00036"></a><span class="lineno">   36</span><span class="comment">Calculates the average of a vector of doubles</span></div>
+<div class="line"><a id="l00037" name="l00037"></a><span class="lineno">   37</span><span class="comment">@param values   the list of values for which the average is taken</span></div>
+<div class="line"><a id="l00038" name="l00038"></a><span class="lineno">   38</span><span class="comment">*/</span></div>
+<div class="line"><a id="l00039" name="l00039"></a><span class="lineno">   39</span><span class="keywordtype">double</span> mean(std::vector&lt;double&gt; <span class="keyword">const</span> &amp;values);</div>
+<div class="line"><a id="l00040" name="l00040"></a><span class="lineno">   40</span> </div>
+<div class="line"><a id="l00041" name="l00041"></a><span class="lineno">   41</span><span class="comment">/*</span></div>
+<div class="line"><a id="l00042" name="l00042"></a><span class="lineno">   42</span><span class="comment">Calculates the covariance of a set of points (needed for linear regression)</span></div>
+<div class="line"><a id="l00043" name="l00043"></a><span class="lineno">   43</span><span class="comment">https://en.wikipedia.org/wiki/Covariance</span></div>
+<div class="line"><a id="l00044" name="l00044"></a><span class="lineno">   44</span><span class="comment"></span> </div>
+<div class="line"><a id="l00045" name="l00045"></a><span class="lineno">   45</span><span class="comment">@param points   the points for which the covariance is taken</span></div>
+<div class="line"><a id="l00046" name="l00046"></a><span class="lineno">   46</span><span class="comment">@param meanx    the mean value of all x coordinates in points</span></div>
+<div class="line"><a id="l00047" name="l00047"></a><span class="lineno">   47</span><span class="comment">@param meany    the mean value of all y coordinates in points</span></div>
+<div class="line"><a id="l00048" name="l00048"></a><span class="lineno">   48</span><span class="comment">*/</span></div>
+<div class="line"><a id="l00049" name="l00049"></a><span class="lineno">   49</span><span class="keywordtype">double</span> covariance(std::vector&lt;std::pair&lt;double, double&gt;&gt; <span class="keyword">const</span> &amp;points, <span class="keywordtype">double</span> meanx, <span class="keywordtype">double</span> meany);</div>
+<div class="line"><a id="l00050" name="l00050"></a><span class="lineno">   50</span> </div>
+<div class="line"><a id="l00051" name="l00051"></a><span class="lineno">   51</span><span class="comment">/*</span></div>
+<div class="line"><a id="l00052" name="l00052"></a><span class="lineno">   52</span><span class="comment">Calculates the slope and y intercept of the line of best fit for the data</span></div>
+<div class="line"><a id="l00053" name="l00053"></a><span class="lineno">   53</span><span class="comment">@param points the points for the data</span></div>
+<div class="line"><a id="l00054" name="l00054"></a><span class="lineno">   54</span><span class="comment">*/</span></div>
+<div class="line"><a id="l00055" name="l00055"></a><span class="lineno">   55</span>std::pair&lt;double, double&gt; calculate_linear_regression(std::vector&lt;std::pair&lt;double, double&gt;&gt; <span class="keyword">const</span> &amp;points);</div>
+<div class="line"><a id="l00056" name="l00056"></a><span class="lineno">   56</span> </div>
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+
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+<div><div class="header">
+  <div class="headertitle"><div class="title">Core </div></div>
+</div><!--header-->
+<div class="contents">
+<div class="textblock"><p>This is the host repository for the custom VEX libraries used by the RIT VEXU team</p>
+<h1><a class="anchor" id="autotoc_md1"></a>
+Getting Started</h1>
+<p>In order to simply use this repo, you can either clone it into your VEXcode project folder, or download the .zip and place it into a core/ subfolder. Then follow the instructions for setting up compilation at <a href="https://github.com/RIT-VEX-U/Core/wiki/1-%7C-Project-Setup#build-system">Wiki/BuildSystem</a></p>
+<p>If you wish to contribute, follow the instructions at <a href="https://github.com/RIT-VEX-U/Core/wiki/1-%7C-Project-Setup">Wiki/ProjectSetup</a></p>
+<h1><a class="anchor" id="autotoc_md2"></a>
+Features</h1>
+<p>Here is the current feature list this repo provides:</p>
+<p>Subsystems (See <a href="https://github.com/RIT-VEX-U/Core/wiki/2-%7C-Subsystems">Wiki/Subsystems</a>): <br  />
+</p><ul>
+<li>Tank drivetrain (user control / autonomous)</li>
+<li>Mecanum drivetrain (user control / autonomous)</li>
+<li>Odometry</li>
+<li><a class="el" href="classFlywheel.html">Flywheel</a></li>
+<li><a class="el" href="classLift.html">Lift</a></li>
+<li>Custom encoders</li>
+</ul>
+<p>Utilities (See <a href="https://github.com/RIT-VEX-U/Core/wiki/3-%7C-Utilites">Wiki/Utilites</a>): <br  />
+</p><ul>
+<li><a class="el" href="classPID.html">PID</a> controller</li>
+<li><a class="el" href="classFeedForward.html">FeedForward</a> controller</li>
+<li>Trapezoidal motion profile controller</li>
+<li>Pure Pursuit</li>
+<li>Generic auto program builder</li>
+<li>Auto program UI selector</li>
+<li>Mathematical classes (<a class="el" href="classVector2D.html">Vector2D</a>, Moving Average) </li>
+</ul>
+</div></div><!-- contents -->
+</div><!-- PageDoc -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.6
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diff --git a/documentation/html/mecanum__drive_8h_source.html b/documentation/html/mecanum__drive_8h_source.html
new file mode 100644
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+++ b/documentation/html/mecanum__drive_8h_source.html
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+<meta name="generator" content="Doxygen 1.9.6"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>RIT VEXU Core API: include/subsystems/mecanum_drive.h Source File</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
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+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
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+  <td id="projectalign">
+   <div id="projectname">RIT VEXU Core API
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.6 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
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+/* @license-end */
+</script>
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+  $(document).ready(function() { init_search(); });
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+<!-- window showing the filter options -->
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+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
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+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="dir_d44c64559bbebec7f509842c48db8b23.html">include</a></li><li class="navelem"><a class="el" href="dir_8e84b5daa2b3f33b7b3fb9ecedbe5637.html">subsystems</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle"><div class="title">mecanum_drive.h</div></div>
+</div><!--header-->
+<div class="contents">
+<div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno">    1</span><span class="preprocessor">#pragma once</span></div>
+<div class="line"><a id="l00002" name="l00002"></a><span class="lineno">    2</span> </div>
+<div class="line"><a id="l00003" name="l00003"></a><span class="lineno">    3</span><span class="preprocessor">#include &quot;vex.h&quot;</span></div>
+<div class="line"><a id="l00004" name="l00004"></a><span class="lineno">    4</span><span class="preprocessor">#include &quot;../core/include/utils/pid.h&quot;</span></div>
+<div class="line"><a id="l00005" name="l00005"></a><span class="lineno">    5</span> </div>
+<div class="line"><a id="l00006" name="l00006"></a><span class="lineno">    6</span><span class="preprocessor">#ifndef PI</span></div>
+<div class="line"><a id="l00007" name="l00007"></a><span class="lineno">    7</span><span class="preprocessor">#define PI 3.141592654</span></div>
+<div class="line"><a id="l00008" name="l00008"></a><span class="lineno">    8</span><span class="preprocessor">#endif</span></div>
+<div class="line"><a id="l00009" name="l00009"></a><span class="lineno">    9</span> </div>
+<div class="line"><a id="l00014" name="l00014"></a><span class="lineno"><a class="line" href="classMecanumDrive.html">   14</a></span><span class="keyword">class </span><a class="code hl_class" href="classMecanumDrive.html">MecanumDrive</a></div>
+<div class="line"><a id="l00015" name="l00015"></a><span class="lineno">   15</span>{</div>
+<div class="line"><a id="l00016" name="l00016"></a><span class="lineno">   16</span> </div>
+<div class="line"><a id="l00017" name="l00017"></a><span class="lineno">   17</span>  <span class="keyword">public</span>:</div>
+<div class="line"><a id="l00018" name="l00018"></a><span class="lineno">   18</span> </div>
+<div class="line"><a id="l00022" name="l00022"></a><span class="lineno"><a class="line" href="structMecanumDrive_1_1mecanumdrive__config__t.html">   22</a></span>  <span class="keyword">struct </span><a class="code hl_struct" href="structMecanumDrive_1_1mecanumdrive__config__t.html">mecanumdrive_config_t</a></div>
+<div class="line"><a id="l00023" name="l00023"></a><span class="lineno">   23</span>  {</div>
+<div class="line"><a id="l00024" name="l00024"></a><span class="lineno">   24</span>    <span class="comment">// PID configurations for autonomous driving</span></div>
+<div class="line"><a id="l00025" name="l00025"></a><span class="lineno">   25</span>    <a class="code hl_struct" href="structPID_1_1pid__config__t.html">PID::pid_config_t</a> drive_pid_conf;</div>
+<div class="line"><a id="l00026" name="l00026"></a><span class="lineno">   26</span>    <a class="code hl_struct" href="structPID_1_1pid__config__t.html">PID::pid_config_t</a> drive_gyro_pid_conf;</div>
+<div class="line"><a id="l00027" name="l00027"></a><span class="lineno">   27</span>    <a class="code hl_struct" href="structPID_1_1pid__config__t.html">PID::pid_config_t</a> turn_pid_conf;</div>
+<div class="line"><a id="l00028" name="l00028"></a><span class="lineno">   28</span> </div>
+<div class="line"><a id="l00029" name="l00029"></a><span class="lineno">   29</span>    <span class="comment">// Diameter of the mecanum wheels</span></div>
+<div class="line"><a id="l00030" name="l00030"></a><span class="lineno">   30</span>    <span class="keywordtype">double</span> drive_wheel_diam;</div>
+<div class="line"><a id="l00031" name="l00031"></a><span class="lineno">   31</span> </div>
+<div class="line"><a id="l00032" name="l00032"></a><span class="lineno">   32</span>    <span class="comment">// Diameter of the perpendicular undriven encoder wheel</span></div>
+<div class="line"><a id="l00033" name="l00033"></a><span class="lineno">   33</span>    <span class="keywordtype">double</span> lateral_wheel_diam;</div>
+<div class="line"><a id="l00034" name="l00034"></a><span class="lineno">   34</span> </div>
+<div class="line"><a id="l00035" name="l00035"></a><span class="lineno">   35</span>    <span class="comment">// Width between the center of the left and right wheels</span></div>
+<div class="line"><a id="l00036" name="l00036"></a><span class="lineno">   36</span>    <span class="keywordtype">double</span> wheelbase_width;</div>
+<div class="line"><a id="l00037" name="l00037"></a><span class="lineno">   37</span> </div>
+<div class="line"><a id="l00038" name="l00038"></a><span class="lineno">   38</span>  };</div>
+<div class="line"><a id="l00039" name="l00039"></a><span class="lineno">   39</span> </div>
+<div class="line"><a id="l00043" name="l00043"></a><span class="lineno">   43</span>  <a class="code hl_class" href="classMecanumDrive.html">MecanumDrive</a>(vex::motor &amp;left_front, vex::motor &amp;right_front, vex::motor &amp;left_rear, vex::motor &amp;right_rear, </div>
+<div class="line"><a id="l00044" name="l00044"></a><span class="lineno">   44</span>               vex::rotation *lateral_wheel=NULL, vex::inertial *imu=NULL, <a class="code hl_struct" href="structMecanumDrive_1_1mecanumdrive__config__t.html">mecanumdrive_config_t</a> *config=NULL);</div>
+<div class="line"><a id="l00045" name="l00045"></a><span class="lineno">   45</span> </div>
+<div class="line"><a id="l00054" name="l00054"></a><span class="lineno">   54</span>  <span class="keywordtype">void</span> <a class="code hl_function" href="classMecanumDrive.html#a756383ba74cf555d42a147584f9ae646">drive_raw</a>(<span class="keywordtype">double</span> direction_deg, <span class="keywordtype">double</span> magnitude, <span class="keywordtype">double</span> rotation);</div>
+<div class="line"><a id="l00055" name="l00055"></a><span class="lineno">   55</span> </div>
+<div class="line"><a id="l00066" name="l00066"></a><span class="lineno">   66</span>  <span class="keywordtype">void</span> <a class="code hl_function" href="classMecanumDrive.html#ac7a660a606aea694d21a4a2dd12faa24">drive</a>(<span class="keywordtype">double</span> left_y, <span class="keywordtype">double</span> left_x, <span class="keywordtype">double</span> right_x, <span class="keywordtype">int</span> power=2);</div>
+<div class="line"><a id="l00067" name="l00067"></a><span class="lineno">   67</span> </div>
+<div class="line"><a id="l00080" name="l00080"></a><span class="lineno">   80</span>  <span class="keywordtype">bool</span> <a class="code hl_function" href="classMecanumDrive.html#aa0cfb8683fee99e0a534c3a725d338fd">auto_drive</a>(<span class="keywordtype">double</span> inches, <span class="keywordtype">double</span> direction, <span class="keywordtype">double</span> speed, <span class="keywordtype">bool</span> gyro_correction=<span class="keyword">true</span>);</div>
+<div class="line"><a id="l00081" name="l00081"></a><span class="lineno">   81</span> </div>
+<div class="line"><a id="l00092" name="l00092"></a><span class="lineno">   92</span>  <span class="keywordtype">bool</span> <a class="code hl_function" href="classMecanumDrive.html#ac8813aafec14f2d25c3abafefdb81498">auto_turn</a>(<span class="keywordtype">double</span> degrees, <span class="keywordtype">double</span> speed, <span class="keywordtype">bool</span> ignore_imu=<span class="keyword">false</span>);</div>
+<div class="line"><a id="l00093" name="l00093"></a><span class="lineno">   93</span> </div>
+<div class="line"><a id="l00094" name="l00094"></a><span class="lineno">   94</span>  <span class="keyword">private</span>:</div>
+<div class="line"><a id="l00095" name="l00095"></a><span class="lineno">   95</span> </div>
+<div class="line"><a id="l00096" name="l00096"></a><span class="lineno">   96</span>  vex::motor &amp;left_front, &amp;right_front, &amp;left_rear, &amp;right_rear;</div>
+<div class="line"><a id="l00097" name="l00097"></a><span class="lineno">   97</span> </div>
+<div class="line"><a id="l00098" name="l00098"></a><span class="lineno">   98</span>  <a class="code hl_struct" href="structMecanumDrive_1_1mecanumdrive__config__t.html">mecanumdrive_config_t</a> *config;</div>
+<div class="line"><a id="l00099" name="l00099"></a><span class="lineno">   99</span>  vex::rotation *lateral_wheel;</div>
+<div class="line"><a id="l00100" name="l00100"></a><span class="lineno">  100</span>  vex::inertial *imu;</div>
+<div class="line"><a id="l00101" name="l00101"></a><span class="lineno">  101</span> </div>
+<div class="line"><a id="l00102" name="l00102"></a><span class="lineno">  102</span>  <a class="code hl_class" href="classPID.html">PID</a> *drive_pid = NULL;</div>
+<div class="line"><a id="l00103" name="l00103"></a><span class="lineno">  103</span>  <a class="code hl_class" href="classPID.html">PID</a> *drive_gyro_pid = NULL;</div>
+<div class="line"><a id="l00104" name="l00104"></a><span class="lineno">  104</span>  <a class="code hl_class" href="classPID.html">PID</a> *turn_pid = NULL;</div>
+<div class="line"><a id="l00105" name="l00105"></a><span class="lineno">  105</span> </div>
+<div class="line"><a id="l00106" name="l00106"></a><span class="lineno">  106</span>  <span class="keywordtype">bool</span> init = <span class="keyword">true</span>;</div>
+<div class="line"><a id="l00107" name="l00107"></a><span class="lineno">  107</span> </div>
+<div class="line"><a id="l00108" name="l00108"></a><span class="lineno">  108</span>};</div>
+<div class="ttc" id="aclassMecanumDrive_html"><div class="ttname"><a href="classMecanumDrive.html">MecanumDrive</a></div><div class="ttdef"><b>Definition:</b> mecanum_drive.h:15</div></div>
+<div class="ttc" id="aclassMecanumDrive_html_a756383ba74cf555d42a147584f9ae646"><div class="ttname"><a href="classMecanumDrive.html#a756383ba74cf555d42a147584f9ae646">MecanumDrive::drive_raw</a></div><div class="ttdeci">void drive_raw(double direction_deg, double magnitude, double rotation)</div><div class="ttdef"><b>Definition:</b> mecanum_drive.cpp:34</div></div>
+<div class="ttc" id="aclassMecanumDrive_html_aa0cfb8683fee99e0a534c3a725d338fd"><div class="ttname"><a href="classMecanumDrive.html#aa0cfb8683fee99e0a534c3a725d338fd">MecanumDrive::auto_drive</a></div><div class="ttdeci">bool auto_drive(double inches, double direction, double speed, bool gyro_correction=true)</div><div class="ttdef"><b>Definition:</b> mecanum_drive.cpp:98</div></div>
+<div class="ttc" id="aclassMecanumDrive_html_ac7a660a606aea694d21a4a2dd12faa24"><div class="ttname"><a href="classMecanumDrive.html#ac7a660a606aea694d21a4a2dd12faa24">MecanumDrive::drive</a></div><div class="ttdeci">void drive(double left_y, double left_x, double right_x, int power=2)</div><div class="ttdef"><b>Definition:</b> mecanum_drive.cpp:68</div></div>
+<div class="ttc" id="aclassMecanumDrive_html_ac8813aafec14f2d25c3abafefdb81498"><div class="ttname"><a href="classMecanumDrive.html#ac8813aafec14f2d25c3abafefdb81498">MecanumDrive::auto_turn</a></div><div class="ttdeci">bool auto_turn(double degrees, double speed, bool ignore_imu=false)</div><div class="ttdef"><b>Definition:</b> mecanum_drive.cpp:218</div></div>
+<div class="ttc" id="aclassPID_html"><div class="ttname"><a href="classPID.html">PID</a></div><div class="ttdef"><b>Definition:</b> pid.h:24</div></div>
+<div class="ttc" id="astructMecanumDrive_1_1mecanumdrive__config__t_html"><div class="ttname"><a href="structMecanumDrive_1_1mecanumdrive__config__t.html">MecanumDrive::mecanumdrive_config_t</a></div><div class="ttdef"><b>Definition:</b> mecanum_drive.h:23</div></div>
+<div class="ttc" id="astructPID_1_1pid__config__t_html"><div class="ttname"><a href="structPID_1_1pid__config__t.html">PID::pid_config_t</a></div><div class="ttdef"><b>Definition:</b> pid.h:41</div></div>
+</div><!-- fragment --></div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.6
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+ @licstart  The following is the entire license notice for the JavaScript code in this file.
+
+ The MIT License (MIT)
+
+ Copyright (C) 1997-2020 by Dimitri van Heesch
+
+ Permission is hereby granted, free of charge, to any person obtaining a copy of this software
+ and associated documentation files (the "Software"), to deal in the Software without restriction,
+ including without limitation the rights to use, copy, modify, merge, publish, distribute,
+ sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is
+ furnished to do so, subject to the following conditions:
+
+ The above copyright notice and this permission notice shall be included in all copies or
+ substantial portions of the Software.
+
+ THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING
+ BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
+ DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+
+ @licend  The above is the entire license notice for the JavaScript code in this file
+ */
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+  function makeTree(data,relPath) {
+    var result='';
+    if ('children' in data) {
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+        if (link.substring(0,1)=='^') {
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+        } else {
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+        }
+        result+='<li><a href="'+url+'">'+
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+      }
+      result+='</ul>';
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+    return result;
+  }
+  var searchBoxHtml;
+  if (searchEnabled) {
+    if (serverSide) {
+      searchBoxHtml='<div id="MSearchBox" class="MSearchBoxInactive">'+
+                 '<div class="left">'+
+                  '<form id="FSearchBox" action="'+relPath+searchPage+
+                    '" method="get"><span id="MSearchSelectExt">&#160;</span>'+
+                  '<input type="text" id="MSearchField" name="query" value="" placeholder="'+search+
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+                  '</form>'+
+                 '</div>'+
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+                '</div>';
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+                  'search/close.svg" alt=""/></a>'+
+                 '</span>'+
+                '</div>';
+    }
+  }
+
+  $('#main-nav').before('<div class="sm sm-dox"><input id="main-menu-state" type="checkbox"/>'+
+                        '<label class="main-menu-btn" for="main-menu-state">'+
+                        '<span class="main-menu-btn-icon"></span> '+
+                        'Toggle main menu visibility</label>'+
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+                        '</div>');
+  $('#main-nav').append(makeTree(menudata,relPath));
+  $('#main-nav').children(':first').addClass('sm sm-dox').attr('id','main-menu');
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+    // set default menu visibility
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+      var $mainMenuState = $('#main-menu-state');
+      var newWidth = $(window).outerWidth();
+      if (newWidth!=prevWidth) {
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+          $mainMenuState.prop('checked',false); $menu.hide();
+          $('#searchBoxPos1').html(searchBoxHtml);
+          $('#searchBoxPos2').hide();
+        } else {
+          $menu.show();
+          $('#searchBoxPos1').empty();
+          $('#searchBoxPos2').html(searchBoxHtml);
+          $('#searchBoxPos2').show();
+        }
+        if (typeof searchBox!=='undefined') {
+          searchBox.CloseResultsWindow();
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+        prevWidth = newWidth;
+      }
+    }
+    $(window).ready(function() { resetState(); initResizableIfExists(); });
+    $(window).resize(resetState);
+  }
+  $('#main-menu').smartmenus();
+}
+/* @license-end */
diff --git a/documentation/html/menudata.js b/documentation/html/menudata.js
new file mode 100644
index 0000000..abafd6a
--- /dev/null
+++ b/documentation/html/menudata.js
@@ -0,0 +1,104 @@
+/*
+ @licstart  The following is the entire license notice for the JavaScript code in this file.
+
+ The MIT License (MIT)
+
+ Copyright (C) 1997-2020 by Dimitri van Heesch
+
+ Permission is hereby granted, free of charge, to any person obtaining a copy of this software
+ and associated documentation files (the "Software"), to deal in the Software without restriction,
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+ sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is
+ furnished to do so, subject to the following conditions:
+
+ The above copyright notice and this permission notice shall be included in all copies or
+ substantial portions of the Software.
+
+ THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING
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+ OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+
+ @licend  The above is the entire license notice for the JavaScript code in this file
+*/
+var menudata={children:[
+{text:"Main Page",url:"index.html"},
+{text:"Related Pages",url:"pages.html"},
+{text:"Classes",url:"annotated.html",children:[
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+{text:"Class Index",url:"classes.html"},
+{text:"Class Hierarchy",url:"hierarchy.html"},
+{text:"Class Members",url:"functions.html",children:[
+{text:"All",url:"functions.html",children:[
+{text:"a",url:"functions.html#index_a"},
+{text:"b",url:"functions_b.html#index_b"},
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+{text:"w",url:"functions_w.html#index_w"},
+{text:"x",url:"functions_x.html#index_x"},
+{text:"y",url:"functions_y.html#index_y"},
+{text:"z",url:"functions_z.html#index_z"}]},
+{text:"Functions",url:"functions_func.html",children:[
+{text:"a",url:"functions_func.html#index_a"},
+{text:"b",url:"functions_func.html#index_b"},
+{text:"c",url:"functions_func.html#index_c"},
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+{text:"l",url:"functions_func.html#index_l"},
+{text:"m",url:"functions_func.html#index_m"},
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+{text:"o",url:"functions_func.html#index_o"},
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+{text:"v",url:"functions_func.html#index_v"},
+{text:"w",url:"functions_func.html#index_w"}]},
+{text:"Variables",url:"functions_vars.html",children:[
+{text:"a",url:"functions_vars.html#index_a"},
+{text:"b",url:"functions_vars.html#index_b"},
+{text:"c",url:"functions_vars.html#index_c"},
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+{text:"h",url:"functions_vars.html#index_h"},
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+{text:"k",url:"functions_vars.html#index_k"},
+{text:"l",url:"functions_vars.html#index_l"},
+{text:"m",url:"functions_vars.html#index_m"},
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+{text:"o",url:"functions_vars.html#index_o"},
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+{text:"r",url:"functions_vars.html#index_r"},
+{text:"s",url:"functions_vars.html#index_s"},
+{text:"t",url:"functions_vars.html#index_t"},
+{text:"v",url:"functions_vars.html#index_v"},
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+{text:"x",url:"functions_vars.html#index_x"},
+{text:"y",url:"functions_vars.html#index_y"},
+{text:"z",url:"functions_vars.html#index_z"}]},
+{text:"Enumerations",url:"functions_enum.html"}]}]},
+{text:"Files",url:"files.html",children:[
+{text:"File List",url:"files.html"}]}]}
diff --git a/documentation/html/motion__controller_8h_source.html b/documentation/html/motion__controller_8h_source.html
new file mode 100644
index 0000000..0c0ee99
--- /dev/null
+++ b/documentation/html/motion__controller_8h_source.html
@@ -0,0 +1,158 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
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+<title>RIT VEXU Core API: include/utils/motion_controller.h Source File</title>
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+<li class="navelem"><a class="el" href="dir_d44c64559bbebec7f509842c48db8b23.html">include</a></li><li class="navelem"><a class="el" href="dir_821002d4f10779a80d4fb17bc32f21f1.html">utils</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle"><div class="title">motion_controller.h</div></div>
+</div><!--header-->
+<div class="contents">
+<div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno">    1</span><span class="preprocessor">#pragma once</span></div>
+<div class="line"><a id="l00002" name="l00002"></a><span class="lineno">    2</span><span class="preprocessor">#include &quot;../core/include/utils/pid.h&quot;</span></div>
+<div class="line"><a id="l00003" name="l00003"></a><span class="lineno">    3</span><span class="preprocessor">#include &quot;../core/include/utils/feedforward.h&quot;</span></div>
+<div class="line"><a id="l00004" name="l00004"></a><span class="lineno">    4</span><span class="preprocessor">#include &quot;../core/include/utils/trapezoid_profile.h&quot;</span></div>
+<div class="line"><a id="l00005" name="l00005"></a><span class="lineno">    5</span><span class="preprocessor">#include &quot;../core/include/utils/feedback_base.h&quot;</span></div>
+<div class="line"><a id="l00006" name="l00006"></a><span class="lineno">    6</span><span class="preprocessor">#include &quot;../core/include/subsystems/tank_drive.h&quot;</span></div>
+<div class="line"><a id="l00007" name="l00007"></a><span class="lineno">    7</span><span class="preprocessor">#include &quot;vex.h&quot;</span></div>
+<div class="line"><a id="l00008" name="l00008"></a><span class="lineno">    8</span> </div>
+<div class="line"><a id="l00025" name="l00025"></a><span class="lineno"><a class="line" href="classMotionController.html">   25</a></span><span class="keyword">class </span><a class="code hl_class" href="classMotionController.html">MotionController</a> : <span class="keyword">public</span> <a class="code hl_class" href="classFeedback.html">Feedback</a></div>
+<div class="line"><a id="l00026" name="l00026"></a><span class="lineno">   26</span>{</div>
+<div class="line"><a id="l00027" name="l00027"></a><span class="lineno">   27</span>    <span class="keyword">public</span>:</div>
+<div class="line"><a id="l00028" name="l00028"></a><span class="lineno">   28</span> </div>
+<div class="line"><a id="l00034" name="l00034"></a><span class="lineno"><a class="line" href="structMotionController_1_1m__profile__cfg__t.html">   34</a></span>    <span class="keyword">typedef</span> <span class="keyword">struct</span></div>
+<div class="line"><a id="l00035" name="l00035"></a><span class="lineno">   35</span>    {</div>
+<div class="line"><a id="l00036" name="l00036"></a><span class="lineno"><a class="line" href="structMotionController_1_1m__profile__cfg__t.html#a949b084fe78795509ad8e65c74e9bc3f">   36</a></span>        <span class="keywordtype">double</span> <a class="code hl_variable" href="structMotionController_1_1m__profile__cfg__t.html#a949b084fe78795509ad8e65c74e9bc3f">max_v</a>; </div>
+<div class="line"><a id="l00037" name="l00037"></a><span class="lineno"><a class="line" href="structMotionController_1_1m__profile__cfg__t.html#ac4f07f3ac52d12fd820ee4d8ce847f66">   37</a></span>        <span class="keywordtype">double</span> <a class="code hl_variable" href="structMotionController_1_1m__profile__cfg__t.html#ac4f07f3ac52d12fd820ee4d8ce847f66">accel</a>; </div>
+<div class="line"><a id="l00038" name="l00038"></a><span class="lineno"><a class="line" href="structMotionController_1_1m__profile__cfg__t.html#a2b6415c29fcab4f9b2ccff067a390baa">   38</a></span>        <a class="code hl_struct" href="structPID_1_1pid__config__t.html">PID::pid_config_t</a> <a class="code hl_variable" href="structMotionController_1_1m__profile__cfg__t.html#a2b6415c29fcab4f9b2ccff067a390baa">pid_cfg</a>; </div>
+<div class="line"><a id="l00039" name="l00039"></a><span class="lineno"><a class="line" href="structMotionController_1_1m__profile__cfg__t.html#ad8131facbd379321cc7083361e68ff62">   39</a></span>        <a class="code hl_struct" href="structFeedForward_1_1ff__config__t.html">FeedForward::ff_config_t</a> <a class="code hl_variable" href="structMotionController_1_1m__profile__cfg__t.html#ad8131facbd379321cc7083361e68ff62">ff_cfg</a>; </div>
+<div class="line"><a id="l00040" name="l00040"></a><span class="lineno">   40</span>    } <a class="code hl_struct" href="structMotionController_1_1m__profile__cfg__t.html">m_profile_cfg_t</a>;</div>
+<div class="line"><a id="l00041" name="l00041"></a><span class="lineno">   41</span> </div>
+<div class="line"><a id="l00051" name="l00051"></a><span class="lineno">   51</span>    <a class="code hl_class" href="classMotionController.html">MotionController</a>(<a class="code hl_struct" href="structMotionController_1_1m__profile__cfg__t.html">m_profile_cfg_t</a> &amp;config);</div>
+<div class="line"><a id="l00052" name="l00052"></a><span class="lineno">   52</span> </div>
+<div class="line"><a id="l00057" name="l00057"></a><span class="lineno">   57</span>    <span class="keywordtype">void</span> <a class="code hl_function" href="classMotionController.html#af0d665d9916111cbce677da6df6b6667">init</a>(<span class="keywordtype">double</span> start_pt, <span class="keywordtype">double</span> end_pt) <span class="keyword">override</span>;</div>
+<div class="line"><a id="l00058" name="l00058"></a><span class="lineno">   58</span>    </div>
+<div class="line"><a id="l00065" name="l00065"></a><span class="lineno">   65</span>    <span class="keywordtype">double</span> <a class="code hl_function" href="classMotionController.html#a86ef0ef19858b5b407f7406bb5da30af">update</a>(<span class="keywordtype">double</span> sensor_val) <span class="keyword">override</span>;</div>
+<div class="line"><a id="l00066" name="l00066"></a><span class="lineno">   66</span> </div>
+<div class="line"><a id="l00070" name="l00070"></a><span class="lineno">   70</span>    <span class="keywordtype">double</span> <a class="code hl_function" href="classMotionController.html#a2a1944f590618cd91770364aea416cd5">get</a>() <span class="keyword">override</span>;</div>
+<div class="line"><a id="l00071" name="l00071"></a><span class="lineno">   71</span> </div>
+<div class="line"><a id="l00079" name="l00079"></a><span class="lineno">   79</span>    <span class="keywordtype">void</span> <a class="code hl_function" href="classMotionController.html#a944c245002a1eb124dd8df40de4fcc57">set_limits</a>(<span class="keywordtype">double</span> lower, <span class="keywordtype">double</span> upper) <span class="keyword">override</span>;</div>
+<div class="line"><a id="l00080" name="l00080"></a><span class="lineno">   80</span> </div>
+<div class="line"><a id="l00085" name="l00085"></a><span class="lineno">   85</span>    <span class="keywordtype">bool</span> <a class="code hl_function" href="classMotionController.html#aa9e2af88b848646889deb1d43a283173">is_on_target</a>() <span class="keyword">override</span>;</div>
+<div class="line"><a id="l00086" name="l00086"></a><span class="lineno">   86</span> </div>
+<div class="line"><a id="l00090" name="l00090"></a><span class="lineno">   90</span>    <a class="code hl_struct" href="structmotion__t.html">motion_t</a> <a class="code hl_function" href="classMotionController.html#ab958ce97fbc4929f4dd03965671e8d4d">get_motion</a>();</div>
+<div class="line"><a id="l00091" name="l00091"></a><span class="lineno">   91</span> </div>
+<div class="line"><a id="l00110" name="l00110"></a><span class="lineno">  110</span>    <span class="keyword">static</span> <a class="code hl_struct" href="structFeedForward_1_1ff__config__t.html">FeedForward::ff_config_t</a> <a class="code hl_function" href="classMotionController.html#a20749b6a4bd3cf509a3acf682831eb00">tune_feedforward</a>(<a class="code hl_class" href="classTankDrive.html">TankDrive</a> &amp;drive, <a class="code hl_class" href="classOdometryTank.html">OdometryTank</a> &amp;odometry, <span class="keywordtype">double</span> pct=0.6, <span class="keywordtype">double</span> duration=2);</div>
+<div class="line"><a id="l00111" name="l00111"></a><span class="lineno">  111</span> </div>
+<div class="line"><a id="l00112" name="l00112"></a><span class="lineno">  112</span>    <span class="keyword">private</span>: </div>
+<div class="line"><a id="l00113" name="l00113"></a><span class="lineno">  113</span> </div>
+<div class="line"><a id="l00114" name="l00114"></a><span class="lineno">  114</span>    <a class="code hl_struct" href="structMotionController_1_1m__profile__cfg__t.html">m_profile_cfg_t</a> config;</div>
+<div class="line"><a id="l00115" name="l00115"></a><span class="lineno">  115</span> </div>
+<div class="line"><a id="l00116" name="l00116"></a><span class="lineno">  116</span>    <a class="code hl_class" href="classPID.html">PID</a> pid;</div>
+<div class="line"><a id="l00117" name="l00117"></a><span class="lineno">  117</span>    <a class="code hl_class" href="classFeedForward.html">FeedForward</a> ff;</div>
+<div class="line"><a id="l00118" name="l00118"></a><span class="lineno">  118</span>    <a class="code hl_class" href="classTrapezoidProfile.html">TrapezoidProfile</a> profile;</div>
+<div class="line"><a id="l00119" name="l00119"></a><span class="lineno">  119</span> </div>
+<div class="line"><a id="l00120" name="l00120"></a><span class="lineno">  120</span>    <span class="keywordtype">double</span> lower_limit = 0, upper_limit = 0;</div>
+<div class="line"><a id="l00121" name="l00121"></a><span class="lineno">  121</span>    <span class="keywordtype">double</span> out = 0;</div>
+<div class="line"><a id="l00122" name="l00122"></a><span class="lineno">  122</span>    <a class="code hl_struct" href="structmotion__t.html">motion_t</a> cur_motion;</div>
+<div class="line"><a id="l00123" name="l00123"></a><span class="lineno">  123</span>     </div>
+<div class="line"><a id="l00124" name="l00124"></a><span class="lineno">  124</span>    vex::timer tmr;</div>
+<div class="line"><a id="l00125" name="l00125"></a><span class="lineno">  125</span> </div>
+<div class="line"><a id="l00126" name="l00126"></a><span class="lineno">  126</span>};</div>
+<div class="ttc" id="aclassFeedForward_html"><div class="ttname"><a href="classFeedForward.html">FeedForward</a></div><div class="ttdef"><b>Definition:</b> feedforward.h:30</div></div>
+<div class="ttc" id="aclassFeedback_html"><div class="ttname"><a href="classFeedback.html">Feedback</a></div><div class="ttdef"><b>Definition:</b> feedback_base.h:11</div></div>
+<div class="ttc" id="aclassMotionController_html"><div class="ttname"><a href="classMotionController.html">MotionController</a></div><div class="ttdef"><b>Definition:</b> motion_controller.h:26</div></div>
+<div class="ttc" id="aclassMotionController_html_a20749b6a4bd3cf509a3acf682831eb00"><div class="ttname"><a href="classMotionController.html#a20749b6a4bd3cf509a3acf682831eb00">MotionController::tune_feedforward</a></div><div class="ttdeci">static FeedForward::ff_config_t tune_feedforward(TankDrive &amp;drive, OdometryTank &amp;odometry, double pct=0.6, double duration=2)</div><div class="ttdef"><b>Definition:</b> motion_controller.cpp:106</div></div>
+<div class="ttc" id="aclassMotionController_html_a2a1944f590618cd91770364aea416cd5"><div class="ttname"><a href="classMotionController.html#a2a1944f590618cd91770364aea416cd5">MotionController::get</a></div><div class="ttdeci">double get() override</div><div class="ttdef"><b>Definition:</b> motion_controller.cpp:54</div></div>
+<div class="ttc" id="aclassMotionController_html_a86ef0ef19858b5b407f7406bb5da30af"><div class="ttname"><a href="classMotionController.html#a86ef0ef19858b5b407f7406bb5da30af">MotionController::update</a></div><div class="ttdeci">double update(double sensor_val) override</div><div class="ttdoc">Update the motion profile with a new sensor value.</div><div class="ttdef"><b>Definition:</b> motion_controller.cpp:37</div></div>
+<div class="ttc" id="aclassMotionController_html_a944c245002a1eb124dd8df40de4fcc57"><div class="ttname"><a href="classMotionController.html#a944c245002a1eb124dd8df40de4fcc57">MotionController::set_limits</a></div><div class="ttdeci">void set_limits(double lower, double upper) override</div><div class="ttdef"><b>Definition:</b> motion_controller.cpp:65</div></div>
+<div class="ttc" id="aclassMotionController_html_aa9e2af88b848646889deb1d43a283173"><div class="ttname"><a href="classMotionController.html#aa9e2af88b848646889deb1d43a283173">MotionController::is_on_target</a></div><div class="ttdeci">bool is_on_target() override</div><div class="ttdef"><b>Definition:</b> motion_controller.cpp:75</div></div>
+<div class="ttc" id="aclassMotionController_html_ab958ce97fbc4929f4dd03965671e8d4d"><div class="ttname"><a href="classMotionController.html#ab958ce97fbc4929f4dd03965671e8d4d">MotionController::get_motion</a></div><div class="ttdeci">motion_t get_motion()</div><div class="ttdef"><b>Definition:</b> motion_controller.cpp:83</div></div>
+<div class="ttc" id="aclassMotionController_html_af0d665d9916111cbce677da6df6b6667"><div class="ttname"><a href="classMotionController.html#af0d665d9916111cbce677da6df6b6667">MotionController::init</a></div><div class="ttdeci">void init(double start_pt, double end_pt) override</div><div class="ttdoc">Initialize the motion profile for a new movement This will also reset the PID and profile timers.</div><div class="ttdef"><b>Definition:</b> motion_controller.cpp:24</div></div>
+<div class="ttc" id="aclassOdometryTank_html"><div class="ttname"><a href="classOdometryTank.html">OdometryTank</a></div><div class="ttdef"><b>Definition:</b> odometry_tank.h:18</div></div>
+<div class="ttc" id="aclassPID_html"><div class="ttname"><a href="classPID.html">PID</a></div><div class="ttdef"><b>Definition:</b> pid.h:24</div></div>
+<div class="ttc" id="aclassTankDrive_html"><div class="ttname"><a href="classTankDrive.html">TankDrive</a></div><div class="ttdef"><b>Definition:</b> tank_drive.h:23</div></div>
+<div class="ttc" id="aclassTrapezoidProfile_html"><div class="ttname"><a href="classTrapezoidProfile.html">TrapezoidProfile</a></div><div class="ttdef"><b>Definition:</b> trapezoid_profile.h:35</div></div>
+<div class="ttc" id="astructFeedForward_1_1ff__config__t_html"><div class="ttname"><a href="structFeedForward_1_1ff__config__t.html">FeedForward::ff_config_t</a></div><div class="ttdef"><b>Definition:</b> feedforward.h:42</div></div>
+<div class="ttc" id="astructMotionController_1_1m__profile__cfg__t_html"><div class="ttname"><a href="structMotionController_1_1m__profile__cfg__t.html">MotionController::m_profile_cfg_t</a></div><div class="ttdef"><b>Definition:</b> motion_controller.h:35</div></div>
+<div class="ttc" id="astructMotionController_1_1m__profile__cfg__t_html_a2b6415c29fcab4f9b2ccff067a390baa"><div class="ttname"><a href="structMotionController_1_1m__profile__cfg__t.html#a2b6415c29fcab4f9b2ccff067a390baa">MotionController::m_profile_cfg_t::pid_cfg</a></div><div class="ttdeci">PID::pid_config_t pid_cfg</div><div class="ttdoc">configuration parameters for the internal PID controller</div><div class="ttdef"><b>Definition:</b> motion_controller.h:38</div></div>
+<div class="ttc" id="astructMotionController_1_1m__profile__cfg__t_html_a949b084fe78795509ad8e65c74e9bc3f"><div class="ttname"><a href="structMotionController_1_1m__profile__cfg__t.html#a949b084fe78795509ad8e65c74e9bc3f">MotionController::m_profile_cfg_t::max_v</a></div><div class="ttdeci">double max_v</div><div class="ttdoc">the maximum velocity the robot can drive</div><div class="ttdef"><b>Definition:</b> motion_controller.h:36</div></div>
+<div class="ttc" id="astructMotionController_1_1m__profile__cfg__t_html_ac4f07f3ac52d12fd820ee4d8ce847f66"><div class="ttname"><a href="structMotionController_1_1m__profile__cfg__t.html#ac4f07f3ac52d12fd820ee4d8ce847f66">MotionController::m_profile_cfg_t::accel</a></div><div class="ttdeci">double accel</div><div class="ttdoc">the most acceleration the robot can do</div><div class="ttdef"><b>Definition:</b> motion_controller.h:37</div></div>
+<div class="ttc" id="astructMotionController_1_1m__profile__cfg__t_html_ad8131facbd379321cc7083361e68ff62"><div class="ttname"><a href="structMotionController_1_1m__profile__cfg__t.html#ad8131facbd379321cc7083361e68ff62">MotionController::m_profile_cfg_t::ff_cfg</a></div><div class="ttdeci">FeedForward::ff_config_t ff_cfg</div><div class="ttdoc">configuration parameters for the internal</div><div class="ttdef"><b>Definition:</b> motion_controller.h:39</div></div>
+<div class="ttc" id="astructPID_1_1pid__config__t_html"><div class="ttname"><a href="structPID_1_1pid__config__t.html">PID::pid_config_t</a></div><div class="ttdef"><b>Definition:</b> pid.h:41</div></div>
+<div class="ttc" id="astructmotion__t_html"><div class="ttname"><a href="structmotion__t.html">motion_t</a></div><div class="ttdef"><b>Definition:</b> trapezoid_profile.h:7</div></div>
+</div><!-- fragment --></div><!-- contents -->
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+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.6
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+<!-- Generated by Doxygen 1.9.6 -->
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+<li class="navelem"><a class="el" href="dir_d44c64559bbebec7f509842c48db8b23.html">include</a></li><li class="navelem"><a class="el" href="dir_821002d4f10779a80d4fb17bc32f21f1.html">utils</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle"><div class="title">moving_average.h</div></div>
+</div><!--header-->
+<div class="contents">
+<div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno">    1</span><span class="preprocessor">#include &lt;vector&gt;</span></div>
+<div class="line"><a id="l00002" name="l00002"></a><span class="lineno">    2</span> </div>
+<div class="line"><a id="l00015" name="l00015"></a><span class="lineno"><a class="line" href="classMovingAverage.html">   15</a></span><span class="keyword">class </span><a class="code hl_class" href="classMovingAverage.html">MovingAverage</a> {</div>
+<div class="line"><a id="l00016" name="l00016"></a><span class="lineno">   16</span>  <span class="keyword">public</span>:</div>
+<div class="line"><a id="l00017" name="l00017"></a><span class="lineno">   17</span>  <span class="comment">/*</span></div>
+<div class="line"><a id="l00018" name="l00018"></a><span class="lineno">   18</span><span class="comment">   * Create a moving average calculator with 0 as the default value</span></div>
+<div class="line"><a id="l00019" name="l00019"></a><span class="lineno">   19</span><span class="comment">   *</span></div>
+<div class="line"><a id="l00020" name="l00020"></a><span class="lineno">   20</span><span class="comment">   * @param buffer_size    The size of the buffer. The number of samples that constitute a valid reading</span></div>
+<div class="line"><a id="l00021" name="l00021"></a><span class="lineno">   21</span><span class="comment">   */</span></div>
+<div class="line"><a id="l00022" name="l00022"></a><span class="lineno">   22</span>  <a class="code hl_class" href="classMovingAverage.html">MovingAverage</a>(<span class="keywordtype">int</span> buffer_size);</div>
+<div class="line"><a id="l00023" name="l00023"></a><span class="lineno">   23</span>  <span class="comment">/*</span></div>
+<div class="line"><a id="l00024" name="l00024"></a><span class="lineno">   24</span><span class="comment">   * Create a moving average calculator with a specified default value</span></div>
+<div class="line"><a id="l00025" name="l00025"></a><span class="lineno">   25</span><span class="comment">   * @param buffer_size    The size of the buffer. The number of samples that constitute a valid reading</span></div>
+<div class="line"><a id="l00026" name="l00026"></a><span class="lineno">   26</span><span class="comment">   * @param starting_value The value that the average will be before any data is added</span></div>
+<div class="line"><a id="l00027" name="l00027"></a><span class="lineno">   27</span><span class="comment">   */</span></div>
+<div class="line"><a id="l00028" name="l00028"></a><span class="lineno">   28</span>  <a class="code hl_class" href="classMovingAverage.html">MovingAverage</a>(<span class="keywordtype">int</span> buffer_size, <span class="keywordtype">double</span> starting_value);</div>
+<div class="line"><a id="l00029" name="l00029"></a><span class="lineno">   29</span> </div>
+<div class="line"><a id="l00030" name="l00030"></a><span class="lineno">   30</span>  <span class="comment">/*</span></div>
+<div class="line"><a id="l00031" name="l00031"></a><span class="lineno">   31</span><span class="comment">  * Add a reading to the buffer</span></div>
+<div class="line"><a id="l00032" name="l00032"></a><span class="lineno">   32</span><span class="comment">  * Before:</span></div>
+<div class="line"><a id="l00033" name="l00033"></a><span class="lineno">   33</span><span class="comment">  * [ 1 1 2 2 3 3] =&gt; 2</span></div>
+<div class="line"><a id="l00034" name="l00034"></a><span class="lineno">   34</span><span class="comment">  *   ^</span></div>
+<div class="line"><a id="l00035" name="l00035"></a><span class="lineno">   35</span><span class="comment">  * After:</span></div>
+<div class="line"><a id="l00036" name="l00036"></a><span class="lineno">   36</span><span class="comment">  * [ 2 1 2 2 3 3] =&gt; 2.16</span></div>
+<div class="line"><a id="l00037" name="l00037"></a><span class="lineno">   37</span><span class="comment">  *     ^ </span></div>
+<div class="line"><a id="l00038" name="l00038"></a><span class="lineno">   38</span><span class="comment">  * @param n  the sample that will be added to the moving average.</span></div>
+<div class="line"><a id="l00039" name="l00039"></a><span class="lineno">   39</span><span class="comment">  */</span></div>
+<div class="line"><a id="l00040" name="l00040"></a><span class="lineno">   40</span>  <span class="keywordtype">void</span> <a class="code hl_function" href="classMovingAverage.html#a6c85ea575428ef7faf1f1f111a985db8">add_entry</a>(<span class="keywordtype">double</span> n);</div>
+<div class="line"><a id="l00041" name="l00041"></a><span class="lineno">   41</span> </div>
+<div class="line"><a id="l00046" name="l00046"></a><span class="lineno">   46</span>  <span class="keywordtype">double</span> <a class="code hl_function" href="classMovingAverage.html#aa91e650064d361abe51bfa0b166ac6c0">get_average</a>();</div>
+<div class="line"><a id="l00047" name="l00047"></a><span class="lineno">   47</span> </div>
+<div class="line"><a id="l00052" name="l00052"></a><span class="lineno">   52</span>  <span class="keywordtype">int</span> <a class="code hl_function" href="classMovingAverage.html#ac45976e15321d2c2f52d1f281475b53d">get_size</a>();</div>
+<div class="line"><a id="l00053" name="l00053"></a><span class="lineno">   53</span> </div>
+<div class="line"><a id="l00054" name="l00054"></a><span class="lineno">   54</span> </div>
+<div class="line"><a id="l00055" name="l00055"></a><span class="lineno">   55</span>  <span class="keyword">private</span>:</div>
+<div class="line"><a id="l00056" name="l00056"></a><span class="lineno">   56</span>    <span class="keywordtype">int</span> buffer_index;               <span class="comment">//index of the next value to be overridden</span></div>
+<div class="line"><a id="l00057" name="l00057"></a><span class="lineno">   57</span>    std::vector&lt;double&gt; buffer;     <span class="comment">//all current data readings we&#39;ve taken </span></div>
+<div class="line"><a id="l00058" name="l00058"></a><span class="lineno">   58</span>    <span class="keywordtype">double</span> current_avg;             <span class="comment">//the current value of the data</span></div>
+<div class="line"><a id="l00059" name="l00059"></a><span class="lineno">   59</span> </div>
+<div class="line"><a id="l00060" name="l00060"></a><span class="lineno">   60</span>};</div>
+<div class="ttc" id="aclassMovingAverage_html"><div class="ttname"><a href="classMovingAverage.html">MovingAverage</a></div><div class="ttdef"><b>Definition:</b> moving_average.h:15</div></div>
+<div class="ttc" id="aclassMovingAverage_html_a6c85ea575428ef7faf1f1f111a985db8"><div class="ttname"><a href="classMovingAverage.html#a6c85ea575428ef7faf1f1f111a985db8">MovingAverage::add_entry</a></div><div class="ttdeci">void add_entry(double n)</div><div class="ttdef"><b>Definition:</b> moving_average.cpp:50</div></div>
+<div class="ttc" id="aclassMovingAverage_html_aa91e650064d361abe51bfa0b166ac6c0"><div class="ttname"><a href="classMovingAverage.html#aa91e650064d361abe51bfa0b166ac6c0">MovingAverage::get_average</a></div><div class="ttdeci">double get_average()</div><div class="ttdef"><b>Definition:</b> moving_average.cpp:63</div></div>
+<div class="ttc" id="aclassMovingAverage_html_ac45976e15321d2c2f52d1f281475b53d"><div class="ttname"><a href="classMovingAverage.html#ac45976e15321d2c2f52d1f281475b53d">MovingAverage::get_size</a></div><div class="ttdeci">int get_size()</div><div class="ttdef"><b>Definition:</b> moving_average.cpp:68</div></div>
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+<li class="navelem"><a class="el" href="dir_d44c64559bbebec7f509842c48db8b23.html">include</a></li><li class="navelem"><a class="el" href="dir_8e84b5daa2b3f33b7b3fb9ecedbe5637.html">subsystems</a></li><li class="navelem"><a class="el" href="dir_883d6c53cd62ec60a5d421a7bc1a2629.html">odometry</a></li>  </ul>
+</div>
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+<div class="header">
+  <div class="headertitle"><div class="title">odometry_3wheel.h</div></div>
+</div><!--header-->
+<div class="contents">
+<div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno">    1</span><span class="preprocessor">#pragma once</span></div>
+<div class="line"><a id="l00002" name="l00002"></a><span class="lineno">    2</span><span class="preprocessor">#include &quot;../core/include/subsystems/odometry/odometry_base.h&quot;</span></div>
+<div class="line"><a id="l00003" name="l00003"></a><span class="lineno">    3</span><span class="preprocessor">#include &quot;../core/include/subsystems/tank_drive.h&quot;</span></div>
+<div class="line"><a id="l00004" name="l00004"></a><span class="lineno">    4</span><span class="preprocessor">#include &quot;../core/include/subsystems/custom_encoder.h&quot;</span></div>
+<div class="line"><a id="l00005" name="l00005"></a><span class="lineno">    5</span> </div>
+<div class="line"><a id="l00032" name="l00032"></a><span class="lineno"><a class="line" href="classOdometry3Wheel.html">   32</a></span><span class="keyword">class </span><a class="code hl_class" href="classOdometry3Wheel.html">Odometry3Wheel</a> : <span class="keyword">public</span> <a class="code hl_class" href="classOdometryBase.html">OdometryBase</a></div>
+<div class="line"><a id="l00033" name="l00033"></a><span class="lineno">   33</span>{</div>
+<div class="line"><a id="l00034" name="l00034"></a><span class="lineno">   34</span>    <span class="keyword">public</span>:</div>
+<div class="line"><a id="l00035" name="l00035"></a><span class="lineno">   35</span> </div>
+<div class="line"><a id="l00040" name="l00040"></a><span class="lineno"><a class="line" href="structOdometry3Wheel_1_1odometry3wheel__cfg__t.html">   40</a></span>    <span class="keyword">typedef</span> <span class="keyword">struct</span></div>
+<div class="line"><a id="l00041" name="l00041"></a><span class="lineno">   41</span>    {</div>
+<div class="line"><a id="l00042" name="l00042"></a><span class="lineno"><a class="line" href="structOdometry3Wheel_1_1odometry3wheel__cfg__t.html#a4de8559ac486dcfbf5baff9d9d6cb5b1">   42</a></span>        <span class="keywordtype">double</span> <a class="code hl_variable" href="structOdometry3Wheel_1_1odometry3wheel__cfg__t.html#a4de8559ac486dcfbf5baff9d9d6cb5b1">wheelbase_dist</a>; </div>
+<div class="line"><a id="l00043" name="l00043"></a><span class="lineno"><a class="line" href="structOdometry3Wheel_1_1odometry3wheel__cfg__t.html#afd79024054d352789991bd816d955d9e">   43</a></span>        <span class="keywordtype">double</span> <a class="code hl_variable" href="structOdometry3Wheel_1_1odometry3wheel__cfg__t.html#afd79024054d352789991bd816d955d9e">off_axis_center_dist</a>; </div>
+<div class="line"><a id="l00044" name="l00044"></a><span class="lineno"><a class="line" href="structOdometry3Wheel_1_1odometry3wheel__cfg__t.html#a283cd9db8de27d9b3967d0c3203f1f7f">   44</a></span>        <span class="keywordtype">double</span> <a class="code hl_variable" href="structOdometry3Wheel_1_1odometry3wheel__cfg__t.html#a283cd9db8de27d9b3967d0c3203f1f7f">wheel_diam</a>; </div>
+<div class="line"><a id="l00046" name="l00046"></a><span class="lineno">   46</span>    } <a class="code hl_struct" href="structOdometry3Wheel_1_1odometry3wheel__cfg__t.html">odometry3wheel_cfg_t</a>;</div>
+<div class="line"><a id="l00047" name="l00047"></a><span class="lineno">   47</span>    </div>
+<div class="line"><a id="l00057" name="l00057"></a><span class="lineno">   57</span>    <a class="code hl_class" href="classOdometry3Wheel.html">Odometry3Wheel</a>(<a class="code hl_class" href="classCustomEncoder.html">CustomEncoder</a> &amp;lside_fwd, <a class="code hl_class" href="classCustomEncoder.html">CustomEncoder</a> &amp;rside_fwd, <a class="code hl_class" href="classCustomEncoder.html">CustomEncoder</a> &amp;off_axis, <a class="code hl_struct" href="structOdometry3Wheel_1_1odometry3wheel__cfg__t.html">odometry3wheel_cfg_t</a> &amp;cfg, <span class="keywordtype">bool</span> is_async=<span class="keyword">true</span>);</div>
+<div class="line"><a id="l00058" name="l00058"></a><span class="lineno">   58</span> </div>
+<div class="line"><a id="l00065" name="l00065"></a><span class="lineno">   65</span>    <a class="code hl_struct" href="structposition__t.html">position_t</a> <a class="code hl_function" href="classOdometry3Wheel.html#a85c5661989dae181a4db7d91bd0526f7">update</a>() <span class="keyword">override</span>;</div>
+<div class="line"><a id="l00066" name="l00066"></a><span class="lineno">   66</span> </div>
+<div class="line"><a id="l00075" name="l00075"></a><span class="lineno">   75</span>    <span class="keywordtype">void</span> <a class="code hl_function" href="classOdometry3Wheel.html#acb23dbf715d342566fc7e44f58ebf654">tune</a>(vex::controller &amp;con, <a class="code hl_class" href="classTankDrive.html">TankDrive</a> &amp;drive);</div>
+<div class="line"><a id="l00076" name="l00076"></a><span class="lineno">   76</span> </div>
+<div class="line"><a id="l00077" name="l00077"></a><span class="lineno">   77</span>    <span class="keyword">private</span>:</div>
+<div class="line"><a id="l00078" name="l00078"></a><span class="lineno">   78</span> </div>
+<div class="line"><a id="l00091" name="l00091"></a><span class="lineno">   91</span>    <span class="keyword">static</span> <a class="code hl_struct" href="structposition__t.html">position_t</a> calculate_new_pos(<span class="keywordtype">double</span> lside_delta_deg, <span class="keywordtype">double</span> rside_delta_deg, <span class="keywordtype">double</span> offax_delta_deg, <a class="code hl_struct" href="structposition__t.html">position_t</a> old_pos, <a class="code hl_struct" href="structOdometry3Wheel_1_1odometry3wheel__cfg__t.html">odometry3wheel_cfg_t</a> cfg);</div>
+<div class="line"><a id="l00092" name="l00092"></a><span class="lineno">   92</span> </div>
+<div class="line"><a id="l00093" name="l00093"></a><span class="lineno">   93</span>    <a class="code hl_class" href="classCustomEncoder.html">CustomEncoder</a> &amp;lside_fwd, &amp;rside_fwd, &amp;off_axis;</div>
+<div class="line"><a id="l00094" name="l00094"></a><span class="lineno">   94</span>    <a class="code hl_struct" href="structOdometry3Wheel_1_1odometry3wheel__cfg__t.html">odometry3wheel_cfg_t</a> &amp;cfg;</div>
+<div class="line"><a id="l00095" name="l00095"></a><span class="lineno">   95</span> </div>
+<div class="line"><a id="l00096" name="l00096"></a><span class="lineno">   96</span> </div>
+<div class="line"><a id="l00097" name="l00097"></a><span class="lineno">   97</span>};</div>
+<div class="ttc" id="aclassCustomEncoder_html"><div class="ttname"><a href="classCustomEncoder.html">CustomEncoder</a></div><div class="ttdef"><b>Definition:</b> custom_encoder.h:9</div></div>
+<div class="ttc" id="aclassOdometry3Wheel_html"><div class="ttname"><a href="classOdometry3Wheel.html">Odometry3Wheel</a></div><div class="ttdef"><b>Definition:</b> odometry_3wheel.h:33</div></div>
+<div class="ttc" id="aclassOdometry3Wheel_html_a85c5661989dae181a4db7d91bd0526f7"><div class="ttname"><a href="classOdometry3Wheel.html#a85c5661989dae181a4db7d91bd0526f7">Odometry3Wheel::update</a></div><div class="ttdeci">position_t update() override</div><div class="ttdef"><b>Definition:</b> odometry_3wheel.cpp:15</div></div>
+<div class="ttc" id="aclassOdometry3Wheel_html_acb23dbf715d342566fc7e44f58ebf654"><div class="ttname"><a href="classOdometry3Wheel.html#acb23dbf715d342566fc7e44f58ebf654">Odometry3Wheel::tune</a></div><div class="ttdeci">void tune(vex::controller &amp;con, TankDrive &amp;drive)</div><div class="ttdef"><b>Definition:</b> odometry_3wheel.cpp:135</div></div>
+<div class="ttc" id="aclassOdometryBase_html"><div class="ttname"><a href="classOdometryBase.html">OdometryBase</a></div><div class="ttdef"><b>Definition:</b> odometry_base.h:33</div></div>
+<div class="ttc" id="aclassTankDrive_html"><div class="ttname"><a href="classTankDrive.html">TankDrive</a></div><div class="ttdef"><b>Definition:</b> tank_drive.h:23</div></div>
+<div class="ttc" id="astructOdometry3Wheel_1_1odometry3wheel__cfg__t_html"><div class="ttname"><a href="structOdometry3Wheel_1_1odometry3wheel__cfg__t.html">Odometry3Wheel::odometry3wheel_cfg_t</a></div><div class="ttdef"><b>Definition:</b> odometry_3wheel.h:41</div></div>
+<div class="ttc" id="astructOdometry3Wheel_1_1odometry3wheel__cfg__t_html_a283cd9db8de27d9b3967d0c3203f1f7f"><div class="ttname"><a href="structOdometry3Wheel_1_1odometry3wheel__cfg__t.html#a283cd9db8de27d9b3967d0c3203f1f7f">Odometry3Wheel::odometry3wheel_cfg_t::wheel_diam</a></div><div class="ttdeci">double wheel_diam</div><div class="ttdef"><b>Definition:</b> odometry_3wheel.h:44</div></div>
+<div class="ttc" id="astructOdometry3Wheel_1_1odometry3wheel__cfg__t_html_a4de8559ac486dcfbf5baff9d9d6cb5b1"><div class="ttname"><a href="structOdometry3Wheel_1_1odometry3wheel__cfg__t.html#a4de8559ac486dcfbf5baff9d9d6cb5b1">Odometry3Wheel::odometry3wheel_cfg_t::wheelbase_dist</a></div><div class="ttdeci">double wheelbase_dist</div><div class="ttdef"><b>Definition:</b> odometry_3wheel.h:42</div></div>
+<div class="ttc" id="astructOdometry3Wheel_1_1odometry3wheel__cfg__t_html_afd79024054d352789991bd816d955d9e"><div class="ttname"><a href="structOdometry3Wheel_1_1odometry3wheel__cfg__t.html#afd79024054d352789991bd816d955d9e">Odometry3Wheel::odometry3wheel_cfg_t::off_axis_center_dist</a></div><div class="ttdeci">double off_axis_center_dist</div><div class="ttdef"><b>Definition:</b> odometry_3wheel.h:43</div></div>
+<div class="ttc" id="astructposition__t_html"><div class="ttname"><a href="structposition__t.html">position_t</a></div><div class="ttdef"><b>Definition:</b> odometry_base.h:14</div></div>
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new file mode 100644
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+++ b/documentation/html/odometry__base_8h_source.html
@@ -0,0 +1,173 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
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+<!-- Generated by Doxygen 1.9.6 -->
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+<li class="navelem"><a class="el" href="dir_d44c64559bbebec7f509842c48db8b23.html">include</a></li><li class="navelem"><a class="el" href="dir_8e84b5daa2b3f33b7b3fb9ecedbe5637.html">subsystems</a></li><li class="navelem"><a class="el" href="dir_883d6c53cd62ec60a5d421a7bc1a2629.html">odometry</a></li>  </ul>
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+<div class="header">
+  <div class="headertitle"><div class="title">odometry_base.h</div></div>
+</div><!--header-->
+<div class="contents">
+<div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno">    1</span><span class="preprocessor">#pragma once</span></div>
+<div class="line"><a id="l00002" name="l00002"></a><span class="lineno">    2</span> </div>
+<div class="line"><a id="l00003" name="l00003"></a><span class="lineno">    3</span><span class="preprocessor">#include &quot;vex.h&quot;</span></div>
+<div class="line"><a id="l00004" name="l00004"></a><span class="lineno">    4</span><span class="preprocessor">#include &quot;../core/include/robot_specs.h&quot;</span></div>
+<div class="line"><a id="l00005" name="l00005"></a><span class="lineno">    5</span> </div>
+<div class="line"><a id="l00006" name="l00006"></a><span class="lineno">    6</span><span class="preprocessor">#ifndef PI</span></div>
+<div class="line"><a id="l00007" name="l00007"></a><span class="lineno">    7</span><span class="preprocessor">#define PI 3.141592654</span></div>
+<div class="line"><a id="l00008" name="l00008"></a><span class="lineno">    8</span><span class="preprocessor">#endif</span></div>
+<div class="line"><a id="l00009" name="l00009"></a><span class="lineno">    9</span> </div>
+<div class="line"><a id="l00013" name="l00013"></a><span class="lineno"><a class="line" href="structposition__t.html">   13</a></span><span class="keyword">typedef</span> <span class="keyword">struct</span></div>
+<div class="line"><a id="l00014" name="l00014"></a><span class="lineno">   14</span>{</div>
+<div class="line"><a id="l00015" name="l00015"></a><span class="lineno"><a class="line" href="structposition__t.html#aa554831febb89209dc5a2434e08265a8">   15</a></span>    <span class="keywordtype">double</span> <a class="code hl_variable" href="structposition__t.html#aa554831febb89209dc5a2434e08265a8">x</a>;   </div>
+<div class="line"><a id="l00016" name="l00016"></a><span class="lineno"><a class="line" href="structposition__t.html#af5fb9bd02cb51336477d5290fe32cec6">   16</a></span>    <span class="keywordtype">double</span> <a class="code hl_variable" href="structposition__t.html#af5fb9bd02cb51336477d5290fe32cec6">y</a>;   </div>
+<div class="line"><a id="l00017" name="l00017"></a><span class="lineno"><a class="line" href="structposition__t.html#aa22df5aed859f41200d2213ad3f2cd45">   17</a></span>    <span class="keywordtype">double</span> <a class="code hl_variable" href="structposition__t.html#aa22df5aed859f41200d2213ad3f2cd45">rot</a>; </div>
+<div class="line"><a id="l00018" name="l00018"></a><span class="lineno">   18</span>} <a class="code hl_struct" href="structposition__t.html">position_t</a>;</div>
+<div class="line"><a id="l00019" name="l00019"></a><span class="lineno">   19</span> </div>
+<div class="line"><a id="l00032" name="l00032"></a><span class="lineno"><a class="line" href="classOdometryBase.html">   32</a></span><span class="keyword">class </span><a class="code hl_class" href="classOdometryBase.html">OdometryBase</a></div>
+<div class="line"><a id="l00033" name="l00033"></a><span class="lineno">   33</span>{</div>
+<div class="line"><a id="l00034" name="l00034"></a><span class="lineno">   34</span><span class="keyword">public</span>:</div>
+<div class="line"><a id="l00035" name="l00035"></a><span class="lineno">   35</span> </div>
+<div class="line"><a id="l00041" name="l00041"></a><span class="lineno">   41</span>    <a class="code hl_class" href="classOdometryBase.html">OdometryBase</a>(<span class="keywordtype">bool</span> is_async);</div>
+<div class="line"><a id="l00042" name="l00042"></a><span class="lineno">   42</span> </div>
+<div class="line"><a id="l00047" name="l00047"></a><span class="lineno">   47</span>    <a class="code hl_struct" href="structposition__t.html">position_t</a> <a class="code hl_function" href="classOdometryBase.html#a3cdcfcf70ef02e0efc2efd902fac3811">get_position</a>(<span class="keywordtype">void</span>);</div>
+<div class="line"><a id="l00048" name="l00048"></a><span class="lineno">   48</span> </div>
+<div class="line"><a id="l00053" name="l00053"></a><span class="lineno">   53</span>    <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classOdometryBase.html#a34e4bd8567933d1b6bd6e41327a36549">set_position</a>(<span class="keyword">const</span> <a class="code hl_struct" href="structposition__t.html">position_t</a>&amp; newpos=<a class="code hl_variable" href="classOdometryBase.html#a7bd3fd09b3a6fa78af3a5ed5e25b8d74">zero_pos</a>);</div>
+<div class="line"><a id="l00054" name="l00054"></a><span class="lineno">   54</span> </div>
+<div class="line"><a id="l00059" name="l00059"></a><span class="lineno"><a class="line" href="classOdometryBase.html#a5d55b7987d97a9af721838596a520dec">   59</a></span>    <span class="keyword">virtual</span> <a class="code hl_struct" href="structposition__t.html">position_t</a> <a class="code hl_function" href="classOdometryBase.html#a5d55b7987d97a9af721838596a520dec">update</a>() = 0;</div>
+<div class="line"><a id="l00060" name="l00060"></a><span class="lineno">   60</span> </div>
+<div class="line"><a id="l00068" name="l00068"></a><span class="lineno">   68</span>    <span class="keyword">static</span> <span class="keywordtype">int</span> <a class="code hl_function" href="classOdometryBase.html#a17a014f79b282ddfb715835214f3e2fb">background_task</a>(<span class="keywordtype">void</span>* ptr);</div>
+<div class="line"><a id="l00069" name="l00069"></a><span class="lineno">   69</span> </div>
+<div class="line"><a id="l00075" name="l00075"></a><span class="lineno">   75</span>    <span class="keywordtype">void</span> <a class="code hl_function" href="classOdometryBase.html#ab65ccaa80d4bb0d0aa20e82b3b991436">end_async</a>();</div>
+<div class="line"><a id="l00076" name="l00076"></a><span class="lineno">   76</span> </div>
+<div class="line"><a id="l00083" name="l00083"></a><span class="lineno">   83</span>    <span class="keyword">static</span> <span class="keywordtype">double</span> <a class="code hl_function" href="classOdometryBase.html#a8a248f027d3ff98cb2df2e3cd90e1f66">pos_diff</a>(<a class="code hl_struct" href="structposition__t.html">position_t</a> start_pos, <a class="code hl_struct" href="structposition__t.html">position_t</a> end_pos);</div>
+<div class="line"><a id="l00084" name="l00084"></a><span class="lineno">   84</span> </div>
+<div class="line"><a id="l00091" name="l00091"></a><span class="lineno">   91</span>    <span class="keyword">static</span> <span class="keywordtype">double</span> <a class="code hl_function" href="classOdometryBase.html#ab1f1a09cda37d799c82003b5284c6856">rot_diff</a>(<a class="code hl_struct" href="structposition__t.html">position_t</a> pos1, <a class="code hl_struct" href="structposition__t.html">position_t</a> pos2);</div>
+<div class="line"><a id="l00092" name="l00092"></a><span class="lineno">   92</span> </div>
+<div class="line"><a id="l00101" name="l00101"></a><span class="lineno">  101</span>    <span class="keyword">static</span> <span class="keywordtype">double</span> <a class="code hl_function" href="classOdometryBase.html#a70ec71e9fb2e14f0a191a6bac927d36b">smallest_angle</a>(<span class="keywordtype">double</span> start_deg, <span class="keywordtype">double</span> end_deg);</div>
+<div class="line"><a id="l00102" name="l00102"></a><span class="lineno">  102</span> </div>
+<div class="line"><a id="l00104" name="l00104"></a><span class="lineno"><a class="line" href="classOdometryBase.html#ae6e35ee98b4410f034cd37c0d2055a8d">  104</a></span>    <span class="keywordtype">bool</span> <a class="code hl_variable" href="classOdometryBase.html#ae6e35ee98b4410f034cd37c0d2055a8d">end_task</a> = <span class="keyword">false</span>;</div>
+<div class="line"><a id="l00105" name="l00105"></a><span class="lineno">  105</span> </div>
+<div class="line"><a id="l00110" name="l00110"></a><span class="lineno">  110</span>    <span class="keywordtype">double</span> <a class="code hl_function" href="classOdometryBase.html#a96c7be68db7424ddbe3704770dd1889f">get_speed</a>();</div>
+<div class="line"><a id="l00111" name="l00111"></a><span class="lineno">  111</span> </div>
+<div class="line"><a id="l00116" name="l00116"></a><span class="lineno">  116</span>    <span class="keywordtype">double</span> <a class="code hl_function" href="classOdometryBase.html#a3223bac952f79bf910b979690499b965">get_accel</a>();</div>
+<div class="line"><a id="l00117" name="l00117"></a><span class="lineno">  117</span> </div>
+<div class="line"><a id="l00122" name="l00122"></a><span class="lineno">  122</span>    <span class="keywordtype">double</span> <a class="code hl_function" href="classOdometryBase.html#af30d97a35e9e9c4f9be0a81390e6c0f1">get_angular_speed_deg</a>();</div>
+<div class="line"><a id="l00123" name="l00123"></a><span class="lineno">  123</span> </div>
+<div class="line"><a id="l00128" name="l00128"></a><span class="lineno">  128</span>    <span class="keywordtype">double</span> <a class="code hl_function" href="classOdometryBase.html#a456e6433e51971d2640ff96ed3a59432">get_angular_accel_deg</a>();</div>
+<div class="line"><a id="l00129" name="l00129"></a><span class="lineno">  129</span> </div>
+<div class="line"><a id="l00133" name="l00133"></a><span class="lineno"><a class="line" href="classOdometryBase.html#a7bd3fd09b3a6fa78af3a5ed5e25b8d74">  133</a></span>    <span class="keyword">inline</span> <span class="keyword">static</span> <span class="keyword">constexpr</span> <a class="code hl_struct" href="structposition__t.html">position_t</a> <a class="code hl_variable" href="classOdometryBase.html#a7bd3fd09b3a6fa78af3a5ed5e25b8d74">zero_pos</a> = {.<a class="code hl_variable" href="structposition__t.html#aa554831febb89209dc5a2434e08265a8">x</a>=0.0L, .y=0.0L, .rot=90.0L};</div>
+<div class="line"><a id="l00134" name="l00134"></a><span class="lineno">  134</span> </div>
+<div class="line"><a id="l00135" name="l00135"></a><span class="lineno">  135</span><span class="keyword">protected</span>:</div>
+<div class="line"><a id="l00139" name="l00139"></a><span class="lineno"><a class="line" href="classOdometryBase.html#ae5308f20a4dfef9594631010c7612dab">  139</a></span>    vex::task *<a class="code hl_variable" href="classOdometryBase.html#ae5308f20a4dfef9594631010c7612dab">handle</a>;</div>
+<div class="line"><a id="l00140" name="l00140"></a><span class="lineno">  140</span> </div>
+<div class="line"><a id="l00144" name="l00144"></a><span class="lineno"><a class="line" href="classOdometryBase.html#a88bb48858ca6ff8300a41e23482ec6f6">  144</a></span>    vex::mutex <a class="code hl_variable" href="classOdometryBase.html#a88bb48858ca6ff8300a41e23482ec6f6">mut</a>;</div>
+<div class="line"><a id="l00145" name="l00145"></a><span class="lineno">  145</span> </div>
+<div class="line"><a id="l00149" name="l00149"></a><span class="lineno"><a class="line" href="classOdometryBase.html#a6870aebb6e05dcd152d3295462f559c3">  149</a></span>    <a class="code hl_struct" href="structposition__t.html">position_t</a> <a class="code hl_variable" href="classOdometryBase.html#a6870aebb6e05dcd152d3295462f559c3">current_pos</a>;</div>
+<div class="line"><a id="l00150" name="l00150"></a><span class="lineno">  150</span> </div>
+<div class="line"><a id="l00151" name="l00151"></a><span class="lineno"><a class="line" href="classOdometryBase.html#a6119ab3ce0b685e67a8b57871e0a2c26">  151</a></span>    <span class="keywordtype">double</span> <a class="code hl_variable" href="classOdometryBase.html#a6119ab3ce0b685e67a8b57871e0a2c26">speed</a>; </div>
+<div class="line"><a id="l00152" name="l00152"></a><span class="lineno"><a class="line" href="classOdometryBase.html#a94c814dfb542dd891d84db7e74537249">  152</a></span>    <span class="keywordtype">double</span> <a class="code hl_variable" href="classOdometryBase.html#a94c814dfb542dd891d84db7e74537249">accel</a>; </div>
+<div class="line"><a id="l00153" name="l00153"></a><span class="lineno"><a class="line" href="classOdometryBase.html#a250ceb6ed296ea579e37851e4a0048fb">  153</a></span>    <span class="keywordtype">double</span> <a class="code hl_variable" href="classOdometryBase.html#a250ceb6ed296ea579e37851e4a0048fb">ang_speed_deg</a>; </div>
+<div class="line"><a id="l00154" name="l00154"></a><span class="lineno"><a class="line" href="classOdometryBase.html#a01f14bfcecbcde7a74b9b98376deb19f">  154</a></span>    <span class="keywordtype">double</span> <a class="code hl_variable" href="classOdometryBase.html#a01f14bfcecbcde7a74b9b98376deb19f">ang_accel_deg</a>; </div>
+<div class="line"><a id="l00155" name="l00155"></a><span class="lineno">  155</span>};</div>
+<div class="ttc" id="aclassOdometryBase_html"><div class="ttname"><a href="classOdometryBase.html">OdometryBase</a></div><div class="ttdef"><b>Definition:</b> odometry_base.h:33</div></div>
+<div class="ttc" id="aclassOdometryBase_html_a01f14bfcecbcde7a74b9b98376deb19f"><div class="ttname"><a href="classOdometryBase.html#a01f14bfcecbcde7a74b9b98376deb19f">OdometryBase::ang_accel_deg</a></div><div class="ttdeci">double ang_accel_deg</div><div class="ttdef"><b>Definition:</b> odometry_base.h:154</div></div>
+<div class="ttc" id="aclassOdometryBase_html_a17a014f79b282ddfb715835214f3e2fb"><div class="ttname"><a href="classOdometryBase.html#a17a014f79b282ddfb715835214f3e2fb">OdometryBase::background_task</a></div><div class="ttdeci">static int background_task(void *ptr)</div><div class="ttdef"><b>Definition:</b> odometry_base.cpp:22</div></div>
+<div class="ttc" id="aclassOdometryBase_html_a250ceb6ed296ea579e37851e4a0048fb"><div class="ttname"><a href="classOdometryBase.html#a250ceb6ed296ea579e37851e4a0048fb">OdometryBase::ang_speed_deg</a></div><div class="ttdeci">double ang_speed_deg</div><div class="ttdef"><b>Definition:</b> odometry_base.h:153</div></div>
+<div class="ttc" id="aclassOdometryBase_html_a3223bac952f79bf910b979690499b965"><div class="ttname"><a href="classOdometryBase.html#a3223bac952f79bf910b979690499b965">OdometryBase::get_accel</a></div><div class="ttdeci">double get_accel()</div><div class="ttdef"><b>Definition:</b> odometry_base.cpp:123</div></div>
+<div class="ttc" id="aclassOdometryBase_html_a34e4bd8567933d1b6bd6e41327a36549"><div class="ttname"><a href="classOdometryBase.html#a34e4bd8567933d1b6bd6e41327a36549">OdometryBase::set_position</a></div><div class="ttdeci">virtual void set_position(const position_t &amp;newpos=zero_pos)</div><div class="ttdef"><b>Definition:</b> odometry_base.cpp:63</div></div>
+<div class="ttc" id="aclassOdometryBase_html_a3cdcfcf70ef02e0efc2efd902fac3811"><div class="ttname"><a href="classOdometryBase.html#a3cdcfcf70ef02e0efc2efd902fac3811">OdometryBase::get_position</a></div><div class="ttdeci">position_t get_position(void)</div><div class="ttdef"><b>Definition:</b> odometry_base.cpp:48</div></div>
+<div class="ttc" id="aclassOdometryBase_html_a456e6433e51971d2640ff96ed3a59432"><div class="ttname"><a href="classOdometryBase.html#a456e6433e51971d2640ff96ed3a59432">OdometryBase::get_angular_accel_deg</a></div><div class="ttdeci">double get_angular_accel_deg()</div><div class="ttdef"><b>Definition:</b> odometry_base.cpp:141</div></div>
+<div class="ttc" id="aclassOdometryBase_html_a5d55b7987d97a9af721838596a520dec"><div class="ttname"><a href="classOdometryBase.html#a5d55b7987d97a9af721838596a520dec">OdometryBase::update</a></div><div class="ttdeci">virtual position_t update()=0</div></div>
+<div class="ttc" id="aclassOdometryBase_html_a6119ab3ce0b685e67a8b57871e0a2c26"><div class="ttname"><a href="classOdometryBase.html#a6119ab3ce0b685e67a8b57871e0a2c26">OdometryBase::speed</a></div><div class="ttdeci">double speed</div><div class="ttdef"><b>Definition:</b> odometry_base.h:151</div></div>
+<div class="ttc" id="aclassOdometryBase_html_a6870aebb6e05dcd152d3295462f559c3"><div class="ttname"><a href="classOdometryBase.html#a6870aebb6e05dcd152d3295462f559c3">OdometryBase::current_pos</a></div><div class="ttdeci">position_t current_pos</div><div class="ttdef"><b>Definition:</b> odometry_base.h:149</div></div>
+<div class="ttc" id="aclassOdometryBase_html_a70ec71e9fb2e14f0a191a6bac927d36b"><div class="ttname"><a href="classOdometryBase.html#a70ec71e9fb2e14f0a191a6bac927d36b">OdometryBase::smallest_angle</a></div><div class="ttdeci">static double smallest_angle(double start_deg, double end_deg)</div><div class="ttdef"><b>Definition:</b> odometry_base.cpp:99</div></div>
+<div class="ttc" id="aclassOdometryBase_html_a7bd3fd09b3a6fa78af3a5ed5e25b8d74"><div class="ttname"><a href="classOdometryBase.html#a7bd3fd09b3a6fa78af3a5ed5e25b8d74">OdometryBase::zero_pos</a></div><div class="ttdeci">static constexpr position_t zero_pos</div><div class="ttdef"><b>Definition:</b> odometry_base.h:133</div></div>
+<div class="ttc" id="aclassOdometryBase_html_a88bb48858ca6ff8300a41e23482ec6f6"><div class="ttname"><a href="classOdometryBase.html#a88bb48858ca6ff8300a41e23482ec6f6">OdometryBase::mut</a></div><div class="ttdeci">vex::mutex mut</div><div class="ttdef"><b>Definition:</b> odometry_base.h:144</div></div>
+<div class="ttc" id="aclassOdometryBase_html_a8a248f027d3ff98cb2df2e3cd90e1f66"><div class="ttname"><a href="classOdometryBase.html#a8a248f027d3ff98cb2df2e3cd90e1f66">OdometryBase::pos_diff</a></div><div class="ttdeci">static double pos_diff(position_t start_pos, position_t end_pos)</div><div class="ttdef"><b>Definition:</b> odometry_base.cpp:78</div></div>
+<div class="ttc" id="aclassOdometryBase_html_a94c814dfb542dd891d84db7e74537249"><div class="ttname"><a href="classOdometryBase.html#a94c814dfb542dd891d84db7e74537249">OdometryBase::accel</a></div><div class="ttdeci">double accel</div><div class="ttdef"><b>Definition:</b> odometry_base.h:152</div></div>
+<div class="ttc" id="aclassOdometryBase_html_a96c7be68db7424ddbe3704770dd1889f"><div class="ttname"><a href="classOdometryBase.html#a96c7be68db7424ddbe3704770dd1889f">OdometryBase::get_speed</a></div><div class="ttdeci">double get_speed()</div><div class="ttdef"><b>Definition:</b> odometry_base.cpp:114</div></div>
+<div class="ttc" id="aclassOdometryBase_html_ab1f1a09cda37d799c82003b5284c6856"><div class="ttname"><a href="classOdometryBase.html#ab1f1a09cda37d799c82003b5284c6856">OdometryBase::rot_diff</a></div><div class="ttdeci">static double rot_diff(position_t pos1, position_t pos2)</div><div class="ttdef"><b>Definition:</b> odometry_base.cpp:89</div></div>
+<div class="ttc" id="aclassOdometryBase_html_ab65ccaa80d4bb0d0aa20e82b3b991436"><div class="ttname"><a href="classOdometryBase.html#ab65ccaa80d4bb0d0aa20e82b3b991436">OdometryBase::end_async</a></div><div class="ttdeci">void end_async()</div><div class="ttdef"><b>Definition:</b> odometry_base.cpp:40</div></div>
+<div class="ttc" id="aclassOdometryBase_html_ae5308f20a4dfef9594631010c7612dab"><div class="ttname"><a href="classOdometryBase.html#ae5308f20a4dfef9594631010c7612dab">OdometryBase::handle</a></div><div class="ttdeci">vex::task * handle</div><div class="ttdef"><b>Definition:</b> odometry_base.h:139</div></div>
+<div class="ttc" id="aclassOdometryBase_html_ae6e35ee98b4410f034cd37c0d2055a8d"><div class="ttname"><a href="classOdometryBase.html#ae6e35ee98b4410f034cd37c0d2055a8d">OdometryBase::end_task</a></div><div class="ttdeci">bool end_task</div><div class="ttdoc">end_task is true if we instruct the odometry thread to shut down</div><div class="ttdef"><b>Definition:</b> odometry_base.h:104</div></div>
+<div class="ttc" id="aclassOdometryBase_html_af30d97a35e9e9c4f9be0a81390e6c0f1"><div class="ttname"><a href="classOdometryBase.html#af30d97a35e9e9c4f9be0a81390e6c0f1">OdometryBase::get_angular_speed_deg</a></div><div class="ttdeci">double get_angular_speed_deg()</div><div class="ttdef"><b>Definition:</b> odometry_base.cpp:132</div></div>
+<div class="ttc" id="astructposition__t_html"><div class="ttname"><a href="structposition__t.html">position_t</a></div><div class="ttdef"><b>Definition:</b> odometry_base.h:14</div></div>
+<div class="ttc" id="astructposition__t_html_aa22df5aed859f41200d2213ad3f2cd45"><div class="ttname"><a href="structposition__t.html#aa22df5aed859f41200d2213ad3f2cd45">position_t::rot</a></div><div class="ttdeci">double rot</div><div class="ttdoc">rotation in the world</div><div class="ttdef"><b>Definition:</b> odometry_base.h:17</div></div>
+<div class="ttc" id="astructposition__t_html_aa554831febb89209dc5a2434e08265a8"><div class="ttname"><a href="structposition__t.html#aa554831febb89209dc5a2434e08265a8">position_t::x</a></div><div class="ttdeci">double x</div><div class="ttdoc">x position in the world</div><div class="ttdef"><b>Definition:</b> odometry_base.h:15</div></div>
+<div class="ttc" id="astructposition__t_html_af5fb9bd02cb51336477d5290fe32cec6"><div class="ttname"><a href="structposition__t.html#af5fb9bd02cb51336477d5290fe32cec6">position_t::y</a></div><div class="ttdeci">double y</div><div class="ttdoc">y position in the world</div><div class="ttdef"><b>Definition:</b> odometry_base.h:16</div></div>
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+<li class="navelem"><a class="el" href="dir_d44c64559bbebec7f509842c48db8b23.html">include</a></li><li class="navelem"><a class="el" href="dir_8e84b5daa2b3f33b7b3fb9ecedbe5637.html">subsystems</a></li><li class="navelem"><a class="el" href="dir_883d6c53cd62ec60a5d421a7bc1a2629.html">odometry</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle"><div class="title">odometry_tank.h</div></div>
+</div><!--header-->
+<div class="contents">
+<div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno">    1</span><span class="preprocessor">#pragma once</span></div>
+<div class="line"><a id="l00002" name="l00002"></a><span class="lineno">    2</span> </div>
+<div class="line"><a id="l00003" name="l00003"></a><span class="lineno">    3</span><span class="preprocessor">#include &quot;../core/include/subsystems/odometry/odometry_base.h&quot;</span></div>
+<div class="line"><a id="l00004" name="l00004"></a><span class="lineno">    4</span><span class="preprocessor">#include &quot;../core/include/subsystems/custom_encoder.h&quot;</span></div>
+<div class="line"><a id="l00005" name="l00005"></a><span class="lineno">    5</span><span class="preprocessor">#include &quot;../core/include/utils/vector2d.h&quot;</span></div>
+<div class="line"><a id="l00006" name="l00006"></a><span class="lineno">    6</span><span class="preprocessor">#include &quot;../core/include/robot_specs.h&quot;</span></div>
+<div class="line"><a id="l00007" name="l00007"></a><span class="lineno">    7</span> </div>
+<div class="line"><a id="l00008" name="l00008"></a><span class="lineno">    8</span><span class="keyword">static</span> <span class="keywordtype">int</span> background_task(<span class="keywordtype">void</span>* odom_obj);</div>
+<div class="line"><a id="l00009" name="l00009"></a><span class="lineno">    9</span> </div>
+<div class="line"><a id="l00010" name="l00010"></a><span class="lineno">   10</span> </div>
+<div class="line"><a id="l00017" name="l00017"></a><span class="lineno"><a class="line" href="classOdometryTank.html">   17</a></span><span class="keyword">class </span><a class="code hl_class" href="classOdometryTank.html">OdometryTank</a> : <span class="keyword">public</span> <a class="code hl_class" href="classOdometryBase.html">OdometryBase</a></div>
+<div class="line"><a id="l00018" name="l00018"></a><span class="lineno">   18</span>{</div>
+<div class="line"><a id="l00019" name="l00019"></a><span class="lineno">   19</span><span class="keyword">public</span>:</div>
+<div class="line"><a id="l00028" name="l00028"></a><span class="lineno">   28</span>    <a class="code hl_class" href="classOdometryTank.html">OdometryTank</a>(vex::motor_group &amp;left_side, vex::motor_group &amp;right_side, <a class="code hl_struct" href="structrobot__specs__t.html">robot_specs_t</a> &amp;config, vex::inertial *imu=NULL, <span class="keywordtype">bool</span> is_async=<span class="keyword">true</span>);</div>
+<div class="line"><a id="l00029" name="l00029"></a><span class="lineno">   29</span> </div>
+<div class="line"><a id="l00039" name="l00039"></a><span class="lineno">   39</span>    <a class="code hl_class" href="classOdometryTank.html">OdometryTank</a>(<a class="code hl_class" href="classCustomEncoder.html">CustomEncoder</a> &amp;left_enc, <a class="code hl_class" href="classCustomEncoder.html">CustomEncoder</a> &amp;right_enc, <a class="code hl_struct" href="structrobot__specs__t.html">robot_specs_t</a> &amp;config, vex::inertial *imu=NULL, <span class="keywordtype">bool</span> is_async=<span class="keyword">true</span>);</div>
+<div class="line"><a id="l00040" name="l00040"></a><span class="lineno">   40</span> </div>
+<div class="line"><a id="l00045" name="l00045"></a><span class="lineno">   45</span>    <a class="code hl_struct" href="structposition__t.html">position_t</a> <a class="code hl_function" href="classOdometryTank.html#a02508433d771c661c89d14f204a61d13">update</a>() <span class="keyword">override</span>;</div>
+<div class="line"><a id="l00046" name="l00046"></a><span class="lineno">   46</span> </div>
+<div class="line"><a id="l00051" name="l00051"></a><span class="lineno">   51</span>    <span class="keywordtype">void</span> <a class="code hl_function" href="classOdometryTank.html#ad3b4bcf351767992e2383ab000645335">set_position</a>(<span class="keyword">const</span> <a class="code hl_struct" href="structposition__t.html">position_t</a> &amp;newpos=<a class="code hl_variable" href="classOdometryBase.html#a7bd3fd09b3a6fa78af3a5ed5e25b8d74">zero_pos</a>) <span class="keyword">override</span>;</div>
+<div class="line"><a id="l00052" name="l00052"></a><span class="lineno">   52</span> </div>
+<div class="line"><a id="l00053" name="l00053"></a><span class="lineno">   53</span>    </div>
+<div class="line"><a id="l00054" name="l00054"></a><span class="lineno">   54</span> </div>
+<div class="line"><a id="l00055" name="l00055"></a><span class="lineno">   55</span><span class="keyword">private</span>:</div>
+<div class="line"><a id="l00059" name="l00059"></a><span class="lineno">   59</span>    <span class="keyword">static</span> <a class="code hl_struct" href="structposition__t.html">position_t</a> calculate_new_pos(<a class="code hl_struct" href="structrobot__specs__t.html">robot_specs_t</a> &amp;config, <a class="code hl_struct" href="structposition__t.html">position_t</a> &amp;stored_info, <span class="keywordtype">double</span> lside_diff, <span class="keywordtype">double</span> rside_diff, <span class="keywordtype">double</span> angle_deg);</div>
+<div class="line"><a id="l00060" name="l00060"></a><span class="lineno">   60</span> </div>
+<div class="line"><a id="l00061" name="l00061"></a><span class="lineno">   61</span>    vex::motor_group *left_side, *right_side;</div>
+<div class="line"><a id="l00062" name="l00062"></a><span class="lineno">   62</span>    <a class="code hl_class" href="classCustomEncoder.html">CustomEncoder</a> *left_enc, *right_enc;</div>
+<div class="line"><a id="l00063" name="l00063"></a><span class="lineno">   63</span>    vex::inertial *imu;</div>
+<div class="line"><a id="l00064" name="l00064"></a><span class="lineno">   64</span>    <a class="code hl_struct" href="structrobot__specs__t.html">robot_specs_t</a> &amp;config;</div>
+<div class="line"><a id="l00065" name="l00065"></a><span class="lineno">   65</span> </div>
+<div class="line"><a id="l00066" name="l00066"></a><span class="lineno">   66</span>    <span class="keywordtype">double</span> rotation_offset = 0;</div>
+<div class="line"><a id="l00067" name="l00067"></a><span class="lineno">   67</span>    </div>
+<div class="line"><a id="l00068" name="l00068"></a><span class="lineno">   68</span>};</div>
+<div class="ttc" id="aclassCustomEncoder_html"><div class="ttname"><a href="classCustomEncoder.html">CustomEncoder</a></div><div class="ttdef"><b>Definition:</b> custom_encoder.h:9</div></div>
+<div class="ttc" id="aclassOdometryBase_html"><div class="ttname"><a href="classOdometryBase.html">OdometryBase</a></div><div class="ttdef"><b>Definition:</b> odometry_base.h:33</div></div>
+<div class="ttc" id="aclassOdometryBase_html_a7bd3fd09b3a6fa78af3a5ed5e25b8d74"><div class="ttname"><a href="classOdometryBase.html#a7bd3fd09b3a6fa78af3a5ed5e25b8d74">OdometryBase::zero_pos</a></div><div class="ttdeci">static constexpr position_t zero_pos</div><div class="ttdef"><b>Definition:</b> odometry_base.h:133</div></div>
+<div class="ttc" id="aclassOdometryTank_html"><div class="ttname"><a href="classOdometryTank.html">OdometryTank</a></div><div class="ttdef"><b>Definition:</b> odometry_tank.h:18</div></div>
+<div class="ttc" id="aclassOdometryTank_html_a02508433d771c661c89d14f204a61d13"><div class="ttname"><a href="classOdometryTank.html#a02508433d771c661c89d14f204a61d13">OdometryTank::update</a></div><div class="ttdeci">position_t update() override</div><div class="ttdef"><b>Definition:</b> odometry_tank.cpp:46</div></div>
+<div class="ttc" id="aclassOdometryTank_html_ad3b4bcf351767992e2383ab000645335"><div class="ttname"><a href="classOdometryTank.html#ad3b4bcf351767992e2383ab000645335">OdometryTank::set_position</a></div><div class="ttdeci">void set_position(const position_t &amp;newpos=zero_pos) override</div><div class="ttdef"><b>Definition:</b> odometry_tank.cpp:33</div></div>
+<div class="ttc" id="astructposition__t_html"><div class="ttname"><a href="structposition__t.html">position_t</a></div><div class="ttdef"><b>Definition:</b> odometry_base.h:14</div></div>
+<div class="ttc" id="astructrobot__specs__t_html"><div class="ttname"><a href="structrobot__specs__t.html">robot_specs_t</a></div><div class="ttdef"><b>Definition:</b> robot_specs.h:12</div></div>
+</div><!-- fragment --></div><!-- contents -->
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+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.6
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+   <div id="projectname">RIT VEXU Core API
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+<div class="textblock">Here is a list of all related documentation pages:</div><div class="directory">
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+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.6
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diff --git a/documentation/html/pid_8h_source.html b/documentation/html/pid_8h_source.html
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@@ -0,0 +1,177 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml" lang="en-US">
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+<title>RIT VEXU Core API: include/utils/pid.h Source File</title>
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+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.6 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
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+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="dir_d44c64559bbebec7f509842c48db8b23.html">include</a></li><li class="navelem"><a class="el" href="dir_821002d4f10779a80d4fb17bc32f21f1.html">utils</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle"><div class="title">pid.h</div></div>
+</div><!--header-->
+<div class="contents">
+<div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno">    1</span><span class="preprocessor">#pragma once</span></div>
+<div class="line"><a id="l00002" name="l00002"></a><span class="lineno">    2</span> </div>
+<div class="line"><a id="l00003" name="l00003"></a><span class="lineno">    3</span><span class="preprocessor">#include &lt;cmath&gt;</span></div>
+<div class="line"><a id="l00004" name="l00004"></a><span class="lineno">    4</span><span class="preprocessor">#include &quot;vex.h&quot;</span></div>
+<div class="line"><a id="l00005" name="l00005"></a><span class="lineno">    5</span><span class="preprocessor">#include &quot;../core/include/utils/feedback_base.h&quot;</span></div>
+<div class="line"><a id="l00006" name="l00006"></a><span class="lineno">    6</span> </div>
+<div class="line"><a id="l00007" name="l00007"></a><span class="lineno">    7</span><span class="keyword">using namespace </span>vex;</div>
+<div class="line"><a id="l00008" name="l00008"></a><span class="lineno">    8</span> </div>
+<div class="line"><a id="l00023" name="l00023"></a><span class="lineno"><a class="line" href="classPID.html">   23</a></span><span class="keyword">class </span><a class="code hl_class" href="classPID.html">PID</a> : <span class="keyword">public</span> <a class="code hl_class" href="classFeedback.html">Feedback</a></div>
+<div class="line"><a id="l00024" name="l00024"></a><span class="lineno">   24</span>{</div>
+<div class="line"><a id="l00025" name="l00025"></a><span class="lineno">   25</span><span class="keyword">public</span>:</div>
+<div class="line"><a id="l00029" name="l00029"></a><span class="lineno"><a class="line" href="classPID.html#a259eb7bfd0750c7afd4a058c5d1c58a1">   29</a></span>  <span class="keyword">enum</span> <a class="code hl_enumeration" href="classPID.html#a259eb7bfd0750c7afd4a058c5d1c58a1">ERROR_TYPE</a>{</div>
+<div class="line"><a id="l00030" name="l00030"></a><span class="lineno">   30</span>    LINEAR,</div>
+<div class="line"><a id="l00031" name="l00031"></a><span class="lineno">   31</span>    ANGULAR <span class="comment">// assumes degrees</span></div>
+<div class="line"><a id="l00032" name="l00032"></a><span class="lineno">   32</span>  };</div>
+<div class="line"><a id="l00040" name="l00040"></a><span class="lineno"><a class="line" href="structPID_1_1pid__config__t.html">   40</a></span>  <span class="keyword">struct </span><a class="code hl_struct" href="structPID_1_1pid__config__t.html">pid_config_t</a></div>
+<div class="line"><a id="l00041" name="l00041"></a><span class="lineno">   41</span>  {</div>
+<div class="line"><a id="l00042" name="l00042"></a><span class="lineno"><a class="line" href="structPID_1_1pid__config__t.html#a27290957ad115f4502f765ff292e3a23">   42</a></span>    <span class="keywordtype">double</span> <a class="code hl_variable" href="structPID_1_1pid__config__t.html#a27290957ad115f4502f765ff292e3a23">p</a>; </div>
+<div class="line"><a id="l00043" name="l00043"></a><span class="lineno"><a class="line" href="structPID_1_1pid__config__t.html#a4140c6884d1dc86366520a2543e654b3">   43</a></span>    <span class="keywordtype">double</span> <a class="code hl_variable" href="structPID_1_1pid__config__t.html#a4140c6884d1dc86366520a2543e654b3">i</a>; </div>
+<div class="line"><a id="l00044" name="l00044"></a><span class="lineno"><a class="line" href="structPID_1_1pid__config__t.html#a1bb8ecda3f982ea983cd9f49b3d6706a">   44</a></span>    <span class="keywordtype">double</span> <a class="code hl_variable" href="structPID_1_1pid__config__t.html#a1bb8ecda3f982ea983cd9f49b3d6706a">d</a>; </div>
+<div class="line"><a id="l00045" name="l00045"></a><span class="lineno"><a class="line" href="structPID_1_1pid__config__t.html#a5fe836f65a951c00113996d32101172a">   45</a></span>    <span class="keywordtype">double</span> <a class="code hl_variable" href="structPID_1_1pid__config__t.html#a5fe836f65a951c00113996d32101172a">deadband</a>; </div>
+<div class="line"><a id="l00046" name="l00046"></a><span class="lineno"><a class="line" href="structPID_1_1pid__config__t.html#a14212579cfa1827b6cc04388c6b3626e">   46</a></span>    <span class="keywordtype">double</span> <a class="code hl_variable" href="structPID_1_1pid__config__t.html#a14212579cfa1827b6cc04388c6b3626e">on_target_time</a>; </div>
+<div class="line"><a id="l00047" name="l00047"></a><span class="lineno"><a class="line" href="structPID_1_1pid__config__t.html#ad2f96f58fba854b7e4329175497d1869">   47</a></span>    <a class="code hl_enumeration" href="classPID.html#a259eb7bfd0750c7afd4a058c5d1c58a1">ERROR_TYPE</a> <a class="code hl_variable" href="structPID_1_1pid__config__t.html#ad2f96f58fba854b7e4329175497d1869">error_method</a>; </div>
+<div class="line"><a id="l00048" name="l00048"></a><span class="lineno">   48</span>  };</div>
+<div class="line"><a id="l00049" name="l00049"></a><span class="lineno">   49</span> </div>
+<div class="line"><a id="l00050" name="l00050"></a><span class="lineno">   50</span>  </div>
+<div class="line"><a id="l00051" name="l00051"></a><span class="lineno">   51</span> </div>
+<div class="line"><a id="l00056" name="l00056"></a><span class="lineno">   56</span>  <a class="code hl_class" href="classPID.html">PID</a>(<a class="code hl_struct" href="structPID_1_1pid__config__t.html">pid_config_t</a> &amp;<a class="code hl_variable" href="classPID.html#a67626fa764b201c7190ace37e068666b">config</a>);</div>
+<div class="line"><a id="l00057" name="l00057"></a><span class="lineno">   57</span> </div>
+<div class="line"><a id="l00058" name="l00058"></a><span class="lineno">   58</span> </div>
+<div class="line"><a id="l00067" name="l00067"></a><span class="lineno">   67</span>  <span class="keywordtype">void</span> <a class="code hl_function" href="classPID.html#aab0f3b4351cc4ee2b8bb366105e85e95">init</a>(<span class="keywordtype">double</span> start_pt, <span class="keywordtype">double</span> set_pt) <span class="keyword">override</span>;</div>
+<div class="line"><a id="l00068" name="l00068"></a><span class="lineno">   68</span> </div>
+<div class="line"><a id="l00075" name="l00075"></a><span class="lineno">   75</span>  <span class="keywordtype">double</span> <a class="code hl_function" href="classPID.html#a53b5c34ba5e81fb79ed4258a143015b9">update</a>(<span class="keywordtype">double</span> sensor_val) <span class="keyword">override</span>;</div>
+<div class="line"><a id="l00076" name="l00076"></a><span class="lineno">   76</span> </div>
+<div class="line"><a id="l00081" name="l00081"></a><span class="lineno">   81</span>  <span class="keywordtype">double</span> <a class="code hl_function" href="classPID.html#a69c2e66b8ff06c86ca9701d11e21da75">get</a>() <span class="keyword">override</span>;</div>
+<div class="line"><a id="l00082" name="l00082"></a><span class="lineno">   82</span> </div>
+<div class="line"><a id="l00089" name="l00089"></a><span class="lineno">   89</span>  <span class="keywordtype">void</span> <a class="code hl_function" href="classPID.html#a8411ac48e8868d89e97afcf8990cca2c">set_limits</a>(<span class="keywordtype">double</span> lower, <span class="keywordtype">double</span> upper) <span class="keyword">override</span>;</div>
+<div class="line"><a id="l00090" name="l00090"></a><span class="lineno">   90</span> </div>
+<div class="line"><a id="l00095" name="l00095"></a><span class="lineno">   95</span>  <span class="keywordtype">bool</span> <a class="code hl_function" href="classPID.html#a9de884c31570c4ae0dc6e24eb26daa43">is_on_target</a>() <span class="keyword">override</span>;</div>
+<div class="line"><a id="l00096" name="l00096"></a><span class="lineno">   96</span> </div>
+<div class="line"><a id="l00100" name="l00100"></a><span class="lineno">  100</span>  <span class="keywordtype">void</span> <a class="code hl_function" href="classPID.html#af9677e76cb1beffbcf3f54cbc627c530">reset</a>();</div>
+<div class="line"><a id="l00101" name="l00101"></a><span class="lineno">  101</span> </div>
+<div class="line"><a id="l00106" name="l00106"></a><span class="lineno">  106</span>  <span class="keywordtype">double</span> <a class="code hl_function" href="classPID.html#ab5cdb296dbcce80703a9a98b9605c500">get_error</a>();</div>
+<div class="line"><a id="l00107" name="l00107"></a><span class="lineno">  107</span> </div>
+<div class="line"><a id="l00112" name="l00112"></a><span class="lineno">  112</span>  <span class="keywordtype">double</span> <a class="code hl_function" href="classPID.html#a1cd58cedeccc45b67551e331ee547be9">get_target</a>();</div>
+<div class="line"><a id="l00113" name="l00113"></a><span class="lineno">  113</span> </div>
+<div class="line"><a id="l00118" name="l00118"></a><span class="lineno">  118</span>  <span class="keywordtype">void</span> <a class="code hl_function" href="classPID.html#a2e301ab123c9e18e677b4873b03550dd">set_target</a>(<span class="keywordtype">double</span> target);</div>
+<div class="line"><a id="l00119" name="l00119"></a><span class="lineno">  119</span> </div>
+<div class="line"><a id="l00120" name="l00120"></a><span class="lineno">  120</span>  Feedback::FeedbackType get_type() <span class="keyword">override</span>;</div>
+<div class="line"><a id="l00121" name="l00121"></a><span class="lineno">  121</span> </div>
+<div class="line"><a id="l00122" name="l00122"></a><span class="lineno"><a class="line" href="classPID.html#a67626fa764b201c7190ace37e068666b">  122</a></span>  <a class="code hl_struct" href="structPID_1_1pid__config__t.html">pid_config_t</a> &amp;<a class="code hl_variable" href="classPID.html#a67626fa764b201c7190ace37e068666b">config</a>; </div>
+<div class="line"><a id="l00123" name="l00123"></a><span class="lineno">  123</span> </div>
+<div class="line"><a id="l00124" name="l00124"></a><span class="lineno">  124</span><span class="keyword">private</span>:</div>
+<div class="line"><a id="l00125" name="l00125"></a><span class="lineno">  125</span> </div>
+<div class="line"><a id="l00126" name="l00126"></a><span class="lineno">  126</span> </div>
+<div class="line"><a id="l00127" name="l00127"></a><span class="lineno">  127</span>  <span class="keywordtype">double</span> last_error = 0;  </div>
+<div class="line"><a id="l00128" name="l00128"></a><span class="lineno">  128</span>  <span class="keywordtype">double</span> accum_error = 0; </div>
+<div class="line"><a id="l00129" name="l00129"></a><span class="lineno">  129</span>  </div>
+<div class="line"><a id="l00130" name="l00130"></a><span class="lineno">  130</span>  <span class="keywordtype">double</span> last_time = 0; </div>
+<div class="line"><a id="l00131" name="l00131"></a><span class="lineno">  131</span>  <span class="keywordtype">double</span> on_target_last_time = 0; </div>
+<div class="line"><a id="l00132" name="l00132"></a><span class="lineno">  132</span>  </div>
+<div class="line"><a id="l00133" name="l00133"></a><span class="lineno">  133</span>  <span class="keywordtype">double</span> lower_limit = 0; </div>
+<div class="line"><a id="l00134" name="l00134"></a><span class="lineno">  134</span>  <span class="keywordtype">double</span> upper_limit = 0; </div>
+<div class="line"><a id="l00135" name="l00135"></a><span class="lineno">  135</span> </div>
+<div class="line"><a id="l00136" name="l00136"></a><span class="lineno">  136</span>  <span class="keywordtype">double</span> target = 0; </div>
+<div class="line"><a id="l00137" name="l00137"></a><span class="lineno">  137</span>  <span class="keywordtype">double</span> sensor_val = 0; </div>
+<div class="line"><a id="l00138" name="l00138"></a><span class="lineno">  138</span>  <span class="keywordtype">double</span> out = 0; </div>
+<div class="line"><a id="l00139" name="l00139"></a><span class="lineno">  139</span> </div>
+<div class="line"><a id="l00140" name="l00140"></a><span class="lineno">  140</span>  <span class="keywordtype">bool</span> is_checking_on_target = <span class="keyword">false</span>; </div>
+<div class="line"><a id="l00141" name="l00141"></a><span class="lineno">  141</span> </div>
+<div class="line"><a id="l00142" name="l00142"></a><span class="lineno">  142</span>  timer pid_timer; </div>
+<div class="line"><a id="l00143" name="l00143"></a><span class="lineno">  143</span>};</div>
+<div class="ttc" id="aclassFeedback_html"><div class="ttname"><a href="classFeedback.html">Feedback</a></div><div class="ttdef"><b>Definition:</b> feedback_base.h:11</div></div>
+<div class="ttc" id="aclassPID_html"><div class="ttname"><a href="classPID.html">PID</a></div><div class="ttdef"><b>Definition:</b> pid.h:24</div></div>
+<div class="ttc" id="aclassPID_html_a1cd58cedeccc45b67551e331ee547be9"><div class="ttname"><a href="classPID.html#a1cd58cedeccc45b67551e331ee547be9">PID::get_target</a></div><div class="ttdeci">double get_target()</div><div class="ttdef"><b>Definition:</b> pid.cpp:97</div></div>
+<div class="ttc" id="aclassPID_html_a259eb7bfd0750c7afd4a058c5d1c58a1"><div class="ttname"><a href="classPID.html#a259eb7bfd0750c7afd4a058c5d1c58a1">PID::ERROR_TYPE</a></div><div class="ttdeci">ERROR_TYPE</div><div class="ttdef"><b>Definition:</b> pid.h:29</div></div>
+<div class="ttc" id="aclassPID_html_a2e301ab123c9e18e677b4873b03550dd"><div class="ttname"><a href="classPID.html#a2e301ab123c9e18e677b4873b03550dd">PID::set_target</a></div><div class="ttdeci">void set_target(double target)</div><div class="ttdef"><b>Definition:</b> pid.cpp:105</div></div>
+<div class="ttc" id="aclassPID_html_a53b5c34ba5e81fb79ed4258a143015b9"><div class="ttname"><a href="classPID.html#a53b5c34ba5e81fb79ed4258a143015b9">PID::update</a></div><div class="ttdeci">double update(double sensor_val) override</div><div class="ttdef"><b>Definition:</b> pid.cpp:25</div></div>
+<div class="ttc" id="aclassPID_html_a67626fa764b201c7190ace37e068666b"><div class="ttname"><a href="classPID.html#a67626fa764b201c7190ace37e068666b">PID::config</a></div><div class="ttdeci">pid_config_t &amp; config</div><div class="ttdoc">configuration struct for this controller. see pid_config_t for information about what this contains</div><div class="ttdef"><b>Definition:</b> pid.h:122</div></div>
+<div class="ttc" id="aclassPID_html_a69c2e66b8ff06c86ca9701d11e21da75"><div class="ttname"><a href="classPID.html#a69c2e66b8ff06c86ca9701d11e21da75">PID::get</a></div><div class="ttdeci">double get() override</div><div class="ttdef"><b>Definition:</b> pid.cpp:81</div></div>
+<div class="ttc" id="aclassPID_html_a8411ac48e8868d89e97afcf8990cca2c"><div class="ttname"><a href="classPID.html#a8411ac48e8868d89e97afcf8990cca2c">PID::set_limits</a></div><div class="ttdeci">void set_limits(double lower, double upper) override</div><div class="ttdef"><b>Definition:</b> pid.cpp:114</div></div>
+<div class="ttc" id="aclassPID_html_a9de884c31570c4ae0dc6e24eb26daa43"><div class="ttname"><a href="classPID.html#a9de884c31570c4ae0dc6e24eb26daa43">PID::is_on_target</a></div><div class="ttdeci">bool is_on_target() override</div><div class="ttdef"><b>Definition:</b> pid.cpp:124</div></div>
+<div class="ttc" id="aclassPID_html_aab0f3b4351cc4ee2b8bb366105e85e95"><div class="ttname"><a href="classPID.html#aab0f3b4351cc4ee2b8bb366105e85e95">PID::init</a></div><div class="ttdeci">void init(double start_pt, double set_pt) override</div><div class="ttdef"><b>Definition:</b> pid.cpp:13</div></div>
+<div class="ttc" id="aclassPID_html_ab5cdb296dbcce80703a9a98b9605c500"><div class="ttname"><a href="classPID.html#ab5cdb296dbcce80703a9a98b9605c500">PID::get_error</a></div><div class="ttdeci">double get_error()</div><div class="ttdef"><b>Definition:</b> pid.cpp:89</div></div>
+<div class="ttc" id="aclassPID_html_af9677e76cb1beffbcf3f54cbc627c530"><div class="ttname"><a href="classPID.html#af9677e76cb1beffbcf3f54cbc627c530">PID::reset</a></div><div class="ttdeci">void reset()</div><div class="ttdef"><b>Definition:</b> pid.cpp:66</div></div>
+<div class="ttc" id="astructPID_1_1pid__config__t_html"><div class="ttname"><a href="structPID_1_1pid__config__t.html">PID::pid_config_t</a></div><div class="ttdef"><b>Definition:</b> pid.h:41</div></div>
+<div class="ttc" id="astructPID_1_1pid__config__t_html_a14212579cfa1827b6cc04388c6b3626e"><div class="ttname"><a href="structPID_1_1pid__config__t.html#a14212579cfa1827b6cc04388c6b3626e">PID::pid_config_t::on_target_time</a></div><div class="ttdeci">double on_target_time</div><div class="ttdoc">the time in seconds that we have to be on target for to say we are officially at the target</div><div class="ttdef"><b>Definition:</b> pid.h:46</div></div>
+<div class="ttc" id="astructPID_1_1pid__config__t_html_a1bb8ecda3f982ea983cd9f49b3d6706a"><div class="ttname"><a href="structPID_1_1pid__config__t.html#a1bb8ecda3f982ea983cd9f49b3d6706a">PID::pid_config_t::d</a></div><div class="ttdeci">double d</div><div class="ttdoc">derivitave coeffecient d * derivative(error)</div><div class="ttdef"><b>Definition:</b> pid.h:44</div></div>
+<div class="ttc" id="astructPID_1_1pid__config__t_html_a27290957ad115f4502f765ff292e3a23"><div class="ttname"><a href="structPID_1_1pid__config__t.html#a27290957ad115f4502f765ff292e3a23">PID::pid_config_t::p</a></div><div class="ttdeci">double p</div><div class="ttdoc">proportional coeffecient p * error()</div><div class="ttdef"><b>Definition:</b> pid.h:42</div></div>
+<div class="ttc" id="astructPID_1_1pid__config__t_html_a4140c6884d1dc86366520a2543e654b3"><div class="ttname"><a href="structPID_1_1pid__config__t.html#a4140c6884d1dc86366520a2543e654b3">PID::pid_config_t::i</a></div><div class="ttdeci">double i</div><div class="ttdoc">integral coeffecient i * integral(error)</div><div class="ttdef"><b>Definition:</b> pid.h:43</div></div>
+<div class="ttc" id="astructPID_1_1pid__config__t_html_a5fe836f65a951c00113996d32101172a"><div class="ttname"><a href="structPID_1_1pid__config__t.html#a5fe836f65a951c00113996d32101172a">PID::pid_config_t::deadband</a></div><div class="ttdeci">double deadband</div><div class="ttdoc">at what threshold are we close enough to be finished</div><div class="ttdef"><b>Definition:</b> pid.h:45</div></div>
+<div class="ttc" id="astructPID_1_1pid__config__t_html_ad2f96f58fba854b7e4329175497d1869"><div class="ttname"><a href="structPID_1_1pid__config__t.html#ad2f96f58fba854b7e4329175497d1869">PID::pid_config_t::error_method</a></div><div class="ttdeci">ERROR_TYPE error_method</div><div class="ttdoc">Linear or angular. wheter to do error as a simple subtraction or to wrap.</div><div class="ttdef"><b>Definition:</b> pid.h:47</div></div>
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+<li class="navelem"><a class="el" href="dir_d44c64559bbebec7f509842c48db8b23.html">include</a></li><li class="navelem"><a class="el" href="dir_821002d4f10779a80d4fb17bc32f21f1.html">utils</a></li>  </ul>
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+  <div class="headertitle"><div class="title">pidff.h</div></div>
+</div><!--header-->
+<div class="contents">
+<div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno">    1</span><span class="preprocessor">#pragma once</span></div>
+<div class="line"><a id="l00002" name="l00002"></a><span class="lineno">    2</span><span class="preprocessor">#include &quot;../core/include/utils/feedback_base.h&quot;</span></div>
+<div class="line"><a id="l00003" name="l00003"></a><span class="lineno">    3</span><span class="preprocessor">#include &quot;../core/include/utils/pid.h&quot;</span></div>
+<div class="line"><a id="l00004" name="l00004"></a><span class="lineno">    4</span><span class="preprocessor">#include &quot;../core/include/utils/feedforward.h&quot;</span></div>
+<div class="line"><a id="l00005" name="l00005"></a><span class="lineno">    5</span> </div>
+<div class="line"><a id="l00006" name="l00006"></a><span class="lineno"><a class="line" href="classPIDFF.html">    6</a></span><span class="keyword">class </span><a class="code hl_class" href="classPIDFF.html">PIDFF</a> : <span class="keyword">public</span> <a class="code hl_class" href="classFeedback.html">Feedback</a></div>
+<div class="line"><a id="l00007" name="l00007"></a><span class="lineno">    7</span>{</div>
+<div class="line"><a id="l00008" name="l00008"></a><span class="lineno">    8</span>    <span class="keyword">public</span>:</div>
+<div class="line"><a id="l00009" name="l00009"></a><span class="lineno">    9</span> </div>
+<div class="line"><a id="l00010" name="l00010"></a><span class="lineno">   10</span>    <a class="code hl_class" href="classPIDFF.html">PIDFF</a>(<a class="code hl_struct" href="structPID_1_1pid__config__t.html">PID::pid_config_t</a> &amp;pid_cfg, <a class="code hl_struct" href="structFeedForward_1_1ff__config__t.html">FeedForward::ff_config_t</a> &amp;ff_cfg);</div>
+<div class="line"><a id="l00011" name="l00011"></a><span class="lineno">   11</span> </div>
+<div class="line"><a id="l00018" name="l00018"></a><span class="lineno">   18</span>    <span class="keywordtype">void</span> <a class="code hl_function" href="classPIDFF.html#a37226c8d3bfac97485b28105a15f29fc">init</a>(<span class="keywordtype">double</span> start_pt, <span class="keywordtype">double</span> set_pt) <span class="keyword">override</span>;</div>
+<div class="line"><a id="l00019" name="l00019"></a><span class="lineno">   19</span> </div>
+<div class="line"><a id="l00024" name="l00024"></a><span class="lineno">   24</span>    <span class="keywordtype">void</span> <a class="code hl_function" href="classPIDFF.html#a5b5584e4ca036b0e51c693a24a23b50b">set_target</a>(<span class="keywordtype">double</span> set_pt);</div>
+<div class="line"><a id="l00025" name="l00025"></a><span class="lineno">   25</span> </div>
+<div class="line"><a id="l00033" name="l00033"></a><span class="lineno">   33</span>    <span class="keywordtype">double</span> <a class="code hl_function" href="classPIDFF.html#a9a9b05ec43e4430019652b62799e761c">update</a>(<span class="keywordtype">double</span> val) <span class="keyword">override</span>;</div>
+<div class="line"><a id="l00034" name="l00034"></a><span class="lineno">   34</span> </div>
+<div class="line"><a id="l00043" name="l00043"></a><span class="lineno">   43</span>    <span class="keywordtype">double</span> <a class="code hl_function" href="classPIDFF.html#a9a9b05ec43e4430019652b62799e761c">update</a>(<span class="keywordtype">double</span> val, <span class="keywordtype">double</span> vel_setpt, <span class="keywordtype">double</span> a_setpt=0);</div>
+<div class="line"><a id="l00044" name="l00044"></a><span class="lineno">   44</span> </div>
+<div class="line"><a id="l00048" name="l00048"></a><span class="lineno">   48</span>    <span class="keywordtype">double</span> <a class="code hl_function" href="classPIDFF.html#a78a34d271bcc703fc803e15b275fd238">get</a>() <span class="keyword">override</span>;</div>
+<div class="line"><a id="l00049" name="l00049"></a><span class="lineno">   49</span> </div>
+<div class="line"><a id="l00056" name="l00056"></a><span class="lineno">   56</span>    <span class="keywordtype">void</span> <a class="code hl_function" href="classPIDFF.html#ae0dccb27a91ec687f90c930441f246bb">set_limits</a>(<span class="keywordtype">double</span> lower, <span class="keywordtype">double</span> upper) <span class="keyword">override</span>;</div>
+<div class="line"><a id="l00057" name="l00057"></a><span class="lineno">   57</span> </div>
+<div class="line"><a id="l00061" name="l00061"></a><span class="lineno">   61</span>    <span class="keywordtype">bool</span> <a class="code hl_function" href="classPIDFF.html#a2534a33490570d839bf1849673a70bc1">is_on_target</a>() <span class="keyword">override</span>;</div>
+<div class="line"><a id="l00062" name="l00062"></a><span class="lineno">   62</span> </div>
+<div class="line"><a id="l00063" name="l00063"></a><span class="lineno">   63</span>    <a class="code hl_class" href="classPID.html">PID</a> pid;</div>
+<div class="line"><a id="l00064" name="l00064"></a><span class="lineno">   64</span> </div>
+<div class="line"><a id="l00065" name="l00065"></a><span class="lineno">   65</span> </div>
+<div class="line"><a id="l00066" name="l00066"></a><span class="lineno">   66</span>    <span class="keyword">private</span>:</div>
+<div class="line"><a id="l00067" name="l00067"></a><span class="lineno">   67</span> </div>
+<div class="line"><a id="l00068" name="l00068"></a><span class="lineno">   68</span>    <a class="code hl_struct" href="structFeedForward_1_1ff__config__t.html">FeedForward::ff_config_t</a> &amp;ff_cfg;</div>
+<div class="line"><a id="l00069" name="l00069"></a><span class="lineno">   69</span> </div>
+<div class="line"><a id="l00070" name="l00070"></a><span class="lineno">   70</span>    <a class="code hl_class" href="classFeedForward.html">FeedForward</a> ff;</div>
+<div class="line"><a id="l00071" name="l00071"></a><span class="lineno">   71</span> </div>
+<div class="line"><a id="l00072" name="l00072"></a><span class="lineno">   72</span>    <span class="keywordtype">double</span> out;</div>
+<div class="line"><a id="l00073" name="l00073"></a><span class="lineno">   73</span>    <span class="keywordtype">double</span> lower_lim, upper_lim;</div>
+<div class="line"><a id="l00074" name="l00074"></a><span class="lineno">   74</span> </div>
+<div class="line"><a id="l00075" name="l00075"></a><span class="lineno">   75</span>};</div>
+<div class="ttc" id="aclassFeedForward_html"><div class="ttname"><a href="classFeedForward.html">FeedForward</a></div><div class="ttdef"><b>Definition:</b> feedforward.h:30</div></div>
+<div class="ttc" id="aclassFeedback_html"><div class="ttname"><a href="classFeedback.html">Feedback</a></div><div class="ttdef"><b>Definition:</b> feedback_base.h:11</div></div>
+<div class="ttc" id="aclassPIDFF_html"><div class="ttname"><a href="classPIDFF.html">PIDFF</a></div><div class="ttdef"><b>Definition:</b> pidff.h:7</div></div>
+<div class="ttc" id="aclassPIDFF_html_a2534a33490570d839bf1849673a70bc1"><div class="ttname"><a href="classPIDFF.html#a2534a33490570d839bf1849673a70bc1">PIDFF::is_on_target</a></div><div class="ttdeci">bool is_on_target() override</div><div class="ttdef"><b>Definition:</b> pidff.cpp:84</div></div>
+<div class="ttc" id="aclassPIDFF_html_a37226c8d3bfac97485b28105a15f29fc"><div class="ttname"><a href="classPIDFF.html#a37226c8d3bfac97485b28105a15f29fc">PIDFF::init</a></div><div class="ttdeci">void init(double start_pt, double set_pt) override</div><div class="ttdef"><b>Definition:</b> pidff.cpp:17</div></div>
+<div class="ttc" id="aclassPIDFF_html_a5b5584e4ca036b0e51c693a24a23b50b"><div class="ttname"><a href="classPIDFF.html#a5b5584e4ca036b0e51c693a24a23b50b">PIDFF::set_target</a></div><div class="ttdeci">void set_target(double set_pt)</div><div class="ttdef"><b>Definition:</b> pidff.cpp:22</div></div>
+<div class="ttc" id="aclassPIDFF_html_a78a34d271bcc703fc803e15b275fd238"><div class="ttname"><a href="classPIDFF.html#a78a34d271bcc703fc803e15b275fd238">PIDFF::get</a></div><div class="ttdeci">double get() override</div><div class="ttdef"><b>Definition:</b> pidff.cpp:64</div></div>
+<div class="ttc" id="aclassPIDFF_html_a9a9b05ec43e4430019652b62799e761c"><div class="ttname"><a href="classPIDFF.html#a9a9b05ec43e4430019652b62799e761c">PIDFF::update</a></div><div class="ttdeci">double update(double val) override</div><div class="ttdef"><b>Definition:</b> pidff.cpp:34</div></div>
+<div class="ttc" id="aclassPIDFF_html_ae0dccb27a91ec687f90c930441f246bb"><div class="ttname"><a href="classPIDFF.html#ae0dccb27a91ec687f90c930441f246bb">PIDFF::set_limits</a></div><div class="ttdeci">void set_limits(double lower, double upper) override</div><div class="ttdef"><b>Definition:</b> pidff.cpp:75</div></div>
+<div class="ttc" id="aclassPID_html"><div class="ttname"><a href="classPID.html">PID</a></div><div class="ttdef"><b>Definition:</b> pid.h:24</div></div>
+<div class="ttc" id="astructFeedForward_1_1ff__config__t_html"><div class="ttname"><a href="structFeedForward_1_1ff__config__t.html">FeedForward::ff_config_t</a></div><div class="ttdef"><b>Definition:</b> feedforward.h:42</div></div>
+<div class="ttc" id="astructPID_1_1pid__config__t_html"><div class="ttname"><a href="structPID_1_1pid__config__t.html">PID::pid_config_t</a></div><div class="ttdef"><b>Definition:</b> pid.h:41</div></div>
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+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.6
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diff --git a/documentation/html/pure__pursuit_8h_source.html b/documentation/html/pure__pursuit_8h_source.html
new file mode 100644
index 0000000..495dfec
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@@ -0,0 +1,133 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
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+<li class="navelem"><a class="el" href="dir_d44c64559bbebec7f509842c48db8b23.html">include</a></li><li class="navelem"><a class="el" href="dir_821002d4f10779a80d4fb17bc32f21f1.html">utils</a></li>  </ul>
+</div>
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+<div class="header">
+  <div class="headertitle"><div class="title">pure_pursuit.h</div></div>
+</div><!--header-->
+<div class="contents">
+<div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno">    1</span><span class="preprocessor">#pragma once</span></div>
+<div class="line"><a id="l00002" name="l00002"></a><span class="lineno">    2</span> </div>
+<div class="line"><a id="l00003" name="l00003"></a><span class="lineno">    3</span><span class="preprocessor">#include &lt;vector&gt;</span></div>
+<div class="line"><a id="l00004" name="l00004"></a><span class="lineno">    4</span><span class="preprocessor">#include &quot;../core/include/utils/vector2d.h&quot;</span></div>
+<div class="line"><a id="l00005" name="l00005"></a><span class="lineno">    5</span><span class="preprocessor">#include &quot;vex.h&quot;</span></div>
+<div class="line"><a id="l00006" name="l00006"></a><span class="lineno">    6</span> </div>
+<div class="line"><a id="l00007" name="l00007"></a><span class="lineno">    7</span><span class="keyword">using namespace </span>vex;</div>
+<div class="line"><a id="l00008" name="l00008"></a><span class="lineno">    8</span> </div>
+<div class="line"><a id="l00009" name="l00009"></a><span class="lineno">    9</span><span class="keyword">namespace </span>PurePursuit {</div>
+<div class="line"><a id="l00014" name="l00014"></a><span class="lineno"><a class="line" href="structPurePursuit_1_1spline.html">   14</a></span>  <span class="keyword">struct </span><a class="code hl_struct" href="structPurePursuit_1_1spline.html">spline</a></div>
+<div class="line"><a id="l00015" name="l00015"></a><span class="lineno">   15</span>  {</div>
+<div class="line"><a id="l00016" name="l00016"></a><span class="lineno">   16</span>    <span class="keywordtype">double</span> a, b, c, d, x_start, x_end; </div>
+<div class="line"><a id="l00017" name="l00017"></a><span class="lineno">   17</span> </div>
+<div class="line"><a id="l00018" name="l00018"></a><span class="lineno">   18</span>    <span class="keywordtype">double</span> getY(<span class="keywordtype">double</span> x) {</div>
+<div class="line"><a id="l00019" name="l00019"></a><span class="lineno">   19</span>      <span class="keywordflow">return</span> a * pow((x - x_start), 3) + b * pow((x - x_start), 2) + c * (x - x_start) + d;</div>
+<div class="line"><a id="l00020" name="l00020"></a><span class="lineno">   20</span>    }</div>
+<div class="line"><a id="l00021" name="l00021"></a><span class="lineno">   21</span>  };</div>
+<div class="line"><a id="l00026" name="l00026"></a><span class="lineno"><a class="line" href="structPurePursuit_1_1hermite__point.html">   26</a></span>  <span class="keyword">struct </span><a class="code hl_struct" href="structPurePursuit_1_1hermite__point.html">hermite_point</a></div>
+<div class="line"><a id="l00027" name="l00027"></a><span class="lineno">   27</span>  {</div>
+<div class="line"><a id="l00028" name="l00028"></a><span class="lineno">   28</span>    <span class="keywordtype">double</span> x;</div>
+<div class="line"><a id="l00029" name="l00029"></a><span class="lineno">   29</span>    <span class="keywordtype">double</span> y;</div>
+<div class="line"><a id="l00030" name="l00030"></a><span class="lineno">   30</span>    <span class="keywordtype">double</span> dir;</div>
+<div class="line"><a id="l00031" name="l00031"></a><span class="lineno">   31</span>    <span class="keywordtype">double</span> mag;</div>
+<div class="line"><a id="l00032" name="l00032"></a><span class="lineno">   32</span> </div>
+<div class="line"><a id="l00033" name="l00033"></a><span class="lineno">   33</span>    <a class="code hl_struct" href="structVector2D_1_1point__t.html">Vector2D::point_t</a> getPoint() {</div>
+<div class="line"><a id="l00034" name="l00034"></a><span class="lineno">   34</span>      <span class="keywordflow">return</span> {x, y};</div>
+<div class="line"><a id="l00035" name="l00035"></a><span class="lineno">   35</span>    }</div>
+<div class="line"><a id="l00036" name="l00036"></a><span class="lineno">   36</span> </div>
+<div class="line"><a id="l00037" name="l00037"></a><span class="lineno">   37</span>    <a class="code hl_class" href="classVector2D.html">Vector2D</a> getTangent() {</div>
+<div class="line"><a id="l00038" name="l00038"></a><span class="lineno">   38</span>      <span class="keywordflow">return</span> <a class="code hl_class" href="classVector2D.html">Vector2D</a>(dir, mag);</div>
+<div class="line"><a id="l00039" name="l00039"></a><span class="lineno">   39</span>    }</div>
+<div class="line"><a id="l00040" name="l00040"></a><span class="lineno">   40</span>  };</div>
+<div class="line"><a id="l00041" name="l00041"></a><span class="lineno">   41</span> </div>
+<div class="line"><a id="l00046" name="l00046"></a><span class="lineno">   46</span>  <span class="keyword">static</span> std::vector&lt;Vector2D::point_t&gt; line_circle_intersections(<a class="code hl_struct" href="structVector2D_1_1point__t.html">Vector2D::point_t</a> center, <span class="keywordtype">double</span> r, <a class="code hl_struct" href="structVector2D_1_1point__t.html">Vector2D::point_t</a> point1, <a class="code hl_struct" href="structVector2D_1_1point__t.html">Vector2D::point_t</a> point2);</div>
+<div class="line"><a id="l00050" name="l00050"></a><span class="lineno">   50</span>  <span class="keyword">static</span> <a class="code hl_struct" href="structVector2D_1_1point__t.html">Vector2D::point_t</a> get_lookahead(std::vector&lt;Vector2D::point_t&gt; path, <a class="code hl_struct" href="structVector2D_1_1point__t.html">Vector2D::point_t</a> robot_loc, <span class="keywordtype">double</span> radius);</div>
+<div class="line"><a id="l00051" name="l00051"></a><span class="lineno">   51</span> </div>
+<div class="line"><a id="l00055" name="l00055"></a><span class="lineno">   55</span>  <span class="keyword">static</span> std::vector&lt;Vector2D::point_t&gt; inject_path(std::vector&lt;Vector2D::point_t&gt; path, <span class="keywordtype">double</span> spacing);</div>
+<div class="line"><a id="l00056" name="l00056"></a><span class="lineno">   56</span> </div>
+<div class="line"><a id="l00068" name="l00068"></a><span class="lineno">   68</span>  <span class="keyword">static</span> std::vector&lt;Vector2D::point_t&gt; smooth_path(std::vector&lt;Vector2D::point_t&gt; path, <span class="keywordtype">double</span> weight_data, <span class="keywordtype">double</span> weight_smooth, <span class="keywordtype">double</span> tolerance);</div>
+<div class="line"><a id="l00069" name="l00069"></a><span class="lineno">   69</span> </div>
+<div class="line"><a id="l00070" name="l00070"></a><span class="lineno">   70</span>  <span class="keyword">static</span> std::vector&lt;Vector2D::point_t&gt; smooth_path_cubic(std::vector&lt;Vector2D::point_t&gt; path, <span class="keywordtype">double</span> res);</div>
+<div class="line"><a id="l00071" name="l00071"></a><span class="lineno">   71</span> </div>
+<div class="line"><a id="l00080" name="l00080"></a><span class="lineno">   80</span>  <span class="keyword">static</span> std::vector&lt;Vector2D::point_t&gt; smooth_path_hermite(std::vector&lt;hermite_point&gt; path, <span class="keywordtype">double</span> step);</div>
+<div class="line"><a id="l00081" name="l00081"></a><span class="lineno">   81</span>}</div>
+<div class="ttc" id="aclassVector2D_html"><div class="ttname"><a href="classVector2D.html">Vector2D</a></div><div class="ttdef"><b>Definition:</b> vector2d.h:14</div></div>
+<div class="ttc" id="astructPurePursuit_1_1hermite__point_html"><div class="ttname"><a href="structPurePursuit_1_1hermite__point.html">PurePursuit::hermite_point</a></div><div class="ttdef"><b>Definition:</b> pure_pursuit.h:27</div></div>
+<div class="ttc" id="astructPurePursuit_1_1spline_html"><div class="ttname"><a href="structPurePursuit_1_1spline.html">PurePursuit::spline</a></div><div class="ttdef"><b>Definition:</b> pure_pursuit.h:15</div></div>
+<div class="ttc" id="astructVector2D_1_1point__t_html"><div class="ttname"><a href="structVector2D_1_1point__t.html">Vector2D::point_t</a></div><div class="ttdef"><b>Definition:</b> vector2d.h:21</div></div>
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+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.6
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diff --git a/documentation/html/robot__specs_8h_source.html b/documentation/html/robot__specs_8h_source.html
new file mode 100644
index 0000000..323aa96
--- /dev/null
+++ b/documentation/html/robot__specs_8h_source.html
@@ -0,0 +1,115 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
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+  <div class="headertitle"><div class="title">robot_specs.h</div></div>
+</div><!--header-->
+<div class="contents">
+<div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno">    1</span><span class="preprocessor">#pragma once</span></div>
+<div class="line"><a id="l00002" name="l00002"></a><span class="lineno">    2</span><span class="preprocessor">#include &quot;../core/include/utils/pid.h&quot;</span></div>
+<div class="line"><a id="l00003" name="l00003"></a><span class="lineno">    3</span><span class="preprocessor">#include &quot;../core/include/utils/feedback_base.h&quot;</span></div>
+<div class="line"><a id="l00004" name="l00004"></a><span class="lineno">    4</span> </div>
+<div class="line"><a id="l00011" name="l00011"></a><span class="lineno"><a class="line" href="structrobot__specs__t.html">   11</a></span><span class="keyword">typedef</span> <span class="keyword">struct</span></div>
+<div class="line"><a id="l00012" name="l00012"></a><span class="lineno">   12</span>{  </div>
+<div class="line"><a id="l00013" name="l00013"></a><span class="lineno"><a class="line" href="structrobot__specs__t.html#a37a65da54459d805cf1370cc6330bce0">   13</a></span>  <span class="keywordtype">double</span> <a class="code hl_variable" href="structrobot__specs__t.html#a37a65da54459d805cf1370cc6330bce0">robot_radius</a>; </div>
+<div class="line"><a id="l00014" name="l00014"></a><span class="lineno">   14</span> </div>
+<div class="line"><a id="l00015" name="l00015"></a><span class="lineno"><a class="line" href="structrobot__specs__t.html#acf12b29aa6a86cc09b2ef868f9e77a31">   15</a></span>  <span class="keywordtype">double</span> <a class="code hl_variable" href="structrobot__specs__t.html#acf12b29aa6a86cc09b2ef868f9e77a31">odom_wheel_diam</a>; </div>
+<div class="line"><a id="l00016" name="l00016"></a><span class="lineno"><a class="line" href="structrobot__specs__t.html#a8c454d8b38efdd15dfa6f075c40e4ec7">   16</a></span>  <span class="keywordtype">double</span> <a class="code hl_variable" href="structrobot__specs__t.html#a8c454d8b38efdd15dfa6f075c40e4ec7">odom_gear_ratio</a>; </div>
+<div class="line"><a id="l00017" name="l00017"></a><span class="lineno"><a class="line" href="structrobot__specs__t.html#afb03c2e2cbc0d8fd6686c9421e016dec">   17</a></span>  <span class="keywordtype">double</span> <a class="code hl_variable" href="structrobot__specs__t.html#afb03c2e2cbc0d8fd6686c9421e016dec">dist_between_wheels</a>; </div>
+<div class="line"><a id="l00018" name="l00018"></a><span class="lineno">   18</span> </div>
+<div class="line"><a id="l00019" name="l00019"></a><span class="lineno"><a class="line" href="structrobot__specs__t.html#aa9fc95ea4c235f455b712ac0cf5aa536">   19</a></span>  <span class="keywordtype">double</span> <a class="code hl_variable" href="structrobot__specs__t.html#aa9fc95ea4c235f455b712ac0cf5aa536">drive_correction_cutoff</a>; </div>
+<div class="line"><a id="l00020" name="l00020"></a><span class="lineno">   20</span> </div>
+<div class="line"><a id="l00021" name="l00021"></a><span class="lineno"><a class="line" href="structrobot__specs__t.html#a828213e8d672431bd3bb87e6484db83f">   21</a></span>  <a class="code hl_class" href="classFeedback.html">Feedback</a> *<a class="code hl_variable" href="structrobot__specs__t.html#a828213e8d672431bd3bb87e6484db83f">drive_feedback</a>; </div>
+<div class="line"><a id="l00022" name="l00022"></a><span class="lineno"><a class="line" href="structrobot__specs__t.html#af8c8492ba755766847bb21b960b91bfe">   22</a></span>  <a class="code hl_class" href="classFeedback.html">Feedback</a> *<a class="code hl_variable" href="structrobot__specs__t.html#af8c8492ba755766847bb21b960b91bfe">turn_feedback</a>; </div>
+<div class="line"><a id="l00023" name="l00023"></a><span class="lineno"><a class="line" href="structrobot__specs__t.html#a23d091e4a5258c11db6cd9753b598d06">   23</a></span>  <a class="code hl_struct" href="structPID_1_1pid__config__t.html">PID::pid_config_t</a> <a class="code hl_variable" href="structrobot__specs__t.html#a23d091e4a5258c11db6cd9753b598d06">correction_pid</a>; </div>
+<div class="line"><a id="l00024" name="l00024"></a><span class="lineno">   24</span> </div>
+<div class="line"><a id="l00025" name="l00025"></a><span class="lineno">   25</span>} <a class="code hl_struct" href="structrobot__specs__t.html">robot_specs_t</a>;</div>
+<div class="ttc" id="aclassFeedback_html"><div class="ttname"><a href="classFeedback.html">Feedback</a></div><div class="ttdef"><b>Definition:</b> feedback_base.h:11</div></div>
+<div class="ttc" id="astructPID_1_1pid__config__t_html"><div class="ttname"><a href="structPID_1_1pid__config__t.html">PID::pid_config_t</a></div><div class="ttdef"><b>Definition:</b> pid.h:41</div></div>
+<div class="ttc" id="astructrobot__specs__t_html"><div class="ttname"><a href="structrobot__specs__t.html">robot_specs_t</a></div><div class="ttdef"><b>Definition:</b> robot_specs.h:12</div></div>
+<div class="ttc" id="astructrobot__specs__t_html_a23d091e4a5258c11db6cd9753b598d06"><div class="ttname"><a href="structrobot__specs__t.html#a23d091e4a5258c11db6cd9753b598d06">robot_specs_t::correction_pid</a></div><div class="ttdeci">PID::pid_config_t correction_pid</div><div class="ttdoc">the pid controller to keep the robot driving in as straight a line as possible</div><div class="ttdef"><b>Definition:</b> robot_specs.h:23</div></div>
+<div class="ttc" id="astructrobot__specs__t_html_a37a65da54459d805cf1370cc6330bce0"><div class="ttname"><a href="structrobot__specs__t.html#a37a65da54459d805cf1370cc6330bce0">robot_specs_t::robot_radius</a></div><div class="ttdeci">double robot_radius</div><div class="ttdoc">if you were to draw a circle with this radius, the robot would be entirely contained within it</div><div class="ttdef"><b>Definition:</b> robot_specs.h:13</div></div>
+<div class="ttc" id="astructrobot__specs__t_html_a828213e8d672431bd3bb87e6484db83f"><div class="ttname"><a href="structrobot__specs__t.html#a828213e8d672431bd3bb87e6484db83f">robot_specs_t::drive_feedback</a></div><div class="ttdeci">Feedback * drive_feedback</div><div class="ttdoc">the default feedback for autonomous driving</div><div class="ttdef"><b>Definition:</b> robot_specs.h:21</div></div>
+<div class="ttc" id="astructrobot__specs__t_html_a8c454d8b38efdd15dfa6f075c40e4ec7"><div class="ttname"><a href="structrobot__specs__t.html#a8c454d8b38efdd15dfa6f075c40e4ec7">robot_specs_t::odom_gear_ratio</a></div><div class="ttdeci">double odom_gear_ratio</div><div class="ttdoc">the ratio of the odometry wheel to the encoder reading odometry data</div><div class="ttdef"><b>Definition:</b> robot_specs.h:16</div></div>
+<div class="ttc" id="astructrobot__specs__t_html_aa9fc95ea4c235f455b712ac0cf5aa536"><div class="ttname"><a href="structrobot__specs__t.html#aa9fc95ea4c235f455b712ac0cf5aa536">robot_specs_t::drive_correction_cutoff</a></div><div class="ttdeci">double drive_correction_cutoff</div><div class="ttdoc">the distance at which to stop trying to turn towards the target. If we are less than this value,...</div><div class="ttdef"><b>Definition:</b> robot_specs.h:19</div></div>
+<div class="ttc" id="astructrobot__specs__t_html_acf12b29aa6a86cc09b2ef868f9e77a31"><div class="ttname"><a href="structrobot__specs__t.html#acf12b29aa6a86cc09b2ef868f9e77a31">robot_specs_t::odom_wheel_diam</a></div><div class="ttdeci">double odom_wheel_diam</div><div class="ttdoc">the diameter of the wheels used for</div><div class="ttdef"><b>Definition:</b> robot_specs.h:15</div></div>
+<div class="ttc" id="astructrobot__specs__t_html_af8c8492ba755766847bb21b960b91bfe"><div class="ttname"><a href="structrobot__specs__t.html#af8c8492ba755766847bb21b960b91bfe">robot_specs_t::turn_feedback</a></div><div class="ttdeci">Feedback * turn_feedback</div><div class="ttdoc">the defualt feedback for autonomous turning</div><div class="ttdef"><b>Definition:</b> robot_specs.h:22</div></div>
+<div class="ttc" id="astructrobot__specs__t_html_afb03c2e2cbc0d8fd6686c9421e016dec"><div class="ttname"><a href="structrobot__specs__t.html#afb03c2e2cbc0d8fd6686c9421e016dec">robot_specs_t::dist_between_wheels</a></div><div class="ttdeci">double dist_between_wheels</div><div class="ttdoc">the distance between centers of the central drive wheels</div><div class="ttdef"><b>Definition:</b> robot_specs.h:17</div></div>
+</div><!-- fragment --></div><!-- contents -->
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+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.6
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diff --git a/documentation/html/screen_8h_source.html b/documentation/html/screen_8h_source.html
new file mode 100644
index 0000000..d5f8e13
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+++ b/documentation/html/screen_8h_source.html
@@ -0,0 +1,103 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
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+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
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+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
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+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="dir_d44c64559bbebec7f509842c48db8b23.html">include</a></li><li class="navelem"><a class="el" href="dir_8e84b5daa2b3f33b7b3fb9ecedbe5637.html">subsystems</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle"><div class="title">screen.h</div></div>
+</div><!--header-->
+<div class="contents">
+<div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno">    1</span><span class="preprocessor">#pragma once</span></div>
+<div class="line"><a id="l00002" name="l00002"></a><span class="lineno">    2</span><span class="preprocessor">#include &quot;vex.h&quot;</span></div>
+<div class="line"><a id="l00003" name="l00003"></a><span class="lineno">    3</span><span class="preprocessor">#include &lt;vector&gt;</span></div>
+<div class="line"><a id="l00004" name="l00004"></a><span class="lineno">    4</span> </div>
+<div class="line"><a id="l00009" name="l00009"></a><span class="lineno">    9</span> </div>
+<div class="line"><a id="l00010" name="l00010"></a><span class="lineno">   10</span><span class="keyword">typedef</span> void (*screenFunc)(vex::brain::lcd &amp;screen, <span class="keywordtype">int</span> x, <span class="keywordtype">int</span> y, <span class="keywordtype">int</span> width, <span class="keywordtype">int</span> height, <span class="keywordtype">bool</span> first_run);</div>
+<div class="line"><a id="l00011" name="l00011"></a><span class="lineno">   11</span> </div>
+<div class="line"><a id="l00012" name="l00012"></a><span class="lineno">   12</span><span class="keywordtype">void</span> draw_mot_header(vex::brain::lcd &amp;screen, <span class="keywordtype">int</span> x, <span class="keywordtype">int</span> y, <span class="keywordtype">int</span> width);</div>
+<div class="line"><a id="l00013" name="l00013"></a><span class="lineno">   13</span><span class="comment">// name should be no longer than 15 characters</span></div>
+<div class="line"><a id="l00014" name="l00014"></a><span class="lineno">   14</span><span class="keywordtype">void</span> draw_mot_stats(vex::brain::lcd &amp;screen, <span class="keywordtype">int</span> x, <span class="keywordtype">int</span> y, <span class="keywordtype">int</span> width, <span class="keyword">const</span> <span class="keywordtype">char</span> *name, vex::motor &amp;motor);</div>
+<div class="line"><a id="l00015" name="l00015"></a><span class="lineno">   15</span><span class="keywordtype">void</span> draw_battery_stats(vex::brain::lcd &amp;screen, <span class="keywordtype">int</span> x, <span class="keywordtype">int</span> y, <span class="keywordtype">double</span> voltage, <span class="keywordtype">double</span> percentage);</div>
+<div class="line"><a id="l00016" name="l00016"></a><span class="lineno">   16</span> </div>
+<div class="line"><a id="l00017" name="l00017"></a><span class="lineno">   17</span> </div>
+<div class="line"><a id="l00018" name="l00018"></a><span class="lineno">   18</span> </div>
+<div class="line"><a id="l00019" name="l00019"></a><span class="lineno">   19</span><span class="keywordtype">void</span> draw_lr_arrows(vex::brain::lcd &amp;screen, <span class="keywordtype">int</span> bar_width, <span class="keywordtype">int</span> width, <span class="keywordtype">int</span> height);</div>
+<div class="line"><a id="l00020" name="l00020"></a><span class="lineno">   20</span> </div>
+<div class="line"><a id="l00021" name="l00021"></a><span class="lineno">   21</span><span class="keywordtype">int</span> handle_screen_thread(vex::brain::lcd &amp;screen, std::vector&lt;screenFunc&gt; pages, <span class="keywordtype">int</span> first_page);</div>
+<div class="line"><a id="l00022" name="l00022"></a><span class="lineno">   22</span><span class="keywordtype">void</span> StartScreen(vex::brain::lcd &amp;screen, std::vector&lt;screenFunc&gt; pages, <span class="keywordtype">int</span> first_page = 0);</div>
+</div><!-- fragment --></div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.6
+</small></address>
+</body>
+</html>
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--- /dev/null
+++ b/documentation/html/search/mag_sel.svg
@@ -0,0 +1,74 @@
+<?xml version="1.0" encoding="UTF-8" standalone="no"?>
+<!-- Created with Inkscape (http://www.inkscape.org/) -->
+
+<svg
+   xmlns:dc="http://purl.org/dc/elements/1.1/"
+   xmlns:cc="http://creativecommons.org/ns#"
+   xmlns:rdf="http://www.w3.org/1999/02/22-rdf-syntax-ns#"
+   xmlns:svg="http://www.w3.org/2000/svg"
+   xmlns="http://www.w3.org/2000/svg"
+   xmlns:sodipodi="http://sodipodi.sourceforge.net/DTD/sodipodi-0.dtd"
+   xmlns:inkscape="http://www.inkscape.org/namespaces/inkscape"
+   version="1.1"
+   id="svg2"
+   width="20"
+   height="19"
+   viewBox="0 0 20 19"
+   sodipodi:docname="mag_sel.svg"
+   inkscape:version="0.92.5 (2060ec1f9f, 2020-04-08)">
+  <metadata
+     id="metadata8">
+    <rdf:RDF>
+      <cc:Work
+         rdf:about="">
+        <dc:format>image/svg+xml</dc:format>
+        <dc:type
+           rdf:resource="http://purl.org/dc/dcmitype/StillImage" />
+        <dc:title></dc:title>
+      </cc:Work>
+    </rdf:RDF>
+  </metadata>
+  <defs
+     id="defs6" />
+  <sodipodi:namedview
+     pagecolor="#ffffff"
+     bordercolor="#666666"
+     borderopacity="1"
+     objecttolerance="10"
+     gridtolerance="10"
+     guidetolerance="10"
+     inkscape:pageopacity="0"
+     inkscape:pageshadow="2"
+     inkscape:window-width="1920"
+     inkscape:window-height="2096"
+     id="namedview4"
+     showgrid="false"
+     fit-margin-top="0"
+     fit-margin-left="0"
+     fit-margin-right="0"
+     fit-margin-bottom="0"
+     inkscape:zoom="32"
+     inkscape:cx="5.9792688"
+     inkscape:cy="1.1436277"
+     inkscape:window-x="1920"
+     inkscape:window-y="27"
+     inkscape:window-maximized="0"
+     inkscape:current-layer="svg2" />
+  <circle
+     style="fill:#000000;fill-opacity:0;stroke:#656565;stroke-width:1.4;stroke-opacity:1;stroke-miterlimit:4;stroke-dasharray:none"
+     id="path4611"
+     cx="5.5"
+     cy="8.5"
+     r="3.5" />
+  <path
+     style="fill:#656565;fill-opacity:1;stroke:none;stroke-width:1px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1"
+     d="M 11,7 13.5,10 16,7 Z"
+     id="path4609"
+     inkscape:connector-curvature="0"
+     sodipodi:nodetypes="cccc" />
+  <path
+     style="fill:none;stroke:#656565;stroke-width:1.4;stroke-linecap:round;stroke-linejoin:miter;stroke-miterlimit:4;stroke-dasharray:none;stroke-opacity:1"
+     d="m 8.1085854,11.109059 2.7823556,2.782356"
+     id="path4630"
+     inkscape:connector-curvature="0" />
+</svg>
diff --git a/documentation/html/search/mag_seld.svg b/documentation/html/search/mag_seld.svg
new file mode 100644
index 0000000..6e720dc
--- /dev/null
+++ b/documentation/html/search/mag_seld.svg
@@ -0,0 +1,74 @@
+<?xml version="1.0" encoding="UTF-8" standalone="no"?>
+<!-- Created with Inkscape (http://www.inkscape.org/) -->
+
+<svg
+   xmlns:dc="http://purl.org/dc/elements/1.1/"
+   xmlns:cc="http://creativecommons.org/ns#"
+   xmlns:rdf="http://www.w3.org/1999/02/22-rdf-syntax-ns#"
+   xmlns:svg="http://www.w3.org/2000/svg"
+   xmlns="http://www.w3.org/2000/svg"
+   xmlns:sodipodi="http://sodipodi.sourceforge.net/DTD/sodipodi-0.dtd"
+   xmlns:inkscape="http://www.inkscape.org/namespaces/inkscape"
+   version="1.1"
+   id="svg2"
+   width="20"
+   height="19"
+   viewBox="0 0 20 19"
+   sodipodi:docname="mag_sel.svg"
+   inkscape:version="0.92.5 (2060ec1f9f, 2020-04-08)">
+  <metadata
+     id="metadata8">
+    <rdf:RDF>
+      <cc:Work
+         rdf:about="">
+        <dc:format>image/svg+xml</dc:format>
+        <dc:type
+           rdf:resource="http://purl.org/dc/dcmitype/StillImage" />
+        <dc:title></dc:title>
+      </cc:Work>
+    </rdf:RDF>
+  </metadata>
+  <defs
+     id="defs6" />
+  <sodipodi:namedview
+     pagecolor="#ffffff"
+     bordercolor="#666666"
+     borderopacity="1"
+     objecttolerance="10"
+     gridtolerance="10"
+     guidetolerance="10"
+     inkscape:pageopacity="0"
+     inkscape:pageshadow="2"
+     inkscape:window-width="1920"
+     inkscape:window-height="2096"
+     id="namedview4"
+     showgrid="false"
+     fit-margin-top="0"
+     fit-margin-left="0"
+     fit-margin-right="0"
+     fit-margin-bottom="0"
+     inkscape:zoom="32"
+     inkscape:cx="5.9792688"
+     inkscape:cy="1.1436277"
+     inkscape:window-x="1920"
+     inkscape:window-y="27"
+     inkscape:window-maximized="0"
+     inkscape:current-layer="svg2" />
+  <circle
+     style="fill:#000000;fill-opacity:0;stroke:#C5C5C5;stroke-width:1.4;stroke-opacity:1;stroke-miterlimit:4;stroke-dasharray:none"
+     id="path4611"
+     cx="5.5"
+     cy="8.5"
+     r="3.5" />
+  <path
+     style="fill:#C5C5C5;fill-opacity:1;stroke:none;stroke-width:1px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1"
+     d="M 11,7 13.5,10 16,7 Z"
+     id="path4609"
+     inkscape:connector-curvature="0"
+     sodipodi:nodetypes="cccc" />
+  <path
+     style="fill:none;stroke:#C5C5C5;stroke-width:1.4;stroke-linecap:round;stroke-linejoin:miter;stroke-miterlimit:4;stroke-dasharray:none;stroke-opacity:1"
+     d="m 8.1085854,11.109059 2.7823556,2.782356"
+     id="path4630"
+     inkscape:connector-curvature="0" />
+</svg>
diff --git a/documentation/html/search/pages_0.js b/documentation/html/search/pages_0.js
new file mode 100644
index 0000000..1c7152d
--- /dev/null
+++ b/documentation/html/search/pages_0.js
@@ -0,0 +1,4 @@
+var searchData=
+[
+  ['core_0',['Core',['../md_README.html',1,'']]]
+];
diff --git a/documentation/html/search/search.css b/documentation/html/search/search.css
new file mode 100644
index 0000000..19f76f9
--- /dev/null
+++ b/documentation/html/search/search.css
@@ -0,0 +1,291 @@
+/*---------------- Search Box positioning */
+
+#main-menu > li:last-child {
+    /* This <li> object is the parent of the search bar */
+    display: flex;
+    justify-content: center;
+    align-items: center;
+    height: 36px;
+    margin-right: 1em;
+}
+
+/*---------------- Search box styling */
+
+.SRPage * {
+    font-weight: normal;
+    line-height: normal;
+}
+
+dark-mode-toggle {
+    margin-left: 5px;
+    display: flex;
+    float: right;
+}
+
+#MSearchBox {
+    display: inline-block;
+    white-space : nowrap;
+    background: var(--search-background-color);
+    border-radius: 0.65em;
+    box-shadow: var(--search-box-shadow);
+    z-index: 102;
+}
+
+#MSearchBox .left {
+    display: inline-block;
+    vertical-align: middle;
+    height: 1.4em;
+}
+
+#MSearchSelect {
+    display: inline-block;
+    vertical-align: middle;
+    width: 20px;
+    height: 19px;
+    background-image: var(--search-magnification-select-image);
+    margin: 0 0 0 0.3em;
+    padding: 0;
+}
+
+#MSearchSelectExt {
+    display: inline-block;
+    vertical-align: middle;
+    width: 10px;
+    height: 19px;
+    background-image: var(--search-magnification-image);
+    margin: 0 0 0 0.5em;
+    padding: 0;
+}
+
+
+#MSearchField {
+    display: inline-block;
+    vertical-align: middle;
+    width: 7.5em;
+    height: 19px;
+    margin: 0 0.15em;
+    padding: 0;
+    line-height: 1em;
+    border:none;
+    color: var(--search-foreground-color);
+    outline: none;
+    font-family: var(--font-family-search);
+    -webkit-border-radius: 0px;
+    border-radius: 0px;
+    background: none;
+}
+
+@media(hover: none) {
+    /* to avoid zooming on iOS */
+    #MSearchField {
+        font-size: 16px;
+    }
+}
+
+#MSearchBox .right {
+    display: inline-block;
+    vertical-align: middle;
+    width: 1.4em;
+    height: 1.4em;
+}
+
+#MSearchClose {
+    display: none;
+    font-size: inherit;
+    background : none;
+    border: none;
+    margin: 0;
+    padding: 0;
+    outline: none;
+
+}
+
+#MSearchCloseImg {
+    padding: 0.3em;
+    margin: 0;
+}
+
+.MSearchBoxActive #MSearchField {
+    color: var(--search-active-color);
+}
+
+
+
+/*---------------- Search filter selection */
+
+#MSearchSelectWindow {
+    display: none;
+    position: absolute;
+    left: 0; top: 0;
+    border: 1px solid var(--search-filter-border-color);
+    background-color: var(--search-filter-background-color);
+    z-index: 10001;
+    padding-top: 4px;
+    padding-bottom: 4px;
+    -moz-border-radius: 4px;
+    -webkit-border-top-left-radius: 4px;
+    -webkit-border-top-right-radius: 4px;
+    -webkit-border-bottom-left-radius: 4px;
+    -webkit-border-bottom-right-radius: 4px;
+    -webkit-box-shadow: 5px 5px 5px rgba(0, 0, 0, 0.15);
+}
+
+.SelectItem {
+    font: 8pt var(--font-family-search);
+    padding-left:  2px;
+    padding-right: 12px;
+    border: 0px;
+}
+
+span.SelectionMark {
+    margin-right: 4px;
+    font-family: var(--font-family-monospace);
+    outline-style: none;
+    text-decoration: none;
+}
+
+a.SelectItem {
+    display: block;
+    outline-style: none;
+    color: var(--search-filter-foreground-color);
+    text-decoration: none;
+    padding-left:   6px;
+    padding-right: 12px;
+}
+
+a.SelectItem:focus,
+a.SelectItem:active {
+    color: var(--search-filter-foreground-color);
+    outline-style: none;
+    text-decoration: none;
+}
+
+a.SelectItem:hover {
+    color: var(--search-filter-highlight-text-color);
+    background-color: var(--search-filter-highlight-bg-color);
+    outline-style: none;
+    text-decoration: none;
+    cursor: pointer;
+    display: block;
+}
+
+/*---------------- Search results window */
+
+iframe#MSearchResults {
+    /*width: 60ex;*/
+    height: 15em;
+}
+
+#MSearchResultsWindow {
+    display: none;
+    position: absolute;
+    left: 0; top: 0;
+    border: 1px solid var(--search-results-border-color);
+    background-color: var(--search-results-background-color);
+    z-index:10000;
+    width: 300px;
+    height: 400px;
+    overflow: auto;
+}
+
+/* ----------------------------------- */
+
+
+#SRIndex {
+    clear:both; 
+}
+
+.SREntry {
+    font-size: 10pt;
+    padding-left: 1ex;
+}
+
+.SRPage .SREntry {
+    font-size: 8pt;
+    padding: 1px 5px;
+}
+
+div.SRPage {
+    margin: 5px 2px;
+    background-color: var(--search-results-background-color);
+}
+
+.SRChildren {
+    padding-left: 3ex; padding-bottom: .5em 
+}
+
+.SRPage .SRChildren {
+    display: none;
+}
+
+.SRSymbol {
+    font-weight: bold;
+    color: var(--search-results-foreground-color);
+    font-family: var(--font-family-search);
+    text-decoration: none;
+    outline: none;
+}
+
+a.SRScope {
+    display: block;
+    color: var(--search-results-foreground-color);
+    font-family: var(--font-family-search);
+    font-size: 8pt;
+    text-decoration: none;
+    outline: none;
+}
+
+a.SRSymbol:focus, a.SRSymbol:active,
+a.SRScope:focus, a.SRScope:active {
+    text-decoration: underline;
+}
+
+span.SRScope {
+    padding-left: 4px;
+    font-family: var(--font-family-search);
+}
+
+.SRPage .SRStatus {
+    padding: 2px 5px;
+    font-size: 8pt;
+    font-style: italic;
+    font-family: var(--font-family-search);
+}
+
+.SRResult {
+    display: none;
+}
+
+div.searchresults {
+    margin-left: 10px;
+    margin-right: 10px;
+}
+
+/*---------------- External search page results */
+
+.pages b {
+   color: white;
+   padding: 5px 5px 3px 5px;
+   background-image: var(--nav-gradient-active-image-parent);
+   background-repeat: repeat-x;
+   text-shadow: 0 1px 1px #000000;
+}
+
+.pages {
+    line-height: 17px;
+    margin-left: 4px;
+    text-decoration: none;
+}
+
+.hl {
+    font-weight: bold;
+}
+
+#searchresults {
+    margin-bottom: 20px;
+}
+
+.searchpages {
+    margin-top: 10px;
+}
+
diff --git a/documentation/html/search/search.js b/documentation/html/search/search.js
new file mode 100644
index 0000000..e103a26
--- /dev/null
+++ b/documentation/html/search/search.js
@@ -0,0 +1,816 @@
+/*
+ @licstart  The following is the entire license notice for the JavaScript code in this file.
+
+ The MIT License (MIT)
+
+ Copyright (C) 1997-2020 by Dimitri van Heesch
+
+ Permission is hereby granted, free of charge, to any person obtaining a copy of this software
+ and associated documentation files (the "Software"), to deal in the Software without restriction,
+ including without limitation the rights to use, copy, modify, merge, publish, distribute,
+ sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is
+ furnished to do so, subject to the following conditions:
+
+ The above copyright notice and this permission notice shall be included in all copies or
+ substantial portions of the Software.
+
+ THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING
+ BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
+ DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+
+ @licend  The above is the entire license notice for the JavaScript code in this file
+ */
+function convertToId(search)
+{
+  var result = '';
+  for (i=0;i<search.length;i++)
+  {
+    var c = search.charAt(i);
+    var cn = c.charCodeAt(0);
+    if (c.match(/[a-z0-9\u0080-\uFFFF]/))
+    {
+      result+=c;
+    }
+    else if (cn<16)
+    {
+      result+="_0"+cn.toString(16);
+    }
+    else
+    {
+      result+="_"+cn.toString(16);
+    }
+  }
+  return result;
+}
+
+function getXPos(item)
+{
+  var x = 0;
+  if (item.offsetWidth)
+  {
+    while (item && item!=document.body)
+    {
+      x   += item.offsetLeft;
+      item = item.offsetParent;
+    }
+  }
+  return x;
+}
+
+function getYPos(item)
+{
+  var y = 0;
+  if (item.offsetWidth)
+  {
+     while (item && item!=document.body)
+     {
+       y   += item.offsetTop;
+       item = item.offsetParent;
+     }
+  }
+  return y;
+}
+
+var searchResults = new SearchResults("searchResults");
+
+/* A class handling everything associated with the search panel.
+
+   Parameters:
+   name - The name of the global variable that will be
+          storing this instance.  Is needed to be able to set timeouts.
+   resultPath - path to use for external files
+*/
+function SearchBox(name, resultsPath, extension)
+{
+  if (!name || !resultsPath) {  alert("Missing parameters to SearchBox."); }
+  if (!extension || extension == "") { extension = ".html"; }
+
+  // ---------- Instance variables
+  this.name                  = name;
+  this.resultsPath           = resultsPath;
+  this.keyTimeout            = 0;
+  this.keyTimeoutLength      = 500;
+  this.closeSelectionTimeout = 300;
+  this.lastSearchValue       = "";
+  this.lastResultsPage       = "";
+  this.hideTimeout           = 0;
+  this.searchIndex           = 0;
+  this.searchActive          = false;
+  this.extension             = extension;
+
+  // ----------- DOM Elements
+
+  this.DOMSearchField = function()
+  {  return document.getElementById("MSearchField");  }
+
+  this.DOMSearchSelect = function()
+  {  return document.getElementById("MSearchSelect");  }
+
+  this.DOMSearchSelectWindow = function()
+  {  return document.getElementById("MSearchSelectWindow");  }
+
+  this.DOMPopupSearchResults = function()
+  {  return document.getElementById("MSearchResults");  }
+
+  this.DOMPopupSearchResultsWindow = function()
+  {  return document.getElementById("MSearchResultsWindow");  }
+
+  this.DOMSearchClose = function()
+  {  return document.getElementById("MSearchClose"); }
+
+  this.DOMSearchBox = function()
+  {  return document.getElementById("MSearchBox");  }
+
+  // ------------ Event Handlers
+
+  // Called when focus is added or removed from the search field.
+  this.OnSearchFieldFocus = function(isActive)
+  {
+    this.Activate(isActive);
+  }
+
+  this.OnSearchSelectShow = function()
+  {
+    var searchSelectWindow = this.DOMSearchSelectWindow();
+    var searchField        = this.DOMSearchSelect();
+
+    var left = getXPos(searchField);
+    var top  = getYPos(searchField);
+    top += searchField.offsetHeight;
+
+    // show search selection popup
+    searchSelectWindow.style.display='block';
+    searchSelectWindow.style.left =  left + 'px';
+    searchSelectWindow.style.top  =  top  + 'px';
+
+    // stop selection hide timer
+    if (this.hideTimeout)
+    {
+      clearTimeout(this.hideTimeout);
+      this.hideTimeout=0;
+    }
+    return false; // to avoid "image drag" default event
+  }
+
+  this.OnSearchSelectHide = function()
+  {
+    this.hideTimeout = setTimeout(this.name +".CloseSelectionWindow()",
+                                  this.closeSelectionTimeout);
+  }
+
+  // Called when the content of the search field is changed.
+  this.OnSearchFieldChange = function(evt)
+  {
+    if (this.keyTimeout) // kill running timer
+    {
+      clearTimeout(this.keyTimeout);
+      this.keyTimeout = 0;
+    }
+
+    var e  = (evt) ? evt : window.event; // for IE
+    if (e.keyCode==40 || e.keyCode==13)
+    {
+      if (e.shiftKey==1)
+      {
+        this.OnSearchSelectShow();
+        var win=this.DOMSearchSelectWindow();
+        for (i=0;i<win.childNodes.length;i++)
+        {
+          var child = win.childNodes[i]; // get span within a
+          if (child.className=='SelectItem')
+          {
+            child.focus();
+            return;
+          }
+        }
+        return;
+      }
+      else
+      {
+        var elem = searchResults.NavNext(0);
+        if (elem) elem.focus();
+      }
+    }
+    else if (e.keyCode==27) // Escape out of the search field
+    {
+      this.DOMSearchField().blur();
+      this.DOMPopupSearchResultsWindow().style.display = 'none';
+      this.DOMSearchClose().style.display = 'none';
+      this.lastSearchValue = '';
+      this.Activate(false);
+      return;
+    }
+
+    // strip whitespaces
+    var searchValue = this.DOMSearchField().value.replace(/ +/g, "");
+
+    if (searchValue != this.lastSearchValue) // search value has changed
+    {
+      if (searchValue != "") // non-empty search
+      {
+        // set timer for search update
+        this.keyTimeout = setTimeout(this.name + '.Search()',
+                                     this.keyTimeoutLength);
+      }
+      else // empty search field
+      {
+        this.DOMPopupSearchResultsWindow().style.display = 'none';
+        this.DOMSearchClose().style.display = 'none';
+        this.lastSearchValue = '';
+      }
+    }
+  }
+
+  this.SelectItemCount = function(id)
+  {
+    var count=0;
+    var win=this.DOMSearchSelectWindow();
+    for (i=0;i<win.childNodes.length;i++)
+    {
+      var child = win.childNodes[i]; // get span within a
+      if (child.className=='SelectItem')
+      {
+        count++;
+      }
+    }
+    return count;
+  }
+
+  this.SelectItemSet = function(id)
+  {
+    var i,j=0;
+    var win=this.DOMSearchSelectWindow();
+    for (i=0;i<win.childNodes.length;i++)
+    {
+      var child = win.childNodes[i]; // get span within a
+      if (child.className=='SelectItem')
+      {
+        var node = child.firstChild;
+        if (j==id)
+        {
+          node.innerHTML='&#8226;';
+        }
+        else
+        {
+          node.innerHTML='&#160;';
+        }
+        j++;
+      }
+    }
+  }
+
+  // Called when an search filter selection is made.
+  // set item with index id as the active item
+  this.OnSelectItem = function(id)
+  {
+    this.searchIndex = id;
+    this.SelectItemSet(id);
+    var searchValue = this.DOMSearchField().value.replace(/ +/g, "");
+    if (searchValue!="" && this.searchActive) // something was found -> do a search
+    {
+      this.Search();
+    }
+  }
+
+  this.OnSearchSelectKey = function(evt)
+  {
+    var e = (evt) ? evt : window.event; // for IE
+    if (e.keyCode==40 && this.searchIndex<this.SelectItemCount()) // Down
+    {
+      this.searchIndex++;
+      this.OnSelectItem(this.searchIndex);
+    }
+    else if (e.keyCode==38 && this.searchIndex>0) // Up
+    {
+      this.searchIndex--;
+      this.OnSelectItem(this.searchIndex);
+    }
+    else if (e.keyCode==13 || e.keyCode==27)
+    {
+      this.OnSelectItem(this.searchIndex);
+      this.CloseSelectionWindow();
+      this.DOMSearchField().focus();
+    }
+    return false;
+  }
+
+  // --------- Actions
+
+  // Closes the results window.
+  this.CloseResultsWindow = function()
+  {
+    this.DOMPopupSearchResultsWindow().style.display = 'none';
+    this.DOMSearchClose().style.display = 'none';
+    this.Activate(false);
+  }
+
+  this.CloseSelectionWindow = function()
+  {
+    this.DOMSearchSelectWindow().style.display = 'none';
+  }
+
+  // Performs a search.
+  this.Search = function()
+  {
+    this.keyTimeout = 0;
+
+    // strip leading whitespace
+    var searchValue = this.DOMSearchField().value.replace(/^ +/, "");
+
+    var code = searchValue.toLowerCase().charCodeAt(0);
+    var idxChar = searchValue.substr(0, 1).toLowerCase();
+    if ( 0xD800 <= code && code <= 0xDBFF && searchValue > 1) // surrogate pair
+    {
+      idxChar = searchValue.substr(0, 2);
+    }
+
+    var jsFile;
+
+    var idx = indexSectionsWithContent[this.searchIndex].indexOf(idxChar);
+    if (idx!=-1)
+    {
+       var hexCode=idx.toString(16);
+       jsFile = this.resultsPath + indexSectionNames[this.searchIndex] + '_' + hexCode + '.js';
+    }
+
+    var loadJS = function(url, impl, loc){
+      var scriptTag = document.createElement('script');
+      scriptTag.src = url;
+      scriptTag.onload = impl;
+      scriptTag.onreadystatechange = impl;
+      loc.appendChild(scriptTag);
+    }
+
+    var domPopupSearchResultsWindow = this.DOMPopupSearchResultsWindow();
+    var domSearchBox = this.DOMSearchBox();
+    var domPopupSearchResults = this.DOMPopupSearchResults();
+    var domSearchClose = this.DOMSearchClose();
+    var resultsPath = this.resultsPath;
+
+    var handleResults = function() {
+      document.getElementById("Loading").style.display="none";
+      if (typeof searchData !== 'undefined') {
+        createResults(resultsPath);
+        document.getElementById("NoMatches").style.display="none";
+      }
+ 
+      searchResults.Search(searchValue);
+
+      if (domPopupSearchResultsWindow.style.display!='block')
+      {
+        domSearchClose.style.display = 'inline-block';
+        var left = getXPos(domSearchBox) + 150;
+        var top  = getYPos(domSearchBox) + 20;
+        domPopupSearchResultsWindow.style.display = 'block';
+        left -= domPopupSearchResults.offsetWidth;
+        var maxWidth  = document.body.clientWidth;
+        var maxHeight = document.body.clientHeight;
+        var width = 300;
+        if (left<10) left=10;
+        if (width+left+8>maxWidth) width=maxWidth-left-8;
+        var height = 400;
+        if (height+top+8>maxHeight) height=maxHeight-top-8;
+        domPopupSearchResultsWindow.style.top     = top  + 'px';
+        domPopupSearchResultsWindow.style.left    = left + 'px';
+        domPopupSearchResultsWindow.style.width   = width + 'px';
+        domPopupSearchResultsWindow.style.height  = height + 'px';
+      }
+    }
+
+    if (jsFile) {
+      loadJS(jsFile, handleResults, this.DOMPopupSearchResultsWindow());
+    } else {
+      handleResults();
+    }
+
+    this.lastSearchValue = searchValue;
+  }
+
+  // -------- Activation Functions
+
+  // Activates or deactivates the search panel, resetting things to
+  // their default values if necessary.
+  this.Activate = function(isActive)
+  {
+    if (isActive || // open it
+        this.DOMPopupSearchResultsWindow().style.display == 'block'
+       )
+    {
+      this.DOMSearchBox().className = 'MSearchBoxActive';
+      this.searchActive = true;
+    }
+    else if (!isActive) // directly remove the panel
+    {
+      this.DOMSearchBox().className = 'MSearchBoxInactive';
+      this.searchActive             = false;
+      this.lastSearchValue          = ''
+      this.lastResultsPage          = '';
+      this.DOMSearchField().value   = '';
+    }
+  }
+}
+
+// -----------------------------------------------------------------------
+
+// The class that handles everything on the search results page.
+function SearchResults(name)
+{
+    // The number of matches from the last run of <Search()>.
+    this.lastMatchCount = 0;
+    this.lastKey = 0;
+    this.repeatOn = false;
+
+    // Toggles the visibility of the passed element ID.
+    this.FindChildElement = function(id)
+    {
+      var parentElement = document.getElementById(id);
+      var element = parentElement.firstChild;
+
+      while (element && element!=parentElement)
+      {
+        if (element.nodeName.toLowerCase() == 'div' && element.className == 'SRChildren')
+        {
+          return element;
+        }
+
+        if (element.nodeName.toLowerCase() == 'div' && element.hasChildNodes())
+        {
+           element = element.firstChild;
+        }
+        else if (element.nextSibling)
+        {
+           element = element.nextSibling;
+        }
+        else
+        {
+          do
+          {
+            element = element.parentNode;
+          }
+          while (element && element!=parentElement && !element.nextSibling);
+
+          if (element && element!=parentElement)
+          {
+            element = element.nextSibling;
+          }
+        }
+      }
+    }
+
+    this.Toggle = function(id)
+    {
+      var element = this.FindChildElement(id);
+      if (element)
+      {
+        if (element.style.display == 'block')
+        {
+          element.style.display = 'none';
+        }
+        else
+        {
+          element.style.display = 'block';
+        }
+      }
+    }
+
+    // Searches for the passed string.  If there is no parameter,
+    // it takes it from the URL query.
+    //
+    // Always returns true, since other documents may try to call it
+    // and that may or may not be possible.
+    this.Search = function(search)
+    {
+      if (!search) // get search word from URL
+      {
+        search = window.location.search;
+        search = search.substring(1);  // Remove the leading '?'
+        search = unescape(search);
+      }
+
+      search = search.replace(/^ +/, ""); // strip leading spaces
+      search = search.replace(/ +$/, ""); // strip trailing spaces
+      search = search.toLowerCase();
+      search = convertToId(search);
+
+      var resultRows = document.getElementsByTagName("div");
+      var matches = 0;
+
+      var i = 0;
+      while (i < resultRows.length)
+      {
+        var row = resultRows.item(i);
+        if (row.className == "SRResult")
+        {
+          var rowMatchName = row.id.toLowerCase();
+          rowMatchName = rowMatchName.replace(/^sr\d*_/, ''); // strip 'sr123_'
+
+          if (search.length<=rowMatchName.length &&
+             rowMatchName.substr(0, search.length)==search)
+          {
+            row.style.display = 'block';
+            matches++;
+          }
+          else
+          {
+            row.style.display = 'none';
+          }
+        }
+        i++;
+      }
+      document.getElementById("Searching").style.display='none';
+      if (matches == 0) // no results
+      {
+        document.getElementById("NoMatches").style.display='block';
+      }
+      else // at least one result
+      {
+        document.getElementById("NoMatches").style.display='none';
+      }
+      this.lastMatchCount = matches;
+      return true;
+    }
+
+    // return the first item with index index or higher that is visible
+    this.NavNext = function(index)
+    {
+      var focusItem;
+      while (1)
+      {
+        var focusName = 'Item'+index;
+        focusItem = document.getElementById(focusName);
+        if (focusItem && focusItem.parentNode.parentNode.style.display=='block')
+        {
+          break;
+        }
+        else if (!focusItem) // last element
+        {
+          break;
+        }
+        focusItem=null;
+        index++;
+      }
+      return focusItem;
+    }
+
+    this.NavPrev = function(index)
+    {
+      var focusItem;
+      while (1)
+      {
+        var focusName = 'Item'+index;
+        focusItem = document.getElementById(focusName);
+        if (focusItem && focusItem.parentNode.parentNode.style.display=='block')
+        {
+          break;
+        }
+        else if (!focusItem) // last element
+        {
+          break;
+        }
+        focusItem=null;
+        index--;
+      }
+      return focusItem;
+    }
+
+    this.ProcessKeys = function(e)
+    {
+      if (e.type == "keydown")
+      {
+        this.repeatOn = false;
+        this.lastKey = e.keyCode;
+      }
+      else if (e.type == "keypress")
+      {
+        if (!this.repeatOn)
+        {
+          if (this.lastKey) this.repeatOn = true;
+          return false; // ignore first keypress after keydown
+        }
+      }
+      else if (e.type == "keyup")
+      {
+        this.lastKey = 0;
+        this.repeatOn = false;
+      }
+      return this.lastKey!=0;
+    }
+
+    this.Nav = function(evt,itemIndex)
+    {
+      var e  = (evt) ? evt : window.event; // for IE
+      if (e.keyCode==13) return true;
+      if (!this.ProcessKeys(e)) return false;
+
+      if (this.lastKey==38) // Up
+      {
+        var newIndex = itemIndex-1;
+        var focusItem = this.NavPrev(newIndex);
+        if (focusItem)
+        {
+          var child = this.FindChildElement(focusItem.parentNode.parentNode.id);
+          if (child && child.style.display == 'block') // children visible
+          {
+            var n=0;
+            var tmpElem;
+            while (1) // search for last child
+            {
+              tmpElem = document.getElementById('Item'+newIndex+'_c'+n);
+              if (tmpElem)
+              {
+                focusItem = tmpElem;
+              }
+              else // found it!
+              {
+                break;
+              }
+              n++;
+            }
+          }
+        }
+        if (focusItem)
+        {
+          focusItem.focus();
+        }
+        else // return focus to search field
+        {
+           document.getElementById("MSearchField").focus();
+        }
+      }
+      else if (this.lastKey==40) // Down
+      {
+        var newIndex = itemIndex+1;
+        var focusItem;
+        var item = document.getElementById('Item'+itemIndex);
+        var elem = this.FindChildElement(item.parentNode.parentNode.id);
+        if (elem && elem.style.display == 'block') // children visible
+        {
+          focusItem = document.getElementById('Item'+itemIndex+'_c0');
+        }
+        if (!focusItem) focusItem = this.NavNext(newIndex);
+        if (focusItem)  focusItem.focus();
+      }
+      else if (this.lastKey==39) // Right
+      {
+        var item = document.getElementById('Item'+itemIndex);
+        var elem = this.FindChildElement(item.parentNode.parentNode.id);
+        if (elem) elem.style.display = 'block';
+      }
+      else if (this.lastKey==37) // Left
+      {
+        var item = document.getElementById('Item'+itemIndex);
+        var elem = this.FindChildElement(item.parentNode.parentNode.id);
+        if (elem) elem.style.display = 'none';
+      }
+      else if (this.lastKey==27) // Escape
+      {
+        searchBox.CloseResultsWindow();
+        document.getElementById("MSearchField").focus();
+      }
+      else if (this.lastKey==13) // Enter
+      {
+        return true;
+      }
+      return false;
+    }
+
+    this.NavChild = function(evt,itemIndex,childIndex)
+    {
+      var e  = (evt) ? evt : window.event; // for IE
+      if (e.keyCode==13) return true;
+      if (!this.ProcessKeys(e)) return false;
+
+      if (this.lastKey==38) // Up
+      {
+        if (childIndex>0)
+        {
+          var newIndex = childIndex-1;
+          document.getElementById('Item'+itemIndex+'_c'+newIndex).focus();
+        }
+        else // already at first child, jump to parent
+        {
+          document.getElementById('Item'+itemIndex).focus();
+        }
+      }
+      else if (this.lastKey==40) // Down
+      {
+        var newIndex = childIndex+1;
+        var elem = document.getElementById('Item'+itemIndex+'_c'+newIndex);
+        if (!elem) // last child, jump to parent next parent
+        {
+          elem = this.NavNext(itemIndex+1);
+        }
+        if (elem)
+        {
+          elem.focus();
+        }
+      }
+      else if (this.lastKey==27) // Escape
+      {
+        searchBox.CloseResultsWindow();
+        document.getElementById("MSearchField").focus();
+      }
+      else if (this.lastKey==13) // Enter
+      {
+        return true;
+      }
+      return false;
+    }
+}
+
+function setKeyActions(elem,action)
+{
+  elem.setAttribute('onkeydown',action);
+  elem.setAttribute('onkeypress',action);
+  elem.setAttribute('onkeyup',action);
+}
+
+function setClassAttr(elem,attr)
+{
+  elem.setAttribute('class',attr);
+  elem.setAttribute('className',attr);
+}
+
+function createResults(resultsPath)
+{
+  var results = document.getElementById("SRResults");
+  results.innerHTML = '';
+  for (var e=0; e<searchData.length; e++)
+  {
+    var id = searchData[e][0];
+    var srResult = document.createElement('div');
+    srResult.setAttribute('id','SR_'+id);
+    setClassAttr(srResult,'SRResult');
+    var srEntry = document.createElement('div');
+    setClassAttr(srEntry,'SREntry');
+    var srLink = document.createElement('a');
+    srLink.setAttribute('id','Item'+e);
+    setKeyActions(srLink,'return searchResults.Nav(event,'+e+')');
+    setClassAttr(srLink,'SRSymbol');
+    srLink.innerHTML = searchData[e][1][0];
+    srEntry.appendChild(srLink);
+    if (searchData[e][1].length==2) // single result
+    {
+      srLink.setAttribute('href',resultsPath+searchData[e][1][1][0]);
+      srLink.setAttribute('onclick','searchBox.CloseResultsWindow()');
+      if (searchData[e][1][1][1])
+      {
+       srLink.setAttribute('target','_parent');
+      }
+      else
+      {
+       srLink.setAttribute('target','_blank');
+      }
+      var srScope = document.createElement('span');
+      setClassAttr(srScope,'SRScope');
+      srScope.innerHTML = searchData[e][1][1][2];
+      srEntry.appendChild(srScope);
+    }
+    else // multiple results
+    {
+      srLink.setAttribute('href','javascript:searchResults.Toggle("SR_'+id+'")');
+      var srChildren = document.createElement('div');
+      setClassAttr(srChildren,'SRChildren');
+      for (var c=0; c<searchData[e][1].length-1; c++)
+      {
+        var srChild = document.createElement('a');
+        srChild.setAttribute('id','Item'+e+'_c'+c);
+        setKeyActions(srChild,'return searchResults.NavChild(event,'+e+','+c+')');
+        setClassAttr(srChild,'SRScope');
+        srChild.setAttribute('href',resultsPath+searchData[e][1][c+1][0]);
+        srChild.setAttribute('onclick','searchBox.CloseResultsWindow()');
+        if (searchData[e][1][c+1][1])
+        {
+         srChild.setAttribute('target','_parent');
+        }
+        else
+        {
+         srChild.setAttribute('target','_blank');
+        }
+        srChild.innerHTML = searchData[e][1][c+1][2];
+        srChildren.appendChild(srChild);
+      }
+      srEntry.appendChild(srChildren);
+    }
+    srResult.appendChild(srEntry);
+    results.appendChild(srResult);
+  }
+}
+
+function init_search()
+{
+  var results = document.getElementById("MSearchSelectWindow");
+  for (var key in indexSectionLabels)
+  {
+    var link = document.createElement('a');
+    link.setAttribute('class','SelectItem');
+    link.setAttribute('onclick','searchBox.OnSelectItem('+key+')');
+    link.href='javascript:void(0)';
+    link.innerHTML='<span class="SelectionMark">&#160;</span>'+indexSectionLabels[key];
+    results.appendChild(link);
+  }
+  searchBox.OnSelectItem(0);
+}
+/* @license-end */
diff --git a/documentation/html/search/searchdata.js b/documentation/html/search/searchdata.js
new file mode 100644
index 0000000..0e0567f
--- /dev/null
+++ b/documentation/html/search/searchdata.js
@@ -0,0 +1,30 @@
+var indexSectionsWithContent =
+{
+  0: "abcdefghiklmnoprstuvwxyz",
+  1: "acdefghlmoprstvw",
+  2: "abcdefghilmnoprstuvw",
+  3: "abcdefhiklmnoprstvwxyz",
+  4: "e",
+  5: "c"
+};
+
+var indexSectionNames =
+{
+  0: "all",
+  1: "classes",
+  2: "functions",
+  3: "variables",
+  4: "enums",
+  5: "pages"
+};
+
+var indexSectionLabels =
+{
+  0: "All",
+  1: "Classes",
+  2: "Functions",
+  3: "Variables",
+  4: "Enumerations",
+  5: "Pages"
+};
+
diff --git a/documentation/html/search/variables_0.js b/documentation/html/search/variables_0.js
new file mode 100644
index 0000000..1510241
--- /dev/null
+++ b/documentation/html/search/variables_0.js
@@ -0,0 +1,6 @@
+var searchData=
+[
+  ['accel_0',['accel',['../classOdometryBase.html#a94c814dfb542dd891d84db7e74537249',1,'OdometryBase::accel()'],['../structMotionController_1_1m__profile__cfg__t.html#ac4f07f3ac52d12fd820ee4d8ce847f66',1,'MotionController::m_profile_cfg_t::accel()'],['../structmotion__t.html#a0bfa8ec05af92df3b8c0e7d0945824f2',1,'motion_t::accel()']]],
+  ['ang_5faccel_5fdeg_1',['ang_accel_deg',['../classOdometryBase.html#a01f14bfcecbcde7a74b9b98376deb19f',1,'OdometryBase']]],
+  ['ang_5fspeed_5fdeg_2',['ang_speed_deg',['../classOdometryBase.html#a250ceb6ed296ea579e37851e4a0048fb',1,'OdometryBase']]]
+];
diff --git a/documentation/html/search/variables_1.js b/documentation/html/search/variables_1.js
new file mode 100644
index 0000000..4206961
--- /dev/null
+++ b/documentation/html/search/variables_1.js
@@ -0,0 +1,4 @@
+var searchData=
+[
+  ['brain_0',['brain',['../classAutoChooser.html#a9889be17b1b6243563f975dd421802b4',1,'AutoChooser']]]
+];
diff --git a/documentation/html/search/variables_10.js b/documentation/html/search/variables_10.js
new file mode 100644
index 0000000..633b8c4
--- /dev/null
+++ b/documentation/html/search/variables_10.js
@@ -0,0 +1,5 @@
+var searchData=
+[
+  ['timeout_5fseconds_0',['timeout_seconds',['../classAutoCommand.html#ac3be7be26e49981ad1978491fd313472',1,'AutoCommand']]],
+  ['turn_5ffeedback_1',['turn_feedback',['../structrobot__specs__t.html#af8c8492ba755766847bb21b960b91bfe',1,'robot_specs_t']]]
+];
diff --git a/documentation/html/search/variables_11.js b/documentation/html/search/variables_11.js
new file mode 100644
index 0000000..43372ad
--- /dev/null
+++ b/documentation/html/search/variables_11.js
@@ -0,0 +1,4 @@
+var searchData=
+[
+  ['vel_0',['vel',['../structmotion__t.html#a038b39985525b904bb8257ea86adbcee',1,'motion_t']]]
+];
diff --git a/documentation/html/search/variables_12.js b/documentation/html/search/variables_12.js
new file mode 100644
index 0000000..406fbde
--- /dev/null
+++ b/documentation/html/search/variables_12.js
@@ -0,0 +1,6 @@
+var searchData=
+[
+  ['wheel_5fdiam_0',['wheel_diam',['../structOdometry3Wheel_1_1odometry3wheel__cfg__t.html#a283cd9db8de27d9b3967d0c3203f1f7f',1,'Odometry3Wheel::odometry3wheel_cfg_t']]],
+  ['wheelbase_5fdist_1',['wheelbase_dist',['../structOdometry3Wheel_1_1odometry3wheel__cfg__t.html#a4de8559ac486dcfbf5baff9d9d6cb5b1',1,'Odometry3Wheel::odometry3wheel_cfg_t']]],
+  ['width_2',['width',['../structAutoChooser_1_1entry__t.html#a2459ffe56c165e35f3a63bec99990367',1,'AutoChooser::entry_t']]]
+];
diff --git a/documentation/html/search/variables_13.js b/documentation/html/search/variables_13.js
new file mode 100644
index 0000000..a7cd057
--- /dev/null
+++ b/documentation/html/search/variables_13.js
@@ -0,0 +1,4 @@
+var searchData=
+[
+  ['x_0',['x',['../structposition__t.html#aa554831febb89209dc5a2434e08265a8',1,'position_t::x()'],['../structAutoChooser_1_1entry__t.html#a7aa2aaaccd195c358c88afa6e24b5f73',1,'AutoChooser::entry_t::x()'],['../structVector2D_1_1point__t.html#ad139f137dd3554335c4ed9b51c8e3bd9',1,'Vector2D::point_t::x()']]]
+];
diff --git a/documentation/html/search/variables_14.js b/documentation/html/search/variables_14.js
new file mode 100644
index 0000000..579b23b
--- /dev/null
+++ b/documentation/html/search/variables_14.js
@@ -0,0 +1,4 @@
+var searchData=
+[
+  ['y_0',['y',['../structposition__t.html#af5fb9bd02cb51336477d5290fe32cec6',1,'position_t::y()'],['../structAutoChooser_1_1entry__t.html#a2e303a71790d85a67819830302c4dcee',1,'AutoChooser::entry_t::y()'],['../structVector2D_1_1point__t.html#a8290e79feb502e69cd95a7580cf6f1fe',1,'Vector2D::point_t::y()']]]
+];
diff --git a/documentation/html/search/variables_15.js b/documentation/html/search/variables_15.js
new file mode 100644
index 0000000..490ff49
--- /dev/null
+++ b/documentation/html/search/variables_15.js
@@ -0,0 +1,4 @@
+var searchData=
+[
+  ['zero_5fpos_0',['zero_pos',['../classOdometryBase.html#a7bd3fd09b3a6fa78af3a5ed5e25b8d74',1,'OdometryBase']]]
+];
diff --git a/documentation/html/search/variables_2.js b/documentation/html/search/variables_2.js
new file mode 100644
index 0000000..cc91416
--- /dev/null
+++ b/documentation/html/search/variables_2.js
@@ -0,0 +1,7 @@
+var searchData=
+[
+  ['choice_0',['choice',['../classAutoChooser.html#a473e03a3e74487a38e94d3b5957f34bc',1,'AutoChooser']]],
+  ['config_1',['config',['../classPID.html#a67626fa764b201c7190ace37e068666b',1,'PID']]],
+  ['correction_5fpid_2',['correction_pid',['../structrobot__specs__t.html#a23d091e4a5258c11db6cd9753b598d06',1,'robot_specs_t']]],
+  ['current_5fpos_3',['current_pos',['../classOdometryBase.html#a6870aebb6e05dcd152d3295462f559c3',1,'OdometryBase']]]
+];
diff --git a/documentation/html/search/variables_3.js b/documentation/html/search/variables_3.js
new file mode 100644
index 0000000..82f370f
--- /dev/null
+++ b/documentation/html/search/variables_3.js
@@ -0,0 +1,8 @@
+var searchData=
+[
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+</div><h2 class="groupheader">Member Data Documentation</h2>
+<a id="a957eb90ff083c4a4f8dc90da976b86c7" name="a957eb90ff083c4a4f8dc90da976b86c7"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a957eb90ff083c4a4f8dc90da976b86c7">&#9670;&#160;</a></span>height</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">int AutoChooser::entry_t::height</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<p>height of the block </p>
+
+</div>
+</div>
+<a id="ab876b8f9fa8bf03a91c45c55c2a7fa23" name="ab876b8f9fa8bf03a91c45c55c2a7fa23"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ab876b8f9fa8bf03a91c45c55c2a7fa23">&#9670;&#160;</a></span>name</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">std::string AutoChooser::entry_t::name</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<p>name of the auto repretsented by the block </p>
+
+</div>
+</div>
+<a id="a2459ffe56c165e35f3a63bec99990367" name="a2459ffe56c165e35f3a63bec99990367"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a2459ffe56c165e35f3a63bec99990367">&#9670;&#160;</a></span>width</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">int AutoChooser::entry_t::width</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<p>width of the block </p>
+
+</div>
+</div>
+<a id="a7aa2aaaccd195c358c88afa6e24b5f73" name="a7aa2aaaccd195c358c88afa6e24b5f73"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a7aa2aaaccd195c358c88afa6e24b5f73">&#9670;&#160;</a></span>x</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">int AutoChooser::entry_t::x</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<p>screen x position of the block </p>
+
+</div>
+</div>
+<a id="a2e303a71790d85a67819830302c4dcee" name="a2e303a71790d85a67819830302c4dcee"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a2e303a71790d85a67819830302c4dcee">&#9670;&#160;</a></span>y</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">int AutoChooser::entry_t::y</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<p>screen y position of the block </p>
+
+</div>
+</div>
+<hr/>The documentation for this struct was generated from the following file:<ul>
+<li>include/utils/<a class="el" href="auto__chooser_8h_source.html">auto_chooser.h</a></li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.6
+</small></address>
+</body>
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+   <div id="projectname">RIT VEXU Core API
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+</div>
+</div>
+</div>
+</div>
+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="classFeedForward.html">FeedForward</a></li><li class="navelem"><a class="el" href="structFeedForward_1_1ff__config__t.html">ff_config_t</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle"><div class="title">FeedForward::ff_config_t Member List</div></div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="structFeedForward_1_1ff__config__t.html">FeedForward::ff_config_t</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="structFeedForward_1_1ff__config__t.html#a8528f04936dbcbf0bc406d0bfc6b8428">kA</a></td><td class="entry"><a class="el" href="structFeedForward_1_1ff__config__t.html">FeedForward::ff_config_t</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="structFeedForward_1_1ff__config__t.html#a1eab464040edd69a63b528d6d21f0644">kG</a></td><td class="entry"><a class="el" href="structFeedForward_1_1ff__config__t.html">FeedForward::ff_config_t</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structFeedForward_1_1ff__config__t.html#af140ce6afc074040571d229b6a455c50">kS</a></td><td class="entry"><a class="el" href="structFeedForward_1_1ff__config__t.html">FeedForward::ff_config_t</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="structFeedForward_1_1ff__config__t.html#afd4e01b20b64750ad2604b17ac10f57e">kV</a></td><td class="entry"><a class="el" href="structFeedForward_1_1ff__config__t.html">FeedForward::ff_config_t</a></td><td class="entry"></td></tr>
+</table></div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.6
+</small></address>
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+</html>
diff --git a/documentation/html/structFeedForward_1_1ff__config__t.html b/documentation/html/structFeedForward_1_1ff__config__t.html
new file mode 100644
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--- /dev/null
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+<meta name="generator" content="Doxygen 1.9.6"/>
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+<title>RIT VEXU Core API: FeedForward::ff_config_t Struct Reference</title>
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+ <tbody>
+ <tr id="projectrow">
+  <td id="projectalign">
+   <div id="projectname">RIT VEXU Core API
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.6 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
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+/* @license-end */
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
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+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
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+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<div id="MSearchResults">
+<div class="SRPage">
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+<div class="SRStatus" id="Loading">Loading...</div>
+<div class="SRStatus" id="Searching">Searching...</div>
+<div class="SRStatus" id="NoMatches">No Matches</div>
+</div>
+</div>
+</div>
+</div>
+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="classFeedForward.html">FeedForward</a></li><li class="navelem"><a class="el" href="structFeedForward_1_1ff__config__t.html">ff_config_t</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-attribs">Public Attributes</a> &#124;
+<a href="structFeedForward_1_1ff__config__t-members.html">List of all members</a>  </div>
+  <div class="headertitle"><div class="title">FeedForward::ff_config_t Struct Reference</div></div>
+</div><!--header-->
+<div class="contents">
+
+<p><code>#include &lt;<a class="el" href="feedforward_8h_source.html">feedforward.h</a>&gt;</code></p>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-attribs" name="pub-attribs"></a>
+Public Attributes</h2></td></tr>
+<tr class="memitem:af140ce6afc074040571d229b6a455c50"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structFeedForward_1_1ff__config__t.html#af140ce6afc074040571d229b6a455c50">kS</a></td></tr>
+<tr class="separator:af140ce6afc074040571d229b6a455c50"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:afd4e01b20b64750ad2604b17ac10f57e"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structFeedForward_1_1ff__config__t.html#afd4e01b20b64750ad2604b17ac10f57e">kV</a></td></tr>
+<tr class="separator:afd4e01b20b64750ad2604b17ac10f57e"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a8528f04936dbcbf0bc406d0bfc6b8428"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structFeedForward_1_1ff__config__t.html#a8528f04936dbcbf0bc406d0bfc6b8428">kA</a></td></tr>
+<tr class="separator:a8528f04936dbcbf0bc406d0bfc6b8428"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a1eab464040edd69a63b528d6d21f0644"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structFeedForward_1_1ff__config__t.html#a1eab464040edd69a63b528d6d21f0644">kG</a></td></tr>
+<tr class="separator:a1eab464040edd69a63b528d6d21f0644"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p><a class="el" href="structFeedForward_1_1ff__config__t.html">ff_config_t</a> holds the parameters to make the theoretical model of a real world system equation is of the form kS if the system is not stopped, 0 otherwise</p><ul>
+<li>kV * desired velocity</li>
+<li>kA * desired acceleration</li>
+<li>kG </li>
+</ul>
+</div><h2 class="groupheader">Member Data Documentation</h2>
+<a id="a8528f04936dbcbf0bc406d0bfc6b8428" name="a8528f04936dbcbf0bc406d0bfc6b8428"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a8528f04936dbcbf0bc406d0bfc6b8428">&#9670;&#160;</a></span>kA</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">double FeedForward::ff_config_t::kA</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<p>kA - Acceleration coefficient: the power required to change the mechanism's speed. Multiplied by the requested acceleration. </p>
+
+</div>
+</div>
+<a id="a1eab464040edd69a63b528d6d21f0644" name="a1eab464040edd69a63b528d6d21f0644"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a1eab464040edd69a63b528d6d21f0644">&#9670;&#160;</a></span>kG</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">double FeedForward::ff_config_t::kG</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<p>kG - Gravity coefficient: only needed for lifts. The power required to overcome gravity and stay at steady state. </p>
+
+</div>
+</div>
+<a id="af140ce6afc074040571d229b6a455c50" name="af140ce6afc074040571d229b6a455c50"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#af140ce6afc074040571d229b6a455c50">&#9670;&#160;</a></span>kS</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">double FeedForward::ff_config_t::kS</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<p>Coefficient to overcome static friction: the point at which the motor <em>starts</em> to move. </p>
+
+</div>
+</div>
+<a id="afd4e01b20b64750ad2604b17ac10f57e" name="afd4e01b20b64750ad2604b17ac10f57e"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#afd4e01b20b64750ad2604b17ac10f57e">&#9670;&#160;</a></span>kV</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">double FeedForward::ff_config_t::kV</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<p>Veclocity coefficient: the power required to keep the mechanism in motion. Multiplied by the requested velocity. </p>
+
+</div>
+</div>
+<hr/>The documentation for this struct was generated from the following file:<ul>
+<li>include/utils/<a class="el" href="feedforward_8h_source.html">feedforward.h</a></li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.6
+</small></address>
+</body>
+</html>
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+<html xmlns="http://www.w3.org/1999/xhtml" lang="en-US">
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+<meta name="generator" content="Doxygen 1.9.6"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>RIT VEXU Core API: Member List</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
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+<script type="text/javascript" src="dynsections.js"></script>
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+   <div id="projectname">RIT VEXU Core API
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+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.6 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+var searchBox = new SearchBox("searchBox", "search/",'.html');
+/* @license-end */
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+     onmouseover="return searchBox.OnSearchSelectShow()"
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+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="classLift.html">Lift</a></li><li class="navelem"><a class="el" href="structLift_1_1lift__cfg__t.html">lift_cfg_t</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle"><div class="title">Lift&lt; T &gt;::lift_cfg_t Member List</div></div>
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+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="structLift_1_1lift__cfg__t.html">Lift&lt; T &gt;::lift_cfg_t</a>, including all inherited members.</p>
+<table class="directory">
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>down_speed</b> (defined in <a class="el" href="structLift_1_1lift__cfg__t.html">Lift&lt; T &gt;::lift_cfg_t</a>)</td><td class="entry"><a class="el" href="structLift_1_1lift__cfg__t.html">Lift&lt; T &gt;::lift_cfg_t</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="odd"><td class="entry"><b>lift_pid_cfg</b> (defined in <a class="el" href="structLift_1_1lift__cfg__t.html">Lift&lt; T &gt;::lift_cfg_t</a>)</td><td class="entry"><a class="el" href="structLift_1_1lift__cfg__t.html">Lift&lt; T &gt;::lift_cfg_t</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>softstop_down</b> (defined in <a class="el" href="structLift_1_1lift__cfg__t.html">Lift&lt; T &gt;::lift_cfg_t</a>)</td><td class="entry"><a class="el" href="structLift_1_1lift__cfg__t.html">Lift&lt; T &gt;::lift_cfg_t</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="odd"><td class="entry"><b>softstop_up</b> (defined in <a class="el" href="structLift_1_1lift__cfg__t.html">Lift&lt; T &gt;::lift_cfg_t</a>)</td><td class="entry"><a class="el" href="structLift_1_1lift__cfg__t.html">Lift&lt; T &gt;::lift_cfg_t</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>up_speed</b> (defined in <a class="el" href="structLift_1_1lift__cfg__t.html">Lift&lt; T &gt;::lift_cfg_t</a>)</td><td class="entry"><a class="el" href="structLift_1_1lift__cfg__t.html">Lift&lt; T &gt;::lift_cfg_t</a></td><td class="entry"></td></tr>
+</table></div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.6
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+</div>
+</div>
+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="classLift.html">Lift</a></li><li class="navelem"><a class="el" href="structLift_1_1lift__cfg__t.html">lift_cfg_t</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-attribs">Public Attributes</a> &#124;
+<a href="structLift_1_1lift__cfg__t-members.html">List of all members</a>  </div>
+  <div class="headertitle"><div class="title">Lift&lt; T &gt;::lift_cfg_t Struct Reference</div></div>
+</div><!--header-->
+<div class="contents">
+
+<p><code>#include &lt;<a class="el" href="lift_8h_source.html">lift.h</a>&gt;</code></p>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-attribs" name="pub-attribs"></a>
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+double&#160;</td><td class="memItemRight" valign="bottom"><b>softstop_up</b></td></tr>
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+<tr class="memitem:a356f38cf2cd079b19ede3c0a7a0e0e6e"><td class="memItemLeft" align="right" valign="top"><a id="a356f38cf2cd079b19ede3c0a7a0e0e6e" name="a356f38cf2cd079b19ede3c0a7a0e0e6e"></a>
+double&#160;</td><td class="memItemRight" valign="bottom"><b>softstop_down</b></td></tr>
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+<tr class="memitem:a7001809a1e906505e9a19be444fe635b"><td class="memItemLeft" align="right" valign="top"><a id="a7001809a1e906505e9a19be444fe635b" name="a7001809a1e906505e9a19be444fe635b"></a>
+<a class="el" href="structPID_1_1pid__config__t.html">PID::pid_config_t</a>&#160;</td><td class="memItemRight" valign="bottom"><b>lift_pid_cfg</b></td></tr>
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+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><div class="compoundTemplParams">template&lt;typename T&gt;<br />
+struct Lift&lt; T &gt;::lift_cfg_t</div><p><a class="el" href="structLift_1_1lift__cfg__t.html">lift_cfg_t</a> holds the physical parameter specifications of a lify system. includes:</p><ul>
+<li>maximum speeds for the system</li>
+<li>softstops to stop the lift from hitting the hard stops too hard </li>
+</ul>
+</div><hr/>The documentation for this struct was generated from the following file:<ul>
+<li>include/subsystems/<a class="el" href="lift_8h_source.html">lift.h</a></li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
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+</small></address>
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+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle"><div class="title">MecanumDrive::mecanumdrive_config_t Member List</div></div>
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+<p>This is the complete list of members for <a class="el" href="structMecanumDrive_1_1mecanumdrive__config__t.html">MecanumDrive::mecanumdrive_config_t</a>, including all inherited members.</p>
+<table class="directory">
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+  <tr bgcolor="#f0f0f0" class="odd"><td class="entry"><b>drive_pid_conf</b> (defined in <a class="el" href="structMecanumDrive_1_1mecanumdrive__config__t.html">MecanumDrive::mecanumdrive_config_t</a>)</td><td class="entry"><a class="el" href="structMecanumDrive_1_1mecanumdrive__config__t.html">MecanumDrive::mecanumdrive_config_t</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>drive_wheel_diam</b> (defined in <a class="el" href="structMecanumDrive_1_1mecanumdrive__config__t.html">MecanumDrive::mecanumdrive_config_t</a>)</td><td class="entry"><a class="el" href="structMecanumDrive_1_1mecanumdrive__config__t.html">MecanumDrive::mecanumdrive_config_t</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="odd"><td class="entry"><b>lateral_wheel_diam</b> (defined in <a class="el" href="structMecanumDrive_1_1mecanumdrive__config__t.html">MecanumDrive::mecanumdrive_config_t</a>)</td><td class="entry"><a class="el" href="structMecanumDrive_1_1mecanumdrive__config__t.html">MecanumDrive::mecanumdrive_config_t</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>turn_pid_conf</b> (defined in <a class="el" href="structMecanumDrive_1_1mecanumdrive__config__t.html">MecanumDrive::mecanumdrive_config_t</a>)</td><td class="entry"><a class="el" href="structMecanumDrive_1_1mecanumdrive__config__t.html">MecanumDrive::mecanumdrive_config_t</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="odd"><td class="entry"><b>wheelbase_width</b> (defined in <a class="el" href="structMecanumDrive_1_1mecanumdrive__config__t.html">MecanumDrive::mecanumdrive_config_t</a>)</td><td class="entry"><a class="el" href="structMecanumDrive_1_1mecanumdrive__config__t.html">MecanumDrive::mecanumdrive_config_t</a></td><td class="entry"></td></tr>
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+  <div class="headertitle"><div class="title">MecanumDrive::mecanumdrive_config_t Struct Reference</div></div>
+</div><!--header-->
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+<a class="el" href="structPID_1_1pid__config__t.html">PID::pid_config_t</a>&#160;</td><td class="memItemRight" valign="bottom"><b>turn_pid_conf</b></td></tr>
+<tr class="separator:a6ffe3585d706a40f5d65f97176faf97a"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a1db260a971c8df759a545fd74cf9d297"><td class="memItemLeft" align="right" valign="top"><a id="a1db260a971c8df759a545fd74cf9d297" name="a1db260a971c8df759a545fd74cf9d297"></a>
+double&#160;</td><td class="memItemRight" valign="bottom"><b>drive_wheel_diam</b></td></tr>
+<tr class="separator:a1db260a971c8df759a545fd74cf9d297"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a0f7944f33cf692323f203f3667093e98"><td class="memItemLeft" align="right" valign="top"><a id="a0f7944f33cf692323f203f3667093e98" name="a0f7944f33cf692323f203f3667093e98"></a>
+double&#160;</td><td class="memItemRight" valign="bottom"><b>lateral_wheel_diam</b></td></tr>
+<tr class="separator:a0f7944f33cf692323f203f3667093e98"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a1e356e966149626fa819dfe815701020"><td class="memItemLeft" align="right" valign="top"><a id="a1e356e966149626fa819dfe815701020" name="a1e356e966149626fa819dfe815701020"></a>
+double&#160;</td><td class="memItemRight" valign="bottom"><b>wheelbase_width</b></td></tr>
+<tr class="separator:a1e356e966149626fa819dfe815701020"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>Configure the Mecanum drive <a class="el" href="classPID.html">PID</a> tunings and robot configurations </p>
+</div><hr/>The documentation for this struct was generated from the following file:<ul>
+<li>include/subsystems/<a class="el" href="mecanum__drive_8h_source.html">mecanum_drive.h</a></li>
+</ul>
+</div><!-- contents -->
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+</div>
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+  <div class="headertitle"><div class="title">MotionController::m_profile_cfg_t Member List</div></div>
+</div><!--header-->
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+
+<p>This is the complete list of members for <a class="el" href="structMotionController_1_1m__profile__cfg__t.html">MotionController::m_profile_cfg_t</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="structMotionController_1_1m__profile__cfg__t.html#ac4f07f3ac52d12fd820ee4d8ce847f66">accel</a></td><td class="entry"><a class="el" href="structMotionController_1_1m__profile__cfg__t.html">MotionController::m_profile_cfg_t</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="structMotionController_1_1m__profile__cfg__t.html#ad8131facbd379321cc7083361e68ff62">ff_cfg</a></td><td class="entry"><a class="el" href="structMotionController_1_1m__profile__cfg__t.html">MotionController::m_profile_cfg_t</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structMotionController_1_1m__profile__cfg__t.html#a949b084fe78795509ad8e65c74e9bc3f">max_v</a></td><td class="entry"><a class="el" href="structMotionController_1_1m__profile__cfg__t.html">MotionController::m_profile_cfg_t</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="structMotionController_1_1m__profile__cfg__t.html#a2b6415c29fcab4f9b2ccff067a390baa">pid_cfg</a></td><td class="entry"><a class="el" href="structMotionController_1_1m__profile__cfg__t.html">MotionController::m_profile_cfg_t</a></td><td class="entry"></td></tr>
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+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-attribs">Public Attributes</a> &#124;
+<a href="structMotionController_1_1m__profile__cfg__t-members.html">List of all members</a>  </div>
+  <div class="headertitle"><div class="title">MotionController::m_profile_cfg_t Struct Reference</div></div>
+</div><!--header-->
+<div class="contents">
+
+<p><code>#include &lt;<a class="el" href="motion__controller_8h_source.html">motion_controller.h</a>&gt;</code></p>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-attribs" name="pub-attribs"></a>
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+<tr class="memdesc:a949b084fe78795509ad8e65c74e9bc3f"><td class="mdescLeft">&#160;</td><td class="mdescRight">the maximum velocity the robot can drive <br /></td></tr>
+<tr class="separator:a949b084fe78795509ad8e65c74e9bc3f"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ac4f07f3ac52d12fd820ee4d8ce847f66"><td class="memItemLeft" align="right" valign="top"><a id="ac4f07f3ac52d12fd820ee4d8ce847f66" name="ac4f07f3ac52d12fd820ee4d8ce847f66"></a>
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+<tr class="memitem:a2b6415c29fcab4f9b2ccff067a390baa"><td class="memItemLeft" align="right" valign="top"><a id="a2b6415c29fcab4f9b2ccff067a390baa" name="a2b6415c29fcab4f9b2ccff067a390baa"></a>
+<a class="el" href="structPID_1_1pid__config__t.html">PID::pid_config_t</a>&#160;</td><td class="memItemRight" valign="bottom"><b>pid_cfg</b></td></tr>
+<tr class="memdesc:a2b6415c29fcab4f9b2ccff067a390baa"><td class="mdescLeft">&#160;</td><td class="mdescRight">configuration parameters for the internal <a class="el" href="classPID.html">PID</a> controller <br /></td></tr>
+<tr class="separator:a2b6415c29fcab4f9b2ccff067a390baa"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ad8131facbd379321cc7083361e68ff62"><td class="memItemLeft" align="right" valign="top"><a id="ad8131facbd379321cc7083361e68ff62" name="ad8131facbd379321cc7083361e68ff62"></a>
+<a class="el" href="structFeedForward_1_1ff__config__t.html">FeedForward::ff_config_t</a>&#160;</td><td class="memItemRight" valign="bottom"><b>ff_cfg</b></td></tr>
+<tr class="memdesc:ad8131facbd379321cc7083361e68ff62"><td class="mdescLeft">&#160;</td><td class="mdescRight">configuration parameters for the internal <br /></td></tr>
+<tr class="separator:ad8131facbd379321cc7083361e68ff62"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>m_profile_config holds all data the motion controller uses to plan paths When motion pofile is given a target to drive to, max_v and accel are used to make the trapezoid profile instructing the controller how to drive pid_cfg, ff_cfg are used to find the motor outputs necessary to execute this path </p>
+</div><hr/>The documentation for this struct was generated from the following file:<ul>
+<li>include/utils/<a class="el" href="motion__controller_8h_source.html">motion_controller.h</a></li>
+</ul>
+</div><!-- contents -->
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+<li class="navelem"><a class="el" href="classOdometry3Wheel.html">Odometry3Wheel</a></li><li class="navelem"><a class="el" href="structOdometry3Wheel_1_1odometry3wheel__cfg__t.html">odometry3wheel_cfg_t</a></li>  </ul>
+</div>
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+<p>This is the complete list of members for <a class="el" href="structOdometry3Wheel_1_1odometry3wheel__cfg__t.html">Odometry3Wheel::odometry3wheel_cfg_t</a>, including all inherited members.</p>
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+  <tr class="even"><td class="entry"><a class="el" href="structOdometry3Wheel_1_1odometry3wheel__cfg__t.html#afd79024054d352789991bd816d955d9e">off_axis_center_dist</a></td><td class="entry"><a class="el" href="structOdometry3Wheel_1_1odometry3wheel__cfg__t.html">Odometry3Wheel::odometry3wheel_cfg_t</a></td><td class="entry"></td></tr>
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+</div>
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+<a href="#pub-attribs">Public Attributes</a> &#124;
+<a href="structOdometry3Wheel_1_1odometry3wheel__cfg__t-members.html">List of all members</a>  </div>
+  <div class="headertitle"><div class="title">Odometry3Wheel::odometry3wheel_cfg_t Struct Reference</div></div>
+</div><!--header-->
+<div class="contents">
+
+<p><code>#include &lt;<a class="el" href="odometry__3wheel_8h_source.html">odometry_3wheel.h</a>&gt;</code></p>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-attribs" name="pub-attribs"></a>
+Public Attributes</h2></td></tr>
+<tr class="memitem:a4de8559ac486dcfbf5baff9d9d6cb5b1"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structOdometry3Wheel_1_1odometry3wheel__cfg__t.html#a4de8559ac486dcfbf5baff9d9d6cb5b1">wheelbase_dist</a></td></tr>
+<tr class="separator:a4de8559ac486dcfbf5baff9d9d6cb5b1"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:afd79024054d352789991bd816d955d9e"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structOdometry3Wheel_1_1odometry3wheel__cfg__t.html#afd79024054d352789991bd816d955d9e">off_axis_center_dist</a></td></tr>
+<tr class="separator:afd79024054d352789991bd816d955d9e"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a283cd9db8de27d9b3967d0c3203f1f7f"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structOdometry3Wheel_1_1odometry3wheel__cfg__t.html#a283cd9db8de27d9b3967d0c3203f1f7f">wheel_diam</a></td></tr>
+<tr class="separator:a283cd9db8de27d9b3967d0c3203f1f7f"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p><a class="el" href="structOdometry3Wheel_1_1odometry3wheel__cfg__t.html">odometry3wheel_cfg_t</a> holds all the specifications for how to calculate position with 3 encoders See the core wiki for what exactly each of these parameters measures </p>
+</div><h2 class="groupheader">Member Data Documentation</h2>
+<a id="afd79024054d352789991bd816d955d9e" name="afd79024054d352789991bd816d955d9e"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#afd79024054d352789991bd816d955d9e">&#9670;&#160;</a></span>off_axis_center_dist</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">double Odometry3Wheel::odometry3wheel_cfg_t::off_axis_center_dist</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<p>distance from the center of the robot to the center off axis wheel </p>
+
+</div>
+</div>
+<a id="a283cd9db8de27d9b3967d0c3203f1f7f" name="a283cd9db8de27d9b3967d0c3203f1f7f"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a283cd9db8de27d9b3967d0c3203f1f7f">&#9670;&#160;</a></span>wheel_diam</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">double Odometry3Wheel::odometry3wheel_cfg_t::wheel_diam</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<p>the diameter of the tracking wheel </p>
+
+</div>
+</div>
+<a id="a4de8559ac486dcfbf5baff9d9d6cb5b1" name="a4de8559ac486dcfbf5baff9d9d6cb5b1"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4de8559ac486dcfbf5baff9d9d6cb5b1">&#9670;&#160;</a></span>wheelbase_dist</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">double Odometry3Wheel::odometry3wheel_cfg_t::wheelbase_dist</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<p>distance from the center of the left wheel to the center of the right wheel </p>
+
+</div>
+</div>
+<hr/>The documentation for this struct was generated from the following file:<ul>
+<li>include/subsystems/odometry/<a class="el" href="odometry__3wheel_8h_source.html">odometry_3wheel.h</a></li>
+</ul>
+</div><!-- contents -->
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+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.6
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+  <div class="headertitle"><div class="title">PID::pid_config_t Member List</div></div>
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+
+<p>This is the complete list of members for <a class="el" href="structPID_1_1pid__config__t.html">PID::pid_config_t</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="structPID_1_1pid__config__t.html#a1bb8ecda3f982ea983cd9f49b3d6706a">d</a></td><td class="entry"><a class="el" href="structPID_1_1pid__config__t.html">PID::pid_config_t</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="structPID_1_1pid__config__t.html#a5fe836f65a951c00113996d32101172a">deadband</a></td><td class="entry"><a class="el" href="structPID_1_1pid__config__t.html">PID::pid_config_t</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structPID_1_1pid__config__t.html#ad2f96f58fba854b7e4329175497d1869">error_method</a></td><td class="entry"><a class="el" href="structPID_1_1pid__config__t.html">PID::pid_config_t</a></td><td class="entry"></td></tr>
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+  <tr class="even"><td class="entry"><a class="el" href="structPID_1_1pid__config__t.html#a14212579cfa1827b6cc04388c6b3626e">on_target_time</a></td><td class="entry"><a class="el" href="structPID_1_1pid__config__t.html">PID::pid_config_t</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="structPID_1_1pid__config__t.html#a27290957ad115f4502f765ff292e3a23">p</a></td><td class="entry"><a class="el" href="structPID_1_1pid__config__t.html">PID::pid_config_t</a></td><td class="entry"></td></tr>
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+<li class="navelem"><a class="el" href="classPID.html">PID</a></li><li class="navelem"><a class="el" href="structPID_1_1pid__config__t.html">pid_config_t</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-attribs">Public Attributes</a> &#124;
+<a href="structPID_1_1pid__config__t-members.html">List of all members</a>  </div>
+  <div class="headertitle"><div class="title">PID::pid_config_t Struct Reference</div></div>
+</div><!--header-->
+<div class="contents">
+
+<p><code>#include &lt;<a class="el" href="pid_8h_source.html">pid.h</a>&gt;</code></p>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-attribs" name="pub-attribs"></a>
+Public Attributes</h2></td></tr>
+<tr class="memitem:a27290957ad115f4502f765ff292e3a23"><td class="memItemLeft" align="right" valign="top"><a id="a27290957ad115f4502f765ff292e3a23" name="a27290957ad115f4502f765ff292e3a23"></a>
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+<tr class="separator:a4140c6884d1dc86366520a2543e654b3"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="memdesc:a5fe836f65a951c00113996d32101172a"><td class="mdescLeft">&#160;</td><td class="mdescRight">at what threshold are we close enough to be finished <br /></td></tr>
+<tr class="separator:a5fe836f65a951c00113996d32101172a"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<a class="el" href="classPID.html#a259eb7bfd0750c7afd4a058c5d1c58a1">ERROR_TYPE</a>&#160;</td><td class="memItemRight" valign="bottom"><b>error_method</b></td></tr>
+<tr class="memdesc:ad2f96f58fba854b7e4329175497d1869"><td class="mdescLeft">&#160;</td><td class="mdescRight">Linear or angular. wheter to do error as a simple subtraction or to wrap. <br /></td></tr>
+<tr class="separator:ad2f96f58fba854b7e4329175497d1869"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p><a class="el" href="structPID_1_1pid__config__t.html">pid_config_t</a> holds the configuration parameters for a pid controller In addtion to the constant of proportional, integral and derivative, these parameters include:</p><ul>
+<li>deadband -</li>
+<li>on_target_time - for how long do we have to be at the target to stop As well, <a class="el" href="structPID_1_1pid__config__t.html">pid_config_t</a> holds an error type which determines whether errors should be calculated as if the sensor position is a measure of distance or an angle </li>
+</ul>
+</div><hr/>The documentation for this struct was generated from the following file:<ul>
+<li>include/utils/<a class="el" href="pid_8h_source.html">pid.h</a></li>
+</ul>
+</div><!-- contents -->
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diff --git a/documentation/html/structPurePursuit_1_1hermite__point-members.html b/documentation/html/structPurePursuit_1_1hermite__point-members.html
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+   <div id="projectname">RIT VEXU Core API
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+<!-- Generated by Doxygen 1.9.6 -->
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+</div>
+</div>
+</div>
+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><b>PurePursuit</b></li><li class="navelem"><a class="el" href="structPurePursuit_1_1hermite__point.html">hermite_point</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle"><div class="title">PurePursuit::hermite_point Member List</div></div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="structPurePursuit_1_1hermite__point.html">PurePursuit::hermite_point</a>, including all inherited members.</p>
+<table class="directory">
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>dir</b> (defined in <a class="el" href="structPurePursuit_1_1hermite__point.html">PurePursuit::hermite_point</a>)</td><td class="entry"><a class="el" href="structPurePursuit_1_1hermite__point.html">PurePursuit::hermite_point</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="odd"><td class="entry"><b>getPoint</b>() (defined in <a class="el" href="structPurePursuit_1_1hermite__point.html">PurePursuit::hermite_point</a>)</td><td class="entry"><a class="el" href="structPurePursuit_1_1hermite__point.html">PurePursuit::hermite_point</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>getTangent</b>() (defined in <a class="el" href="structPurePursuit_1_1hermite__point.html">PurePursuit::hermite_point</a>)</td><td class="entry"><a class="el" href="structPurePursuit_1_1hermite__point.html">PurePursuit::hermite_point</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="odd"><td class="entry"><b>mag</b> (defined in <a class="el" href="structPurePursuit_1_1hermite__point.html">PurePursuit::hermite_point</a>)</td><td class="entry"><a class="el" href="structPurePursuit_1_1hermite__point.html">PurePursuit::hermite_point</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>x</b> (defined in <a class="el" href="structPurePursuit_1_1hermite__point.html">PurePursuit::hermite_point</a>)</td><td class="entry"><a class="el" href="structPurePursuit_1_1hermite__point.html">PurePursuit::hermite_point</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="odd"><td class="entry"><b>y</b> (defined in <a class="el" href="structPurePursuit_1_1hermite__point.html">PurePursuit::hermite_point</a>)</td><td class="entry"><a class="el" href="structPurePursuit_1_1hermite__point.html">PurePursuit::hermite_point</a></td><td class="entry"></td></tr>
+</table></div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.6
+</small></address>
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diff --git a/documentation/html/structPurePursuit_1_1hermite__point.html b/documentation/html/structPurePursuit_1_1hermite__point.html
new file mode 100644
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+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>RIT VEXU Core API: PurePursuit::hermite_point Struct Reference</title>
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+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><b>PurePursuit</b></li><li class="navelem"><a class="el" href="structPurePursuit_1_1hermite__point.html">hermite_point</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pub-attribs">Public Attributes</a> &#124;
+<a href="structPurePursuit_1_1hermite__point-members.html">List of all members</a>  </div>
+  <div class="headertitle"><div class="title">PurePursuit::hermite_point Struct Reference</div></div>
+</div><!--header-->
+<div class="contents">
+
+<p><code>#include &lt;<a class="el" href="pure__pursuit_8h_source.html">pure_pursuit.h</a>&gt;</code></p>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-methods" name="pub-methods"></a>
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+<a class="el" href="structVector2D_1_1point__t.html">Vector2D::point_t</a>&#160;</td><td class="memItemRight" valign="bottom"><b>getPoint</b> ()</td></tr>
+<tr class="separator:a9db5fa20985b40ff76a6b560cad8233a"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a5f31a4f279651f518876f355b90f6ccf"><td class="memItemLeft" align="right" valign="top"><a id="a5f31a4f279651f518876f355b90f6ccf" name="a5f31a4f279651f518876f355b90f6ccf"></a>
+<a class="el" href="classVector2D.html">Vector2D</a>&#160;</td><td class="memItemRight" valign="bottom"><b>getTangent</b> ()</td></tr>
+<tr class="separator:a5f31a4f279651f518876f355b90f6ccf"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-attribs" name="pub-attribs"></a>
+Public Attributes</h2></td></tr>
+<tr class="memitem:a8e6f4871b7b5ed5f97d7bd93bd2058a7"><td class="memItemLeft" align="right" valign="top"><a id="a8e6f4871b7b5ed5f97d7bd93bd2058a7" name="a8e6f4871b7b5ed5f97d7bd93bd2058a7"></a>
+double&#160;</td><td class="memItemRight" valign="bottom"><b>x</b></td></tr>
+<tr class="separator:a8e6f4871b7b5ed5f97d7bd93bd2058a7"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a67096822a14d1a74bee6762d70760b93"><td class="memItemLeft" align="right" valign="top"><a id="a67096822a14d1a74bee6762d70760b93" name="a67096822a14d1a74bee6762d70760b93"></a>
+double&#160;</td><td class="memItemRight" valign="bottom"><b>y</b></td></tr>
+<tr class="separator:a67096822a14d1a74bee6762d70760b93"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:af8e0f5971122440be13e230f9b0d661b"><td class="memItemLeft" align="right" valign="top"><a id="af8e0f5971122440be13e230f9b0d661b" name="af8e0f5971122440be13e230f9b0d661b"></a>
+double&#160;</td><td class="memItemRight" valign="bottom"><b>dir</b></td></tr>
+<tr class="separator:af8e0f5971122440be13e230f9b0d661b"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a47bfbe72f79c3c04bb61c89bd74e31d6"><td class="memItemLeft" align="right" valign="top"><a id="a47bfbe72f79c3c04bb61c89bd74e31d6" name="a47bfbe72f79c3c04bb61c89bd74e31d6"></a>
+double&#160;</td><td class="memItemRight" valign="bottom"><b>mag</b></td></tr>
+<tr class="separator:a47bfbe72f79c3c04bb61c89bd74e31d6"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>a position along the hermite path contains a position and orientation information that the robot would be at at this point </p>
+</div><hr/>The documentation for this struct was generated from the following file:<ul>
+<li>include/utils/<a class="el" href="pure__pursuit_8h_source.html">pure_pursuit.h</a></li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.6
+</small></address>
+</body>
+</html>
diff --git a/documentation/html/structPurePursuit_1_1spline-members.html b/documentation/html/structPurePursuit_1_1spline-members.html
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+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>RIT VEXU Core API: Member List</title>
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+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
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+  <td id="projectalign">
+   <div id="projectname">RIT VEXU Core API
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+<div class="SRStatus" id="Loading">Loading...</div>
+<div class="SRStatus" id="Searching">Searching...</div>
+<div class="SRStatus" id="NoMatches">No Matches</div>
+</div>
+</div>
+</div>
+</div>
+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><b>PurePursuit</b></li><li class="navelem"><a class="el" href="structPurePursuit_1_1spline.html">spline</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle"><div class="title">PurePursuit::spline Member List</div></div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="structPurePursuit_1_1spline.html">PurePursuit::spline</a>, including all inherited members.</p>
+<table class="directory">
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>a</b> (defined in <a class="el" href="structPurePursuit_1_1spline.html">PurePursuit::spline</a>)</td><td class="entry"><a class="el" href="structPurePursuit_1_1spline.html">PurePursuit::spline</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="odd"><td class="entry"><b>b</b> (defined in <a class="el" href="structPurePursuit_1_1spline.html">PurePursuit::spline</a>)</td><td class="entry"><a class="el" href="structPurePursuit_1_1spline.html">PurePursuit::spline</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>c</b> (defined in <a class="el" href="structPurePursuit_1_1spline.html">PurePursuit::spline</a>)</td><td class="entry"><a class="el" href="structPurePursuit_1_1spline.html">PurePursuit::spline</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="odd"><td class="entry"><b>d</b> (defined in <a class="el" href="structPurePursuit_1_1spline.html">PurePursuit::spline</a>)</td><td class="entry"><a class="el" href="structPurePursuit_1_1spline.html">PurePursuit::spline</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>getY</b>(double x) (defined in <a class="el" href="structPurePursuit_1_1spline.html">PurePursuit::spline</a>)</td><td class="entry"><a class="el" href="structPurePursuit_1_1spline.html">PurePursuit::spline</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="odd"><td class="entry"><b>x_end</b> (defined in <a class="el" href="structPurePursuit_1_1spline.html">PurePursuit::spline</a>)</td><td class="entry"><a class="el" href="structPurePursuit_1_1spline.html">PurePursuit::spline</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>x_start</b> (defined in <a class="el" href="structPurePursuit_1_1spline.html">PurePursuit::spline</a>)</td><td class="entry"><a class="el" href="structPurePursuit_1_1spline.html">PurePursuit::spline</a></td><td class="entry"></td></tr>
+</table></div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.6
+</small></address>
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+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>RIT VEXU Core API: PurePursuit::spline Struct Reference</title>
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+  <ul>
+<li class="navelem"><b>PurePursuit</b></li><li class="navelem"><a class="el" href="structPurePursuit_1_1spline.html">spline</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pub-attribs">Public Attributes</a> &#124;
+<a href="structPurePursuit_1_1spline-members.html">List of all members</a>  </div>
+  <div class="headertitle"><div class="title">PurePursuit::spline Struct Reference</div></div>
+</div><!--header-->
+<div class="contents">
+
+<p><code>#include &lt;<a class="el" href="pure__pursuit_8h_source.html">pure_pursuit.h</a>&gt;</code></p>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-methods" name="pub-methods"></a>
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+<tr class="memitem:a772cf81392e39c3b9372471887dd7d3d"><td class="memItemLeft" align="right" valign="top"><a id="a772cf81392e39c3b9372471887dd7d3d" name="a772cf81392e39c3b9372471887dd7d3d"></a>
+double&#160;</td><td class="memItemRight" valign="bottom"><b>getY</b> (double x)</td></tr>
+<tr class="separator:a772cf81392e39c3b9372471887dd7d3d"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="memitem:a00aaf40bdc315e923ec05d780812fb0e"><td class="memItemLeft" align="right" valign="top"><a id="a00aaf40bdc315e923ec05d780812fb0e" name="a00aaf40bdc315e923ec05d780812fb0e"></a>
+double&#160;</td><td class="memItemRight" valign="bottom"><b>a</b></td></tr>
+<tr class="separator:a00aaf40bdc315e923ec05d780812fb0e"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a8ae9e6b5ff40f35eb0d57c69d6e076d8"><td class="memItemLeft" align="right" valign="top"><a id="a8ae9e6b5ff40f35eb0d57c69d6e076d8" name="a8ae9e6b5ff40f35eb0d57c69d6e076d8"></a>
+double&#160;</td><td class="memItemRight" valign="bottom"><b>b</b></td></tr>
+<tr class="separator:a8ae9e6b5ff40f35eb0d57c69d6e076d8"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:af5527bd743bf376c02d9e9ed812661f2"><td class="memItemLeft" align="right" valign="top"><a id="af5527bd743bf376c02d9e9ed812661f2" name="af5527bd743bf376c02d9e9ed812661f2"></a>
+double&#160;</td><td class="memItemRight" valign="bottom"><b>c</b></td></tr>
+<tr class="separator:af5527bd743bf376c02d9e9ed812661f2"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:af19ad5b0cd7e1c81e3d969643aba1aa3"><td class="memItemLeft" align="right" valign="top"><a id="af19ad5b0cd7e1c81e3d969643aba1aa3" name="af19ad5b0cd7e1c81e3d969643aba1aa3"></a>
+double&#160;</td><td class="memItemRight" valign="bottom"><b>d</b></td></tr>
+<tr class="separator:af19ad5b0cd7e1c81e3d969643aba1aa3"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a5649eb310ce6b1537c45d145bbb98d5c"><td class="memItemLeft" align="right" valign="top"><a id="a5649eb310ce6b1537c45d145bbb98d5c" name="a5649eb310ce6b1537c45d145bbb98d5c"></a>
+double&#160;</td><td class="memItemRight" valign="bottom"><b>x_start</b></td></tr>
+<tr class="separator:a5649eb310ce6b1537c45d145bbb98d5c"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a8511fd228e01ee7544beb890953a6b42"><td class="memItemLeft" align="right" valign="top"><a id="a8511fd228e01ee7544beb890953a6b42" name="a8511fd228e01ee7544beb890953a6b42"></a>
+double&#160;</td><td class="memItemRight" valign="bottom"><b>x_end</b></td></tr>
+<tr class="separator:a8511fd228e01ee7544beb890953a6b42"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>Represents a piece of a cubic spline with s(x) = a(x-xi)^3 + b(x-xi)^2 + c(x-xi) + d The x_start and x_end shows where the equation is valid. </p>
+</div><hr/>The documentation for this struct was generated from the following file:<ul>
+<li>include/utils/<a class="el" href="pure__pursuit_8h_source.html">pure_pursuit.h</a></li>
+</ul>
+</div><!-- contents -->
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+<li class="navelem"><a class="el" href="classVector2D.html">Vector2D</a></li><li class="navelem"><a class="el" href="structVector2D_1_1point__t.html">point_t</a></li>  </ul>
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+  <div class="headertitle"><div class="title">Vector2D::point_t Member List</div></div>
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+
+<p>This is the complete list of members for <a class="el" href="structVector2D_1_1point__t.html">Vector2D::point_t</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="structVector2D_1_1point__t.html#a118bb1552bd98c9708e452d593ed5e29">dist</a>(const point_t other)</td><td class="entry"><a class="el" href="structVector2D_1_1point__t.html">Vector2D::point_t</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="structVector2D_1_1point__t.html#a80783a6446695b14693816aaf1341bdb">operator+</a>(const point_t &amp;other)</td><td class="entry"><a class="el" href="structVector2D_1_1point__t.html">Vector2D::point_t</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
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+  <tr class="odd"><td class="entry"><a class="el" href="structVector2D_1_1point__t.html#ad139f137dd3554335c4ed9b51c8e3bd9">x</a></td><td class="entry"><a class="el" href="structVector2D_1_1point__t.html">Vector2D::point_t</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structVector2D_1_1point__t.html#a8290e79feb502e69cd95a7580cf6f1fe">y</a></td><td class="entry"><a class="el" href="structVector2D_1_1point__t.html">Vector2D::point_t</a></td><td class="entry"></td></tr>
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+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pub-attribs">Public Attributes</a> &#124;
+<a href="structVector2D_1_1point__t-members.html">List of all members</a>  </div>
+  <div class="headertitle"><div class="title">Vector2D::point_t Struct Reference</div></div>
+</div><!--header-->
+<div class="contents">
+
+<p><code>#include &lt;<a class="el" href="vector2d_8h_source.html">vector2d.h</a>&gt;</code></p>
+<table class="memberdecls">
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+<tr class="memitem:a118bb1552bd98c9708e452d593ed5e29"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structVector2D_1_1point__t.html#a118bb1552bd98c9708e452d593ed5e29">dist</a> (const <a class="el" href="structVector2D_1_1point__t.html">point_t</a> other)</td></tr>
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+<tr class="memitem:a80783a6446695b14693816aaf1341bdb"><td class="memItemLeft" align="right" valign="top"><a class="el" href="structVector2D_1_1point__t.html">point_t</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structVector2D_1_1point__t.html#a80783a6446695b14693816aaf1341bdb">operator+</a> (const <a class="el" href="structVector2D_1_1point__t.html">point_t</a> &amp;other)</td></tr>
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+<tr class="separator:aac0efd68a6d8dbe4cbb2437096a0a05d"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-attribs" name="pub-attribs"></a>
+Public Attributes</h2></td></tr>
+<tr class="memitem:ad139f137dd3554335c4ed9b51c8e3bd9"><td class="memItemLeft" align="right" valign="top"><a id="ad139f137dd3554335c4ed9b51c8e3bd9" name="ad139f137dd3554335c4ed9b51c8e3bd9"></a>
+double&#160;</td><td class="memItemRight" valign="bottom"><b>x</b></td></tr>
+<tr class="memdesc:ad139f137dd3554335c4ed9b51c8e3bd9"><td class="mdescLeft">&#160;</td><td class="mdescRight">the x position in space <br /></td></tr>
+<tr class="separator:ad139f137dd3554335c4ed9b51c8e3bd9"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a8290e79feb502e69cd95a7580cf6f1fe"><td class="memItemLeft" align="right" valign="top"><a id="a8290e79feb502e69cd95a7580cf6f1fe" name="a8290e79feb502e69cd95a7580cf6f1fe"></a>
+double&#160;</td><td class="memItemRight" valign="bottom"><b>y</b></td></tr>
+<tr class="memdesc:a8290e79feb502e69cd95a7580cf6f1fe"><td class="mdescLeft">&#160;</td><td class="mdescRight">the y position in space <br /></td></tr>
+<tr class="separator:a8290e79feb502e69cd95a7580cf6f1fe"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>Data structure representing an X,Y coordinate </p>
+</div><h2 class="groupheader">Member Function Documentation</h2>
+<a id="a118bb1552bd98c9708e452d593ed5e29" name="a118bb1552bd98c9708e452d593ed5e29"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a118bb1552bd98c9708e452d593ed5e29">&#9670;&#160;</a></span>dist()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
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+          <td class="memname">double Vector2D::point_t::dist </td>
+          <td>(</td>
+          <td class="paramtype">const <a class="el" href="structVector2D_1_1point__t.html">point_t</a>&#160;</td>
+          <td class="paramname"><em>other</em></td><td>)</td>
+          <td></td>
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+  </td>
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+<p>dist calculates the euclidian distance between this point and another point using the pythagorean theorem </p><dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">other</td><td>the point to measure the distance from </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>the euclidian distance between this and other </dd></dl>
+
+</div>
+</div>
+<a id="a80783a6446695b14693816aaf1341bdb" name="a80783a6446695b14693816aaf1341bdb"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a80783a6446695b14693816aaf1341bdb">&#9670;&#160;</a></span>operator+()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname"><a class="el" href="structVector2D_1_1point__t.html">point_t</a> Vector2D::point_t::operator+ </td>
+          <td>(</td>
+          <td class="paramtype">const <a class="el" href="structVector2D_1_1point__t.html">point_t</a> &amp;&#160;</td>
+          <td class="paramname"><em>other</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<p><a class="el" href="classVector2D.html">Vector2D</a> addition operation on points </p><dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">other</td><td>the point to add on to this </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>this + other (this.x + other.x, this.y + other.y) </dd></dl>
+
+</div>
+</div>
+<a id="aac0efd68a6d8dbe4cbb2437096a0a05d" name="aac0efd68a6d8dbe4cbb2437096a0a05d"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aac0efd68a6d8dbe4cbb2437096a0a05d">&#9670;&#160;</a></span>operator-()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname"><a class="el" href="structVector2D_1_1point__t.html">point_t</a> Vector2D::point_t::operator- </td>
+          <td>(</td>
+          <td class="paramtype">const <a class="el" href="structVector2D_1_1point__t.html">point_t</a> &amp;&#160;</td>
+          <td class="paramname"><em>other</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<p><a class="el" href="classVector2D.html">Vector2D</a> subtraction operation on points </p><dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">other</td><td>the <a class="el" href="structVector2D_1_1point__t.html">point_t</a> to subtract from this </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>this - other (this.x - other.x, this.y - other.y) </dd></dl>
+
+</div>
+</div>
+<hr/>The documentation for this struct was generated from the following file:<ul>
+<li>include/utils/<a class="el" href="vector2d_8h_source.html">vector2d.h</a></li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.6
+</small></address>
+</body>
+</html>
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+<script type="text/javascript" src="dynsections.js"></script>
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+   <div id="projectname">RIT VEXU Core API
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+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
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+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
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+<div class="SRStatus" id="Searching">Searching...</div>
+<div class="SRStatus" id="NoMatches">No Matches</div>
+</div>
+</div>
+</div>
+</div>
+
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle"><div class="title">motion_t Member List</div></div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="structmotion__t.html">motion_t</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="structmotion__t.html#a0bfa8ec05af92df3b8c0e7d0945824f2">accel</a></td><td class="entry"><a class="el" href="structmotion__t.html">motion_t</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="structmotion__t.html#a7f67afcb6e0a49061509a11c47de46e4">pos</a></td><td class="entry"><a class="el" href="structmotion__t.html">motion_t</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structmotion__t.html#a038b39985525b904bb8257ea86adbcee">vel</a></td><td class="entry"><a class="el" href="structmotion__t.html">motion_t</a></td><td class="entry"></td></tr>
+</table></div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.6
+</small></address>
+</body>
+</html>
diff --git a/documentation/html/structmotion__t.html b/documentation/html/structmotion__t.html
new file mode 100644
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--- /dev/null
+++ b/documentation/html/structmotion__t.html
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+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>RIT VEXU Core API: motion_t Struct Reference</title>
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+   <div id="projectname">RIT VEXU Core API
+   </div>
+  </td>
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+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.6 -->
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+     onmouseover="return searchBox.OnSearchSelectShow()"
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+<div class="SRStatus" id="NoMatches">No Matches</div>
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+</div>
+
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-attribs">Public Attributes</a> &#124;
+<a href="structmotion__t-members.html">List of all members</a>  </div>
+  <div class="headertitle"><div class="title">motion_t Struct Reference</div></div>
+</div><!--header-->
+<div class="contents">
+
+<p><code>#include &lt;<a class="el" href="trapezoid__profile_8h_source.html">trapezoid_profile.h</a>&gt;</code></p>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-attribs" name="pub-attribs"></a>
+Public Attributes</h2></td></tr>
+<tr class="memitem:a7f67afcb6e0a49061509a11c47de46e4"><td class="memItemLeft" align="right" valign="top"><a id="a7f67afcb6e0a49061509a11c47de46e4" name="a7f67afcb6e0a49061509a11c47de46e4"></a>
+double&#160;</td><td class="memItemRight" valign="bottom"><b>pos</b></td></tr>
+<tr class="memdesc:a7f67afcb6e0a49061509a11c47de46e4"><td class="mdescLeft">&#160;</td><td class="mdescRight">1d position at this point in time <br /></td></tr>
+<tr class="separator:a7f67afcb6e0a49061509a11c47de46e4"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a038b39985525b904bb8257ea86adbcee"><td class="memItemLeft" align="right" valign="top"><a id="a038b39985525b904bb8257ea86adbcee" name="a038b39985525b904bb8257ea86adbcee"></a>
+double&#160;</td><td class="memItemRight" valign="bottom"><b>vel</b></td></tr>
+<tr class="memdesc:a038b39985525b904bb8257ea86adbcee"><td class="mdescLeft">&#160;</td><td class="mdescRight">1d velocity at this point in time <br /></td></tr>
+<tr class="separator:a038b39985525b904bb8257ea86adbcee"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a0bfa8ec05af92df3b8c0e7d0945824f2"><td class="memItemLeft" align="right" valign="top"><a id="a0bfa8ec05af92df3b8c0e7d0945824f2" name="a0bfa8ec05af92df3b8c0e7d0945824f2"></a>
+double&#160;</td><td class="memItemRight" valign="bottom"><b>accel</b></td></tr>
+<tr class="memdesc:a0bfa8ec05af92df3b8c0e7d0945824f2"><td class="mdescLeft">&#160;</td><td class="mdescRight">1d acceleration at this point in time <br /></td></tr>
+<tr class="separator:a0bfa8ec05af92df3b8c0e7d0945824f2"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p><a class="el" href="structmotion__t.html">motion_t</a> is a description of 1 dimensional motion at a point in time. </p>
+</div><hr/>The documentation for this struct was generated from the following file:<ul>
+<li>include/utils/<a class="el" href="trapezoid__profile_8h_source.html">trapezoid_profile.h</a></li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.6
+</small></address>
+</body>
+</html>
diff --git a/documentation/html/structposition__t-members.html b/documentation/html/structposition__t-members.html
new file mode 100644
index 0000000..70e5d9a
--- /dev/null
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+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
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+<div class="header">
+  <div class="headertitle"><div class="title">position_t Member List</div></div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="structposition__t.html">position_t</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="structposition__t.html#aa22df5aed859f41200d2213ad3f2cd45">rot</a></td><td class="entry"><a class="el" href="structposition__t.html">position_t</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="structposition__t.html#aa554831febb89209dc5a2434e08265a8">x</a></td><td class="entry"><a class="el" href="structposition__t.html">position_t</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structposition__t.html#af5fb9bd02cb51336477d5290fe32cec6">y</a></td><td class="entry"><a class="el" href="structposition__t.html">position_t</a></td><td class="entry"></td></tr>
+</table></div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.6
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+</html>
diff --git a/documentation/html/structposition__t.html b/documentation/html/structposition__t.html
new file mode 100644
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+++ b/documentation/html/structposition__t.html
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+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>RIT VEXU Core API: position_t Struct Reference</title>
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+<a href="#pub-attribs">Public Attributes</a> &#124;
+<a href="structposition__t-members.html">List of all members</a>  </div>
+  <div class="headertitle"><div class="title">position_t Struct Reference</div></div>
+</div><!--header-->
+<div class="contents">
+
+<p><code>#include &lt;<a class="el" href="odometry__base_8h_source.html">odometry_base.h</a>&gt;</code></p>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-attribs" name="pub-attribs"></a>
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+<div class="textblock"><p>Describes a single position and rotation </p>
+</div><hr/>The documentation for this struct was generated from the following file:<ul>
+<li>include/subsystems/odometry/<a class="el" href="odometry__base_8h_source.html">odometry_base.h</a></li>
+</ul>
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+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="structrobot__specs__t.html">robot_specs_t</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="structrobot__specs__t.html#a23d091e4a5258c11db6cd9753b598d06">correction_pid</a></td><td class="entry"><a class="el" href="structrobot__specs__t.html">robot_specs_t</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="structrobot__specs__t.html#afb03c2e2cbc0d8fd6686c9421e016dec">dist_between_wheels</a></td><td class="entry"><a class="el" href="structrobot__specs__t.html">robot_specs_t</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structrobot__specs__t.html#aa9fc95ea4c235f455b712ac0cf5aa536">drive_correction_cutoff</a></td><td class="entry"><a class="el" href="structrobot__specs__t.html">robot_specs_t</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="structrobot__specs__t.html#a828213e8d672431bd3bb87e6484db83f">drive_feedback</a></td><td class="entry"><a class="el" href="structrobot__specs__t.html">robot_specs_t</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structrobot__specs__t.html#a8c454d8b38efdd15dfa6f075c40e4ec7">odom_gear_ratio</a></td><td class="entry"><a class="el" href="structrobot__specs__t.html">robot_specs_t</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="structrobot__specs__t.html#acf12b29aa6a86cc09b2ef868f9e77a31">odom_wheel_diam</a></td><td class="entry"><a class="el" href="structrobot__specs__t.html">robot_specs_t</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structrobot__specs__t.html#a37a65da54459d805cf1370cc6330bce0">robot_radius</a></td><td class="entry"><a class="el" href="structrobot__specs__t.html">robot_specs_t</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="structrobot__specs__t.html#af8c8492ba755766847bb21b960b91bfe">turn_feedback</a></td><td class="entry"><a class="el" href="structrobot__specs__t.html">robot_specs_t</a></td><td class="entry"></td></tr>
+</table></div><!-- contents -->
+<!-- start footer part -->
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+<a href="structrobot__specs__t-members.html">List of all members</a>  </div>
+  <div class="headertitle"><div class="title">robot_specs_t Struct Reference</div></div>
+</div><!--header-->
+<div class="contents">
+
+<p><code>#include &lt;<a class="el" href="robot__specs_8h_source.html">robot_specs.h</a>&gt;</code></p>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-attribs" name="pub-attribs"></a>
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+<tr class="memdesc:a37a65da54459d805cf1370cc6330bce0"><td class="mdescLeft">&#160;</td><td class="mdescRight">if you were to draw a circle with this radius, the robot would be entirely contained within it <br /></td></tr>
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+<tr class="memdesc:aa9fc95ea4c235f455b712ac0cf5aa536"><td class="mdescLeft">&#160;</td><td class="mdescRight">the distance at which to stop trying to turn towards the target. If we are less than this value, we can continue driving forward to minimize our distance but will not try to spin around to point directly at the target <br /></td></tr>
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+<tr class="memitem:af8c8492ba755766847bb21b960b91bfe"><td class="memItemLeft" align="right" valign="top"><a id="af8c8492ba755766847bb21b960b91bfe" name="af8c8492ba755766847bb21b960b91bfe"></a>
+<a class="el" href="classFeedback.html">Feedback</a> *&#160;</td><td class="memItemRight" valign="bottom"><b>turn_feedback</b></td></tr>
+<tr class="memdesc:af8c8492ba755766847bb21b960b91bfe"><td class="mdescLeft">&#160;</td><td class="mdescRight">the defualt feedback for autonomous turning <br /></td></tr>
+<tr class="separator:af8c8492ba755766847bb21b960b91bfe"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a23d091e4a5258c11db6cd9753b598d06"><td class="memItemLeft" align="right" valign="top"><a id="a23d091e4a5258c11db6cd9753b598d06" name="a23d091e4a5258c11db6cd9753b598d06"></a>
+<a class="el" href="structPID_1_1pid__config__t.html">PID::pid_config_t</a>&#160;</td><td class="memItemRight" valign="bottom"><b>correction_pid</b></td></tr>
+<tr class="memdesc:a23d091e4a5258c11db6cd9753b598d06"><td class="mdescLeft">&#160;</td><td class="mdescRight">the pid controller to keep the robot driving in as straight a line as possible <br /></td></tr>
+<tr class="separator:a23d091e4a5258c11db6cd9753b598d06"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>Main robot characterization struct. This will be passed to all the major subsystems that require info about the robot. All distance measurements are in inches. </p>
+</div><hr/>The documentation for this struct was generated from the following file:<ul>
+<li>include/<a class="el" href="robot__specs_8h_source.html">robot_specs.h</a></li>
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+  <ul>
+<li class="navelem"><a class="el" href="dir_d44c64559bbebec7f509842c48db8b23.html">include</a></li><li class="navelem"><a class="el" href="dir_8e84b5daa2b3f33b7b3fb9ecedbe5637.html">subsystems</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle"><div class="title">tank_drive.h</div></div>
+</div><!--header-->
+<div class="contents">
+<div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno">    1</span><span class="preprocessor">#pragma once</span></div>
+<div class="line"><a id="l00002" name="l00002"></a><span class="lineno">    2</span> </div>
+<div class="line"><a id="l00003" name="l00003"></a><span class="lineno">    3</span><span class="preprocessor">#ifndef PI</span></div>
+<div class="line"><a id="l00004" name="l00004"></a><span class="lineno">    4</span><span class="preprocessor">#define PI 3.141592654</span></div>
+<div class="line"><a id="l00005" name="l00005"></a><span class="lineno">    5</span><span class="preprocessor">#endif</span></div>
+<div class="line"><a id="l00006" name="l00006"></a><span class="lineno">    6</span> </div>
+<div class="line"><a id="l00007" name="l00007"></a><span class="lineno">    7</span><span class="preprocessor">#include &quot;vex.h&quot;</span></div>
+<div class="line"><a id="l00008" name="l00008"></a><span class="lineno">    8</span><span class="preprocessor">#include &quot;../core/include/subsystems/odometry/odometry_tank.h&quot;</span></div>
+<div class="line"><a id="l00009" name="l00009"></a><span class="lineno">    9</span><span class="preprocessor">#include &quot;../core/include/utils/pid.h&quot;</span></div>
+<div class="line"><a id="l00010" name="l00010"></a><span class="lineno">   10</span><span class="preprocessor">#include &quot;../core/include/utils/feedback_base.h&quot;</span></div>
+<div class="line"><a id="l00011" name="l00011"></a><span class="lineno">   11</span><span class="preprocessor">#include &quot;../core/include/robot_specs.h&quot;</span></div>
+<div class="line"><a id="l00012" name="l00012"></a><span class="lineno">   12</span><span class="preprocessor">#include &quot;../core/src/utils/pure_pursuit.cpp&quot;</span></div>
+<div class="line"><a id="l00013" name="l00013"></a><span class="lineno">   13</span><span class="preprocessor">#include &lt;vector&gt;</span></div>
+<div class="line"><a id="l00014" name="l00014"></a><span class="lineno">   14</span> </div>
+<div class="line"><a id="l00015" name="l00015"></a><span class="lineno">   15</span> </div>
+<div class="line"><a id="l00016" name="l00016"></a><span class="lineno">   16</span><span class="keyword">using namespace </span>vex;</div>
+<div class="line"><a id="l00017" name="l00017"></a><span class="lineno">   17</span> </div>
+<div class="line"><a id="l00022" name="l00022"></a><span class="lineno"><a class="line" href="classTankDrive.html">   22</a></span><span class="keyword">class </span><a class="code hl_class" href="classTankDrive.html">TankDrive</a></div>
+<div class="line"><a id="l00023" name="l00023"></a><span class="lineno">   23</span>{</div>
+<div class="line"><a id="l00024" name="l00024"></a><span class="lineno">   24</span><span class="keyword">public</span>:</div>
+<div class="line"><a id="l00025" name="l00025"></a><span class="lineno">   25</span> </div>
+<div class="line"><a id="l00033" name="l00033"></a><span class="lineno">   33</span>  <a class="code hl_class" href="classTankDrive.html">TankDrive</a>(motor_group &amp;left_motors, motor_group &amp;right_motors, <a class="code hl_struct" href="structrobot__specs__t.html">robot_specs_t</a> &amp;config, <a class="code hl_class" href="classOdometryBase.html">OdometryBase</a> *odom=NULL);</div>
+<div class="line"><a id="l00034" name="l00034"></a><span class="lineno">   34</span> </div>
+<div class="line"><a id="l00038" name="l00038"></a><span class="lineno">   38</span>  <span class="keywordtype">void</span> <a class="code hl_function" href="classTankDrive.html#af10e648e4de35fa72859fb96a9a80485">stop</a>();</div>
+<div class="line"><a id="l00039" name="l00039"></a><span class="lineno">   39</span> </div>
+<div class="line"><a id="l00050" name="l00050"></a><span class="lineno">   50</span>  <span class="keywordtype">void</span> <a class="code hl_function" href="classTankDrive.html#a1dff7827546fb3d17e0d2ca150bdf630">drive_tank</a>(<span class="keywordtype">double</span> left, <span class="keywordtype">double</span> right, <span class="keywordtype">int</span> power=1, <span class="keywordtype">bool</span> isdriver=<span class="keyword">false</span>);</div>
+<div class="line"><a id="l00051" name="l00051"></a><span class="lineno">   51</span> </div>
+<div class="line"><a id="l00062" name="l00062"></a><span class="lineno">   62</span>  <span class="keywordtype">void</span> <a class="code hl_function" href="classTankDrive.html#a4c52b51a9b149d97e9b0b175a10652ef">drive_arcade</a>(<span class="keywordtype">double</span> forward_back, <span class="keywordtype">double</span> left_right, <span class="keywordtype">int</span> power=1);</div>
+<div class="line"><a id="l00063" name="l00063"></a><span class="lineno">   63</span> </div>
+<div class="line"><a id="l00074" name="l00074"></a><span class="lineno">   74</span>  <span class="keywordtype">bool</span> <a class="code hl_function" href="classTankDrive.html#a1fb3d661076afbb91452649cdaf8550f">drive_forward</a>(<span class="keywordtype">double</span> inches, directionType dir, <a class="code hl_class" href="classFeedback.html">Feedback</a> &amp;feedback, <span class="keywordtype">double</span> max_speed=1);</div>
+<div class="line"><a id="l00075" name="l00075"></a><span class="lineno">   75</span> </div>
+<div class="line"><a id="l00084" name="l00084"></a><span class="lineno">   84</span>  <span class="keywordtype">bool</span> <a class="code hl_function" href="classTankDrive.html#a1fb3d661076afbb91452649cdaf8550f">drive_forward</a>(<span class="keywordtype">double</span> inches, directionType dir, <span class="keywordtype">double</span> max_speed=1);</div>
+<div class="line"><a id="l00085" name="l00085"></a><span class="lineno">   85</span> </div>
+<div class="line"><a id="l00096" name="l00096"></a><span class="lineno">   96</span>  <span class="keywordtype">bool</span> <a class="code hl_function" href="classTankDrive.html#ac1ce9895b82b7298465d8e59fae95763">turn_degrees</a>(<span class="keywordtype">double</span> degrees, <a class="code hl_class" href="classFeedback.html">Feedback</a> &amp;feedback, <span class="keywordtype">double</span> max_speed=1);</div>
+<div class="line"><a id="l00097" name="l00097"></a><span class="lineno">   97</span> </div>
+<div class="line"><a id="l00107" name="l00107"></a><span class="lineno">  107</span>  <span class="keywordtype">bool</span> <a class="code hl_function" href="classTankDrive.html#ac1ce9895b82b7298465d8e59fae95763">turn_degrees</a>(<span class="keywordtype">double</span> degrees, <span class="keywordtype">double</span> max_speed=1);</div>
+<div class="line"><a id="l00108" name="l00108"></a><span class="lineno">  108</span> </div>
+<div class="line"><a id="l00120" name="l00120"></a><span class="lineno">  120</span>  <span class="keywordtype">bool</span> <a class="code hl_function" href="classTankDrive.html#ad64cf88b180865f7e0f9810a344db791">drive_to_point</a>(<span class="keywordtype">double</span> x, <span class="keywordtype">double</span> y, vex::directionType dir, <a class="code hl_class" href="classFeedback.html">Feedback</a> &amp;feedback, <span class="keywordtype">double</span> max_speed=1);</div>
+<div class="line"><a id="l00121" name="l00121"></a><span class="lineno">  121</span>  </div>
+<div class="line"><a id="l00133" name="l00133"></a><span class="lineno">  133</span>  <span class="keywordtype">bool</span> <a class="code hl_function" href="classTankDrive.html#ad64cf88b180865f7e0f9810a344db791">drive_to_point</a>(<span class="keywordtype">double</span> x, <span class="keywordtype">double</span> y, vex::directionType dir, <span class="keywordtype">double</span> max_speed=1);</div>
+<div class="line"><a id="l00134" name="l00134"></a><span class="lineno">  134</span> </div>
+<div class="line"><a id="l00143" name="l00143"></a><span class="lineno">  143</span>  <span class="keywordtype">bool</span> <a class="code hl_function" href="classTankDrive.html#a25030a7b5e9404a911f7b776a7df7f05">turn_to_heading</a>(<span class="keywordtype">double</span> heading_deg, <a class="code hl_class" href="classFeedback.html">Feedback</a> &amp;feedback, <span class="keywordtype">double</span> max_speed=1);</div>
+<div class="line"><a id="l00151" name="l00151"></a><span class="lineno">  151</span>  <span class="keywordtype">bool</span> <a class="code hl_function" href="classTankDrive.html#a25030a7b5e9404a911f7b776a7df7f05">turn_to_heading</a>(<span class="keywordtype">double</span> heading_deg, <span class="keywordtype">double</span> max_speed=1);</div>
+<div class="line"><a id="l00152" name="l00152"></a><span class="lineno">  152</span> </div>
+<div class="line"><a id="l00156" name="l00156"></a><span class="lineno">  156</span>  <span class="keywordtype">void</span> <a class="code hl_function" href="classTankDrive.html#aaa68eae1521e5b87ecfed2a60b15bf34">reset_auto</a>();</div>
+<div class="line"><a id="l00157" name="l00157"></a><span class="lineno">  157</span> </div>
+<div class="line"><a id="l00166" name="l00166"></a><span class="lineno">  166</span>  <span class="keyword">static</span> <span class="keywordtype">double</span> <a class="code hl_function" href="classTankDrive.html#abb511cf1be40ef7be89c2ccff6a09cab">modify_inputs</a>(<span class="keywordtype">double</span> input, <span class="keywordtype">int</span> power=2);</div>
+<div class="line"><a id="l00167" name="l00167"></a><span class="lineno">  167</span> </div>
+<div class="line"><a id="l00179" name="l00179"></a><span class="lineno">  179</span>  <span class="keywordtype">bool</span> <a class="code hl_function" href="classTankDrive.html#a13bb19d1cf97b7f3534f4f2a0a13bf27">pure_pursuit</a>(std::vector&lt;PurePursuit::hermite_point&gt; path, directionType dir, <span class="keywordtype">double</span> radius, <span class="keywordtype">double</span> res, <a class="code hl_class" href="classFeedback.html">Feedback</a> &amp;feedback, <span class="keywordtype">double</span> max_speed=1);</div>
+<div class="line"><a id="l00180" name="l00180"></a><span class="lineno">  180</span> </div>
+<div class="line"><a id="l00181" name="l00181"></a><span class="lineno">  181</span><span class="keyword">private</span>:</div>
+<div class="line"><a id="l00182" name="l00182"></a><span class="lineno">  182</span>  motor_group &amp;left_motors; </div>
+<div class="line"><a id="l00183" name="l00183"></a><span class="lineno">  183</span>  motor_group &amp;right_motors; </div>
+<div class="line"><a id="l00184" name="l00184"></a><span class="lineno">  184</span> </div>
+<div class="line"><a id="l00185" name="l00185"></a><span class="lineno">  185</span>  <a class="code hl_class" href="classPID.html">PID</a> correction_pid; </div>
+<div class="line"><a id="l00186" name="l00186"></a><span class="lineno">  186</span>  <a class="code hl_class" href="classFeedback.html">Feedback</a> *drive_default_feedback = NULL; </div>
+<div class="line"><a id="l00187" name="l00187"></a><span class="lineno">  187</span>  <a class="code hl_class" href="classFeedback.html">Feedback</a> *turn_default_feedback = NULL; </div>
+<div class="line"><a id="l00188" name="l00188"></a><span class="lineno">  188</span> </div>
+<div class="line"><a id="l00189" name="l00189"></a><span class="lineno">  189</span>  <a class="code hl_class" href="classOdometryBase.html">OdometryBase</a> *odometry; </div>
+<div class="line"><a id="l00190" name="l00190"></a><span class="lineno">  190</span> </div>
+<div class="line"><a id="l00191" name="l00191"></a><span class="lineno">  191</span>  <a class="code hl_struct" href="structrobot__specs__t.html">robot_specs_t</a> &amp;config; </div>
+<div class="line"><a id="l00192" name="l00192"></a><span class="lineno">  192</span> </div>
+<div class="line"><a id="l00193" name="l00193"></a><span class="lineno">  193</span>  <span class="keywordtype">bool</span> func_initialized = <span class="keyword">false</span>; </div>
+<div class="line"><a id="l00194" name="l00194"></a><span class="lineno">  194</span>  <span class="keywordtype">bool</span> is_pure_pursuit = <span class="keyword">false</span>; </div>
+<div class="line"><a id="l00195" name="l00195"></a><span class="lineno">  195</span>};</div>
+<div class="ttc" id="aclassFeedback_html"><div class="ttname"><a href="classFeedback.html">Feedback</a></div><div class="ttdef"><b>Definition:</b> feedback_base.h:11</div></div>
+<div class="ttc" id="aclassOdometryBase_html"><div class="ttname"><a href="classOdometryBase.html">OdometryBase</a></div><div class="ttdef"><b>Definition:</b> odometry_base.h:33</div></div>
+<div class="ttc" id="aclassPID_html"><div class="ttname"><a href="classPID.html">PID</a></div><div class="ttdef"><b>Definition:</b> pid.h:24</div></div>
+<div class="ttc" id="aclassTankDrive_html"><div class="ttname"><a href="classTankDrive.html">TankDrive</a></div><div class="ttdef"><b>Definition:</b> tank_drive.h:23</div></div>
+<div class="ttc" id="aclassTankDrive_html_a13bb19d1cf97b7f3534f4f2a0a13bf27"><div class="ttname"><a href="classTankDrive.html#a13bb19d1cf97b7f3534f4f2a0a13bf27">TankDrive::pure_pursuit</a></div><div class="ttdeci">bool pure_pursuit(std::vector&lt; PurePursuit::hermite_point &gt; path, directionType dir, double radius, double res, Feedback &amp;feedback, double max_speed=1)</div><div class="ttdef"><b>Definition:</b> tank_drive.cpp:411</div></div>
+<div class="ttc" id="aclassTankDrive_html_a1dff7827546fb3d17e0d2ca150bdf630"><div class="ttname"><a href="classTankDrive.html#a1dff7827546fb3d17e0d2ca150bdf630">TankDrive::drive_tank</a></div><div class="ttdeci">void drive_tank(double left, double right, int power=1, bool isdriver=false)</div><div class="ttdef"><b>Definition:</b> tank_drive.cpp:34</div></div>
+<div class="ttc" id="aclassTankDrive_html_a1fb3d661076afbb91452649cdaf8550f"><div class="ttname"><a href="classTankDrive.html#a1fb3d661076afbb91452649cdaf8550f">TankDrive::drive_forward</a></div><div class="ttdeci">bool drive_forward(double inches, directionType dir, Feedback &amp;feedback, double max_speed=1)</div><div class="ttdef"><b>Definition:</b> tank_drive.cpp:77</div></div>
+<div class="ttc" id="aclassTankDrive_html_a25030a7b5e9404a911f7b776a7df7f05"><div class="ttname"><a href="classTankDrive.html#a25030a7b5e9404a911f7b776a7df7f05">TankDrive::turn_to_heading</a></div><div class="ttdeci">bool turn_to_heading(double heading_deg, Feedback &amp;feedback, double max_speed=1)</div><div class="ttdef"><b>Definition:</b> tank_drive.cpp:344</div></div>
+<div class="ttc" id="aclassTankDrive_html_a4c52b51a9b149d97e9b0b175a10652ef"><div class="ttname"><a href="classTankDrive.html#a4c52b51a9b149d97e9b0b175a10652ef">TankDrive::drive_arcade</a></div><div class="ttdeci">void drive_arcade(double forward_back, double left_right, int power=1)</div><div class="ttdef"><b>Definition:</b> tank_drive.cpp:56</div></div>
+<div class="ttc" id="aclassTankDrive_html_aaa68eae1521e5b87ecfed2a60b15bf34"><div class="ttname"><a href="classTankDrive.html#aaa68eae1521e5b87ecfed2a60b15bf34">TankDrive::reset_auto</a></div><div class="ttdeci">void reset_auto()</div><div class="ttdef"><b>Definition:</b> tank_drive.cpp:14</div></div>
+<div class="ttc" id="aclassTankDrive_html_abb511cf1be40ef7be89c2ccff6a09cab"><div class="ttname"><a href="classTankDrive.html#abb511cf1be40ef7be89c2ccff6a09cab">TankDrive::modify_inputs</a></div><div class="ttdeci">static double modify_inputs(double input, int power=2)</div><div class="ttdef"><b>Definition:</b> tank_drive.cpp:406</div></div>
+<div class="ttc" id="aclassTankDrive_html_ac1ce9895b82b7298465d8e59fae95763"><div class="ttname"><a href="classTankDrive.html#ac1ce9895b82b7298465d8e59fae95763">TankDrive::turn_degrees</a></div><div class="ttdeci">bool turn_degrees(double degrees, Feedback &amp;feedback, double max_speed=1)</div><div class="ttdef"><b>Definition:</b> tank_drive.cpp:143</div></div>
+<div class="ttc" id="aclassTankDrive_html_ad64cf88b180865f7e0f9810a344db791"><div class="ttname"><a href="classTankDrive.html#ad64cf88b180865f7e0f9810a344db791">TankDrive::drive_to_point</a></div><div class="ttdeci">bool drive_to_point(double x, double y, vex::directionType dir, Feedback &amp;feedback, double max_speed=1)</div><div class="ttdef"><b>Definition:</b> tank_drive.cpp:198</div></div>
+<div class="ttc" id="aclassTankDrive_html_af10e648e4de35fa72859fb96a9a80485"><div class="ttname"><a href="classTankDrive.html#af10e648e4de35fa72859fb96a9a80485">TankDrive::stop</a></div><div class="ttdeci">void stop()</div><div class="ttdef"><b>Definition:</b> tank_drive.cpp:22</div></div>
+<div class="ttc" id="astructrobot__specs__t_html"><div class="ttname"><a href="structrobot__specs__t.html">robot_specs_t</a></div><div class="ttdef"><b>Definition:</b> robot_specs.h:12</div></div>
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+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.6
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diff --git a/documentation/html/trapezoid__profile_8h_source.html b/documentation/html/trapezoid__profile_8h_source.html
new file mode 100644
index 0000000..ef76ce2
--- /dev/null
+++ b/documentation/html/trapezoid__profile_8h_source.html
@@ -0,0 +1,129 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
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+<li class="navelem"><a class="el" href="dir_d44c64559bbebec7f509842c48db8b23.html">include</a></li><li class="navelem"><a class="el" href="dir_821002d4f10779a80d4fb17bc32f21f1.html">utils</a></li>  </ul>
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+  <div class="headertitle"><div class="title">trapezoid_profile.h</div></div>
+</div><!--header-->
+<div class="contents">
+<div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno">    1</span><span class="preprocessor">#pragma once</span></div>
+<div class="line"><a id="l00002" name="l00002"></a><span class="lineno">    2</span> </div>
+<div class="line"><a id="l00006" name="l00006"></a><span class="lineno"><a class="line" href="structmotion__t.html">    6</a></span><span class="keyword">typedef</span> <span class="keyword">struct</span></div>
+<div class="line"><a id="l00007" name="l00007"></a><span class="lineno">    7</span>{</div>
+<div class="line"><a id="l00008" name="l00008"></a><span class="lineno"><a class="line" href="structmotion__t.html#a7f67afcb6e0a49061509a11c47de46e4">    8</a></span>    <span class="keywordtype">double</span> <a class="code hl_variable" href="structmotion__t.html#a7f67afcb6e0a49061509a11c47de46e4">pos</a>;   </div>
+<div class="line"><a id="l00009" name="l00009"></a><span class="lineno"><a class="line" href="structmotion__t.html#a038b39985525b904bb8257ea86adbcee">    9</a></span>    <span class="keywordtype">double</span> <a class="code hl_variable" href="structmotion__t.html#a038b39985525b904bb8257ea86adbcee">vel</a>;   </div>
+<div class="line"><a id="l00010" name="l00010"></a><span class="lineno"><a class="line" href="structmotion__t.html#a0bfa8ec05af92df3b8c0e7d0945824f2">   10</a></span>    <span class="keywordtype">double</span> <a class="code hl_variable" href="structmotion__t.html#a0bfa8ec05af92df3b8c0e7d0945824f2">accel</a>; </div>
+<div class="line"><a id="l00011" name="l00011"></a><span class="lineno">   11</span> </div>
+<div class="line"><a id="l00012" name="l00012"></a><span class="lineno">   12</span>} <a class="code hl_struct" href="structmotion__t.html">motion_t</a>;</div>
+<div class="line"><a id="l00013" name="l00013"></a><span class="lineno">   13</span> </div>
+<div class="line"><a id="l00034" name="l00034"></a><span class="lineno"><a class="line" href="classTrapezoidProfile.html">   34</a></span><span class="keyword">class </span><a class="code hl_class" href="classTrapezoidProfile.html">TrapezoidProfile</a></div>
+<div class="line"><a id="l00035" name="l00035"></a><span class="lineno">   35</span>{</div>
+<div class="line"><a id="l00036" name="l00036"></a><span class="lineno">   36</span>    <span class="keyword">public</span>:</div>
+<div class="line"><a id="l00037" name="l00037"></a><span class="lineno">   37</span> </div>
+<div class="line"><a id="l00044" name="l00044"></a><span class="lineno">   44</span>    <a class="code hl_class" href="classTrapezoidProfile.html">TrapezoidProfile</a>(<span class="keywordtype">double</span> max_v, <span class="keywordtype">double</span> accel);</div>
+<div class="line"><a id="l00045" name="l00045"></a><span class="lineno">   45</span> </div>
+<div class="line"><a id="l00052" name="l00052"></a><span class="lineno">   52</span>    <a class="code hl_struct" href="structmotion__t.html">motion_t</a> <a class="code hl_function" href="classTrapezoidProfile.html#a0b65a924664e6e052a16db19f73af17c">calculate</a>(<span class="keywordtype">double</span> time_s);</div>
+<div class="line"><a id="l00053" name="l00053"></a><span class="lineno">   53</span> </div>
+<div class="line"><a id="l00059" name="l00059"></a><span class="lineno">   59</span>    <span class="keywordtype">void</span> <a class="code hl_function" href="classTrapezoidProfile.html#a1d28f3fa6bf1dfa7f5c1a34d0d3b17b5">set_endpts</a>(<span class="keywordtype">double</span> start, <span class="keywordtype">double</span> end);</div>
+<div class="line"><a id="l00060" name="l00060"></a><span class="lineno">   60</span> </div>
+<div class="line"><a id="l00065" name="l00065"></a><span class="lineno">   65</span>    <span class="keywordtype">void</span> <a class="code hl_function" href="classTrapezoidProfile.html#a1dcdfa1c290347cf0af48aca5afd167c">set_accel</a>(<span class="keywordtype">double</span> accel);</div>
+<div class="line"><a id="l00066" name="l00066"></a><span class="lineno">   66</span> </div>
+<div class="line"><a id="l00072" name="l00072"></a><span class="lineno">   72</span>    <span class="keywordtype">void</span> <a class="code hl_function" href="classTrapezoidProfile.html#a6c08d08d8eadaa719f4dc9e607f9fe97">set_max_v</a>(<span class="keywordtype">double</span> max_v);</div>
+<div class="line"><a id="l00073" name="l00073"></a><span class="lineno">   73</span> </div>
+<div class="line"><a id="l00078" name="l00078"></a><span class="lineno">   78</span>    <span class="keywordtype">double</span> <a class="code hl_function" href="classTrapezoidProfile.html#abd551042dfffe0923200c4546d109c55">get_movement_time</a>();</div>
+<div class="line"><a id="l00079" name="l00079"></a><span class="lineno">   79</span> </div>
+<div class="line"><a id="l00080" name="l00080"></a><span class="lineno">   80</span>    <span class="keyword">private</span>:</div>
+<div class="line"><a id="l00081" name="l00081"></a><span class="lineno">   81</span>    <span class="keywordtype">double</span> start, end; </div>
+<div class="line"><a id="l00082" name="l00082"></a><span class="lineno">   82</span>    <span class="keywordtype">double</span> max_v; </div>
+<div class="line"><a id="l00083" name="l00083"></a><span class="lineno">   83</span>    <span class="keywordtype">double</span> accel; </div>
+<div class="line"><a id="l00084" name="l00084"></a><span class="lineno">   84</span>    <span class="keywordtype">double</span> time; </div>
+<div class="line"><a id="l00085" name="l00085"></a><span class="lineno">   85</span>    </div>
+<div class="line"><a id="l00086" name="l00086"></a><span class="lineno">   86</span> </div>
+<div class="line"><a id="l00087" name="l00087"></a><span class="lineno">   87</span>};</div>
+<div class="ttc" id="aclassTrapezoidProfile_html"><div class="ttname"><a href="classTrapezoidProfile.html">TrapezoidProfile</a></div><div class="ttdef"><b>Definition:</b> trapezoid_profile.h:35</div></div>
+<div class="ttc" id="aclassTrapezoidProfile_html_a0b65a924664e6e052a16db19f73af17c"><div class="ttname"><a href="classTrapezoidProfile.html#a0b65a924664e6e052a16db19f73af17c">TrapezoidProfile::calculate</a></div><div class="ttdeci">motion_t calculate(double time_s)</div><div class="ttdoc">Run the trapezoidal profile based on the time that's ellapsed.</div><div class="ttdef"><b>Definition:</b> trapezoid_profile.cpp:35</div></div>
+<div class="ttc" id="aclassTrapezoidProfile_html_a1d28f3fa6bf1dfa7f5c1a34d0d3b17b5"><div class="ttname"><a href="classTrapezoidProfile.html#a1d28f3fa6bf1dfa7f5c1a34d0d3b17b5">TrapezoidProfile::set_endpts</a></div><div class="ttdeci">void set_endpts(double start, double end)</div><div class="ttdef"><b>Definition:</b> trapezoid_profile.cpp:19</div></div>
+<div class="ttc" id="aclassTrapezoidProfile_html_a1dcdfa1c290347cf0af48aca5afd167c"><div class="ttname"><a href="classTrapezoidProfile.html#a1dcdfa1c290347cf0af48aca5afd167c">TrapezoidProfile::set_accel</a></div><div class="ttdeci">void set_accel(double accel)</div><div class="ttdef"><b>Definition:</b> trapezoid_profile.cpp:14</div></div>
+<div class="ttc" id="aclassTrapezoidProfile_html_a6c08d08d8eadaa719f4dc9e607f9fe97"><div class="ttname"><a href="classTrapezoidProfile.html#a6c08d08d8eadaa719f4dc9e607f9fe97">TrapezoidProfile::set_max_v</a></div><div class="ttdeci">void set_max_v(double max_v)</div><div class="ttdef"><b>Definition:</b> trapezoid_profile.cpp:9</div></div>
+<div class="ttc" id="aclassTrapezoidProfile_html_abd551042dfffe0923200c4546d109c55"><div class="ttname"><a href="classTrapezoidProfile.html#abd551042dfffe0923200c4546d109c55">TrapezoidProfile::get_movement_time</a></div><div class="ttdeci">double get_movement_time()</div><div class="ttdef"><b>Definition:</b> trapezoid_profile.cpp:113</div></div>
+<div class="ttc" id="astructmotion__t_html"><div class="ttname"><a href="structmotion__t.html">motion_t</a></div><div class="ttdef"><b>Definition:</b> trapezoid_profile.h:7</div></div>
+<div class="ttc" id="astructmotion__t_html_a038b39985525b904bb8257ea86adbcee"><div class="ttname"><a href="structmotion__t.html#a038b39985525b904bb8257ea86adbcee">motion_t::vel</a></div><div class="ttdeci">double vel</div><div class="ttdoc">1d velocity at this point in time</div><div class="ttdef"><b>Definition:</b> trapezoid_profile.h:9</div></div>
+<div class="ttc" id="astructmotion__t_html_a0bfa8ec05af92df3b8c0e7d0945824f2"><div class="ttname"><a href="structmotion__t.html#a0bfa8ec05af92df3b8c0e7d0945824f2">motion_t::accel</a></div><div class="ttdeci">double accel</div><div class="ttdoc">1d acceleration at this point in time</div><div class="ttdef"><b>Definition:</b> trapezoid_profile.h:10</div></div>
+<div class="ttc" id="astructmotion__t_html_a7f67afcb6e0a49061509a11c47de46e4"><div class="ttname"><a href="structmotion__t.html#a7f67afcb6e0a49061509a11c47de46e4">motion_t::pos</a></div><div class="ttdeci">double pos</div><div class="ttdoc">1d position at this point in time</div><div class="ttdef"><b>Definition:</b> trapezoid_profile.h:8</div></div>
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+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.6
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+  <ul>
+<li class="navelem"><a class="el" href="dir_d44c64559bbebec7f509842c48db8b23.html">include</a></li><li class="navelem"><a class="el" href="dir_821002d4f10779a80d4fb17bc32f21f1.html">utils</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle"><div class="title">vector2d.h</div></div>
+</div><!--header-->
+<div class="contents">
+<div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno">    1</span><span class="preprocessor">#pragma once</span></div>
+<div class="line"><a id="l00002" name="l00002"></a><span class="lineno">    2</span> </div>
+<div class="line"><a id="l00003" name="l00003"></a><span class="lineno">    3</span><span class="preprocessor">#include &lt;cmath&gt;</span></div>
+<div class="line"><a id="l00004" name="l00004"></a><span class="lineno">    4</span> </div>
+<div class="line"><a id="l00005" name="l00005"></a><span class="lineno">    5</span><span class="preprocessor">#ifndef PI</span></div>
+<div class="line"><a id="l00006" name="l00006"></a><span class="lineno">    6</span><span class="preprocessor">#define PI 3.141592654</span></div>
+<div class="line"><a id="l00007" name="l00007"></a><span class="lineno">    7</span><span class="preprocessor">#endif</span></div>
+<div class="line"><a id="l00013" name="l00013"></a><span class="lineno"><a class="line" href="classVector2D.html">   13</a></span><span class="keyword">class </span><a class="code hl_class" href="classVector2D.html">Vector2D</a></div>
+<div class="line"><a id="l00014" name="l00014"></a><span class="lineno">   14</span>{</div>
+<div class="line"><a id="l00015" name="l00015"></a><span class="lineno">   15</span><span class="keyword">public</span>:</div>
+<div class="line"><a id="l00016" name="l00016"></a><span class="lineno">   16</span> </div>
+<div class="line"><a id="l00020" name="l00020"></a><span class="lineno"><a class="line" href="structVector2D_1_1point__t.html">   20</a></span>    <span class="keyword">struct </span><a class="code hl_struct" href="structVector2D_1_1point__t.html">point_t</a></div>
+<div class="line"><a id="l00021" name="l00021"></a><span class="lineno">   21</span>    {</div>
+<div class="line"><a id="l00022" name="l00022"></a><span class="lineno"><a class="line" href="structVector2D_1_1point__t.html#ad139f137dd3554335c4ed9b51c8e3bd9">   22</a></span>        <span class="keywordtype">double</span> <a class="code hl_variable" href="structVector2D_1_1point__t.html#ad139f137dd3554335c4ed9b51c8e3bd9">x</a>; </div>
+<div class="line"><a id="l00023" name="l00023"></a><span class="lineno"><a class="line" href="structVector2D_1_1point__t.html#a8290e79feb502e69cd95a7580cf6f1fe">   23</a></span>        <span class="keywordtype">double</span> <a class="code hl_variable" href="structVector2D_1_1point__t.html#a8290e79feb502e69cd95a7580cf6f1fe">y</a>; </div>
+<div class="line"><a id="l00024" name="l00024"></a><span class="lineno">   24</span> </div>
+<div class="line"><a id="l00025" name="l00025"></a><span class="lineno">   25</span> </div>
+<div class="line"><a id="l00031" name="l00031"></a><span class="lineno"><a class="line" href="structVector2D_1_1point__t.html#a118bb1552bd98c9708e452d593ed5e29">   31</a></span>        <span class="keywordtype">double</span> <a class="code hl_function" href="structVector2D_1_1point__t.html#a118bb1552bd98c9708e452d593ed5e29">dist</a>(<span class="keyword">const</span> <a class="code hl_struct" href="structVector2D_1_1point__t.html">point_t</a> other)</div>
+<div class="line"><a id="l00032" name="l00032"></a><span class="lineno">   32</span>        {</div>
+<div class="line"><a id="l00033" name="l00033"></a><span class="lineno">   33</span>          <span class="keywordflow">return</span> sqrt(pow(this-&gt;x - other.<a class="code hl_variable" href="structVector2D_1_1point__t.html#ad139f137dd3554335c4ed9b51c8e3bd9">x</a>, 2) + pow(this-&gt;y - other.<a class="code hl_variable" href="structVector2D_1_1point__t.html#a8290e79feb502e69cd95a7580cf6f1fe">y</a>, 2));</div>
+<div class="line"><a id="l00034" name="l00034"></a><span class="lineno">   34</span>        }</div>
+<div class="line"><a id="l00035" name="l00035"></a><span class="lineno">   35</span> </div>
+<div class="line"><a id="l00041" name="l00041"></a><span class="lineno"><a class="line" href="structVector2D_1_1point__t.html#a80783a6446695b14693816aaf1341bdb">   41</a></span>        <a class="code hl_struct" href="structVector2D_1_1point__t.html">point_t</a> <a class="code hl_function" href="structVector2D_1_1point__t.html#a80783a6446695b14693816aaf1341bdb">operator+</a>(<span class="keyword">const</span> <a class="code hl_struct" href="structVector2D_1_1point__t.html">point_t</a> &amp;other)</div>
+<div class="line"><a id="l00042" name="l00042"></a><span class="lineno">   42</span>        {</div>
+<div class="line"><a id="l00043" name="l00043"></a><span class="lineno">   43</span>          <a class="code hl_struct" href="structVector2D_1_1point__t.html">point_t</a> p </div>
+<div class="line"><a id="l00044" name="l00044"></a><span class="lineno">   44</span>          {</div>
+<div class="line"><a id="l00045" name="l00045"></a><span class="lineno">   45</span>            .<a class="code hl_variable" href="structVector2D_1_1point__t.html#ad139f137dd3554335c4ed9b51c8e3bd9">x</a> = this-&gt;x + other.<a class="code hl_variable" href="structVector2D_1_1point__t.html#ad139f137dd3554335c4ed9b51c8e3bd9">x</a>,</div>
+<div class="line"><a id="l00046" name="l00046"></a><span class="lineno">   46</span>            .y = this-&gt;y + other.<a class="code hl_variable" href="structVector2D_1_1point__t.html#a8290e79feb502e69cd95a7580cf6f1fe">y</a></div>
+<div class="line"><a id="l00047" name="l00047"></a><span class="lineno">   47</span>          };</div>
+<div class="line"><a id="l00048" name="l00048"></a><span class="lineno">   48</span>          <span class="keywordflow">return</span> p;</div>
+<div class="line"><a id="l00049" name="l00049"></a><span class="lineno">   49</span>        }</div>
+<div class="line"><a id="l00050" name="l00050"></a><span class="lineno">   50</span> </div>
+<div class="line"><a id="l00056" name="l00056"></a><span class="lineno"><a class="line" href="structVector2D_1_1point__t.html#aac0efd68a6d8dbe4cbb2437096a0a05d">   56</a></span>        <a class="code hl_struct" href="structVector2D_1_1point__t.html">point_t</a> <a class="code hl_function" href="structVector2D_1_1point__t.html#aac0efd68a6d8dbe4cbb2437096a0a05d">operator-</a>(<span class="keyword">const</span> <a class="code hl_struct" href="structVector2D_1_1point__t.html">point_t</a> &amp;other)</div>
+<div class="line"><a id="l00057" name="l00057"></a><span class="lineno">   57</span>        {</div>
+<div class="line"><a id="l00058" name="l00058"></a><span class="lineno">   58</span>          <a class="code hl_struct" href="structVector2D_1_1point__t.html">point_t</a> p </div>
+<div class="line"><a id="l00059" name="l00059"></a><span class="lineno">   59</span>          {</div>
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+<div class="ttc" id="aclassVector2D_html"><div class="ttname"><a href="classVector2D.html">Vector2D</a></div><div class="ttdef"><b>Definition:</b> vector2d.h:14</div></div>
+<div class="ttc" id="aclassVector2D_html_a00a0dc6776995d47659b3ddd58c33a78"><div class="ttname"><a href="classVector2D.html#a00a0dc6776995d47659b3ddd58c33a78">Vector2D::operator*</a></div><div class="ttdeci">Vector2D operator*(const double &amp;x)</div><div class="ttdef"><b>Definition:</b> vector2d.cpp:116</div></div>
+<div class="ttc" id="aclassVector2D_html_a07a043fc63572c1cf3104ec0a9a4e796"><div class="ttname"><a href="classVector2D.html#a07a043fc63572c1cf3104ec0a9a4e796">Vector2D::operator-</a></div><div class="ttdeci">Vector2D operator-(const Vector2D &amp;other)</div><div class="ttdef"><b>Definition:</b> vector2d.cpp:101</div></div>
+<div class="ttc" id="aclassVector2D_html_a0bb684df2d724e4378dc5fbf0d4faa99"><div class="ttname"><a href="classVector2D.html#a0bb684df2d724e4378dc5fbf0d4faa99">Vector2D::normalize</a></div><div class="ttdeci">Vector2D normalize()</div><div class="ttdef"><b>Definition:</b> vector2d.cpp:58</div></div>
+<div class="ttc" id="aclassVector2D_html_a240e649d36dbda8bcba031f5fe5a2438"><div class="ttname"><a href="classVector2D.html#a240e649d36dbda8bcba031f5fe5a2438">Vector2D::get_x</a></div><div class="ttdeci">double get_x() const</div><div class="ttdef"><b>Definition:</b> vector2d.cpp:42</div></div>
+<div class="ttc" id="aclassVector2D_html_a2bed654f65df8c3bedbf8cd7d07071df"><div class="ttname"><a href="classVector2D.html#a2bed654f65df8c3bedbf8cd7d07071df">Vector2D::operator+</a></div><div class="ttdeci">Vector2D operator+(const Vector2D &amp;other)</div><div class="ttdef"><b>Definition:</b> vector2d.cpp:84</div></div>
+<div class="ttc" id="aclassVector2D_html_a4da6f92b5874470ed5642587a973c3df"><div class="ttname"><a href="classVector2D.html#a4da6f92b5874470ed5642587a973c3df">Vector2D::get_mag</a></div><div class="ttdeci">double get_mag() const</div><div class="ttdef"><b>Definition:</b> vector2d.cpp:37</div></div>
+<div class="ttc" id="aclassVector2D_html_a567227aaadc7eceae0cbccf7f611aff4"><div class="ttname"><a href="classVector2D.html#a567227aaadc7eceae0cbccf7f611aff4">Vector2D::point</a></div><div class="ttdeci">Vector2D::point_t point()</div><div class="ttdef"><b>Definition:</b> vector2d.cpp:67</div></div>
+<div class="ttc" id="aclassVector2D_html_a683dab4e55cfc8483a32c6805cd29980"><div class="ttname"><a href="classVector2D.html#a683dab4e55cfc8483a32c6805cd29980">Vector2D::get_dir</a></div><div class="ttdeci">double get_dir() const</div><div class="ttdef"><b>Definition:</b> vector2d.cpp:32</div></div>
+<div class="ttc" id="aclassVector2D_html_aee94b809a4a63b972c72b22257fa3f30"><div class="ttname"><a href="classVector2D.html#aee94b809a4a63b972c72b22257fa3f30">Vector2D::get_y</a></div><div class="ttdeci">double get_y() const</div><div class="ttdef"><b>Definition:</b> vector2d.cpp:50</div></div>
+<div class="ttc" id="astructVector2D_1_1point__t_html"><div class="ttname"><a href="structVector2D_1_1point__t.html">Vector2D::point_t</a></div><div class="ttdef"><b>Definition:</b> vector2d.h:21</div></div>
+<div class="ttc" id="astructVector2D_1_1point__t_html_a118bb1552bd98c9708e452d593ed5e29"><div class="ttname"><a href="structVector2D_1_1point__t.html#a118bb1552bd98c9708e452d593ed5e29">Vector2D::point_t::dist</a></div><div class="ttdeci">double dist(const point_t other)</div><div class="ttdef"><b>Definition:</b> vector2d.h:31</div></div>
+<div class="ttc" id="astructVector2D_1_1point__t_html_a80783a6446695b14693816aaf1341bdb"><div class="ttname"><a href="structVector2D_1_1point__t.html#a80783a6446695b14693816aaf1341bdb">Vector2D::point_t::operator+</a></div><div class="ttdeci">point_t operator+(const point_t &amp;other)</div><div class="ttdef"><b>Definition:</b> vector2d.h:41</div></div>
+<div class="ttc" id="astructVector2D_1_1point__t_html_a8290e79feb502e69cd95a7580cf6f1fe"><div class="ttname"><a href="structVector2D_1_1point__t.html#a8290e79feb502e69cd95a7580cf6f1fe">Vector2D::point_t::y</a></div><div class="ttdeci">double y</div><div class="ttdoc">the y position in space</div><div class="ttdef"><b>Definition:</b> vector2d.h:23</div></div>
+<div class="ttc" id="astructVector2D_1_1point__t_html_aac0efd68a6d8dbe4cbb2437096a0a05d"><div class="ttname"><a href="structVector2D_1_1point__t.html#aac0efd68a6d8dbe4cbb2437096a0a05d">Vector2D::point_t::operator-</a></div><div class="ttdeci">point_t operator-(const point_t &amp;other)</div><div class="ttdef"><b>Definition:</b> vector2d.h:56</div></div>
+<div class="ttc" id="astructVector2D_1_1point__t_html_ad139f137dd3554335c4ed9b51c8e3bd9"><div class="ttname"><a href="structVector2D_1_1point__t.html#ad139f137dd3554335c4ed9b51c8e3bd9">Vector2D::point_t::x</a></div><div class="ttdeci">double x</div><div class="ttdoc">the x position in space</div><div class="ttdef"><b>Definition:</b> vector2d.h:22</div></div>
+</div><!-- fragment --></div><!-- contents -->
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+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.6
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From 051ae2f3a62024637afcee2bd0e71e808045bd51 Mon Sep 17 00:00:00 2001
From: cowsed <richie.sommers@outlook.com>
Date: Sun, 12 Mar 2023 20:08:40 -0400
Subject: [PATCH 185/243] Github pages test

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-<div class="line"><a id="l00036" name="l00036"></a><span class="lineno">   36</span> </div>
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-<div class="line"><a id="l00045" name="l00045"></a><span class="lineno"><a class="line" href="structAutoChooser_1_1entry__t.html#a2e303a71790d85a67819830302c4dcee">   45</a></span>    <span class="keywordtype">int</span> <a class="code hl_variable" href="structAutoChooser_1_1entry__t.html#a2e303a71790d85a67819830302c4dcee">y</a>; </div>
-<div class="line"><a id="l00046" name="l00046"></a><span class="lineno"><a class="line" href="structAutoChooser_1_1entry__t.html#a2459ffe56c165e35f3a63bec99990367">   46</a></span>    <span class="keywordtype">int</span> <a class="code hl_variable" href="structAutoChooser_1_1entry__t.html#a2459ffe56c165e35f3a63bec99990367">width</a>; </div>
-<div class="line"><a id="l00047" name="l00047"></a><span class="lineno"><a class="line" href="structAutoChooser_1_1entry__t.html#a957eb90ff083c4a4f8dc90da976b86c7">   47</a></span>    <span class="keywordtype">int</span> <a class="code hl_variable" href="structAutoChooser_1_1entry__t.html#a957eb90ff083c4a4f8dc90da976b86c7">height</a>; </div>
-<div class="line"><a id="l00048" name="l00048"></a><span class="lineno"><a class="line" href="structAutoChooser_1_1entry__t.html#ab876b8f9fa8bf03a91c45c55c2a7fa23">   48</a></span>    std::string <a class="code hl_variable" href="structAutoChooser_1_1entry__t.html#ab876b8f9fa8bf03a91c45c55c2a7fa23">name</a>; </div>
-<div class="line"><a id="l00049" name="l00049"></a><span class="lineno">   49</span>  };</div>
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-<div class="line"><a id="l00051" name="l00051"></a><span class="lineno">   51</span>  <span class="keywordtype">void</span> <a class="code hl_function" href="classAutoChooser.html#a9365d354e3401d819e58a999721c07d9">render</a>(<a class="code hl_struct" href="structAutoChooser_1_1entry__t.html">entry_t</a> *selected);</div>
-<div class="line"><a id="l00052" name="l00052"></a><span class="lineno">   52</span> </div>
-<div class="line"><a id="l00053" name="l00053"></a><span class="lineno"><a class="line" href="classAutoChooser.html#a473e03a3e74487a38e94d3b5957f34bc">   53</a></span>  std::string <a class="code hl_variable" href="classAutoChooser.html#a473e03a3e74487a38e94d3b5957f34bc">choice</a>; </div>
-<div class="line"><a id="l00054" name="l00054"></a><span class="lineno"><a class="line" href="classAutoChooser.html#a5c2b8683579011b529b95aab423b120a">   54</a></span>  std::vector&lt;entry_t&gt; <a class="code hl_variable" href="classAutoChooser.html#a5c2b8683579011b529b95aab423b120a">list</a> ;</div>
-<div class="line"><a id="l00055" name="l00055"></a><span class="lineno"><a class="line" href="classAutoChooser.html#a9889be17b1b6243563f975dd421802b4">   55</a></span>  vex::brain &amp;<a class="code hl_variable" href="classAutoChooser.html#a9889be17b1b6243563f975dd421802b4">brain</a>; </div>
-<div class="line"><a id="l00058" name="l00058"></a><span class="lineno">   58</span>};</div>
-<div class="ttc" id="aclassAutoChooser_html"><div class="ttname"><a href="classAutoChooser.html">AutoChooser</a></div><div class="ttdef"><b>Definition:</b> auto_chooser.h:16</div></div>
-<div class="ttc" id="aclassAutoChooser_html_a473e03a3e74487a38e94d3b5957f34bc"><div class="ttname"><a href="classAutoChooser.html#a473e03a3e74487a38e94d3b5957f34bc">AutoChooser::choice</a></div><div class="ttdeci">std::string choice</div><div class="ttdef"><b>Definition:</b> auto_chooser.h:53</div></div>
-<div class="ttc" id="aclassAutoChooser_html_a5c2b8683579011b529b95aab423b120a"><div class="ttname"><a href="classAutoChooser.html#a5c2b8683579011b529b95aab423b120a">AutoChooser::list</a></div><div class="ttdeci">std::vector&lt; entry_t &gt; list</div><div class="ttdef"><b>Definition:</b> auto_chooser.h:54</div></div>
-<div class="ttc" id="aclassAutoChooser_html_a67b80bf6b62cfced155519f5b608e08c"><div class="ttname"><a href="classAutoChooser.html#a67b80bf6b62cfced155519f5b608e08c">AutoChooser::add</a></div><div class="ttdeci">void add(std::string name)</div><div class="ttdef"><b>Definition:</b> auto_chooser.cpp:66</div></div>
-<div class="ttc" id="aclassAutoChooser_html_a9365d354e3401d819e58a999721c07d9"><div class="ttname"><a href="classAutoChooser.html#a9365d354e3401d819e58a999721c07d9">AutoChooser::render</a></div><div class="ttdeci">void render(entry_t *selected)</div><div class="ttdef"><b>Definition:</b> auto_chooser.cpp:47</div></div>
-<div class="ttc" id="aclassAutoChooser_html_a9889be17b1b6243563f975dd421802b4"><div class="ttname"><a href="classAutoChooser.html#a9889be17b1b6243563f975dd421802b4">AutoChooser::brain</a></div><div class="ttdeci">vex::brain &amp; brain</div><div class="ttdef"><b>Definition:</b> auto_chooser.h:55</div></div>
-<div class="ttc" id="aclassAutoChooser_html_ada27d20c06baeb169c3abed5fd0b06bb"><div class="ttname"><a href="classAutoChooser.html#ada27d20c06baeb169c3abed5fd0b06bb">AutoChooser::get_choice</a></div><div class="ttdeci">std::string get_choice()</div><div class="ttdef"><b>Definition:</b> auto_chooser.cpp:85</div></div>
-<div class="ttc" id="astructAutoChooser_1_1entry__t_html"><div class="ttname"><a href="structAutoChooser_1_1entry__t.html">AutoChooser::entry_t</a></div><div class="ttdef"><b>Definition:</b> auto_chooser.h:43</div></div>
-<div class="ttc" id="astructAutoChooser_1_1entry__t_html_a2459ffe56c165e35f3a63bec99990367"><div class="ttname"><a href="structAutoChooser_1_1entry__t.html#a2459ffe56c165e35f3a63bec99990367">AutoChooser::entry_t::width</a></div><div class="ttdeci">int width</div><div class="ttdef"><b>Definition:</b> auto_chooser.h:46</div></div>
-<div class="ttc" id="astructAutoChooser_1_1entry__t_html_a2e303a71790d85a67819830302c4dcee"><div class="ttname"><a href="structAutoChooser_1_1entry__t.html#a2e303a71790d85a67819830302c4dcee">AutoChooser::entry_t::y</a></div><div class="ttdeci">int y</div><div class="ttdef"><b>Definition:</b> auto_chooser.h:45</div></div>
-<div class="ttc" id="astructAutoChooser_1_1entry__t_html_a7aa2aaaccd195c358c88afa6e24b5f73"><div class="ttname"><a href="structAutoChooser_1_1entry__t.html#a7aa2aaaccd195c358c88afa6e24b5f73">AutoChooser::entry_t::x</a></div><div class="ttdeci">int x</div><div class="ttdef"><b>Definition:</b> auto_chooser.h:44</div></div>
-<div class="ttc" id="astructAutoChooser_1_1entry__t_html_a957eb90ff083c4a4f8dc90da976b86c7"><div class="ttname"><a href="structAutoChooser_1_1entry__t.html#a957eb90ff083c4a4f8dc90da976b86c7">AutoChooser::entry_t::height</a></div><div class="ttdeci">int height</div><div class="ttdef"><b>Definition:</b> auto_chooser.h:47</div></div>
-<div class="ttc" id="astructAutoChooser_1_1entry__t_html_ab876b8f9fa8bf03a91c45c55c2a7fa23"><div class="ttname"><a href="structAutoChooser_1_1entry__t.html#ab876b8f9fa8bf03a91c45c55c2a7fa23">AutoChooser::entry_t::name</a></div><div class="ttdeci">std::string name</div><div class="ttdef"><b>Definition:</b> auto_chooser.h:48</div></div>
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-
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-<p>Add multiple commands to the queue. No timeout here. </p><dl class="params"><dt>Parameters</dt><dd>
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-<p>get the position that the encoder is at </p><dl class="params"><dt>Parameters</dt><dd>
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-<p>get the rotation that the encoder is at </p><dl class="params"><dt>Parameters</dt><dd>
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-<p>sets the stored position of the encoder. Any further movements will be from this value </p><dl class="params"><dt>Parameters</dt><dd>
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-<p>File: <a class="el" href="drive__commands_8h_source.html">drive_commands.h</a> Desc: Holds all the <a class="el" href="classAutoCommand.html">AutoCommand</a> subclasses that wrap (currently) <a class="el" href="classTankDrive.html">TankDrive</a> functions</p>
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-<h2 class="memtitle"><span class="permalink"><a href="#a52b4e1ff386eeb1c00f219f40738d0af">&#9670;&#160;</a></span>on_timeout()</h2>
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-<p>reset the drive system if we timeout </p>
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-<p>Reimplemented from <a class="el" href="classAutoCommand.html#a9f58c576ca6378b18a4136f60df50560">AutoCommand</a>.</p>
-
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-<hr/>The documentation for this class was generated from the following files:<ul>
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-<p><code>#include &lt;<a class="el" href="feedforward_8h_source.html">feedforward.h</a>&gt;</code></p>
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-Classes</h2></td></tr>
-<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structFeedForward_1_1ff__config__t.html">ff_config_t</a></td></tr>
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-<tr class="memitem:aeea5ddbbcc6e75a479442cf69954665c"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classFeedForward.html#aeea5ddbbcc6e75a479442cf69954665c">FeedForward</a> (<a class="el" href="structFeedForward_1_1ff__config__t.html">ff_config_t</a> &amp;cfg)</td></tr>
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-<tr class="memitem:a2e2f7c12076225fa1dfd5f18aa210290"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classFeedForward.html#a2e2f7c12076225fa1dfd5f18aa210290">calculate</a> (double v, double a, double pid_ref=0.0)</td></tr>
-<tr class="memdesc:a2e2f7c12076225fa1dfd5f18aa210290"><td class="mdescLeft">&#160;</td><td class="mdescRight">Perform the feedforward calculation.  <br /></td></tr>
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-<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
-<div class="textblock"><p><a class="el" href="classFeedForward.html">FeedForward</a></p>
-<p>Stores the feedfoward constants, and allows for quick computation. Feedfoward should be used in systems that require smooth precise movements and have high inertia, such as drivetrains and lifts.</p>
-<p>This is best used alongside a <a class="el" href="classPID.html">PID</a> loop, with the form: output = pid.get() + feedforward.calculate(v, a);</p>
-<p>In this case, the feedforward does the majority of the heavy lifting, and the pid loop only corrects for inconsistencies</p>
-<p>For information about tuning feedforward, I reccommend looking at this post: <a href="https://www.chiefdelphi.com/t/paper-frc-drivetrain-characterization/160915">https://www.chiefdelphi.com/t/paper-frc-drivetrain-characterization/160915</a> (yes I know it's for FRC but trust me, it's useful)</p>
-<dl class="section author"><dt>Author</dt><dd>Ryan McGee </dd></dl>
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-<p>Creates a <a class="el" href="classFeedForward.html">FeedForward</a> object. </p><dl class="params"><dt>Parameters</dt><dd>
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-<h2 class="memtitle"><span class="permalink"><a href="#a2e2f7c12076225fa1dfd5f18aa210290">&#9670;&#160;</a></span>calculate()</h2>
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-<p>Perform the feedforward calculation. </p>
-<p>This calculation is the equation: F = kG + kS*sgn(v) + kV*v + kA*a</p>
-<dl class="params"><dt>Parameters</dt><dd>
-  <table class="params">
-    <tr><td class="paramname">v</td><td>Requested velocity of system </td></tr>
-    <tr><td class="paramname">a</td><td>Requested acceleration of system </td></tr>
-  </table>
-  </dd>
-</dl>
-<dl class="section return"><dt>Returns</dt><dd>A feedforward that should closely represent the system if tuned correctly </dd></dl>
-
-</div>
-</div>
-<hr/>The documentation for this class was generated from the following file:<ul>
-<li>include/utils/<a class="el" href="feedforward_8h_source.html">feedforward.h</a></li>
-</ul>
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-  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>FeedbackType</b> enum name (defined in <a class="el" href="classFeedback.html">Feedback</a>)</td><td class="entry"><a class="el" href="classFeedback.html">Feedback</a></td><td class="entry"></td></tr>
-  <tr bgcolor="#f0f0f0" class="odd"><td class="entry"><b>FeedforwardType</b> enum value (defined in <a class="el" href="classFeedback.html">Feedback</a>)</td><td class="entry"><a class="el" href="classFeedback.html">Feedback</a></td><td class="entry"></td></tr>
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-  <tr bgcolor="#f0f0f0" class="odd"><td class="entry"><b>get_type</b>() (defined in <a class="el" href="classFeedback.html">Feedback</a>)</td><td class="entry"><a class="el" href="classFeedback.html">Feedback</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
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-  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>OtherType</b> enum value (defined in <a class="el" href="classFeedback.html">Feedback</a>)</td><td class="entry"><a class="el" href="classFeedback.html">Feedback</a></td><td class="entry"></td></tr>
-  <tr bgcolor="#f0f0f0" class="odd"><td class="entry"><b>PIDType</b> enum value (defined in <a class="el" href="classFeedback.html">Feedback</a>)</td><td class="entry"><a class="el" href="classFeedback.html">Feedback</a></td><td class="entry"></td></tr>
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-, <b>OtherType</b>
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-Public Member Functions</h2></td></tr>
-<tr class="memitem:a22efb13216bfd51aea07e0b6e45135c1"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classFeedback.html#a22efb13216bfd51aea07e0b6e45135c1">init</a> (double start_pt, double set_pt)=0</td></tr>
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-<tr class="memitem:adda5fc7642539996be00632954dfc41f"><td class="memItemLeft" align="right" valign="top">virtual double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classFeedback.html#adda5fc7642539996be00632954dfc41f">update</a> (double val)=0</td></tr>
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-<tr class="memitem:ac44bb519a6f4e25c8e8250f3d30ab359"><td class="memItemLeft" align="right" valign="top">virtual double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classFeedback.html#ac44bb519a6f4e25c8e8250f3d30ab359">get</a> ()=0</td></tr>
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-<tr class="memitem:a533a10b65cfc998898bf054f8b141de2"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classFeedback.html#a533a10b65cfc998898bf054f8b141de2">set_limits</a> (double lower, double upper)=0</td></tr>
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-<tr class="memitem:ae4cc835c374aab9761d22603d4329d34"><td class="memItemLeft" align="right" valign="top">virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classFeedback.html#ae4cc835c374aab9761d22603d4329d34">is_on_target</a> ()=0</td></tr>
-<tr class="separator:ae4cc835c374aab9761d22603d4329d34"><td class="memSeparator" colspan="2">&#160;</td></tr>
-<tr class="memitem:aef8981678b7bcded915ccc7e3e237208"><td class="memItemLeft" align="right" valign="top"><a id="aef8981678b7bcded915ccc7e3e237208" name="aef8981678b7bcded915ccc7e3e237208"></a>
-virtual Feedback::FeedbackType&#160;</td><td class="memItemRight" valign="bottom"><b>get_type</b> ()</td></tr>
-<tr class="separator:aef8981678b7bcded915ccc7e3e237208"><td class="memSeparator" colspan="2">&#160;</td></tr>
-</table>
-<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
-<div class="textblock"><p>Interface so that subsystems can easily switch between feedback loops</p>
-<dl class="section author"><dt>Author</dt><dd>Ryan McGee </dd></dl>
-<dl class="section date"><dt>Date</dt><dd>9/25/2022 </dd></dl>
-</div><h2 class="groupheader">Member Function Documentation</h2>
-<a id="ac44bb519a6f4e25c8e8250f3d30ab359" name="ac44bb519a6f4e25c8e8250f3d30ab359"></a>
-<h2 class="memtitle"><span class="permalink"><a href="#ac44bb519a6f4e25c8e8250f3d30ab359">&#9670;&#160;</a></span>get()</h2>
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-          <td>(</td>
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-          <td></td>
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-  </td>
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-<dl class="section return"><dt>Returns</dt><dd>the last saved result from the feedback controller </dd></dl>
-
-<p>Implemented in <a class="el" href="classMotionController.html#a2a1944f590618cd91770364aea416cd5">MotionController</a>, <a class="el" href="classPID.html#a69c2e66b8ff06c86ca9701d11e21da75">PID</a>, and <a class="el" href="classPIDFF.html#a78a34d271bcc703fc803e15b275fd238">PIDFF</a>.</p>
-
-</div>
-</div>
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-<h2 class="memtitle"><span class="permalink"><a href="#a22efb13216bfd51aea07e0b6e45135c1">&#9670;&#160;</a></span>init()</h2>
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-          <td>(</td>
-          <td class="paramtype">double&#160;</td>
-          <td class="paramname"><em>start_pt</em>, </td>
-        </tr>
-        <tr>
-          <td class="paramkey"></td>
-          <td></td>
-          <td class="paramtype">double&#160;</td>
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-        </tr>
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-<p>Initialize the feedback controller for a movement</p>
-<dl class="params"><dt>Parameters</dt><dd>
-  <table class="params">
-    <tr><td class="paramname">start_pt</td><td>the current sensor value </td></tr>
-    <tr><td class="paramname">set_pt</td><td>where the sensor value should be </td></tr>
-  </table>
-  </dd>
-</dl>
-
-<p>Implemented in <a class="el" href="classMotionController.html#af0d665d9916111cbce677da6df6b6667">MotionController</a>, <a class="el" href="classPID.html#aab0f3b4351cc4ee2b8bb366105e85e95">PID</a>, and <a class="el" href="classPIDFF.html#a37226c8d3bfac97485b28105a15f29fc">PIDFF</a>.</p>
-
-</div>
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-<a id="ae4cc835c374aab9761d22603d4329d34" name="ae4cc835c374aab9761d22603d4329d34"></a>
-<h2 class="memtitle"><span class="permalink"><a href="#ae4cc835c374aab9761d22603d4329d34">&#9670;&#160;</a></span>is_on_target()</h2>
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-          <td>(</td>
-          <td class="paramname"></td><td>)</td>
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-<dl class="section return"><dt>Returns</dt><dd>true if the feedback controller has reached it's setpoint </dd></dl>
-
-<p>Implemented in <a class="el" href="classMotionController.html#aa9e2af88b848646889deb1d43a283173">MotionController</a>, <a class="el" href="classPID.html#a9de884c31570c4ae0dc6e24eb26daa43">PID</a>, and <a class="el" href="classPIDFF.html#a2534a33490570d839bf1849673a70bc1">PIDFF</a>.</p>
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-          <td>(</td>
-          <td class="paramtype">double&#160;</td>
-          <td class="paramname"><em>lower</em>, </td>
-        </tr>
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-          <td class="paramtype">double&#160;</td>
-          <td class="paramname"><em>upper</em>&#160;</td>
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-<p>Clamp the upper and lower limits of the output. If both are 0, no limits should be applied.</p>
-<dl class="params"><dt>Parameters</dt><dd>
-  <table class="params">
-    <tr><td class="paramname">lower</td><td>Upper limit </td></tr>
-    <tr><td class="paramname">upper</td><td>Lower limit </td></tr>
-  </table>
-  </dd>
-</dl>
-
-<p>Implemented in <a class="el" href="classMotionController.html#a944c245002a1eb124dd8df40de4fcc57">MotionController</a>, <a class="el" href="classPID.html#a8411ac48e8868d89e97afcf8990cca2c">PID</a>, and <a class="el" href="classPIDFF.html#ae0dccb27a91ec687f90c930441f246bb">PIDFF</a>.</p>
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-<h2 class="memtitle"><span class="permalink"><a href="#adda5fc7642539996be00632954dfc41f">&#9670;&#160;</a></span>update()</h2>
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-          <td class="paramtype">double&#160;</td>
-          <td class="paramname"><em>val</em></td><td>)</td>
-          <td></td>
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-<p>Iterate the feedback loop once with an updated sensor value</p>
-<dl class="params"><dt>Parameters</dt><dd>
-  <table class="params">
-    <tr><td class="paramname">val</td><td>value from the sensor </td></tr>
-  </table>
-  </dd>
-</dl>
-<dl class="section return"><dt>Returns</dt><dd>feedback loop result </dd></dl>
-
-<p>Implemented in <a class="el" href="classMotionController.html#a86ef0ef19858b5b407f7406bb5da30af">MotionController</a>, <a class="el" href="classPID.html#a53b5c34ba5e81fb79ed4258a143015b9">PID</a>, and <a class="el" href="classPIDFF.html#a9a9b05ec43e4430019652b62799e761c">PIDFF</a>.</p>
-
-</div>
-</div>
-<hr/>The documentation for this class was generated from the following file:<ul>
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-  <tr class="even"><td class="entry"><a class="el" href="classFlywheel.html#aa9df5ad636fb49d76ba922ecd1115aef">updatePID</a>(double value)</td><td class="entry"><a class="el" href="classFlywheel.html">Flywheel</a></td><td class="entry"></td></tr>
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-<tr class="separator:a63c9c4d3646e4ed14f3b98ce3ab28684"><td class="memSeparator" colspan="2">&#160;</td></tr>
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-<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
-<div class="textblock"><p>a <a class="el" href="classFlywheel.html">Flywheel</a> class that handles all control of a high inertia spinning disk It gives multiple options for what control system to use in order to control wheel velocity and functions alerting the user when the flywheel is up to speed. <a class="el" href="classFlywheel.html">Flywheel</a> is a set and forget class. Once you create it you can call spinRPM or stop on it at any time and it will take all necessary steps to accomplish this </p>
-</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
-<a id="a61a1ba81b716c6f99a8d63394f8d185f" name="a61a1ba81b716c6f99a8d63394f8d185f"></a>
-<h2 class="memtitle"><span class="permalink"><a href="#a61a1ba81b716c6f99a8d63394f8d185f">&#9670;&#160;</a></span>Flywheel() <span class="overload">[1/4]</span></h2>
-
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-          <td class="memname">Flywheel::Flywheel </td>
-          <td>(</td>
-          <td class="paramtype">motor_group &amp;&#160;</td>
-          <td class="paramname"><em>motors</em>, </td>
-        </tr>
-        <tr>
-          <td class="paramkey"></td>
-          <td></td>
-          <td class="paramtype"><a class="el" href="structPID_1_1pid__config__t.html">PID::pid_config_t</a> &amp;&#160;</td>
-          <td class="paramname"><em>pid_config</em>, </td>
-        </tr>
-        <tr>
-          <td class="paramkey"></td>
-          <td></td>
-          <td class="paramtype"><a class="el" href="structFeedForward_1_1ff__config__t.html">FeedForward::ff_config_t</a> &amp;&#160;</td>
-          <td class="paramname"><em>ff_config</em>, </td>
-        </tr>
-        <tr>
-          <td class="paramkey"></td>
-          <td></td>
-          <td class="paramtype">const double&#160;</td>
-          <td class="paramname"><em>ratio</em>&#160;</td>
-        </tr>
-        <tr>
-          <td></td>
-          <td>)</td>
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-<p>Create the <a class="el" href="classFlywheel.html">Flywheel</a> object using <a class="el" href="classPID.html">PID</a> + feedforward for control. </p><dl class="params"><dt>Parameters</dt><dd>
-  <table class="params">
-    <tr><td class="paramname">motors</td><td>pointer to the motors on the fly wheel </td></tr>
-    <tr><td class="paramname">pid_config</td><td>pointer the pid config to use </td></tr>
-    <tr><td class="paramname">ff_config</td><td>the feedforward config to use </td></tr>
-    <tr><td class="paramname">ratio</td><td>ratio of the whatever just multiplies the velocity</td></tr>
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-</dl>
-<p>Create the <a class="el" href="classFlywheel.html">Flywheel</a> object using <a class="el" href="classPID.html">PID</a> + feedforward for control. </p>
-
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-<h2 class="memtitle"><span class="permalink"><a href="#a38bb042949a6c6e7f283823a5786be65">&#9670;&#160;</a></span>Flywheel() <span class="overload">[2/4]</span></h2>
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-          <td class="memname">Flywheel::Flywheel </td>
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-          <td class="paramkey"></td>
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-          <td class="paramtype"><a class="el" href="structFeedForward_1_1ff__config__t.html">FeedForward::ff_config_t</a> &amp;&#160;</td>
-          <td class="paramname"><em>ff_config</em>, </td>
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-<p>Create the <a class="el" href="classFlywheel.html">Flywheel</a> object using only feedforward for control </p><dl class="params"><dt>Parameters</dt><dd>
-  <table class="params">
-    <tr><td class="paramname">motors</td><td>the motors on the fly wheel </td></tr>
-    <tr><td class="paramname">ff_config</td><td>the feedforward config to use </td></tr>
-    <tr><td class="paramname">ratio</td><td>ratio of the whatever just multiplies the velocity</td></tr>
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-<p>Create the <a class="el" href="classFlywheel.html">Flywheel</a> object using only feedforward for control </p>
-
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-<h2 class="memtitle"><span class="permalink"><a href="#a9ce96416ffe460e013fab3ba434bae79">&#9670;&#160;</a></span>Flywheel() <span class="overload">[3/4]</span></h2>
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-          <td class="memname">Flywheel::Flywheel </td>
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-<p>Create the <a class="el" href="classFlywheel.html">Flywheel</a> object using Take Back Half for control </p><dl class="params"><dt>Parameters</dt><dd>
-  <table class="params">
-    <tr><td class="paramname">motors</td><td>the motors on the fly wheel </td></tr>
-    <tr><td class="paramname">tbh_gain</td><td>the TBH control paramater </td></tr>
-    <tr><td class="paramname">ratio</td><td>ratio of the whatever just multiplies the velocity</td></tr>
-  </table>
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-</dl>
-<p>Create the <a class="el" href="classFlywheel.html">Flywheel</a> object using Take Back Half for control </p>
-
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-<h2 class="memtitle"><span class="permalink"><a href="#a3ae86041ee9dc973538fcc6caf47cd58">&#9670;&#160;</a></span>Flywheel() <span class="overload">[4/4]</span></h2>
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-          <td>(</td>
-          <td class="paramtype">motor_group &amp;&#160;</td>
-          <td class="paramname"><em>motors</em>, </td>
-        </tr>
-        <tr>
-          <td class="paramkey"></td>
-          <td></td>
-          <td class="paramtype">const double&#160;</td>
-          <td class="paramname"><em>ratio</em>&#160;</td>
-        </tr>
-        <tr>
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-<p>Create the <a class="el" href="classFlywheel.html">Flywheel</a> object using Bang Bang for control </p><dl class="params"><dt>Parameters</dt><dd>
-  <table class="params">
-    <tr><td class="paramname">motors</td><td>the motors on the fly wheel </td></tr>
-    <tr><td class="paramname">ratio</td><td>ratio of the whatever just multiplies the velocity</td></tr>
-  </table>
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-<p>Create the <a class="el" href="classFlywheel.html">Flywheel</a> object using Bang Bang for control </p>
-
-</div>
-</div>
-<h2 class="groupheader">Member Function Documentation</h2>
-<a id="a5dee80fd74903884478649b6ec2f4528" name="a5dee80fd74903884478649b6ec2f4528"></a>
-<h2 class="memtitle"><span class="permalink"><a href="#a5dee80fd74903884478649b6ec2f4528">&#9670;&#160;</a></span>getDesiredRPM()</h2>
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-<div class="memitem">
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-          <td class="memname">double Flywheel::getDesiredRPM </td>
-          <td>(</td>
-          <td class="paramname"></td><td>)</td>
-          <td></td>
-        </tr>
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-<p>Return the RPM that the flywheel is currently trying to achieve </p><dl class="section return"><dt>Returns</dt><dd>RPM the target rpm</dd></dl>
-<p>Return the current value that the RPM should be set to </p>
-
-</div>
-</div>
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-<h2 class="memtitle"><span class="permalink"><a href="#aea43f1c07b799133113d7b9ff14a7f36">&#9670;&#160;</a></span>getFeedforwardValue()</h2>
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-<div class="memitem">
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-          <td class="memname">double Flywheel::getFeedforwardValue </td>
-          <td>(</td>
-          <td class="paramname"></td><td>)</td>
-          <td></td>
-        </tr>
-      </table>
-</div><div class="memdoc">
-<p>returns the current OUT value of the <a class="el" href="classPID.html">PID</a> - the value that the <a class="el" href="classPID.html">PID</a> would set the motors to</p>
-<p>returns the current OUT value of the Feedforward - the value that the Feedforward would set the motors to </p><dl class="section return"><dt>Returns</dt><dd>the voltage that feedforward wants the motors at to achieve the target RPM </dd></dl>
-
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-</div>
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-<h2 class="memtitle"><span class="permalink"><a href="#a5823c1242f4b00519f582a7468cf537a">&#9670;&#160;</a></span>getMotors()</h2>
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-<div class="memitem">
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-          <td class="memname">motor_group * Flywheel::getMotors </td>
-          <td>(</td>
-          <td class="paramname"></td><td>)</td>
-          <td></td>
-        </tr>
-      </table>
-</div><div class="memdoc">
-<p>Returns a POINTER to the motors</p>
-<p>Returns a POINTER TO the motors; not currently used. </p><dl class="section return"><dt>Returns</dt><dd>motorPointer -pointer to the motors </dd></dl>
-
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-          <td class="memname"><a class="el" href="classPID.html">PID</a> * Flywheel::getPID </td>
-          <td>(</td>
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-        </tr>
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-<p>Returns a POINTER to the <a class="el" href="classPID.html">PID</a>.</p>
-<p>Returns a POINTER TO the <a class="el" href="classPID.html">PID</a>; not currently used. </p><dl class="section return"><dt>Returns</dt><dd>pidPointer -pointer to the <a class="el" href="classPID.html">PID</a> </dd></dl>
-
-</div>
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-<h2 class="memtitle"><span class="permalink"><a href="#a45bde10a01304c71e74564cd080a9052">&#9670;&#160;</a></span>getPIDValue()</h2>
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-<p>returns the current OUT value of the <a class="el" href="classPID.html">PID</a> - the value that the <a class="el" href="classPID.html">PID</a> would set the motors to</p>
-<p>returns the current OUT value of the <a class="el" href="classPID.html">PID</a> - the value that the <a class="el" href="classPID.html">PID</a> would set the motors to </p><dl class="section return"><dt>Returns</dt><dd>the voltage that <a class="el" href="classPID.html">PID</a> wants the motors at to achieve the target RPM </dd></dl>
-
-</div>
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-          <td class="memname">double Flywheel::getRPM </td>
-          <td>(</td>
-          <td class="paramname"></td><td>)</td>
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-</div><div class="memdoc">
-<p>return the current smoothed velocity of the flywheel motors, in RPM </p>
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-<h2 class="memtitle"><span class="permalink"><a href="#a8c1f0b98975b9d75bc5b350fa059043d">&#9670;&#160;</a></span>getTBHGain()</h2>
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-          <td>(</td>
-          <td class="paramname"></td><td>)</td>
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-</div><div class="memdoc">
-<p>get the gain used for TBH control</p>
-<p>get the gain used for TBH control </p><dl class="section return"><dt>Returns</dt><dd>the gain used in TBH control </dd></dl>
-
-</div>
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-<h2 class="memtitle"><span class="permalink"><a href="#a990fde5741011926c84c45ea3c51ced3">&#9670;&#160;</a></span>isTaskRunning()</h2>
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-          <td>(</td>
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-        </tr>
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-<p>Checks if the background RPM controlling task is running </p><dl class="section return"><dt>Returns</dt><dd>true if the task is running</dd></dl>
-<p>Checks if the background RPM controlling task is running </p><dl class="section return"><dt>Returns</dt><dd>taskRunning - If the task is running </dd></dl>
-
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-        </tr>
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-</div><div class="memdoc">
-<p>make a measurement of the current RPM of the flywheel motor and return a smoothed version</p>
-<p>return the current velocity of the flywheel motors, in RPM </p><dl class="section return"><dt>Returns</dt><dd>the measured velocity of the flywheel </dd></dl>
-
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-<h2 class="memtitle"><span class="permalink"><a href="#a5eeb847c6ef4736b1917bf32843c69aa">&#9670;&#160;</a></span>setPIDTarget()</h2>
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-<p>Sets the value of the <a class="el" href="classPID.html">PID</a> target </p><dl class="params"><dt>Parameters</dt><dd>
-  <table class="params">
-    <tr><td class="paramname">value</td><td>- desired value of the <a class="el" href="classPID.html">PID</a> </td></tr>
-  </table>
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-<h2 class="memtitle"><span class="permalink"><a href="#a291e067bcc495a9d3da16a5832d78484">&#9670;&#160;</a></span>spin_manual()</h2>
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-          <td class="memname">void Flywheel::spin_manual </td>
-          <td>(</td>
-          <td class="paramtype">double&#160;</td>
-          <td class="paramname"><em>speed</em>, </td>
-        </tr>
-        <tr>
-          <td class="paramkey"></td>
-          <td></td>
-          <td class="paramtype">directionType&#160;</td>
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-<p>Spin motors using voltage; defaults forward at 12 volts FOR USE BY OPCONTROL AND AUTONOMOUS - this only applies if the RPM thread is not running </p><dl class="params"><dt>Parameters</dt><dd>
-  <table class="params">
-    <tr><td class="paramname">speed</td><td>- speed (between -1 and 1) to set the motor </td></tr>
-    <tr><td class="paramname">dir</td><td>- direction that the motor moves in; defaults to forward </td></tr>
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-<h2 class="memtitle"><span class="permalink"><a href="#a5f4afa2ab8976acbf9fd47776a884dd3">&#9670;&#160;</a></span>spin_raw()</h2>
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-          <td class="paramname"><em>speed</em>, </td>
-        </tr>
-        <tr>
-          <td class="paramkey"></td>
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-          <td class="paramtype">directionType&#160;</td>
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-<p>Spin motors using voltage; defaults forward at 12 volts FOR USE BY TASKS ONLY </p><dl class="params"><dt>Parameters</dt><dd>
-  <table class="params">
-    <tr><td class="paramname">speed</td><td>- speed (between -1 and 1) to set the motor </td></tr>
-    <tr><td class="paramname">dir</td><td>- direction that the motor moves in; defaults to forward </td></tr>
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-<h2 class="memtitle"><span class="permalink"><a href="#aa72700130c0c8a08517ec1396fe9cc2b">&#9670;&#160;</a></span>spinRPM()</h2>
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-          <td class="memname">void Flywheel::spinRPM </td>
-          <td>(</td>
-          <td class="paramtype">int&#160;</td>
-          <td class="paramname"><em>inputRPM</em></td><td>)</td>
-          <td></td>
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-<p>starts or sets the RPM thread at new value what control scheme is dependent on control_style </p><dl class="params"><dt>Parameters</dt><dd>
-  <table class="params">
-    <tr><td class="paramname">rpm</td><td>- the RPM we want to spin at</td></tr>
-  </table>
-  </dd>
-</dl>
-<p>starts or sets the RPM thread at new value what control scheme is dependent on control_style </p><dl class="params"><dt>Parameters</dt><dd>
-  <table class="params">
-    <tr><td class="paramname">inputRPM</td><td>- set the current RPM </td></tr>
-  </table>
-  </dd>
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-
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-<h2 class="memtitle"><span class="permalink"><a href="#a6634f5126f0404e0edeeff1e0e14d05e">&#9670;&#160;</a></span>stop()</h2>
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-<p>stop the RPM thread and the wheel </p>
-
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-<h2 class="memtitle"><span class="permalink"><a href="#a78eaa40c9c069b8b4146c3ae34a21d4e">&#9670;&#160;</a></span>stopMotors()</h2>
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-<p>stop only the motors; exclusively for BANG BANG use </p>
-
-</div>
-</div>
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-<h2 class="memtitle"><span class="permalink"><a href="#a63c9c4d3646e4ed14f3b98ce3ab28684">&#9670;&#160;</a></span>stopNonTasks()</h2>
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-<div class="memitem">
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-          <td class="memname">void Flywheel::stopNonTasks </td>
-          <td>(</td>
-          <td class="paramname"></td><td>)</td>
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-<p>Stop the motors if the task isn't running - stop manual control </p>
-
-</div>
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-<h2 class="memtitle"><span class="permalink"><a href="#aa9df5ad636fb49d76ba922ecd1115aef">&#9670;&#160;</a></span>updatePID()</h2>
-
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-          <td class="memname">void Flywheel::updatePID </td>
-          <td>(</td>
-          <td class="paramtype">double&#160;</td>
-          <td class="paramname"><em>value</em></td><td>)</td>
-          <td></td>
-        </tr>
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-<p>updates the value of the <a class="el" href="classPID.html">PID</a> </p><dl class="params"><dt>Parameters</dt><dd>
-  <table class="params">
-    <tr><td class="paramname">value</td><td>- value to update the <a class="el" href="classPID.html">PID</a> with </td></tr>
-  </table>
-  </dd>
-</dl>
-
-</div>
-</div>
-<hr/>The documentation for this class was generated from the following files:<ul>
-<li>include/subsystems/<a class="el" href="flywheel_8h_source.html">flywheel.h</a></li>
-<li>src/subsystems/flywheel.cpp</li>
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-<a href="#pub-methods">Public Member Functions</a> &#124;
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-  <div class="headertitle"><div class="title">GraphDrawer Class Reference</div></div>
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-<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-methods" name="pub-methods"></a>
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-<tr class="memitem:a8066ff51adb3cbbeca34268d13f34c5f"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classGraphDrawer.html#a8066ff51adb3cbbeca34268d13f34c5f">GraphDrawer</a> (vex::brain::lcd &amp;screen, int num_samples, std::string x_label, std::string y_label, vex::color col, bool draw_border, double lower_bound, double upper_bound)</td></tr>
-<tr class="memdesc:a8066ff51adb3cbbeca34268d13f34c5f"><td class="mdescLeft">&#160;</td><td class="mdescRight">a helper class to graph values on the brain screen  <br /></td></tr>
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-<tr class="memitem:a41cadd5ade1ae9de1a82cc97ee15557c"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classGraphDrawer.html#a41cadd5ade1ae9de1a82cc97ee15557c">add_sample</a> (<a class="el" href="structVector2D_1_1point__t.html">Vector2D::point_t</a> sample)</td></tr>
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-<p>a helper class to graph values on the brain screen </p>
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-    <tr><td class="paramname">lower_bound</td><td>the bottom of the window to graph. if lower_bound == upperbound, the graph will scale to it's datapoints <br  />
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-<h2 class="memtitle"><span class="permalink"><a href="#a41cadd5ade1ae9de1a82cc97ee15557c">&#9670;&#160;</a></span>add_sample()</h2>
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-<p>add_sample adds a point to the graph, removing one from the back </p><dl class="params"><dt>Parameters</dt><dd>
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-<p>draws the graph to the screen in the constructor </p><dl class="params"><dt>Parameters</dt><dd>
-  <table class="params">
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-<hr/>The documentation for this class was generated from the following file:<ul>
-<li>include/utils/<a class="el" href="graph__drawer_8h_source.html">graph_drawer.h</a></li>
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-
-<p><code>#include &lt;<a class="el" href="lift_8h_source.html">lift.h</a>&gt;</code></p>
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-<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structLift_1_1lift__cfg__t.html">lift_cfg_t</a></td></tr>
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-<tr class="memitem:aa5723874330725dec5176ec4174e9ea8"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classLift.html#aa5723874330725dec5176ec4174e9ea8">Lift</a> (motor_group &amp;lift_motors, <a class="el" href="structLift_1_1lift__cfg__t.html">lift_cfg_t</a> &amp;lift_cfg, map&lt; T, double &gt; &amp;setpoint_map, limit *homing_switch=NULL)</td></tr>
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-<tr class="memitem:acfeaf4547de1b6a01982e8e51b0bb224"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classLift.html#acfeaf4547de1b6a01982e8e51b0bb224">control_manual</a> (bool up_btn, bool down_btn, int volt_up, int volt_down)</td></tr>
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-<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
-<div class="textblock"><div class="compoundTemplParams">template&lt;typename T&gt;<br />
-class Lift&lt; T &gt;</div><p>LIFT A general class for lifts (e.g. 4bar, dr4bar, linear, etc) Uses a <a class="el" href="classPID.html">PID</a> to hold the lift at a certain height under load, and to move the lift to different heights</p>
-<dl class="section author"><dt>Author</dt><dd>Ryan McGee </dd></dl>
-</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
-<a id="aa5723874330725dec5176ec4174e9ea8" name="aa5723874330725dec5176ec4174e9ea8"></a>
-<h2 class="memtitle"><span class="permalink"><a href="#aa5723874330725dec5176ec4174e9ea8">&#9670;&#160;</a></span>Lift()</h2>
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-          <td class="memname"><a class="el" href="classLift.html">Lift</a>&lt; T &gt;<a class="el" href="classLift.html">::Lift</a> </td>
-          <td>(</td>
-          <td class="paramtype">motor_group &amp;&#160;</td>
-          <td class="paramname"><em>lift_motors</em>, </td>
-        </tr>
-        <tr>
-          <td class="paramkey"></td>
-          <td></td>
-          <td class="paramtype"><a class="el" href="structLift_1_1lift__cfg__t.html">lift_cfg_t</a> &amp;&#160;</td>
-          <td class="paramname"><em>lift_cfg</em>, </td>
-        </tr>
-        <tr>
-          <td class="paramkey"></td>
-          <td></td>
-          <td class="paramtype">map&lt; T, double &gt; &amp;&#160;</td>
-          <td class="paramname"><em>setpoint_map</em>, </td>
-        </tr>
-        <tr>
-          <td class="paramkey"></td>
-          <td></td>
-          <td class="paramtype">limit *&#160;</td>
-          <td class="paramname"><em>homing_switch</em> = <code>NULL</code>&#160;</td>
-        </tr>
-        <tr>
-          <td></td>
-          <td>)</td>
-          <td></td><td></td>
-        </tr>
-      </table>
-  </td>
-  <td class="mlabels-right">
-<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
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-</table>
-</div><div class="memdoc">
-<p>Construct the <a class="el" href="classLift.html">Lift</a> object and begin the background task that controls the lift.</p>
-<p>Usage example: /code{.cpp} enum Positions {UP, MID, DOWN}; map&lt;Positions, double&gt; setpt_map { {DOWN, 0.0}, {MID, 0.5}, {UP, 1.0} }; Lift&lt;Positions&gt; my_lift(motors, lift_cfg, setpt_map); /endcode</p>
-<dl class="params"><dt>Parameters</dt><dd>
-  <table class="params">
-    <tr><td class="paramname">lift_motors</td><td>A set of motors, all set that positive rotation correlates with the lift going up </td></tr>
-    <tr><td class="paramname">lift_cfg</td><td><a class="el" href="classLift.html">Lift</a> characterization information; <a class="el" href="classPID.html">PID</a> tunings and movement speeds </td></tr>
-    <tr><td class="paramname">setpoint_map</td><td>A map of enum type T, in which each enum entry corresponds to a different lift height </td></tr>
-  </table>
-  </dd>
-</dl>
-
-</div>
-</div>
-<h2 class="groupheader">Member Function Documentation</h2>
-<a id="ae585cb81d733c975a65bfa7914a6bfeb" name="ae585cb81d733c975a65bfa7914a6bfeb"></a>
-<h2 class="memtitle"><span class="permalink"><a href="#ae585cb81d733c975a65bfa7914a6bfeb">&#9670;&#160;</a></span>control_continuous()</h2>
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-template&lt;typename T &gt; </div>
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-        <tr>
-          <td class="memname">void <a class="el" href="classLift.html">Lift</a>&lt; T &gt;::control_continuous </td>
-          <td>(</td>
-          <td class="paramtype">bool&#160;</td>
-          <td class="paramname"><em>up_ctrl</em>, </td>
-        </tr>
-        <tr>
-          <td class="paramkey"></td>
-          <td></td>
-          <td class="paramtype">bool&#160;</td>
-          <td class="paramname"><em>down_ctrl</em>&#160;</td>
-        </tr>
-        <tr>
-          <td></td>
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-        </tr>
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-<p>Control the lift with an "up" button and a "down" button. Use <a class="el" href="classPID.html">PID</a> to hold the lift when letting go. </p><dl class="params"><dt>Parameters</dt><dd>
-  <table class="params">
-    <tr><td class="paramname">up_ctrl</td><td>Button controlling the "UP" motion </td></tr>
-    <tr><td class="paramname">down_ctrl</td><td>Button controlling the "DOWN" motion </td></tr>
-  </table>
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-</dl>
-
-</div>
-</div>
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-<h2 class="memtitle"><span class="permalink"><a href="#acfeaf4547de1b6a01982e8e51b0bb224">&#9670;&#160;</a></span>control_manual()</h2>
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-<div class="memitem">
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-<p>Control the lift with manual controls (no holding voltage)</p>
-<dl class="params"><dt>Parameters</dt><dd>
-  <table class="params">
-    <tr><td class="paramname">up_btn</td><td>Raise the lift when true </td></tr>
-    <tr><td class="paramname">down_btn</td><td>Lower the lift when true </td></tr>
-    <tr><td class="paramname">volt_up</td><td>Motor voltage when raising the lift </td></tr>
-    <tr><td class="paramname">volt_down</td><td>Motor voltage when lowering the lift </td></tr>
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-<h2 class="memtitle"><span class="permalink"><a href="#a7197ad879474798a5c1fec4963058c3a">&#9670;&#160;</a></span>control_setpoints()</h2>
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-          <td class="paramtype">bool&#160;</td>
-          <td class="paramname"><em>up_step</em>, </td>
-        </tr>
-        <tr>
-          <td class="paramkey"></td>
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-          <td class="paramtype">bool&#160;</td>
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-          <td class="paramkey"></td>
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-<p>Control the lift in "steps". When the "up" button is pressed, the lift will go to the next position as defined by pos_list. Order matters!</p>
-<dl class="params"><dt>Parameters</dt><dd>
-  <table class="params">
-    <tr><td class="paramname">up_step</td><td>A button that increments the position of the lift. </td></tr>
-    <tr><td class="paramname">down_step</td><td>A button that decrements the position of the lift. </td></tr>
-    <tr><td class="paramname">pos_list</td><td>A list of positions for the lift to go through. The higher the index, the higher the lift should be (generally). </td></tr>
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-<tr class="memitem:aa0cfb8683fee99e0a534c3a725d338fd"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classMecanumDrive.html#aa0cfb8683fee99e0a534c3a725d338fd">auto_drive</a> (double inches, double direction, double speed, bool gyro_correction=true)</td></tr>
-<tr class="separator:aa0cfb8683fee99e0a534c3a725d338fd"><td class="memSeparator" colspan="2">&#160;</td></tr>
-<tr class="memitem:ac8813aafec14f2d25c3abafefdb81498"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classMecanumDrive.html#ac8813aafec14f2d25c3abafefdb81498">auto_turn</a> (double degrees, double speed, bool ignore_imu=false)</td></tr>
-<tr class="separator:ac8813aafec14f2d25c3abafefdb81498"><td class="memSeparator" colspan="2">&#160;</td></tr>
-</table>
-<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
-<div class="textblock"><p>A class representing the Mecanum drivetrain. Contains 4 motors, a possible IMU (intertial), and a possible undriven perpendicular wheel. </p>
-</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
-<a id="a780908c5b55ea8b9f228c84540a6c5f7" name="a780908c5b55ea8b9f228c84540a6c5f7"></a>
-<h2 class="memtitle"><span class="permalink"><a href="#a780908c5b55ea8b9f228c84540a6c5f7">&#9670;&#160;</a></span>MecanumDrive()</h2>
-
-<div class="memitem">
-<div class="memproto">
-      <table class="memname">
-        <tr>
-          <td class="memname">MecanumDrive::MecanumDrive </td>
-          <td>(</td>
-          <td class="paramtype">vex::motor &amp;&#160;</td>
-          <td class="paramname"><em>left_front</em>, </td>
-        </tr>
-        <tr>
-          <td class="paramkey"></td>
-          <td></td>
-          <td class="paramtype">vex::motor &amp;&#160;</td>
-          <td class="paramname"><em>right_front</em>, </td>
-        </tr>
-        <tr>
-          <td class="paramkey"></td>
-          <td></td>
-          <td class="paramtype">vex::motor &amp;&#160;</td>
-          <td class="paramname"><em>left_rear</em>, </td>
-        </tr>
-        <tr>
-          <td class="paramkey"></td>
-          <td></td>
-          <td class="paramtype">vex::motor &amp;&#160;</td>
-          <td class="paramname"><em>right_rear</em>, </td>
-        </tr>
-        <tr>
-          <td class="paramkey"></td>
-          <td></td>
-          <td class="paramtype">vex::rotation *&#160;</td>
-          <td class="paramname"><em>lateral_wheel</em> = <code>NULL</code>, </td>
-        </tr>
-        <tr>
-          <td class="paramkey"></td>
-          <td></td>
-          <td class="paramtype">vex::inertial *&#160;</td>
-          <td class="paramname"><em>imu</em> = <code>NULL</code>, </td>
-        </tr>
-        <tr>
-          <td class="paramkey"></td>
-          <td></td>
-          <td class="paramtype"><a class="el" href="structMecanumDrive_1_1mecanumdrive__config__t.html">mecanumdrive_config_t</a> *&#160;</td>
-          <td class="paramname"><em>config</em> = <code>NULL</code>&#160;</td>
-        </tr>
-        <tr>
-          <td></td>
-          <td>)</td>
-          <td></td><td></td>
-        </tr>
-      </table>
-</div><div class="memdoc">
-<p>Create the Mecanum drivetrain object </p>
-
-</div>
-</div>
-<h2 class="groupheader">Member Function Documentation</h2>
-<a id="aa0cfb8683fee99e0a534c3a725d338fd" name="aa0cfb8683fee99e0a534c3a725d338fd"></a>
-<h2 class="memtitle"><span class="permalink"><a href="#aa0cfb8683fee99e0a534c3a725d338fd">&#9670;&#160;</a></span>auto_drive()</h2>
-
-<div class="memitem">
-<div class="memproto">
-      <table class="memname">
-        <tr>
-          <td class="memname">bool MecanumDrive::auto_drive </td>
-          <td>(</td>
-          <td class="paramtype">double&#160;</td>
-          <td class="paramname"><em>inches</em>, </td>
-        </tr>
-        <tr>
-          <td class="paramkey"></td>
-          <td></td>
-          <td class="paramtype">double&#160;</td>
-          <td class="paramname"><em>direction</em>, </td>
-        </tr>
-        <tr>
-          <td class="paramkey"></td>
-          <td></td>
-          <td class="paramtype">double&#160;</td>
-          <td class="paramname"><em>speed</em>, </td>
-        </tr>
-        <tr>
-          <td class="paramkey"></td>
-          <td></td>
-          <td class="paramtype">bool&#160;</td>
-          <td class="paramname"><em>gyro_correction</em> = <code>true</code>&#160;</td>
-        </tr>
-        <tr>
-          <td></td>
-          <td>)</td>
-          <td></td><td></td>
-        </tr>
-      </table>
-</div><div class="memdoc">
-<p>Drive the robot in a straight line automatically. If the inertial was declared in the constructor, use it to correct while driving. If the lateral wheel was declared in the constructor, use it for more accurate positioning while strafing.</p>
-<dl class="params"><dt>Parameters</dt><dd>
-  <table class="params">
-    <tr><td class="paramname">inches</td><td>How far the robot should drive, in inches </td></tr>
-    <tr><td class="paramname">direction</td><td>What direction the robot should travel in, in degrees. 0 is forward, +/-180 is reverse, clockwise is positive. </td></tr>
-    <tr><td class="paramname">speed</td><td>The maximum speed the robot should travel, in percent: -1.0-&gt;+1.0 </td></tr>
-    <tr><td class="paramname">gyro_correction</td><td>=true Whether or not to use the gyro to help correct while driving. Will always be false if no gyro was declared in the constructor.</td></tr>
-  </table>
-  </dd>
-</dl>
-<p>Drive the robot in a straight line automatically. If the inertial was declared in the constructor, use it to correct while driving. If the lateral wheel was declared in the constructor, use it for more accurate positioning while strafing.</p>
-<dl class="params"><dt>Parameters</dt><dd>
-  <table class="params">
-    <tr><td class="paramname">inches</td><td>How far the robot should drive, in inches </td></tr>
-    <tr><td class="paramname">direction</td><td>What direction the robot should travel in, in degrees. 0 is forward, +/-180 is reverse, clockwise is positive. </td></tr>
-    <tr><td class="paramname">speed</td><td>The maximum speed the robot should travel, in percent: -1.0-&gt;+1.0 </td></tr>
-    <tr><td class="paramname">gyro_correction</td><td>= true Whether or not to use the gyro to help correct while driving. Will always be false if no gyro was declared in the constructor. </td></tr>
-  </table>
-  </dd>
-</dl>
-<dl class="section return"><dt>Returns</dt><dd>Whether or not the maneuver is complete. </dd></dl>
-
-</div>
-</div>
-<a id="ac8813aafec14f2d25c3abafefdb81498" name="ac8813aafec14f2d25c3abafefdb81498"></a>
-<h2 class="memtitle"><span class="permalink"><a href="#ac8813aafec14f2d25c3abafefdb81498">&#9670;&#160;</a></span>auto_turn()</h2>
-
-<div class="memitem">
-<div class="memproto">
-      <table class="memname">
-        <tr>
-          <td class="memname">bool MecanumDrive::auto_turn </td>
-          <td>(</td>
-          <td class="paramtype">double&#160;</td>
-          <td class="paramname"><em>degrees</em>, </td>
-        </tr>
-        <tr>
-          <td class="paramkey"></td>
-          <td></td>
-          <td class="paramtype">double&#160;</td>
-          <td class="paramname"><em>speed</em>, </td>
-        </tr>
-        <tr>
-          <td class="paramkey"></td>
-          <td></td>
-          <td class="paramtype">bool&#160;</td>
-          <td class="paramname"><em>ignore_imu</em> = <code>false</code>&#160;</td>
-        </tr>
-        <tr>
-          <td></td>
-          <td>)</td>
-          <td></td><td></td>
-        </tr>
-      </table>
-</div><div class="memdoc">
-<p>Autonomously turn the robot X degrees over it's center point. Uses a closed loop for control. </p><dl class="params"><dt>Parameters</dt><dd>
-  <table class="params">
-    <tr><td class="paramname">degrees</td><td>How many degrees to rotate the robot. Clockwise postive. </td></tr>
-    <tr><td class="paramname">speed</td><td>What percentage to run the motors at: 0.0 -&gt; 1.0 </td></tr>
-    <tr><td class="paramname">ignore_imu</td><td>=false Whether or not to use the Inertial for determining angle. Will instead use circumference formula + robot's wheelbase + encoders to determine.</td></tr>
-  </table>
-  </dd>
-</dl>
-<dl class="section return"><dt>Returns</dt><dd>whether or not the robot has finished the maneuver</dd></dl>
-<p>Autonomously turn the robot X degrees over it's center point. Uses a closed loop for control. </p><dl class="params"><dt>Parameters</dt><dd>
-  <table class="params">
-    <tr><td class="paramname">degrees</td><td>How many degrees to rotate the robot. Clockwise postive. </td></tr>
-    <tr><td class="paramname">speed</td><td>What percentage to run the motors at: 0.0 -&gt; 1.0 </td></tr>
-    <tr><td class="paramname">ignore_imu</td><td>= false Whether or not to use the Inertial for determining angle. Will instead use circumference formula + robot's wheelbase + encoders to determine.</td></tr>
-  </table>
-  </dd>
-</dl>
-<dl class="section return"><dt>Returns</dt><dd>whether or not the robot has finished the maneuver </dd></dl>
-
-</div>
-</div>
-<a id="ac7a660a606aea694d21a4a2dd12faa24" name="ac7a660a606aea694d21a4a2dd12faa24"></a>
-<h2 class="memtitle"><span class="permalink"><a href="#ac7a660a606aea694d21a4a2dd12faa24">&#9670;&#160;</a></span>drive()</h2>
-
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-        <tr>
-          <td class="memname">void MecanumDrive::drive </td>
-          <td>(</td>
-          <td class="paramtype">double&#160;</td>
-          <td class="paramname"><em>left_y</em>, </td>
-        </tr>
-        <tr>
-          <td class="paramkey"></td>
-          <td></td>
-          <td class="paramtype">double&#160;</td>
-          <td class="paramname"><em>left_x</em>, </td>
-        </tr>
-        <tr>
-          <td class="paramkey"></td>
-          <td></td>
-          <td class="paramtype">double&#160;</td>
-          <td class="paramname"><em>right_x</em>, </td>
-        </tr>
-        <tr>
-          <td class="paramkey"></td>
-          <td></td>
-          <td class="paramtype">int&#160;</td>
-          <td class="paramname"><em>power</em> = <code>2</code>&#160;</td>
-        </tr>
-        <tr>
-          <td></td>
-          <td>)</td>
-          <td></td><td></td>
-        </tr>
-      </table>
-</div><div class="memdoc">
-<p>Drive the robot with a mecanum-style / arcade drive. Inputs are in percent (-100.0 -&gt; 100.0) straight from the controller. Controls are mixed, so the robot can drive forward / strafe / rotate all at the same time.</p>
-<dl class="params"><dt>Parameters</dt><dd>
-  <table class="params">
-    <tr><td class="paramname">left_y</td><td>left joystick, Y axis (forward / backwards) </td></tr>
-    <tr><td class="paramname">left_x</td><td>left joystick, X axis (strafe left / right) </td></tr>
-    <tr><td class="paramname">right_x</td><td>right joystick, X axis (rotation left / right) </td></tr>
-    <tr><td class="paramname">power</td><td>=2 how much of a "curve" there should be on drive controls; better for low speed maneuvers. Leave blank for a default curve of 2 (higher means more fidelity)</td></tr>
-  </table>
-  </dd>
-</dl>
-<p>Drive the robot with a mecanum-style / arcade drive. Inputs are in percent (-100.0 -&gt; 100.0) straight from the controller. Controls are mixed, so the robot can drive forward / strafe / rotate all at the same time.</p>
-<dl class="params"><dt>Parameters</dt><dd>
-  <table class="params">
-    <tr><td class="paramname">left_y</td><td>left joystick, Y axis (forward / backwards) </td></tr>
-    <tr><td class="paramname">left_x</td><td>left joystick, X axis (strafe left / right) </td></tr>
-    <tr><td class="paramname">right_x</td><td>right joystick, X axis (rotation left / right) </td></tr>
-    <tr><td class="paramname">power</td><td>= 2 how much of a "curve" there should be on drive controls; better for low speed maneuvers. Leave blank for a default curve of 2 (higher means more fidelity) </td></tr>
-  </table>
-  </dd>
-</dl>
-
-</div>
-</div>
-<a id="a756383ba74cf555d42a147584f9ae646" name="a756383ba74cf555d42a147584f9ae646"></a>
-<h2 class="memtitle"><span class="permalink"><a href="#a756383ba74cf555d42a147584f9ae646">&#9670;&#160;</a></span>drive_raw()</h2>
-
-<div class="memitem">
-<div class="memproto">
-      <table class="memname">
-        <tr>
-          <td class="memname">void MecanumDrive::drive_raw </td>
-          <td>(</td>
-          <td class="paramtype">double&#160;</td>
-          <td class="paramname"><em>direction_deg</em>, </td>
-        </tr>
-        <tr>
-          <td class="paramkey"></td>
-          <td></td>
-          <td class="paramtype">double&#160;</td>
-          <td class="paramname"><em>magnitude</em>, </td>
-        </tr>
-        <tr>
-          <td class="paramkey"></td>
-          <td></td>
-          <td class="paramtype">double&#160;</td>
-          <td class="paramname"><em>rotation</em>&#160;</td>
-        </tr>
-        <tr>
-          <td></td>
-          <td>)</td>
-          <td></td><td></td>
-        </tr>
-      </table>
-</div><div class="memdoc">
-<p>Drive the robot using vectors. This handles all the math required for mecanum control.</p>
-<dl class="params"><dt>Parameters</dt><dd>
-  <table class="params">
-    <tr><td class="paramname">direction_deg</td><td>the direction to drive the robot, in degrees. 0 is forward, 180 is back, clockwise is positive, counterclockwise is negative. </td></tr>
-    <tr><td class="paramname">magnitude</td><td>How fast the robot should drive, in percent: 0.0-&gt;1.0 </td></tr>
-    <tr><td class="paramname">rotation</td><td>How fast the robot should rotate, in percent: -1.0-&gt;+1.0 </td></tr>
-  </table>
-  </dd>
-</dl>
-
-</div>
-</div>
-<hr/>The documentation for this class was generated from the following files:<ul>
-<li>include/subsystems/<a class="el" href="mecanum__drive_8h_source.html">mecanum_drive.h</a></li>
-<li>src/subsystems/mecanum_drive.cpp</li>
-</ul>
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-<div class="header">
-  <div class="headertitle"><div class="title">MotionController Member List</div></div>
-</div><!--header-->
-<div class="contents">
-
-<p>This is the complete list of members for <a class="el" href="classMotionController.html">MotionController</a>, including all inherited members.</p>
-<table class="directory">
-  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>FeedbackType</b> enum name (defined in <a class="el" href="classFeedback.html">Feedback</a>)</td><td class="entry"><a class="el" href="classFeedback.html">Feedback</a></td><td class="entry"></td></tr>
-  <tr bgcolor="#f0f0f0" class="odd"><td class="entry"><b>FeedforwardType</b> enum value (defined in <a class="el" href="classFeedback.html">Feedback</a>)</td><td class="entry"><a class="el" href="classFeedback.html">Feedback</a></td><td class="entry"></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classMotionController.html#a2a1944f590618cd91770364aea416cd5">get</a>() override</td><td class="entry"><a class="el" href="classMotionController.html">MotionController</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classMotionController.html#ab958ce97fbc4929f4dd03965671e8d4d">get_motion</a>()</td><td class="entry"><a class="el" href="classMotionController.html">MotionController</a></td><td class="entry"></td></tr>
-  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>get_type</b>() (defined in <a class="el" href="classFeedback.html">Feedback</a>)</td><td class="entry"><a class="el" href="classFeedback.html">Feedback</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classMotionController.html#af0d665d9916111cbce677da6df6b6667">init</a>(double start_pt, double end_pt) override</td><td class="entry"><a class="el" href="classMotionController.html">MotionController</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classMotionController.html#aa9e2af88b848646889deb1d43a283173">is_on_target</a>() override</td><td class="entry"><a class="el" href="classMotionController.html">MotionController</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classMotionController.html#a076c5aa4ea383dccaeec76f7554a7467">MotionController</a>(m_profile_cfg_t &amp;config)</td><td class="entry"><a class="el" href="classMotionController.html">MotionController</a></td><td class="entry"></td></tr>
-  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>OtherType</b> enum value (defined in <a class="el" href="classFeedback.html">Feedback</a>)</td><td class="entry"><a class="el" href="classFeedback.html">Feedback</a></td><td class="entry"></td></tr>
-  <tr bgcolor="#f0f0f0" class="odd"><td class="entry"><b>PIDType</b> enum value (defined in <a class="el" href="classFeedback.html">Feedback</a>)</td><td class="entry"><a class="el" href="classFeedback.html">Feedback</a></td><td class="entry"></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classMotionController.html#a944c245002a1eb124dd8df40de4fcc57">set_limits</a>(double lower, double upper) override</td><td class="entry"><a class="el" href="classMotionController.html">MotionController</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classMotionController.html#a20749b6a4bd3cf509a3acf682831eb00">tune_feedforward</a>(TankDrive &amp;drive, OdometryTank &amp;odometry, double pct=0.6, double duration=2)</td><td class="entry"><a class="el" href="classMotionController.html">MotionController</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
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-, <b>FeedforwardType</b>
-, <b>OtherType</b>
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-<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
-<div class="textblock"><p>Motion Controller class</p>
-<p>This class defines a top-level motion profile, which can act as an intermediate between a subsystem class and the motors themselves</p>
-<p>This takes the constants kS, kV, kA, kP, kI, kD, max_v and acceleration and wraps around a feedforward, <a class="el" href="classPID.html">PID</a> and trapezoid profile. It does so with the following formula:</p>
-<p>out = feedfoward.calculate(motion_profile.get(time_s)) + pid.get(motion_profile.get(time_s))</p>
-<p>For <a class="el" href="classPID.html">PID</a> and Feedforward specific formulae, see <a class="el" href="pid_8h_source.html">pid.h</a>, <a class="el" href="feedforward_8h_source.html">feedforward.h</a>, and <a class="el" href="trapezoid__profile_8h_source.html">trapezoid_profile.h</a></p>
-<dl class="section author"><dt>Author</dt><dd>Ryan McGee </dd></dl>
-<dl class="section date"><dt>Date</dt><dd>7/13/2022 </dd></dl>
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-<p>Construct a new Motion Controller object. </p>
-<dl class="params"><dt>Parameters</dt><dd>
-  <table class="params">
-    <tr><td class="paramname">config</td><td>The definition of how the robot is able to move max_v Maximum velocity the movement is capable of accel Acceleration / deceleration of the movement pid_cfg Definitions of kP, kI, and kD ff_cfg Definitions of kS, kV, and kA</td></tr>
-  </table>
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-</dl>
-<dl class="params"><dt>Parameters</dt><dd>
-  <table class="params">
-    <tr><td class="paramname">config</td><td>The definition of how the robot is able to move max_v Maximum velocity the movement is capable of accel Acceleration / deceleration of the movement pid_cfg Definitions of kP, kI, and kD ff_cfg Definitions of kS, kV, and kA </td></tr>
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-
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-<h2 class="memtitle"><span class="permalink"><a href="#a2a1944f590618cd91770364aea416cd5">&#9670;&#160;</a></span>get()</h2>
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-
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-<p>Initialize the motion profile for a new movement This will also reset the <a class="el" href="classPID.html">PID</a> and profile timers. </p>
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-          <td class="paramtype">double&#160;</td>
-          <td class="paramname"><em>lower</em>, </td>
-        </tr>
-        <tr>
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-          <td></td>
-          <td class="paramtype">double&#160;</td>
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-        </tr>
-        <tr>
-          <td></td>
-          <td>)</td>
-          <td></td><td></td>
-        </tr>
-      </table>
-  </td>
-  <td class="mlabels-right">
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-<p>Clamp the upper and lower limits of the output. If both are 0, no limits should be applied. if limits are applied, the controller will not target any value below lower or above upper</p>
-<dl class="params"><dt>Parameters</dt><dd>
-  <table class="params">
-    <tr><td class="paramname">lower</td><td>upper limit </td></tr>
-    <tr><td class="paramname">upper</td><td>lower limiet</td></tr>
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-<p>Clamp the upper and lower limits of the output. If both are 0, no limits should be applied.</p>
-<dl class="params"><dt>Parameters</dt><dd>
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-<p>Implements <a class="el" href="classFeedback.html#a533a10b65cfc998898bf054f8b141de2">Feedback</a>.</p>
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-<h2 class="memtitle"><span class="permalink"><a href="#a20749b6a4bd3cf509a3acf682831eb00">&#9670;&#160;</a></span>tune_feedforward()</h2>
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-<p>This method attempts to characterize the robot's drivetrain and automatically tune the feedforward. It does this by first calculating the kS (voltage to overcome static friction) by slowly increasing the voltage until it moves.</p>
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-<p>Finally, kA (voltage needed to accelerate by a certain rate), where the robot will record the entire movement's velocity and acceleration, record a plot of [X=(pct-kV*V-kS), Y=(Acceleration)] along the movement, and since kA*Accel = pct-kV*V-kS, the reciprocal of the linear regression is the kA value.</p>
-<dl class="params"><dt>Parameters</dt><dd>
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-<p>Update the motion profile with a new sensor value. </p>
-<dl class="params"><dt>Parameters</dt><dd>
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-  </dd>
-</dl>
-<dl class="section return"><dt>Returns</dt><dd>the motor input generated from the motion profile</dd></dl>
-<dl class="params"><dt>Parameters</dt><dd>
-  <table class="params">
-    <tr><td class="paramname">sensor_val</td><td>Value from the sensor </td></tr>
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-  </dd>
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-<dl class="section return"><dt>Returns</dt><dd>the motor input generated from the motion profile </dd></dl>
-
-<p>Implements <a class="el" href="classFeedback.html#adda5fc7642539996be00632954dfc41f">Feedback</a>.</p>
-
-</div>
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-<hr/>The documentation for this class was generated from the following files:<ul>
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-<p><code>#include &lt;<a class="el" href="moving__average_8h_source.html">moving_average.h</a>&gt;</code></p>
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-<p>A moving average is a way of smoothing out noisy data. For many sensor readings, the noise is roughly symmetric around the actual value. This means that if you collect enough samples those that are too high are cancelled out by the samples that are too low leaving the real value.</p>
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-  <tr class="odd"><td class="entry"><a class="el" href="classOdometryBase.html#af30d97a35e9e9c4f9be0a81390e6c0f1">get_angular_speed_deg</a>()</td><td class="entry"><a class="el" href="classOdometryBase.html">OdometryBase</a></td><td class="entry"></td></tr>
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-  <tr class="even"><td class="entry"><a class="el" href="classOdometry3Wheel.html#a6755014965483b84e06e42d8e289bf40">Odometry3Wheel</a>(CustomEncoder &amp;lside_fwd, CustomEncoder &amp;rside_fwd, CustomEncoder &amp;off_axis, odometry3wheel_cfg_t &amp;cfg, bool is_async=true)</td><td class="entry"><a class="el" href="classOdometry3Wheel.html">Odometry3Wheel</a></td><td class="entry"></td></tr>
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-<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
-<div class="textblock"><p><a class="el" href="classOdometry3Wheel.html">Odometry3Wheel</a></p>
-<p>This class handles the code for a standard 3-pod odometry setup, where there are 3 "pods" made up of undriven (dead) wheels connected to encoders in the following configuration:</p>
-<p>+Y ------------&mdash; ^ | | | | | | | || O || | | | | | | === | | ------------&mdash; | +----------------&mdash;&gt; + X</p>
-<p>Where O is the center of rotation. The robot will monitor the changes in rotation of these wheels and calculate the robot's X, Y and rotation on the field.</p>
-<p>This is a "set and forget" class, meaning once the object is created, the robot will immediately begin tracking it's movement in the background.</p>
-<dl class="section author"><dt>Author</dt><dd>Ryan McGee </dd></dl>
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-<p>Construct a new Odometry 3 Wheel object</p>
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-<p>A guided tuning process to automatically find tuning parameters. This method is blocking, and returns when tuning has finished. Follow the instructions on the controller to complete the tuning process</p>
-<dl class="params"><dt>Parameters</dt><dd>
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-<p>A guided tuning process to automatically find tuning parameters. This method is blocking, and returns when tuning has finished. Follow the instructions on the controller to complete the tuning process</p>
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-<p>Update the current position of the robot once, using the current state of the encoders and the previous known location</p>
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-<tr class="memitem:a01f14bfcecbcde7a74b9b98376deb19f"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classOdometryBase.html#a01f14bfcecbcde7a74b9b98376deb19f">ang_accel_deg</a></td></tr>
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-</table>
-<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
-<div class="textblock"><p><a class="el" href="classOdometryBase.html">OdometryBase</a></p>
-<p>This base class contains all the shared code between different implementations of odometry. It handles the asynchronous management, position input/output and basic math functions, and holds positional types specific to field orientation.</p>
-<p>All future odometry implementations should extend this file and redefine <a class="el" href="classOdometryBase.html#a5d55b7987d97a9af721838596a520dec">update()</a> function.</p>
-<dl class="section author"><dt>Author</dt><dd>Ryan McGee </dd></dl>
-<dl class="section date"><dt>Date</dt><dd>Aug 11 2021 </dd></dl>
-</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
-<a id="a61286bd1c5105adbfa5b52c74f9e9466" name="a61286bd1c5105adbfa5b52c74f9e9466"></a>
-<h2 class="memtitle"><span class="permalink"><a href="#a61286bd1c5105adbfa5b52c74f9e9466">&#9670;&#160;</a></span>OdometryBase()</h2>
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-<div class="memitem">
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-          <td class="memname">OdometryBase::OdometryBase </td>
-          <td>(</td>
-          <td class="paramtype">bool&#160;</td>
-          <td class="paramname"><em>is_async</em></td><td>)</td>
-          <td></td>
-        </tr>
-      </table>
-</div><div class="memdoc">
-<p>Construct a new Odometry Base object</p>
-<dl class="params"><dt>Parameters</dt><dd>
-  <table class="params">
-    <tr><td class="paramname">is_async</td><td>True to run constantly in the background, false to call <a class="el" href="classOdometryBase.html#a5d55b7987d97a9af721838596a520dec">update()</a> manually </td></tr>
-  </table>
-  </dd>
-</dl>
-
-</div>
-</div>
-<h2 class="groupheader">Member Function Documentation</h2>
-<a id="a17a014f79b282ddfb715835214f3e2fb" name="a17a014f79b282ddfb715835214f3e2fb"></a>
-<h2 class="memtitle"><span class="permalink"><a href="#a17a014f79b282ddfb715835214f3e2fb">&#9670;&#160;</a></span>background_task()</h2>
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-<div class="memitem">
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-          <td class="memname">int OdometryBase::background_task </td>
-          <td>(</td>
-          <td class="paramtype">void *&#160;</td>
-          <td class="paramname"><em>ptr</em></td><td>)</td>
-          <td></td>
-        </tr>
-      </table>
-  </td>
-  <td class="mlabels-right">
-<span class="mlabels"><span class="mlabel">static</span></span>  </td>
-  </tr>
-</table>
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-<p>Function that runs in the background task. This function pointer is passed to the vex::task constructor.</p>
-<dl class="params"><dt>Parameters</dt><dd>
-  <table class="params">
-    <tr><td class="paramname">ptr</td><td>Pointer to <a class="el" href="classOdometryBase.html">OdometryBase</a> object </td></tr>
-  </table>
-  </dd>
-</dl>
-<dl class="section return"><dt>Returns</dt><dd>Required integer return code. Unused. </dd></dl>
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-</div>
-</div>
-<a id="ab65ccaa80d4bb0d0aa20e82b3b991436" name="ab65ccaa80d4bb0d0aa20e82b3b991436"></a>
-<h2 class="memtitle"><span class="permalink"><a href="#ab65ccaa80d4bb0d0aa20e82b3b991436">&#9670;&#160;</a></span>end_async()</h2>
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-<div class="memitem">
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-          <td class="memname">void OdometryBase::end_async </td>
-          <td>(</td>
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-<p>End the background task. Cannot be restarted. If the user wants to end the thread but keep the data up to date, they must run the <a class="el" href="classOdometryBase.html#a5d55b7987d97a9af721838596a520dec">update()</a> function manually from then on. </p>
-
-</div>
-</div>
-<a id="a3223bac952f79bf910b979690499b965" name="a3223bac952f79bf910b979690499b965"></a>
-<h2 class="memtitle"><span class="permalink"><a href="#a3223bac952f79bf910b979690499b965">&#9670;&#160;</a></span>get_accel()</h2>
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-          <td class="memname">double OdometryBase::get_accel </td>
-          <td>(</td>
-          <td class="paramname"></td><td>)</td>
-          <td></td>
-        </tr>
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-<p>Get the current acceleration </p><dl class="section return"><dt>Returns</dt><dd>the acceleration rate of the robot (inch/s^2) </dd></dl>
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-</div>
-</div>
-<a id="a456e6433e51971d2640ff96ed3a59432" name="a456e6433e51971d2640ff96ed3a59432"></a>
-<h2 class="memtitle"><span class="permalink"><a href="#a456e6433e51971d2640ff96ed3a59432">&#9670;&#160;</a></span>get_angular_accel_deg()</h2>
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-<div class="memitem">
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-          <td class="memname">double OdometryBase::get_angular_accel_deg </td>
-          <td>(</td>
-          <td class="paramname"></td><td>)</td>
-          <td></td>
-        </tr>
-      </table>
-</div><div class="memdoc">
-<p>Get the current angular acceleration in degrees </p><dl class="section return"><dt>Returns</dt><dd>the angular acceleration at which we are turning (deg/s^2) </dd></dl>
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-</div>
-</div>
-<a id="af30d97a35e9e9c4f9be0a81390e6c0f1" name="af30d97a35e9e9c4f9be0a81390e6c0f1"></a>
-<h2 class="memtitle"><span class="permalink"><a href="#af30d97a35e9e9c4f9be0a81390e6c0f1">&#9670;&#160;</a></span>get_angular_speed_deg()</h2>
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-<div class="memitem">
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-          <td class="memname">double OdometryBase::get_angular_speed_deg </td>
-          <td>(</td>
-          <td class="paramname"></td><td>)</td>
-          <td></td>
-        </tr>
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-</div><div class="memdoc">
-<p>Get the current angular speed in degrees </p><dl class="section return"><dt>Returns</dt><dd>the angular velocity at which we are turning (deg/s) </dd></dl>
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-</div>
-</div>
-<a id="a3cdcfcf70ef02e0efc2efd902fac3811" name="a3cdcfcf70ef02e0efc2efd902fac3811"></a>
-<h2 class="memtitle"><span class="permalink"><a href="#a3cdcfcf70ef02e0efc2efd902fac3811">&#9670;&#160;</a></span>get_position()</h2>
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-<div class="memitem">
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-          <td class="memname"><a class="el" href="structposition__t.html">position_t</a> OdometryBase::get_position </td>
-          <td>(</td>
-          <td class="paramtype">void&#160;</td>
-          <td class="paramname"></td><td>)</td>
-          <td></td>
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-<p>Gets the current position and rotation </p><dl class="section return"><dt>Returns</dt><dd>the position that the odometry believes the robot is at</dd></dl>
-<p>Gets the current position and rotation </p>
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-</div>
-</div>
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-<h2 class="memtitle"><span class="permalink"><a href="#a96c7be68db7424ddbe3704770dd1889f">&#9670;&#160;</a></span>get_speed()</h2>
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-          <td>(</td>
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-<p>Get the current speed </p><dl class="section return"><dt>Returns</dt><dd>the speed at which the robot is moving and grooving (inch/s) </dd></dl>
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-</div>
-</div>
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-<h2 class="memtitle"><span class="permalink"><a href="#a8a248f027d3ff98cb2df2e3cd90e1f66">&#9670;&#160;</a></span>pos_diff()</h2>
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-          <td class="memname">double OdometryBase::pos_diff </td>
-          <td>(</td>
-          <td class="paramtype"><a class="el" href="structposition__t.html">position_t</a>&#160;</td>
-          <td class="paramname"><em>start_pos</em>, </td>
-        </tr>
-        <tr>
-          <td class="paramkey"></td>
-          <td></td>
-          <td class="paramtype"><a class="el" href="structposition__t.html">position_t</a>&#160;</td>
-          <td class="paramname"><em>end_pos</em>&#160;</td>
-        </tr>
-        <tr>
-          <td></td>
-          <td>)</td>
-          <td></td><td></td>
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-  </td>
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-<span class="mlabels"><span class="mlabel">static</span></span>  </td>
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-<p>Get the distance between two points </p><dl class="params"><dt>Parameters</dt><dd>
-  <table class="params">
-    <tr><td class="paramname">start_pos</td><td>distance from this point </td></tr>
-    <tr><td class="paramname">end_pos</td><td>to this point </td></tr>
-  </table>
-  </dd>
-</dl>
-<dl class="section return"><dt>Returns</dt><dd>the euclidean distance between start_pos and end_pos </dd></dl>
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-</div>
-</div>
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-<h2 class="memtitle"><span class="permalink"><a href="#ab1f1a09cda37d799c82003b5284c6856">&#9670;&#160;</a></span>rot_diff()</h2>
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-          <td class="paramname"><em>pos1</em>, </td>
-        </tr>
-        <tr>
-          <td class="paramkey"></td>
-          <td></td>
-          <td class="paramtype"><a class="el" href="structposition__t.html">position_t</a>&#160;</td>
-          <td class="paramname"><em>pos2</em>&#160;</td>
-        </tr>
-        <tr>
-          <td></td>
-          <td>)</td>
-          <td></td><td></td>
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-<p>Get the change in rotation between two points </p><dl class="params"><dt>Parameters</dt><dd>
-  <table class="params">
-    <tr><td class="paramname">pos1</td><td>position with initial rotation </td></tr>
-    <tr><td class="paramname">pos2</td><td>position with final rotation </td></tr>
-  </table>
-  </dd>
-</dl>
-<dl class="section return"><dt>Returns</dt><dd>change in rotation between pos1 and pos2</dd></dl>
-<p>Get the change in rotation between two points </p>
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-</div>
-</div>
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-<h2 class="memtitle"><span class="permalink"><a href="#a34e4bd8567933d1b6bd6e41327a36549">&#9670;&#160;</a></span>set_position()</h2>
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-          <td class="memname">void OdometryBase::set_position </td>
-          <td>(</td>
-          <td class="paramtype">const <a class="el" href="structposition__t.html">position_t</a> &amp;&#160;</td>
-          <td class="paramname"><em>newpos</em> = <code><a class="el" href="classOdometryBase.html#a7bd3fd09b3a6fa78af3a5ed5e25b8d74">zero_pos</a></code></td><td>)</td>
-          <td></td>
-        </tr>
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-  </td>
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-<span class="mlabels"><span class="mlabel">virtual</span></span>  </td>
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-<p>Sets the current position of the robot </p><dl class="params"><dt>Parameters</dt><dd>
-  <table class="params">
-    <tr><td class="paramname">newpos</td><td>the new position that the odometry will believe it is at</td></tr>
-  </table>
-  </dd>
-</dl>
-<p>Sets the current position of the robot </p>
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-<p>Reimplemented in <a class="el" href="classOdometryTank.html#ad3b4bcf351767992e2383ab000645335">OdometryTank</a>.</p>
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-<h2 class="memtitle"><span class="permalink"><a href="#a70ec71e9fb2e14f0a191a6bac927d36b">&#9670;&#160;</a></span>smallest_angle()</h2>
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-          <td>(</td>
-          <td class="paramtype">double&#160;</td>
-          <td class="paramname"><em>start_deg</em>, </td>
-        </tr>
-        <tr>
-          <td class="paramkey"></td>
-          <td></td>
-          <td class="paramtype">double&#160;</td>
-          <td class="paramname"><em>end_deg</em>&#160;</td>
-        </tr>
-        <tr>
-          <td></td>
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-<p>Get the smallest difference in angle between a start heading and end heading. Returns the difference between -180 degrees and +180 degrees, representing the robot turning left or right, respectively. </p><dl class="params"><dt>Parameters</dt><dd>
-  <table class="params">
-    <tr><td class="paramname">start_deg</td><td>intitial angle (degrees) </td></tr>
-    <tr><td class="paramname">end_deg</td><td>final angle (degrees) </td></tr>
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-</dl>
-<dl class="section return"><dt>Returns</dt><dd>the smallest angle from the initial to the final angle. This takes into account the wrapping of rotations around 360 degrees</dd></dl>
-<p>Get the smallest difference in angle between a start heading and end heading. Returns the difference between -180 degrees and +180 degrees, representing the robot turning left or right, respectively. </p>
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-</div>
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-<h2 class="memtitle"><span class="permalink"><a href="#a5d55b7987d97a9af721838596a520dec">&#9670;&#160;</a></span>update()</h2>
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-          <td class="memname">virtual <a class="el" href="structposition__t.html">position_t</a> OdometryBase::update </td>
-          <td>(</td>
-          <td class="paramname"></td><td>)</td>
-          <td></td>
-        </tr>
-      </table>
-  </td>
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-<p>Update the current position on the field based on the sensors </p><dl class="section return"><dt>Returns</dt><dd>the location that the robot is at after the odometry does its calculations </dd></dl>
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-<p>Implemented in <a class="el" href="classOdometry3Wheel.html#a85c5661989dae181a4db7d91bd0526f7">Odometry3Wheel</a>, and <a class="el" href="classOdometryTank.html#a02508433d771c661c89d14f204a61d13">OdometryTank</a>.</p>
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-</div>
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-<h2 class="groupheader">Member Data Documentation</h2>
-<a id="a94c814dfb542dd891d84db7e74537249" name="a94c814dfb542dd891d84db7e74537249"></a>
-<h2 class="memtitle"><span class="permalink"><a href="#a94c814dfb542dd891d84db7e74537249">&#9670;&#160;</a></span>accel</h2>
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-<p>the rate at which we are accelerating (inch/s^2) </p>
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-</div>
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-<h2 class="memtitle"><span class="permalink"><a href="#a01f14bfcecbcde7a74b9b98376deb19f">&#9670;&#160;</a></span>ang_accel_deg</h2>
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-<p>the rate at which we are accelerating our turn (deg/s^2) </p>
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-</div>
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-<a id="a250ceb6ed296ea579e37851e4a0048fb" name="a250ceb6ed296ea579e37851e4a0048fb"></a>
-<h2 class="memtitle"><span class="permalink"><a href="#a250ceb6ed296ea579e37851e4a0048fb">&#9670;&#160;</a></span>ang_speed_deg</h2>
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-<span class="mlabels"><span class="mlabel">protected</span></span>  </td>
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-<p>the speed at which we are turning (deg/s) </p>
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-</div>
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-<h2 class="memtitle"><span class="permalink"><a href="#a6870aebb6e05dcd152d3295462f559c3">&#9670;&#160;</a></span>current_pos</h2>
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-<p>Current position of the robot in terms of x,y,rotation </p>
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-<h2 class="memtitle"><span class="permalink"><a href="#ae5308f20a4dfef9594631010c7612dab">&#9670;&#160;</a></span>handle</h2>
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-<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
-<div class="textblock"><p><a class="el" href="classOdometryTank.html">OdometryTank</a> defines an odometry system for a tank drivetrain This requires encoders in the same orientation as the drive wheels Odometry is a "start and forget" subsystem, which means once it's created and configured, it will constantly run in the background and track the robot's X, Y and rotation coordinates. </p>
-</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
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-          <td class="paramtype"><a class="el" href="structrobot__specs__t.html">robot_specs_t</a> &amp;&#160;</td>
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-<p>Initialize the Odometry module, calculating position from the drive motors. </p><dl class="params"><dt>Parameters</dt><dd>
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-    <tr><td class="paramname">right_side</td><td>The right motors </td></tr>
-    <tr><td class="paramname">config</td><td>the specifications that supply the odometry with descriptions of the robot. See <a class="el" href="structrobot__specs__t.html">robot_specs_t</a> for what is contained </td></tr>
-    <tr><td class="paramname">imu</td><td>The robot's inertial sensor. If not included, rotation is calculated from the encoders. </td></tr>
-    <tr><td class="paramname">is_async</td><td>If true, position will be updated in the background continuously. If false, the programmer will have to manually call <a class="el" href="classOdometryTank.html#a02508433d771c661c89d14f204a61d13">update()</a>. </td></tr>
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-<p>Initialize the Odometry module, calculating position from the drive motors. </p><dl class="params"><dt>Parameters</dt><dd>
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-    <tr><td class="paramname">right_enc</td><td>The right motors </td></tr>
-    <tr><td class="paramname">config</td><td>the specifications that supply the odometry with descriptions of the robot. See <a class="el" href="structrobot__specs__t.html">robot_specs_t</a> for what is contained </td></tr>
-    <tr><td class="paramname">imu</td><td>The robot's inertial sensor. If not included, rotation is calculated from the encoders. </td></tr>
-    <tr><td class="paramname">is_async</td><td>If true, position will be updated in the background continuously. If false, the programmer will have to manually call <a class="el" href="classOdometryTank.html#a02508433d771c661c89d14f204a61d13">update()</a>. </td></tr>
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-          <td>(</td>
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-          <td class="paramname"><em>newpos</em> = <code><a class="el" href="classOdometryBase.html#a7bd3fd09b3a6fa78af3a5ed5e25b8d74">zero_pos</a></code></td><td>)</td>
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-<hr/>The documentation for this class was generated from the following files:<ul>
-<li>include/subsystems/odometry/<a class="el" href="odometry__tank_8h_source.html">odometry_tank.h</a></li>
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-  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>ANGULAR</b> enum value (defined in <a class="el" href="classPID.html">PID</a>)</td><td class="entry"><a class="el" href="classPID.html">PID</a></td><td class="entry"></td></tr>
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-  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>OtherType</b> enum value (defined in <a class="el" href="classFeedback.html">Feedback</a>)</td><td class="entry"><a class="el" href="classFeedback.html">Feedback</a></td><td class="entry"></td></tr>
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-  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>PIDType</b> enum value (defined in <a class="el" href="classFeedback.html">Feedback</a>)</td><td class="entry"><a class="el" href="classFeedback.html">Feedback</a></td><td class="entry"></td></tr>
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-virtual Feedback::FeedbackType&#160;</td><td class="memItemRight" valign="bottom"><b>get_type</b> ()</td></tr>
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-Public Attributes</h2></td></tr>
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-<a class="el" href="structPID_1_1pid__config__t.html">pid_config_t</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><b>config</b></td></tr>
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-<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
-<div class="textblock"><p><a class="el" href="classPID.html">PID</a> Class</p>
-<p>Defines a standard feedback loop using the constants kP, kI, kD, deadband, and on_target_time. The formula is:</p>
-<p>out = kP*error + kI*integral(d Error) + kD*(dError/dt)</p>
-<p>The <a class="el" href="classPID.html">PID</a> object will determine it is "on target" when the error is within the deadband, for a duration of on_target_time</p>
-<dl class="section author"><dt>Author</dt><dd>Ryan McGee </dd></dl>
-<dl class="section date"><dt>Date</dt><dd>4/3/2020 </dd></dl>
-</div><h2 class="groupheader">Member Enumeration Documentation</h2>
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-<p>An enum to distinguish between a linear and angular caluclation of <a class="el" href="classPID.html">PID</a> error. </p>
-
-</div>
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-<p>Create the <a class="el" href="classPID.html">PID</a> object </p><dl class="params"><dt>Parameters</dt><dd>
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-  </table>
-  </dd>
-</dl>
-<p>Create the <a class="el" href="classPID.html">PID</a> object </p>
-
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-</div>
-<h2 class="groupheader">Member Function Documentation</h2>
-<a id="a69c2e66b8ff06c86ca9701d11e21da75" name="a69c2e66b8ff06c86ca9701d11e21da75"></a>
-<h2 class="memtitle"><span class="permalink"><a href="#a69c2e66b8ff06c86ca9701d11e21da75">&#9670;&#160;</a></span>get()</h2>
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-<p>Gets the current <a class="el" href="classPID.html">PID</a> out value, from when <a class="el" href="classPID.html#a53b5c34ba5e81fb79ed4258a143015b9">update()</a> was last run </p><dl class="section return"><dt>Returns</dt><dd>the Out value of the controller (voltage, RPM, whatever the <a class="el" href="classPID.html">PID</a> controller is controlling)</dd></dl>
-<p>Gets the current <a class="el" href="classPID.html">PID</a> out value, from when <a class="el" href="classPID.html#a53b5c34ba5e81fb79ed4258a143015b9">update()</a> was last run </p>
-
-<p>Implements <a class="el" href="classFeedback.html#ac44bb519a6f4e25c8e8250f3d30ab359">Feedback</a>.</p>
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-<p>Get the delta between the current sensor data and the target </p><dl class="section return"><dt>Returns</dt><dd>the error calculated. how it is calculated depends on error_method specified in <a class="el" href="structPID_1_1pid__config__t.html">pid_config_t</a></dd></dl>
-<p>Get the delta between the current sensor data and the target </p>
-
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-<p>Get the <a class="el" href="classPID.html">PID</a>'s target </p><dl class="section return"><dt>Returns</dt><dd>the target the <a class="el" href="classPID.html">PID</a> controller is trying to achieve </dd></dl>
-
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-<p>Reimplemented from <a class="el" href="classFeedback.html">Feedback</a>.</p>
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-<p>Inherited from <a class="el" href="classFeedback.html">Feedback</a> for interoperability. Update the setpoint and reset integral accumulation</p>
-<p>start_pt can be safely ignored in this feedback controller </p><dl class="params"><dt>Parameters</dt><dd>
-  <table class="params">
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-    <tr><td class="paramname">set_pt</td><td>sets the target of the <a class="el" href="classPID.html">PID</a> controller </td></tr>
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-<p>Implements <a class="el" href="classFeedback.html#a22efb13216bfd51aea07e0b6e45135c1">Feedback</a>.</p>
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-<p>Returns true if the loop is within [deadband] for [on_target_time] seconds </p>
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-<p>Implements <a class="el" href="classFeedback.html#ae4cc835c374aab9761d22603d4329d34">Feedback</a>.</p>
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-          <td class="paramtype">double&#160;</td>
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-    <tr><td class="paramname">upper</td><td>the upper limit. the <a class="el" href="classPID.html">PID</a> controller will never command the output go higher than <code>upper</code></td></tr>
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-<p>Set the target for the <a class="el" href="classPID.html">PID</a> loop, where the robot is trying to end up </p><dl class="params"><dt>Parameters</dt><dd>
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-<tr class="memitem:af10e648e4de35fa72859fb96a9a80485"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classTankDrive.html#af10e648e4de35fa72859fb96a9a80485">stop</a> ()</td></tr>
-<tr class="separator:af10e648e4de35fa72859fb96a9a80485"><td class="memSeparator" colspan="2">&#160;</td></tr>
-<tr class="memitem:a1dff7827546fb3d17e0d2ca150bdf630"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classTankDrive.html#a1dff7827546fb3d17e0d2ca150bdf630">drive_tank</a> (double left, double right, int power=1, bool isdriver=false)</td></tr>
-<tr class="separator:a1dff7827546fb3d17e0d2ca150bdf630"><td class="memSeparator" colspan="2">&#160;</td></tr>
-<tr class="memitem:a4c52b51a9b149d97e9b0b175a10652ef"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classTankDrive.html#a4c52b51a9b149d97e9b0b175a10652ef">drive_arcade</a> (double forward_back, double left_right, int power=1)</td></tr>
-<tr class="separator:a4c52b51a9b149d97e9b0b175a10652ef"><td class="memSeparator" colspan="2">&#160;</td></tr>
-<tr class="memitem:a1fb3d661076afbb91452649cdaf8550f"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classTankDrive.html#a1fb3d661076afbb91452649cdaf8550f">drive_forward</a> (double inches, directionType dir, <a class="el" href="classFeedback.html">Feedback</a> &amp;feedback, double max_speed=1)</td></tr>
-<tr class="separator:a1fb3d661076afbb91452649cdaf8550f"><td class="memSeparator" colspan="2">&#160;</td></tr>
-<tr class="memitem:a8edcf4316d5a22c32849d7d1d5d0a793"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classTankDrive.html#a8edcf4316d5a22c32849d7d1d5d0a793">drive_forward</a> (double inches, directionType dir, double max_speed=1)</td></tr>
-<tr class="separator:a8edcf4316d5a22c32849d7d1d5d0a793"><td class="memSeparator" colspan="2">&#160;</td></tr>
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-<tr class="separator:ac1ce9895b82b7298465d8e59fae95763"><td class="memSeparator" colspan="2">&#160;</td></tr>
-<tr class="memitem:a26d51cc12145f2520ea0c4355716184d"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classTankDrive.html#a26d51cc12145f2520ea0c4355716184d">turn_degrees</a> (double degrees, double max_speed=1)</td></tr>
-<tr class="separator:a26d51cc12145f2520ea0c4355716184d"><td class="memSeparator" colspan="2">&#160;</td></tr>
-<tr class="memitem:ad64cf88b180865f7e0f9810a344db791"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classTankDrive.html#ad64cf88b180865f7e0f9810a344db791">drive_to_point</a> (double x, double y, vex::directionType dir, <a class="el" href="classFeedback.html">Feedback</a> &amp;feedback, double max_speed=1)</td></tr>
-<tr class="separator:ad64cf88b180865f7e0f9810a344db791"><td class="memSeparator" colspan="2">&#160;</td></tr>
-<tr class="memitem:a267114928d17e16d36ad14fd4d3bf91a"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classTankDrive.html#a267114928d17e16d36ad14fd4d3bf91a">drive_to_point</a> (double x, double y, vex::directionType dir, double max_speed=1)</td></tr>
-<tr class="separator:a267114928d17e16d36ad14fd4d3bf91a"><td class="memSeparator" colspan="2">&#160;</td></tr>
-<tr class="memitem:a25030a7b5e9404a911f7b776a7df7f05"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classTankDrive.html#a25030a7b5e9404a911f7b776a7df7f05">turn_to_heading</a> (double heading_deg, <a class="el" href="classFeedback.html">Feedback</a> &amp;feedback, double max_speed=1)</td></tr>
-<tr class="separator:a25030a7b5e9404a911f7b776a7df7f05"><td class="memSeparator" colspan="2">&#160;</td></tr>
-<tr class="memitem:ab003af6cf2de93e649cce5245b092a36"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classTankDrive.html#ab003af6cf2de93e649cce5245b092a36">turn_to_heading</a> (double heading_deg, double max_speed=1)</td></tr>
-<tr class="separator:ab003af6cf2de93e649cce5245b092a36"><td class="memSeparator" colspan="2">&#160;</td></tr>
-<tr class="memitem:aaa68eae1521e5b87ecfed2a60b15bf34"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classTankDrive.html#aaa68eae1521e5b87ecfed2a60b15bf34">reset_auto</a> ()</td></tr>
-<tr class="separator:aaa68eae1521e5b87ecfed2a60b15bf34"><td class="memSeparator" colspan="2">&#160;</td></tr>
-<tr class="memitem:a13bb19d1cf97b7f3534f4f2a0a13bf27"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classTankDrive.html#a13bb19d1cf97b7f3534f4f2a0a13bf27">pure_pursuit</a> (std::vector&lt; <a class="el" href="structPurePursuit_1_1hermite__point.html">PurePursuit::hermite_point</a> &gt; path, directionType dir, double radius, double res, <a class="el" href="classFeedback.html">Feedback</a> &amp;feedback, double max_speed=1)</td></tr>
-<tr class="separator:a13bb19d1cf97b7f3534f4f2a0a13bf27"><td class="memSeparator" colspan="2">&#160;</td></tr>
-</table><table class="memberdecls">
-<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-static-methods" name="pub-static-methods"></a>
-Static Public Member Functions</h2></td></tr>
-<tr class="memitem:abb511cf1be40ef7be89c2ccff6a09cab"><td class="memItemLeft" align="right" valign="top">static double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classTankDrive.html#abb511cf1be40ef7be89c2ccff6a09cab">modify_inputs</a> (double input, int power=2)</td></tr>
-<tr class="separator:abb511cf1be40ef7be89c2ccff6a09cab"><td class="memSeparator" colspan="2">&#160;</td></tr>
-</table>
-<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
-<div class="textblock"><p><a class="el" href="classTankDrive.html">TankDrive</a> is a class to run a tank drive system. A tank drive system, sometimes called differential drive, has a motor (or group of synchronized motors) on the left and right side </p>
-</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
-<a id="a34f305bb1c996e3748c925af259aeeb4" name="a34f305bb1c996e3748c925af259aeeb4"></a>
-<h2 class="memtitle"><span class="permalink"><a href="#a34f305bb1c996e3748c925af259aeeb4">&#9670;&#160;</a></span>TankDrive()</h2>
-
-<div class="memitem">
-<div class="memproto">
-      <table class="memname">
-        <tr>
-          <td class="memname">TankDrive::TankDrive </td>
-          <td>(</td>
-          <td class="paramtype">motor_group &amp;&#160;</td>
-          <td class="paramname"><em>left_motors</em>, </td>
-        </tr>
-        <tr>
-          <td class="paramkey"></td>
-          <td></td>
-          <td class="paramtype">motor_group &amp;&#160;</td>
-          <td class="paramname"><em>right_motors</em>, </td>
-        </tr>
-        <tr>
-          <td class="paramkey"></td>
-          <td></td>
-          <td class="paramtype"><a class="el" href="structrobot__specs__t.html">robot_specs_t</a> &amp;&#160;</td>
-          <td class="paramname"><em>config</em>, </td>
-        </tr>
-        <tr>
-          <td class="paramkey"></td>
-          <td></td>
-          <td class="paramtype"><a class="el" href="classOdometryBase.html">OdometryBase</a> *&#160;</td>
-          <td class="paramname"><em>odom</em> = <code>NULL</code>&#160;</td>
-        </tr>
-        <tr>
-          <td></td>
-          <td>)</td>
-          <td></td><td></td>
-        </tr>
-      </table>
-</div><div class="memdoc">
-<p>Create the <a class="el" href="classTankDrive.html">TankDrive</a> object </p><dl class="params"><dt>Parameters</dt><dd>
-  <table class="params">
-    <tr><td class="paramname">left_motors</td><td>left side drive motors </td></tr>
-    <tr><td class="paramname">right_motors</td><td>right side drive motors </td></tr>
-    <tr><td class="paramname">config</td><td>the configuration specification defining physical dimensions about the robot. See <a class="el" href="structrobot__specs__t.html">robot_specs_t</a> for more info </td></tr>
-    <tr><td class="paramname">odom</td><td>an odometry system to track position and rotation. this is necessary to execute autonomous paths </td></tr>
-  </table>
-  </dd>
-</dl>
-
-</div>
-</div>
-<h2 class="groupheader">Member Function Documentation</h2>
-<a id="a4c52b51a9b149d97e9b0b175a10652ef" name="a4c52b51a9b149d97e9b0b175a10652ef"></a>
-<h2 class="memtitle"><span class="permalink"><a href="#a4c52b51a9b149d97e9b0b175a10652ef">&#9670;&#160;</a></span>drive_arcade()</h2>
-
-<div class="memitem">
-<div class="memproto">
-      <table class="memname">
-        <tr>
-          <td class="memname">void TankDrive::drive_arcade </td>
-          <td>(</td>
-          <td class="paramtype">double&#160;</td>
-          <td class="paramname"><em>forward_back</em>, </td>
-        </tr>
-        <tr>
-          <td class="paramkey"></td>
-          <td></td>
-          <td class="paramtype">double&#160;</td>
-          <td class="paramname"><em>left_right</em>, </td>
-        </tr>
-        <tr>
-          <td class="paramkey"></td>
-          <td></td>
-          <td class="paramtype">int&#160;</td>
-          <td class="paramname"><em>power</em> = <code>1</code>&#160;</td>
-        </tr>
-        <tr>
-          <td></td>
-          <td>)</td>
-          <td></td><td></td>
-        </tr>
-      </table>
-</div><div class="memdoc">
-<p>Drive the robot using arcade style controls. forward_back controls the linear motion, left_right controls the turning.</p>
-<p>forward_back and left_right are in "percent": -1.0 -&gt; 1.0</p>
-<dl class="params"><dt>Parameters</dt><dd>
-  <table class="params">
-    <tr><td class="paramname">forward_back</td><td>the percent to move forward or backward </td></tr>
-    <tr><td class="paramname">left_right</td><td>the percent to turn left or right </td></tr>
-    <tr><td class="paramname">power</td><td>modifies the input velocities left^power, right^power</td></tr>
-  </table>
-  </dd>
-</dl>
-<p>Drive the robot using arcade style controls. forward_back controls the linear motion, left_right controls the turning.</p>
-<p>left_motors and right_motors are in "percent": -1.0 -&gt; 1.0 </p>
-
-</div>
-</div>
-<a id="a8edcf4316d5a22c32849d7d1d5d0a793" name="a8edcf4316d5a22c32849d7d1d5d0a793"></a>
-<h2 class="memtitle"><span class="permalink"><a href="#a8edcf4316d5a22c32849d7d1d5d0a793">&#9670;&#160;</a></span>drive_forward() <span class="overload">[1/2]</span></h2>
-
-<div class="memitem">
-<div class="memproto">
-      <table class="memname">
-        <tr>
-          <td class="memname">bool TankDrive::drive_forward </td>
-          <td>(</td>
-          <td class="paramtype">double&#160;</td>
-          <td class="paramname"><em>inches</em>, </td>
-        </tr>
-        <tr>
-          <td class="paramkey"></td>
-          <td></td>
-          <td class="paramtype">directionType&#160;</td>
-          <td class="paramname"><em>dir</em>, </td>
-        </tr>
-        <tr>
-          <td class="paramkey"></td>
-          <td></td>
-          <td class="paramtype">double&#160;</td>
-          <td class="paramname"><em>max_speed</em> = <code>1</code>&#160;</td>
-        </tr>
-        <tr>
-          <td></td>
-          <td>)</td>
-          <td></td><td></td>
-        </tr>
-      </table>
-</div><div class="memdoc">
-<p>Autonomously drive the robot forward a certain distance</p>
-<dl class="params"><dt>Parameters</dt><dd>
-  <table class="params">
-    <tr><td class="paramname">inches</td><td>degrees by which we will turn relative to the robot (+) turns ccw, (-) turns cw </td></tr>
-    <tr><td class="paramname">dir</td><td>the direction we want to travel forward and backward </td></tr>
-    <tr><td class="paramname">max_speed</td><td>the maximum percentage of robot speed at which the robot will travel. 1 = full power</td></tr>
-  </table>
-  </dd>
-</dl>
-<p>Autonomously drive the robot forward a certain distance</p>
-<dl class="params"><dt>Parameters</dt><dd>
-  <table class="params">
-    <tr><td class="paramname">inches</td><td>degrees by which we will turn relative to the robot (+) turns ccw, (-) turns cw </td></tr>
-    <tr><td class="paramname">dir</td><td>the direction we want to travel forward and backward </td></tr>
-    <tr><td class="paramname">max_speed</td><td>the maximum percentage of robot speed at which the robot will travel. 1 = full power </td></tr>
-  </table>
-  </dd>
-</dl>
-<dl class="section return"><dt>Returns</dt><dd>true if we have finished driving to our point </dd></dl>
-
-</div>
-</div>
-<a id="a1fb3d661076afbb91452649cdaf8550f" name="a1fb3d661076afbb91452649cdaf8550f"></a>
-<h2 class="memtitle"><span class="permalink"><a href="#a1fb3d661076afbb91452649cdaf8550f">&#9670;&#160;</a></span>drive_forward() <span class="overload">[2/2]</span></h2>
-
-<div class="memitem">
-<div class="memproto">
-      <table class="memname">
-        <tr>
-          <td class="memname">bool TankDrive::drive_forward </td>
-          <td>(</td>
-          <td class="paramtype">double&#160;</td>
-          <td class="paramname"><em>inches</em>, </td>
-        </tr>
-        <tr>
-          <td class="paramkey"></td>
-          <td></td>
-          <td class="paramtype">directionType&#160;</td>
-          <td class="paramname"><em>dir</em>, </td>
-        </tr>
-        <tr>
-          <td class="paramkey"></td>
-          <td></td>
-          <td class="paramtype"><a class="el" href="classFeedback.html">Feedback</a> &amp;&#160;</td>
-          <td class="paramname"><em>feedback</em>, </td>
-        </tr>
-        <tr>
-          <td class="paramkey"></td>
-          <td></td>
-          <td class="paramtype">double&#160;</td>
-          <td class="paramname"><em>max_speed</em> = <code>1</code>&#160;</td>
-        </tr>
-        <tr>
-          <td></td>
-          <td>)</td>
-          <td></td><td></td>
-        </tr>
-      </table>
-</div><div class="memdoc">
-<p>Use odometry to drive forward a certain distance using a custom feedback controller</p>
-<p>Returns whether or not the robot has reached it's destination. </p><dl class="params"><dt>Parameters</dt><dd>
-  <table class="params">
-    <tr><td class="paramname">inches</td><td>the distance to drive forward </td></tr>
-    <tr><td class="paramname">dir</td><td>the direction we want to travel forward and backward </td></tr>
-    <tr><td class="paramname">feedback</td><td>the custom feedback controller we will use to travel. controls the rate at which we accelerate and drive. </td></tr>
-    <tr><td class="paramname">max_speed</td><td>the maximum percentage of robot speed at which the robot will travel. 1 = full power </td></tr>
-  </table>
-  </dd>
-</dl>
-<dl class="section return"><dt>Returns</dt><dd>true when we have reached our target distance</dd></dl>
-<p>Use odometry to drive forward a certain distance using a custom feedback controller</p>
-<p>Returns whether or not the robot has reached it's destination. </p><dl class="params"><dt>Parameters</dt><dd>
-  <table class="params">
-    <tr><td class="paramname">inches</td><td>the distance to drive forward </td></tr>
-    <tr><td class="paramname">dir</td><td>the direction we want to travel forward and backward </td></tr>
-    <tr><td class="paramname">feedback</td><td>the custom feedback controller we will use to travel. controls the rate at which we accelerate and drive. </td></tr>
-    <tr><td class="paramname">max_speed</td><td>the maximum percentage of robot speed at which the robot will travel. 1 = full power </td></tr>
-  </table>
-  </dd>
-</dl>
-
-</div>
-</div>
-<a id="a1dff7827546fb3d17e0d2ca150bdf630" name="a1dff7827546fb3d17e0d2ca150bdf630"></a>
-<h2 class="memtitle"><span class="permalink"><a href="#a1dff7827546fb3d17e0d2ca150bdf630">&#9670;&#160;</a></span>drive_tank()</h2>
-
-<div class="memitem">
-<div class="memproto">
-      <table class="memname">
-        <tr>
-          <td class="memname">void TankDrive::drive_tank </td>
-          <td>(</td>
-          <td class="paramtype">double&#160;</td>
-          <td class="paramname"><em>left</em>, </td>
-        </tr>
-        <tr>
-          <td class="paramkey"></td>
-          <td></td>
-          <td class="paramtype">double&#160;</td>
-          <td class="paramname"><em>right</em>, </td>
-        </tr>
-        <tr>
-          <td class="paramkey"></td>
-          <td></td>
-          <td class="paramtype">int&#160;</td>
-          <td class="paramname"><em>power</em> = <code>1</code>, </td>
-        </tr>
-        <tr>
-          <td class="paramkey"></td>
-          <td></td>
-          <td class="paramtype">bool&#160;</td>
-          <td class="paramname"><em>isdriver</em> = <code>false</code>&#160;</td>
-        </tr>
-        <tr>
-          <td></td>
-          <td>)</td>
-          <td></td><td></td>
-        </tr>
-      </table>
-</div><div class="memdoc">
-<p>Drive the robot using differential style controls. left_motors controls the left motors, right_motors controls the right motors.</p>
-<p>left_motors and right_motors are in "percent": -1.0 -&gt; 1.0 </p><dl class="params"><dt>Parameters</dt><dd>
-  <table class="params">
-    <tr><td class="paramname">left</td><td>the percent to run the left motors </td></tr>
-    <tr><td class="paramname">right</td><td>the percent to run the right motors </td></tr>
-    <tr><td class="paramname">power</td><td>modifies the input velocities left^power, right^power </td></tr>
-    <tr><td class="paramname">isdriver</td><td>default false. if true uses motor percentage. if false uses plain percentage of maximum voltage</td></tr>
-  </table>
-  </dd>
-</dl>
-<p>Drive the robot using differential style controls. left_motors controls the left motors, right_motors controls the right motors.</p>
-<p>left_motors and right_motors are in "percent": -1.0 -&gt; 1.0 </p>
-
-</div>
-</div>
-<a id="a267114928d17e16d36ad14fd4d3bf91a" name="a267114928d17e16d36ad14fd4d3bf91a"></a>
-<h2 class="memtitle"><span class="permalink"><a href="#a267114928d17e16d36ad14fd4d3bf91a">&#9670;&#160;</a></span>drive_to_point() <span class="overload">[1/2]</span></h2>
-
-<div class="memitem">
-<div class="memproto">
-      <table class="memname">
-        <tr>
-          <td class="memname">bool TankDrive::drive_to_point </td>
-          <td>(</td>
-          <td class="paramtype">double&#160;</td>
-          <td class="paramname"><em>x</em>, </td>
-        </tr>
-        <tr>
-          <td class="paramkey"></td>
-          <td></td>
-          <td class="paramtype">double&#160;</td>
-          <td class="paramname"><em>y</em>, </td>
-        </tr>
-        <tr>
-          <td class="paramkey"></td>
-          <td></td>
-          <td class="paramtype">vex::directionType&#160;</td>
-          <td class="paramname"><em>dir</em>, </td>
-        </tr>
-        <tr>
-          <td class="paramkey"></td>
-          <td></td>
-          <td class="paramtype">double&#160;</td>
-          <td class="paramname"><em>max_speed</em> = <code>1</code>&#160;</td>
-        </tr>
-        <tr>
-          <td></td>
-          <td>)</td>
-          <td></td><td></td>
-        </tr>
-      </table>
-</div><div class="memdoc">
-<p>Use odometry to automatically drive the robot to a point on the field. X and Y is the final point we want the robot. Here we use the default feedback controller from the drive_sys</p>
-<p>Returns whether or not the robot has reached it's destination. </p><dl class="params"><dt>Parameters</dt><dd>
-  <table class="params">
-    <tr><td class="paramname">x</td><td>the x position of the target </td></tr>
-    <tr><td class="paramname">y</td><td>the y position of the target </td></tr>
-    <tr><td class="paramname">dir</td><td>the direction we want to travel forward and backward </td></tr>
-    <tr><td class="paramname">max_speed</td><td>the maximum percentage of robot speed at which the robot will travel. 1 = full power</td></tr>
-  </table>
-  </dd>
-</dl>
-<p>Use odometry to automatically drive the robot to a point on the field. X and Y is the final point we want the robot. Here we use the default feedback controller from the drive_sys</p>
-<p>Returns whether or not the robot has reached it's destination. </p><dl class="params"><dt>Parameters</dt><dd>
-  <table class="params">
-    <tr><td class="paramname">x</td><td>the x position of the target </td></tr>
-    <tr><td class="paramname">y</td><td>the y position of the target </td></tr>
-    <tr><td class="paramname">dir</td><td>the direction we want to travel forward and backward </td></tr>
-    <tr><td class="paramname">max_speed</td><td>the maximum percentage of robot speed at which the robot will travel. 1 = full power </td></tr>
-  </table>
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-<h2 class="memtitle"><span class="permalink"><a href="#ad64cf88b180865f7e0f9810a344db791">&#9670;&#160;</a></span>drive_to_point() <span class="overload">[2/2]</span></h2>
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-          <td class="memname">bool TankDrive::drive_to_point </td>
-          <td>(</td>
-          <td class="paramtype">double&#160;</td>
-          <td class="paramname"><em>x</em>, </td>
-        </tr>
-        <tr>
-          <td class="paramkey"></td>
-          <td></td>
-          <td class="paramtype">double&#160;</td>
-          <td class="paramname"><em>y</em>, </td>
-        </tr>
-        <tr>
-          <td class="paramkey"></td>
-          <td></td>
-          <td class="paramtype">vex::directionType&#160;</td>
-          <td class="paramname"><em>dir</em>, </td>
-        </tr>
-        <tr>
-          <td class="paramkey"></td>
-          <td></td>
-          <td class="paramtype"><a class="el" href="classFeedback.html">Feedback</a> &amp;&#160;</td>
-          <td class="paramname"><em>feedback</em>, </td>
-        </tr>
-        <tr>
-          <td class="paramkey"></td>
-          <td></td>
-          <td class="paramtype">double&#160;</td>
-          <td class="paramname"><em>max_speed</em> = <code>1</code>&#160;</td>
-        </tr>
-        <tr>
-          <td></td>
-          <td>)</td>
-          <td></td><td></td>
-        </tr>
-      </table>
-</div><div class="memdoc">
-<p>Use odometry to automatically drive the robot to a point on the field. X and Y is the final point we want the robot.</p>
-<p>Returns whether or not the robot has reached it's destination. </p><dl class="params"><dt>Parameters</dt><dd>
-  <table class="params">
-    <tr><td class="paramname">x</td><td>the x position of the target </td></tr>
-    <tr><td class="paramname">y</td><td>the y position of the target </td></tr>
-    <tr><td class="paramname">dir</td><td>the direction we want to travel forward and backward </td></tr>
-    <tr><td class="paramname">feedback</td><td>the feedback controller we will use to travel. controls the rate at which we accelerate and drive. </td></tr>
-    <tr><td class="paramname">max_speed</td><td>the maximum percentage of robot speed at which the robot will travel. 1 = full power</td></tr>
-  </table>
-  </dd>
-</dl>
-<p>Use odometry to automatically drive the robot to a point on the field. X and Y is the final point we want the robot.</p>
-<p>Returns whether or not the robot has reached it's destination. </p><dl class="params"><dt>Parameters</dt><dd>
-  <table class="params">
-    <tr><td class="paramname">x</td><td>the x position of the target </td></tr>
-    <tr><td class="paramname">y</td><td>the y position of the target </td></tr>
-    <tr><td class="paramname">dir</td><td>the direction we want to travel forward and backward </td></tr>
-    <tr><td class="paramname">feedback</td><td>the feedback controller we will use to travel. controls the rate at which we accelerate and drive. </td></tr>
-    <tr><td class="paramname">max_speed</td><td>the maximum percentage of robot speed at which the robot will travel. 1 = full power </td></tr>
-  </table>
-  </dd>
-</dl>
-<dl class="section return"><dt>Returns</dt><dd>true if we have reached our target point </dd></dl>
-
-</div>
-</div>
-<a id="abb511cf1be40ef7be89c2ccff6a09cab" name="abb511cf1be40ef7be89c2ccff6a09cab"></a>
-<h2 class="memtitle"><span class="permalink"><a href="#abb511cf1be40ef7be89c2ccff6a09cab">&#9670;&#160;</a></span>modify_inputs()</h2>
-
-<div class="memitem">
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-  <tr>
-  <td class="mlabels-left">
-      <table class="memname">
-        <tr>
-          <td class="memname">double TankDrive::modify_inputs </td>
-          <td>(</td>
-          <td class="paramtype">double&#160;</td>
-          <td class="paramname"><em>input</em>, </td>
-        </tr>
-        <tr>
-          <td class="paramkey"></td>
-          <td></td>
-          <td class="paramtype">int&#160;</td>
-          <td class="paramname"><em>power</em> = <code>2</code>&#160;</td>
-        </tr>
-        <tr>
-          <td></td>
-          <td>)</td>
-          <td></td><td></td>
-        </tr>
-      </table>
-  </td>
-  <td class="mlabels-right">
-<span class="mlabels"><span class="mlabel">static</span></span>  </td>
-  </tr>
-</table>
-</div><div class="memdoc">
-<p>Create a curve for the inputs, so that drivers have more control at lower speeds. Curves are exponential, with the default being squaring the inputs.</p>
-<dl class="params"><dt>Parameters</dt><dd>
-  <table class="params">
-    <tr><td class="paramname">input</td><td>the input before modification </td></tr>
-    <tr><td class="paramname">power</td><td>the power to raise input to </td></tr>
-  </table>
-  </dd>
-</dl>
-<dl class="section return"><dt>Returns</dt><dd>input ^ power (accounts for negative inputs and odd numbered powers)</dd></dl>
-<p>Modify the inputs from the controller by squaring / cubing, etc Allows for better control of the robot at slower speeds </p><dl class="params"><dt>Parameters</dt><dd>
-  <table class="params">
-    <tr><td class="paramname">input</td><td>the input signal -1 -&gt; 1 </td></tr>
-    <tr><td class="paramname">power</td><td>the power to raise the signal to </td></tr>
-  </table>
-  </dd>
-</dl>
-<dl class="section return"><dt>Returns</dt><dd>input^power accounting for any sign issues that would arise with this naive solution </dd></dl>
-
-</div>
-</div>
-<a id="a13bb19d1cf97b7f3534f4f2a0a13bf27" name="a13bb19d1cf97b7f3534f4f2a0a13bf27"></a>
-<h2 class="memtitle"><span class="permalink"><a href="#a13bb19d1cf97b7f3534f4f2a0a13bf27">&#9670;&#160;</a></span>pure_pursuit()</h2>
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-<div class="memproto">
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-          <td class="memname">bool TankDrive::pure_pursuit </td>
-          <td>(</td>
-          <td class="paramtype">std::vector&lt; <a class="el" href="structPurePursuit_1_1hermite__point.html">PurePursuit::hermite_point</a> &gt;&#160;</td>
-          <td class="paramname"><em>path</em>, </td>
-        </tr>
-        <tr>
-          <td class="paramkey"></td>
-          <td></td>
-          <td class="paramtype">directionType&#160;</td>
-          <td class="paramname"><em>dir</em>, </td>
-        </tr>
-        <tr>
-          <td class="paramkey"></td>
-          <td></td>
-          <td class="paramtype">double&#160;</td>
-          <td class="paramname"><em>radius</em>, </td>
-        </tr>
-        <tr>
-          <td class="paramkey"></td>
-          <td></td>
-          <td class="paramtype">double&#160;</td>
-          <td class="paramname"><em>res</em>, </td>
-        </tr>
-        <tr>
-          <td class="paramkey"></td>
-          <td></td>
-          <td class="paramtype"><a class="el" href="classFeedback.html">Feedback</a> &amp;&#160;</td>
-          <td class="paramname"><em>feedback</em>, </td>
-        </tr>
-        <tr>
-          <td class="paramkey"></td>
-          <td></td>
-          <td class="paramtype">double&#160;</td>
-          <td class="paramname"><em>max_speed</em> = <code>1</code>&#160;</td>
-        </tr>
-        <tr>
-          <td></td>
-          <td>)</td>
-          <td></td><td></td>
-        </tr>
-      </table>
-</div><div class="memdoc">
-<p>Follow a hermite curve using the pure pursuit algorithm.</p>
-<dl class="params"><dt>Parameters</dt><dd>
-  <table class="params">
-    <tr><td class="paramname">path</td><td>The hermite curve for the robot to take. Must have 2 or more points. </td></tr>
-    <tr><td class="paramname">dir</td><td>Whether the robot should move forward or backwards </td></tr>
-    <tr><td class="paramname">radius</td><td>How the pure pursuit radius, in inches, for finding the lookahead point </td></tr>
-    <tr><td class="paramname">res</td><td>The number of points to use along the path; the hermite curve is split up into "res" individual points. </td></tr>
-    <tr><td class="paramname">feedback</td><td>The feedback controller to use </td></tr>
-    <tr><td class="paramname">max_speed</td><td>Robot's maximum speed throughout the path, between 0 and 1.0 </td></tr>
-  </table>
-  </dd>
-</dl>
-<dl class="section return"><dt>Returns</dt><dd>true when we reach the end of the path </dd></dl>
-
-</div>
-</div>
-<a id="aaa68eae1521e5b87ecfed2a60b15bf34" name="aaa68eae1521e5b87ecfed2a60b15bf34"></a>
-<h2 class="memtitle"><span class="permalink"><a href="#aaa68eae1521e5b87ecfed2a60b15bf34">&#9670;&#160;</a></span>reset_auto()</h2>
-
-<div class="memitem">
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-        <tr>
-          <td class="memname">void TankDrive::reset_auto </td>
-          <td>(</td>
-          <td class="paramname"></td><td>)</td>
-          <td></td>
-        </tr>
-      </table>
-</div><div class="memdoc">
-<p>Reset the initialization for autonomous drive functions </p>
-
-</div>
-</div>
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-<h2 class="memtitle"><span class="permalink"><a href="#af10e648e4de35fa72859fb96a9a80485">&#9670;&#160;</a></span>stop()</h2>
-
-<div class="memitem">
-<div class="memproto">
-      <table class="memname">
-        <tr>
-          <td class="memname">void TankDrive::stop </td>
-          <td>(</td>
-          <td class="paramname"></td><td>)</td>
-          <td></td>
-        </tr>
-      </table>
-</div><div class="memdoc">
-<p>Stops rotation of all the motors using their "brake mode" </p>
-
-</div>
-</div>
-<a id="a26d51cc12145f2520ea0c4355716184d" name="a26d51cc12145f2520ea0c4355716184d"></a>
-<h2 class="memtitle"><span class="permalink"><a href="#a26d51cc12145f2520ea0c4355716184d">&#9670;&#160;</a></span>turn_degrees() <span class="overload">[1/2]</span></h2>
-
-<div class="memitem">
-<div class="memproto">
-      <table class="memname">
-        <tr>
-          <td class="memname">bool TankDrive::turn_degrees </td>
-          <td>(</td>
-          <td class="paramtype">double&#160;</td>
-          <td class="paramname"><em>degrees</em>, </td>
-        </tr>
-        <tr>
-          <td class="paramkey"></td>
-          <td></td>
-          <td class="paramtype">double&#160;</td>
-          <td class="paramname"><em>max_speed</em> = <code>1</code>&#160;</td>
-        </tr>
-        <tr>
-          <td></td>
-          <td>)</td>
-          <td></td><td></td>
-        </tr>
-      </table>
-</div><div class="memdoc">
-<p>Autonomously turn the robot X degrees to counterclockwise (negative for clockwise), with a maximum motor speed of percent_speed (-1.0 -&gt; 1.0)</p>
-<p>Uses the defualt turning feedback of the drive system.</p>
-<dl class="params"><dt>Parameters</dt><dd>
-  <table class="params">
-    <tr><td class="paramname">degrees</td><td>degrees by which we will turn relative to the robot (+) turns ccw, (-) turns cw </td></tr>
-    <tr><td class="paramname">max_speed</td><td>the maximum percentage of robot speed at which the robot will travel. 1 = full power</td></tr>
-  </table>
-  </dd>
-</dl>
-<p>Autonomously turn the robot X degrees to counterclockwise (negative for clockwise), with a maximum motor speed of percent_speed (-1.0 -&gt; 1.0)</p>
-<p>Uses the defualt turning feedback of the drive system.</p>
-<dl class="params"><dt>Parameters</dt><dd>
-  <table class="params">
-    <tr><td class="paramname">degrees</td><td>degrees by which we will turn relative to the robot (+) turns ccw, (-) turns cw </td></tr>
-    <tr><td class="paramname">max_speed</td><td>the maximum percentage of robot speed at which the robot will travel. 1 = full power </td></tr>
-  </table>
-  </dd>
-</dl>
-<dl class="section return"><dt>Returns</dt><dd>true if we turned te target number of degrees </dd></dl>
-
-</div>
-</div>
-<a id="ac1ce9895b82b7298465d8e59fae95763" name="ac1ce9895b82b7298465d8e59fae95763"></a>
-<h2 class="memtitle"><span class="permalink"><a href="#ac1ce9895b82b7298465d8e59fae95763">&#9670;&#160;</a></span>turn_degrees() <span class="overload">[2/2]</span></h2>
-
-<div class="memitem">
-<div class="memproto">
-      <table class="memname">
-        <tr>
-          <td class="memname">bool TankDrive::turn_degrees </td>
-          <td>(</td>
-          <td class="paramtype">double&#160;</td>
-          <td class="paramname"><em>degrees</em>, </td>
-        </tr>
-        <tr>
-          <td class="paramkey"></td>
-          <td></td>
-          <td class="paramtype"><a class="el" href="classFeedback.html">Feedback</a> &amp;&#160;</td>
-          <td class="paramname"><em>feedback</em>, </td>
-        </tr>
-        <tr>
-          <td class="paramkey"></td>
-          <td></td>
-          <td class="paramtype">double&#160;</td>
-          <td class="paramname"><em>max_speed</em> = <code>1</code>&#160;</td>
-        </tr>
-        <tr>
-          <td></td>
-          <td>)</td>
-          <td></td><td></td>
-        </tr>
-      </table>
-</div><div class="memdoc">
-<p>Autonomously turn the robot X degrees counterclockwise (negative for clockwise), with a maximum motor speed of percent_speed (-1.0 -&gt; 1.0)</p>
-<p>Uses <a class="el" href="classPID.html">PID</a> + Feedforward for it's control.</p>
-<dl class="params"><dt>Parameters</dt><dd>
-  <table class="params">
-    <tr><td class="paramname">degrees</td><td>degrees by which we will turn relative to the robot (+) turns ccw, (-) turns cw </td></tr>
-    <tr><td class="paramname">feedback</td><td>the feedback controller we will use to travel. controls the rate at which we accelerate and drive. </td></tr>
-    <tr><td class="paramname">max_speed</td><td>the maximum percentage of robot speed at which the robot will travel. 1 = full power</td></tr>
-  </table>
-  </dd>
-</dl>
-<p>Autonomously turn the robot X degrees to counterclockwise (negative for clockwise), with a maximum motor speed of percent_speed (-1.0 -&gt; 1.0)</p>
-<p>Uses the specified feedback for it's control.</p>
-<dl class="params"><dt>Parameters</dt><dd>
-  <table class="params">
-    <tr><td class="paramname">degrees</td><td>degrees by which we will turn relative to the robot (+) turns ccw, (-) turns cw </td></tr>
-    <tr><td class="paramname">feedback</td><td>the feedback controller we will use to travel. controls the rate at which we accelerate and drive. </td></tr>
-    <tr><td class="paramname">max_speed</td><td>the maximum percentage of robot speed at which the robot will travel. 1 = full power </td></tr>
-  </table>
-  </dd>
-</dl>
-<dl class="section return"><dt>Returns</dt><dd>true if we have turned our target number of degrees </dd></dl>
-
-</div>
-</div>
-<a id="ab003af6cf2de93e649cce5245b092a36" name="ab003af6cf2de93e649cce5245b092a36"></a>
-<h2 class="memtitle"><span class="permalink"><a href="#ab003af6cf2de93e649cce5245b092a36">&#9670;&#160;</a></span>turn_to_heading() <span class="overload">[1/2]</span></h2>
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-<div class="memitem">
-<div class="memproto">
-      <table class="memname">
-        <tr>
-          <td class="memname">bool TankDrive::turn_to_heading </td>
-          <td>(</td>
-          <td class="paramtype">double&#160;</td>
-          <td class="paramname"><em>heading_deg</em>, </td>
-        </tr>
-        <tr>
-          <td class="paramkey"></td>
-          <td></td>
-          <td class="paramtype">double&#160;</td>
-          <td class="paramname"><em>max_speed</em> = <code>1</code>&#160;</td>
-        </tr>
-        <tr>
-          <td></td>
-          <td>)</td>
-          <td></td><td></td>
-        </tr>
-      </table>
-</div><div class="memdoc">
-<p>Turn the robot in place to an exact heading relative to the field. 0 is forward. Uses the defualt turn feedback of the drive system</p>
-<dl class="params"><dt>Parameters</dt><dd>
-  <table class="params">
-    <tr><td class="paramname">heading_deg</td><td>the heading to which we will turn </td></tr>
-    <tr><td class="paramname">max_speed</td><td>the maximum percentage of robot speed at which the robot will travel. 1 = full power</td></tr>
-  </table>
-  </dd>
-</dl>
-<p>Turn the robot in place to an exact heading relative to the field. 0 is forward. Uses the defualt turn feedback of the drive system</p>
-<dl class="params"><dt>Parameters</dt><dd>
-  <table class="params">
-    <tr><td class="paramname">heading_deg</td><td>the heading to which we will turn </td></tr>
-    <tr><td class="paramname">max_speed</td><td>the maximum percentage of robot speed at which the robot will travel. 1 = full power </td></tr>
-  </table>
-  </dd>
-</dl>
-<dl class="section return"><dt>Returns</dt><dd>true if we have reached our target heading </dd></dl>
-
-</div>
-</div>
-<a id="a25030a7b5e9404a911f7b776a7df7f05" name="a25030a7b5e9404a911f7b776a7df7f05"></a>
-<h2 class="memtitle"><span class="permalink"><a href="#a25030a7b5e9404a911f7b776a7df7f05">&#9670;&#160;</a></span>turn_to_heading() <span class="overload">[2/2]</span></h2>
-
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-      <table class="memname">
-        <tr>
-          <td class="memname">bool TankDrive::turn_to_heading </td>
-          <td>(</td>
-          <td class="paramtype">double&#160;</td>
-          <td class="paramname"><em>heading_deg</em>, </td>
-        </tr>
-        <tr>
-          <td class="paramkey"></td>
-          <td></td>
-          <td class="paramtype"><a class="el" href="classFeedback.html">Feedback</a> &amp;&#160;</td>
-          <td class="paramname"><em>feedback</em>, </td>
-        </tr>
-        <tr>
-          <td class="paramkey"></td>
-          <td></td>
-          <td class="paramtype">double&#160;</td>
-          <td class="paramname"><em>max_speed</em> = <code>1</code>&#160;</td>
-        </tr>
-        <tr>
-          <td></td>
-          <td>)</td>
-          <td></td><td></td>
-        </tr>
-      </table>
-</div><div class="memdoc">
-<p>Turn the robot in place to an exact heading relative to the field. 0 is forward.</p>
-<dl class="params"><dt>Parameters</dt><dd>
-  <table class="params">
-    <tr><td class="paramname">heading_deg</td><td>the heading to which we will turn </td></tr>
-    <tr><td class="paramname">feedback</td><td>the feedback controller we will use to travel. controls the rate at which we accelerate and drive. </td></tr>
-    <tr><td class="paramname">max_speed</td><td>the maximum percentage of robot speed at which the robot will travel. 1 = full power</td></tr>
-  </table>
-  </dd>
-</dl>
-<p>Turn the robot in place to an exact heading relative to the field. 0 is forward.</p>
-<dl class="params"><dt>Parameters</dt><dd>
-  <table class="params">
-    <tr><td class="paramname">heading_deg</td><td>the heading to which we will turn </td></tr>
-    <tr><td class="paramname">feedback</td><td>the feedback controller we will use to travel. controls the rate at which we accelerate and drive. </td></tr>
-    <tr><td class="paramname">max_speed</td><td>the maximum percentage of robot speed at which the robot will travel. 1 = full power </td></tr>
-  </table>
-  </dd>
-</dl>
-<dl class="section return"><dt>Returns</dt><dd>true if we have reached our target heading </dd></dl>
-
-</div>
-</div>
-<hr/>The documentation for this class was generated from the following files:<ul>
-<li>include/subsystems/<a class="el" href="tank__drive_8h_source.html">tank_drive.h</a></li>
-<li>src/subsystems/tank_drive.cpp</li>
-</ul>
-</div><!-- contents -->
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-  <tr class="even"><td class="entry"><a class="el" href="classTrapezoidProfile.html#a0b65a924664e6e052a16db19f73af17c">calculate</a>(double time_s)</td><td class="entry"><a class="el" href="classTrapezoidProfile.html">TrapezoidProfile</a></td><td class="entry"></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classTrapezoidProfile.html#abd551042dfffe0923200c4546d109c55">get_movement_time</a>()</td><td class="entry"><a class="el" href="classTrapezoidProfile.html">TrapezoidProfile</a></td><td class="entry"></td></tr>
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-  <tr class="even"><td class="entry"><a class="el" href="classTrapezoidProfile.html#a6c08d08d8eadaa719f4dc9e607f9fe97">set_max_v</a>(double max_v)</td><td class="entry"><a class="el" href="classTrapezoidProfile.html">TrapezoidProfile</a></td><td class="entry"></td></tr>
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-  <div class="headertitle"><div class="title">TrapezoidProfile Class Reference</div></div>
-</div><!--header-->
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-
-<p><code>#include &lt;<a class="el" href="trapezoid__profile_8h_source.html">trapezoid_profile.h</a>&gt;</code></p>
-<table class="memberdecls">
-<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-methods" name="pub-methods"></a>
-Public Member Functions</h2></td></tr>
-<tr class="memitem:af693ca740c0112cfbf4a9ee13bbb6c5d"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classTrapezoidProfile.html#af693ca740c0112cfbf4a9ee13bbb6c5d">TrapezoidProfile</a> (double max_v, double accel)</td></tr>
-<tr class="memdesc:af693ca740c0112cfbf4a9ee13bbb6c5d"><td class="mdescLeft">&#160;</td><td class="mdescRight">Construct a new Trapezoid Profile object.  <br /></td></tr>
-<tr class="separator:af693ca740c0112cfbf4a9ee13bbb6c5d"><td class="memSeparator" colspan="2">&#160;</td></tr>
-<tr class="memitem:a0b65a924664e6e052a16db19f73af17c"><td class="memItemLeft" align="right" valign="top"><a class="el" href="structmotion__t.html">motion_t</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classTrapezoidProfile.html#a0b65a924664e6e052a16db19f73af17c">calculate</a> (double time_s)</td></tr>
-<tr class="memdesc:a0b65a924664e6e052a16db19f73af17c"><td class="mdescLeft">&#160;</td><td class="mdescRight">Run the trapezoidal profile based on the time that's ellapsed.  <br /></td></tr>
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-<tr class="memitem:a1d28f3fa6bf1dfa7f5c1a34d0d3b17b5"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classTrapezoidProfile.html#a1d28f3fa6bf1dfa7f5c1a34d0d3b17b5">set_endpts</a> (double start, double end)</td></tr>
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-<tr class="memitem:a1dcdfa1c290347cf0af48aca5afd167c"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classTrapezoidProfile.html#a1dcdfa1c290347cf0af48aca5afd167c">set_accel</a> (double accel)</td></tr>
-<tr class="separator:a1dcdfa1c290347cf0af48aca5afd167c"><td class="memSeparator" colspan="2">&#160;</td></tr>
-<tr class="memitem:a6c08d08d8eadaa719f4dc9e607f9fe97"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classTrapezoidProfile.html#a6c08d08d8eadaa719f4dc9e607f9fe97">set_max_v</a> (double max_v)</td></tr>
-<tr class="separator:a6c08d08d8eadaa719f4dc9e607f9fe97"><td class="memSeparator" colspan="2">&#160;</td></tr>
-<tr class="memitem:abd551042dfffe0923200c4546d109c55"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classTrapezoidProfile.html#abd551042dfffe0923200c4546d109c55">get_movement_time</a> ()</td></tr>
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-</table>
-<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
-<div class="textblock"><p>Trapezoid Profile</p>
-<p>This is a motion profile defined by an acceleration, maximum velocity, start point and end point. Using this information, a parametric function is generated, with a period of acceleration, constant velocity, and deceleration. The velocity graph looks like a trapezoid, giving it it's name.</p>
-<p>If the maximum velocity is set high enough, this will become a S-curve profile, with only acceleration and deceleration.</p>
-<p>This class is designed for use in properly modelling the motion of the robots to create a feedfoward and target for <a class="el" href="classPID.html">PID</a>. Acceleration and Maximum velocity should be measured on the robot and tuned down slightly to account for battery drop.</p>
-<p>Here are the equations graphed for ease of understanding: <a href="https://www.desmos.com/calculator/rkm3ivu1yk">https://www.desmos.com/calculator/rkm3ivu1yk</a></p>
-<dl class="section author"><dt>Author</dt><dd>Ryan McGee </dd></dl>
-<dl class="section date"><dt>Date</dt><dd>7/12/2022 </dd></dl>
-</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
-<a id="af693ca740c0112cfbf4a9ee13bbb6c5d" name="af693ca740c0112cfbf4a9ee13bbb6c5d"></a>
-<h2 class="memtitle"><span class="permalink"><a href="#af693ca740c0112cfbf4a9ee13bbb6c5d">&#9670;&#160;</a></span>TrapezoidProfile()</h2>
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-          <td class="memname">TrapezoidProfile::TrapezoidProfile </td>
-          <td>(</td>
-          <td class="paramtype">double&#160;</td>
-          <td class="paramname"><em>max_v</em>, </td>
-        </tr>
-        <tr>
-          <td class="paramkey"></td>
-          <td></td>
-          <td class="paramtype">double&#160;</td>
-          <td class="paramname"><em>accel</em>&#160;</td>
-        </tr>
-        <tr>
-          <td></td>
-          <td>)</td>
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-
-<p>Construct a new Trapezoid Profile object. </p>
-<dl class="params"><dt>Parameters</dt><dd>
-  <table class="params">
-    <tr><td class="paramname">max_v</td><td>Maximum velocity the robot can run at </td></tr>
-    <tr><td class="paramname">accel</td><td>Maximum acceleration of the robot </td></tr>
-  </table>
-  </dd>
-</dl>
-
-</div>
-</div>
-<h2 class="groupheader">Member Function Documentation</h2>
-<a id="a0b65a924664e6e052a16db19f73af17c" name="a0b65a924664e6e052a16db19f73af17c"></a>
-<h2 class="memtitle"><span class="permalink"><a href="#a0b65a924664e6e052a16db19f73af17c">&#9670;&#160;</a></span>calculate()</h2>
-
-<div class="memitem">
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-          <td>(</td>
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-          <td></td>
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-
-<p>Run the trapezoidal profile based on the time that's ellapsed. </p>
-<dl class="params"><dt>Parameters</dt><dd>
-  <table class="params">
-    <tr><td class="paramname">time_s</td><td>Time since start of movement </td></tr>
-  </table>
-  </dd>
-</dl>
-<dl class="section return"><dt>Returns</dt><dd><a class="el" href="structmotion__t.html">motion_t</a> Position, velocity and acceleration</dd></dl>
-<dl class="params"><dt>Parameters</dt><dd>
-  <table class="params">
-    <tr><td class="paramname">time_s</td><td>Time since start of movement </td></tr>
-  </table>
-  </dd>
-</dl>
-<dl class="section return"><dt>Returns</dt><dd><a class="el" href="structmotion__t.html">motion_t</a> Position, velocity and acceleration </dd></dl>
-
-</div>
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-<h2 class="memtitle"><span class="permalink"><a href="#abd551042dfffe0923200c4546d109c55">&#9670;&#160;</a></span>get_movement_time()</h2>
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-          <td></td>
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-<p>uses the kinematic equations to and specified accel and max_v to figure out how long moving along the profile would take </p><dl class="section return"><dt>Returns</dt><dd>the time the path will take to travel </dd></dl>
-
-</div>
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-<h2 class="memtitle"><span class="permalink"><a href="#a1dcdfa1c290347cf0af48aca5afd167c">&#9670;&#160;</a></span>set_accel()</h2>
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-          <td>(</td>
-          <td class="paramtype">double&#160;</td>
-          <td class="paramname"><em>accel</em></td><td>)</td>
-          <td></td>
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-<p>set_accel sets the acceleration this profile will use (the left and right legs of the trapezoid) </p><dl class="params"><dt>Parameters</dt><dd>
-  <table class="params">
-    <tr><td class="paramname">accel</td><td>the acceleration amount to use </td></tr>
-  </table>
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-</dl>
-
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-<a id="a1d28f3fa6bf1dfa7f5c1a34d0d3b17b5" name="a1d28f3fa6bf1dfa7f5c1a34d0d3b17b5"></a>
-<h2 class="memtitle"><span class="permalink"><a href="#a1d28f3fa6bf1dfa7f5c1a34d0d3b17b5">&#9670;&#160;</a></span>set_endpts()</h2>
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-          <td class="paramtype">double&#160;</td>
-          <td class="paramname"><em>start</em>, </td>
-        </tr>
-        <tr>
-          <td class="paramkey"></td>
-          <td></td>
-          <td class="paramtype">double&#160;</td>
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-<p>set_endpts defines a start and end position </p><dl class="params"><dt>Parameters</dt><dd>
-  <table class="params">
-    <tr><td class="paramname">start</td><td>the starting position of the path </td></tr>
-    <tr><td class="paramname">end</td><td>the ending position of the path </td></tr>
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-
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-<p>sets the maximum velocity for the profile (the height of the top of the trapezoid) </p><dl class="params"><dt>Parameters</dt><dd>
-  <table class="params">
-    <tr><td class="paramname">max_v</td><td>the maximum velocity the robot can travel at </td></tr>
-  </table>
-  </dd>
-</dl>
-
-</div>
-</div>
-<hr/>The documentation for this class was generated from the following files:<ul>
-<li>include/utils/<a class="el" href="trapezoid__profile_8h_source.html">trapezoid_profile.h</a></li>
-<li>src/utils/trapezoid_profile.cpp</li>
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-<p><code>#include &lt;<a class="el" href="drive__commands_8h_source.html">drive_commands.h</a>&gt;</code></p>
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-<p>reset the drive system if we timeout </p>
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-<p><code>#include &lt;<a class="el" href="vector2d_8h_source.html">vector2d.h</a>&gt;</code></p>
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-  <div class="headertitle"><div class="title">drive_commands.h</div></div>
-</div><!--header-->
-<div class="contents">
-<div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno">    1</span> </div>
-<div class="line"><a id="l00019" name="l00019"></a><span class="lineno">   19</span><span class="preprocessor">#pragma once</span></div>
-<div class="line"><a id="l00020" name="l00020"></a><span class="lineno">   20</span> </div>
-<div class="line"><a id="l00021" name="l00021"></a><span class="lineno">   21</span><span class="preprocessor">#include &quot;vex.h&quot;</span></div>
-<div class="line"><a id="l00022" name="l00022"></a><span class="lineno">   22</span><span class="preprocessor">#include &quot;../core/include/utils/command_structure/auto_command.h&quot;</span></div>
-<div class="line"><a id="l00023" name="l00023"></a><span class="lineno">   23</span><span class="preprocessor">#include &quot;../core/include/subsystems/tank_drive.h&quot;</span></div>
-<div class="line"><a id="l00024" name="l00024"></a><span class="lineno">   24</span> </div>
-<div class="line"><a id="l00025" name="l00025"></a><span class="lineno">   25</span><span class="keyword">using namespace </span>vex;</div>
-<div class="line"><a id="l00026" name="l00026"></a><span class="lineno">   26</span> </div>
-<div class="line"><a id="l00027" name="l00027"></a><span class="lineno">   27</span> </div>
-<div class="line"><a id="l00028" name="l00028"></a><span class="lineno">   28</span><span class="comment">// ==== DRIVING ====</span></div>
-<div class="line"><a id="l00029" name="l00029"></a><span class="lineno">   29</span> </div>
-<div class="line"><a id="l00035" name="l00035"></a><span class="lineno"><a class="line" href="classDriveForwardCommand.html">   35</a></span><span class="keyword">class </span><a class="code hl_class" href="classDriveForwardCommand.html">DriveForwardCommand</a>: <span class="keyword">public</span> <a class="code hl_class" href="classAutoCommand.html">AutoCommand</a> {</div>
-<div class="line"><a id="l00036" name="l00036"></a><span class="lineno">   36</span>  <span class="keyword">public</span>:</div>
-<div class="line"><a id="l00037" name="l00037"></a><span class="lineno">   37</span>    <a class="code hl_class" href="classDriveForwardCommand.html">DriveForwardCommand</a>(<a class="code hl_class" href="classTankDrive.html">TankDrive</a> &amp;drive_sys, <a class="code hl_class" href="classFeedback.html">Feedback</a> &amp;feedback, <span class="keywordtype">double</span> inches, directionType dir, <span class="keywordtype">double</span> max_speed=1);</div>
-<div class="line"><a id="l00038" name="l00038"></a><span class="lineno">   38</span> </div>
-<div class="line"><a id="l00044" name="l00044"></a><span class="lineno">   44</span>    <span class="keywordtype">bool</span> <a class="code hl_function" href="classDriveForwardCommand.html#aff482b72cab23cd569eb01efac6d1d31">run</a>() <span class="keyword">override</span>;</div>
-<div class="line"><a id="l00048" name="l00048"></a><span class="lineno">   48</span>    <span class="keywordtype">void</span> <a class="code hl_function" href="classDriveForwardCommand.html#a52b4e1ff386eeb1c00f219f40738d0af">on_timeout</a>() <span class="keyword">override</span>;</div>
-<div class="line"><a id="l00049" name="l00049"></a><span class="lineno">   49</span> </div>
-<div class="line"><a id="l00050" name="l00050"></a><span class="lineno">   50</span>  <span class="keyword">private</span>:</div>
-<div class="line"><a id="l00051" name="l00051"></a><span class="lineno">   51</span>    <span class="comment">// drive system to run the function on</span></div>
-<div class="line"><a id="l00052" name="l00052"></a><span class="lineno">   52</span>    <a class="code hl_class" href="classTankDrive.html">TankDrive</a> &amp;drive_sys;</div>
-<div class="line"><a id="l00053" name="l00053"></a><span class="lineno">   53</span> </div>
-<div class="line"><a id="l00054" name="l00054"></a><span class="lineno">   54</span>    <span class="comment">// feedback controller to use</span></div>
-<div class="line"><a id="l00055" name="l00055"></a><span class="lineno">   55</span>    <a class="code hl_class" href="classFeedback.html">Feedback</a> &amp;feedback;</div>
-<div class="line"><a id="l00056" name="l00056"></a><span class="lineno">   56</span> </div>
-<div class="line"><a id="l00057" name="l00057"></a><span class="lineno">   57</span>    <span class="comment">// parameters for drive_forward</span></div>
-<div class="line"><a id="l00058" name="l00058"></a><span class="lineno">   58</span>    <span class="keywordtype">double</span> inches;</div>
-<div class="line"><a id="l00059" name="l00059"></a><span class="lineno">   59</span>    directionType dir;</div>
-<div class="line"><a id="l00060" name="l00060"></a><span class="lineno">   60</span>    <span class="keywordtype">double</span> max_speed;</div>
-<div class="line"><a id="l00061" name="l00061"></a><span class="lineno">   61</span>};</div>
-<div class="line"><a id="l00062" name="l00062"></a><span class="lineno">   62</span> </div>
-<div class="line"><a id="l00067" name="l00067"></a><span class="lineno"><a class="line" href="classTurnDegreesCommand.html">   67</a></span><span class="keyword">class </span><a class="code hl_class" href="classTurnDegreesCommand.html">TurnDegreesCommand</a>: <span class="keyword">public</span> <a class="code hl_class" href="classAutoCommand.html">AutoCommand</a> {</div>
-<div class="line"><a id="l00068" name="l00068"></a><span class="lineno">   68</span>  <span class="keyword">public</span>:</div>
-<div class="line"><a id="l00069" name="l00069"></a><span class="lineno">   69</span>    <a class="code hl_class" href="classTurnDegreesCommand.html">TurnDegreesCommand</a>(<a class="code hl_class" href="classTankDrive.html">TankDrive</a> &amp;drive_sys, <a class="code hl_class" href="classFeedback.html">Feedback</a> &amp;feedback, <span class="keywordtype">double</span> degrees, <span class="keywordtype">double</span> max_speed = 1);</div>
-<div class="line"><a id="l00070" name="l00070"></a><span class="lineno">   70</span> </div>
-<div class="line"><a id="l00076" name="l00076"></a><span class="lineno">   76</span>    <span class="keywordtype">bool</span> <a class="code hl_function" href="classTurnDegreesCommand.html#a2206e4c5073a2e83f6bfa3eeca46a370">run</a>() <span class="keyword">override</span>;</div>
-<div class="line"><a id="l00080" name="l00080"></a><span class="lineno">   80</span>    <span class="keywordtype">void</span> <a class="code hl_function" href="classTurnDegreesCommand.html#abd912b5906bafd9f4117e005eaeccb18">on_timeout</a>() <span class="keyword">override</span>;</div>
-<div class="line"><a id="l00081" name="l00081"></a><span class="lineno">   81</span> </div>
-<div class="line"><a id="l00082" name="l00082"></a><span class="lineno">   82</span> </div>
-<div class="line"><a id="l00083" name="l00083"></a><span class="lineno">   83</span>  <span class="keyword">private</span>:</div>
-<div class="line"><a id="l00084" name="l00084"></a><span class="lineno">   84</span>    <span class="comment">// drive system to run the function on</span></div>
-<div class="line"><a id="l00085" name="l00085"></a><span class="lineno">   85</span>    <a class="code hl_class" href="classTankDrive.html">TankDrive</a> &amp;drive_sys;</div>
-<div class="line"><a id="l00086" name="l00086"></a><span class="lineno">   86</span>    </div>
-<div class="line"><a id="l00087" name="l00087"></a><span class="lineno">   87</span>    <span class="comment">// feedback controller to use</span></div>
-<div class="line"><a id="l00088" name="l00088"></a><span class="lineno">   88</span>    <a class="code hl_class" href="classFeedback.html">Feedback</a> &amp;feedback;</div>
-<div class="line"><a id="l00089" name="l00089"></a><span class="lineno">   89</span> </div>
-<div class="line"><a id="l00090" name="l00090"></a><span class="lineno">   90</span>    <span class="comment">// parameters for turn_degrees</span></div>
-<div class="line"><a id="l00091" name="l00091"></a><span class="lineno">   91</span>    <span class="keywordtype">double</span> degrees;</div>
-<div class="line"><a id="l00092" name="l00092"></a><span class="lineno">   92</span>    <span class="keywordtype">double</span> max_speed;</div>
-<div class="line"><a id="l00093" name="l00093"></a><span class="lineno">   93</span>};</div>
-<div class="line"><a id="l00094" name="l00094"></a><span class="lineno">   94</span> </div>
-<div class="line"><a id="l00099" name="l00099"></a><span class="lineno"><a class="line" href="classDriveToPointCommand.html">   99</a></span><span class="keyword">class </span><a class="code hl_class" href="classDriveToPointCommand.html">DriveToPointCommand</a>: <span class="keyword">public</span> <a class="code hl_class" href="classAutoCommand.html">AutoCommand</a> {</div>
-<div class="line"><a id="l00100" name="l00100"></a><span class="lineno">  100</span>  <span class="keyword">public</span>:</div>
-<div class="line"><a id="l00101" name="l00101"></a><span class="lineno">  101</span>    <a class="code hl_class" href="classDriveToPointCommand.html">DriveToPointCommand</a>(<a class="code hl_class" href="classTankDrive.html">TankDrive</a> &amp;drive_sys, <a class="code hl_class" href="classFeedback.html">Feedback</a> &amp;feedback, <span class="keywordtype">double</span> x, <span class="keywordtype">double</span> y, directionType dir, <span class="keywordtype">double</span> max_speed = 1);</div>
-<div class="line"><a id="l00102" name="l00102"></a><span class="lineno">  102</span>    <a class="code hl_class" href="classDriveToPointCommand.html">DriveToPointCommand</a>(<a class="code hl_class" href="classTankDrive.html">TankDrive</a> &amp;drive_sys, <a class="code hl_class" href="classFeedback.html">Feedback</a> &amp;feedback, <a class="code hl_struct" href="structVector2D_1_1point__t.html">Vector2D::point_t</a> point, directionType dir, <span class="keywordtype">double</span> max_speed=1);</div>
-<div class="line"><a id="l00103" name="l00103"></a><span class="lineno">  103</span> </div>
-<div class="line"><a id="l00109" name="l00109"></a><span class="lineno">  109</span>    <span class="keywordtype">bool</span> <a class="code hl_function" href="classDriveToPointCommand.html#a8ed58921bc3eeb8c04d0b11b4f7e4fbe">run</a>() <span class="keyword">override</span>;</div>
-<div class="line"><a id="l00110" name="l00110"></a><span class="lineno">  110</span> </div>
-<div class="line"><a id="l00111" name="l00111"></a><span class="lineno">  111</span>  <span class="keyword">private</span>:</div>
-<div class="line"><a id="l00112" name="l00112"></a><span class="lineno">  112</span>    <span class="comment">// drive system to run the function on</span></div>
-<div class="line"><a id="l00113" name="l00113"></a><span class="lineno">  113</span>    <a class="code hl_class" href="classTankDrive.html">TankDrive</a> &amp;drive_sys;</div>
-<div class="line"><a id="l00114" name="l00114"></a><span class="lineno">  114</span>    </div>
-<div class="line"><a id="l00118" name="l00118"></a><span class="lineno">  118</span>    <span class="keywordtype">void</span> on_timeout() <span class="keyword">override</span>;</div>
-<div class="line"><a id="l00119" name="l00119"></a><span class="lineno">  119</span> </div>
-<div class="line"><a id="l00120" name="l00120"></a><span class="lineno">  120</span> </div>
-<div class="line"><a id="l00121" name="l00121"></a><span class="lineno">  121</span>    <span class="comment">// feedback controller to use</span></div>
-<div class="line"><a id="l00122" name="l00122"></a><span class="lineno">  122</span>    <a class="code hl_class" href="classFeedback.html">Feedback</a> &amp;feedback;</div>
-<div class="line"><a id="l00123" name="l00123"></a><span class="lineno">  123</span> </div>
-<div class="line"><a id="l00124" name="l00124"></a><span class="lineno">  124</span>    <span class="comment">// parameters for drive_to_point</span></div>
-<div class="line"><a id="l00125" name="l00125"></a><span class="lineno">  125</span>    <span class="keywordtype">double</span> x;</div>
-<div class="line"><a id="l00126" name="l00126"></a><span class="lineno">  126</span>    <span class="keywordtype">double</span> y;</div>
-<div class="line"><a id="l00127" name="l00127"></a><span class="lineno">  127</span>    directionType dir;</div>
-<div class="line"><a id="l00128" name="l00128"></a><span class="lineno">  128</span>    <span class="keywordtype">double</span> max_speed;</div>
-<div class="line"><a id="l00129" name="l00129"></a><span class="lineno">  129</span>    </div>
-<div class="line"><a id="l00130" name="l00130"></a><span class="lineno">  130</span>};</div>
-<div class="line"><a id="l00131" name="l00131"></a><span class="lineno">  131</span> </div>
-<div class="line"><a id="l00137" name="l00137"></a><span class="lineno"><a class="line" href="classTurnToHeadingCommand.html">  137</a></span><span class="keyword">class </span><a class="code hl_class" href="classTurnToHeadingCommand.html">TurnToHeadingCommand</a>: <span class="keyword">public</span> <a class="code hl_class" href="classAutoCommand.html">AutoCommand</a> {</div>
-<div class="line"><a id="l00138" name="l00138"></a><span class="lineno">  138</span>  <span class="keyword">public</span>:</div>
-<div class="line"><a id="l00139" name="l00139"></a><span class="lineno">  139</span>    <a class="code hl_class" href="classTurnToHeadingCommand.html">TurnToHeadingCommand</a>(<a class="code hl_class" href="classTankDrive.html">TankDrive</a> &amp;drive_sys, <a class="code hl_class" href="classFeedback.html">Feedback</a> &amp;feedback, <span class="keywordtype">double</span> heading_deg, <span class="keywordtype">double</span> speed = 1);</div>
-<div class="line"><a id="l00140" name="l00140"></a><span class="lineno">  140</span> </div>
-<div class="line"><a id="l00146" name="l00146"></a><span class="lineno">  146</span>    <span class="keywordtype">bool</span> <a class="code hl_function" href="classTurnToHeadingCommand.html#af571168ca078be95cbc735c99c2f4093">run</a>() <span class="keyword">override</span>;</div>
-<div class="line"><a id="l00150" name="l00150"></a><span class="lineno">  150</span>    <span class="keywordtype">void</span> <a class="code hl_function" href="classTurnToHeadingCommand.html#acaa3b650ed9f02315eb6ba901181bc85">on_timeout</a>() <span class="keyword">override</span>;</div>
-<div class="line"><a id="l00151" name="l00151"></a><span class="lineno">  151</span> </div>
-<div class="line"><a id="l00152" name="l00152"></a><span class="lineno">  152</span> </div>
-<div class="line"><a id="l00153" name="l00153"></a><span class="lineno">  153</span>  <span class="keyword">private</span>:</div>
-<div class="line"><a id="l00154" name="l00154"></a><span class="lineno">  154</span>    <span class="comment">// drive system to run the function on</span></div>
-<div class="line"><a id="l00155" name="l00155"></a><span class="lineno">  155</span>    <a class="code hl_class" href="classTankDrive.html">TankDrive</a> &amp;drive_sys;</div>
-<div class="line"><a id="l00156" name="l00156"></a><span class="lineno">  156</span> </div>
-<div class="line"><a id="l00157" name="l00157"></a><span class="lineno">  157</span>    <span class="comment">// feedback controller to use</span></div>
-<div class="line"><a id="l00158" name="l00158"></a><span class="lineno">  158</span>    <a class="code hl_class" href="classFeedback.html">Feedback</a> &amp;feedback;</div>
-<div class="line"><a id="l00159" name="l00159"></a><span class="lineno">  159</span> </div>
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-<div class="line"><a id="l00162" name="l00162"></a><span class="lineno">  162</span>    <span class="keywordtype">double</span> max_speed;</div>
-<div class="line"><a id="l00163" name="l00163"></a><span class="lineno">  163</span>};</div>
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-<div class="line"><a id="l00170" name="l00170"></a><span class="lineno">  170</span>  <span class="keyword">public</span>:</div>
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-<div class="line"><a id="l00172" name="l00172"></a><span class="lineno">  172</span> </div>
-<div class="line"><a id="l00178" name="l00178"></a><span class="lineno">  178</span>    <span class="keywordtype">bool</span> <a class="code hl_function" href="classDriveStopCommand.html#a3b37806449b50b2f2c19179f1039237b">run</a>() <span class="keyword">override</span>;</div>
-<div class="line"><a id="l00179" name="l00179"></a><span class="lineno">  179</span> </div>
-<div class="line"><a id="l00180" name="l00180"></a><span class="lineno">  180</span>  <span class="keyword">private</span>:</div>
-<div class="line"><a id="l00181" name="l00181"></a><span class="lineno">  181</span>    <span class="comment">// drive system to run the function on</span></div>
-<div class="line"><a id="l00182" name="l00182"></a><span class="lineno">  182</span>    <a class="code hl_class" href="classTankDrive.html">TankDrive</a> &amp;drive_sys;</div>
-<div class="line"><a id="l00183" name="l00183"></a><span class="lineno">  183</span>};</div>
-<div class="line"><a id="l00184" name="l00184"></a><span class="lineno">  184</span> </div>
-<div class="line"><a id="l00185" name="l00185"></a><span class="lineno">  185</span> </div>
-<div class="line"><a id="l00186" name="l00186"></a><span class="lineno">  186</span><span class="comment">// ==== ODOMETRY ====</span></div>
-<div class="line"><a id="l00187" name="l00187"></a><span class="lineno">  187</span> </div>
-<div class="line"><a id="l00192" name="l00192"></a><span class="lineno"><a class="line" href="classOdomSetPosition.html">  192</a></span><span class="keyword">class </span><a class="code hl_class" href="classOdomSetPosition.html">OdomSetPosition</a>: <span class="keyword">public</span> <a class="code hl_class" href="classAutoCommand.html">AutoCommand</a> {</div>
-<div class="line"><a id="l00193" name="l00193"></a><span class="lineno">  193</span>  <span class="keyword">public</span>:</div>
-<div class="line"><a id="l00199" name="l00199"></a><span class="lineno">  199</span>    <a class="code hl_class" href="classOdomSetPosition.html">OdomSetPosition</a>(<a class="code hl_class" href="classOdometryBase.html">OdometryBase</a> &amp;odom, <span class="keyword">const</span> <a class="code hl_struct" href="structposition__t.html">position_t</a> &amp;newpos=<a class="code hl_variable" href="classOdometryBase.html#a7bd3fd09b3a6fa78af3a5ed5e25b8d74">OdometryBase::zero_pos</a>);</div>
-<div class="line"><a id="l00200" name="l00200"></a><span class="lineno">  200</span> </div>
-<div class="line"><a id="l00206" name="l00206"></a><span class="lineno">  206</span>    <span class="keywordtype">bool</span> <a class="code hl_function" href="classOdomSetPosition.html#a611e74a12a9eeb0fce1f38a596c3c467">run</a>() <span class="keyword">override</span>;</div>
-<div class="line"><a id="l00207" name="l00207"></a><span class="lineno">  207</span> </div>
-<div class="line"><a id="l00208" name="l00208"></a><span class="lineno">  208</span>  <span class="keyword">private</span>:</div>
-<div class="line"><a id="l00209" name="l00209"></a><span class="lineno">  209</span>    <span class="comment">// drive system with an odometry config</span></div>
-<div class="line"><a id="l00210" name="l00210"></a><span class="lineno">  210</span>    <a class="code hl_class" href="classOdometryBase.html">OdometryBase</a> &amp;odom;</div>
-<div class="line"><a id="l00211" name="l00211"></a><span class="lineno">  211</span>    <a class="code hl_struct" href="structposition__t.html">position_t</a> newpos;</div>
-<div class="line"><a id="l00212" name="l00212"></a><span class="lineno">  212</span>};</div>
-<div class="ttc" id="aclassAutoCommand_html"><div class="ttname"><a href="classAutoCommand.html">AutoCommand</a></div><div class="ttdef"><b>Definition:</b> auto_command.h:11</div></div>
-<div class="ttc" id="aclassDriveForwardCommand_html"><div class="ttname"><a href="classDriveForwardCommand.html">DriveForwardCommand</a></div><div class="ttdef"><b>Definition:</b> drive_commands.h:35</div></div>
-<div class="ttc" id="aclassDriveForwardCommand_html_a52b4e1ff386eeb1c00f219f40738d0af"><div class="ttname"><a href="classDriveForwardCommand.html#a52b4e1ff386eeb1c00f219f40738d0af">DriveForwardCommand::on_timeout</a></div><div class="ttdeci">void on_timeout() override</div><div class="ttdef"><b>Definition:</b> drive_commands.cpp:47</div></div>
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-<div class="ttc" id="aclassDriveStopCommand_html"><div class="ttname"><a href="classDriveStopCommand.html">DriveStopCommand</a></div><div class="ttdef"><b>Definition:</b> drive_commands.h:169</div></div>
-<div class="ttc" id="aclassDriveStopCommand_html_a3b37806449b50b2f2c19179f1039237b"><div class="ttname"><a href="classDriveStopCommand.html#a3b37806449b50b2f2c19179f1039237b">DriveStopCommand::run</a></div><div class="ttdeci">bool run() override</div><div class="ttdef"><b>Definition:</b> drive_commands.cpp:164</div></div>
-<div class="ttc" id="aclassDriveToPointCommand_html"><div class="ttname"><a href="classDriveToPointCommand.html">DriveToPointCommand</a></div><div class="ttdef"><b>Definition:</b> drive_commands.h:99</div></div>
-<div class="ttc" id="aclassDriveToPointCommand_html_a8ed58921bc3eeb8c04d0b11b4f7e4fbe"><div class="ttname"><a href="classDriveToPointCommand.html#a8ed58921bc3eeb8c04d0b11b4f7e4fbe">DriveToPointCommand::run</a></div><div class="ttdeci">bool run() override</div><div class="ttdef"><b>Definition:</b> drive_commands.cpp:108</div></div>
-<div class="ttc" id="aclassFeedback_html"><div class="ttname"><a href="classFeedback.html">Feedback</a></div><div class="ttdef"><b>Definition:</b> feedback_base.h:11</div></div>
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-<div class="ttc" id="aclassOdomSetPosition_html_a611e74a12a9eeb0fce1f38a596c3c467"><div class="ttname"><a href="classOdomSetPosition.html#a611e74a12a9eeb0fce1f38a596c3c467">OdomSetPosition::run</a></div><div class="ttdeci">bool run() override</div><div class="ttdef"><b>Definition:</b> drive_commands.cpp:178</div></div>
-<div class="ttc" id="aclassOdometryBase_html"><div class="ttname"><a href="classOdometryBase.html">OdometryBase</a></div><div class="ttdef"><b>Definition:</b> odometry_base.h:33</div></div>
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-<div class="ttc" id="aclassTankDrive_html"><div class="ttname"><a href="classTankDrive.html">TankDrive</a></div><div class="ttdef"><b>Definition:</b> tank_drive.h:23</div></div>
-<div class="ttc" id="aclassTurnDegreesCommand_html"><div class="ttname"><a href="classTurnDegreesCommand.html">TurnDegreesCommand</a></div><div class="ttdef"><b>Definition:</b> drive_commands.h:67</div></div>
-<div class="ttc" id="aclassTurnDegreesCommand_html_a2206e4c5073a2e83f6bfa3eeca46a370"><div class="ttname"><a href="classTurnDegreesCommand.html#a2206e4c5073a2e83f6bfa3eeca46a370">TurnDegreesCommand::run</a></div><div class="ttdeci">bool run() override</div><div class="ttdef"><b>Definition:</b> drive_commands.cpp:68</div></div>
-<div class="ttc" id="aclassTurnDegreesCommand_html_abd912b5906bafd9f4117e005eaeccb18"><div class="ttname"><a href="classTurnDegreesCommand.html#abd912b5906bafd9f4117e005eaeccb18">TurnDegreesCommand::on_timeout</a></div><div class="ttdeci">void on_timeout() override</div><div class="ttdef"><b>Definition:</b> drive_commands.cpp:74</div></div>
-<div class="ttc" id="aclassTurnToHeadingCommand_html"><div class="ttname"><a href="classTurnToHeadingCommand.html">TurnToHeadingCommand</a></div><div class="ttdef"><b>Definition:</b> drive_commands.h:137</div></div>
-<div class="ttc" id="aclassTurnToHeadingCommand_html_acaa3b650ed9f02315eb6ba901181bc85"><div class="ttname"><a href="classTurnToHeadingCommand.html#acaa3b650ed9f02315eb6ba901181bc85">TurnToHeadingCommand::on_timeout</a></div><div class="ttdeci">void on_timeout() override</div><div class="ttdef"><b>Definition:</b> drive_commands.cpp:141</div></div>
-<div class="ttc" id="aclassTurnToHeadingCommand_html_af571168ca078be95cbc735c99c2f4093"><div class="ttname"><a href="classTurnToHeadingCommand.html#af571168ca078be95cbc735c99c2f4093">TurnToHeadingCommand::run</a></div><div class="ttdeci">bool run() override</div><div class="ttdef"><b>Definition:</b> drive_commands.cpp:135</div></div>
-<div class="ttc" id="astructVector2D_1_1point__t_html"><div class="ttname"><a href="structVector2D_1_1point__t.html">Vector2D::point_t</a></div><div class="ttdef"><b>Definition:</b> vector2d.h:21</div></div>
-<div class="ttc" id="astructposition__t_html"><div class="ttname"><a href="structposition__t.html">position_t</a></div><div class="ttdef"><b>Definition:</b> odometry_base.h:14</div></div>
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-<div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno">    1</span><span class="preprocessor">#pragma once</span></div>
-<div class="line"><a id="l00002" name="l00002"></a><span class="lineno">    2</span> </div>
-<div class="line"><a id="l00010" name="l00010"></a><span class="lineno"><a class="line" href="classFeedback.html">   10</a></span><span class="keyword">class </span><a class="code hl_class" href="classFeedback.html">Feedback</a></div>
-<div class="line"><a id="l00011" name="l00011"></a><span class="lineno">   11</span>{</div>
-<div class="line"><a id="l00012" name="l00012"></a><span class="lineno">   12</span><span class="keyword">public</span>:</div>
-<div class="line"><a id="l00013" name="l00013"></a><span class="lineno">   13</span>    <span class="keyword">enum</span> FeedbackType</div>
-<div class="line"><a id="l00014" name="l00014"></a><span class="lineno">   14</span>    {</div>
-<div class="line"><a id="l00015" name="l00015"></a><span class="lineno">   15</span>        PIDType,</div>
-<div class="line"><a id="l00016" name="l00016"></a><span class="lineno">   16</span>        FeedforwardType,</div>
-<div class="line"><a id="l00017" name="l00017"></a><span class="lineno">   17</span>        OtherType,</div>
-<div class="line"><a id="l00018" name="l00018"></a><span class="lineno">   18</span>    };</div>
-<div class="line"><a id="l00019" name="l00019"></a><span class="lineno">   19</span> </div>
-<div class="line"><a id="l00026" name="l00026"></a><span class="lineno"><a class="line" href="classFeedback.html#a22efb13216bfd51aea07e0b6e45135c1">   26</a></span>    <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classFeedback.html#a22efb13216bfd51aea07e0b6e45135c1">init</a>(<span class="keywordtype">double</span> start_pt, <span class="keywordtype">double</span> set_pt) = 0;</div>
-<div class="line"><a id="l00027" name="l00027"></a><span class="lineno">   27</span> </div>
-<div class="line"><a id="l00034" name="l00034"></a><span class="lineno"><a class="line" href="classFeedback.html#adda5fc7642539996be00632954dfc41f">   34</a></span>    <span class="keyword">virtual</span> <span class="keywordtype">double</span> <a class="code hl_function" href="classFeedback.html#adda5fc7642539996be00632954dfc41f">update</a>(<span class="keywordtype">double</span> val) = 0;</div>
-<div class="line"><a id="l00035" name="l00035"></a><span class="lineno">   35</span> </div>
-<div class="line"><a id="l00039" name="l00039"></a><span class="lineno"><a class="line" href="classFeedback.html#ac44bb519a6f4e25c8e8250f3d30ab359">   39</a></span>    <span class="keyword">virtual</span> <span class="keywordtype">double</span> <a class="code hl_function" href="classFeedback.html#ac44bb519a6f4e25c8e8250f3d30ab359">get</a>() = 0;</div>
-<div class="line"><a id="l00040" name="l00040"></a><span class="lineno">   40</span> </div>
-<div class="line"><a id="l00047" name="l00047"></a><span class="lineno"><a class="line" href="classFeedback.html#a533a10b65cfc998898bf054f8b141de2">   47</a></span>    <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classFeedback.html#a533a10b65cfc998898bf054f8b141de2">set_limits</a>(<span class="keywordtype">double</span> lower, <span class="keywordtype">double</span> upper) = 0;</div>
-<div class="line"><a id="l00048" name="l00048"></a><span class="lineno">   48</span> </div>
-<div class="line"><a id="l00052" name="l00052"></a><span class="lineno"><a class="line" href="classFeedback.html#ae4cc835c374aab9761d22603d4329d34">   52</a></span>    <span class="keyword">virtual</span> <span class="keywordtype">bool</span> <a class="code hl_function" href="classFeedback.html#ae4cc835c374aab9761d22603d4329d34">is_on_target</a>() = 0;</div>
-<div class="line"><a id="l00053" name="l00053"></a><span class="lineno">   53</span> </div>
-<div class="line"><a id="l00054" name="l00054"></a><span class="lineno">   54</span>    <span class="keyword">virtual</span> Feedback::FeedbackType get_type()</div>
-<div class="line"><a id="l00055" name="l00055"></a><span class="lineno">   55</span>    {</div>
-<div class="line"><a id="l00056" name="l00056"></a><span class="lineno">   56</span>        <span class="keywordflow">return</span> FeedbackType::OtherType;</div>
-<div class="line"><a id="l00057" name="l00057"></a><span class="lineno">   57</span>    }</div>
-<div class="line"><a id="l00058" name="l00058"></a><span class="lineno">   58</span>};</div>
-<div class="ttc" id="aclassFeedback_html"><div class="ttname"><a href="classFeedback.html">Feedback</a></div><div class="ttdef"><b>Definition:</b> feedback_base.h:11</div></div>
-<div class="ttc" id="aclassFeedback_html_a22efb13216bfd51aea07e0b6e45135c1"><div class="ttname"><a href="classFeedback.html#a22efb13216bfd51aea07e0b6e45135c1">Feedback::init</a></div><div class="ttdeci">virtual void init(double start_pt, double set_pt)=0</div></div>
-<div class="ttc" id="aclassFeedback_html_a533a10b65cfc998898bf054f8b141de2"><div class="ttname"><a href="classFeedback.html#a533a10b65cfc998898bf054f8b141de2">Feedback::set_limits</a></div><div class="ttdeci">virtual void set_limits(double lower, double upper)=0</div></div>
-<div class="ttc" id="aclassFeedback_html_ac44bb519a6f4e25c8e8250f3d30ab359"><div class="ttname"><a href="classFeedback.html#ac44bb519a6f4e25c8e8250f3d30ab359">Feedback::get</a></div><div class="ttdeci">virtual double get()=0</div></div>
-<div class="ttc" id="aclassFeedback_html_adda5fc7642539996be00632954dfc41f"><div class="ttname"><a href="classFeedback.html#adda5fc7642539996be00632954dfc41f">Feedback::update</a></div><div class="ttdeci">virtual double update(double val)=0</div></div>
-<div class="ttc" id="aclassFeedback_html_ae4cc835c374aab9761d22603d4329d34"><div class="ttname"><a href="classFeedback.html#ae4cc835c374aab9761d22603d4329d34">Feedback::is_on_target</a></div><div class="ttdeci">virtual bool is_on_target()=0</div></div>
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-  <div class="headertitle"><div class="title">feedforward.h</div></div>
-</div><!--header-->
-<div class="contents">
-<div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno">    1</span><span class="preprocessor">#pragma once</span></div>
-<div class="line"><a id="l00002" name="l00002"></a><span class="lineno">    2</span> </div>
-<div class="line"><a id="l00003" name="l00003"></a><span class="lineno">    3</span><span class="preprocessor">#include &lt;math.h&gt;</span></div>
-<div class="line"><a id="l00004" name="l00004"></a><span class="lineno">    4</span><span class="preprocessor">#include &lt;vector&gt;</span></div>
-<div class="line"><a id="l00005" name="l00005"></a><span class="lineno">    5</span><span class="preprocessor">#include &quot;../core/include/utils/math_util.h&quot;</span></div>
-<div class="line"><a id="l00006" name="l00006"></a><span class="lineno">    6</span><span class="preprocessor">#include &quot;../core/include/utils/moving_average.h&quot;</span></div>
-<div class="line"><a id="l00007" name="l00007"></a><span class="lineno">    7</span><span class="preprocessor">#include &quot;vex.h&quot;</span></div>
-<div class="line"><a id="l00008" name="l00008"></a><span class="lineno">    8</span> </div>
-<div class="line"><a id="l00029" name="l00029"></a><span class="lineno"><a class="line" href="classFeedForward.html">   29</a></span><span class="keyword">class </span><a class="code hl_class" href="classFeedForward.html">FeedForward</a></div>
-<div class="line"><a id="l00030" name="l00030"></a><span class="lineno">   30</span>{</div>
-<div class="line"><a id="l00031" name="l00031"></a><span class="lineno">   31</span>    <span class="keyword">public</span>:</div>
-<div class="line"><a id="l00032" name="l00032"></a><span class="lineno">   32</span> </div>
-<div class="line"><a id="l00041" name="l00041"></a><span class="lineno"><a class="line" href="structFeedForward_1_1ff__config__t.html">   41</a></span>    <span class="keyword">typedef</span> <span class="keyword">struct</span></div>
-<div class="line"><a id="l00042" name="l00042"></a><span class="lineno">   42</span>    {</div>
-<div class="line"><a id="l00043" name="l00043"></a><span class="lineno"><a class="line" href="structFeedForward_1_1ff__config__t.html#af140ce6afc074040571d229b6a455c50">   43</a></span>        <span class="keywordtype">double</span> <a class="code hl_variable" href="structFeedForward_1_1ff__config__t.html#af140ce6afc074040571d229b6a455c50">kS</a>; </div>
-<div class="line"><a id="l00044" name="l00044"></a><span class="lineno"><a class="line" href="structFeedForward_1_1ff__config__t.html#afd4e01b20b64750ad2604b17ac10f57e">   44</a></span>        <span class="keywordtype">double</span> <a class="code hl_variable" href="structFeedForward_1_1ff__config__t.html#afd4e01b20b64750ad2604b17ac10f57e">kV</a>; </div>
-<div class="line"><a id="l00045" name="l00045"></a><span class="lineno"><a class="line" href="structFeedForward_1_1ff__config__t.html#a8528f04936dbcbf0bc406d0bfc6b8428">   45</a></span>        <span class="keywordtype">double</span> <a class="code hl_variable" href="structFeedForward_1_1ff__config__t.html#a8528f04936dbcbf0bc406d0bfc6b8428">kA</a>; </div>
-<div class="line"><a id="l00046" name="l00046"></a><span class="lineno"><a class="line" href="structFeedForward_1_1ff__config__t.html#a1eab464040edd69a63b528d6d21f0644">   46</a></span>        <span class="keywordtype">double</span> <a class="code hl_variable" href="structFeedForward_1_1ff__config__t.html#a1eab464040edd69a63b528d6d21f0644">kG</a>; </div>
-<div class="line"><a id="l00047" name="l00047"></a><span class="lineno">   47</span>    } <a class="code hl_struct" href="structFeedForward_1_1ff__config__t.html">ff_config_t</a>;</div>
-<div class="line"><a id="l00048" name="l00048"></a><span class="lineno">   48</span> </div>
-<div class="line"><a id="l00049" name="l00049"></a><span class="lineno">   49</span>    </div>
-<div class="line"><a id="l00054" name="l00054"></a><span class="lineno"><a class="line" href="classFeedForward.html#aeea5ddbbcc6e75a479442cf69954665c">   54</a></span>    <a class="code hl_function" href="classFeedForward.html#aeea5ddbbcc6e75a479442cf69954665c">FeedForward</a>(<a class="code hl_struct" href="structFeedForward_1_1ff__config__t.html">ff_config_t</a> &amp;cfg) : cfg(cfg) {}</div>
-<div class="line"><a id="l00055" name="l00055"></a><span class="lineno">   55</span> </div>
-<div class="line"><a id="l00066" name="l00066"></a><span class="lineno"><a class="line" href="classFeedForward.html#a2e2f7c12076225fa1dfd5f18aa210290">   66</a></span>    <span class="keywordtype">double</span> <a class="code hl_function" href="classFeedForward.html#a2e2f7c12076225fa1dfd5f18aa210290">calculate</a>(<span class="keywordtype">double</span> v, <span class="keywordtype">double</span> a, <span class="keywordtype">double</span> pid_ref=0.0)</div>
-<div class="line"><a id="l00067" name="l00067"></a><span class="lineno">   67</span>    {</div>
-<div class="line"><a id="l00068" name="l00068"></a><span class="lineno">   68</span>        <span class="keywordtype">double</span> ks_sign = 0;</div>
-<div class="line"><a id="l00069" name="l00069"></a><span class="lineno">   69</span>        <span class="keywordflow">if</span>(v != 0)</div>
-<div class="line"><a id="l00070" name="l00070"></a><span class="lineno">   70</span>            ks_sign = sign(v);</div>
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-<div class="line"><a id="l00072" name="l00072"></a><span class="lineno">   72</span>            ks_sign = sign(pid_ref);</div>
-<div class="line"><a id="l00073" name="l00073"></a><span class="lineno">   73</span>        </div>
-<div class="line"><a id="l00074" name="l00074"></a><span class="lineno">   74</span>        <span class="keywordflow">return</span> (cfg.<a class="code hl_variable" href="structFeedForward_1_1ff__config__t.html#af140ce6afc074040571d229b6a455c50">kS</a> * ks_sign) + (cfg.<a class="code hl_variable" href="structFeedForward_1_1ff__config__t.html#afd4e01b20b64750ad2604b17ac10f57e">kV</a> * v) + (cfg.<a class="code hl_variable" href="structFeedForward_1_1ff__config__t.html#a8528f04936dbcbf0bc406d0bfc6b8428">kA</a> * a) + cfg.<a class="code hl_variable" href="structFeedForward_1_1ff__config__t.html#a1eab464040edd69a63b528d6d21f0644">kG</a>;</div>
-<div class="line"><a id="l00075" name="l00075"></a><span class="lineno">   75</span>    }</div>
-<div class="line"><a id="l00076" name="l00076"></a><span class="lineno">   76</span> </div>
-<div class="line"><a id="l00077" name="l00077"></a><span class="lineno">   77</span>    <span class="keyword">private</span>:</div>
-<div class="line"><a id="l00078" name="l00078"></a><span class="lineno">   78</span> </div>
-<div class="line"><a id="l00079" name="l00079"></a><span class="lineno">   79</span>    ff_config_t &amp;cfg;</div>
-<div class="line"><a id="l00080" name="l00080"></a><span class="lineno">   80</span> </div>
-<div class="line"><a id="l00081" name="l00081"></a><span class="lineno">   81</span>};</div>
-<div class="line"><a id="l00082" name="l00082"></a><span class="lineno">   82</span> </div>
-<div class="line"><a id="l00083" name="l00083"></a><span class="lineno">   83</span> </div>
-<div class="line"><a id="l00091" name="l00091"></a><span class="lineno">   91</span><a class="code hl_struct" href="structFeedForward_1_1ff__config__t.html">FeedForward::ff_config_t</a> tune_feedforward(vex::motor_group &amp;motor, <span class="keywordtype">double</span> pct, <span class="keywordtype">double</span> duration);</div>
-<div class="ttc" id="aclassFeedForward_html"><div class="ttname"><a href="classFeedForward.html">FeedForward</a></div><div class="ttdef"><b>Definition:</b> feedforward.h:30</div></div>
-<div class="ttc" id="aclassFeedForward_html_a2e2f7c12076225fa1dfd5f18aa210290"><div class="ttname"><a href="classFeedForward.html#a2e2f7c12076225fa1dfd5f18aa210290">FeedForward::calculate</a></div><div class="ttdeci">double calculate(double v, double a, double pid_ref=0.0)</div><div class="ttdoc">Perform the feedforward calculation.</div><div class="ttdef"><b>Definition:</b> feedforward.h:66</div></div>
-<div class="ttc" id="aclassFeedForward_html_aeea5ddbbcc6e75a479442cf69954665c"><div class="ttname"><a href="classFeedForward.html#aeea5ddbbcc6e75a479442cf69954665c">FeedForward::FeedForward</a></div><div class="ttdeci">FeedForward(ff_config_t &amp;cfg)</div><div class="ttdef"><b>Definition:</b> feedforward.h:54</div></div>
-<div class="ttc" id="astructFeedForward_1_1ff__config__t_html"><div class="ttname"><a href="structFeedForward_1_1ff__config__t.html">FeedForward::ff_config_t</a></div><div class="ttdef"><b>Definition:</b> feedforward.h:42</div></div>
-<div class="ttc" id="astructFeedForward_1_1ff__config__t_html_a1eab464040edd69a63b528d6d21f0644"><div class="ttname"><a href="structFeedForward_1_1ff__config__t.html#a1eab464040edd69a63b528d6d21f0644">FeedForward::ff_config_t::kG</a></div><div class="ttdeci">double kG</div><div class="ttdef"><b>Definition:</b> feedforward.h:46</div></div>
-<div class="ttc" id="astructFeedForward_1_1ff__config__t_html_a8528f04936dbcbf0bc406d0bfc6b8428"><div class="ttname"><a href="structFeedForward_1_1ff__config__t.html#a8528f04936dbcbf0bc406d0bfc6b8428">FeedForward::ff_config_t::kA</a></div><div class="ttdeci">double kA</div><div class="ttdef"><b>Definition:</b> feedforward.h:45</div></div>
-<div class="ttc" id="astructFeedForward_1_1ff__config__t_html_af140ce6afc074040571d229b6a455c50"><div class="ttname"><a href="structFeedForward_1_1ff__config__t.html#af140ce6afc074040571d229b6a455c50">FeedForward::ff_config_t::kS</a></div><div class="ttdeci">double kS</div><div class="ttdef"><b>Definition:</b> feedforward.h:43</div></div>
-<div class="ttc" id="astructFeedForward_1_1ff__config__t_html_afd4e01b20b64750ad2604b17ac10f57e"><div class="ttname"><a href="structFeedForward_1_1ff__config__t.html#afd4e01b20b64750ad2604b17ac10f57e">FeedForward::ff_config_t::kV</a></div><div class="ttdeci">double kV</div><div class="ttdef"><b>Definition:</b> feedforward.h:44</div></div>
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-<div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno">    1</span><span class="preprocessor">#pragma once</span></div>
-<div class="line"><a id="l00002" name="l00002"></a><span class="lineno">    2</span><span class="comment">/*********************************************************</span></div>
-<div class="line"><a id="l00003" name="l00003"></a><span class="lineno">    3</span><span class="comment">*</span></div>
-<div class="line"><a id="l00004" name="l00004"></a><span class="lineno">    4</span><span class="comment">*     File:     Flywheel.h</span></div>
-<div class="line"><a id="l00005" name="l00005"></a><span class="lineno">    5</span><span class="comment">*     Purpose:  Generalized flywheel class for Core.</span></div>
-<div class="line"><a id="l00006" name="l00006"></a><span class="lineno">    6</span><span class="comment">*     Author:   Chris Nokes</span></div>
-<div class="line"><a id="l00007" name="l00007"></a><span class="lineno">    7</span><span class="comment">*     </span></div>
-<div class="line"><a id="l00008" name="l00008"></a><span class="lineno">    8</span><span class="comment">**********************************************************</span></div>
-<div class="line"><a id="l00009" name="l00009"></a><span class="lineno">    9</span><span class="comment">* EDIT HISTORY</span></div>
-<div class="line"><a id="l00010" name="l00010"></a><span class="lineno">   10</span><span class="comment">**********************************************************</span></div>
-<div class="line"><a id="l00011" name="l00011"></a><span class="lineno">   11</span><span class="comment">* 09/23/2022  &lt;CRN&gt; Reorganized, added documentation.</span></div>
-<div class="line"><a id="l00012" name="l00012"></a><span class="lineno">   12</span><span class="comment">* 09/23/2022  &lt;CRN&gt; Added functions elaborated on in .cpp.</span></div>
-<div class="line"><a id="l00013" name="l00013"></a><span class="lineno">   13</span><span class="comment">*********************************************************/</span></div>
-<div class="line"><a id="l00014" name="l00014"></a><span class="lineno">   14</span><span class="preprocessor">#include &quot;../core/include/utils/feedforward.h&quot;</span></div>
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-<div class="line"><a id="l00017" name="l00017"></a><span class="lineno">   17</span><span class="preprocessor">#include &quot;../core/include/utils/pid.h&quot;</span></div>
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-<div class="line"><a id="l00063" name="l00063"></a><span class="lineno">   63</span> </div>
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-<div class="line"><a id="l00070" name="l00070"></a><span class="lineno">   70</span> </div>
-<div class="line"><a id="l00075" name="l00075"></a><span class="lineno">   75</span>  <span class="keywordtype">double</span> <a class="code hl_function" href="classFlywheel.html#a5dee80fd74903884478649b6ec2f4528">getDesiredRPM</a>();</div>
-<div class="line"><a id="l00076" name="l00076"></a><span class="lineno">   76</span> </div>
-<div class="line"><a id="l00081" name="l00081"></a><span class="lineno">   81</span>  <span class="keywordtype">bool</span> <a class="code hl_function" href="classFlywheel.html#a990fde5741011926c84c45ea3c51ced3">isTaskRunning</a>();</div>
-<div class="line"><a id="l00082" name="l00082"></a><span class="lineno">   82</span> </div>
-<div class="line"><a id="l00086" name="l00086"></a><span class="lineno">   86</span>  motor_group* <a class="code hl_function" href="classFlywheel.html#a5823c1242f4b00519f582a7468cf537a">getMotors</a>();</div>
-<div class="line"><a id="l00087" name="l00087"></a><span class="lineno">   87</span> </div>
-<div class="line"><a id="l00091" name="l00091"></a><span class="lineno">   91</span>  <span class="keywordtype">double</span> <a class="code hl_function" href="classFlywheel.html#ae46b69a8371dca7d6fb163c30192f666">measureRPM</a>();</div>
-<div class="line"><a id="l00092" name="l00092"></a><span class="lineno">   92</span> </div>
-<div class="line"><a id="l00096" name="l00096"></a><span class="lineno">   96</span>  <span class="keywordtype">double</span> <a class="code hl_function" href="classFlywheel.html#a00e5ad15adfb23185f7713b86d9d7b9f">getRPM</a>();</div>
-<div class="line"><a id="l00100" name="l00100"></a><span class="lineno">  100</span>  <a class="code hl_class" href="classPID.html">PID</a>* <a class="code hl_function" href="classFlywheel.html#adf7b3fab5fd8a708f339da649c72e775">getPID</a>();</div>
-<div class="line"><a id="l00101" name="l00101"></a><span class="lineno">  101</span> </div>
-<div class="line"><a id="l00105" name="l00105"></a><span class="lineno">  105</span>  <span class="keywordtype">double</span> <a class="code hl_function" href="classFlywheel.html#a45bde10a01304c71e74564cd080a9052">getPIDValue</a>();</div>
-<div class="line"><a id="l00106" name="l00106"></a><span class="lineno">  106</span> </div>
-<div class="line"><a id="l00110" name="l00110"></a><span class="lineno">  110</span>  <span class="keywordtype">double</span> <a class="code hl_function" href="classFlywheel.html#aea43f1c07b799133113d7b9ff14a7f36">getFeedforwardValue</a>();</div>
-<div class="line"><a id="l00111" name="l00111"></a><span class="lineno">  111</span>  </div>
-<div class="line"><a id="l00115" name="l00115"></a><span class="lineno">  115</span>  <span class="keywordtype">double</span> <a class="code hl_function" href="classFlywheel.html#a8c1f0b98975b9d75bc5b350fa059043d">getTBHGain</a>();</div>
-<div class="line"><a id="l00116" name="l00116"></a><span class="lineno">  116</span>  </div>
-<div class="line"><a id="l00121" name="l00121"></a><span class="lineno">  121</span>  <span class="keywordtype">void</span> <a class="code hl_function" href="classFlywheel.html#a5eeb847c6ef4736b1917bf32843c69aa">setPIDTarget</a>(<span class="keywordtype">double</span> value);</div>
-<div class="line"><a id="l00122" name="l00122"></a><span class="lineno">  122</span> </div>
-<div class="line"><a id="l00127" name="l00127"></a><span class="lineno">  127</span>  <span class="keywordtype">void</span> <a class="code hl_function" href="classFlywheel.html#aa9df5ad636fb49d76ba922ecd1115aef">updatePID</a>(<span class="keywordtype">double</span> value);</div>
-<div class="line"><a id="l00128" name="l00128"></a><span class="lineno">  128</span> </div>
-<div class="line"><a id="l00129" name="l00129"></a><span class="lineno">  129</span>  <span class="comment">// SPINNERS AND STOPPERS</span></div>
-<div class="line"><a id="l00130" name="l00130"></a><span class="lineno">  130</span> </div>
-<div class="line"><a id="l00137" name="l00137"></a><span class="lineno">  137</span>  <span class="keywordtype">void</span> <a class="code hl_function" href="classFlywheel.html#a5f4afa2ab8976acbf9fd47776a884dd3">spin_raw</a>(<span class="keywordtype">double</span> speed, directionType dir=fwd);</div>
-<div class="line"><a id="l00138" name="l00138"></a><span class="lineno">  138</span>  </div>
-<div class="line"><a id="l00145" name="l00145"></a><span class="lineno">  145</span>  <span class="keywordtype">void</span> <a class="code hl_function" href="classFlywheel.html#a291e067bcc495a9d3da16a5832d78484">spin_manual</a>(<span class="keywordtype">double</span> speed, directionType dir=fwd);</div>
-<div class="line"><a id="l00146" name="l00146"></a><span class="lineno">  146</span>  </div>
-<div class="line"><a id="l00152" name="l00152"></a><span class="lineno">  152</span>  <span class="keywordtype">void</span> <a class="code hl_function" href="classFlywheel.html#aa72700130c0c8a08517ec1396fe9cc2b">spinRPM</a>(<span class="keywordtype">int</span> rpm);</div>
-<div class="line"><a id="l00153" name="l00153"></a><span class="lineno">  153</span> </div>
-<div class="line"><a id="l00157" name="l00157"></a><span class="lineno">  157</span>  <span class="keywordtype">void</span> <a class="code hl_function" href="classFlywheel.html#a6634f5126f0404e0edeeff1e0e14d05e">stop</a>();</div>
-<div class="line"><a id="l00158" name="l00158"></a><span class="lineno">  158</span> </div>
-<div class="line"><a id="l00159" name="l00159"></a><span class="lineno">  159</span>  </div>
-<div class="line"><a id="l00163" name="l00163"></a><span class="lineno">  163</span>  <span class="keywordtype">void</span> <a class="code hl_function" href="classFlywheel.html#a78eaa40c9c069b8b4146c3ae34a21d4e">stopMotors</a>();</div>
-<div class="line"><a id="l00164" name="l00164"></a><span class="lineno">  164</span> </div>
-<div class="line"><a id="l00168" name="l00168"></a><span class="lineno">  168</span>  <span class="keywordtype">void</span> <a class="code hl_function" href="classFlywheel.html#a63c9c4d3646e4ed14f3b98ce3ab28684">stopNonTasks</a>();</div>
-<div class="line"><a id="l00169" name="l00169"></a><span class="lineno">  169</span> </div>
-<div class="line"><a id="l00170" name="l00170"></a><span class="lineno">  170</span>  <span class="keyword">private</span>:</div>
-<div class="line"><a id="l00171" name="l00171"></a><span class="lineno">  171</span> </div>
-<div class="line"><a id="l00172" name="l00172"></a><span class="lineno">  172</span>  motor_group &amp;motors;                <span class="comment">// motors that make up the flywheel</span></div>
-<div class="line"><a id="l00173" name="l00173"></a><span class="lineno">  173</span>  <span class="keywordtype">bool</span> taskRunning = <span class="keyword">false</span>;           <span class="comment">// is the task (thread but not) currently running?</span></div>
-<div class="line"><a id="l00174" name="l00174"></a><span class="lineno">  174</span>  <a class="code hl_class" href="classPID.html">PID</a> pid;                            <span class="comment">// PID on the flywheel</span></div>
-<div class="line"><a id="l00175" name="l00175"></a><span class="lineno">  175</span>  <a class="code hl_class" href="classFeedForward.html">FeedForward</a> ff;                     <span class="comment">// FF constants for the flywheel</span></div>
-<div class="line"><a id="l00176" name="l00176"></a><span class="lineno">  176</span>  <span class="keywordtype">double</span> TBH_gain;                    <span class="comment">// TBH gain parameter for the flywheel</span></div>
-<div class="line"><a id="l00177" name="l00177"></a><span class="lineno">  177</span>  <span class="keywordtype">double</span> ratio;                       <span class="comment">// multiplies the velocity by this value</span></div>
-<div class="line"><a id="l00178" name="l00178"></a><span class="lineno">  178</span>  std::atomic&lt;double&gt; RPM;            <span class="comment">// Desired RPM of the flywheel. </span></div>
-<div class="line"><a id="l00179" name="l00179"></a><span class="lineno">  179</span>  task rpmTask;                       <span class="comment">// task (thread but not) that handles spinning the wheel at a given RPM</span></div>
-<div class="line"><a id="l00180" name="l00180"></a><span class="lineno">  180</span>  FlywheelControlStyle control_style; <span class="comment">// how the flywheel should be controlled</span></div>
-<div class="line"><a id="l00181" name="l00181"></a><span class="lineno">  181</span>  <span class="keywordtype">double</span> smoothedRPM;</div>
-<div class="line"><a id="l00182" name="l00182"></a><span class="lineno">  182</span>  <a class="code hl_class" href="classMovingAverage.html">MovingAverage</a> RPM_avger;</div>
-<div class="line"><a id="l00183" name="l00183"></a><span class="lineno">  183</span>  };</div>
-<div class="ttc" id="aclassFeedForward_html"><div class="ttname"><a href="classFeedForward.html">FeedForward</a></div><div class="ttdef"><b>Definition:</b> feedforward.h:30</div></div>
-<div class="ttc" id="aclassFlywheel_html"><div class="ttname"><a href="classFlywheel.html">Flywheel</a></div><div class="ttdef"><b>Definition:</b> flywheel.h:29</div></div>
-<div class="ttc" id="aclassFlywheel_html_a00e5ad15adfb23185f7713b86d9d7b9f"><div class="ttname"><a href="classFlywheel.html#a00e5ad15adfb23185f7713b86d9d7b9f">Flywheel::getRPM</a></div><div class="ttdeci">double getRPM()</div><div class="ttdef"><b>Definition:</b> flywheel.cpp:91</div></div>
-<div class="ttc" id="aclassFlywheel_html_a291e067bcc495a9d3da16a5832d78484"><div class="ttname"><a href="classFlywheel.html#a291e067bcc495a9d3da16a5832d78484">Flywheel::spin_manual</a></div><div class="ttdeci">void spin_manual(double speed, directionType dir=fwd)</div><div class="ttdef"><b>Definition:</b> flywheel.cpp:250</div></div>
-<div class="ttc" id="aclassFlywheel_html_a45bde10a01304c71e74564cd080a9052"><div class="ttname"><a href="classFlywheel.html#a45bde10a01304c71e74564cd080a9052">Flywheel::getPIDValue</a></div><div class="ttdeci">double getPIDValue()</div><div class="ttdef"><b>Definition:</b> flywheel.cpp:104</div></div>
-<div class="ttc" id="aclassFlywheel_html_a5823c1242f4b00519f582a7468cf537a"><div class="ttname"><a href="classFlywheel.html#a5823c1242f4b00519f582a7468cf537a">Flywheel::getMotors</a></div><div class="ttdeci">motor_group * getMotors()</div><div class="ttdef"><b>Definition:</b> flywheel.cpp:78</div></div>
-<div class="ttc" id="aclassFlywheel_html_a5dee80fd74903884478649b6ec2f4528"><div class="ttname"><a href="classFlywheel.html#a5dee80fd74903884478649b6ec2f4528">Flywheel::getDesiredRPM</a></div><div class="ttdeci">double getDesiredRPM()</div><div class="ttdef"><b>Definition:</b> flywheel.cpp:66</div></div>
-<div class="ttc" id="aclassFlywheel_html_a5eeb847c6ef4736b1917bf32843c69aa"><div class="ttname"><a href="classFlywheel.html#a5eeb847c6ef4736b1917bf32843c69aa">Flywheel::setPIDTarget</a></div><div class="ttdeci">void setPIDTarget(double value)</div><div class="ttdef"><b>Definition:</b> flywheel.cpp:127</div></div>
-<div class="ttc" id="aclassFlywheel_html_a5f4afa2ab8976acbf9fd47776a884dd3"><div class="ttname"><a href="classFlywheel.html#a5f4afa2ab8976acbf9fd47776a884dd3">Flywheel::spin_raw</a></div><div class="ttdeci">void spin_raw(double speed, directionType dir=fwd)</div><div class="ttdef"><b>Definition:</b> flywheel.cpp:240</div></div>
-<div class="ttc" id="aclassFlywheel_html_a63c9c4d3646e4ed14f3b98ce3ab28684"><div class="ttname"><a href="classFlywheel.html#a63c9c4d3646e4ed14f3b98ce3ab28684">Flywheel::stopNonTasks</a></div><div class="ttdeci">void stopNonTasks()</div><div class="ttdef"><b>Definition:</b> flywheel.cpp:311</div></div>
-<div class="ttc" id="aclassFlywheel_html_a6634f5126f0404e0edeeff1e0e14d05e"><div class="ttname"><a href="classFlywheel.html#a6634f5126f0404e0edeeff1e0e14d05e">Flywheel::stop</a></div><div class="ttdeci">void stop()</div><div class="ttdef"><b>Definition:</b> flywheel.cpp:295</div></div>
-<div class="ttc" id="aclassFlywheel_html_a78eaa40c9c069b8b4146c3ae34a21d4e"><div class="ttname"><a href="classFlywheel.html#a78eaa40c9c069b8b4146c3ae34a21d4e">Flywheel::stopMotors</a></div><div class="ttdeci">void stopMotors()</div><div class="ttdef"><b>Definition:</b> flywheel.cpp:306</div></div>
-<div class="ttc" id="aclassFlywheel_html_a8c1f0b98975b9d75bc5b350fa059043d"><div class="ttname"><a href="classFlywheel.html#a8c1f0b98975b9d75bc5b350fa059043d">Flywheel::getTBHGain</a></div><div class="ttdeci">double getTBHGain()</div><div class="ttdef"><b>Definition:</b> flywheel.cpp:119</div></div>
-<div class="ttc" id="aclassFlywheel_html_a990fde5741011926c84c45ea3c51ced3"><div class="ttname"><a href="classFlywheel.html#a990fde5741011926c84c45ea3c51ced3">Flywheel::isTaskRunning</a></div><div class="ttdeci">bool isTaskRunning()</div><div class="ttdef"><b>Definition:</b> flywheel.cpp:72</div></div>
-<div class="ttc" id="aclassFlywheel_html_aa72700130c0c8a08517ec1396fe9cc2b"><div class="ttname"><a href="classFlywheel.html#aa72700130c0c8a08517ec1396fe9cc2b">Flywheel::spinRPM</a></div><div class="ttdeci">void spinRPM(int rpm)</div><div class="ttdef"><b>Definition:</b> flywheel.cpp:259</div></div>
-<div class="ttc" id="aclassFlywheel_html_aa9df5ad636fb49d76ba922ecd1115aef"><div class="ttname"><a href="classFlywheel.html#aa9df5ad636fb49d76ba922ecd1115aef">Flywheel::updatePID</a></div><div class="ttdeci">void updatePID(double value)</div><div class="ttdef"><b>Definition:</b> flywheel.cpp:133</div></div>
-<div class="ttc" id="aclassFlywheel_html_adf7b3fab5fd8a708f339da649c72e775"><div class="ttname"><a href="classFlywheel.html#adf7b3fab5fd8a708f339da649c72e775">Flywheel::getPID</a></div><div class="ttdeci">PID * getPID()</div><div class="ttdef"><b>Definition:</b> flywheel.cpp:98</div></div>
-<div class="ttc" id="aclassFlywheel_html_ae46b69a8371dca7d6fb163c30192f666"><div class="ttname"><a href="classFlywheel.html#ae46b69a8371dca7d6fb163c30192f666">Flywheel::measureRPM</a></div><div class="ttdeci">double measureRPM()</div><div class="ttdef"><b>Definition:</b> flywheel.cpp:84</div></div>
-<div class="ttc" id="aclassFlywheel_html_aea43f1c07b799133113d7b9ff14a7f36"><div class="ttname"><a href="classFlywheel.html#aea43f1c07b799133113d7b9ff14a7f36">Flywheel::getFeedforwardValue</a></div><div class="ttdeci">double getFeedforwardValue()</div><div class="ttdef"><b>Definition:</b> flywheel.cpp:110</div></div>
-<div class="ttc" id="aclassMovingAverage_html"><div class="ttname"><a href="classMovingAverage.html">MovingAverage</a></div><div class="ttdef"><b>Definition:</b> moving_average.h:15</div></div>
-<div class="ttc" id="aclassPID_html"><div class="ttname"><a href="classPID.html">PID</a></div><div class="ttdef"><b>Definition:</b> pid.h:24</div></div>
-<div class="ttc" id="astructFeedForward_1_1ff__config__t_html"><div class="ttname"><a href="structFeedForward_1_1ff__config__t.html">FeedForward::ff_config_t</a></div><div class="ttdef"><b>Definition:</b> feedforward.h:42</div></div>
-<div class="ttc" id="astructPID_1_1pid__config__t_html"><div class="ttname"><a href="structPID_1_1pid__config__t.html">PID::pid_config_t</a></div><div class="ttdef"><b>Definition:</b> pid.h:41</div></div>
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-</div><!--header-->
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-<div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno">    1</span> </div>
-<div class="line"><a id="l00007" name="l00007"></a><span class="lineno">    7</span><span class="preprocessor">#pragma once</span></div>
-<div class="line"><a id="l00008" name="l00008"></a><span class="lineno">    8</span> </div>
-<div class="line"><a id="l00009" name="l00009"></a><span class="lineno">    9</span><span class="preprocessor">#include &quot;../core/include/subsystems/flywheel.h&quot;</span></div>
-<div class="line"><a id="l00010" name="l00010"></a><span class="lineno">   10</span><span class="preprocessor">#include &quot;../core/include/utils/command_structure/auto_command.h&quot;</span></div>
-<div class="line"><a id="l00011" name="l00011"></a><span class="lineno">   11</span> </div>
-<div class="line"><a id="l00017" name="l00017"></a><span class="lineno"><a class="line" href="classSpinRPMCommand.html">   17</a></span><span class="keyword">class </span><a class="code hl_class" href="classSpinRPMCommand.html">SpinRPMCommand</a>: <span class="keyword">public</span> <a class="code hl_class" href="classAutoCommand.html">AutoCommand</a> {</div>
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-<div class="line"><a id="l00025" name="l00025"></a><span class="lineno">   25</span> </div>
-<div class="line"><a id="l00031" name="l00031"></a><span class="lineno">   31</span>    <span class="keywordtype">bool</span> <a class="code hl_function" href="classSpinRPMCommand.html#af12f71f87967de0d9991272d9659b6ef">run</a>() <span class="keyword">override</span>;</div>
-<div class="line"><a id="l00032" name="l00032"></a><span class="lineno">   32</span> </div>
-<div class="line"><a id="l00033" name="l00033"></a><span class="lineno">   33</span>  <span class="keyword">private</span>:</div>
-<div class="line"><a id="l00034" name="l00034"></a><span class="lineno">   34</span>    <span class="comment">// Flywheel instance to run the function on</span></div>
-<div class="line"><a id="l00035" name="l00035"></a><span class="lineno">   35</span>    <a class="code hl_class" href="classFlywheel.html">Flywheel</a> &amp;flywheel;</div>
-<div class="line"><a id="l00036" name="l00036"></a><span class="lineno">   36</span> </div>
-<div class="line"><a id="l00037" name="l00037"></a><span class="lineno">   37</span>    <span class="comment">// parameters for spinRPM</span></div>
-<div class="line"><a id="l00038" name="l00038"></a><span class="lineno">   38</span>    <span class="keywordtype">int</span> rpm;</div>
-<div class="line"><a id="l00039" name="l00039"></a><span class="lineno">   39</span>};</div>
-<div class="line"><a id="l00040" name="l00040"></a><span class="lineno">   40</span> </div>
-<div class="line"><a id="l00045" name="l00045"></a><span class="lineno"><a class="line" href="classWaitUntilUpToSpeedCommand.html">   45</a></span><span class="keyword">class </span><a class="code hl_class" href="classWaitUntilUpToSpeedCommand.html">WaitUntilUpToSpeedCommand</a>: <span class="keyword">public</span> <a class="code hl_class" href="classAutoCommand.html">AutoCommand</a> {</div>
-<div class="line"><a id="l00046" name="l00046"></a><span class="lineno">   46</span>  <span class="keyword">public</span>:</div>
-<div class="line"><a id="l00052" name="l00052"></a><span class="lineno">   52</span>    <a class="code hl_class" href="classWaitUntilUpToSpeedCommand.html">WaitUntilUpToSpeedCommand</a>(<a class="code hl_class" href="classFlywheel.html">Flywheel</a> &amp;flywheel, <span class="keywordtype">int</span> threshold_rpm);</div>
-<div class="line"><a id="l00053" name="l00053"></a><span class="lineno">   53</span> </div>
-<div class="line"><a id="l00059" name="l00059"></a><span class="lineno">   59</span>    <span class="keywordtype">bool</span> <a class="code hl_function" href="classWaitUntilUpToSpeedCommand.html#a38f75c01a4740d87a380c15cc51c6396">run</a>() <span class="keyword">override</span>;</div>
-<div class="line"><a id="l00060" name="l00060"></a><span class="lineno">   60</span> </div>
-<div class="line"><a id="l00061" name="l00061"></a><span class="lineno">   61</span>  <span class="keyword">private</span>:</div>
-<div class="line"><a id="l00062" name="l00062"></a><span class="lineno">   62</span>    <span class="comment">// Flywheel instance to run the function on</span></div>
-<div class="line"><a id="l00063" name="l00063"></a><span class="lineno">   63</span>    <a class="code hl_class" href="classFlywheel.html">Flywheel</a> &amp;flywheel;</div>
-<div class="line"><a id="l00064" name="l00064"></a><span class="lineno">   64</span> </div>
-<div class="line"><a id="l00065" name="l00065"></a><span class="lineno">   65</span>    <span class="comment">// if the actual speed is equal to the desired speed +/- this value, we are ready to fire</span></div>
-<div class="line"><a id="l00066" name="l00066"></a><span class="lineno">   66</span>    <span class="keywordtype">int</span> threshold_rpm;</div>
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-<div class="line"><a id="l00081" name="l00081"></a><span class="lineno">   81</span> </div>
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-<div class="line"><a id="l00088" name="l00088"></a><span class="lineno">   88</span> </div>
-<div class="line"><a id="l00089" name="l00089"></a><span class="lineno">   89</span>  <span class="keyword">private</span>:</div>
-<div class="line"><a id="l00090" name="l00090"></a><span class="lineno">   90</span>    <span class="comment">// Flywheel instance to run the function on</span></div>
-<div class="line"><a id="l00091" name="l00091"></a><span class="lineno">   91</span>    <a class="code hl_class" href="classFlywheel.html">Flywheel</a> &amp;flywheel;</div>
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-<div class="line"><a id="l00100" name="l00100"></a><span class="lineno">  100</span>  <span class="keyword">public</span>:</div>
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-<div class="line"><a id="l00106" name="l00106"></a><span class="lineno">  106</span> </div>
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-<div class="line"><a id="l00115" name="l00115"></a><span class="lineno">  115</span>    <span class="comment">// Flywheel instance to run the function on</span></div>
-<div class="line"><a id="l00116" name="l00116"></a><span class="lineno">  116</span>    <a class="code hl_class" href="classFlywheel.html">Flywheel</a> &amp;flywheel;</div>
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-<div class="line"><a id="l00118" name="l00118"></a><span class="lineno">  118</span> </div>
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-<div class="line"><a id="l00125" name="l00125"></a><span class="lineno">  125</span>  <a class="code hl_class" href="classFlywheelStopNonTasksCommand.html">FlywheelStopNonTasksCommand</a>(<a class="code hl_class" href="classFlywheel.html">Flywheel</a> &amp;flywheel);</div>
-<div class="line"><a id="l00126" name="l00126"></a><span class="lineno">  126</span> </div>
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-<div class="line"><a id="l00133" name="l00133"></a><span class="lineno">  133</span> </div>
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-<div class="ttc" id="aclassFlywheelStopCommand_html_a9be8ca8422bd7b5f5a03cbf8e21025a7"><div class="ttname"><a href="classFlywheelStopCommand.html#a9be8ca8422bd7b5f5a03cbf8e21025a7">FlywheelStopCommand::run</a></div><div class="ttdeci">bool run() override</div><div class="ttdef"><b>Definition:</b> flywheel_commands.cpp:35</div></div>
-<div class="ttc" id="aclassFlywheelStopMotorsCommand_html"><div class="ttname"><a href="classFlywheelStopMotorsCommand.html">FlywheelStopMotorsCommand</a></div><div class="ttdef"><b>Definition:</b> flywheel_commands.h:99</div></div>
-<div class="ttc" id="aclassFlywheelStopMotorsCommand_html_ab5b75338d50c3674a5fe27a5e77698bc"><div class="ttname"><a href="classFlywheelStopMotorsCommand.html#ab5b75338d50c3674a5fe27a5e77698bc">FlywheelStopMotorsCommand::run</a></div><div class="ttdeci">bool run() override</div><div class="ttdef"><b>Definition:</b> flywheel_commands.cpp:44</div></div>
-<div class="ttc" id="aclassFlywheelStopNonTasksCommand_html"><div class="ttname"><a href="classFlywheelStopNonTasksCommand.html">FlywheelStopNonTasksCommand</a></div><div class="ttdef"><b>Definition:</b> flywheel_commands.h:124</div></div>
-<div class="ttc" id="aclassFlywheel_html"><div class="ttname"><a href="classFlywheel.html">Flywheel</a></div><div class="ttdef"><b>Definition:</b> flywheel.h:29</div></div>
-<div class="ttc" id="aclassSpinRPMCommand_html"><div class="ttname"><a href="classSpinRPMCommand.html">SpinRPMCommand</a></div><div class="ttdef"><b>Definition:</b> flywheel_commands.h:17</div></div>
-<div class="ttc" id="aclassSpinRPMCommand_html_af12f71f87967de0d9991272d9659b6ef"><div class="ttname"><a href="classSpinRPMCommand.html#af12f71f87967de0d9991272d9659b6ef">SpinRPMCommand::run</a></div><div class="ttdeci">bool run() override</div><div class="ttdef"><b>Definition:</b> flywheel_commands.cpp:13</div></div>
-<div class="ttc" id="aclassWaitUntilUpToSpeedCommand_html"><div class="ttname"><a href="classWaitUntilUpToSpeedCommand.html">WaitUntilUpToSpeedCommand</a></div><div class="ttdef"><b>Definition:</b> flywheel_commands.h:45</div></div>
-<div class="ttc" id="aclassWaitUntilUpToSpeedCommand_html_a38f75c01a4740d87a380c15cc51c6396"><div class="ttname"><a href="classWaitUntilUpToSpeedCommand.html#a38f75c01a4740d87a380c15cc51c6396">WaitUntilUpToSpeedCommand::run</a></div><div class="ttdeci">bool run() override</div><div class="ttdef"><b>Definition:</b> flywheel_commands.cpp:21</div></div>
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-<h3><a id="index_m" name="index_m"></a>- m -</h3><ul>
-<li>measureRPM()&#160;:&#160;<a class="el" href="classFlywheel.html#ae46b69a8371dca7d6fb163c30192f666">Flywheel</a></li>
-<li>MecanumDrive()&#160;:&#160;<a class="el" href="classMecanumDrive.html#a780908c5b55ea8b9f228c84540a6c5f7">MecanumDrive</a></li>
-<li>modify_inputs()&#160;:&#160;<a class="el" href="classTankDrive.html#abb511cf1be40ef7be89c2ccff6a09cab">TankDrive</a></li>
-<li>MotionController()&#160;:&#160;<a class="el" href="classMotionController.html#a076c5aa4ea383dccaeec76f7554a7467">MotionController</a></li>
-<li>MovingAverage()&#160;:&#160;<a class="el" href="classMovingAverage.html#a2455b651d3c6ad1f14d1a0d65b2394b2">MovingAverage</a></li>
-</ul>
-
-
-<h3><a id="index_n" name="index_n"></a>- n -</h3><ul>
-<li>normalize()&#160;:&#160;<a class="el" href="classVector2D.html#a0bb684df2d724e4378dc5fbf0d4faa99">Vector2D</a></li>
-</ul>
-
-
-<h3><a id="index_o" name="index_o"></a>- o -</h3><ul>
-<li>Odometry3Wheel()&#160;:&#160;<a class="el" href="classOdometry3Wheel.html#a6755014965483b84e06e42d8e289bf40">Odometry3Wheel</a></li>
-<li>OdometryBase()&#160;:&#160;<a class="el" href="classOdometryBase.html#a61286bd1c5105adbfa5b52c74f9e9466">OdometryBase</a></li>
-<li>OdometryTank()&#160;:&#160;<a class="el" href="classOdometryTank.html#add83c3320e43e90963c38f25ce06c4da">OdometryTank</a></li>
-<li>OdomSetPosition()&#160;:&#160;<a class="el" href="classOdomSetPosition.html#afcd92592689e2c3262dd9120286bbac2">OdomSetPosition</a></li>
-<li>on_timeout()&#160;:&#160;<a class="el" href="classAutoCommand.html#a68475854d11e7c3be90e9c6e8fc9e982">AutoCommand</a>, <a class="el" href="classDriveForwardCommand.html#a52b4e1ff386eeb1c00f219f40738d0af">DriveForwardCommand</a>, <a class="el" href="classTurnDegreesCommand.html#abd912b5906bafd9f4117e005eaeccb18">TurnDegreesCommand</a>, <a class="el" href="classTurnToHeadingCommand.html#acaa3b650ed9f02315eb6ba901181bc85">TurnToHeadingCommand</a></li>
-<li>operator*()&#160;:&#160;<a class="el" href="classVector2D.html#a00a0dc6776995d47659b3ddd58c33a78">Vector2D</a></li>
-<li>operator+()&#160;:&#160;<a class="el" href="classVector2D.html#a2bed654f65df8c3bedbf8cd7d07071df">Vector2D</a>, <a class="el" href="structVector2D_1_1point__t.html#a80783a6446695b14693816aaf1341bdb">Vector2D::point_t</a></li>
-<li>operator-()&#160;:&#160;<a class="el" href="classVector2D.html#a07a043fc63572c1cf3104ec0a9a4e796">Vector2D</a>, <a class="el" href="structVector2D_1_1point__t.html#aac0efd68a6d8dbe4cbb2437096a0a05d">Vector2D::point_t</a></li>
-</ul>
-
-
-<h3><a id="index_p" name="index_p"></a>- p -</h3><ul>
-<li>PID()&#160;:&#160;<a class="el" href="classPID.html#a3b6b678b2d52a2be7fb572b766e43994">PID</a></li>
-<li>point()&#160;:&#160;<a class="el" href="classVector2D.html#a567227aaadc7eceae0cbccf7f611aff4">Vector2D</a></li>
-<li>pos_diff()&#160;:&#160;<a class="el" href="classOdometryBase.html#a8a248f027d3ff98cb2df2e3cd90e1f66">OdometryBase</a></li>
-<li>position()&#160;:&#160;<a class="el" href="classCustomEncoder.html#ab891fa278911c232bd0bf502a5ed95eb">CustomEncoder</a></li>
-<li>pure_pursuit()&#160;:&#160;<a class="el" href="classTankDrive.html#a13bb19d1cf97b7f3534f4f2a0a13bf27">TankDrive</a></li>
-</ul>
-
-
-<h3><a id="index_r" name="index_r"></a>- r -</h3><ul>
-<li>render()&#160;:&#160;<a class="el" href="classAutoChooser.html#a9365d354e3401d819e58a999721c07d9">AutoChooser</a></li>
-<li>reset()&#160;:&#160;<a class="el" href="classPID.html#af9677e76cb1beffbcf3f54cbc627c530">PID</a></li>
-<li>reset_auto()&#160;:&#160;<a class="el" href="classTankDrive.html#aaa68eae1521e5b87ecfed2a60b15bf34">TankDrive</a></li>
-<li>rot_diff()&#160;:&#160;<a class="el" href="classOdometryBase.html#ab1f1a09cda37d799c82003b5284c6856">OdometryBase</a></li>
-<li>rotation()&#160;:&#160;<a class="el" href="classCustomEncoder.html#a853fa3a11f2563d71f08ee3c3f38ff01">CustomEncoder</a></li>
-<li>run()&#160;:&#160;<a class="el" href="classAutoCommand.html#a9f58c576ca6378b18a4136f60df50560">AutoCommand</a>, <a class="el" href="classCommandController.html#a0f7f6ccce0304c577521205ad37bb36a">CommandController</a>, <a class="el" href="classDelayCommand.html#a6cff8fe05b3ca36ec2ab20e411cfd9ab">DelayCommand</a>, <a class="el" href="classDriveForwardCommand.html#aff482b72cab23cd569eb01efac6d1d31">DriveForwardCommand</a>, <a class="el" href="classDriveStopCommand.html#a3b37806449b50b2f2c19179f1039237b">DriveStopCommand</a>, <a class="el" href="classDriveToPointCommand.html#a8ed58921bc3eeb8c04d0b11b4f7e4fbe">DriveToPointCommand</a>, <a class="el" href="classFlywheelStopCommand.html#a9be8ca8422bd7b5f5a03cbf8e21025a7">FlywheelStopCommand</a>, <a class="el" href="classFlywheelStopMotorsCommand.html#ab5b75338d50c3674a5fe27a5e77698bc">FlywheelStopMotorsCommand</a>, <a class="el" href="classGenericAuto.html#af25dcaaf074980064382c458812b3c9c">GenericAuto</a>, <a class="el" href="classOdomSetPosition.html#a611e74a12a9eeb0fce1f38a596c3c467">OdomSetPosition</a>, <a class="el" href="classSpinRPMCommand.html#af12f71f87967de0d9991272d9659b6ef">SpinRPMCommand</a>, <a class="el" href="classTurnDegreesCommand.html#a2206e4c5073a2e83f6bfa3eeca46a370">TurnDegreesCommand</a>, <a class="el" href="classTurnToHeadingCommand.html#af571168ca078be95cbc735c99c2f4093">TurnToHeadingCommand</a>, <a class="el" href="classWaitUntilUpToSpeedCommand.html#a38f75c01a4740d87a380c15cc51c6396">WaitUntilUpToSpeedCommand</a></li>
-</ul>
-
-
-<h3><a id="index_s" name="index_s"></a>- s -</h3><ul>
-<li>set_accel()&#160;:&#160;<a class="el" href="classTrapezoidProfile.html#a1dcdfa1c290347cf0af48aca5afd167c">TrapezoidProfile</a></li>
-<li>set_async()&#160;:&#160;<a class="el" href="classLift.html#a7f37703180518390ec38cba9a780282b">Lift&lt; T &gt;</a></li>
-<li>set_endpts()&#160;:&#160;<a class="el" href="classTrapezoidProfile.html#a1d28f3fa6bf1dfa7f5c1a34d0d3b17b5">TrapezoidProfile</a></li>
-<li>set_limits()&#160;:&#160;<a class="el" href="classFeedback.html#a533a10b65cfc998898bf054f8b141de2">Feedback</a>, <a class="el" href="classMotionController.html#a944c245002a1eb124dd8df40de4fcc57">MotionController</a>, <a class="el" href="classPID.html#a8411ac48e8868d89e97afcf8990cca2c">PID</a>, <a class="el" href="classPIDFF.html#ae0dccb27a91ec687f90c930441f246bb">PIDFF</a></li>
-<li>set_max_v()&#160;:&#160;<a class="el" href="classTrapezoidProfile.html#a6c08d08d8eadaa719f4dc9e607f9fe97">TrapezoidProfile</a></li>
-<li>set_position()&#160;:&#160;<a class="el" href="classLift.html#ab3cb7bc86faa079ec1249b5026ea6a85">Lift&lt; T &gt;</a>, <a class="el" href="classOdometryBase.html#a34e4bd8567933d1b6bd6e41327a36549">OdometryBase</a>, <a class="el" href="classOdometryTank.html#ad3b4bcf351767992e2383ab000645335">OdometryTank</a></li>
-<li>set_sensor_function()&#160;:&#160;<a class="el" href="classLift.html#a08b7cdcfc9390f4945dd3737ac0e5ddc">Lift&lt; T &gt;</a></li>
-<li>set_sensor_reset()&#160;:&#160;<a class="el" href="classLift.html#a70b8e7cff5cd3b5827d8da07a02d92e6">Lift&lt; T &gt;</a></li>
-<li>set_setpoint()&#160;:&#160;<a class="el" href="classLift.html#a662bdc055d706699ef5cf308cd8872f8">Lift&lt; T &gt;</a></li>
-<li>set_target()&#160;:&#160;<a class="el" href="classPID.html#a2e301ab123c9e18e677b4873b03550dd">PID</a>, <a class="el" href="classPIDFF.html#a5b5584e4ca036b0e51c693a24a23b50b">PIDFF</a></li>
-<li>setPIDTarget()&#160;:&#160;<a class="el" href="classFlywheel.html#a5eeb847c6ef4736b1917bf32843c69aa">Flywheel</a></li>
-<li>setPosition()&#160;:&#160;<a class="el" href="classCustomEncoder.html#a0edd50e16020ccad5eafa55e0f80288d">CustomEncoder</a></li>
-<li>setRotation()&#160;:&#160;<a class="el" href="classCustomEncoder.html#abcb003c4627f59faa25c748c597da7fd">CustomEncoder</a></li>
-<li>smallest_angle()&#160;:&#160;<a class="el" href="classOdometryBase.html#a70ec71e9fb2e14f0a191a6bac927d36b">OdometryBase</a></li>
-<li>spin_manual()&#160;:&#160;<a class="el" href="classFlywheel.html#a291e067bcc495a9d3da16a5832d78484">Flywheel</a></li>
-<li>spin_raw()&#160;:&#160;<a class="el" href="classFlywheel.html#a5f4afa2ab8976acbf9fd47776a884dd3">Flywheel</a></li>
-<li>spinRPM()&#160;:&#160;<a class="el" href="classFlywheel.html#aa72700130c0c8a08517ec1396fe9cc2b">Flywheel</a></li>
-<li>SpinRPMCommand()&#160;:&#160;<a class="el" href="classSpinRPMCommand.html#a9bfcf882448d6d4e0860c1a7de90f9ea">SpinRPMCommand</a></li>
-<li>stop()&#160;:&#160;<a class="el" href="classFlywheel.html#a6634f5126f0404e0edeeff1e0e14d05e">Flywheel</a>, <a class="el" href="classTankDrive.html#af10e648e4de35fa72859fb96a9a80485">TankDrive</a></li>
-<li>stopMotors()&#160;:&#160;<a class="el" href="classFlywheel.html#a78eaa40c9c069b8b4146c3ae34a21d4e">Flywheel</a></li>
-<li>stopNonTasks()&#160;:&#160;<a class="el" href="classFlywheel.html#a63c9c4d3646e4ed14f3b98ce3ab28684">Flywheel</a></li>
-</ul>
-
-
-<h3><a id="index_t" name="index_t"></a>- t -</h3><ul>
-<li>TankDrive()&#160;:&#160;<a class="el" href="classTankDrive.html#a34f305bb1c996e3748c925af259aeeb4">TankDrive</a></li>
-<li>TrapezoidProfile()&#160;:&#160;<a class="el" href="classTrapezoidProfile.html#af693ca740c0112cfbf4a9ee13bbb6c5d">TrapezoidProfile</a></li>
-<li>tune()&#160;:&#160;<a class="el" href="classOdometry3Wheel.html#acb23dbf715d342566fc7e44f58ebf654">Odometry3Wheel</a></li>
-<li>tune_feedforward()&#160;:&#160;<a class="el" href="classMotionController.html#a20749b6a4bd3cf509a3acf682831eb00">MotionController</a></li>
-<li>turn_degrees()&#160;:&#160;<a class="el" href="classTankDrive.html#ac1ce9895b82b7298465d8e59fae95763">TankDrive</a></li>
-<li>turn_to_heading()&#160;:&#160;<a class="el" href="classTankDrive.html#a25030a7b5e9404a911f7b776a7df7f05">TankDrive</a></li>
-<li>TurnDegreesCommand()&#160;:&#160;<a class="el" href="classTurnDegreesCommand.html#a70a7e4688c10f1b351e6d79a3a7862ee">TurnDegreesCommand</a></li>
-<li>TurnToHeadingCommand()&#160;:&#160;<a class="el" href="classTurnToHeadingCommand.html#a9a958d75babe94709827c827807d423d">TurnToHeadingCommand</a></li>
-</ul>
-
-
-<h3><a id="index_u" name="index_u"></a>- u -</h3><ul>
-<li>update()&#160;:&#160;<a class="el" href="classFeedback.html#adda5fc7642539996be00632954dfc41f">Feedback</a>, <a class="el" href="classMotionController.html#a86ef0ef19858b5b407f7406bb5da30af">MotionController</a>, <a class="el" href="classOdometry3Wheel.html#a85c5661989dae181a4db7d91bd0526f7">Odometry3Wheel</a>, <a class="el" href="classOdometryBase.html#a5d55b7987d97a9af721838596a520dec">OdometryBase</a>, <a class="el" href="classOdometryTank.html#a02508433d771c661c89d14f204a61d13">OdometryTank</a>, <a class="el" href="classPID.html#a53b5c34ba5e81fb79ed4258a143015b9">PID</a>, <a class="el" href="classPIDFF.html#a9a9b05ec43e4430019652b62799e761c">PIDFF</a></li>
-<li>updatePID()&#160;:&#160;<a class="el" href="classFlywheel.html#aa9df5ad636fb49d76ba922ecd1115aef">Flywheel</a></li>
-</ul>
-
-
-<h3><a id="index_v" name="index_v"></a>- v -</h3><ul>
-<li>Vector2D()&#160;:&#160;<a class="el" href="classVector2D.html#af3084a6d83b0c8220c548fbf74df2744">Vector2D</a></li>
-<li>velocity()&#160;:&#160;<a class="el" href="classCustomEncoder.html#a92fe3a3227b4c4bc1ad1389b7b758455">CustomEncoder</a></li>
-</ul>
-
-
-<h3><a id="index_w" name="index_w"></a>- w -</h3><ul>
-<li>WaitUntilUpToSpeedCommand()&#160;:&#160;<a class="el" href="classWaitUntilUpToSpeedCommand.html#afd000a8f148291a9d2310b76b9354fea">WaitUntilUpToSpeedCommand</a></li>
-</ul>
-</div><!-- contents -->
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-<title>RIT VEXU Core API: Class Members</title>
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-<script type="text/javascript" src="jquery.js"></script>
-<script type="text/javascript" src="dynsections.js"></script>
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-   <div id="projectname">RIT VEXU Core API
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-
-<div class="contents">
-<div class="textblock">Here is a list of all documented class members with links to the class documentation for each member:</div>
-
-<h3><a id="index_g" name="index_g"></a>- g -</h3><ul>
-<li>get()&#160;:&#160;<a class="el" href="classFeedback.html#ac44bb519a6f4e25c8e8250f3d30ab359">Feedback</a>, <a class="el" href="classMotionController.html#a2a1944f590618cd91770364aea416cd5">MotionController</a>, <a class="el" href="classPID.html#a69c2e66b8ff06c86ca9701d11e21da75">PID</a>, <a class="el" href="classPIDFF.html#a78a34d271bcc703fc803e15b275fd238">PIDFF</a></li>
-<li>get_accel()&#160;:&#160;<a class="el" href="classOdometryBase.html#a3223bac952f79bf910b979690499b965">OdometryBase</a></li>
-<li>get_angular_accel_deg()&#160;:&#160;<a class="el" href="classOdometryBase.html#a456e6433e51971d2640ff96ed3a59432">OdometryBase</a></li>
-<li>get_angular_speed_deg()&#160;:&#160;<a class="el" href="classOdometryBase.html#af30d97a35e9e9c4f9be0a81390e6c0f1">OdometryBase</a></li>
-<li>get_async()&#160;:&#160;<a class="el" href="classLift.html#a6913ab2df38f0429641c256ec9288370">Lift&lt; T &gt;</a></li>
-<li>get_average()&#160;:&#160;<a class="el" href="classMovingAverage.html#aa91e650064d361abe51bfa0b166ac6c0">MovingAverage</a></li>
-<li>get_choice()&#160;:&#160;<a class="el" href="classAutoChooser.html#ada27d20c06baeb169c3abed5fd0b06bb">AutoChooser</a></li>
-<li>get_dir()&#160;:&#160;<a class="el" href="classVector2D.html#a683dab4e55cfc8483a32c6805cd29980">Vector2D</a></li>
-<li>get_error()&#160;:&#160;<a class="el" href="classPID.html#ab5cdb296dbcce80703a9a98b9605c500">PID</a></li>
-<li>get_mag()&#160;:&#160;<a class="el" href="classVector2D.html#a4da6f92b5874470ed5642587a973c3df">Vector2D</a></li>
-<li>get_motion()&#160;:&#160;<a class="el" href="classMotionController.html#ab958ce97fbc4929f4dd03965671e8d4d">MotionController</a></li>
-<li>get_movement_time()&#160;:&#160;<a class="el" href="classTrapezoidProfile.html#abd551042dfffe0923200c4546d109c55">TrapezoidProfile</a></li>
-<li>get_position()&#160;:&#160;<a class="el" href="classOdometryBase.html#a3cdcfcf70ef02e0efc2efd902fac3811">OdometryBase</a></li>
-<li>get_setpoint()&#160;:&#160;<a class="el" href="classLift.html#adaa6cb65351d0c8a2c199a87a318b133">Lift&lt; T &gt;</a></li>
-<li>get_size()&#160;:&#160;<a class="el" href="classMovingAverage.html#ac45976e15321d2c2f52d1f281475b53d">MovingAverage</a></li>
-<li>get_speed()&#160;:&#160;<a class="el" href="classOdometryBase.html#a96c7be68db7424ddbe3704770dd1889f">OdometryBase</a></li>
-<li>get_target()&#160;:&#160;<a class="el" href="classPID.html#a1cd58cedeccc45b67551e331ee547be9">PID</a></li>
-<li>get_x()&#160;:&#160;<a class="el" href="classVector2D.html#a240e649d36dbda8bcba031f5fe5a2438">Vector2D</a></li>
-<li>get_y()&#160;:&#160;<a class="el" href="classVector2D.html#aee94b809a4a63b972c72b22257fa3f30">Vector2D</a></li>
-<li>getDesiredRPM()&#160;:&#160;<a class="el" href="classFlywheel.html#a5dee80fd74903884478649b6ec2f4528">Flywheel</a></li>
-<li>getFeedforwardValue()&#160;:&#160;<a class="el" href="classFlywheel.html#aea43f1c07b799133113d7b9ff14a7f36">Flywheel</a></li>
-<li>getMotors()&#160;:&#160;<a class="el" href="classFlywheel.html#a5823c1242f4b00519f582a7468cf537a">Flywheel</a></li>
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-<li class="navelem"><a class="el" href="dir_d44c64559bbebec7f509842c48db8b23.html">include</a></li><li class="navelem"><a class="el" href="dir_821002d4f10779a80d4fb17bc32f21f1.html">utils</a></li>  </ul>
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-<div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno">    1</span><span class="preprocessor">#pragma once</span></div>
-<div class="line"><a id="l00002" name="l00002"></a><span class="lineno">    2</span> </div>
-<div class="line"><a id="l00003" name="l00003"></a><span class="lineno">    3</span><span class="preprocessor">#include &lt;string&gt;</span></div>
-<div class="line"><a id="l00004" name="l00004"></a><span class="lineno">    4</span><span class="preprocessor">#include &lt;stdio.h&gt;</span></div>
-<div class="line"><a id="l00005" name="l00005"></a><span class="lineno">    5</span><span class="preprocessor">#include &lt;vector&gt;</span></div>
-<div class="line"><a id="l00006" name="l00006"></a><span class="lineno">    6</span><span class="preprocessor">#include &quot;vex.h&quot;</span></div>
-<div class="line"><a id="l00007" name="l00007"></a><span class="lineno">    7</span><span class="preprocessor">#include &quot;../core/include/utils/vector2d.h&quot;</span></div>
-<div class="line"><a id="l00008" name="l00008"></a><span class="lineno">    8</span> </div>
-<div class="line"><a id="l00009" name="l00009"></a><span class="lineno"><a class="line" href="classGraphDrawer.html">    9</a></span><span class="keyword">class </span><a class="code hl_class" href="classGraphDrawer.html">GraphDrawer</a></div>
-<div class="line"><a id="l00010" name="l00010"></a><span class="lineno">   10</span>{</div>
-<div class="line"><a id="l00011" name="l00011"></a><span class="lineno">   11</span><span class="keyword">public</span>:</div>
-<div class="line"><a id="l00023" name="l00023"></a><span class="lineno"><a class="line" href="classGraphDrawer.html#a8066ff51adb3cbbeca34268d13f34c5f">   23</a></span>  <a class="code hl_function" href="classGraphDrawer.html#a8066ff51adb3cbbeca34268d13f34c5f">GraphDrawer</a>(vex::brain::lcd &amp;screen, <span class="keywordtype">int</span> num_samples, std::string x_label, std::string y_label, vex::color col, <span class="keywordtype">bool</span> draw_border, <span class="keywordtype">double</span> lower_bound, <span class="keywordtype">double</span> upper_bound) : Screen(screen), sample_index(0), xlabel(x_label), ylabel(y_label), col(col), border(draw_border), upper(upper_bound), lower(lower_bound)</div>
-<div class="line"><a id="l00024" name="l00024"></a><span class="lineno">   24</span>  {</div>
-<div class="line"><a id="l00025" name="l00025"></a><span class="lineno">   25</span>    std::vector&lt;Vector2D::point_t&gt; temp(num_samples, <a class="code hl_struct" href="structVector2D_1_1point__t.html">Vector2D::point_t</a>{.<a class="code hl_variable" href="structVector2D_1_1point__t.html#ad139f137dd3554335c4ed9b51c8e3bd9">x</a> = 0.0, .y = 0.0});</div>
-<div class="line"><a id="l00026" name="l00026"></a><span class="lineno">   26</span>    samples = temp;</div>
-<div class="line"><a id="l00027" name="l00027"></a><span class="lineno">   27</span>  }</div>
-<div class="line"><a id="l00028" name="l00028"></a><span class="lineno">   28</span> </div>
-<div class="line"><a id="l00033" name="l00033"></a><span class="lineno"><a class="line" href="classGraphDrawer.html#a41cadd5ade1ae9de1a82cc97ee15557c">   33</a></span>  <span class="keywordtype">void</span> <a class="code hl_function" href="classGraphDrawer.html#a41cadd5ade1ae9de1a82cc97ee15557c">add_sample</a>(<a class="code hl_struct" href="structVector2D_1_1point__t.html">Vector2D::point_t</a> sample)</div>
-<div class="line"><a id="l00034" name="l00034"></a><span class="lineno">   34</span>  {</div>
-<div class="line"><a id="l00035" name="l00035"></a><span class="lineno">   35</span>    samples[sample_index] = sample;</div>
-<div class="line"><a id="l00036" name="l00036"></a><span class="lineno">   36</span>    sample_index++;</div>
-<div class="line"><a id="l00037" name="l00037"></a><span class="lineno">   37</span>    sample_index %= samples.size();</div>
-<div class="line"><a id="l00038" name="l00038"></a><span class="lineno">   38</span>  }</div>
-<div class="line"><a id="l00046" name="l00046"></a><span class="lineno"><a class="line" href="classGraphDrawer.html#a420b88cacbf91908dc64624eb113d197">   46</a></span>  <span class="keywordtype">void</span> <a class="code hl_function" href="classGraphDrawer.html#a420b88cacbf91908dc64624eb113d197">draw</a>(<span class="keywordtype">int</span> x, <span class="keywordtype">int</span> y, <span class="keywordtype">int</span> width, <span class="keywordtype">int</span> height)</div>
-<div class="line"><a id="l00047" name="l00047"></a><span class="lineno">   47</span>  {</div>
-<div class="line"><a id="l00048" name="l00048"></a><span class="lineno">   48</span>    <span class="keywordflow">if</span> (samples.size() &lt; 1)</div>
-<div class="line"><a id="l00049" name="l00049"></a><span class="lineno">   49</span>    {</div>
-<div class="line"><a id="l00050" name="l00050"></a><span class="lineno">   50</span>      <span class="keywordflow">return</span>;</div>
-<div class="line"><a id="l00051" name="l00051"></a><span class="lineno">   51</span>    }</div>
-<div class="line"><a id="l00052" name="l00052"></a><span class="lineno">   52</span> </div>
-<div class="line"><a id="l00053" name="l00053"></a><span class="lineno">   53</span>    <span class="keywordtype">double</span> current_min = samples[0].y;</div>
-<div class="line"><a id="l00054" name="l00054"></a><span class="lineno">   54</span>    <span class="keywordtype">double</span> current_max = samples[0].y;</div>
-<div class="line"><a id="l00055" name="l00055"></a><span class="lineno">   55</span>    <span class="keywordtype">double</span> earliest_time = samples[0].x;</div>
-<div class="line"><a id="l00056" name="l00056"></a><span class="lineno">   56</span>    <span class="keywordtype">double</span> latest_time = samples[0].x;</div>
-<div class="line"><a id="l00057" name="l00057"></a><span class="lineno">   57</span>    <span class="comment">// collect data</span></div>
-<div class="line"><a id="l00058" name="l00058"></a><span class="lineno">   58</span>    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; samples.size(); i++)</div>
-<div class="line"><a id="l00059" name="l00059"></a><span class="lineno">   59</span>    {</div>
-<div class="line"><a id="l00060" name="l00060"></a><span class="lineno">   60</span>      <a class="code hl_struct" href="structVector2D_1_1point__t.html">Vector2D::point_t</a> p = samples[i];</div>
-<div class="line"><a id="l00061" name="l00061"></a><span class="lineno">   61</span>      <span class="keywordflow">if</span> (p.<a class="code hl_variable" href="structVector2D_1_1point__t.html#ad139f137dd3554335c4ed9b51c8e3bd9">x</a> &lt; earliest_time)</div>
-<div class="line"><a id="l00062" name="l00062"></a><span class="lineno">   62</span>      {</div>
-<div class="line"><a id="l00063" name="l00063"></a><span class="lineno">   63</span>        earliest_time = p.<a class="code hl_variable" href="structVector2D_1_1point__t.html#ad139f137dd3554335c4ed9b51c8e3bd9">x</a>;</div>
-<div class="line"><a id="l00064" name="l00064"></a><span class="lineno">   64</span>      }</div>
-<div class="line"><a id="l00065" name="l00065"></a><span class="lineno">   65</span>      <span class="keywordflow">else</span> <span class="keywordflow">if</span> (p.<a class="code hl_variable" href="structVector2D_1_1point__t.html#ad139f137dd3554335c4ed9b51c8e3bd9">x</a> &gt; latest_time)</div>
-<div class="line"><a id="l00066" name="l00066"></a><span class="lineno">   66</span>      {</div>
-<div class="line"><a id="l00067" name="l00067"></a><span class="lineno">   67</span>        latest_time = p.<a class="code hl_variable" href="structVector2D_1_1point__t.html#ad139f137dd3554335c4ed9b51c8e3bd9">x</a>;</div>
-<div class="line"><a id="l00068" name="l00068"></a><span class="lineno">   68</span>      }</div>
-<div class="line"><a id="l00069" name="l00069"></a><span class="lineno">   69</span> </div>
-<div class="line"><a id="l00070" name="l00070"></a><span class="lineno">   70</span>      <span class="keywordflow">if</span> (p.<a class="code hl_variable" href="structVector2D_1_1point__t.html#a8290e79feb502e69cd95a7580cf6f1fe">y</a> &lt; current_min)</div>
-<div class="line"><a id="l00071" name="l00071"></a><span class="lineno">   71</span>      {</div>
-<div class="line"><a id="l00072" name="l00072"></a><span class="lineno">   72</span>        current_min = p.<a class="code hl_variable" href="structVector2D_1_1point__t.html#a8290e79feb502e69cd95a7580cf6f1fe">y</a>;</div>
-<div class="line"><a id="l00073" name="l00073"></a><span class="lineno">   73</span>      }</div>
-<div class="line"><a id="l00074" name="l00074"></a><span class="lineno">   74</span>      <span class="keywordflow">else</span> <span class="keywordflow">if</span> (p.<a class="code hl_variable" href="structVector2D_1_1point__t.html#a8290e79feb502e69cd95a7580cf6f1fe">y</a> &gt; current_max)</div>
-<div class="line"><a id="l00075" name="l00075"></a><span class="lineno">   75</span>      {</div>
-<div class="line"><a id="l00076" name="l00076"></a><span class="lineno">   76</span>        current_max = p.<a class="code hl_variable" href="structVector2D_1_1point__t.html#a8290e79feb502e69cd95a7580cf6f1fe">y</a>;</div>
-<div class="line"><a id="l00077" name="l00077"></a><span class="lineno">   77</span>      }</div>
-<div class="line"><a id="l00078" name="l00078"></a><span class="lineno">   78</span>    }</div>
-<div class="line"><a id="l00079" name="l00079"></a><span class="lineno">   79</span>    <span class="keywordflow">if</span> (fabs(latest_time - earliest_time) &lt; 0.001)</div>
-<div class="line"><a id="l00080" name="l00080"></a><span class="lineno">   80</span>    {</div>
-<div class="line"><a id="l00081" name="l00081"></a><span class="lineno">   81</span>      Screen.printAt(width / 2, height / 2, <span class="stringliteral">&quot;Not enough Data&quot;</span>);</div>
-<div class="line"><a id="l00082" name="l00082"></a><span class="lineno">   82</span>      <span class="keywordflow">return</span>;</div>
-<div class="line"><a id="l00083" name="l00083"></a><span class="lineno">   83</span>    }</div>
-<div class="line"><a id="l00084" name="l00084"></a><span class="lineno">   84</span>    <span class="keywordflow">if</span> (upper != lower)</div>
-<div class="line"><a id="l00085" name="l00085"></a><span class="lineno">   85</span>    {</div>
-<div class="line"><a id="l00086" name="l00086"></a><span class="lineno">   86</span>      current_min = lower;</div>
-<div class="line"><a id="l00087" name="l00087"></a><span class="lineno">   87</span>      current_max = upper;</div>
-<div class="line"><a id="l00088" name="l00088"></a><span class="lineno">   88</span>    }</div>
-<div class="line"><a id="l00089" name="l00089"></a><span class="lineno">   89</span> </div>
-<div class="line"><a id="l00090" name="l00090"></a><span class="lineno">   90</span>    <span class="keywordflow">if</span> (border)</div>
-<div class="line"><a id="l00091" name="l00091"></a><span class="lineno">   91</span>    {</div>
-<div class="line"><a id="l00092" name="l00092"></a><span class="lineno">   92</span>      Screen.setPenWidth(1);</div>
-<div class="line"><a id="l00093" name="l00093"></a><span class="lineno">   93</span>      Screen.setPenColor(vex::white);</div>
-<div class="line"><a id="l00094" name="l00094"></a><span class="lineno">   94</span>      Screen.setFillColor(bgcol);</div>
-<div class="line"><a id="l00095" name="l00095"></a><span class="lineno">   95</span>      Screen.drawRectangle(x, y, width, height);</div>
-<div class="line"><a id="l00096" name="l00096"></a><span class="lineno">   96</span>    }</div>
-<div class="line"><a id="l00097" name="l00097"></a><span class="lineno">   97</span> </div>
-<div class="line"><a id="l00098" name="l00098"></a><span class="lineno">   98</span>    <span class="keywordtype">double</span> time_range = latest_time - earliest_time;</div>
-<div class="line"><a id="l00099" name="l00099"></a><span class="lineno">   99</span>    <span class="keywordtype">double</span> sample_range = current_max - current_min;</div>
-<div class="line"><a id="l00100" name="l00100"></a><span class="lineno">  100</span>    <span class="keywordtype">double</span> x_s = (double)x;</div>
-<div class="line"><a id="l00101" name="l00101"></a><span class="lineno">  101</span>    <span class="keywordtype">double</span> y_s = (double)y + (<span class="keywordtype">double</span>)height;</div>
-<div class="line"><a id="l00102" name="l00102"></a><span class="lineno">  102</span>    Screen.setPenWidth(4);</div>
-<div class="line"><a id="l00103" name="l00103"></a><span class="lineno">  103</span>    Screen.setPenColor(col);</div>
-<div class="line"><a id="l00104" name="l00104"></a><span class="lineno">  104</span>    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = sample_index; i &lt; samples.size() + sample_index - 1; i++)</div>
-<div class="line"><a id="l00105" name="l00105"></a><span class="lineno">  105</span>    {</div>
-<div class="line"><a id="l00106" name="l00106"></a><span class="lineno">  106</span>      <a class="code hl_struct" href="structVector2D_1_1point__t.html">Vector2D::point_t</a> p = samples[i % samples.size()];</div>
-<div class="line"><a id="l00107" name="l00107"></a><span class="lineno">  107</span>      <span class="keywordtype">double</span> x_pos = x_s + ((p.<a class="code hl_variable" href="structVector2D_1_1point__t.html#ad139f137dd3554335c4ed9b51c8e3bd9">x</a> - earliest_time) / time_range) * (double)width;</div>
-<div class="line"><a id="l00108" name="l00108"></a><span class="lineno">  108</span>      <span class="keywordtype">double</span> y_pos = y_s + ((p.<a class="code hl_variable" href="structVector2D_1_1point__t.html#a8290e79feb502e69cd95a7580cf6f1fe">y</a> - current_min) / sample_range) * (double)(-height);</div>
-<div class="line"><a id="l00109" name="l00109"></a><span class="lineno">  109</span> </div>
-<div class="line"><a id="l00110" name="l00110"></a><span class="lineno">  110</span>      <a class="code hl_struct" href="structVector2D_1_1point__t.html">Vector2D::point_t</a> p2 = samples[(i + 1) % samples.size()];</div>
-<div class="line"><a id="l00111" name="l00111"></a><span class="lineno">  111</span>      <span class="keywordtype">double</span> x_pos2 = x_s + ((p2.<a class="code hl_variable" href="structVector2D_1_1point__t.html#ad139f137dd3554335c4ed9b51c8e3bd9">x</a> - earliest_time) / time_range) * (double)width;</div>
-<div class="line"><a id="l00112" name="l00112"></a><span class="lineno">  112</span>      <span class="keywordtype">double</span> y_pos2 = y_s + ((p2.<a class="code hl_variable" href="structVector2D_1_1point__t.html#a8290e79feb502e69cd95a7580cf6f1fe">y</a> - current_min) / sample_range) * (double)(-height);</div>
-<div class="line"><a id="l00113" name="l00113"></a><span class="lineno">  113</span> </div>
-<div class="line"><a id="l00114" name="l00114"></a><span class="lineno">  114</span>      Screen.drawLine((<span class="keywordtype">int</span>)x_pos, (int)y_pos, (<span class="keywordtype">int</span>)x_pos2, (int)y_pos2);</div>
-<div class="line"><a id="l00115" name="l00115"></a><span class="lineno">  115</span>    }</div>
-<div class="line"><a id="l00116" name="l00116"></a><span class="lineno">  116</span>  }</div>
-<div class="line"><a id="l00117" name="l00117"></a><span class="lineno">  117</span> </div>
-<div class="line"><a id="l00118" name="l00118"></a><span class="lineno">  118</span><span class="keyword">private</span>:</div>
-<div class="line"><a id="l00119" name="l00119"></a><span class="lineno">  119</span>  vex::brain::lcd &amp;Screen;</div>
-<div class="line"><a id="l00120" name="l00120"></a><span class="lineno">  120</span>  std::vector&lt;Vector2D::point_t&gt; samples;</div>
-<div class="line"><a id="l00121" name="l00121"></a><span class="lineno">  121</span>  <span class="keywordtype">int</span> sample_index = 0;</div>
-<div class="line"><a id="l00122" name="l00122"></a><span class="lineno">  122</span>  std::string xlabel;</div>
-<div class="line"><a id="l00123" name="l00123"></a><span class="lineno">  123</span>  std::string ylabel;</div>
-<div class="line"><a id="l00124" name="l00124"></a><span class="lineno">  124</span>  vex::color col = vex::red;</div>
-<div class="line"><a id="l00125" name="l00125"></a><span class="lineno">  125</span>  vex::color bgcol = vex::transparent;</div>
-<div class="line"><a id="l00126" name="l00126"></a><span class="lineno">  126</span>  <span class="keywordtype">bool</span> border;</div>
-<div class="line"><a id="l00127" name="l00127"></a><span class="lineno">  127</span>  <span class="keywordtype">double</span> upper;</div>
-<div class="line"><a id="l00128" name="l00128"></a><span class="lineno">  128</span>  <span class="keywordtype">double</span> lower;</div>
-<div class="line"><a id="l00129" name="l00129"></a><span class="lineno">  129</span>};</div>
-<div class="ttc" id="aclassGraphDrawer_html"><div class="ttname"><a href="classGraphDrawer.html">GraphDrawer</a></div><div class="ttdef"><b>Definition:</b> graph_drawer.h:10</div></div>
-<div class="ttc" id="aclassGraphDrawer_html_a41cadd5ade1ae9de1a82cc97ee15557c"><div class="ttname"><a href="classGraphDrawer.html#a41cadd5ade1ae9de1a82cc97ee15557c">GraphDrawer::add_sample</a></div><div class="ttdeci">void add_sample(Vector2D::point_t sample)</div><div class="ttdef"><b>Definition:</b> graph_drawer.h:33</div></div>
-<div class="ttc" id="aclassGraphDrawer_html_a420b88cacbf91908dc64624eb113d197"><div class="ttname"><a href="classGraphDrawer.html#a420b88cacbf91908dc64624eb113d197">GraphDrawer::draw</a></div><div class="ttdeci">void draw(int x, int y, int width, int height)</div><div class="ttdef"><b>Definition:</b> graph_drawer.h:46</div></div>
-<div class="ttc" id="aclassGraphDrawer_html_a8066ff51adb3cbbeca34268d13f34c5f"><div class="ttname"><a href="classGraphDrawer.html#a8066ff51adb3cbbeca34268d13f34c5f">GraphDrawer::GraphDrawer</a></div><div class="ttdeci">GraphDrawer(vex::brain::lcd &amp;screen, int num_samples, std::string x_label, std::string y_label, vex::color col, bool draw_border, double lower_bound, double upper_bound)</div><div class="ttdoc">a helper class to graph values on the brain screen</div><div class="ttdef"><b>Definition:</b> graph_drawer.h:23</div></div>
-<div class="ttc" id="astructVector2D_1_1point__t_html"><div class="ttname"><a href="structVector2D_1_1point__t.html">Vector2D::point_t</a></div><div class="ttdef"><b>Definition:</b> vector2d.h:21</div></div>
-<div class="ttc" id="astructVector2D_1_1point__t_html_a8290e79feb502e69cd95a7580cf6f1fe"><div class="ttname"><a href="structVector2D_1_1point__t.html#a8290e79feb502e69cd95a7580cf6f1fe">Vector2D::point_t::y</a></div><div class="ttdeci">double y</div><div class="ttdoc">the y position in space</div><div class="ttdef"><b>Definition:</b> vector2d.h:23</div></div>
-<div class="ttc" id="astructVector2D_1_1point__t_html_ad139f137dd3554335c4ed9b51c8e3bd9"><div class="ttname"><a href="structVector2D_1_1point__t.html#ad139f137dd3554335c4ed9b51c8e3bd9">Vector2D::point_t::x</a></div><div class="ttdeci">double x</div><div class="ttdoc">the x position in space</div><div class="ttdef"><b>Definition:</b> vector2d.h:22</div></div>
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i.grid?[i.grid,i.grid]:i.grid,r=a[0]||1,l=a[1]||1,u=Math.round((s.width-n.width)/r)*r,p=Math.round((s.height-n.height)/l)*l,d=n.width+u,c=n.height+p,f=i.maxWidth&&i.maxWidth<d,g=i.maxHeight&&i.maxHeight<c,m=i.minWidth&&i.minWidth>d,s=i.minHeight&&i.minHeight>c;i.grid=a,m&&(d+=r),s&&(c+=l),f&&(d-=r),g&&(c-=l),/^(se|s|e)$/.test(h)?(e.size.width=d,e.size.height=c):/^(ne)$/.test(h)?(e.size.width=d,e.size.height=c,e.position.top=o.top-p):/^(sw)$/.test(h)?(e.size.width=d,e.size.height=c,e.position.left=o.left-u):((c-l<=0||d-r<=0)&&(t=e._getPaddingPlusBorderDimensions(this)),0<c-l?(e.size.height=c,e.position.top=o.top-p):(c=l-t.height,e.size.height=c,e.position.top=o.top+n.height-c),0<d-r?(e.size.width=d,e.position.left=o.left-u):(d=r-t.width,e.size.width=d,e.position.left=o.left+n.width-d))}});y.ui.resizable});/**
- * Copyright (c) 2007 Ariel Flesler - aflesler ○ gmail • com | https://github.com/flesler
- * Licensed under MIT
- * @author Ariel Flesler
- * @version 2.1.2
- */
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- PowerTip v1.3.1 (2018-04-15)
- https://stevenbenner.github.io/jquery-powertip/
- Copyright (c) 2018 Steven Benner (http://stevenbenner.com/).
- Released under MIT license.
- https://raw.github.com/stevenbenner/jquery-powertip/master/LICENSE.txt
-*/
-(function(root,factory){if(typeof define==="function"&&define.amd){define(["jquery"],factory)}else if(typeof module==="object"&&module.exports){module.exports=factory(require("jquery"))}else{factory(root.jQuery)}})(this,function($){var $document=$(document),$window=$(window),$body=$("body");var DATA_DISPLAYCONTROLLER="displayController",DATA_HASACTIVEHOVER="hasActiveHover",DATA_FORCEDOPEN="forcedOpen",DATA_HASMOUSEMOVE="hasMouseMove",DATA_MOUSEONTOTIP="mouseOnToPopup",DATA_ORIGINALTITLE="originalTitle",DATA_POWERTIP="powertip",DATA_POWERTIPJQ="powertipjq",DATA_POWERTIPTARGET="powertiptarget",EVENT_NAMESPACE=".powertip",RAD2DEG=180/Math.PI,MOUSE_EVENTS=["click","dblclick","mousedown","mouseup","mousemove","mouseover","mouseout","mouseenter","mouseleave","contextmenu"];var 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- * http://www.smartmenus.org/
- * Copyright Vasil Dinkov, Vadikom Web Ltd. http://vadikom.com; Licensed MIT */(function(t){"function"==typeof define&&define.amd?define(["jquery"],t):"object"==typeof module&&"object"==typeof module.exports?module.exports=t(require("jquery")):t(jQuery)})(function($){function initMouseDetection(t){var e=".smartmenus_mouse";if(mouseDetectionEnabled||t)mouseDetectionEnabled&&t&&($(document).off(e),mouseDetectionEnabled=!1);else{var i=!0,s=null,o={mousemove:function(t){var e={x:t.pageX,y:t.pageY,timeStamp:(new Date).getTime()};if(s){var o=Math.abs(s.x-e.x),a=Math.abs(s.y-e.y);if((o>0||a>0)&&2>=o&&2>=a&&300>=e.timeStamp-s.timeStamp&&(mouse=!0,i)){var n=$(t.target).closest("a");n.is("a")&&$.each(menuTrees,function(){return $.contains(this.$root[0],n[0])?(this.itemEnter({currentTarget:n[0]}),!1):void 0}),i=!1}}s=e}};o[touchEvents?"touchstart":"pointerover pointermove pointerout MSPointerOver MSPointerMove 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i=".smartmenus";this.$root.data("smartmenus",this).attr("data-smartmenus-id",this.rootId).dataSM("level",1).on(getEventsNS({"mouseover focusin":$.proxy(this.rootOver,this),"mouseout focusout":$.proxy(this.rootOut,this),keydown:$.proxy(this.rootKeyDown,this)},i)).on(getEventsNS({mouseenter:$.proxy(this.itemEnter,this),mouseleave:$.proxy(this.itemLeave,this),mousedown:$.proxy(this.itemDown,this),focus:$.proxy(this.itemFocus,this),blur:$.proxy(this.itemBlur,this),click:$.proxy(this.itemClick,this)},i),"a"),i+=this.rootId,this.opts.hideOnClick&&$(document).on(getEventsNS({touchstart:$.proxy(this.docTouchStart,this),touchmove:$.proxy(this.docTouchMove,this),touchend:$.proxy(this.docTouchEnd,this),click:$.proxy(this.docClick,this)},i)),$(window).on(getEventsNS({"resize 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e=".smartmenus";this.$root.removeData("smartmenus").removeAttr("data-smartmenus-id").removeDataSM("level").off(e),e+=this.rootId,$(document).off(e),$(window).off(e),this.opts.subIndicators&&(this.$subArrow=null)}this.menuHideAll();var i=this;this.$root.find("ul").each(function(){var 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t=$(this);0==t.attr("id").indexOf(i.accessIdPrefix)&&t.removeAttr("id")}).removeClass("has-submenu").removeDataSM("sub").removeAttr("aria-haspopup").removeAttr("aria-controls").removeAttr("aria-expanded").closest("li").removeDataSM("sub"),this.opts.subIndicators&&this.$root.find("span.sub-arrow").remove(),this.opts.markCurrentItem&&this.$root.find("a.current").removeClass("current"),t||(this.$root=null,this.$firstLink=null,this.$firstSub=null,this.$disableOverlay&&(this.$disableOverlay.remove(),this.$disableOverlay=null),menuTrees.splice($.inArray(this,menuTrees),1))},disable:function(t){if(!this.disabled){if(this.menuHideAll(),!t&&!this.opts.isPopup&&this.$root.is(":visible")){var e=this.$root.offset();this.$disableOverlay=$('<div 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e=t.originalEvent.touches[0];this.lastTouch.x2=e.pageX,this.lastTouch.y2=e.pageY}},docTouchStart:function(t){var e=t.originalEvent.touches[0];this.lastTouch={x1:e.pageX,y1:e.pageY,target:e.target}},enable:function(){this.disabled&&(this.$disableOverlay&&(this.$disableOverlay.remove(),this.$disableOverlay=null),this.disabled=!1)},getClosestMenu:function(t){for(var e=$(t).closest("ul");e.dataSM("in-mega");)e=e.parent().closest("ul");return e[0]||null},getHeight:function(t){return this.getOffset(t,!0)},getOffset:function(t,e){var i;"none"==t.css("display")&&(i={position:t[0].style.position,visibility:t[0].style.visibility},t.css({position:"absolute",visibility:"hidden"}).show());var s=t[0].getBoundingClientRect&&t[0].getBoundingClientRect(),o=s&&(e?s.height||s.bottom-s.top:s.width||s.right-s.left);return o||0===o||(o=e?t[0].offsetHeight:t[0].offsetWidth),i&&t.hide().css(i),o},getStartZIndex:function(t){var 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0}),t},isLinkInMegaMenu:function(t){return $(this.getClosestMenu(t[0])).hasClass("mega-menu")},isTouchMode:function(){return!mouse||this.opts.noMouseOver||this.isCollapsible()},itemActivate:function(t,e){var i=t.closest("ul"),s=i.dataSM("level");if(s>1&&(!this.activatedItems[s-2]||this.activatedItems[s-2][0]!=i.dataSM("parent-a")[0])){var o=this;$(i.parentsUntil("[data-smartmenus-id]","ul").get().reverse()).add(i).each(function(){o.itemActivate($(this).dataSM("parent-a"))})}if((!this.isCollapsible()||e)&&this.menuHideSubMenus(this.activatedItems[s-1]&&this.activatedItems[s-1][0]==t[0]?s:s-1),this.activatedItems[s-1]=t,this.$root.triggerHandler("activate.smapi",t[0])!==!1){var a=t.dataSM("sub");a&&(this.isTouchMode()||!this.opts.showOnClick||this.clickActivated)&&this.menuShow(a)}},itemBlur:function(t){var e=$(t.currentTarget);this.handleItemEvents(e)&&this.$root.triggerHandler("blur.smapi",e[0])},itemClick:function(t){var e=$(t.currentTarget);if(this.handleItemEvents(e)){if(this.$touchScrollingSub&&this.$touchScrollingSub[0]==e.closest("ul")[0])return this.$touchScrollingSub=null,t.stopPropagation(),!1;if(this.$root.triggerHandler("click.smapi",e[0])===!1)return!1;var i=$(t.target).is(".sub-arrow"),s=e.dataSM("sub"),o=s?2==s.dataSM("level"):!1,a=this.isCollapsible(),n=/toggle$/.test(this.opts.collapsibleBehavior),r=/link$/.test(this.opts.collapsibleBehavior),h=/^accordion/.test(this.opts.collapsibleBehavior);if(s&&!s.is(":visible")){if((!r||!a||i)&&(this.opts.showOnClick&&o&&(this.clickActivated=!0),this.itemActivate(e,h),s.is(":visible")))return this.focusActivated=!0,!1}else if(a&&(n||i))return this.itemActivate(e,h),this.menuHide(s),n&&(this.focusActivated=!1),!1;return this.opts.showOnClick&&o||e.hasClass("disabled")||this.$root.triggerHandler("select.smapi",e[0])===!1?!1:void 0}},itemDown:function(t){var e=$(t.currentTarget);this.handleItemEvents(e)&&e.dataSM("mousedown",!0)},itemEnter:function(t){var e=$(t.currentTarget);if(this.handleItemEvents(e)){if(!this.isTouchMode()){this.showTimeout&&(clearTimeout(this.showTimeout),this.showTimeout=0);var i=this;this.showTimeout=setTimeout(function(){i.itemActivate(e)},this.opts.showOnClick&&1==e.closest("ul").dataSM("level")?1:this.opts.showTimeout)}this.$root.triggerHandler("mouseenter.smapi",e[0])}},itemFocus:function(t){var e=$(t.currentTarget);this.handleItemEvents(e)&&(!this.focusActivated||this.isTouchMode()&&e.dataSM("mousedown")||this.activatedItems.length&&this.activatedItems[this.activatedItems.length-1][0]==e[0]||this.itemActivate(e,!0),this.$root.triggerHandler("focus.smapi",e[0]))},itemLeave:function(t){var e=$(t.currentTarget);this.handleItemEvents(e)&&(this.isTouchMode()||(e[0].blur(),this.showTimeout&&(clearTimeout(this.showTimeout),this.showTimeout=0)),e.removeDataSM("mousedown"),this.$root.triggerHandler("mouseleave.smapi",e[0]))},menuHide:function(t){if(this.$root.triggerHandler("beforehide.smapi",t[0])!==!1&&(canAnimate&&t.stop(!0,!0),"none"!=t.css("display"))){var e=function(){t.css("z-index","")};this.isCollapsible()?canAnimate&&this.opts.collapsibleHideFunction?this.opts.collapsibleHideFunction.call(this,t,e):t.hide(this.opts.collapsibleHideDuration,e):canAnimate&&this.opts.hideFunction?this.opts.hideFunction.call(this,t,e):t.hide(this.opts.hideDuration,e),t.dataSM("scroll")&&(this.menuScrollStop(t),t.css({"touch-action":"","-ms-touch-action":"","-webkit-transform":"",transform:""}).off(".smartmenus_scroll").removeDataSM("scroll").dataSM("scroll-arrows").hide()),t.dataSM("parent-a").removeClass("highlighted").attr("aria-expanded","false"),t.attr({"aria-expanded":"false","aria-hidden":"true"});var i=t.dataSM("level");this.activatedItems.splice(i-1,1),this.visibleSubMenus.splice($.inArray(t,this.visibleSubMenus),1),this.$root.triggerHandler("hide.smapi",t[0])}},menuHideAll:function(){this.showTimeout&&(clearTimeout(this.showTimeout),this.showTimeout=0);for(var t=this.opts.isPopup?1:0,e=this.visibleSubMenus.length-1;e>=t;e--)this.menuHide(this.visibleSubMenus[e]);this.opts.isPopup&&(canAnimate&&this.$root.stop(!0,!0),this.$root.is(":visible")&&(canAnimate&&this.opts.hideFunction?this.opts.hideFunction.call(this,this.$root):this.$root.hide(this.opts.hideDuration))),this.activatedItems=[],this.visibleSubMenus=[],this.clickActivated=!1,this.focusActivated=!1,this.zIndexInc=0,this.$root.triggerHandler("hideAll.smapi")},menuHideSubMenus:function(t){for(var e=this.activatedItems.length-1;e>=t;e--){var i=this.activatedItems[e].dataSM("sub");i&&this.menuHide(i)}},menuInit:function(t){if(!t.dataSM("in-mega")){t.hasClass("mega-menu")&&t.find("ul").dataSM("in-mega",!0);for(var e=2,i=t[0];(i=i.parentNode.parentNode)!=this.$root[0];)e++;var s=t.prevAll("a").eq(-1);s.length||(s=t.prevAll().find("a").eq(-1)),s.addClass("has-submenu").dataSM("sub",t),t.dataSM("parent-a",s).dataSM("level",e).parent().dataSM("sub",t);var o=s.attr("id")||this.accessIdPrefix+ 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e,i,s=t.dataSM("parent-a"),o=s.closest("li"),a=o.parent(),n=t.dataSM("level"),r=this.getWidth(t),h=this.getHeight(t),u=s.offset(),l=u.left,c=u.top,d=this.getWidth(s),m=this.getHeight(s),p=$(window),f=p.scrollLeft(),v=p.scrollTop(),b=this.getViewportWidth(),S=this.getViewportHeight(),g=a.parent().is("[data-sm-horizontal-sub]")||2==n&&!a.hasClass("sm-vertical"),M=this.opts.rightToLeftSubMenus&&!o.is("[data-sm-reverse]")||!this.opts.rightToLeftSubMenus&&o.is("[data-sm-reverse]"),w=2==n?this.opts.mainMenuSubOffsetX:this.opts.subMenusSubOffsetX,T=2==n?this.opts.mainMenuSubOffsetY:this.opts.subMenusSubOffsetY;if(g?(e=M?d-r-w:w,i=this.opts.bottomToTopSubMenus?-h-T:m+T):(e=M?w-r:d-w,i=this.opts.bottomToTopSubMenus?m-T-h:T),this.opts.keepInViewport){var y=l+e,I=c+i;if(M&&f>y?e=g?f-y+e:d-w:!M&&y+r>f+b&&(e=g?f+b-r-y+e:w-r),g||(S>h&&I+h>v+S?i+=v+S-h-I:(h>=S||v>I)&&(i+=v-I)),g&&(I+h>v+S+.49||v>I)||!g&&h>S+.49){var x=this;t.dataSM("scroll-arrows")||t.dataSM("scroll-arrows",$([$('<span 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r=t.dataSM("level");if(this.activatedItems[r-1]&&this.activatedItems[r-1].dataSM("sub")&&this.activatedItems[r-1].dataSM("sub").is(":visible")&&this.menuHideSubMenus(r-1),o.y=o.up&&o.y>=n||!o.up&&n>=o.y?o.y:Math.abs(n-o.y)>s?o.y+(o.up?s:-s):n,t.css(this.cssTransforms3d?{"-webkit-transform":"translate3d(0, "+o.y+"px, 0)",transform:"translate3d(0, "+o.y+"px, 0)"}:{marginTop:o.y}),mouse&&(o.up&&o.y>o.downEnd||!o.up&&o.y<o.upEnd)&&a.eq(o.up?1:0).show(),o.y==n)mouse&&a.eq(o.up?0:1).hide(),this.menuScrollStop(t);else if(!e){this.opts.scrollAccelerate&&o.step<this.opts.scrollStep&&(o.step+=.2);var h=this;this.scrollTimeout=requestAnimationFrame(function(){h.menuScroll(t)})}},menuScrollMousewheel:function(t,e){if(this.getClosestMenu(e.target)==t[0]){e=e.originalEvent;var i=(e.wheelDelta||-e.detail)>0;t.dataSM("scroll-arrows").eq(i?0:1).is(":visible")&&(t.dataSM("scroll").up=i,this.menuScroll(t,!0))}e.preventDefault()},menuScrollOut:function(t,e){mouse&&(/^scroll-(up|down)/.test((e.relatedTarget||"").className)||(t[0]==e.relatedTarget||$.contains(t[0],e.relatedTarget))&&this.getClosestMenu(e.relatedTarget)==t[0]||t.dataSM("scroll-arrows").css("visibility","hidden"))},menuScrollOver:function(t,e){if(mouse&&!/^scroll-(up|down)/.test(e.target.className)&&this.getClosestMenu(e.target)==t[0]){this.menuScrollRefreshData(t);var i=t.dataSM("scroll"),s=$(window).scrollTop()-t.dataSM("parent-a").offset().top-i.itemH;t.dataSM("scroll-arrows").eq(0).css("margin-top",s).end().eq(1).css("margin-top",s+this.getViewportHeight()-i.arrowDownH).end().css("visibility","visible")}},menuScrollRefreshData:function(t){var e=t.dataSM("scroll"),i=$(window).scrollTop()-t.dataSM("parent-a").offset().top-e.itemH;this.cssTransforms3d&&(i=-(parseFloat(t.css("margin-top"))-i)),$.extend(e,{upEnd:i,downEnd:i+this.getViewportHeight()-e.subH})},menuScrollStop:function(t){return this.scrollTimeout?(cancelAnimationFrame(this.scrollTimeout),this.scrollTimeout=0,t.dataSM("scroll").step=1,!0):void 0},menuScrollTouch:function(t,e){if(e=e.originalEvent,isTouchEvent(e)){var i=this.getTouchPoint(e);if(this.getClosestMenu(i.target)==t[0]){var s=t.dataSM("scroll");if(/(start|down)$/i.test(e.type))this.menuScrollStop(t)?(e.preventDefault(),this.$touchScrollingSub=t):this.$touchScrollingSub=null,this.menuScrollRefreshData(t),$.extend(s,{touchStartY:i.pageY,touchStartTime:e.timeStamp});else if(/move$/i.test(e.type)){var o=void 0!==s.touchY?s.touchY:s.touchStartY;if(void 0!==o&&o!=i.pageY){this.$touchScrollingSub=t;var a=i.pageY>o;void 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-  <div class="headertitle"><div class="title">lift.h</div></div>
-</div><!--header-->
-<div class="contents">
-<div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno">    1</span><span class="preprocessor">#pragma once</span></div>
-<div class="line"><a id="l00002" name="l00002"></a><span class="lineno">    2</span> </div>
-<div class="line"><a id="l00003" name="l00003"></a><span class="lineno">    3</span><span class="preprocessor">#include &quot;vex.h&quot;</span></div>
-<div class="line"><a id="l00004" name="l00004"></a><span class="lineno">    4</span><span class="preprocessor">#include &quot;../core/include/utils/pid.h&quot;</span></div>
-<div class="line"><a id="l00005" name="l00005"></a><span class="lineno">    5</span><span class="preprocessor">#include &lt;iostream&gt;</span></div>
-<div class="line"><a id="l00006" name="l00006"></a><span class="lineno">    6</span><span class="preprocessor">#include &lt;map&gt;</span></div>
-<div class="line"><a id="l00007" name="l00007"></a><span class="lineno">    7</span><span class="preprocessor">#include &lt;atomic&gt;</span></div>
-<div class="line"><a id="l00008" name="l00008"></a><span class="lineno">    8</span><span class="preprocessor">#include &lt;vector&gt;</span></div>
-<div class="line"><a id="l00009" name="l00009"></a><span class="lineno">    9</span> </div>
-<div class="line"><a id="l00010" name="l00010"></a><span class="lineno">   10</span><span class="keyword">using namespace </span>vex;</div>
-<div class="line"><a id="l00011" name="l00011"></a><span class="lineno">   11</span><span class="keyword">using namespace </span>std;</div>
-<div class="line"><a id="l00012" name="l00012"></a><span class="lineno">   12</span> </div>
-<div class="line"><a id="l00020" name="l00020"></a><span class="lineno">   20</span><span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt;</div>
-<div class="line"><a id="l00021" name="l00021"></a><span class="lineno"><a class="line" href="classLift.html">   21</a></span><span class="keyword">class </span><a class="code hl_class" href="classLift.html">Lift</a></div>
-<div class="line"><a id="l00022" name="l00022"></a><span class="lineno">   22</span>{</div>
-<div class="line"><a id="l00023" name="l00023"></a><span class="lineno">   23</span>  <span class="keyword">public</span>:</div>
-<div class="line"><a id="l00024" name="l00024"></a><span class="lineno">   24</span> </div>
-<div class="line"><a id="l00031" name="l00031"></a><span class="lineno"><a class="line" href="structLift_1_1lift__cfg__t.html">   31</a></span>  <span class="keyword">struct </span><a class="code hl_struct" href="structLift_1_1lift__cfg__t.html">lift_cfg_t</a></div>
-<div class="line"><a id="l00032" name="l00032"></a><span class="lineno">   32</span>  {</div>
-<div class="line"><a id="l00033" name="l00033"></a><span class="lineno">   33</span>    <span class="keywordtype">double</span> up_speed, down_speed;</div>
-<div class="line"><a id="l00034" name="l00034"></a><span class="lineno">   34</span>    <span class="keywordtype">double</span> softstop_up, softstop_down;</div>
-<div class="line"><a id="l00035" name="l00035"></a><span class="lineno">   35</span> </div>
-<div class="line"><a id="l00036" name="l00036"></a><span class="lineno">   36</span>    <a class="code hl_struct" href="structPID_1_1pid__config__t.html">PID::pid_config_t</a> lift_pid_cfg;</div>
-<div class="line"><a id="l00037" name="l00037"></a><span class="lineno">   37</span>  };</div>
-<div class="line"><a id="l00038" name="l00038"></a><span class="lineno">   38</span> </div>
-<div class="line"><a id="l00060" name="l00060"></a><span class="lineno"><a class="line" href="classLift.html#aa5723874330725dec5176ec4174e9ea8">   60</a></span>  <a class="code hl_function" href="classLift.html#aa5723874330725dec5176ec4174e9ea8">Lift</a>(motor_group &amp;lift_motors, <a class="code hl_struct" href="structLift_1_1lift__cfg__t.html">lift_cfg_t</a> &amp;lift_cfg, map&lt;T, double&gt; &amp;setpoint_map, limit *homing_switch=NULL)</div>
-<div class="line"><a id="l00061" name="l00061"></a><span class="lineno">   61</span>  : lift_motors(lift_motors), cfg(lift_cfg), lift_pid(cfg.lift_pid_cfg), setpoint_map(setpoint_map), homing_switch(homing_switch)</div>
-<div class="line"><a id="l00062" name="l00062"></a><span class="lineno">   62</span>  {</div>
-<div class="line"><a id="l00063" name="l00063"></a><span class="lineno">   63</span> </div>
-<div class="line"><a id="l00064" name="l00064"></a><span class="lineno">   64</span>    is_async = <span class="keyword">true</span>;</div>
-<div class="line"><a id="l00065" name="l00065"></a><span class="lineno">   65</span>    setpoint = 0;</div>
-<div class="line"><a id="l00066" name="l00066"></a><span class="lineno">   66</span>    </div>
-<div class="line"><a id="l00067" name="l00067"></a><span class="lineno">   67</span>    <span class="comment">// Create a background task that is constantly updating the lift PID, if requested.</span></div>
-<div class="line"><a id="l00068" name="l00068"></a><span class="lineno">   68</span>    <span class="comment">// Set once, and forget.</span></div>
-<div class="line"><a id="l00069" name="l00069"></a><span class="lineno">   69</span>    task t([](<span class="keywordtype">void</span>* ptr){</div>
-<div class="line"><a id="l00070" name="l00070"></a><span class="lineno">   70</span>      <a class="code hl_class" href="classLift.html">Lift</a> &amp;lift = *((<a class="code hl_class" href="classLift.html">Lift</a>*) ptr);</div>
-<div class="line"><a id="l00071" name="l00071"></a><span class="lineno">   71</span> </div>
-<div class="line"><a id="l00072" name="l00072"></a><span class="lineno">   72</span>      <span class="keywordflow">while</span>(<span class="keyword">true</span>)</div>
-<div class="line"><a id="l00073" name="l00073"></a><span class="lineno">   73</span>      {</div>
-<div class="line"><a id="l00074" name="l00074"></a><span class="lineno">   74</span>        <span class="keywordflow">if</span>(lift.<a class="code hl_function" href="classLift.html#a6913ab2df38f0429641c256ec9288370">get_async</a>())</div>
-<div class="line"><a id="l00075" name="l00075"></a><span class="lineno">   75</span>          lift.<a class="code hl_function" href="classLift.html#a9afcbf54cdd919a2c5a68f95c7a0c9e8">hold</a>();</div>
-<div class="line"><a id="l00076" name="l00076"></a><span class="lineno">   76</span> </div>
-<div class="line"><a id="l00077" name="l00077"></a><span class="lineno">   77</span>        vexDelay(50);</div>
-<div class="line"><a id="l00078" name="l00078"></a><span class="lineno">   78</span>      }</div>
-<div class="line"><a id="l00079" name="l00079"></a><span class="lineno">   79</span> </div>
-<div class="line"><a id="l00080" name="l00080"></a><span class="lineno">   80</span>      <span class="keywordflow">return</span> 0;</div>
-<div class="line"><a id="l00081" name="l00081"></a><span class="lineno">   81</span>    }, <span class="keyword">this</span>);</div>
-<div class="line"><a id="l00082" name="l00082"></a><span class="lineno">   82</span> </div>
-<div class="line"><a id="l00083" name="l00083"></a><span class="lineno">   83</span>  }</div>
-<div class="line"><a id="l00084" name="l00084"></a><span class="lineno">   84</span> </div>
-<div class="line"><a id="l00093" name="l00093"></a><span class="lineno"><a class="line" href="classLift.html#ae585cb81d733c975a65bfa7914a6bfeb">   93</a></span>  <span class="keywordtype">void</span> <a class="code hl_function" href="classLift.html#ae585cb81d733c975a65bfa7914a6bfeb">control_continuous</a>(<span class="keywordtype">bool</span> up_ctrl, <span class="keywordtype">bool</span> down_ctrl)</div>
-<div class="line"><a id="l00094" name="l00094"></a><span class="lineno">   94</span>  {</div>
-<div class="line"><a id="l00095" name="l00095"></a><span class="lineno">   95</span>    <span class="keyword">static</span> timer tmr;</div>
-<div class="line"><a id="l00096" name="l00096"></a><span class="lineno">   96</span>    </div>
-<div class="line"><a id="l00097" name="l00097"></a><span class="lineno">   97</span>    <span class="keywordtype">double</span> cur_pos = 0;</div>
-<div class="line"><a id="l00098" name="l00098"></a><span class="lineno">   98</span> </div>
-<div class="line"><a id="l00099" name="l00099"></a><span class="lineno">   99</span>    <span class="comment">// Check if there&#39;s a hook for a custom sensor. If not, use the motors.</span></div>
-<div class="line"><a id="l00100" name="l00100"></a><span class="lineno">  100</span>    <span class="keywordflow">if</span>(get_sensor == NULL)</div>
-<div class="line"><a id="l00101" name="l00101"></a><span class="lineno">  101</span>      cur_pos = lift_motors.position(rev);</div>
-<div class="line"><a id="l00102" name="l00102"></a><span class="lineno">  102</span>    <span class="keywordflow">else</span></div>
-<div class="line"><a id="l00103" name="l00103"></a><span class="lineno">  103</span>      cur_pos = get_sensor();</div>
-<div class="line"><a id="l00104" name="l00104"></a><span class="lineno">  104</span> </div>
-<div class="line"><a id="l00105" name="l00105"></a><span class="lineno">  105</span>    <span class="keywordflow">if</span>(up_ctrl &amp;&amp; cur_pos &lt; cfg.softstop_up)</div>
-<div class="line"><a id="l00106" name="l00106"></a><span class="lineno">  106</span>    {</div>
-<div class="line"><a id="l00107" name="l00107"></a><span class="lineno">  107</span>      lift_motors.spin(directionType::fwd, cfg.up_speed, volt);</div>
-<div class="line"><a id="l00108" name="l00108"></a><span class="lineno">  108</span>      setpoint = cur_pos + .3;</div>
-<div class="line"><a id="l00109" name="l00109"></a><span class="lineno">  109</span> </div>
-<div class="line"><a id="l00110" name="l00110"></a><span class="lineno">  110</span>      <span class="comment">// std::cout &lt;&lt; &quot;DEBUG OUT: UP &quot; &lt;&lt; setpoint &lt;&lt; &quot;, &quot; &lt;&lt; tmr.time(sec) &lt;&lt; &quot;, &quot; &lt;&lt; cfg.down_speed &lt;&lt; &quot;\n&quot;;</span></div>
-<div class="line"><a id="l00111" name="l00111"></a><span class="lineno">  111</span> </div>
-<div class="line"><a id="l00112" name="l00112"></a><span class="lineno">  112</span>      <span class="comment">// Disable the PID while going UP.</span></div>
-<div class="line"><a id="l00113" name="l00113"></a><span class="lineno">  113</span>      is_async = <span class="keyword">false</span>;</div>
-<div class="line"><a id="l00114" name="l00114"></a><span class="lineno">  114</span>    } <span class="keywordflow">else</span> <span class="keywordflow">if</span>(down_ctrl &amp;&amp; cur_pos &gt; cfg.softstop_down)</div>
-<div class="line"><a id="l00115" name="l00115"></a><span class="lineno">  115</span>    {</div>
-<div class="line"><a id="l00116" name="l00116"></a><span class="lineno">  116</span>      <span class="comment">// Lower the lift slowly, at a rate defined by down_speed</span></div>
-<div class="line"><a id="l00117" name="l00117"></a><span class="lineno">  117</span>      <span class="keywordflow">if</span>(setpoint &gt; cfg.softstop_down)</div>
-<div class="line"><a id="l00118" name="l00118"></a><span class="lineno">  118</span>        setpoint = setpoint - (tmr.time(sec) * cfg.down_speed);</div>
-<div class="line"><a id="l00119" name="l00119"></a><span class="lineno">  119</span>      <span class="comment">// std::cout &lt;&lt; &quot;DEBUG OUT: DOWN &quot; &lt;&lt; setpoint &lt;&lt; &quot;, &quot; &lt;&lt; tmr.time(sec) &lt;&lt; &quot;, &quot; &lt;&lt; cfg.down_speed &lt;&lt; &quot;\n&quot;;</span></div>
-<div class="line"><a id="l00120" name="l00120"></a><span class="lineno">  120</span>      is_async = <span class="keyword">true</span>;</div>
-<div class="line"><a id="l00121" name="l00121"></a><span class="lineno">  121</span>    } <span class="keywordflow">else</span></div>
-<div class="line"><a id="l00122" name="l00122"></a><span class="lineno">  122</span>    {</div>
-<div class="line"><a id="l00123" name="l00123"></a><span class="lineno">  123</span>      <span class="comment">// Hold the lift at the last setpoint</span></div>
-<div class="line"><a id="l00124" name="l00124"></a><span class="lineno">  124</span>      is_async = <span class="keyword">true</span>;</div>
-<div class="line"><a id="l00125" name="l00125"></a><span class="lineno">  125</span>    }</div>
-<div class="line"><a id="l00126" name="l00126"></a><span class="lineno">  126</span> </div>
-<div class="line"><a id="l00127" name="l00127"></a><span class="lineno">  127</span>    tmr.reset();  </div>
-<div class="line"><a id="l00128" name="l00128"></a><span class="lineno">  128</span>  }</div>
-<div class="line"><a id="l00129" name="l00129"></a><span class="lineno">  129</span> </div>
-<div class="line"><a id="l00138" name="l00138"></a><span class="lineno"><a class="line" href="classLift.html#acfeaf4547de1b6a01982e8e51b0bb224">  138</a></span>  <span class="keywordtype">void</span> <a class="code hl_function" href="classLift.html#acfeaf4547de1b6a01982e8e51b0bb224">control_manual</a>(<span class="keywordtype">bool</span> up_btn, <span class="keywordtype">bool</span> down_btn, <span class="keywordtype">int</span> volt_up, <span class="keywordtype">int</span> volt_down)</div>
-<div class="line"><a id="l00139" name="l00139"></a><span class="lineno">  139</span>  {</div>
-<div class="line"><a id="l00140" name="l00140"></a><span class="lineno">  140</span>    <span class="keyword">static</span> <span class="keywordtype">bool</span> down_hold = <span class="keyword">false</span>;</div>
-<div class="line"><a id="l00141" name="l00141"></a><span class="lineno">  141</span>    <span class="keyword">static</span> <span class="keywordtype">bool</span> init = <span class="keyword">true</span>;</div>
-<div class="line"><a id="l00142" name="l00142"></a><span class="lineno">  142</span> </div>
-<div class="line"><a id="l00143" name="l00143"></a><span class="lineno">  143</span>    <span class="comment">// Allow for setting position while still calling this function</span></div>
-<div class="line"><a id="l00144" name="l00144"></a><span class="lineno">  144</span>    <span class="keywordflow">if</span>(init || up_btn || down_btn)</div>
-<div class="line"><a id="l00145" name="l00145"></a><span class="lineno">  145</span>    {</div>
-<div class="line"><a id="l00146" name="l00146"></a><span class="lineno">  146</span>      init = <span class="keyword">false</span>;</div>
-<div class="line"><a id="l00147" name="l00147"></a><span class="lineno">  147</span>      is_async = <span class="keyword">false</span>;</div>
-<div class="line"><a id="l00148" name="l00148"></a><span class="lineno">  148</span>    }</div>
-<div class="line"><a id="l00149" name="l00149"></a><span class="lineno">  149</span> </div>
-<div class="line"><a id="l00150" name="l00150"></a><span class="lineno">  150</span>    <span class="keywordtype">double</span> rev = lift_motors.position(rotationUnits::rev);</div>
-<div class="line"><a id="l00151" name="l00151"></a><span class="lineno">  151</span> </div>
-<div class="line"><a id="l00152" name="l00152"></a><span class="lineno">  152</span>    <span class="keywordflow">if</span>(rev &lt; cfg.softstop_down &amp;&amp; down_btn)</div>
-<div class="line"><a id="l00153" name="l00153"></a><span class="lineno">  153</span>      down_hold = <span class="keyword">true</span>;</div>
-<div class="line"><a id="l00154" name="l00154"></a><span class="lineno">  154</span>    <span class="keywordflow">else</span> <span class="keywordflow">if</span>( !down_btn )</div>
-<div class="line"><a id="l00155" name="l00155"></a><span class="lineno">  155</span>      down_hold = <span class="keyword">false</span>;</div>
-<div class="line"><a id="l00156" name="l00156"></a><span class="lineno">  156</span> </div>
-<div class="line"><a id="l00157" name="l00157"></a><span class="lineno">  157</span>    <span class="keywordflow">if</span>(up_btn &amp;&amp; rev &lt; cfg.softstop_up)</div>
-<div class="line"><a id="l00158" name="l00158"></a><span class="lineno">  158</span>      lift_motors.spin(directionType::fwd, volt_up, voltageUnits::volt);</div>
-<div class="line"><a id="l00159" name="l00159"></a><span class="lineno">  159</span>    <span class="keywordflow">else</span> <span class="keywordflow">if</span>(down_btn &amp;&amp; rev &gt; cfg.softstop_down &amp;&amp; !down_hold)</div>
-<div class="line"><a id="l00160" name="l00160"></a><span class="lineno">  160</span>      lift_motors.spin(directionType::rev, volt_down, voltageUnits::volt);</div>
-<div class="line"><a id="l00161" name="l00161"></a><span class="lineno">  161</span>    <span class="keywordflow">else</span></div>
-<div class="line"><a id="l00162" name="l00162"></a><span class="lineno">  162</span>      lift_motors.spin(directionType::fwd, 0, voltageUnits::volt);</div>
-<div class="line"><a id="l00163" name="l00163"></a><span class="lineno">  163</span>  </div>
-<div class="line"><a id="l00164" name="l00164"></a><span class="lineno">  164</span>  }</div>
-<div class="line"><a id="l00165" name="l00165"></a><span class="lineno">  165</span> </div>
-<div class="line"><a id="l00177" name="l00177"></a><span class="lineno"><a class="line" href="classLift.html#a7197ad879474798a5c1fec4963058c3a">  177</a></span>  <span class="keywordtype">void</span> <a class="code hl_function" href="classLift.html#a7197ad879474798a5c1fec4963058c3a">control_setpoints</a>(<span class="keywordtype">bool</span> up_step, <span class="keywordtype">bool</span> down_step, vector&lt;T&gt; pos_list)</div>
-<div class="line"><a id="l00178" name="l00178"></a><span class="lineno">  178</span>  {</div>
-<div class="line"><a id="l00179" name="l00179"></a><span class="lineno">  179</span>    <span class="comment">// Make sure inputs are only processed on the rising edge of the button</span></div>
-<div class="line"><a id="l00180" name="l00180"></a><span class="lineno">  180</span>    <span class="keyword">static</span> <span class="keywordtype">bool</span> up_last = up_step, down_last = down_step;</div>
-<div class="line"><a id="l00181" name="l00181"></a><span class="lineno">  181</span> </div>
-<div class="line"><a id="l00182" name="l00182"></a><span class="lineno">  182</span>    <span class="keywordtype">bool</span> up_rising = up_step &amp;&amp; !up_last;</div>
-<div class="line"><a id="l00183" name="l00183"></a><span class="lineno">  183</span>    <span class="keywordtype">bool</span> down_rising = down_step &amp;&amp; !down_last;</div>
-<div class="line"><a id="l00184" name="l00184"></a><span class="lineno">  184</span> </div>
-<div class="line"><a id="l00185" name="l00185"></a><span class="lineno">  185</span>    up_last = up_step;</div>
-<div class="line"><a id="l00186" name="l00186"></a><span class="lineno">  186</span>    down_last = down_step;</div>
-<div class="line"><a id="l00187" name="l00187"></a><span class="lineno">  187</span> </div>
-<div class="line"><a id="l00188" name="l00188"></a><span class="lineno">  188</span>    <span class="keyword">static</span> <span class="keywordtype">int</span> cur_index = 0;</div>
-<div class="line"><a id="l00189" name="l00189"></a><span class="lineno">  189</span> </div>
-<div class="line"><a id="l00190" name="l00190"></a><span class="lineno">  190</span>    <span class="comment">// Avoid an index overflow. Shouldn&#39;t happen unless the user changes pos_list between calls.</span></div>
-<div class="line"><a id="l00191" name="l00191"></a><span class="lineno">  191</span>    <span class="keywordflow">if</span>(cur_index &gt;= pos_list.size())</div>
-<div class="line"><a id="l00192" name="l00192"></a><span class="lineno">  192</span>      cur_index = pos_list.size() - 1;</div>
-<div class="line"><a id="l00193" name="l00193"></a><span class="lineno">  193</span> </div>
-<div class="line"><a id="l00194" name="l00194"></a><span class="lineno">  194</span>    <span class="comment">// Increment or decrement the index of the list, bringing it up or down.</span></div>
-<div class="line"><a id="l00195" name="l00195"></a><span class="lineno">  195</span>    <span class="keywordflow">if</span>(up_rising &amp;&amp; cur_index &lt; (pos_list.size() - 1))</div>
-<div class="line"><a id="l00196" name="l00196"></a><span class="lineno">  196</span>      cur_index++;</div>
-<div class="line"><a id="l00197" name="l00197"></a><span class="lineno">  197</span>    <span class="keywordflow">else</span> <span class="keywordflow">if</span>(down_rising &amp;&amp; cur_index &gt; 0)</div>
-<div class="line"><a id="l00198" name="l00198"></a><span class="lineno">  198</span>      cur_index--;</div>
-<div class="line"><a id="l00199" name="l00199"></a><span class="lineno">  199</span> </div>
-<div class="line"><a id="l00200" name="l00200"></a><span class="lineno">  200</span>    <span class="comment">// Set the lift to hold the position in the background with the PID loop</span></div>
-<div class="line"><a id="l00201" name="l00201"></a><span class="lineno">  201</span>    <a class="code hl_function" href="classLift.html#ab3cb7bc86faa079ec1249b5026ea6a85">set_position</a>(pos_list[cur_index]);</div>
-<div class="line"><a id="l00202" name="l00202"></a><span class="lineno">  202</span>    is_async = <span class="keyword">true</span>;  </div>
-<div class="line"><a id="l00203" name="l00203"></a><span class="lineno">  203</span> </div>
-<div class="line"><a id="l00204" name="l00204"></a><span class="lineno">  204</span>  }</div>
-<div class="line"><a id="l00205" name="l00205"></a><span class="lineno">  205</span> </div>
-<div class="line"><a id="l00214" name="l00214"></a><span class="lineno"><a class="line" href="classLift.html#ab3cb7bc86faa079ec1249b5026ea6a85">  214</a></span>  <span class="keywordtype">bool</span> <a class="code hl_function" href="classLift.html#ab3cb7bc86faa079ec1249b5026ea6a85">set_position</a>(T pos)</div>
-<div class="line"><a id="l00215" name="l00215"></a><span class="lineno">  215</span>  {</div>
-<div class="line"><a id="l00216" name="l00216"></a><span class="lineno">  216</span>    this-&gt;setpoint = setpoint_map[pos];</div>
-<div class="line"><a id="l00217" name="l00217"></a><span class="lineno">  217</span>    is_async = <span class="keyword">true</span>;</div>
-<div class="line"><a id="l00218" name="l00218"></a><span class="lineno">  218</span> </div>
-<div class="line"><a id="l00219" name="l00219"></a><span class="lineno">  219</span>    <span class="keywordflow">return</span> (lift_pid.<a class="code hl_function" href="classPID.html#a1cd58cedeccc45b67551e331ee547be9">get_target</a>() == this-&gt;setpoint) &amp;&amp; lift_pid.<a class="code hl_function" href="classPID.html#a9de884c31570c4ae0dc6e24eb26daa43">is_on_target</a>();</div>
-<div class="line"><a id="l00220" name="l00220"></a><span class="lineno">  220</span>  }</div>
-<div class="line"><a id="l00221" name="l00221"></a><span class="lineno">  221</span> </div>
-<div class="line"><a id="l00228" name="l00228"></a><span class="lineno"><a class="line" href="classLift.html#a662bdc055d706699ef5cf308cd8872f8">  228</a></span>  <span class="keywordtype">bool</span> <a class="code hl_function" href="classLift.html#a662bdc055d706699ef5cf308cd8872f8">set_setpoint</a>(<span class="keywordtype">double</span> val)</div>
-<div class="line"><a id="l00229" name="l00229"></a><span class="lineno">  229</span>  {</div>
-<div class="line"><a id="l00230" name="l00230"></a><span class="lineno">  230</span>    this-&gt;setpoint = val;</div>
-<div class="line"><a id="l00231" name="l00231"></a><span class="lineno">  231</span>    <span class="keywordflow">return</span> (lift_pid.<a class="code hl_function" href="classPID.html#a1cd58cedeccc45b67551e331ee547be9">get_target</a>() == this-&gt;setpoint) &amp;&amp; lift_pid.<a class="code hl_function" href="classPID.html#a9de884c31570c4ae0dc6e24eb26daa43">is_on_target</a>();</div>
-<div class="line"><a id="l00232" name="l00232"></a><span class="lineno">  232</span>  }</div>
-<div class="line"><a id="l00233" name="l00233"></a><span class="lineno">  233</span>  </div>
-<div class="line"><a id="l00237" name="l00237"></a><span class="lineno"><a class="line" href="classLift.html#adaa6cb65351d0c8a2c199a87a318b133">  237</a></span>  <span class="keywordtype">double</span> <a class="code hl_function" href="classLift.html#adaa6cb65351d0c8a2c199a87a318b133">get_setpoint</a>()</div>
-<div class="line"><a id="l00238" name="l00238"></a><span class="lineno">  238</span>  {</div>
-<div class="line"><a id="l00239" name="l00239"></a><span class="lineno">  239</span>    <span class="keywordflow">return</span> this-&gt;setpoint;</div>
-<div class="line"><a id="l00240" name="l00240"></a><span class="lineno">  240</span>  }</div>
-<div class="line"><a id="l00241" name="l00241"></a><span class="lineno">  241</span> </div>
-<div class="line"><a id="l00246" name="l00246"></a><span class="lineno"><a class="line" href="classLift.html#a9afcbf54cdd919a2c5a68f95c7a0c9e8">  246</a></span>  <span class="keywordtype">void</span> <a class="code hl_function" href="classLift.html#a9afcbf54cdd919a2c5a68f95c7a0c9e8">hold</a>()</div>
-<div class="line"><a id="l00247" name="l00247"></a><span class="lineno">  247</span>  {</div>
-<div class="line"><a id="l00248" name="l00248"></a><span class="lineno">  248</span>    lift_pid.<a class="code hl_function" href="classPID.html#a2e301ab123c9e18e677b4873b03550dd">set_target</a>(setpoint);</div>
-<div class="line"><a id="l00249" name="l00249"></a><span class="lineno">  249</span>    <span class="comment">// std::cout &lt;&lt; &quot;DEBUG OUT: SETPOINT &quot; &lt;&lt; setpoint &lt;&lt; &quot;\n&quot;;</span></div>
-<div class="line"><a id="l00250" name="l00250"></a><span class="lineno">  250</span> </div>
-<div class="line"><a id="l00251" name="l00251"></a><span class="lineno">  251</span>    <span class="keywordflow">if</span>(get_sensor != NULL)</div>
-<div class="line"><a id="l00252" name="l00252"></a><span class="lineno">  252</span>      lift_pid.<a class="code hl_function" href="classPID.html#a53b5c34ba5e81fb79ed4258a143015b9">update</a>(get_sensor());</div>
-<div class="line"><a id="l00253" name="l00253"></a><span class="lineno">  253</span>    <span class="keywordflow">else</span></div>
-<div class="line"><a id="l00254" name="l00254"></a><span class="lineno">  254</span>      lift_pid.<a class="code hl_function" href="classPID.html#a53b5c34ba5e81fb79ed4258a143015b9">update</a>(lift_motors.position(rev));</div>
-<div class="line"><a id="l00255" name="l00255"></a><span class="lineno">  255</span> </div>
-<div class="line"><a id="l00256" name="l00256"></a><span class="lineno">  256</span>    <span class="comment">// std::cout &lt;&lt; &quot;DEBUG OUT: ROTATION &quot; &lt;&lt; lift_motors.rotation(rev) &lt;&lt; &quot;\n\n&quot;;</span></div>
-<div class="line"><a id="l00257" name="l00257"></a><span class="lineno">  257</span> </div>
-<div class="line"><a id="l00258" name="l00258"></a><span class="lineno">  258</span>    lift_motors.spin(fwd, lift_pid.<a class="code hl_function" href="classPID.html#a69c2e66b8ff06c86ca9701d11e21da75">get</a>(), volt);</div>
-<div class="line"><a id="l00259" name="l00259"></a><span class="lineno">  259</span>  }</div>
-<div class="line"><a id="l00260" name="l00260"></a><span class="lineno">  260</span> </div>
-<div class="line"><a id="l00265" name="l00265"></a><span class="lineno"><a class="line" href="classLift.html#ab53178b13037a4c6b1fd07657cff1f25">  265</a></span>  <span class="keywordtype">void</span> <a class="code hl_function" href="classLift.html#ab53178b13037a4c6b1fd07657cff1f25">home</a>()</div>
-<div class="line"><a id="l00266" name="l00266"></a><span class="lineno">  266</span>  {</div>
-<div class="line"><a id="l00267" name="l00267"></a><span class="lineno">  267</span>    <span class="keyword">static</span> timer tmr;</div>
-<div class="line"><a id="l00268" name="l00268"></a><span class="lineno">  268</span>    tmr.reset();</div>
-<div class="line"><a id="l00269" name="l00269"></a><span class="lineno">  269</span>    </div>
-<div class="line"><a id="l00270" name="l00270"></a><span class="lineno">  270</span>    <span class="keywordflow">while</span>(tmr.time(sec) &lt; 3)</div>
-<div class="line"><a id="l00271" name="l00271"></a><span class="lineno">  271</span>    {</div>
-<div class="line"><a id="l00272" name="l00272"></a><span class="lineno">  272</span>      lift_motors.spin(directionType::rev, 6, volt);</div>
-<div class="line"><a id="l00273" name="l00273"></a><span class="lineno">  273</span> </div>
-<div class="line"><a id="l00274" name="l00274"></a><span class="lineno">  274</span>      <span class="keywordflow">if</span> (homing_switch == NULL &amp;&amp; lift_motors.current(currentUnits::amp) &gt; 1.5)</div>
-<div class="line"><a id="l00275" name="l00275"></a><span class="lineno">  275</span>        <span class="keywordflow">break</span>;</div>
-<div class="line"><a id="l00276" name="l00276"></a><span class="lineno">  276</span>      <span class="keywordflow">else</span> <span class="keywordflow">if</span> (homing_switch != NULL &amp;&amp; homing_switch-&gt;pressing())</div>
-<div class="line"><a id="l00277" name="l00277"></a><span class="lineno">  277</span>        <span class="keywordflow">break</span>;</div>
-<div class="line"><a id="l00278" name="l00278"></a><span class="lineno">  278</span>    }</div>
-<div class="line"><a id="l00279" name="l00279"></a><span class="lineno">  279</span> </div>
-<div class="line"><a id="l00280" name="l00280"></a><span class="lineno">  280</span>    <span class="keywordflow">if</span>(reset_sensor != NULL)</div>
-<div class="line"><a id="l00281" name="l00281"></a><span class="lineno">  281</span>      reset_sensor();</div>
-<div class="line"><a id="l00282" name="l00282"></a><span class="lineno">  282</span>    </div>
-<div class="line"><a id="l00283" name="l00283"></a><span class="lineno">  283</span>    lift_motors.resetPosition();</div>
-<div class="line"><a id="l00284" name="l00284"></a><span class="lineno">  284</span>    lift_motors.stop();</div>
-<div class="line"><a id="l00285" name="l00285"></a><span class="lineno">  285</span> </div>
-<div class="line"><a id="l00286" name="l00286"></a><span class="lineno">  286</span>  }</div>
-<div class="line"><a id="l00287" name="l00287"></a><span class="lineno">  287</span> </div>
-<div class="line"><a id="l00291" name="l00291"></a><span class="lineno"><a class="line" href="classLift.html#a6913ab2df38f0429641c256ec9288370">  291</a></span>  <span class="keywordtype">bool</span> <a class="code hl_function" href="classLift.html#a6913ab2df38f0429641c256ec9288370">get_async</a>()</div>
-<div class="line"><a id="l00292" name="l00292"></a><span class="lineno">  292</span>  {</div>
-<div class="line"><a id="l00293" name="l00293"></a><span class="lineno">  293</span>    <span class="keywordflow">return</span> is_async;</div>
-<div class="line"><a id="l00294" name="l00294"></a><span class="lineno">  294</span>  }</div>
-<div class="line"><a id="l00295" name="l00295"></a><span class="lineno">  295</span> </div>
-<div class="line"><a id="l00301" name="l00301"></a><span class="lineno"><a class="line" href="classLift.html#a7f37703180518390ec38cba9a780282b">  301</a></span>  <span class="keywordtype">void</span> <a class="code hl_function" href="classLift.html#a7f37703180518390ec38cba9a780282b">set_async</a>(<span class="keywordtype">bool</span> val)</div>
-<div class="line"><a id="l00302" name="l00302"></a><span class="lineno">  302</span>  {</div>
-<div class="line"><a id="l00303" name="l00303"></a><span class="lineno">  303</span>    this-&gt;is_async = val;</div>
-<div class="line"><a id="l00304" name="l00304"></a><span class="lineno">  304</span>  }</div>
-<div class="line"><a id="l00305" name="l00305"></a><span class="lineno">  305</span> </div>
-<div class="line"><a id="l00315" name="l00315"></a><span class="lineno"><a class="line" href="classLift.html#a08b7cdcfc9390f4945dd3737ac0e5ddc">  315</a></span>  <span class="keywordtype">void</span> <a class="code hl_function" href="classLift.html#a08b7cdcfc9390f4945dd3737ac0e5ddc">set_sensor_function</a>(<span class="keywordtype">double</span> (*fn_ptr) (<span class="keywordtype">void</span>))</div>
-<div class="line"><a id="l00316" name="l00316"></a><span class="lineno">  316</span>  {</div>
-<div class="line"><a id="l00317" name="l00317"></a><span class="lineno">  317</span>    this-&gt;get_sensor = fn_ptr;</div>
-<div class="line"><a id="l00318" name="l00318"></a><span class="lineno">  318</span>  }</div>
-<div class="line"><a id="l00319" name="l00319"></a><span class="lineno">  319</span> </div>
-<div class="line"><a id="l00326" name="l00326"></a><span class="lineno"><a class="line" href="classLift.html#a70b8e7cff5cd3b5827d8da07a02d92e6">  326</a></span>  <span class="keywordtype">void</span> <a class="code hl_function" href="classLift.html#a70b8e7cff5cd3b5827d8da07a02d92e6">set_sensor_reset</a>(<span class="keywordtype">void</span> (*fn_ptr) (<span class="keywordtype">void</span>))</div>
-<div class="line"><a id="l00327" name="l00327"></a><span class="lineno">  327</span>  {</div>
-<div class="line"><a id="l00328" name="l00328"></a><span class="lineno">  328</span>    this-&gt;reset_sensor = fn_ptr;</div>
-<div class="line"><a id="l00329" name="l00329"></a><span class="lineno">  329</span>  }</div>
-<div class="line"><a id="l00330" name="l00330"></a><span class="lineno">  330</span> </div>
-<div class="line"><a id="l00331" name="l00331"></a><span class="lineno">  331</span>  <span class="keyword">private</span>:</div>
-<div class="line"><a id="l00332" name="l00332"></a><span class="lineno">  332</span> </div>
-<div class="line"><a id="l00333" name="l00333"></a><span class="lineno">  333</span>  motor_group &amp;lift_motors;</div>
-<div class="line"><a id="l00334" name="l00334"></a><span class="lineno">  334</span>  lift_cfg_t &amp;cfg;</div>
-<div class="line"><a id="l00335" name="l00335"></a><span class="lineno">  335</span>  <a class="code hl_class" href="classPID.html">PID</a> lift_pid;</div>
-<div class="line"><a id="l00336" name="l00336"></a><span class="lineno">  336</span>  map&lt;T, double&gt; &amp;setpoint_map;</div>
-<div class="line"><a id="l00337" name="l00337"></a><span class="lineno">  337</span>  limit *homing_switch;</div>
-<div class="line"><a id="l00338" name="l00338"></a><span class="lineno">  338</span>  </div>
-<div class="line"><a id="l00339" name="l00339"></a><span class="lineno">  339</span>  atomic&lt;double&gt; setpoint;</div>
-<div class="line"><a id="l00340" name="l00340"></a><span class="lineno">  340</span>  atomic&lt;bool&gt; is_async;</div>
-<div class="line"><a id="l00341" name="l00341"></a><span class="lineno">  341</span> </div>
-<div class="line"><a id="l00342" name="l00342"></a><span class="lineno">  342</span>  double (*get_sensor)(void) = NULL;</div>
-<div class="line"><a id="l00343" name="l00343"></a><span class="lineno">  343</span>  void (*reset_sensor)(void) = NULL;</div>
-<div class="line"><a id="l00344" name="l00344"></a><span class="lineno">  344</span>  </div>
-<div class="line"><a id="l00345" name="l00345"></a><span class="lineno">  345</span> </div>
-<div class="line"><a id="l00346" name="l00346"></a><span class="lineno">  346</span>};</div>
-<div class="ttc" id="aclassLift_html"><div class="ttname"><a href="classLift.html">Lift</a></div><div class="ttdef"><b>Definition:</b> lift.h:22</div></div>
-<div class="ttc" id="aclassLift_html_a08b7cdcfc9390f4945dd3737ac0e5ddc"><div class="ttname"><a href="classLift.html#a08b7cdcfc9390f4945dd3737ac0e5ddc">Lift::set_sensor_function</a></div><div class="ttdeci">void set_sensor_function(double(*fn_ptr)(void))</div><div class="ttdef"><b>Definition:</b> lift.h:315</div></div>
-<div class="ttc" id="aclassLift_html_a662bdc055d706699ef5cf308cd8872f8"><div class="ttname"><a href="classLift.html#a662bdc055d706699ef5cf308cd8872f8">Lift::set_setpoint</a></div><div class="ttdeci">bool set_setpoint(double val)</div><div class="ttdef"><b>Definition:</b> lift.h:228</div></div>
-<div class="ttc" id="aclassLift_html_a6913ab2df38f0429641c256ec9288370"><div class="ttname"><a href="classLift.html#a6913ab2df38f0429641c256ec9288370">Lift::get_async</a></div><div class="ttdeci">bool get_async()</div><div class="ttdef"><b>Definition:</b> lift.h:291</div></div>
-<div class="ttc" id="aclassLift_html_a70b8e7cff5cd3b5827d8da07a02d92e6"><div class="ttname"><a href="classLift.html#a70b8e7cff5cd3b5827d8da07a02d92e6">Lift::set_sensor_reset</a></div><div class="ttdeci">void set_sensor_reset(void(*fn_ptr)(void))</div><div class="ttdef"><b>Definition:</b> lift.h:326</div></div>
-<div class="ttc" id="aclassLift_html_a7197ad879474798a5c1fec4963058c3a"><div class="ttname"><a href="classLift.html#a7197ad879474798a5c1fec4963058c3a">Lift::control_setpoints</a></div><div class="ttdeci">void control_setpoints(bool up_step, bool down_step, vector&lt; T &gt; pos_list)</div><div class="ttdef"><b>Definition:</b> lift.h:177</div></div>
-<div class="ttc" id="aclassLift_html_a7f37703180518390ec38cba9a780282b"><div class="ttname"><a href="classLift.html#a7f37703180518390ec38cba9a780282b">Lift::set_async</a></div><div class="ttdeci">void set_async(bool val)</div><div class="ttdef"><b>Definition:</b> lift.h:301</div></div>
-<div class="ttc" id="aclassLift_html_a9afcbf54cdd919a2c5a68f95c7a0c9e8"><div class="ttname"><a href="classLift.html#a9afcbf54cdd919a2c5a68f95c7a0c9e8">Lift::hold</a></div><div class="ttdeci">void hold()</div><div class="ttdef"><b>Definition:</b> lift.h:246</div></div>
-<div class="ttc" id="aclassLift_html_aa5723874330725dec5176ec4174e9ea8"><div class="ttname"><a href="classLift.html#aa5723874330725dec5176ec4174e9ea8">Lift::Lift</a></div><div class="ttdeci">Lift(motor_group &amp;lift_motors, lift_cfg_t &amp;lift_cfg, map&lt; T, double &gt; &amp;setpoint_map, limit *homing_switch=NULL)</div><div class="ttdef"><b>Definition:</b> lift.h:60</div></div>
-<div class="ttc" id="aclassLift_html_ab3cb7bc86faa079ec1249b5026ea6a85"><div class="ttname"><a href="classLift.html#ab3cb7bc86faa079ec1249b5026ea6a85">Lift::set_position</a></div><div class="ttdeci">bool set_position(T pos)</div><div class="ttdef"><b>Definition:</b> lift.h:214</div></div>
-<div class="ttc" id="aclassLift_html_ab53178b13037a4c6b1fd07657cff1f25"><div class="ttname"><a href="classLift.html#ab53178b13037a4c6b1fd07657cff1f25">Lift::home</a></div><div class="ttdeci">void home()</div><div class="ttdef"><b>Definition:</b> lift.h:265</div></div>
-<div class="ttc" id="aclassLift_html_acfeaf4547de1b6a01982e8e51b0bb224"><div class="ttname"><a href="classLift.html#acfeaf4547de1b6a01982e8e51b0bb224">Lift::control_manual</a></div><div class="ttdeci">void control_manual(bool up_btn, bool down_btn, int volt_up, int volt_down)</div><div class="ttdef"><b>Definition:</b> lift.h:138</div></div>
-<div class="ttc" id="aclassLift_html_adaa6cb65351d0c8a2c199a87a318b133"><div class="ttname"><a href="classLift.html#adaa6cb65351d0c8a2c199a87a318b133">Lift::get_setpoint</a></div><div class="ttdeci">double get_setpoint()</div><div class="ttdef"><b>Definition:</b> lift.h:237</div></div>
-<div class="ttc" id="aclassLift_html_ae585cb81d733c975a65bfa7914a6bfeb"><div class="ttname"><a href="classLift.html#ae585cb81d733c975a65bfa7914a6bfeb">Lift::control_continuous</a></div><div class="ttdeci">void control_continuous(bool up_ctrl, bool down_ctrl)</div><div class="ttdef"><b>Definition:</b> lift.h:93</div></div>
-<div class="ttc" id="aclassPID_html"><div class="ttname"><a href="classPID.html">PID</a></div><div class="ttdef"><b>Definition:</b> pid.h:24</div></div>
-<div class="ttc" id="aclassPID_html_a1cd58cedeccc45b67551e331ee547be9"><div class="ttname"><a href="classPID.html#a1cd58cedeccc45b67551e331ee547be9">PID::get_target</a></div><div class="ttdeci">double get_target()</div><div class="ttdef"><b>Definition:</b> pid.cpp:97</div></div>
-<div class="ttc" id="aclassPID_html_a2e301ab123c9e18e677b4873b03550dd"><div class="ttname"><a href="classPID.html#a2e301ab123c9e18e677b4873b03550dd">PID::set_target</a></div><div class="ttdeci">void set_target(double target)</div><div class="ttdef"><b>Definition:</b> pid.cpp:105</div></div>
-<div class="ttc" id="aclassPID_html_a53b5c34ba5e81fb79ed4258a143015b9"><div class="ttname"><a href="classPID.html#a53b5c34ba5e81fb79ed4258a143015b9">PID::update</a></div><div class="ttdeci">double update(double sensor_val) override</div><div class="ttdef"><b>Definition:</b> pid.cpp:25</div></div>
-<div class="ttc" id="aclassPID_html_a69c2e66b8ff06c86ca9701d11e21da75"><div class="ttname"><a href="classPID.html#a69c2e66b8ff06c86ca9701d11e21da75">PID::get</a></div><div class="ttdeci">double get() override</div><div class="ttdef"><b>Definition:</b> pid.cpp:81</div></div>
-<div class="ttc" id="aclassPID_html_a9de884c31570c4ae0dc6e24eb26daa43"><div class="ttname"><a href="classPID.html#a9de884c31570c4ae0dc6e24eb26daa43">PID::is_on_target</a></div><div class="ttdeci">bool is_on_target() override</div><div class="ttdef"><b>Definition:</b> pid.cpp:124</div></div>
-<div class="ttc" id="astructLift_1_1lift__cfg__t_html"><div class="ttname"><a href="structLift_1_1lift__cfg__t.html">Lift::lift_cfg_t</a></div><div class="ttdef"><b>Definition:</b> lift.h:32</div></div>
-<div class="ttc" id="astructPID_1_1pid__config__t_html"><div class="ttname"><a href="structPID_1_1pid__config__t.html">PID::pid_config_t</a></div><div class="ttdef"><b>Definition:</b> pid.h:41</div></div>
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-  <div class="headertitle"><div class="title">math_util.h</div></div>
-</div><!--header-->
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-<div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno">    1</span><span class="preprocessor">#pragma once</span></div>
-<div class="line"><a id="l00002" name="l00002"></a><span class="lineno">    2</span><span class="preprocessor">#include &quot;math.h&quot;</span></div>
-<div class="line"><a id="l00003" name="l00003"></a><span class="lineno">    3</span><span class="preprocessor">#include &quot;vex.h&quot;</span></div>
-<div class="line"><a id="l00004" name="l00004"></a><span class="lineno">    4</span><span class="preprocessor">#include &lt;vector&gt;</span></div>
-<div class="line"><a id="l00005" name="l00005"></a><span class="lineno">    5</span> </div>
-<div class="line"><a id="l00013" name="l00013"></a><span class="lineno">   13</span><span class="keywordtype">double</span> clamp(<span class="keywordtype">double</span> value, <span class="keywordtype">double</span> low, <span class="keywordtype">double</span> high);</div>
-<div class="line"><a id="l00014" name="l00014"></a><span class="lineno">   14</span> </div>
-<div class="line"><a id="l00021" name="l00021"></a><span class="lineno">   21</span><span class="keywordtype">double</span> sign(<span class="keywordtype">double</span> x);</div>
-<div class="line"><a id="l00022" name="l00022"></a><span class="lineno">   22</span> </div>
-<div class="line"><a id="l00023" name="l00023"></a><span class="lineno">   23</span><span class="keywordtype">double</span> wrap_angle_deg(<span class="keywordtype">double</span> input);</div>
-<div class="line"><a id="l00024" name="l00024"></a><span class="lineno">   24</span><span class="keywordtype">double</span> wrap_angle_rad(<span class="keywordtype">double</span> input);</div>
-<div class="line"><a id="l00025" name="l00025"></a><span class="lineno">   25</span> </div>
-<div class="line"><a id="l00026" name="l00026"></a><span class="lineno">   26</span><span class="comment">/*</span></div>
-<div class="line"><a id="l00027" name="l00027"></a><span class="lineno">   27</span><span class="comment">Calculates the variance of  a set of numbers (needed for linear regression)</span></div>
-<div class="line"><a id="l00028" name="l00028"></a><span class="lineno">   28</span><span class="comment">https://en.wikipedia.org/wiki/Variance</span></div>
-<div class="line"><a id="l00029" name="l00029"></a><span class="lineno">   29</span><span class="comment">@param values   the values for which the variance is taken</span></div>
-<div class="line"><a id="l00030" name="l00030"></a><span class="lineno">   30</span><span class="comment">@param mean     the average of values</span></div>
-<div class="line"><a id="l00031" name="l00031"></a><span class="lineno">   31</span><span class="comment">*/</span></div>
-<div class="line"><a id="l00032" name="l00032"></a><span class="lineno">   32</span><span class="keywordtype">double</span> variance(std::vector&lt;double&gt; <span class="keyword">const</span> &amp;values, <span class="keywordtype">double</span> mean);</div>
-<div class="line"><a id="l00033" name="l00033"></a><span class="lineno">   33</span> </div>
-<div class="line"><a id="l00034" name="l00034"></a><span class="lineno">   34</span> </div>
-<div class="line"><a id="l00035" name="l00035"></a><span class="lineno">   35</span><span class="comment">/*</span></div>
-<div class="line"><a id="l00036" name="l00036"></a><span class="lineno">   36</span><span class="comment">Calculates the average of a vector of doubles</span></div>
-<div class="line"><a id="l00037" name="l00037"></a><span class="lineno">   37</span><span class="comment">@param values   the list of values for which the average is taken</span></div>
-<div class="line"><a id="l00038" name="l00038"></a><span class="lineno">   38</span><span class="comment">*/</span></div>
-<div class="line"><a id="l00039" name="l00039"></a><span class="lineno">   39</span><span class="keywordtype">double</span> mean(std::vector&lt;double&gt; <span class="keyword">const</span> &amp;values);</div>
-<div class="line"><a id="l00040" name="l00040"></a><span class="lineno">   40</span> </div>
-<div class="line"><a id="l00041" name="l00041"></a><span class="lineno">   41</span><span class="comment">/*</span></div>
-<div class="line"><a id="l00042" name="l00042"></a><span class="lineno">   42</span><span class="comment">Calculates the covariance of a set of points (needed for linear regression)</span></div>
-<div class="line"><a id="l00043" name="l00043"></a><span class="lineno">   43</span><span class="comment">https://en.wikipedia.org/wiki/Covariance</span></div>
-<div class="line"><a id="l00044" name="l00044"></a><span class="lineno">   44</span><span class="comment"></span> </div>
-<div class="line"><a id="l00045" name="l00045"></a><span class="lineno">   45</span><span class="comment">@param points   the points for which the covariance is taken</span></div>
-<div class="line"><a id="l00046" name="l00046"></a><span class="lineno">   46</span><span class="comment">@param meanx    the mean value of all x coordinates in points</span></div>
-<div class="line"><a id="l00047" name="l00047"></a><span class="lineno">   47</span><span class="comment">@param meany    the mean value of all y coordinates in points</span></div>
-<div class="line"><a id="l00048" name="l00048"></a><span class="lineno">   48</span><span class="comment">*/</span></div>
-<div class="line"><a id="l00049" name="l00049"></a><span class="lineno">   49</span><span class="keywordtype">double</span> covariance(std::vector&lt;std::pair&lt;double, double&gt;&gt; <span class="keyword">const</span> &amp;points, <span class="keywordtype">double</span> meanx, <span class="keywordtype">double</span> meany);</div>
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-<div class="line"><a id="l00052" name="l00052"></a><span class="lineno">   52</span><span class="comment">Calculates the slope and y intercept of the line of best fit for the data</span></div>
-<div class="line"><a id="l00053" name="l00053"></a><span class="lineno">   53</span><span class="comment">@param points the points for the data</span></div>
-<div class="line"><a id="l00054" name="l00054"></a><span class="lineno">   54</span><span class="comment">*/</span></div>
-<div class="line"><a id="l00055" name="l00055"></a><span class="lineno">   55</span>std::pair&lt;double, double&gt; calculate_linear_regression(std::vector&lt;std::pair&lt;double, double&gt;&gt; <span class="keyword">const</span> &amp;points);</div>
-<div class="line"><a id="l00056" name="l00056"></a><span class="lineno">   56</span> </div>
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-<div class="textblock"><p>This is the host repository for the custom VEX libraries used by the RIT VEXU team</p>
-<h1><a class="anchor" id="autotoc_md1"></a>
-Getting Started</h1>
-<p>In order to simply use this repo, you can either clone it into your VEXcode project folder, or download the .zip and place it into a core/ subfolder. Then follow the instructions for setting up compilation at <a href="https://github.com/RIT-VEX-U/Core/wiki/1-%7C-Project-Setup#build-system">Wiki/BuildSystem</a></p>
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-<h1><a class="anchor" id="autotoc_md2"></a>
-Features</h1>
-<p>Here is the current feature list this repo provides:</p>
-<p>Subsystems (See <a href="https://github.com/RIT-VEX-U/Core/wiki/2-%7C-Subsystems">Wiki/Subsystems</a>): <br  />
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-<div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno">    1</span><span class="preprocessor">#pragma once</span></div>
-<div class="line"><a id="l00002" name="l00002"></a><span class="lineno">    2</span> </div>
-<div class="line"><a id="l00003" name="l00003"></a><span class="lineno">    3</span><span class="preprocessor">#include &quot;vex.h&quot;</span></div>
-<div class="line"><a id="l00004" name="l00004"></a><span class="lineno">    4</span><span class="preprocessor">#include &quot;../core/include/utils/pid.h&quot;</span></div>
-<div class="line"><a id="l00005" name="l00005"></a><span class="lineno">    5</span> </div>
-<div class="line"><a id="l00006" name="l00006"></a><span class="lineno">    6</span><span class="preprocessor">#ifndef PI</span></div>
-<div class="line"><a id="l00007" name="l00007"></a><span class="lineno">    7</span><span class="preprocessor">#define PI 3.141592654</span></div>
-<div class="line"><a id="l00008" name="l00008"></a><span class="lineno">    8</span><span class="preprocessor">#endif</span></div>
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-<div class="line"><a id="l00014" name="l00014"></a><span class="lineno"><a class="line" href="classMecanumDrive.html">   14</a></span><span class="keyword">class </span><a class="code hl_class" href="classMecanumDrive.html">MecanumDrive</a></div>
-<div class="line"><a id="l00015" name="l00015"></a><span class="lineno">   15</span>{</div>
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-<div class="line"><a id="l00018" name="l00018"></a><span class="lineno">   18</span> </div>
-<div class="line"><a id="l00022" name="l00022"></a><span class="lineno"><a class="line" href="structMecanumDrive_1_1mecanumdrive__config__t.html">   22</a></span>  <span class="keyword">struct </span><a class="code hl_struct" href="structMecanumDrive_1_1mecanumdrive__config__t.html">mecanumdrive_config_t</a></div>
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-<div class="line"><a id="l00026" name="l00026"></a><span class="lineno">   26</span>    <a class="code hl_struct" href="structPID_1_1pid__config__t.html">PID::pid_config_t</a> drive_gyro_pid_conf;</div>
-<div class="line"><a id="l00027" name="l00027"></a><span class="lineno">   27</span>    <a class="code hl_struct" href="structPID_1_1pid__config__t.html">PID::pid_config_t</a> turn_pid_conf;</div>
-<div class="line"><a id="l00028" name="l00028"></a><span class="lineno">   28</span> </div>
-<div class="line"><a id="l00029" name="l00029"></a><span class="lineno">   29</span>    <span class="comment">// Diameter of the mecanum wheels</span></div>
-<div class="line"><a id="l00030" name="l00030"></a><span class="lineno">   30</span>    <span class="keywordtype">double</span> drive_wheel_diam;</div>
-<div class="line"><a id="l00031" name="l00031"></a><span class="lineno">   31</span> </div>
-<div class="line"><a id="l00032" name="l00032"></a><span class="lineno">   32</span>    <span class="comment">// Diameter of the perpendicular undriven encoder wheel</span></div>
-<div class="line"><a id="l00033" name="l00033"></a><span class="lineno">   33</span>    <span class="keywordtype">double</span> lateral_wheel_diam;</div>
-<div class="line"><a id="l00034" name="l00034"></a><span class="lineno">   34</span> </div>
-<div class="line"><a id="l00035" name="l00035"></a><span class="lineno">   35</span>    <span class="comment">// Width between the center of the left and right wheels</span></div>
-<div class="line"><a id="l00036" name="l00036"></a><span class="lineno">   36</span>    <span class="keywordtype">double</span> wheelbase_width;</div>
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-<div class="line"><a id="l00045" name="l00045"></a><span class="lineno">   45</span> </div>
-<div class="line"><a id="l00054" name="l00054"></a><span class="lineno">   54</span>  <span class="keywordtype">void</span> <a class="code hl_function" href="classMecanumDrive.html#a756383ba74cf555d42a147584f9ae646">drive_raw</a>(<span class="keywordtype">double</span> direction_deg, <span class="keywordtype">double</span> magnitude, <span class="keywordtype">double</span> rotation);</div>
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-<div class="line"><a id="l00093" name="l00093"></a><span class="lineno">   93</span> </div>
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-<div class="line"><a id="l00098" name="l00098"></a><span class="lineno">   98</span>  <a class="code hl_struct" href="structMecanumDrive_1_1mecanumdrive__config__t.html">mecanumdrive_config_t</a> *config;</div>
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-<div class="line"><a id="l00102" name="l00102"></a><span class="lineno">  102</span>  <a class="code hl_class" href="classPID.html">PID</a> *drive_pid = NULL;</div>
-<div class="line"><a id="l00103" name="l00103"></a><span class="lineno">  103</span>  <a class="code hl_class" href="classPID.html">PID</a> *drive_gyro_pid = NULL;</div>
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-<div class="line"><a id="l00105" name="l00105"></a><span class="lineno">  105</span> </div>
-<div class="line"><a id="l00106" name="l00106"></a><span class="lineno">  106</span>  <span class="keywordtype">bool</span> init = <span class="keyword">true</span>;</div>
-<div class="line"><a id="l00107" name="l00107"></a><span class="lineno">  107</span> </div>
-<div class="line"><a id="l00108" name="l00108"></a><span class="lineno">  108</span>};</div>
-<div class="ttc" id="aclassMecanumDrive_html"><div class="ttname"><a href="classMecanumDrive.html">MecanumDrive</a></div><div class="ttdef"><b>Definition:</b> mecanum_drive.h:15</div></div>
-<div class="ttc" id="aclassMecanumDrive_html_a756383ba74cf555d42a147584f9ae646"><div class="ttname"><a href="classMecanumDrive.html#a756383ba74cf555d42a147584f9ae646">MecanumDrive::drive_raw</a></div><div class="ttdeci">void drive_raw(double direction_deg, double magnitude, double rotation)</div><div class="ttdef"><b>Definition:</b> mecanum_drive.cpp:34</div></div>
-<div class="ttc" id="aclassMecanumDrive_html_aa0cfb8683fee99e0a534c3a725d338fd"><div class="ttname"><a href="classMecanumDrive.html#aa0cfb8683fee99e0a534c3a725d338fd">MecanumDrive::auto_drive</a></div><div class="ttdeci">bool auto_drive(double inches, double direction, double speed, bool gyro_correction=true)</div><div class="ttdef"><b>Definition:</b> mecanum_drive.cpp:98</div></div>
-<div class="ttc" id="aclassMecanumDrive_html_ac7a660a606aea694d21a4a2dd12faa24"><div class="ttname"><a href="classMecanumDrive.html#ac7a660a606aea694d21a4a2dd12faa24">MecanumDrive::drive</a></div><div class="ttdeci">void drive(double left_y, double left_x, double right_x, int power=2)</div><div class="ttdef"><b>Definition:</b> mecanum_drive.cpp:68</div></div>
-<div class="ttc" id="aclassMecanumDrive_html_ac8813aafec14f2d25c3abafefdb81498"><div class="ttname"><a href="classMecanumDrive.html#ac8813aafec14f2d25c3abafefdb81498">MecanumDrive::auto_turn</a></div><div class="ttdeci">bool auto_turn(double degrees, double speed, bool ignore_imu=false)</div><div class="ttdef"><b>Definition:</b> mecanum_drive.cpp:218</div></div>
-<div class="ttc" id="aclassPID_html"><div class="ttname"><a href="classPID.html">PID</a></div><div class="ttdef"><b>Definition:</b> pid.h:24</div></div>
-<div class="ttc" id="astructMecanumDrive_1_1mecanumdrive__config__t_html"><div class="ttname"><a href="structMecanumDrive_1_1mecanumdrive__config__t.html">MecanumDrive::mecanumdrive_config_t</a></div><div class="ttdef"><b>Definition:</b> mecanum_drive.h:23</div></div>
-<div class="ttc" id="astructPID_1_1pid__config__t_html"><div class="ttname"><a href="structPID_1_1pid__config__t.html">PID::pid_config_t</a></div><div class="ttdef"><b>Definition:</b> pid.h:41</div></div>
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-<div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno">    1</span><span class="preprocessor">#pragma once</span></div>
-<div class="line"><a id="l00002" name="l00002"></a><span class="lineno">    2</span><span class="preprocessor">#include &quot;../core/include/utils/pid.h&quot;</span></div>
-<div class="line"><a id="l00003" name="l00003"></a><span class="lineno">    3</span><span class="preprocessor">#include &quot;../core/include/utils/feedforward.h&quot;</span></div>
-<div class="line"><a id="l00004" name="l00004"></a><span class="lineno">    4</span><span class="preprocessor">#include &quot;../core/include/utils/trapezoid_profile.h&quot;</span></div>
-<div class="line"><a id="l00005" name="l00005"></a><span class="lineno">    5</span><span class="preprocessor">#include &quot;../core/include/utils/feedback_base.h&quot;</span></div>
-<div class="line"><a id="l00006" name="l00006"></a><span class="lineno">    6</span><span class="preprocessor">#include &quot;../core/include/subsystems/tank_drive.h&quot;</span></div>
-<div class="line"><a id="l00007" name="l00007"></a><span class="lineno">    7</span><span class="preprocessor">#include &quot;vex.h&quot;</span></div>
-<div class="line"><a id="l00008" name="l00008"></a><span class="lineno">    8</span> </div>
-<div class="line"><a id="l00025" name="l00025"></a><span class="lineno"><a class="line" href="classMotionController.html">   25</a></span><span class="keyword">class </span><a class="code hl_class" href="classMotionController.html">MotionController</a> : <span class="keyword">public</span> <a class="code hl_class" href="classFeedback.html">Feedback</a></div>
-<div class="line"><a id="l00026" name="l00026"></a><span class="lineno">   26</span>{</div>
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-<div class="line"><a id="l00028" name="l00028"></a><span class="lineno">   28</span> </div>
-<div class="line"><a id="l00034" name="l00034"></a><span class="lineno"><a class="line" href="structMotionController_1_1m__profile__cfg__t.html">   34</a></span>    <span class="keyword">typedef</span> <span class="keyword">struct</span></div>
-<div class="line"><a id="l00035" name="l00035"></a><span class="lineno">   35</span>    {</div>
-<div class="line"><a id="l00036" name="l00036"></a><span class="lineno"><a class="line" href="structMotionController_1_1m__profile__cfg__t.html#a949b084fe78795509ad8e65c74e9bc3f">   36</a></span>        <span class="keywordtype">double</span> <a class="code hl_variable" href="structMotionController_1_1m__profile__cfg__t.html#a949b084fe78795509ad8e65c74e9bc3f">max_v</a>; </div>
-<div class="line"><a id="l00037" name="l00037"></a><span class="lineno"><a class="line" href="structMotionController_1_1m__profile__cfg__t.html#ac4f07f3ac52d12fd820ee4d8ce847f66">   37</a></span>        <span class="keywordtype">double</span> <a class="code hl_variable" href="structMotionController_1_1m__profile__cfg__t.html#ac4f07f3ac52d12fd820ee4d8ce847f66">accel</a>; </div>
-<div class="line"><a id="l00038" name="l00038"></a><span class="lineno"><a class="line" href="structMotionController_1_1m__profile__cfg__t.html#a2b6415c29fcab4f9b2ccff067a390baa">   38</a></span>        <a class="code hl_struct" href="structPID_1_1pid__config__t.html">PID::pid_config_t</a> <a class="code hl_variable" href="structMotionController_1_1m__profile__cfg__t.html#a2b6415c29fcab4f9b2ccff067a390baa">pid_cfg</a>; </div>
-<div class="line"><a id="l00039" name="l00039"></a><span class="lineno"><a class="line" href="structMotionController_1_1m__profile__cfg__t.html#ad8131facbd379321cc7083361e68ff62">   39</a></span>        <a class="code hl_struct" href="structFeedForward_1_1ff__config__t.html">FeedForward::ff_config_t</a> <a class="code hl_variable" href="structMotionController_1_1m__profile__cfg__t.html#ad8131facbd379321cc7083361e68ff62">ff_cfg</a>; </div>
-<div class="line"><a id="l00040" name="l00040"></a><span class="lineno">   40</span>    } <a class="code hl_struct" href="structMotionController_1_1m__profile__cfg__t.html">m_profile_cfg_t</a>;</div>
-<div class="line"><a id="l00041" name="l00041"></a><span class="lineno">   41</span> </div>
-<div class="line"><a id="l00051" name="l00051"></a><span class="lineno">   51</span>    <a class="code hl_class" href="classMotionController.html">MotionController</a>(<a class="code hl_struct" href="structMotionController_1_1m__profile__cfg__t.html">m_profile_cfg_t</a> &amp;config);</div>
-<div class="line"><a id="l00052" name="l00052"></a><span class="lineno">   52</span> </div>
-<div class="line"><a id="l00057" name="l00057"></a><span class="lineno">   57</span>    <span class="keywordtype">void</span> <a class="code hl_function" href="classMotionController.html#af0d665d9916111cbce677da6df6b6667">init</a>(<span class="keywordtype">double</span> start_pt, <span class="keywordtype">double</span> end_pt) <span class="keyword">override</span>;</div>
-<div class="line"><a id="l00058" name="l00058"></a><span class="lineno">   58</span>    </div>
-<div class="line"><a id="l00065" name="l00065"></a><span class="lineno">   65</span>    <span class="keywordtype">double</span> <a class="code hl_function" href="classMotionController.html#a86ef0ef19858b5b407f7406bb5da30af">update</a>(<span class="keywordtype">double</span> sensor_val) <span class="keyword">override</span>;</div>
-<div class="line"><a id="l00066" name="l00066"></a><span class="lineno">   66</span> </div>
-<div class="line"><a id="l00070" name="l00070"></a><span class="lineno">   70</span>    <span class="keywordtype">double</span> <a class="code hl_function" href="classMotionController.html#a2a1944f590618cd91770364aea416cd5">get</a>() <span class="keyword">override</span>;</div>
-<div class="line"><a id="l00071" name="l00071"></a><span class="lineno">   71</span> </div>
-<div class="line"><a id="l00079" name="l00079"></a><span class="lineno">   79</span>    <span class="keywordtype">void</span> <a class="code hl_function" href="classMotionController.html#a944c245002a1eb124dd8df40de4fcc57">set_limits</a>(<span class="keywordtype">double</span> lower, <span class="keywordtype">double</span> upper) <span class="keyword">override</span>;</div>
-<div class="line"><a id="l00080" name="l00080"></a><span class="lineno">   80</span> </div>
-<div class="line"><a id="l00085" name="l00085"></a><span class="lineno">   85</span>    <span class="keywordtype">bool</span> <a class="code hl_function" href="classMotionController.html#aa9e2af88b848646889deb1d43a283173">is_on_target</a>() <span class="keyword">override</span>;</div>
-<div class="line"><a id="l00086" name="l00086"></a><span class="lineno">   86</span> </div>
-<div class="line"><a id="l00090" name="l00090"></a><span class="lineno">   90</span>    <a class="code hl_struct" href="structmotion__t.html">motion_t</a> <a class="code hl_function" href="classMotionController.html#ab958ce97fbc4929f4dd03965671e8d4d">get_motion</a>();</div>
-<div class="line"><a id="l00091" name="l00091"></a><span class="lineno">   91</span> </div>
-<div class="line"><a id="l00110" name="l00110"></a><span class="lineno">  110</span>    <span class="keyword">static</span> <a class="code hl_struct" href="structFeedForward_1_1ff__config__t.html">FeedForward::ff_config_t</a> <a class="code hl_function" href="classMotionController.html#a20749b6a4bd3cf509a3acf682831eb00">tune_feedforward</a>(<a class="code hl_class" href="classTankDrive.html">TankDrive</a> &amp;drive, <a class="code hl_class" href="classOdometryTank.html">OdometryTank</a> &amp;odometry, <span class="keywordtype">double</span> pct=0.6, <span class="keywordtype">double</span> duration=2);</div>
-<div class="line"><a id="l00111" name="l00111"></a><span class="lineno">  111</span> </div>
-<div class="line"><a id="l00112" name="l00112"></a><span class="lineno">  112</span>    <span class="keyword">private</span>: </div>
-<div class="line"><a id="l00113" name="l00113"></a><span class="lineno">  113</span> </div>
-<div class="line"><a id="l00114" name="l00114"></a><span class="lineno">  114</span>    <a class="code hl_struct" href="structMotionController_1_1m__profile__cfg__t.html">m_profile_cfg_t</a> config;</div>
-<div class="line"><a id="l00115" name="l00115"></a><span class="lineno">  115</span> </div>
-<div class="line"><a id="l00116" name="l00116"></a><span class="lineno">  116</span>    <a class="code hl_class" href="classPID.html">PID</a> pid;</div>
-<div class="line"><a id="l00117" name="l00117"></a><span class="lineno">  117</span>    <a class="code hl_class" href="classFeedForward.html">FeedForward</a> ff;</div>
-<div class="line"><a id="l00118" name="l00118"></a><span class="lineno">  118</span>    <a class="code hl_class" href="classTrapezoidProfile.html">TrapezoidProfile</a> profile;</div>
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-<div class="line"><a id="l00122" name="l00122"></a><span class="lineno">  122</span>    <a class="code hl_struct" href="structmotion__t.html">motion_t</a> cur_motion;</div>
-<div class="line"><a id="l00123" name="l00123"></a><span class="lineno">  123</span>     </div>
-<div class="line"><a id="l00124" name="l00124"></a><span class="lineno">  124</span>    vex::timer tmr;</div>
-<div class="line"><a id="l00125" name="l00125"></a><span class="lineno">  125</span> </div>
-<div class="line"><a id="l00126" name="l00126"></a><span class="lineno">  126</span>};</div>
-<div class="ttc" id="aclassFeedForward_html"><div class="ttname"><a href="classFeedForward.html">FeedForward</a></div><div class="ttdef"><b>Definition:</b> feedforward.h:30</div></div>
-<div class="ttc" id="aclassFeedback_html"><div class="ttname"><a href="classFeedback.html">Feedback</a></div><div class="ttdef"><b>Definition:</b> feedback_base.h:11</div></div>
-<div class="ttc" id="aclassMotionController_html"><div class="ttname"><a href="classMotionController.html">MotionController</a></div><div class="ttdef"><b>Definition:</b> motion_controller.h:26</div></div>
-<div class="ttc" id="aclassMotionController_html_a20749b6a4bd3cf509a3acf682831eb00"><div class="ttname"><a href="classMotionController.html#a20749b6a4bd3cf509a3acf682831eb00">MotionController::tune_feedforward</a></div><div class="ttdeci">static FeedForward::ff_config_t tune_feedforward(TankDrive &amp;drive, OdometryTank &amp;odometry, double pct=0.6, double duration=2)</div><div class="ttdef"><b>Definition:</b> motion_controller.cpp:106</div></div>
-<div class="ttc" id="aclassMotionController_html_a2a1944f590618cd91770364aea416cd5"><div class="ttname"><a href="classMotionController.html#a2a1944f590618cd91770364aea416cd5">MotionController::get</a></div><div class="ttdeci">double get() override</div><div class="ttdef"><b>Definition:</b> motion_controller.cpp:54</div></div>
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-<div class="ttc" id="aclassMotionController_html_ab958ce97fbc4929f4dd03965671e8d4d"><div class="ttname"><a href="classMotionController.html#ab958ce97fbc4929f4dd03965671e8d4d">MotionController::get_motion</a></div><div class="ttdeci">motion_t get_motion()</div><div class="ttdef"><b>Definition:</b> motion_controller.cpp:83</div></div>
-<div class="ttc" id="aclassMotionController_html_af0d665d9916111cbce677da6df6b6667"><div class="ttname"><a href="classMotionController.html#af0d665d9916111cbce677da6df6b6667">MotionController::init</a></div><div class="ttdeci">void init(double start_pt, double end_pt) override</div><div class="ttdoc">Initialize the motion profile for a new movement This will also reset the PID and profile timers.</div><div class="ttdef"><b>Definition:</b> motion_controller.cpp:24</div></div>
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-<div class="ttc" id="aclassPID_html"><div class="ttname"><a href="classPID.html">PID</a></div><div class="ttdef"><b>Definition:</b> pid.h:24</div></div>
-<div class="ttc" id="aclassTankDrive_html"><div class="ttname"><a href="classTankDrive.html">TankDrive</a></div><div class="ttdef"><b>Definition:</b> tank_drive.h:23</div></div>
-<div class="ttc" id="aclassTrapezoidProfile_html"><div class="ttname"><a href="classTrapezoidProfile.html">TrapezoidProfile</a></div><div class="ttdef"><b>Definition:</b> trapezoid_profile.h:35</div></div>
-<div class="ttc" id="astructFeedForward_1_1ff__config__t_html"><div class="ttname"><a href="structFeedForward_1_1ff__config__t.html">FeedForward::ff_config_t</a></div><div class="ttdef"><b>Definition:</b> feedforward.h:42</div></div>
-<div class="ttc" id="astructMotionController_1_1m__profile__cfg__t_html"><div class="ttname"><a href="structMotionController_1_1m__profile__cfg__t.html">MotionController::m_profile_cfg_t</a></div><div class="ttdef"><b>Definition:</b> motion_controller.h:35</div></div>
-<div class="ttc" id="astructMotionController_1_1m__profile__cfg__t_html_a2b6415c29fcab4f9b2ccff067a390baa"><div class="ttname"><a href="structMotionController_1_1m__profile__cfg__t.html#a2b6415c29fcab4f9b2ccff067a390baa">MotionController::m_profile_cfg_t::pid_cfg</a></div><div class="ttdeci">PID::pid_config_t pid_cfg</div><div class="ttdoc">configuration parameters for the internal PID controller</div><div class="ttdef"><b>Definition:</b> motion_controller.h:38</div></div>
-<div class="ttc" id="astructMotionController_1_1m__profile__cfg__t_html_a949b084fe78795509ad8e65c74e9bc3f"><div class="ttname"><a href="structMotionController_1_1m__profile__cfg__t.html#a949b084fe78795509ad8e65c74e9bc3f">MotionController::m_profile_cfg_t::max_v</a></div><div class="ttdeci">double max_v</div><div class="ttdoc">the maximum velocity the robot can drive</div><div class="ttdef"><b>Definition:</b> motion_controller.h:36</div></div>
-<div class="ttc" id="astructMotionController_1_1m__profile__cfg__t_html_ac4f07f3ac52d12fd820ee4d8ce847f66"><div class="ttname"><a href="structMotionController_1_1m__profile__cfg__t.html#ac4f07f3ac52d12fd820ee4d8ce847f66">MotionController::m_profile_cfg_t::accel</a></div><div class="ttdeci">double accel</div><div class="ttdoc">the most acceleration the robot can do</div><div class="ttdef"><b>Definition:</b> motion_controller.h:37</div></div>
-<div class="ttc" id="astructMotionController_1_1m__profile__cfg__t_html_ad8131facbd379321cc7083361e68ff62"><div class="ttname"><a href="structMotionController_1_1m__profile__cfg__t.html#ad8131facbd379321cc7083361e68ff62">MotionController::m_profile_cfg_t::ff_cfg</a></div><div class="ttdeci">FeedForward::ff_config_t ff_cfg</div><div class="ttdoc">configuration parameters for the internal</div><div class="ttdef"><b>Definition:</b> motion_controller.h:39</div></div>
-<div class="ttc" id="astructPID_1_1pid__config__t_html"><div class="ttname"><a href="structPID_1_1pid__config__t.html">PID::pid_config_t</a></div><div class="ttdef"><b>Definition:</b> pid.h:41</div></div>
-<div class="ttc" id="astructmotion__t_html"><div class="ttname"><a href="structmotion__t.html">motion_t</a></div><div class="ttdef"><b>Definition:</b> trapezoid_profile.h:7</div></div>
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-<div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno">    1</span><span class="preprocessor">#include &lt;vector&gt;</span></div>
-<div class="line"><a id="l00002" name="l00002"></a><span class="lineno">    2</span> </div>
-<div class="line"><a id="l00015" name="l00015"></a><span class="lineno"><a class="line" href="classMovingAverage.html">   15</a></span><span class="keyword">class </span><a class="code hl_class" href="classMovingAverage.html">MovingAverage</a> {</div>
-<div class="line"><a id="l00016" name="l00016"></a><span class="lineno">   16</span>  <span class="keyword">public</span>:</div>
-<div class="line"><a id="l00017" name="l00017"></a><span class="lineno">   17</span>  <span class="comment">/*</span></div>
-<div class="line"><a id="l00018" name="l00018"></a><span class="lineno">   18</span><span class="comment">   * Create a moving average calculator with 0 as the default value</span></div>
-<div class="line"><a id="l00019" name="l00019"></a><span class="lineno">   19</span><span class="comment">   *</span></div>
-<div class="line"><a id="l00020" name="l00020"></a><span class="lineno">   20</span><span class="comment">   * @param buffer_size    The size of the buffer. The number of samples that constitute a valid reading</span></div>
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-<div class="line"><a id="l00031" name="l00031"></a><span class="lineno">   31</span><span class="comment">  * Add a reading to the buffer</span></div>
-<div class="line"><a id="l00032" name="l00032"></a><span class="lineno">   32</span><span class="comment">  * Before:</span></div>
-<div class="line"><a id="l00033" name="l00033"></a><span class="lineno">   33</span><span class="comment">  * [ 1 1 2 2 3 3] =&gt; 2</span></div>
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-<div class="line"><a id="l00036" name="l00036"></a><span class="lineno">   36</span><span class="comment">  * [ 2 1 2 2 3 3] =&gt; 2.16</span></div>
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-<div class="line"><a id="l00038" name="l00038"></a><span class="lineno">   38</span><span class="comment">  * @param n  the sample that will be added to the moving average.</span></div>
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-<div class="line"><a id="l00057" name="l00057"></a><span class="lineno">   57</span>    std::vector&lt;double&gt; buffer;     <span class="comment">//all current data readings we&#39;ve taken </span></div>
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-<div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno">    1</span><span class="preprocessor">#pragma once</span></div>
-<div class="line"><a id="l00002" name="l00002"></a><span class="lineno">    2</span><span class="preprocessor">#include &quot;../core/include/subsystems/odometry/odometry_base.h&quot;</span></div>
-<div class="line"><a id="l00003" name="l00003"></a><span class="lineno">    3</span><span class="preprocessor">#include &quot;../core/include/subsystems/tank_drive.h&quot;</span></div>
-<div class="line"><a id="l00004" name="l00004"></a><span class="lineno">    4</span><span class="preprocessor">#include &quot;../core/include/subsystems/custom_encoder.h&quot;</span></div>
-<div class="line"><a id="l00005" name="l00005"></a><span class="lineno">    5</span> </div>
-<div class="line"><a id="l00032" name="l00032"></a><span class="lineno"><a class="line" href="classOdometry3Wheel.html">   32</a></span><span class="keyword">class </span><a class="code hl_class" href="classOdometry3Wheel.html">Odometry3Wheel</a> : <span class="keyword">public</span> <a class="code hl_class" href="classOdometryBase.html">OdometryBase</a></div>
-<div class="line"><a id="l00033" name="l00033"></a><span class="lineno">   33</span>{</div>
-<div class="line"><a id="l00034" name="l00034"></a><span class="lineno">   34</span>    <span class="keyword">public</span>:</div>
-<div class="line"><a id="l00035" name="l00035"></a><span class="lineno">   35</span> </div>
-<div class="line"><a id="l00040" name="l00040"></a><span class="lineno"><a class="line" href="structOdometry3Wheel_1_1odometry3wheel__cfg__t.html">   40</a></span>    <span class="keyword">typedef</span> <span class="keyword">struct</span></div>
-<div class="line"><a id="l00041" name="l00041"></a><span class="lineno">   41</span>    {</div>
-<div class="line"><a id="l00042" name="l00042"></a><span class="lineno"><a class="line" href="structOdometry3Wheel_1_1odometry3wheel__cfg__t.html#a4de8559ac486dcfbf5baff9d9d6cb5b1">   42</a></span>        <span class="keywordtype">double</span> <a class="code hl_variable" href="structOdometry3Wheel_1_1odometry3wheel__cfg__t.html#a4de8559ac486dcfbf5baff9d9d6cb5b1">wheelbase_dist</a>; </div>
-<div class="line"><a id="l00043" name="l00043"></a><span class="lineno"><a class="line" href="structOdometry3Wheel_1_1odometry3wheel__cfg__t.html#afd79024054d352789991bd816d955d9e">   43</a></span>        <span class="keywordtype">double</span> <a class="code hl_variable" href="structOdometry3Wheel_1_1odometry3wheel__cfg__t.html#afd79024054d352789991bd816d955d9e">off_axis_center_dist</a>; </div>
-<div class="line"><a id="l00044" name="l00044"></a><span class="lineno"><a class="line" href="structOdometry3Wheel_1_1odometry3wheel__cfg__t.html#a283cd9db8de27d9b3967d0c3203f1f7f">   44</a></span>        <span class="keywordtype">double</span> <a class="code hl_variable" href="structOdometry3Wheel_1_1odometry3wheel__cfg__t.html#a283cd9db8de27d9b3967d0c3203f1f7f">wheel_diam</a>; </div>
-<div class="line"><a id="l00046" name="l00046"></a><span class="lineno">   46</span>    } <a class="code hl_struct" href="structOdometry3Wheel_1_1odometry3wheel__cfg__t.html">odometry3wheel_cfg_t</a>;</div>
-<div class="line"><a id="l00047" name="l00047"></a><span class="lineno">   47</span>    </div>
-<div class="line"><a id="l00057" name="l00057"></a><span class="lineno">   57</span>    <a class="code hl_class" href="classOdometry3Wheel.html">Odometry3Wheel</a>(<a class="code hl_class" href="classCustomEncoder.html">CustomEncoder</a> &amp;lside_fwd, <a class="code hl_class" href="classCustomEncoder.html">CustomEncoder</a> &amp;rside_fwd, <a class="code hl_class" href="classCustomEncoder.html">CustomEncoder</a> &amp;off_axis, <a class="code hl_struct" href="structOdometry3Wheel_1_1odometry3wheel__cfg__t.html">odometry3wheel_cfg_t</a> &amp;cfg, <span class="keywordtype">bool</span> is_async=<span class="keyword">true</span>);</div>
-<div class="line"><a id="l00058" name="l00058"></a><span class="lineno">   58</span> </div>
-<div class="line"><a id="l00065" name="l00065"></a><span class="lineno">   65</span>    <a class="code hl_struct" href="structposition__t.html">position_t</a> <a class="code hl_function" href="classOdometry3Wheel.html#a85c5661989dae181a4db7d91bd0526f7">update</a>() <span class="keyword">override</span>;</div>
-<div class="line"><a id="l00066" name="l00066"></a><span class="lineno">   66</span> </div>
-<div class="line"><a id="l00075" name="l00075"></a><span class="lineno">   75</span>    <span class="keywordtype">void</span> <a class="code hl_function" href="classOdometry3Wheel.html#acb23dbf715d342566fc7e44f58ebf654">tune</a>(vex::controller &amp;con, <a class="code hl_class" href="classTankDrive.html">TankDrive</a> &amp;drive);</div>
-<div class="line"><a id="l00076" name="l00076"></a><span class="lineno">   76</span> </div>
-<div class="line"><a id="l00077" name="l00077"></a><span class="lineno">   77</span>    <span class="keyword">private</span>:</div>
-<div class="line"><a id="l00078" name="l00078"></a><span class="lineno">   78</span> </div>
-<div class="line"><a id="l00091" name="l00091"></a><span class="lineno">   91</span>    <span class="keyword">static</span> <a class="code hl_struct" href="structposition__t.html">position_t</a> calculate_new_pos(<span class="keywordtype">double</span> lside_delta_deg, <span class="keywordtype">double</span> rside_delta_deg, <span class="keywordtype">double</span> offax_delta_deg, <a class="code hl_struct" href="structposition__t.html">position_t</a> old_pos, <a class="code hl_struct" href="structOdometry3Wheel_1_1odometry3wheel__cfg__t.html">odometry3wheel_cfg_t</a> cfg);</div>
-<div class="line"><a id="l00092" name="l00092"></a><span class="lineno">   92</span> </div>
-<div class="line"><a id="l00093" name="l00093"></a><span class="lineno">   93</span>    <a class="code hl_class" href="classCustomEncoder.html">CustomEncoder</a> &amp;lside_fwd, &amp;rside_fwd, &amp;off_axis;</div>
-<div class="line"><a id="l00094" name="l00094"></a><span class="lineno">   94</span>    <a class="code hl_struct" href="structOdometry3Wheel_1_1odometry3wheel__cfg__t.html">odometry3wheel_cfg_t</a> &amp;cfg;</div>
-<div class="line"><a id="l00095" name="l00095"></a><span class="lineno">   95</span> </div>
-<div class="line"><a id="l00096" name="l00096"></a><span class="lineno">   96</span> </div>
-<div class="line"><a id="l00097" name="l00097"></a><span class="lineno">   97</span>};</div>
-<div class="ttc" id="aclassCustomEncoder_html"><div class="ttname"><a href="classCustomEncoder.html">CustomEncoder</a></div><div class="ttdef"><b>Definition:</b> custom_encoder.h:9</div></div>
-<div class="ttc" id="aclassOdometry3Wheel_html"><div class="ttname"><a href="classOdometry3Wheel.html">Odometry3Wheel</a></div><div class="ttdef"><b>Definition:</b> odometry_3wheel.h:33</div></div>
-<div class="ttc" id="aclassOdometry3Wheel_html_a85c5661989dae181a4db7d91bd0526f7"><div class="ttname"><a href="classOdometry3Wheel.html#a85c5661989dae181a4db7d91bd0526f7">Odometry3Wheel::update</a></div><div class="ttdeci">position_t update() override</div><div class="ttdef"><b>Definition:</b> odometry_3wheel.cpp:15</div></div>
-<div class="ttc" id="aclassOdometry3Wheel_html_acb23dbf715d342566fc7e44f58ebf654"><div class="ttname"><a href="classOdometry3Wheel.html#acb23dbf715d342566fc7e44f58ebf654">Odometry3Wheel::tune</a></div><div class="ttdeci">void tune(vex::controller &amp;con, TankDrive &amp;drive)</div><div class="ttdef"><b>Definition:</b> odometry_3wheel.cpp:135</div></div>
-<div class="ttc" id="aclassOdometryBase_html"><div class="ttname"><a href="classOdometryBase.html">OdometryBase</a></div><div class="ttdef"><b>Definition:</b> odometry_base.h:33</div></div>
-<div class="ttc" id="aclassTankDrive_html"><div class="ttname"><a href="classTankDrive.html">TankDrive</a></div><div class="ttdef"><b>Definition:</b> tank_drive.h:23</div></div>
-<div class="ttc" id="astructOdometry3Wheel_1_1odometry3wheel__cfg__t_html"><div class="ttname"><a href="structOdometry3Wheel_1_1odometry3wheel__cfg__t.html">Odometry3Wheel::odometry3wheel_cfg_t</a></div><div class="ttdef"><b>Definition:</b> odometry_3wheel.h:41</div></div>
-<div class="ttc" id="astructOdometry3Wheel_1_1odometry3wheel__cfg__t_html_a283cd9db8de27d9b3967d0c3203f1f7f"><div class="ttname"><a href="structOdometry3Wheel_1_1odometry3wheel__cfg__t.html#a283cd9db8de27d9b3967d0c3203f1f7f">Odometry3Wheel::odometry3wheel_cfg_t::wheel_diam</a></div><div class="ttdeci">double wheel_diam</div><div class="ttdef"><b>Definition:</b> odometry_3wheel.h:44</div></div>
-<div class="ttc" id="astructOdometry3Wheel_1_1odometry3wheel__cfg__t_html_a4de8559ac486dcfbf5baff9d9d6cb5b1"><div class="ttname"><a href="structOdometry3Wheel_1_1odometry3wheel__cfg__t.html#a4de8559ac486dcfbf5baff9d9d6cb5b1">Odometry3Wheel::odometry3wheel_cfg_t::wheelbase_dist</a></div><div class="ttdeci">double wheelbase_dist</div><div class="ttdef"><b>Definition:</b> odometry_3wheel.h:42</div></div>
-<div class="ttc" id="astructOdometry3Wheel_1_1odometry3wheel__cfg__t_html_afd79024054d352789991bd816d955d9e"><div class="ttname"><a href="structOdometry3Wheel_1_1odometry3wheel__cfg__t.html#afd79024054d352789991bd816d955d9e">Odometry3Wheel::odometry3wheel_cfg_t::off_axis_center_dist</a></div><div class="ttdeci">double off_axis_center_dist</div><div class="ttdef"><b>Definition:</b> odometry_3wheel.h:43</div></div>
-<div class="ttc" id="astructposition__t_html"><div class="ttname"><a href="structposition__t.html">position_t</a></div><div class="ttdef"><b>Definition:</b> odometry_base.h:14</div></div>
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-</div><!--header-->
-<div class="contents">
-<div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno">    1</span><span class="preprocessor">#pragma once</span></div>
-<div class="line"><a id="l00002" name="l00002"></a><span class="lineno">    2</span> </div>
-<div class="line"><a id="l00003" name="l00003"></a><span class="lineno">    3</span><span class="preprocessor">#include &quot;vex.h&quot;</span></div>
-<div class="line"><a id="l00004" name="l00004"></a><span class="lineno">    4</span><span class="preprocessor">#include &quot;../core/include/robot_specs.h&quot;</span></div>
-<div class="line"><a id="l00005" name="l00005"></a><span class="lineno">    5</span> </div>
-<div class="line"><a id="l00006" name="l00006"></a><span class="lineno">    6</span><span class="preprocessor">#ifndef PI</span></div>
-<div class="line"><a id="l00007" name="l00007"></a><span class="lineno">    7</span><span class="preprocessor">#define PI 3.141592654</span></div>
-<div class="line"><a id="l00008" name="l00008"></a><span class="lineno">    8</span><span class="preprocessor">#endif</span></div>
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-<div class="line"><a id="l00013" name="l00013"></a><span class="lineno"><a class="line" href="structposition__t.html">   13</a></span><span class="keyword">typedef</span> <span class="keyword">struct</span></div>
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-<div class="line"><a id="l00015" name="l00015"></a><span class="lineno"><a class="line" href="structposition__t.html#aa554831febb89209dc5a2434e08265a8">   15</a></span>    <span class="keywordtype">double</span> <a class="code hl_variable" href="structposition__t.html#aa554831febb89209dc5a2434e08265a8">x</a>;   </div>
-<div class="line"><a id="l00016" name="l00016"></a><span class="lineno"><a class="line" href="structposition__t.html#af5fb9bd02cb51336477d5290fe32cec6">   16</a></span>    <span class="keywordtype">double</span> <a class="code hl_variable" href="structposition__t.html#af5fb9bd02cb51336477d5290fe32cec6">y</a>;   </div>
-<div class="line"><a id="l00017" name="l00017"></a><span class="lineno"><a class="line" href="structposition__t.html#aa22df5aed859f41200d2213ad3f2cd45">   17</a></span>    <span class="keywordtype">double</span> <a class="code hl_variable" href="structposition__t.html#aa22df5aed859f41200d2213ad3f2cd45">rot</a>; </div>
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-<div class="line"><a id="l00032" name="l00032"></a><span class="lineno"><a class="line" href="classOdometryBase.html">   32</a></span><span class="keyword">class </span><a class="code hl_class" href="classOdometryBase.html">OdometryBase</a></div>
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-<div class="line"><a id="l00054" name="l00054"></a><span class="lineno">   54</span> </div>
-<div class="line"><a id="l00059" name="l00059"></a><span class="lineno"><a class="line" href="classOdometryBase.html#a5d55b7987d97a9af721838596a520dec">   59</a></span>    <span class="keyword">virtual</span> <a class="code hl_struct" href="structposition__t.html">position_t</a> <a class="code hl_function" href="classOdometryBase.html#a5d55b7987d97a9af721838596a520dec">update</a>() = 0;</div>
-<div class="line"><a id="l00060" name="l00060"></a><span class="lineno">   60</span> </div>
-<div class="line"><a id="l00068" name="l00068"></a><span class="lineno">   68</span>    <span class="keyword">static</span> <span class="keywordtype">int</span> <a class="code hl_function" href="classOdometryBase.html#a17a014f79b282ddfb715835214f3e2fb">background_task</a>(<span class="keywordtype">void</span>* ptr);</div>
-<div class="line"><a id="l00069" name="l00069"></a><span class="lineno">   69</span> </div>
-<div class="line"><a id="l00075" name="l00075"></a><span class="lineno">   75</span>    <span class="keywordtype">void</span> <a class="code hl_function" href="classOdometryBase.html#ab65ccaa80d4bb0d0aa20e82b3b991436">end_async</a>();</div>
-<div class="line"><a id="l00076" name="l00076"></a><span class="lineno">   76</span> </div>
-<div class="line"><a id="l00083" name="l00083"></a><span class="lineno">   83</span>    <span class="keyword">static</span> <span class="keywordtype">double</span> <a class="code hl_function" href="classOdometryBase.html#a8a248f027d3ff98cb2df2e3cd90e1f66">pos_diff</a>(<a class="code hl_struct" href="structposition__t.html">position_t</a> start_pos, <a class="code hl_struct" href="structposition__t.html">position_t</a> end_pos);</div>
-<div class="line"><a id="l00084" name="l00084"></a><span class="lineno">   84</span> </div>
-<div class="line"><a id="l00091" name="l00091"></a><span class="lineno">   91</span>    <span class="keyword">static</span> <span class="keywordtype">double</span> <a class="code hl_function" href="classOdometryBase.html#ab1f1a09cda37d799c82003b5284c6856">rot_diff</a>(<a class="code hl_struct" href="structposition__t.html">position_t</a> pos1, <a class="code hl_struct" href="structposition__t.html">position_t</a> pos2);</div>
-<div class="line"><a id="l00092" name="l00092"></a><span class="lineno">   92</span> </div>
-<div class="line"><a id="l00101" name="l00101"></a><span class="lineno">  101</span>    <span class="keyword">static</span> <span class="keywordtype">double</span> <a class="code hl_function" href="classOdometryBase.html#a70ec71e9fb2e14f0a191a6bac927d36b">smallest_angle</a>(<span class="keywordtype">double</span> start_deg, <span class="keywordtype">double</span> end_deg);</div>
-<div class="line"><a id="l00102" name="l00102"></a><span class="lineno">  102</span> </div>
-<div class="line"><a id="l00104" name="l00104"></a><span class="lineno"><a class="line" href="classOdometryBase.html#ae6e35ee98b4410f034cd37c0d2055a8d">  104</a></span>    <span class="keywordtype">bool</span> <a class="code hl_variable" href="classOdometryBase.html#ae6e35ee98b4410f034cd37c0d2055a8d">end_task</a> = <span class="keyword">false</span>;</div>
-<div class="line"><a id="l00105" name="l00105"></a><span class="lineno">  105</span> </div>
-<div class="line"><a id="l00110" name="l00110"></a><span class="lineno">  110</span>    <span class="keywordtype">double</span> <a class="code hl_function" href="classOdometryBase.html#a96c7be68db7424ddbe3704770dd1889f">get_speed</a>();</div>
-<div class="line"><a id="l00111" name="l00111"></a><span class="lineno">  111</span> </div>
-<div class="line"><a id="l00116" name="l00116"></a><span class="lineno">  116</span>    <span class="keywordtype">double</span> <a class="code hl_function" href="classOdometryBase.html#a3223bac952f79bf910b979690499b965">get_accel</a>();</div>
-<div class="line"><a id="l00117" name="l00117"></a><span class="lineno">  117</span> </div>
-<div class="line"><a id="l00122" name="l00122"></a><span class="lineno">  122</span>    <span class="keywordtype">double</span> <a class="code hl_function" href="classOdometryBase.html#af30d97a35e9e9c4f9be0a81390e6c0f1">get_angular_speed_deg</a>();</div>
-<div class="line"><a id="l00123" name="l00123"></a><span class="lineno">  123</span> </div>
-<div class="line"><a id="l00128" name="l00128"></a><span class="lineno">  128</span>    <span class="keywordtype">double</span> <a class="code hl_function" href="classOdometryBase.html#a456e6433e51971d2640ff96ed3a59432">get_angular_accel_deg</a>();</div>
-<div class="line"><a id="l00129" name="l00129"></a><span class="lineno">  129</span> </div>
-<div class="line"><a id="l00133" name="l00133"></a><span class="lineno"><a class="line" href="classOdometryBase.html#a7bd3fd09b3a6fa78af3a5ed5e25b8d74">  133</a></span>    <span class="keyword">inline</span> <span class="keyword">static</span> <span class="keyword">constexpr</span> <a class="code hl_struct" href="structposition__t.html">position_t</a> <a class="code hl_variable" href="classOdometryBase.html#a7bd3fd09b3a6fa78af3a5ed5e25b8d74">zero_pos</a> = {.<a class="code hl_variable" href="structposition__t.html#aa554831febb89209dc5a2434e08265a8">x</a>=0.0L, .y=0.0L, .rot=90.0L};</div>
-<div class="line"><a id="l00134" name="l00134"></a><span class="lineno">  134</span> </div>
-<div class="line"><a id="l00135" name="l00135"></a><span class="lineno">  135</span><span class="keyword">protected</span>:</div>
-<div class="line"><a id="l00139" name="l00139"></a><span class="lineno"><a class="line" href="classOdometryBase.html#ae5308f20a4dfef9594631010c7612dab">  139</a></span>    vex::task *<a class="code hl_variable" href="classOdometryBase.html#ae5308f20a4dfef9594631010c7612dab">handle</a>;</div>
-<div class="line"><a id="l00140" name="l00140"></a><span class="lineno">  140</span> </div>
-<div class="line"><a id="l00144" name="l00144"></a><span class="lineno"><a class="line" href="classOdometryBase.html#a88bb48858ca6ff8300a41e23482ec6f6">  144</a></span>    vex::mutex <a class="code hl_variable" href="classOdometryBase.html#a88bb48858ca6ff8300a41e23482ec6f6">mut</a>;</div>
-<div class="line"><a id="l00145" name="l00145"></a><span class="lineno">  145</span> </div>
-<div class="line"><a id="l00149" name="l00149"></a><span class="lineno"><a class="line" href="classOdometryBase.html#a6870aebb6e05dcd152d3295462f559c3">  149</a></span>    <a class="code hl_struct" href="structposition__t.html">position_t</a> <a class="code hl_variable" href="classOdometryBase.html#a6870aebb6e05dcd152d3295462f559c3">current_pos</a>;</div>
-<div class="line"><a id="l00150" name="l00150"></a><span class="lineno">  150</span> </div>
-<div class="line"><a id="l00151" name="l00151"></a><span class="lineno"><a class="line" href="classOdometryBase.html#a6119ab3ce0b685e67a8b57871e0a2c26">  151</a></span>    <span class="keywordtype">double</span> <a class="code hl_variable" href="classOdometryBase.html#a6119ab3ce0b685e67a8b57871e0a2c26">speed</a>; </div>
-<div class="line"><a id="l00152" name="l00152"></a><span class="lineno"><a class="line" href="classOdometryBase.html#a94c814dfb542dd891d84db7e74537249">  152</a></span>    <span class="keywordtype">double</span> <a class="code hl_variable" href="classOdometryBase.html#a94c814dfb542dd891d84db7e74537249">accel</a>; </div>
-<div class="line"><a id="l00153" name="l00153"></a><span class="lineno"><a class="line" href="classOdometryBase.html#a250ceb6ed296ea579e37851e4a0048fb">  153</a></span>    <span class="keywordtype">double</span> <a class="code hl_variable" href="classOdometryBase.html#a250ceb6ed296ea579e37851e4a0048fb">ang_speed_deg</a>; </div>
-<div class="line"><a id="l00154" name="l00154"></a><span class="lineno"><a class="line" href="classOdometryBase.html#a01f14bfcecbcde7a74b9b98376deb19f">  154</a></span>    <span class="keywordtype">double</span> <a class="code hl_variable" href="classOdometryBase.html#a01f14bfcecbcde7a74b9b98376deb19f">ang_accel_deg</a>; </div>
-<div class="line"><a id="l00155" name="l00155"></a><span class="lineno">  155</span>};</div>
-<div class="ttc" id="aclassOdometryBase_html"><div class="ttname"><a href="classOdometryBase.html">OdometryBase</a></div><div class="ttdef"><b>Definition:</b> odometry_base.h:33</div></div>
-<div class="ttc" id="aclassOdometryBase_html_a01f14bfcecbcde7a74b9b98376deb19f"><div class="ttname"><a href="classOdometryBase.html#a01f14bfcecbcde7a74b9b98376deb19f">OdometryBase::ang_accel_deg</a></div><div class="ttdeci">double ang_accel_deg</div><div class="ttdef"><b>Definition:</b> odometry_base.h:154</div></div>
-<div class="ttc" id="aclassOdometryBase_html_a17a014f79b282ddfb715835214f3e2fb"><div class="ttname"><a href="classOdometryBase.html#a17a014f79b282ddfb715835214f3e2fb">OdometryBase::background_task</a></div><div class="ttdeci">static int background_task(void *ptr)</div><div class="ttdef"><b>Definition:</b> odometry_base.cpp:22</div></div>
-<div class="ttc" id="aclassOdometryBase_html_a250ceb6ed296ea579e37851e4a0048fb"><div class="ttname"><a href="classOdometryBase.html#a250ceb6ed296ea579e37851e4a0048fb">OdometryBase::ang_speed_deg</a></div><div class="ttdeci">double ang_speed_deg</div><div class="ttdef"><b>Definition:</b> odometry_base.h:153</div></div>
-<div class="ttc" id="aclassOdometryBase_html_a3223bac952f79bf910b979690499b965"><div class="ttname"><a href="classOdometryBase.html#a3223bac952f79bf910b979690499b965">OdometryBase::get_accel</a></div><div class="ttdeci">double get_accel()</div><div class="ttdef"><b>Definition:</b> odometry_base.cpp:123</div></div>
-<div class="ttc" id="aclassOdometryBase_html_a34e4bd8567933d1b6bd6e41327a36549"><div class="ttname"><a href="classOdometryBase.html#a34e4bd8567933d1b6bd6e41327a36549">OdometryBase::set_position</a></div><div class="ttdeci">virtual void set_position(const position_t &amp;newpos=zero_pos)</div><div class="ttdef"><b>Definition:</b> odometry_base.cpp:63</div></div>
-<div class="ttc" id="aclassOdometryBase_html_a3cdcfcf70ef02e0efc2efd902fac3811"><div class="ttname"><a href="classOdometryBase.html#a3cdcfcf70ef02e0efc2efd902fac3811">OdometryBase::get_position</a></div><div class="ttdeci">position_t get_position(void)</div><div class="ttdef"><b>Definition:</b> odometry_base.cpp:48</div></div>
-<div class="ttc" id="aclassOdometryBase_html_a456e6433e51971d2640ff96ed3a59432"><div class="ttname"><a href="classOdometryBase.html#a456e6433e51971d2640ff96ed3a59432">OdometryBase::get_angular_accel_deg</a></div><div class="ttdeci">double get_angular_accel_deg()</div><div class="ttdef"><b>Definition:</b> odometry_base.cpp:141</div></div>
-<div class="ttc" id="aclassOdometryBase_html_a5d55b7987d97a9af721838596a520dec"><div class="ttname"><a href="classOdometryBase.html#a5d55b7987d97a9af721838596a520dec">OdometryBase::update</a></div><div class="ttdeci">virtual position_t update()=0</div></div>
-<div class="ttc" id="aclassOdometryBase_html_a6119ab3ce0b685e67a8b57871e0a2c26"><div class="ttname"><a href="classOdometryBase.html#a6119ab3ce0b685e67a8b57871e0a2c26">OdometryBase::speed</a></div><div class="ttdeci">double speed</div><div class="ttdef"><b>Definition:</b> odometry_base.h:151</div></div>
-<div class="ttc" id="aclassOdometryBase_html_a6870aebb6e05dcd152d3295462f559c3"><div class="ttname"><a href="classOdometryBase.html#a6870aebb6e05dcd152d3295462f559c3">OdometryBase::current_pos</a></div><div class="ttdeci">position_t current_pos</div><div class="ttdef"><b>Definition:</b> odometry_base.h:149</div></div>
-<div class="ttc" id="aclassOdometryBase_html_a70ec71e9fb2e14f0a191a6bac927d36b"><div class="ttname"><a href="classOdometryBase.html#a70ec71e9fb2e14f0a191a6bac927d36b">OdometryBase::smallest_angle</a></div><div class="ttdeci">static double smallest_angle(double start_deg, double end_deg)</div><div class="ttdef"><b>Definition:</b> odometry_base.cpp:99</div></div>
-<div class="ttc" id="aclassOdometryBase_html_a7bd3fd09b3a6fa78af3a5ed5e25b8d74"><div class="ttname"><a href="classOdometryBase.html#a7bd3fd09b3a6fa78af3a5ed5e25b8d74">OdometryBase::zero_pos</a></div><div class="ttdeci">static constexpr position_t zero_pos</div><div class="ttdef"><b>Definition:</b> odometry_base.h:133</div></div>
-<div class="ttc" id="aclassOdometryBase_html_a88bb48858ca6ff8300a41e23482ec6f6"><div class="ttname"><a href="classOdometryBase.html#a88bb48858ca6ff8300a41e23482ec6f6">OdometryBase::mut</a></div><div class="ttdeci">vex::mutex mut</div><div class="ttdef"><b>Definition:</b> odometry_base.h:144</div></div>
-<div class="ttc" id="aclassOdometryBase_html_a8a248f027d3ff98cb2df2e3cd90e1f66"><div class="ttname"><a href="classOdometryBase.html#a8a248f027d3ff98cb2df2e3cd90e1f66">OdometryBase::pos_diff</a></div><div class="ttdeci">static double pos_diff(position_t start_pos, position_t end_pos)</div><div class="ttdef"><b>Definition:</b> odometry_base.cpp:78</div></div>
-<div class="ttc" id="aclassOdometryBase_html_a94c814dfb542dd891d84db7e74537249"><div class="ttname"><a href="classOdometryBase.html#a94c814dfb542dd891d84db7e74537249">OdometryBase::accel</a></div><div class="ttdeci">double accel</div><div class="ttdef"><b>Definition:</b> odometry_base.h:152</div></div>
-<div class="ttc" id="aclassOdometryBase_html_a96c7be68db7424ddbe3704770dd1889f"><div class="ttname"><a href="classOdometryBase.html#a96c7be68db7424ddbe3704770dd1889f">OdometryBase::get_speed</a></div><div class="ttdeci">double get_speed()</div><div class="ttdef"><b>Definition:</b> odometry_base.cpp:114</div></div>
-<div class="ttc" id="aclassOdometryBase_html_ab1f1a09cda37d799c82003b5284c6856"><div class="ttname"><a href="classOdometryBase.html#ab1f1a09cda37d799c82003b5284c6856">OdometryBase::rot_diff</a></div><div class="ttdeci">static double rot_diff(position_t pos1, position_t pos2)</div><div class="ttdef"><b>Definition:</b> odometry_base.cpp:89</div></div>
-<div class="ttc" id="aclassOdometryBase_html_ab65ccaa80d4bb0d0aa20e82b3b991436"><div class="ttname"><a href="classOdometryBase.html#ab65ccaa80d4bb0d0aa20e82b3b991436">OdometryBase::end_async</a></div><div class="ttdeci">void end_async()</div><div class="ttdef"><b>Definition:</b> odometry_base.cpp:40</div></div>
-<div class="ttc" id="aclassOdometryBase_html_ae5308f20a4dfef9594631010c7612dab"><div class="ttname"><a href="classOdometryBase.html#ae5308f20a4dfef9594631010c7612dab">OdometryBase::handle</a></div><div class="ttdeci">vex::task * handle</div><div class="ttdef"><b>Definition:</b> odometry_base.h:139</div></div>
-<div class="ttc" id="aclassOdometryBase_html_ae6e35ee98b4410f034cd37c0d2055a8d"><div class="ttname"><a href="classOdometryBase.html#ae6e35ee98b4410f034cd37c0d2055a8d">OdometryBase::end_task</a></div><div class="ttdeci">bool end_task</div><div class="ttdoc">end_task is true if we instruct the odometry thread to shut down</div><div class="ttdef"><b>Definition:</b> odometry_base.h:104</div></div>
-<div class="ttc" id="aclassOdometryBase_html_af30d97a35e9e9c4f9be0a81390e6c0f1"><div class="ttname"><a href="classOdometryBase.html#af30d97a35e9e9c4f9be0a81390e6c0f1">OdometryBase::get_angular_speed_deg</a></div><div class="ttdeci">double get_angular_speed_deg()</div><div class="ttdef"><b>Definition:</b> odometry_base.cpp:132</div></div>
-<div class="ttc" id="astructposition__t_html"><div class="ttname"><a href="structposition__t.html">position_t</a></div><div class="ttdef"><b>Definition:</b> odometry_base.h:14</div></div>
-<div class="ttc" id="astructposition__t_html_aa22df5aed859f41200d2213ad3f2cd45"><div class="ttname"><a href="structposition__t.html#aa22df5aed859f41200d2213ad3f2cd45">position_t::rot</a></div><div class="ttdeci">double rot</div><div class="ttdoc">rotation in the world</div><div class="ttdef"><b>Definition:</b> odometry_base.h:17</div></div>
-<div class="ttc" id="astructposition__t_html_aa554831febb89209dc5a2434e08265a8"><div class="ttname"><a href="structposition__t.html#aa554831febb89209dc5a2434e08265a8">position_t::x</a></div><div class="ttdeci">double x</div><div class="ttdoc">x position in the world</div><div class="ttdef"><b>Definition:</b> odometry_base.h:15</div></div>
-<div class="ttc" id="astructposition__t_html_af5fb9bd02cb51336477d5290fe32cec6"><div class="ttname"><a href="structposition__t.html#af5fb9bd02cb51336477d5290fe32cec6">position_t::y</a></div><div class="ttdeci">double y</div><div class="ttdoc">y position in the world</div><div class="ttdef"><b>Definition:</b> odometry_base.h:16</div></div>
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-<li class="navelem"><a class="el" href="dir_d44c64559bbebec7f509842c48db8b23.html">include</a></li><li class="navelem"><a class="el" href="dir_8e84b5daa2b3f33b7b3fb9ecedbe5637.html">subsystems</a></li><li class="navelem"><a class="el" href="dir_883d6c53cd62ec60a5d421a7bc1a2629.html">odometry</a></li>  </ul>
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-  <div class="headertitle"><div class="title">odometry_tank.h</div></div>
-</div><!--header-->
-<div class="contents">
-<div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno">    1</span><span class="preprocessor">#pragma once</span></div>
-<div class="line"><a id="l00002" name="l00002"></a><span class="lineno">    2</span> </div>
-<div class="line"><a id="l00003" name="l00003"></a><span class="lineno">    3</span><span class="preprocessor">#include &quot;../core/include/subsystems/odometry/odometry_base.h&quot;</span></div>
-<div class="line"><a id="l00004" name="l00004"></a><span class="lineno">    4</span><span class="preprocessor">#include &quot;../core/include/subsystems/custom_encoder.h&quot;</span></div>
-<div class="line"><a id="l00005" name="l00005"></a><span class="lineno">    5</span><span class="preprocessor">#include &quot;../core/include/utils/vector2d.h&quot;</span></div>
-<div class="line"><a id="l00006" name="l00006"></a><span class="lineno">    6</span><span class="preprocessor">#include &quot;../core/include/robot_specs.h&quot;</span></div>
-<div class="line"><a id="l00007" name="l00007"></a><span class="lineno">    7</span> </div>
-<div class="line"><a id="l00008" name="l00008"></a><span class="lineno">    8</span><span class="keyword">static</span> <span class="keywordtype">int</span> background_task(<span class="keywordtype">void</span>* odom_obj);</div>
-<div class="line"><a id="l00009" name="l00009"></a><span class="lineno">    9</span> </div>
-<div class="line"><a id="l00010" name="l00010"></a><span class="lineno">   10</span> </div>
-<div class="line"><a id="l00017" name="l00017"></a><span class="lineno"><a class="line" href="classOdometryTank.html">   17</a></span><span class="keyword">class </span><a class="code hl_class" href="classOdometryTank.html">OdometryTank</a> : <span class="keyword">public</span> <a class="code hl_class" href="classOdometryBase.html">OdometryBase</a></div>
-<div class="line"><a id="l00018" name="l00018"></a><span class="lineno">   18</span>{</div>
-<div class="line"><a id="l00019" name="l00019"></a><span class="lineno">   19</span><span class="keyword">public</span>:</div>
-<div class="line"><a id="l00028" name="l00028"></a><span class="lineno">   28</span>    <a class="code hl_class" href="classOdometryTank.html">OdometryTank</a>(vex::motor_group &amp;left_side, vex::motor_group &amp;right_side, <a class="code hl_struct" href="structrobot__specs__t.html">robot_specs_t</a> &amp;config, vex::inertial *imu=NULL, <span class="keywordtype">bool</span> is_async=<span class="keyword">true</span>);</div>
-<div class="line"><a id="l00029" name="l00029"></a><span class="lineno">   29</span> </div>
-<div class="line"><a id="l00039" name="l00039"></a><span class="lineno">   39</span>    <a class="code hl_class" href="classOdometryTank.html">OdometryTank</a>(<a class="code hl_class" href="classCustomEncoder.html">CustomEncoder</a> &amp;left_enc, <a class="code hl_class" href="classCustomEncoder.html">CustomEncoder</a> &amp;right_enc, <a class="code hl_struct" href="structrobot__specs__t.html">robot_specs_t</a> &amp;config, vex::inertial *imu=NULL, <span class="keywordtype">bool</span> is_async=<span class="keyword">true</span>);</div>
-<div class="line"><a id="l00040" name="l00040"></a><span class="lineno">   40</span> </div>
-<div class="line"><a id="l00045" name="l00045"></a><span class="lineno">   45</span>    <a class="code hl_struct" href="structposition__t.html">position_t</a> <a class="code hl_function" href="classOdometryTank.html#a02508433d771c661c89d14f204a61d13">update</a>() <span class="keyword">override</span>;</div>
-<div class="line"><a id="l00046" name="l00046"></a><span class="lineno">   46</span> </div>
-<div class="line"><a id="l00051" name="l00051"></a><span class="lineno">   51</span>    <span class="keywordtype">void</span> <a class="code hl_function" href="classOdometryTank.html#ad3b4bcf351767992e2383ab000645335">set_position</a>(<span class="keyword">const</span> <a class="code hl_struct" href="structposition__t.html">position_t</a> &amp;newpos=<a class="code hl_variable" href="classOdometryBase.html#a7bd3fd09b3a6fa78af3a5ed5e25b8d74">zero_pos</a>) <span class="keyword">override</span>;</div>
-<div class="line"><a id="l00052" name="l00052"></a><span class="lineno">   52</span> </div>
-<div class="line"><a id="l00053" name="l00053"></a><span class="lineno">   53</span>    </div>
-<div class="line"><a id="l00054" name="l00054"></a><span class="lineno">   54</span> </div>
-<div class="line"><a id="l00055" name="l00055"></a><span class="lineno">   55</span><span class="keyword">private</span>:</div>
-<div class="line"><a id="l00059" name="l00059"></a><span class="lineno">   59</span>    <span class="keyword">static</span> <a class="code hl_struct" href="structposition__t.html">position_t</a> calculate_new_pos(<a class="code hl_struct" href="structrobot__specs__t.html">robot_specs_t</a> &amp;config, <a class="code hl_struct" href="structposition__t.html">position_t</a> &amp;stored_info, <span class="keywordtype">double</span> lside_diff, <span class="keywordtype">double</span> rside_diff, <span class="keywordtype">double</span> angle_deg);</div>
-<div class="line"><a id="l00060" name="l00060"></a><span class="lineno">   60</span> </div>
-<div class="line"><a id="l00061" name="l00061"></a><span class="lineno">   61</span>    vex::motor_group *left_side, *right_side;</div>
-<div class="line"><a id="l00062" name="l00062"></a><span class="lineno">   62</span>    <a class="code hl_class" href="classCustomEncoder.html">CustomEncoder</a> *left_enc, *right_enc;</div>
-<div class="line"><a id="l00063" name="l00063"></a><span class="lineno">   63</span>    vex::inertial *imu;</div>
-<div class="line"><a id="l00064" name="l00064"></a><span class="lineno">   64</span>    <a class="code hl_struct" href="structrobot__specs__t.html">robot_specs_t</a> &amp;config;</div>
-<div class="line"><a id="l00065" name="l00065"></a><span class="lineno">   65</span> </div>
-<div class="line"><a id="l00066" name="l00066"></a><span class="lineno">   66</span>    <span class="keywordtype">double</span> rotation_offset = 0;</div>
-<div class="line"><a id="l00067" name="l00067"></a><span class="lineno">   67</span>    </div>
-<div class="line"><a id="l00068" name="l00068"></a><span class="lineno">   68</span>};</div>
-<div class="ttc" id="aclassCustomEncoder_html"><div class="ttname"><a href="classCustomEncoder.html">CustomEncoder</a></div><div class="ttdef"><b>Definition:</b> custom_encoder.h:9</div></div>
-<div class="ttc" id="aclassOdometryBase_html"><div class="ttname"><a href="classOdometryBase.html">OdometryBase</a></div><div class="ttdef"><b>Definition:</b> odometry_base.h:33</div></div>
-<div class="ttc" id="aclassOdometryBase_html_a7bd3fd09b3a6fa78af3a5ed5e25b8d74"><div class="ttname"><a href="classOdometryBase.html#a7bd3fd09b3a6fa78af3a5ed5e25b8d74">OdometryBase::zero_pos</a></div><div class="ttdeci">static constexpr position_t zero_pos</div><div class="ttdef"><b>Definition:</b> odometry_base.h:133</div></div>
-<div class="ttc" id="aclassOdometryTank_html"><div class="ttname"><a href="classOdometryTank.html">OdometryTank</a></div><div class="ttdef"><b>Definition:</b> odometry_tank.h:18</div></div>
-<div class="ttc" id="aclassOdometryTank_html_a02508433d771c661c89d14f204a61d13"><div class="ttname"><a href="classOdometryTank.html#a02508433d771c661c89d14f204a61d13">OdometryTank::update</a></div><div class="ttdeci">position_t update() override</div><div class="ttdef"><b>Definition:</b> odometry_tank.cpp:46</div></div>
-<div class="ttc" id="aclassOdometryTank_html_ad3b4bcf351767992e2383ab000645335"><div class="ttname"><a href="classOdometryTank.html#ad3b4bcf351767992e2383ab000645335">OdometryTank::set_position</a></div><div class="ttdeci">void set_position(const position_t &amp;newpos=zero_pos) override</div><div class="ttdef"><b>Definition:</b> odometry_tank.cpp:33</div></div>
-<div class="ttc" id="astructposition__t_html"><div class="ttname"><a href="structposition__t.html">position_t</a></div><div class="ttdef"><b>Definition:</b> odometry_base.h:14</div></div>
-<div class="ttc" id="astructrobot__specs__t_html"><div class="ttname"><a href="structrobot__specs__t.html">robot_specs_t</a></div><div class="ttdef"><b>Definition:</b> robot_specs.h:12</div></div>
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-</div><!--header-->
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-<div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno">    1</span><span class="preprocessor">#pragma once</span></div>
-<div class="line"><a id="l00002" name="l00002"></a><span class="lineno">    2</span> </div>
-<div class="line"><a id="l00003" name="l00003"></a><span class="lineno">    3</span><span class="preprocessor">#include &lt;cmath&gt;</span></div>
-<div class="line"><a id="l00004" name="l00004"></a><span class="lineno">    4</span><span class="preprocessor">#include &quot;vex.h&quot;</span></div>
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-<div class="line"><a id="l00007" name="l00007"></a><span class="lineno">    7</span><span class="keyword">using namespace </span>vex;</div>
-<div class="line"><a id="l00008" name="l00008"></a><span class="lineno">    8</span> </div>
-<div class="line"><a id="l00023" name="l00023"></a><span class="lineno"><a class="line" href="classPID.html">   23</a></span><span class="keyword">class </span><a class="code hl_class" href="classPID.html">PID</a> : <span class="keyword">public</span> <a class="code hl_class" href="classFeedback.html">Feedback</a></div>
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-<div class="line"><a id="l00040" name="l00040"></a><span class="lineno"><a class="line" href="structPID_1_1pid__config__t.html">   40</a></span>  <span class="keyword">struct </span><a class="code hl_struct" href="structPID_1_1pid__config__t.html">pid_config_t</a></div>
-<div class="line"><a id="l00041" name="l00041"></a><span class="lineno">   41</span>  {</div>
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-<div class="line"><a id="l00047" name="l00047"></a><span class="lineno"><a class="line" href="structPID_1_1pid__config__t.html#ad2f96f58fba854b7e4329175497d1869">   47</a></span>    <a class="code hl_enumeration" href="classPID.html#a259eb7bfd0750c7afd4a058c5d1c58a1">ERROR_TYPE</a> <a class="code hl_variable" href="structPID_1_1pid__config__t.html#ad2f96f58fba854b7e4329175497d1869">error_method</a>; </div>
-<div class="line"><a id="l00048" name="l00048"></a><span class="lineno">   48</span>  };</div>
-<div class="line"><a id="l00049" name="l00049"></a><span class="lineno">   49</span> </div>
-<div class="line"><a id="l00050" name="l00050"></a><span class="lineno">   50</span>  </div>
-<div class="line"><a id="l00051" name="l00051"></a><span class="lineno">   51</span> </div>
-<div class="line"><a id="l00056" name="l00056"></a><span class="lineno">   56</span>  <a class="code hl_class" href="classPID.html">PID</a>(<a class="code hl_struct" href="structPID_1_1pid__config__t.html">pid_config_t</a> &amp;<a class="code hl_variable" href="classPID.html#a67626fa764b201c7190ace37e068666b">config</a>);</div>
-<div class="line"><a id="l00057" name="l00057"></a><span class="lineno">   57</span> </div>
-<div class="line"><a id="l00058" name="l00058"></a><span class="lineno">   58</span> </div>
-<div class="line"><a id="l00067" name="l00067"></a><span class="lineno">   67</span>  <span class="keywordtype">void</span> <a class="code hl_function" href="classPID.html#aab0f3b4351cc4ee2b8bb366105e85e95">init</a>(<span class="keywordtype">double</span> start_pt, <span class="keywordtype">double</span> set_pt) <span class="keyword">override</span>;</div>
-<div class="line"><a id="l00068" name="l00068"></a><span class="lineno">   68</span> </div>
-<div class="line"><a id="l00075" name="l00075"></a><span class="lineno">   75</span>  <span class="keywordtype">double</span> <a class="code hl_function" href="classPID.html#a53b5c34ba5e81fb79ed4258a143015b9">update</a>(<span class="keywordtype">double</span> sensor_val) <span class="keyword">override</span>;</div>
-<div class="line"><a id="l00076" name="l00076"></a><span class="lineno">   76</span> </div>
-<div class="line"><a id="l00081" name="l00081"></a><span class="lineno">   81</span>  <span class="keywordtype">double</span> <a class="code hl_function" href="classPID.html#a69c2e66b8ff06c86ca9701d11e21da75">get</a>() <span class="keyword">override</span>;</div>
-<div class="line"><a id="l00082" name="l00082"></a><span class="lineno">   82</span> </div>
-<div class="line"><a id="l00089" name="l00089"></a><span class="lineno">   89</span>  <span class="keywordtype">void</span> <a class="code hl_function" href="classPID.html#a8411ac48e8868d89e97afcf8990cca2c">set_limits</a>(<span class="keywordtype">double</span> lower, <span class="keywordtype">double</span> upper) <span class="keyword">override</span>;</div>
-<div class="line"><a id="l00090" name="l00090"></a><span class="lineno">   90</span> </div>
-<div class="line"><a id="l00095" name="l00095"></a><span class="lineno">   95</span>  <span class="keywordtype">bool</span> <a class="code hl_function" href="classPID.html#a9de884c31570c4ae0dc6e24eb26daa43">is_on_target</a>() <span class="keyword">override</span>;</div>
-<div class="line"><a id="l00096" name="l00096"></a><span class="lineno">   96</span> </div>
-<div class="line"><a id="l00100" name="l00100"></a><span class="lineno">  100</span>  <span class="keywordtype">void</span> <a class="code hl_function" href="classPID.html#af9677e76cb1beffbcf3f54cbc627c530">reset</a>();</div>
-<div class="line"><a id="l00101" name="l00101"></a><span class="lineno">  101</span> </div>
-<div class="line"><a id="l00106" name="l00106"></a><span class="lineno">  106</span>  <span class="keywordtype">double</span> <a class="code hl_function" href="classPID.html#ab5cdb296dbcce80703a9a98b9605c500">get_error</a>();</div>
-<div class="line"><a id="l00107" name="l00107"></a><span class="lineno">  107</span> </div>
-<div class="line"><a id="l00112" name="l00112"></a><span class="lineno">  112</span>  <span class="keywordtype">double</span> <a class="code hl_function" href="classPID.html#a1cd58cedeccc45b67551e331ee547be9">get_target</a>();</div>
-<div class="line"><a id="l00113" name="l00113"></a><span class="lineno">  113</span> </div>
-<div class="line"><a id="l00118" name="l00118"></a><span class="lineno">  118</span>  <span class="keywordtype">void</span> <a class="code hl_function" href="classPID.html#a2e301ab123c9e18e677b4873b03550dd">set_target</a>(<span class="keywordtype">double</span> target);</div>
-<div class="line"><a id="l00119" name="l00119"></a><span class="lineno">  119</span> </div>
-<div class="line"><a id="l00120" name="l00120"></a><span class="lineno">  120</span>  Feedback::FeedbackType get_type() <span class="keyword">override</span>;</div>
-<div class="line"><a id="l00121" name="l00121"></a><span class="lineno">  121</span> </div>
-<div class="line"><a id="l00122" name="l00122"></a><span class="lineno"><a class="line" href="classPID.html#a67626fa764b201c7190ace37e068666b">  122</a></span>  <a class="code hl_struct" href="structPID_1_1pid__config__t.html">pid_config_t</a> &amp;<a class="code hl_variable" href="classPID.html#a67626fa764b201c7190ace37e068666b">config</a>; </div>
-<div class="line"><a id="l00123" name="l00123"></a><span class="lineno">  123</span> </div>
-<div class="line"><a id="l00124" name="l00124"></a><span class="lineno">  124</span><span class="keyword">private</span>:</div>
-<div class="line"><a id="l00125" name="l00125"></a><span class="lineno">  125</span> </div>
-<div class="line"><a id="l00126" name="l00126"></a><span class="lineno">  126</span> </div>
-<div class="line"><a id="l00127" name="l00127"></a><span class="lineno">  127</span>  <span class="keywordtype">double</span> last_error = 0;  </div>
-<div class="line"><a id="l00128" name="l00128"></a><span class="lineno">  128</span>  <span class="keywordtype">double</span> accum_error = 0; </div>
-<div class="line"><a id="l00129" name="l00129"></a><span class="lineno">  129</span>  </div>
-<div class="line"><a id="l00130" name="l00130"></a><span class="lineno">  130</span>  <span class="keywordtype">double</span> last_time = 0; </div>
-<div class="line"><a id="l00131" name="l00131"></a><span class="lineno">  131</span>  <span class="keywordtype">double</span> on_target_last_time = 0; </div>
-<div class="line"><a id="l00132" name="l00132"></a><span class="lineno">  132</span>  </div>
-<div class="line"><a id="l00133" name="l00133"></a><span class="lineno">  133</span>  <span class="keywordtype">double</span> lower_limit = 0; </div>
-<div class="line"><a id="l00134" name="l00134"></a><span class="lineno">  134</span>  <span class="keywordtype">double</span> upper_limit = 0; </div>
-<div class="line"><a id="l00135" name="l00135"></a><span class="lineno">  135</span> </div>
-<div class="line"><a id="l00136" name="l00136"></a><span class="lineno">  136</span>  <span class="keywordtype">double</span> target = 0; </div>
-<div class="line"><a id="l00137" name="l00137"></a><span class="lineno">  137</span>  <span class="keywordtype">double</span> sensor_val = 0; </div>
-<div class="line"><a id="l00138" name="l00138"></a><span class="lineno">  138</span>  <span class="keywordtype">double</span> out = 0; </div>
-<div class="line"><a id="l00139" name="l00139"></a><span class="lineno">  139</span> </div>
-<div class="line"><a id="l00140" name="l00140"></a><span class="lineno">  140</span>  <span class="keywordtype">bool</span> is_checking_on_target = <span class="keyword">false</span>; </div>
-<div class="line"><a id="l00141" name="l00141"></a><span class="lineno">  141</span> </div>
-<div class="line"><a id="l00142" name="l00142"></a><span class="lineno">  142</span>  timer pid_timer; </div>
-<div class="line"><a id="l00143" name="l00143"></a><span class="lineno">  143</span>};</div>
-<div class="ttc" id="aclassFeedback_html"><div class="ttname"><a href="classFeedback.html">Feedback</a></div><div class="ttdef"><b>Definition:</b> feedback_base.h:11</div></div>
-<div class="ttc" id="aclassPID_html"><div class="ttname"><a href="classPID.html">PID</a></div><div class="ttdef"><b>Definition:</b> pid.h:24</div></div>
-<div class="ttc" id="aclassPID_html_a1cd58cedeccc45b67551e331ee547be9"><div class="ttname"><a href="classPID.html#a1cd58cedeccc45b67551e331ee547be9">PID::get_target</a></div><div class="ttdeci">double get_target()</div><div class="ttdef"><b>Definition:</b> pid.cpp:97</div></div>
-<div class="ttc" id="aclassPID_html_a259eb7bfd0750c7afd4a058c5d1c58a1"><div class="ttname"><a href="classPID.html#a259eb7bfd0750c7afd4a058c5d1c58a1">PID::ERROR_TYPE</a></div><div class="ttdeci">ERROR_TYPE</div><div class="ttdef"><b>Definition:</b> pid.h:29</div></div>
-<div class="ttc" id="aclassPID_html_a2e301ab123c9e18e677b4873b03550dd"><div class="ttname"><a href="classPID.html#a2e301ab123c9e18e677b4873b03550dd">PID::set_target</a></div><div class="ttdeci">void set_target(double target)</div><div class="ttdef"><b>Definition:</b> pid.cpp:105</div></div>
-<div class="ttc" id="aclassPID_html_a53b5c34ba5e81fb79ed4258a143015b9"><div class="ttname"><a href="classPID.html#a53b5c34ba5e81fb79ed4258a143015b9">PID::update</a></div><div class="ttdeci">double update(double sensor_val) override</div><div class="ttdef"><b>Definition:</b> pid.cpp:25</div></div>
-<div class="ttc" id="aclassPID_html_a67626fa764b201c7190ace37e068666b"><div class="ttname"><a href="classPID.html#a67626fa764b201c7190ace37e068666b">PID::config</a></div><div class="ttdeci">pid_config_t &amp; config</div><div class="ttdoc">configuration struct for this controller. see pid_config_t for information about what this contains</div><div class="ttdef"><b>Definition:</b> pid.h:122</div></div>
-<div class="ttc" id="aclassPID_html_a69c2e66b8ff06c86ca9701d11e21da75"><div class="ttname"><a href="classPID.html#a69c2e66b8ff06c86ca9701d11e21da75">PID::get</a></div><div class="ttdeci">double get() override</div><div class="ttdef"><b>Definition:</b> pid.cpp:81</div></div>
-<div class="ttc" id="aclassPID_html_a8411ac48e8868d89e97afcf8990cca2c"><div class="ttname"><a href="classPID.html#a8411ac48e8868d89e97afcf8990cca2c">PID::set_limits</a></div><div class="ttdeci">void set_limits(double lower, double upper) override</div><div class="ttdef"><b>Definition:</b> pid.cpp:114</div></div>
-<div class="ttc" id="aclassPID_html_a9de884c31570c4ae0dc6e24eb26daa43"><div class="ttname"><a href="classPID.html#a9de884c31570c4ae0dc6e24eb26daa43">PID::is_on_target</a></div><div class="ttdeci">bool is_on_target() override</div><div class="ttdef"><b>Definition:</b> pid.cpp:124</div></div>
-<div class="ttc" id="aclassPID_html_aab0f3b4351cc4ee2b8bb366105e85e95"><div class="ttname"><a href="classPID.html#aab0f3b4351cc4ee2b8bb366105e85e95">PID::init</a></div><div class="ttdeci">void init(double start_pt, double set_pt) override</div><div class="ttdef"><b>Definition:</b> pid.cpp:13</div></div>
-<div class="ttc" id="aclassPID_html_ab5cdb296dbcce80703a9a98b9605c500"><div class="ttname"><a href="classPID.html#ab5cdb296dbcce80703a9a98b9605c500">PID::get_error</a></div><div class="ttdeci">double get_error()</div><div class="ttdef"><b>Definition:</b> pid.cpp:89</div></div>
-<div class="ttc" id="aclassPID_html_af9677e76cb1beffbcf3f54cbc627c530"><div class="ttname"><a href="classPID.html#af9677e76cb1beffbcf3f54cbc627c530">PID::reset</a></div><div class="ttdeci">void reset()</div><div class="ttdef"><b>Definition:</b> pid.cpp:66</div></div>
-<div class="ttc" id="astructPID_1_1pid__config__t_html"><div class="ttname"><a href="structPID_1_1pid__config__t.html">PID::pid_config_t</a></div><div class="ttdef"><b>Definition:</b> pid.h:41</div></div>
-<div class="ttc" id="astructPID_1_1pid__config__t_html_a14212579cfa1827b6cc04388c6b3626e"><div class="ttname"><a href="structPID_1_1pid__config__t.html#a14212579cfa1827b6cc04388c6b3626e">PID::pid_config_t::on_target_time</a></div><div class="ttdeci">double on_target_time</div><div class="ttdoc">the time in seconds that we have to be on target for to say we are officially at the target</div><div class="ttdef"><b>Definition:</b> pid.h:46</div></div>
-<div class="ttc" id="astructPID_1_1pid__config__t_html_a1bb8ecda3f982ea983cd9f49b3d6706a"><div class="ttname"><a href="structPID_1_1pid__config__t.html#a1bb8ecda3f982ea983cd9f49b3d6706a">PID::pid_config_t::d</a></div><div class="ttdeci">double d</div><div class="ttdoc">derivitave coeffecient d * derivative(error)</div><div class="ttdef"><b>Definition:</b> pid.h:44</div></div>
-<div class="ttc" id="astructPID_1_1pid__config__t_html_a27290957ad115f4502f765ff292e3a23"><div class="ttname"><a href="structPID_1_1pid__config__t.html#a27290957ad115f4502f765ff292e3a23">PID::pid_config_t::p</a></div><div class="ttdeci">double p</div><div class="ttdoc">proportional coeffecient p * error()</div><div class="ttdef"><b>Definition:</b> pid.h:42</div></div>
-<div class="ttc" id="astructPID_1_1pid__config__t_html_a4140c6884d1dc86366520a2543e654b3"><div class="ttname"><a href="structPID_1_1pid__config__t.html#a4140c6884d1dc86366520a2543e654b3">PID::pid_config_t::i</a></div><div class="ttdeci">double i</div><div class="ttdoc">integral coeffecient i * integral(error)</div><div class="ttdef"><b>Definition:</b> pid.h:43</div></div>
-<div class="ttc" id="astructPID_1_1pid__config__t_html_a5fe836f65a951c00113996d32101172a"><div class="ttname"><a href="structPID_1_1pid__config__t.html#a5fe836f65a951c00113996d32101172a">PID::pid_config_t::deadband</a></div><div class="ttdeci">double deadband</div><div class="ttdoc">at what threshold are we close enough to be finished</div><div class="ttdef"><b>Definition:</b> pid.h:45</div></div>
-<div class="ttc" id="astructPID_1_1pid__config__t_html_ad2f96f58fba854b7e4329175497d1869"><div class="ttname"><a href="structPID_1_1pid__config__t.html#ad2f96f58fba854b7e4329175497d1869">PID::pid_config_t::error_method</a></div><div class="ttdeci">ERROR_TYPE error_method</div><div class="ttdoc">Linear or angular. wheter to do error as a simple subtraction or to wrap.</div><div class="ttdef"><b>Definition:</b> pid.h:47</div></div>
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-<div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno">    1</span><span class="preprocessor">#pragma once</span></div>
-<div class="line"><a id="l00002" name="l00002"></a><span class="lineno">    2</span><span class="preprocessor">#include &quot;../core/include/utils/feedback_base.h&quot;</span></div>
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-<div class="line"><a id="l00005" name="l00005"></a><span class="lineno">    5</span> </div>
-<div class="line"><a id="l00006" name="l00006"></a><span class="lineno"><a class="line" href="classPIDFF.html">    6</a></span><span class="keyword">class </span><a class="code hl_class" href="classPIDFF.html">PIDFF</a> : <span class="keyword">public</span> <a class="code hl_class" href="classFeedback.html">Feedback</a></div>
-<div class="line"><a id="l00007" name="l00007"></a><span class="lineno">    7</span>{</div>
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-<div class="line"><a id="l00010" name="l00010"></a><span class="lineno">   10</span>    <a class="code hl_class" href="classPIDFF.html">PIDFF</a>(<a class="code hl_struct" href="structPID_1_1pid__config__t.html">PID::pid_config_t</a> &amp;pid_cfg, <a class="code hl_struct" href="structFeedForward_1_1ff__config__t.html">FeedForward::ff_config_t</a> &amp;ff_cfg);</div>
-<div class="line"><a id="l00011" name="l00011"></a><span class="lineno">   11</span> </div>
-<div class="line"><a id="l00018" name="l00018"></a><span class="lineno">   18</span>    <span class="keywordtype">void</span> <a class="code hl_function" href="classPIDFF.html#a37226c8d3bfac97485b28105a15f29fc">init</a>(<span class="keywordtype">double</span> start_pt, <span class="keywordtype">double</span> set_pt) <span class="keyword">override</span>;</div>
-<div class="line"><a id="l00019" name="l00019"></a><span class="lineno">   19</span> </div>
-<div class="line"><a id="l00024" name="l00024"></a><span class="lineno">   24</span>    <span class="keywordtype">void</span> <a class="code hl_function" href="classPIDFF.html#a5b5584e4ca036b0e51c693a24a23b50b">set_target</a>(<span class="keywordtype">double</span> set_pt);</div>
-<div class="line"><a id="l00025" name="l00025"></a><span class="lineno">   25</span> </div>
-<div class="line"><a id="l00033" name="l00033"></a><span class="lineno">   33</span>    <span class="keywordtype">double</span> <a class="code hl_function" href="classPIDFF.html#a9a9b05ec43e4430019652b62799e761c">update</a>(<span class="keywordtype">double</span> val) <span class="keyword">override</span>;</div>
-<div class="line"><a id="l00034" name="l00034"></a><span class="lineno">   34</span> </div>
-<div class="line"><a id="l00043" name="l00043"></a><span class="lineno">   43</span>    <span class="keywordtype">double</span> <a class="code hl_function" href="classPIDFF.html#a9a9b05ec43e4430019652b62799e761c">update</a>(<span class="keywordtype">double</span> val, <span class="keywordtype">double</span> vel_setpt, <span class="keywordtype">double</span> a_setpt=0);</div>
-<div class="line"><a id="l00044" name="l00044"></a><span class="lineno">   44</span> </div>
-<div class="line"><a id="l00048" name="l00048"></a><span class="lineno">   48</span>    <span class="keywordtype">double</span> <a class="code hl_function" href="classPIDFF.html#a78a34d271bcc703fc803e15b275fd238">get</a>() <span class="keyword">override</span>;</div>
-<div class="line"><a id="l00049" name="l00049"></a><span class="lineno">   49</span> </div>
-<div class="line"><a id="l00056" name="l00056"></a><span class="lineno">   56</span>    <span class="keywordtype">void</span> <a class="code hl_function" href="classPIDFF.html#ae0dccb27a91ec687f90c930441f246bb">set_limits</a>(<span class="keywordtype">double</span> lower, <span class="keywordtype">double</span> upper) <span class="keyword">override</span>;</div>
-<div class="line"><a id="l00057" name="l00057"></a><span class="lineno">   57</span> </div>
-<div class="line"><a id="l00061" name="l00061"></a><span class="lineno">   61</span>    <span class="keywordtype">bool</span> <a class="code hl_function" href="classPIDFF.html#a2534a33490570d839bf1849673a70bc1">is_on_target</a>() <span class="keyword">override</span>;</div>
-<div class="line"><a id="l00062" name="l00062"></a><span class="lineno">   62</span> </div>
-<div class="line"><a id="l00063" name="l00063"></a><span class="lineno">   63</span>    <a class="code hl_class" href="classPID.html">PID</a> pid;</div>
-<div class="line"><a id="l00064" name="l00064"></a><span class="lineno">   64</span> </div>
-<div class="line"><a id="l00065" name="l00065"></a><span class="lineno">   65</span> </div>
-<div class="line"><a id="l00066" name="l00066"></a><span class="lineno">   66</span>    <span class="keyword">private</span>:</div>
-<div class="line"><a id="l00067" name="l00067"></a><span class="lineno">   67</span> </div>
-<div class="line"><a id="l00068" name="l00068"></a><span class="lineno">   68</span>    <a class="code hl_struct" href="structFeedForward_1_1ff__config__t.html">FeedForward::ff_config_t</a> &amp;ff_cfg;</div>
-<div class="line"><a id="l00069" name="l00069"></a><span class="lineno">   69</span> </div>
-<div class="line"><a id="l00070" name="l00070"></a><span class="lineno">   70</span>    <a class="code hl_class" href="classFeedForward.html">FeedForward</a> ff;</div>
-<div class="line"><a id="l00071" name="l00071"></a><span class="lineno">   71</span> </div>
-<div class="line"><a id="l00072" name="l00072"></a><span class="lineno">   72</span>    <span class="keywordtype">double</span> out;</div>
-<div class="line"><a id="l00073" name="l00073"></a><span class="lineno">   73</span>    <span class="keywordtype">double</span> lower_lim, upper_lim;</div>
-<div class="line"><a id="l00074" name="l00074"></a><span class="lineno">   74</span> </div>
-<div class="line"><a id="l00075" name="l00075"></a><span class="lineno">   75</span>};</div>
-<div class="ttc" id="aclassFeedForward_html"><div class="ttname"><a href="classFeedForward.html">FeedForward</a></div><div class="ttdef"><b>Definition:</b> feedforward.h:30</div></div>
-<div class="ttc" id="aclassFeedback_html"><div class="ttname"><a href="classFeedback.html">Feedback</a></div><div class="ttdef"><b>Definition:</b> feedback_base.h:11</div></div>
-<div class="ttc" id="aclassPIDFF_html"><div class="ttname"><a href="classPIDFF.html">PIDFF</a></div><div class="ttdef"><b>Definition:</b> pidff.h:7</div></div>
-<div class="ttc" id="aclassPIDFF_html_a2534a33490570d839bf1849673a70bc1"><div class="ttname"><a href="classPIDFF.html#a2534a33490570d839bf1849673a70bc1">PIDFF::is_on_target</a></div><div class="ttdeci">bool is_on_target() override</div><div class="ttdef"><b>Definition:</b> pidff.cpp:84</div></div>
-<div class="ttc" id="aclassPIDFF_html_a37226c8d3bfac97485b28105a15f29fc"><div class="ttname"><a href="classPIDFF.html#a37226c8d3bfac97485b28105a15f29fc">PIDFF::init</a></div><div class="ttdeci">void init(double start_pt, double set_pt) override</div><div class="ttdef"><b>Definition:</b> pidff.cpp:17</div></div>
-<div class="ttc" id="aclassPIDFF_html_a5b5584e4ca036b0e51c693a24a23b50b"><div class="ttname"><a href="classPIDFF.html#a5b5584e4ca036b0e51c693a24a23b50b">PIDFF::set_target</a></div><div class="ttdeci">void set_target(double set_pt)</div><div class="ttdef"><b>Definition:</b> pidff.cpp:22</div></div>
-<div class="ttc" id="aclassPIDFF_html_a78a34d271bcc703fc803e15b275fd238"><div class="ttname"><a href="classPIDFF.html#a78a34d271bcc703fc803e15b275fd238">PIDFF::get</a></div><div class="ttdeci">double get() override</div><div class="ttdef"><b>Definition:</b> pidff.cpp:64</div></div>
-<div class="ttc" id="aclassPIDFF_html_a9a9b05ec43e4430019652b62799e761c"><div class="ttname"><a href="classPIDFF.html#a9a9b05ec43e4430019652b62799e761c">PIDFF::update</a></div><div class="ttdeci">double update(double val) override</div><div class="ttdef"><b>Definition:</b> pidff.cpp:34</div></div>
-<div class="ttc" id="aclassPIDFF_html_ae0dccb27a91ec687f90c930441f246bb"><div class="ttname"><a href="classPIDFF.html#ae0dccb27a91ec687f90c930441f246bb">PIDFF::set_limits</a></div><div class="ttdeci">void set_limits(double lower, double upper) override</div><div class="ttdef"><b>Definition:</b> pidff.cpp:75</div></div>
-<div class="ttc" id="aclassPID_html"><div class="ttname"><a href="classPID.html">PID</a></div><div class="ttdef"><b>Definition:</b> pid.h:24</div></div>
-<div class="ttc" id="astructFeedForward_1_1ff__config__t_html"><div class="ttname"><a href="structFeedForward_1_1ff__config__t.html">FeedForward::ff_config_t</a></div><div class="ttdef"><b>Definition:</b> feedforward.h:42</div></div>
-<div class="ttc" id="astructPID_1_1pid__config__t_html"><div class="ttname"><a href="structPID_1_1pid__config__t.html">PID::pid_config_t</a></div><div class="ttdef"><b>Definition:</b> pid.h:41</div></div>
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diff --git a/documentation/html/pure__pursuit_8h_source.html b/documentation/html/pure__pursuit_8h_source.html
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-  <div class="headertitle"><div class="title">pure_pursuit.h</div></div>
-</div><!--header-->
-<div class="contents">
-<div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno">    1</span><span class="preprocessor">#pragma once</span></div>
-<div class="line"><a id="l00002" name="l00002"></a><span class="lineno">    2</span> </div>
-<div class="line"><a id="l00003" name="l00003"></a><span class="lineno">    3</span><span class="preprocessor">#include &lt;vector&gt;</span></div>
-<div class="line"><a id="l00004" name="l00004"></a><span class="lineno">    4</span><span class="preprocessor">#include &quot;../core/include/utils/vector2d.h&quot;</span></div>
-<div class="line"><a id="l00005" name="l00005"></a><span class="lineno">    5</span><span class="preprocessor">#include &quot;vex.h&quot;</span></div>
-<div class="line"><a id="l00006" name="l00006"></a><span class="lineno">    6</span> </div>
-<div class="line"><a id="l00007" name="l00007"></a><span class="lineno">    7</span><span class="keyword">using namespace </span>vex;</div>
-<div class="line"><a id="l00008" name="l00008"></a><span class="lineno">    8</span> </div>
-<div class="line"><a id="l00009" name="l00009"></a><span class="lineno">    9</span><span class="keyword">namespace </span>PurePursuit {</div>
-<div class="line"><a id="l00014" name="l00014"></a><span class="lineno"><a class="line" href="structPurePursuit_1_1spline.html">   14</a></span>  <span class="keyword">struct </span><a class="code hl_struct" href="structPurePursuit_1_1spline.html">spline</a></div>
-<div class="line"><a id="l00015" name="l00015"></a><span class="lineno">   15</span>  {</div>
-<div class="line"><a id="l00016" name="l00016"></a><span class="lineno">   16</span>    <span class="keywordtype">double</span> a, b, c, d, x_start, x_end; </div>
-<div class="line"><a id="l00017" name="l00017"></a><span class="lineno">   17</span> </div>
-<div class="line"><a id="l00018" name="l00018"></a><span class="lineno">   18</span>    <span class="keywordtype">double</span> getY(<span class="keywordtype">double</span> x) {</div>
-<div class="line"><a id="l00019" name="l00019"></a><span class="lineno">   19</span>      <span class="keywordflow">return</span> a * pow((x - x_start), 3) + b * pow((x - x_start), 2) + c * (x - x_start) + d;</div>
-<div class="line"><a id="l00020" name="l00020"></a><span class="lineno">   20</span>    }</div>
-<div class="line"><a id="l00021" name="l00021"></a><span class="lineno">   21</span>  };</div>
-<div class="line"><a id="l00026" name="l00026"></a><span class="lineno"><a class="line" href="structPurePursuit_1_1hermite__point.html">   26</a></span>  <span class="keyword">struct </span><a class="code hl_struct" href="structPurePursuit_1_1hermite__point.html">hermite_point</a></div>
-<div class="line"><a id="l00027" name="l00027"></a><span class="lineno">   27</span>  {</div>
-<div class="line"><a id="l00028" name="l00028"></a><span class="lineno">   28</span>    <span class="keywordtype">double</span> x;</div>
-<div class="line"><a id="l00029" name="l00029"></a><span class="lineno">   29</span>    <span class="keywordtype">double</span> y;</div>
-<div class="line"><a id="l00030" name="l00030"></a><span class="lineno">   30</span>    <span class="keywordtype">double</span> dir;</div>
-<div class="line"><a id="l00031" name="l00031"></a><span class="lineno">   31</span>    <span class="keywordtype">double</span> mag;</div>
-<div class="line"><a id="l00032" name="l00032"></a><span class="lineno">   32</span> </div>
-<div class="line"><a id="l00033" name="l00033"></a><span class="lineno">   33</span>    <a class="code hl_struct" href="structVector2D_1_1point__t.html">Vector2D::point_t</a> getPoint() {</div>
-<div class="line"><a id="l00034" name="l00034"></a><span class="lineno">   34</span>      <span class="keywordflow">return</span> {x, y};</div>
-<div class="line"><a id="l00035" name="l00035"></a><span class="lineno">   35</span>    }</div>
-<div class="line"><a id="l00036" name="l00036"></a><span class="lineno">   36</span> </div>
-<div class="line"><a id="l00037" name="l00037"></a><span class="lineno">   37</span>    <a class="code hl_class" href="classVector2D.html">Vector2D</a> getTangent() {</div>
-<div class="line"><a id="l00038" name="l00038"></a><span class="lineno">   38</span>      <span class="keywordflow">return</span> <a class="code hl_class" href="classVector2D.html">Vector2D</a>(dir, mag);</div>
-<div class="line"><a id="l00039" name="l00039"></a><span class="lineno">   39</span>    }</div>
-<div class="line"><a id="l00040" name="l00040"></a><span class="lineno">   40</span>  };</div>
-<div class="line"><a id="l00041" name="l00041"></a><span class="lineno">   41</span> </div>
-<div class="line"><a id="l00046" name="l00046"></a><span class="lineno">   46</span>  <span class="keyword">static</span> std::vector&lt;Vector2D::point_t&gt; line_circle_intersections(<a class="code hl_struct" href="structVector2D_1_1point__t.html">Vector2D::point_t</a> center, <span class="keywordtype">double</span> r, <a class="code hl_struct" href="structVector2D_1_1point__t.html">Vector2D::point_t</a> point1, <a class="code hl_struct" href="structVector2D_1_1point__t.html">Vector2D::point_t</a> point2);</div>
-<div class="line"><a id="l00050" name="l00050"></a><span class="lineno">   50</span>  <span class="keyword">static</span> <a class="code hl_struct" href="structVector2D_1_1point__t.html">Vector2D::point_t</a> get_lookahead(std::vector&lt;Vector2D::point_t&gt; path, <a class="code hl_struct" href="structVector2D_1_1point__t.html">Vector2D::point_t</a> robot_loc, <span class="keywordtype">double</span> radius);</div>
-<div class="line"><a id="l00051" name="l00051"></a><span class="lineno">   51</span> </div>
-<div class="line"><a id="l00055" name="l00055"></a><span class="lineno">   55</span>  <span class="keyword">static</span> std::vector&lt;Vector2D::point_t&gt; inject_path(std::vector&lt;Vector2D::point_t&gt; path, <span class="keywordtype">double</span> spacing);</div>
-<div class="line"><a id="l00056" name="l00056"></a><span class="lineno">   56</span> </div>
-<div class="line"><a id="l00068" name="l00068"></a><span class="lineno">   68</span>  <span class="keyword">static</span> std::vector&lt;Vector2D::point_t&gt; smooth_path(std::vector&lt;Vector2D::point_t&gt; path, <span class="keywordtype">double</span> weight_data, <span class="keywordtype">double</span> weight_smooth, <span class="keywordtype">double</span> tolerance);</div>
-<div class="line"><a id="l00069" name="l00069"></a><span class="lineno">   69</span> </div>
-<div class="line"><a id="l00070" name="l00070"></a><span class="lineno">   70</span>  <span class="keyword">static</span> std::vector&lt;Vector2D::point_t&gt; smooth_path_cubic(std::vector&lt;Vector2D::point_t&gt; path, <span class="keywordtype">double</span> res);</div>
-<div class="line"><a id="l00071" name="l00071"></a><span class="lineno">   71</span> </div>
-<div class="line"><a id="l00080" name="l00080"></a><span class="lineno">   80</span>  <span class="keyword">static</span> std::vector&lt;Vector2D::point_t&gt; smooth_path_hermite(std::vector&lt;hermite_point&gt; path, <span class="keywordtype">double</span> step);</div>
-<div class="line"><a id="l00081" name="l00081"></a><span class="lineno">   81</span>}</div>
-<div class="ttc" id="aclassVector2D_html"><div class="ttname"><a href="classVector2D.html">Vector2D</a></div><div class="ttdef"><b>Definition:</b> vector2d.h:14</div></div>
-<div class="ttc" id="astructPurePursuit_1_1hermite__point_html"><div class="ttname"><a href="structPurePursuit_1_1hermite__point.html">PurePursuit::hermite_point</a></div><div class="ttdef"><b>Definition:</b> pure_pursuit.h:27</div></div>
-<div class="ttc" id="astructPurePursuit_1_1spline_html"><div class="ttname"><a href="structPurePursuit_1_1spline.html">PurePursuit::spline</a></div><div class="ttdef"><b>Definition:</b> pure_pursuit.h:15</div></div>
-<div class="ttc" id="astructVector2D_1_1point__t_html"><div class="ttname"><a href="structVector2D_1_1point__t.html">Vector2D::point_t</a></div><div class="ttdef"><b>Definition:</b> vector2d.h:21</div></div>
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diff --git a/documentation/html/robot__specs_8h_source.html b/documentation/html/robot__specs_8h_source.html
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-<div class="line"><a id="l00021" name="l00021"></a><span class="lineno"><a class="line" href="structrobot__specs__t.html#a828213e8d672431bd3bb87e6484db83f">   21</a></span>  <a class="code hl_class" href="classFeedback.html">Feedback</a> *<a class="code hl_variable" href="structrobot__specs__t.html#a828213e8d672431bd3bb87e6484db83f">drive_feedback</a>; </div>
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-<div class="line"><a id="l00023" name="l00023"></a><span class="lineno"><a class="line" href="structrobot__specs__t.html#a23d091e4a5258c11db6cd9753b598d06">   23</a></span>  <a class="code hl_struct" href="structPID_1_1pid__config__t.html">PID::pid_config_t</a> <a class="code hl_variable" href="structrobot__specs__t.html#a23d091e4a5258c11db6cd9753b598d06">correction_pid</a>; </div>
-<div class="line"><a id="l00024" name="l00024"></a><span class="lineno">   24</span> </div>
-<div class="line"><a id="l00025" name="l00025"></a><span class="lineno">   25</span>} <a class="code hl_struct" href="structrobot__specs__t.html">robot_specs_t</a>;</div>
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-<div class="ttc" id="astructPID_1_1pid__config__t_html"><div class="ttname"><a href="structPID_1_1pid__config__t.html">PID::pid_config_t</a></div><div class="ttdef"><b>Definition:</b> pid.h:41</div></div>
-<div class="ttc" id="astructrobot__specs__t_html"><div class="ttname"><a href="structrobot__specs__t.html">robot_specs_t</a></div><div class="ttdef"><b>Definition:</b> robot_specs.h:12</div></div>
-<div class="ttc" id="astructrobot__specs__t_html_a23d091e4a5258c11db6cd9753b598d06"><div class="ttname"><a href="structrobot__specs__t.html#a23d091e4a5258c11db6cd9753b598d06">robot_specs_t::correction_pid</a></div><div class="ttdeci">PID::pid_config_t correction_pid</div><div class="ttdoc">the pid controller to keep the robot driving in as straight a line as possible</div><div class="ttdef"><b>Definition:</b> robot_specs.h:23</div></div>
-<div class="ttc" id="astructrobot__specs__t_html_a37a65da54459d805cf1370cc6330bce0"><div class="ttname"><a href="structrobot__specs__t.html#a37a65da54459d805cf1370cc6330bce0">robot_specs_t::robot_radius</a></div><div class="ttdeci">double robot_radius</div><div class="ttdoc">if you were to draw a circle with this radius, the robot would be entirely contained within it</div><div class="ttdef"><b>Definition:</b> robot_specs.h:13</div></div>
-<div class="ttc" id="astructrobot__specs__t_html_a828213e8d672431bd3bb87e6484db83f"><div class="ttname"><a href="structrobot__specs__t.html#a828213e8d672431bd3bb87e6484db83f">robot_specs_t::drive_feedback</a></div><div class="ttdeci">Feedback * drive_feedback</div><div class="ttdoc">the default feedback for autonomous driving</div><div class="ttdef"><b>Definition:</b> robot_specs.h:21</div></div>
-<div class="ttc" id="astructrobot__specs__t_html_a8c454d8b38efdd15dfa6f075c40e4ec7"><div class="ttname"><a href="structrobot__specs__t.html#a8c454d8b38efdd15dfa6f075c40e4ec7">robot_specs_t::odom_gear_ratio</a></div><div class="ttdeci">double odom_gear_ratio</div><div class="ttdoc">the ratio of the odometry wheel to the encoder reading odometry data</div><div class="ttdef"><b>Definition:</b> robot_specs.h:16</div></div>
-<div class="ttc" id="astructrobot__specs__t_html_aa9fc95ea4c235f455b712ac0cf5aa536"><div class="ttname"><a href="structrobot__specs__t.html#aa9fc95ea4c235f455b712ac0cf5aa536">robot_specs_t::drive_correction_cutoff</a></div><div class="ttdeci">double drive_correction_cutoff</div><div class="ttdoc">the distance at which to stop trying to turn towards the target. If we are less than this value,...</div><div class="ttdef"><b>Definition:</b> robot_specs.h:19</div></div>
-<div class="ttc" id="astructrobot__specs__t_html_acf12b29aa6a86cc09b2ef868f9e77a31"><div class="ttname"><a href="structrobot__specs__t.html#acf12b29aa6a86cc09b2ef868f9e77a31">robot_specs_t::odom_wheel_diam</a></div><div class="ttdeci">double odom_wheel_diam</div><div class="ttdoc">the diameter of the wheels used for</div><div class="ttdef"><b>Definition:</b> robot_specs.h:15</div></div>
-<div class="ttc" id="astructrobot__specs__t_html_af8c8492ba755766847bb21b960b91bfe"><div class="ttname"><a href="structrobot__specs__t.html#af8c8492ba755766847bb21b960b91bfe">robot_specs_t::turn_feedback</a></div><div class="ttdeci">Feedback * turn_feedback</div><div class="ttdoc">the defualt feedback for autonomous turning</div><div class="ttdef"><b>Definition:</b> robot_specs.h:22</div></div>
-<div class="ttc" id="astructrobot__specs__t_html_afb03c2e2cbc0d8fd6686c9421e016dec"><div class="ttname"><a href="structrobot__specs__t.html#afb03c2e2cbc0d8fd6686c9421e016dec">robot_specs_t::dist_between_wheels</a></div><div class="ttdeci">double dist_between_wheels</div><div class="ttdoc">the distance between centers of the central drive wheels</div><div class="ttdef"><b>Definition:</b> robot_specs.h:17</div></div>
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diff --git a/documentation/html/search/mag_seld.svg b/documentation/html/search/mag_seld.svg
deleted file mode 100644
index 6e720dc..0000000
--- a/documentation/html/search/mag_seld.svg
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diff --git a/documentation/html/search/pages_0.js b/documentation/html/search/pages_0.js
deleted file mode 100644
index 1c7152d..0000000
--- a/documentation/html/search/pages_0.js
+++ /dev/null
@@ -1,4 +0,0 @@
-var searchData=
-[
-  ['core_0',['Core',['../md_README.html',1,'']]]
-];
diff --git a/documentation/html/search/search.css b/documentation/html/search/search.css
deleted file mode 100644
index 19f76f9..0000000
--- a/documentation/html/search/search.css
+++ /dev/null
@@ -1,291 +0,0 @@
-/*---------------- Search Box positioning */
-
-#main-menu > li:last-child {
-    /* This <li> object is the parent of the search bar */
-    display: flex;
-    justify-content: center;
-    align-items: center;
-    height: 36px;
-    margin-right: 1em;
-}
-
-/*---------------- Search box styling */
-
-.SRPage * {
-    font-weight: normal;
-    line-height: normal;
-}
-
-dark-mode-toggle {
-    margin-left: 5px;
-    display: flex;
-    float: right;
-}
-
-#MSearchBox {
-    display: inline-block;
-    white-space : nowrap;
-    background: var(--search-background-color);
-    border-radius: 0.65em;
-    box-shadow: var(--search-box-shadow);
-    z-index: 102;
-}
-
-#MSearchBox .left {
-    display: inline-block;
-    vertical-align: middle;
-    height: 1.4em;
-}
-
-#MSearchSelect {
-    display: inline-block;
-    vertical-align: middle;
-    width: 20px;
-    height: 19px;
-    background-image: var(--search-magnification-select-image);
-    margin: 0 0 0 0.3em;
-    padding: 0;
-}
-
-#MSearchSelectExt {
-    display: inline-block;
-    vertical-align: middle;
-    width: 10px;
-    height: 19px;
-    background-image: var(--search-magnification-image);
-    margin: 0 0 0 0.5em;
-    padding: 0;
-}
-
-
-#MSearchField {
-    display: inline-block;
-    vertical-align: middle;
-    width: 7.5em;
-    height: 19px;
-    margin: 0 0.15em;
-    padding: 0;
-    line-height: 1em;
-    border:none;
-    color: var(--search-foreground-color);
-    outline: none;
-    font-family: var(--font-family-search);
-    -webkit-border-radius: 0px;
-    border-radius: 0px;
-    background: none;
-}
-
-@media(hover: none) {
-    /* to avoid zooming on iOS */
-    #MSearchField {
-        font-size: 16px;
-    }
-}
-
-#MSearchBox .right {
-    display: inline-block;
-    vertical-align: middle;
-    width: 1.4em;
-    height: 1.4em;
-}
-
-#MSearchClose {
-    display: none;
-    font-size: inherit;
-    background : none;
-    border: none;
-    margin: 0;
-    padding: 0;
-    outline: none;
-
-}
-
-#MSearchCloseImg {
-    padding: 0.3em;
-    margin: 0;
-}
-
-.MSearchBoxActive #MSearchField {
-    color: var(--search-active-color);
-}
-
-
-
-/*---------------- Search filter selection */
-
-#MSearchSelectWindow {
-    display: none;
-    position: absolute;
-    left: 0; top: 0;
-    border: 1px solid var(--search-filter-border-color);
-    background-color: var(--search-filter-background-color);
-    z-index: 10001;
-    padding-top: 4px;
-    padding-bottom: 4px;
-    -moz-border-radius: 4px;
-    -webkit-border-top-left-radius: 4px;
-    -webkit-border-top-right-radius: 4px;
-    -webkit-border-bottom-left-radius: 4px;
-    -webkit-border-bottom-right-radius: 4px;
-    -webkit-box-shadow: 5px 5px 5px rgba(0, 0, 0, 0.15);
-}
-
-.SelectItem {
-    font: 8pt var(--font-family-search);
-    padding-left:  2px;
-    padding-right: 12px;
-    border: 0px;
-}
-
-span.SelectionMark {
-    margin-right: 4px;
-    font-family: var(--font-family-monospace);
-    outline-style: none;
-    text-decoration: none;
-}
-
-a.SelectItem {
-    display: block;
-    outline-style: none;
-    color: var(--search-filter-foreground-color);
-    text-decoration: none;
-    padding-left:   6px;
-    padding-right: 12px;
-}
-
-a.SelectItem:focus,
-a.SelectItem:active {
-    color: var(--search-filter-foreground-color);
-    outline-style: none;
-    text-decoration: none;
-}
-
-a.SelectItem:hover {
-    color: var(--search-filter-highlight-text-color);
-    background-color: var(--search-filter-highlight-bg-color);
-    outline-style: none;
-    text-decoration: none;
-    cursor: pointer;
-    display: block;
-}
-
-/*---------------- Search results window */
-
-iframe#MSearchResults {
-    /*width: 60ex;*/
-    height: 15em;
-}
-
-#MSearchResultsWindow {
-    display: none;
-    position: absolute;
-    left: 0; top: 0;
-    border: 1px solid var(--search-results-border-color);
-    background-color: var(--search-results-background-color);
-    z-index:10000;
-    width: 300px;
-    height: 400px;
-    overflow: auto;
-}
-
-/* ----------------------------------- */
-
-
-#SRIndex {
-    clear:both; 
-}
-
-.SREntry {
-    font-size: 10pt;
-    padding-left: 1ex;
-}
-
-.SRPage .SREntry {
-    font-size: 8pt;
-    padding: 1px 5px;
-}
-
-div.SRPage {
-    margin: 5px 2px;
-    background-color: var(--search-results-background-color);
-}
-
-.SRChildren {
-    padding-left: 3ex; padding-bottom: .5em 
-}
-
-.SRPage .SRChildren {
-    display: none;
-}
-
-.SRSymbol {
-    font-weight: bold;
-    color: var(--search-results-foreground-color);
-    font-family: var(--font-family-search);
-    text-decoration: none;
-    outline: none;
-}
-
-a.SRScope {
-    display: block;
-    color: var(--search-results-foreground-color);
-    font-family: var(--font-family-search);
-    font-size: 8pt;
-    text-decoration: none;
-    outline: none;
-}
-
-a.SRSymbol:focus, a.SRSymbol:active,
-a.SRScope:focus, a.SRScope:active {
-    text-decoration: underline;
-}
-
-span.SRScope {
-    padding-left: 4px;
-    font-family: var(--font-family-search);
-}
-
-.SRPage .SRStatus {
-    padding: 2px 5px;
-    font-size: 8pt;
-    font-style: italic;
-    font-family: var(--font-family-search);
-}
-
-.SRResult {
-    display: none;
-}
-
-div.searchresults {
-    margin-left: 10px;
-    margin-right: 10px;
-}
-
-/*---------------- External search page results */
-
-.pages b {
-   color: white;
-   padding: 5px 5px 3px 5px;
-   background-image: var(--nav-gradient-active-image-parent);
-   background-repeat: repeat-x;
-   text-shadow: 0 1px 1px #000000;
-}
-
-.pages {
-    line-height: 17px;
-    margin-left: 4px;
-    text-decoration: none;
-}
-
-.hl {
-    font-weight: bold;
-}
-
-#searchresults {
-    margin-bottom: 20px;
-}
-
-.searchpages {
-    margin-top: 10px;
-}
-
diff --git a/documentation/html/search/search.js b/documentation/html/search/search.js
deleted file mode 100644
index e103a26..0000000
--- a/documentation/html/search/search.js
+++ /dev/null
@@ -1,816 +0,0 @@
-/*
- @licstart  The following is the entire license notice for the JavaScript code in this file.
-
- The MIT License (MIT)
-
- Copyright (C) 1997-2020 by Dimitri van Heesch
-
- Permission is hereby granted, free of charge, to any person obtaining a copy of this software
- and associated documentation files (the "Software"), to deal in the Software without restriction,
- including without limitation the rights to use, copy, modify, merge, publish, distribute,
- sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is
- furnished to do so, subject to the following conditions:
-
- The above copyright notice and this permission notice shall be included in all copies or
- substantial portions of the Software.
-
- THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING
- BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
- NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
- DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
- OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
-
- @licend  The above is the entire license notice for the JavaScript code in this file
- */
-function convertToId(search)
-{
-  var result = '';
-  for (i=0;i<search.length;i++)
-  {
-    var c = search.charAt(i);
-    var cn = c.charCodeAt(0);
-    if (c.match(/[a-z0-9\u0080-\uFFFF]/))
-    {
-      result+=c;
-    }
-    else if (cn<16)
-    {
-      result+="_0"+cn.toString(16);
-    }
-    else
-    {
-      result+="_"+cn.toString(16);
-    }
-  }
-  return result;
-}
-
-function getXPos(item)
-{
-  var x = 0;
-  if (item.offsetWidth)
-  {
-    while (item && item!=document.body)
-    {
-      x   += item.offsetLeft;
-      item = item.offsetParent;
-    }
-  }
-  return x;
-}
-
-function getYPos(item)
-{
-  var y = 0;
-  if (item.offsetWidth)
-  {
-     while (item && item!=document.body)
-     {
-       y   += item.offsetTop;
-       item = item.offsetParent;
-     }
-  }
-  return y;
-}
-
-var searchResults = new SearchResults("searchResults");
-
-/* A class handling everything associated with the search panel.
-
-   Parameters:
-   name - The name of the global variable that will be
-          storing this instance.  Is needed to be able to set timeouts.
-   resultPath - path to use for external files
-*/
-function SearchBox(name, resultsPath, extension)
-{
-  if (!name || !resultsPath) {  alert("Missing parameters to SearchBox."); }
-  if (!extension || extension == "") { extension = ".html"; }
-
-  // ---------- Instance variables
-  this.name                  = name;
-  this.resultsPath           = resultsPath;
-  this.keyTimeout            = 0;
-  this.keyTimeoutLength      = 500;
-  this.closeSelectionTimeout = 300;
-  this.lastSearchValue       = "";
-  this.lastResultsPage       = "";
-  this.hideTimeout           = 0;
-  this.searchIndex           = 0;
-  this.searchActive          = false;
-  this.extension             = extension;
-
-  // ----------- DOM Elements
-
-  this.DOMSearchField = function()
-  {  return document.getElementById("MSearchField");  }
-
-  this.DOMSearchSelect = function()
-  {  return document.getElementById("MSearchSelect");  }
-
-  this.DOMSearchSelectWindow = function()
-  {  return document.getElementById("MSearchSelectWindow");  }
-
-  this.DOMPopupSearchResults = function()
-  {  return document.getElementById("MSearchResults");  }
-
-  this.DOMPopupSearchResultsWindow = function()
-  {  return document.getElementById("MSearchResultsWindow");  }
-
-  this.DOMSearchClose = function()
-  {  return document.getElementById("MSearchClose"); }
-
-  this.DOMSearchBox = function()
-  {  return document.getElementById("MSearchBox");  }
-
-  // ------------ Event Handlers
-
-  // Called when focus is added or removed from the search field.
-  this.OnSearchFieldFocus = function(isActive)
-  {
-    this.Activate(isActive);
-  }
-
-  this.OnSearchSelectShow = function()
-  {
-    var searchSelectWindow = this.DOMSearchSelectWindow();
-    var searchField        = this.DOMSearchSelect();
-
-    var left = getXPos(searchField);
-    var top  = getYPos(searchField);
-    top += searchField.offsetHeight;
-
-    // show search selection popup
-    searchSelectWindow.style.display='block';
-    searchSelectWindow.style.left =  left + 'px';
-    searchSelectWindow.style.top  =  top  + 'px';
-
-    // stop selection hide timer
-    if (this.hideTimeout)
-    {
-      clearTimeout(this.hideTimeout);
-      this.hideTimeout=0;
-    }
-    return false; // to avoid "image drag" default event
-  }
-
-  this.OnSearchSelectHide = function()
-  {
-    this.hideTimeout = setTimeout(this.name +".CloseSelectionWindow()",
-                                  this.closeSelectionTimeout);
-  }
-
-  // Called when the content of the search field is changed.
-  this.OnSearchFieldChange = function(evt)
-  {
-    if (this.keyTimeout) // kill running timer
-    {
-      clearTimeout(this.keyTimeout);
-      this.keyTimeout = 0;
-    }
-
-    var e  = (evt) ? evt : window.event; // for IE
-    if (e.keyCode==40 || e.keyCode==13)
-    {
-      if (e.shiftKey==1)
-      {
-        this.OnSearchSelectShow();
-        var win=this.DOMSearchSelectWindow();
-        for (i=0;i<win.childNodes.length;i++)
-        {
-          var child = win.childNodes[i]; // get span within a
-          if (child.className=='SelectItem')
-          {
-            child.focus();
-            return;
-          }
-        }
-        return;
-      }
-      else
-      {
-        var elem = searchResults.NavNext(0);
-        if (elem) elem.focus();
-      }
-    }
-    else if (e.keyCode==27) // Escape out of the search field
-    {
-      this.DOMSearchField().blur();
-      this.DOMPopupSearchResultsWindow().style.display = 'none';
-      this.DOMSearchClose().style.display = 'none';
-      this.lastSearchValue = '';
-      this.Activate(false);
-      return;
-    }
-
-    // strip whitespaces
-    var searchValue = this.DOMSearchField().value.replace(/ +/g, "");
-
-    if (searchValue != this.lastSearchValue) // search value has changed
-    {
-      if (searchValue != "") // non-empty search
-      {
-        // set timer for search update
-        this.keyTimeout = setTimeout(this.name + '.Search()',
-                                     this.keyTimeoutLength);
-      }
-      else // empty search field
-      {
-        this.DOMPopupSearchResultsWindow().style.display = 'none';
-        this.DOMSearchClose().style.display = 'none';
-        this.lastSearchValue = '';
-      }
-    }
-  }
-
-  this.SelectItemCount = function(id)
-  {
-    var count=0;
-    var win=this.DOMSearchSelectWindow();
-    for (i=0;i<win.childNodes.length;i++)
-    {
-      var child = win.childNodes[i]; // get span within a
-      if (child.className=='SelectItem')
-      {
-        count++;
-      }
-    }
-    return count;
-  }
-
-  this.SelectItemSet = function(id)
-  {
-    var i,j=0;
-    var win=this.DOMSearchSelectWindow();
-    for (i=0;i<win.childNodes.length;i++)
-    {
-      var child = win.childNodes[i]; // get span within a
-      if (child.className=='SelectItem')
-      {
-        var node = child.firstChild;
-        if (j==id)
-        {
-          node.innerHTML='&#8226;';
-        }
-        else
-        {
-          node.innerHTML='&#160;';
-        }
-        j++;
-      }
-    }
-  }
-
-  // Called when an search filter selection is made.
-  // set item with index id as the active item
-  this.OnSelectItem = function(id)
-  {
-    this.searchIndex = id;
-    this.SelectItemSet(id);
-    var searchValue = this.DOMSearchField().value.replace(/ +/g, "");
-    if (searchValue!="" && this.searchActive) // something was found -> do a search
-    {
-      this.Search();
-    }
-  }
-
-  this.OnSearchSelectKey = function(evt)
-  {
-    var e = (evt) ? evt : window.event; // for IE
-    if (e.keyCode==40 && this.searchIndex<this.SelectItemCount()) // Down
-    {
-      this.searchIndex++;
-      this.OnSelectItem(this.searchIndex);
-    }
-    else if (e.keyCode==38 && this.searchIndex>0) // Up
-    {
-      this.searchIndex--;
-      this.OnSelectItem(this.searchIndex);
-    }
-    else if (e.keyCode==13 || e.keyCode==27)
-    {
-      this.OnSelectItem(this.searchIndex);
-      this.CloseSelectionWindow();
-      this.DOMSearchField().focus();
-    }
-    return false;
-  }
-
-  // --------- Actions
-
-  // Closes the results window.
-  this.CloseResultsWindow = function()
-  {
-    this.DOMPopupSearchResultsWindow().style.display = 'none';
-    this.DOMSearchClose().style.display = 'none';
-    this.Activate(false);
-  }
-
-  this.CloseSelectionWindow = function()
-  {
-    this.DOMSearchSelectWindow().style.display = 'none';
-  }
-
-  // Performs a search.
-  this.Search = function()
-  {
-    this.keyTimeout = 0;
-
-    // strip leading whitespace
-    var searchValue = this.DOMSearchField().value.replace(/^ +/, "");
-
-    var code = searchValue.toLowerCase().charCodeAt(0);
-    var idxChar = searchValue.substr(0, 1).toLowerCase();
-    if ( 0xD800 <= code && code <= 0xDBFF && searchValue > 1) // surrogate pair
-    {
-      idxChar = searchValue.substr(0, 2);
-    }
-
-    var jsFile;
-
-    var idx = indexSectionsWithContent[this.searchIndex].indexOf(idxChar);
-    if (idx!=-1)
-    {
-       var hexCode=idx.toString(16);
-       jsFile = this.resultsPath + indexSectionNames[this.searchIndex] + '_' + hexCode + '.js';
-    }
-
-    var loadJS = function(url, impl, loc){
-      var scriptTag = document.createElement('script');
-      scriptTag.src = url;
-      scriptTag.onload = impl;
-      scriptTag.onreadystatechange = impl;
-      loc.appendChild(scriptTag);
-    }
-
-    var domPopupSearchResultsWindow = this.DOMPopupSearchResultsWindow();
-    var domSearchBox = this.DOMSearchBox();
-    var domPopupSearchResults = this.DOMPopupSearchResults();
-    var domSearchClose = this.DOMSearchClose();
-    var resultsPath = this.resultsPath;
-
-    var handleResults = function() {
-      document.getElementById("Loading").style.display="none";
-      if (typeof searchData !== 'undefined') {
-        createResults(resultsPath);
-        document.getElementById("NoMatches").style.display="none";
-      }
- 
-      searchResults.Search(searchValue);
-
-      if (domPopupSearchResultsWindow.style.display!='block')
-      {
-        domSearchClose.style.display = 'inline-block';
-        var left = getXPos(domSearchBox) + 150;
-        var top  = getYPos(domSearchBox) + 20;
-        domPopupSearchResultsWindow.style.display = 'block';
-        left -= domPopupSearchResults.offsetWidth;
-        var maxWidth  = document.body.clientWidth;
-        var maxHeight = document.body.clientHeight;
-        var width = 300;
-        if (left<10) left=10;
-        if (width+left+8>maxWidth) width=maxWidth-left-8;
-        var height = 400;
-        if (height+top+8>maxHeight) height=maxHeight-top-8;
-        domPopupSearchResultsWindow.style.top     = top  + 'px';
-        domPopupSearchResultsWindow.style.left    = left + 'px';
-        domPopupSearchResultsWindow.style.width   = width + 'px';
-        domPopupSearchResultsWindow.style.height  = height + 'px';
-      }
-    }
-
-    if (jsFile) {
-      loadJS(jsFile, handleResults, this.DOMPopupSearchResultsWindow());
-    } else {
-      handleResults();
-    }
-
-    this.lastSearchValue = searchValue;
-  }
-
-  // -------- Activation Functions
-
-  // Activates or deactivates the search panel, resetting things to
-  // their default values if necessary.
-  this.Activate = function(isActive)
-  {
-    if (isActive || // open it
-        this.DOMPopupSearchResultsWindow().style.display == 'block'
-       )
-    {
-      this.DOMSearchBox().className = 'MSearchBoxActive';
-      this.searchActive = true;
-    }
-    else if (!isActive) // directly remove the panel
-    {
-      this.DOMSearchBox().className = 'MSearchBoxInactive';
-      this.searchActive             = false;
-      this.lastSearchValue          = ''
-      this.lastResultsPage          = '';
-      this.DOMSearchField().value   = '';
-    }
-  }
-}
-
-// -----------------------------------------------------------------------
-
-// The class that handles everything on the search results page.
-function SearchResults(name)
-{
-    // The number of matches from the last run of <Search()>.
-    this.lastMatchCount = 0;
-    this.lastKey = 0;
-    this.repeatOn = false;
-
-    // Toggles the visibility of the passed element ID.
-    this.FindChildElement = function(id)
-    {
-      var parentElement = document.getElementById(id);
-      var element = parentElement.firstChild;
-
-      while (element && element!=parentElement)
-      {
-        if (element.nodeName.toLowerCase() == 'div' && element.className == 'SRChildren')
-        {
-          return element;
-        }
-
-        if (element.nodeName.toLowerCase() == 'div' && element.hasChildNodes())
-        {
-           element = element.firstChild;
-        }
-        else if (element.nextSibling)
-        {
-           element = element.nextSibling;
-        }
-        else
-        {
-          do
-          {
-            element = element.parentNode;
-          }
-          while (element && element!=parentElement && !element.nextSibling);
-
-          if (element && element!=parentElement)
-          {
-            element = element.nextSibling;
-          }
-        }
-      }
-    }
-
-    this.Toggle = function(id)
-    {
-      var element = this.FindChildElement(id);
-      if (element)
-      {
-        if (element.style.display == 'block')
-        {
-          element.style.display = 'none';
-        }
-        else
-        {
-          element.style.display = 'block';
-        }
-      }
-    }
-
-    // Searches for the passed string.  If there is no parameter,
-    // it takes it from the URL query.
-    //
-    // Always returns true, since other documents may try to call it
-    // and that may or may not be possible.
-    this.Search = function(search)
-    {
-      if (!search) // get search word from URL
-      {
-        search = window.location.search;
-        search = search.substring(1);  // Remove the leading '?'
-        search = unescape(search);
-      }
-
-      search = search.replace(/^ +/, ""); // strip leading spaces
-      search = search.replace(/ +$/, ""); // strip trailing spaces
-      search = search.toLowerCase();
-      search = convertToId(search);
-
-      var resultRows = document.getElementsByTagName("div");
-      var matches = 0;
-
-      var i = 0;
-      while (i < resultRows.length)
-      {
-        var row = resultRows.item(i);
-        if (row.className == "SRResult")
-        {
-          var rowMatchName = row.id.toLowerCase();
-          rowMatchName = rowMatchName.replace(/^sr\d*_/, ''); // strip 'sr123_'
-
-          if (search.length<=rowMatchName.length &&
-             rowMatchName.substr(0, search.length)==search)
-          {
-            row.style.display = 'block';
-            matches++;
-          }
-          else
-          {
-            row.style.display = 'none';
-          }
-        }
-        i++;
-      }
-      document.getElementById("Searching").style.display='none';
-      if (matches == 0) // no results
-      {
-        document.getElementById("NoMatches").style.display='block';
-      }
-      else // at least one result
-      {
-        document.getElementById("NoMatches").style.display='none';
-      }
-      this.lastMatchCount = matches;
-      return true;
-    }
-
-    // return the first item with index index or higher that is visible
-    this.NavNext = function(index)
-    {
-      var focusItem;
-      while (1)
-      {
-        var focusName = 'Item'+index;
-        focusItem = document.getElementById(focusName);
-        if (focusItem && focusItem.parentNode.parentNode.style.display=='block')
-        {
-          break;
-        }
-        else if (!focusItem) // last element
-        {
-          break;
-        }
-        focusItem=null;
-        index++;
-      }
-      return focusItem;
-    }
-
-    this.NavPrev = function(index)
-    {
-      var focusItem;
-      while (1)
-      {
-        var focusName = 'Item'+index;
-        focusItem = document.getElementById(focusName);
-        if (focusItem && focusItem.parentNode.parentNode.style.display=='block')
-        {
-          break;
-        }
-        else if (!focusItem) // last element
-        {
-          break;
-        }
-        focusItem=null;
-        index--;
-      }
-      return focusItem;
-    }
-
-    this.ProcessKeys = function(e)
-    {
-      if (e.type == "keydown")
-      {
-        this.repeatOn = false;
-        this.lastKey = e.keyCode;
-      }
-      else if (e.type == "keypress")
-      {
-        if (!this.repeatOn)
-        {
-          if (this.lastKey) this.repeatOn = true;
-          return false; // ignore first keypress after keydown
-        }
-      }
-      else if (e.type == "keyup")
-      {
-        this.lastKey = 0;
-        this.repeatOn = false;
-      }
-      return this.lastKey!=0;
-    }
-
-    this.Nav = function(evt,itemIndex)
-    {
-      var e  = (evt) ? evt : window.event; // for IE
-      if (e.keyCode==13) return true;
-      if (!this.ProcessKeys(e)) return false;
-
-      if (this.lastKey==38) // Up
-      {
-        var newIndex = itemIndex-1;
-        var focusItem = this.NavPrev(newIndex);
-        if (focusItem)
-        {
-          var child = this.FindChildElement(focusItem.parentNode.parentNode.id);
-          if (child && child.style.display == 'block') // children visible
-          {
-            var n=0;
-            var tmpElem;
-            while (1) // search for last child
-            {
-              tmpElem = document.getElementById('Item'+newIndex+'_c'+n);
-              if (tmpElem)
-              {
-                focusItem = tmpElem;
-              }
-              else // found it!
-              {
-                break;
-              }
-              n++;
-            }
-          }
-        }
-        if (focusItem)
-        {
-          focusItem.focus();
-        }
-        else // return focus to search field
-        {
-           document.getElementById("MSearchField").focus();
-        }
-      }
-      else if (this.lastKey==40) // Down
-      {
-        var newIndex = itemIndex+1;
-        var focusItem;
-        var item = document.getElementById('Item'+itemIndex);
-        var elem = this.FindChildElement(item.parentNode.parentNode.id);
-        if (elem && elem.style.display == 'block') // children visible
-        {
-          focusItem = document.getElementById('Item'+itemIndex+'_c0');
-        }
-        if (!focusItem) focusItem = this.NavNext(newIndex);
-        if (focusItem)  focusItem.focus();
-      }
-      else if (this.lastKey==39) // Right
-      {
-        var item = document.getElementById('Item'+itemIndex);
-        var elem = this.FindChildElement(item.parentNode.parentNode.id);
-        if (elem) elem.style.display = 'block';
-      }
-      else if (this.lastKey==37) // Left
-      {
-        var item = document.getElementById('Item'+itemIndex);
-        var elem = this.FindChildElement(item.parentNode.parentNode.id);
-        if (elem) elem.style.display = 'none';
-      }
-      else if (this.lastKey==27) // Escape
-      {
-        searchBox.CloseResultsWindow();
-        document.getElementById("MSearchField").focus();
-      }
-      else if (this.lastKey==13) // Enter
-      {
-        return true;
-      }
-      return false;
-    }
-
-    this.NavChild = function(evt,itemIndex,childIndex)
-    {
-      var e  = (evt) ? evt : window.event; // for IE
-      if (e.keyCode==13) return true;
-      if (!this.ProcessKeys(e)) return false;
-
-      if (this.lastKey==38) // Up
-      {
-        if (childIndex>0)
-        {
-          var newIndex = childIndex-1;
-          document.getElementById('Item'+itemIndex+'_c'+newIndex).focus();
-        }
-        else // already at first child, jump to parent
-        {
-          document.getElementById('Item'+itemIndex).focus();
-        }
-      }
-      else if (this.lastKey==40) // Down
-      {
-        var newIndex = childIndex+1;
-        var elem = document.getElementById('Item'+itemIndex+'_c'+newIndex);
-        if (!elem) // last child, jump to parent next parent
-        {
-          elem = this.NavNext(itemIndex+1);
-        }
-        if (elem)
-        {
-          elem.focus();
-        }
-      }
-      else if (this.lastKey==27) // Escape
-      {
-        searchBox.CloseResultsWindow();
-        document.getElementById("MSearchField").focus();
-      }
-      else if (this.lastKey==13) // Enter
-      {
-        return true;
-      }
-      return false;
-    }
-}
-
-function setKeyActions(elem,action)
-{
-  elem.setAttribute('onkeydown',action);
-  elem.setAttribute('onkeypress',action);
-  elem.setAttribute('onkeyup',action);
-}
-
-function setClassAttr(elem,attr)
-{
-  elem.setAttribute('class',attr);
-  elem.setAttribute('className',attr);
-}
-
-function createResults(resultsPath)
-{
-  var results = document.getElementById("SRResults");
-  results.innerHTML = '';
-  for (var e=0; e<searchData.length; e++)
-  {
-    var id = searchData[e][0];
-    var srResult = document.createElement('div');
-    srResult.setAttribute('id','SR_'+id);
-    setClassAttr(srResult,'SRResult');
-    var srEntry = document.createElement('div');
-    setClassAttr(srEntry,'SREntry');
-    var srLink = document.createElement('a');
-    srLink.setAttribute('id','Item'+e);
-    setKeyActions(srLink,'return searchResults.Nav(event,'+e+')');
-    setClassAttr(srLink,'SRSymbol');
-    srLink.innerHTML = searchData[e][1][0];
-    srEntry.appendChild(srLink);
-    if (searchData[e][1].length==2) // single result
-    {
-      srLink.setAttribute('href',resultsPath+searchData[e][1][1][0]);
-      srLink.setAttribute('onclick','searchBox.CloseResultsWindow()');
-      if (searchData[e][1][1][1])
-      {
-       srLink.setAttribute('target','_parent');
-      }
-      else
-      {
-       srLink.setAttribute('target','_blank');
-      }
-      var srScope = document.createElement('span');
-      setClassAttr(srScope,'SRScope');
-      srScope.innerHTML = searchData[e][1][1][2];
-      srEntry.appendChild(srScope);
-    }
-    else // multiple results
-    {
-      srLink.setAttribute('href','javascript:searchResults.Toggle("SR_'+id+'")');
-      var srChildren = document.createElement('div');
-      setClassAttr(srChildren,'SRChildren');
-      for (var c=0; c<searchData[e][1].length-1; c++)
-      {
-        var srChild = document.createElement('a');
-        srChild.setAttribute('id','Item'+e+'_c'+c);
-        setKeyActions(srChild,'return searchResults.NavChild(event,'+e+','+c+')');
-        setClassAttr(srChild,'SRScope');
-        srChild.setAttribute('href',resultsPath+searchData[e][1][c+1][0]);
-        srChild.setAttribute('onclick','searchBox.CloseResultsWindow()');
-        if (searchData[e][1][c+1][1])
-        {
-         srChild.setAttribute('target','_parent');
-        }
-        else
-        {
-         srChild.setAttribute('target','_blank');
-        }
-        srChild.innerHTML = searchData[e][1][c+1][2];
-        srChildren.appendChild(srChild);
-      }
-      srEntry.appendChild(srChildren);
-    }
-    srResult.appendChild(srEntry);
-    results.appendChild(srResult);
-  }
-}
-
-function init_search()
-{
-  var results = document.getElementById("MSearchSelectWindow");
-  for (var key in indexSectionLabels)
-  {
-    var link = document.createElement('a');
-    link.setAttribute('class','SelectItem');
-    link.setAttribute('onclick','searchBox.OnSelectItem('+key+')');
-    link.href='javascript:void(0)';
-    link.innerHTML='<span class="SelectionMark">&#160;</span>'+indexSectionLabels[key];
-    results.appendChild(link);
-  }
-  searchBox.OnSelectItem(0);
-}
-/* @license-end */
diff --git a/documentation/html/search/searchdata.js b/documentation/html/search/searchdata.js
deleted file mode 100644
index 0e0567f..0000000
--- a/documentation/html/search/searchdata.js
+++ /dev/null
@@ -1,30 +0,0 @@
-var indexSectionsWithContent =
-{
-  0: "abcdefghiklmnoprstuvwxyz",
-  1: "acdefghlmoprstvw",
-  2: "abcdefghilmnoprstuvw",
-  3: "abcdefhiklmnoprstvwxyz",
-  4: "e",
-  5: "c"
-};
-
-var indexSectionNames =
-{
-  0: "all",
-  1: "classes",
-  2: "functions",
-  3: "variables",
-  4: "enums",
-  5: "pages"
-};
-
-var indexSectionLabels =
-{
-  0: "All",
-  1: "Classes",
-  2: "Functions",
-  3: "Variables",
-  4: "Enumerations",
-  5: "Pages"
-};
-
diff --git a/documentation/html/search/variables_0.js b/documentation/html/search/variables_0.js
deleted file mode 100644
index 1510241..0000000
--- a/documentation/html/search/variables_0.js
+++ /dev/null
@@ -1,6 +0,0 @@
-var searchData=
-[
-  ['accel_0',['accel',['../classOdometryBase.html#a94c814dfb542dd891d84db7e74537249',1,'OdometryBase::accel()'],['../structMotionController_1_1m__profile__cfg__t.html#ac4f07f3ac52d12fd820ee4d8ce847f66',1,'MotionController::m_profile_cfg_t::accel()'],['../structmotion__t.html#a0bfa8ec05af92df3b8c0e7d0945824f2',1,'motion_t::accel()']]],
-  ['ang_5faccel_5fdeg_1',['ang_accel_deg',['../classOdometryBase.html#a01f14bfcecbcde7a74b9b98376deb19f',1,'OdometryBase']]],
-  ['ang_5fspeed_5fdeg_2',['ang_speed_deg',['../classOdometryBase.html#a250ceb6ed296ea579e37851e4a0048fb',1,'OdometryBase']]]
-];
diff --git a/documentation/html/search/variables_1.js b/documentation/html/search/variables_1.js
deleted file mode 100644
index 4206961..0000000
--- a/documentation/html/search/variables_1.js
+++ /dev/null
@@ -1,4 +0,0 @@
-var searchData=
-[
-  ['brain_0',['brain',['../classAutoChooser.html#a9889be17b1b6243563f975dd421802b4',1,'AutoChooser']]]
-];
diff --git a/documentation/html/search/variables_10.js b/documentation/html/search/variables_10.js
deleted file mode 100644
index 633b8c4..0000000
--- a/documentation/html/search/variables_10.js
+++ /dev/null
@@ -1,5 +0,0 @@
-var searchData=
-[
-  ['timeout_5fseconds_0',['timeout_seconds',['../classAutoCommand.html#ac3be7be26e49981ad1978491fd313472',1,'AutoCommand']]],
-  ['turn_5ffeedback_1',['turn_feedback',['../structrobot__specs__t.html#af8c8492ba755766847bb21b960b91bfe',1,'robot_specs_t']]]
-];
diff --git a/documentation/html/search/variables_11.js b/documentation/html/search/variables_11.js
deleted file mode 100644
index 43372ad..0000000
--- a/documentation/html/search/variables_11.js
+++ /dev/null
@@ -1,4 +0,0 @@
-var searchData=
-[
-  ['vel_0',['vel',['../structmotion__t.html#a038b39985525b904bb8257ea86adbcee',1,'motion_t']]]
-];
diff --git a/documentation/html/search/variables_12.js b/documentation/html/search/variables_12.js
deleted file mode 100644
index 406fbde..0000000
--- a/documentation/html/search/variables_12.js
+++ /dev/null
@@ -1,6 +0,0 @@
-var searchData=
-[
-  ['wheel_5fdiam_0',['wheel_diam',['../structOdometry3Wheel_1_1odometry3wheel__cfg__t.html#a283cd9db8de27d9b3967d0c3203f1f7f',1,'Odometry3Wheel::odometry3wheel_cfg_t']]],
-  ['wheelbase_5fdist_1',['wheelbase_dist',['../structOdometry3Wheel_1_1odometry3wheel__cfg__t.html#a4de8559ac486dcfbf5baff9d9d6cb5b1',1,'Odometry3Wheel::odometry3wheel_cfg_t']]],
-  ['width_2',['width',['../structAutoChooser_1_1entry__t.html#a2459ffe56c165e35f3a63bec99990367',1,'AutoChooser::entry_t']]]
-];
diff --git a/documentation/html/search/variables_13.js b/documentation/html/search/variables_13.js
deleted file mode 100644
index a7cd057..0000000
--- a/documentation/html/search/variables_13.js
+++ /dev/null
@@ -1,4 +0,0 @@
-var searchData=
-[
-  ['x_0',['x',['../structposition__t.html#aa554831febb89209dc5a2434e08265a8',1,'position_t::x()'],['../structAutoChooser_1_1entry__t.html#a7aa2aaaccd195c358c88afa6e24b5f73',1,'AutoChooser::entry_t::x()'],['../structVector2D_1_1point__t.html#ad139f137dd3554335c4ed9b51c8e3bd9',1,'Vector2D::point_t::x()']]]
-];
diff --git a/documentation/html/search/variables_14.js b/documentation/html/search/variables_14.js
deleted file mode 100644
index 579b23b..0000000
--- a/documentation/html/search/variables_14.js
+++ /dev/null
@@ -1,4 +0,0 @@
-var searchData=
-[
-  ['y_0',['y',['../structposition__t.html#af5fb9bd02cb51336477d5290fe32cec6',1,'position_t::y()'],['../structAutoChooser_1_1entry__t.html#a2e303a71790d85a67819830302c4dcee',1,'AutoChooser::entry_t::y()'],['../structVector2D_1_1point__t.html#a8290e79feb502e69cd95a7580cf6f1fe',1,'Vector2D::point_t::y()']]]
-];
diff --git a/documentation/html/search/variables_15.js b/documentation/html/search/variables_15.js
deleted file mode 100644
index 490ff49..0000000
--- a/documentation/html/search/variables_15.js
+++ /dev/null
@@ -1,4 +0,0 @@
-var searchData=
-[
-  ['zero_5fpos_0',['zero_pos',['../classOdometryBase.html#a7bd3fd09b3a6fa78af3a5ed5e25b8d74',1,'OdometryBase']]]
-];
diff --git a/documentation/html/search/variables_2.js b/documentation/html/search/variables_2.js
deleted file mode 100644
index cc91416..0000000
--- a/documentation/html/search/variables_2.js
+++ /dev/null
@@ -1,7 +0,0 @@
-var searchData=
-[
-  ['choice_0',['choice',['../classAutoChooser.html#a473e03a3e74487a38e94d3b5957f34bc',1,'AutoChooser']]],
-  ['config_1',['config',['../classPID.html#a67626fa764b201c7190ace37e068666b',1,'PID']]],
-  ['correction_5fpid_2',['correction_pid',['../structrobot__specs__t.html#a23d091e4a5258c11db6cd9753b598d06',1,'robot_specs_t']]],
-  ['current_5fpos_3',['current_pos',['../classOdometryBase.html#a6870aebb6e05dcd152d3295462f559c3',1,'OdometryBase']]]
-];
diff --git a/documentation/html/search/variables_3.js b/documentation/html/search/variables_3.js
deleted file mode 100644
index 82f370f..0000000
--- a/documentation/html/search/variables_3.js
+++ /dev/null
@@ -1,8 +0,0 @@
-var searchData=
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-<li class="navelem"><a class="el" href="dir_d44c64559bbebec7f509842c48db8b23.html">include</a></li><li class="navelem"><a class="el" href="dir_8e84b5daa2b3f33b7b3fb9ecedbe5637.html">subsystems</a></li>  </ul>
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-  <div class="headertitle"><div class="title">tank_drive.h</div></div>
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-<div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno">    1</span><span class="preprocessor">#pragma once</span></div>
-<div class="line"><a id="l00002" name="l00002"></a><span class="lineno">    2</span> </div>
-<div class="line"><a id="l00003" name="l00003"></a><span class="lineno">    3</span><span class="preprocessor">#ifndef PI</span></div>
-<div class="line"><a id="l00004" name="l00004"></a><span class="lineno">    4</span><span class="preprocessor">#define PI 3.141592654</span></div>
-<div class="line"><a id="l00005" name="l00005"></a><span class="lineno">    5</span><span class="preprocessor">#endif</span></div>
-<div class="line"><a id="l00006" name="l00006"></a><span class="lineno">    6</span> </div>
-<div class="line"><a id="l00007" name="l00007"></a><span class="lineno">    7</span><span class="preprocessor">#include &quot;vex.h&quot;</span></div>
-<div class="line"><a id="l00008" name="l00008"></a><span class="lineno">    8</span><span class="preprocessor">#include &quot;../core/include/subsystems/odometry/odometry_tank.h&quot;</span></div>
-<div class="line"><a id="l00009" name="l00009"></a><span class="lineno">    9</span><span class="preprocessor">#include &quot;../core/include/utils/pid.h&quot;</span></div>
-<div class="line"><a id="l00010" name="l00010"></a><span class="lineno">   10</span><span class="preprocessor">#include &quot;../core/include/utils/feedback_base.h&quot;</span></div>
-<div class="line"><a id="l00011" name="l00011"></a><span class="lineno">   11</span><span class="preprocessor">#include &quot;../core/include/robot_specs.h&quot;</span></div>
-<div class="line"><a id="l00012" name="l00012"></a><span class="lineno">   12</span><span class="preprocessor">#include &quot;../core/src/utils/pure_pursuit.cpp&quot;</span></div>
-<div class="line"><a id="l00013" name="l00013"></a><span class="lineno">   13</span><span class="preprocessor">#include &lt;vector&gt;</span></div>
-<div class="line"><a id="l00014" name="l00014"></a><span class="lineno">   14</span> </div>
-<div class="line"><a id="l00015" name="l00015"></a><span class="lineno">   15</span> </div>
-<div class="line"><a id="l00016" name="l00016"></a><span class="lineno">   16</span><span class="keyword">using namespace </span>vex;</div>
-<div class="line"><a id="l00017" name="l00017"></a><span class="lineno">   17</span> </div>
-<div class="line"><a id="l00022" name="l00022"></a><span class="lineno"><a class="line" href="classTankDrive.html">   22</a></span><span class="keyword">class </span><a class="code hl_class" href="classTankDrive.html">TankDrive</a></div>
-<div class="line"><a id="l00023" name="l00023"></a><span class="lineno">   23</span>{</div>
-<div class="line"><a id="l00024" name="l00024"></a><span class="lineno">   24</span><span class="keyword">public</span>:</div>
-<div class="line"><a id="l00025" name="l00025"></a><span class="lineno">   25</span> </div>
-<div class="line"><a id="l00033" name="l00033"></a><span class="lineno">   33</span>  <a class="code hl_class" href="classTankDrive.html">TankDrive</a>(motor_group &amp;left_motors, motor_group &amp;right_motors, <a class="code hl_struct" href="structrobot__specs__t.html">robot_specs_t</a> &amp;config, <a class="code hl_class" href="classOdometryBase.html">OdometryBase</a> *odom=NULL);</div>
-<div class="line"><a id="l00034" name="l00034"></a><span class="lineno">   34</span> </div>
-<div class="line"><a id="l00038" name="l00038"></a><span class="lineno">   38</span>  <span class="keywordtype">void</span> <a class="code hl_function" href="classTankDrive.html#af10e648e4de35fa72859fb96a9a80485">stop</a>();</div>
-<div class="line"><a id="l00039" name="l00039"></a><span class="lineno">   39</span> </div>
-<div class="line"><a id="l00050" name="l00050"></a><span class="lineno">   50</span>  <span class="keywordtype">void</span> <a class="code hl_function" href="classTankDrive.html#a1dff7827546fb3d17e0d2ca150bdf630">drive_tank</a>(<span class="keywordtype">double</span> left, <span class="keywordtype">double</span> right, <span class="keywordtype">int</span> power=1, <span class="keywordtype">bool</span> isdriver=<span class="keyword">false</span>);</div>
-<div class="line"><a id="l00051" name="l00051"></a><span class="lineno">   51</span> </div>
-<div class="line"><a id="l00062" name="l00062"></a><span class="lineno">   62</span>  <span class="keywordtype">void</span> <a class="code hl_function" href="classTankDrive.html#a4c52b51a9b149d97e9b0b175a10652ef">drive_arcade</a>(<span class="keywordtype">double</span> forward_back, <span class="keywordtype">double</span> left_right, <span class="keywordtype">int</span> power=1);</div>
-<div class="line"><a id="l00063" name="l00063"></a><span class="lineno">   63</span> </div>
-<div class="line"><a id="l00074" name="l00074"></a><span class="lineno">   74</span>  <span class="keywordtype">bool</span> <a class="code hl_function" href="classTankDrive.html#a1fb3d661076afbb91452649cdaf8550f">drive_forward</a>(<span class="keywordtype">double</span> inches, directionType dir, <a class="code hl_class" href="classFeedback.html">Feedback</a> &amp;feedback, <span class="keywordtype">double</span> max_speed=1);</div>
-<div class="line"><a id="l00075" name="l00075"></a><span class="lineno">   75</span> </div>
-<div class="line"><a id="l00084" name="l00084"></a><span class="lineno">   84</span>  <span class="keywordtype">bool</span> <a class="code hl_function" href="classTankDrive.html#a1fb3d661076afbb91452649cdaf8550f">drive_forward</a>(<span class="keywordtype">double</span> inches, directionType dir, <span class="keywordtype">double</span> max_speed=1);</div>
-<div class="line"><a id="l00085" name="l00085"></a><span class="lineno">   85</span> </div>
-<div class="line"><a id="l00096" name="l00096"></a><span class="lineno">   96</span>  <span class="keywordtype">bool</span> <a class="code hl_function" href="classTankDrive.html#ac1ce9895b82b7298465d8e59fae95763">turn_degrees</a>(<span class="keywordtype">double</span> degrees, <a class="code hl_class" href="classFeedback.html">Feedback</a> &amp;feedback, <span class="keywordtype">double</span> max_speed=1);</div>
-<div class="line"><a id="l00097" name="l00097"></a><span class="lineno">   97</span> </div>
-<div class="line"><a id="l00107" name="l00107"></a><span class="lineno">  107</span>  <span class="keywordtype">bool</span> <a class="code hl_function" href="classTankDrive.html#ac1ce9895b82b7298465d8e59fae95763">turn_degrees</a>(<span class="keywordtype">double</span> degrees, <span class="keywordtype">double</span> max_speed=1);</div>
-<div class="line"><a id="l00108" name="l00108"></a><span class="lineno">  108</span> </div>
-<div class="line"><a id="l00120" name="l00120"></a><span class="lineno">  120</span>  <span class="keywordtype">bool</span> <a class="code hl_function" href="classTankDrive.html#ad64cf88b180865f7e0f9810a344db791">drive_to_point</a>(<span class="keywordtype">double</span> x, <span class="keywordtype">double</span> y, vex::directionType dir, <a class="code hl_class" href="classFeedback.html">Feedback</a> &amp;feedback, <span class="keywordtype">double</span> max_speed=1);</div>
-<div class="line"><a id="l00121" name="l00121"></a><span class="lineno">  121</span>  </div>
-<div class="line"><a id="l00133" name="l00133"></a><span class="lineno">  133</span>  <span class="keywordtype">bool</span> <a class="code hl_function" href="classTankDrive.html#ad64cf88b180865f7e0f9810a344db791">drive_to_point</a>(<span class="keywordtype">double</span> x, <span class="keywordtype">double</span> y, vex::directionType dir, <span class="keywordtype">double</span> max_speed=1);</div>
-<div class="line"><a id="l00134" name="l00134"></a><span class="lineno">  134</span> </div>
-<div class="line"><a id="l00143" name="l00143"></a><span class="lineno">  143</span>  <span class="keywordtype">bool</span> <a class="code hl_function" href="classTankDrive.html#a25030a7b5e9404a911f7b776a7df7f05">turn_to_heading</a>(<span class="keywordtype">double</span> heading_deg, <a class="code hl_class" href="classFeedback.html">Feedback</a> &amp;feedback, <span class="keywordtype">double</span> max_speed=1);</div>
-<div class="line"><a id="l00151" name="l00151"></a><span class="lineno">  151</span>  <span class="keywordtype">bool</span> <a class="code hl_function" href="classTankDrive.html#a25030a7b5e9404a911f7b776a7df7f05">turn_to_heading</a>(<span class="keywordtype">double</span> heading_deg, <span class="keywordtype">double</span> max_speed=1);</div>
-<div class="line"><a id="l00152" name="l00152"></a><span class="lineno">  152</span> </div>
-<div class="line"><a id="l00156" name="l00156"></a><span class="lineno">  156</span>  <span class="keywordtype">void</span> <a class="code hl_function" href="classTankDrive.html#aaa68eae1521e5b87ecfed2a60b15bf34">reset_auto</a>();</div>
-<div class="line"><a id="l00157" name="l00157"></a><span class="lineno">  157</span> </div>
-<div class="line"><a id="l00166" name="l00166"></a><span class="lineno">  166</span>  <span class="keyword">static</span> <span class="keywordtype">double</span> <a class="code hl_function" href="classTankDrive.html#abb511cf1be40ef7be89c2ccff6a09cab">modify_inputs</a>(<span class="keywordtype">double</span> input, <span class="keywordtype">int</span> power=2);</div>
-<div class="line"><a id="l00167" name="l00167"></a><span class="lineno">  167</span> </div>
-<div class="line"><a id="l00179" name="l00179"></a><span class="lineno">  179</span>  <span class="keywordtype">bool</span> <a class="code hl_function" href="classTankDrive.html#a13bb19d1cf97b7f3534f4f2a0a13bf27">pure_pursuit</a>(std::vector&lt;PurePursuit::hermite_point&gt; path, directionType dir, <span class="keywordtype">double</span> radius, <span class="keywordtype">double</span> res, <a class="code hl_class" href="classFeedback.html">Feedback</a> &amp;feedback, <span class="keywordtype">double</span> max_speed=1);</div>
-<div class="line"><a id="l00180" name="l00180"></a><span class="lineno">  180</span> </div>
-<div class="line"><a id="l00181" name="l00181"></a><span class="lineno">  181</span><span class="keyword">private</span>:</div>
-<div class="line"><a id="l00182" name="l00182"></a><span class="lineno">  182</span>  motor_group &amp;left_motors; </div>
-<div class="line"><a id="l00183" name="l00183"></a><span class="lineno">  183</span>  motor_group &amp;right_motors; </div>
-<div class="line"><a id="l00184" name="l00184"></a><span class="lineno">  184</span> </div>
-<div class="line"><a id="l00185" name="l00185"></a><span class="lineno">  185</span>  <a class="code hl_class" href="classPID.html">PID</a> correction_pid; </div>
-<div class="line"><a id="l00186" name="l00186"></a><span class="lineno">  186</span>  <a class="code hl_class" href="classFeedback.html">Feedback</a> *drive_default_feedback = NULL; </div>
-<div class="line"><a id="l00187" name="l00187"></a><span class="lineno">  187</span>  <a class="code hl_class" href="classFeedback.html">Feedback</a> *turn_default_feedback = NULL; </div>
-<div class="line"><a id="l00188" name="l00188"></a><span class="lineno">  188</span> </div>
-<div class="line"><a id="l00189" name="l00189"></a><span class="lineno">  189</span>  <a class="code hl_class" href="classOdometryBase.html">OdometryBase</a> *odometry; </div>
-<div class="line"><a id="l00190" name="l00190"></a><span class="lineno">  190</span> </div>
-<div class="line"><a id="l00191" name="l00191"></a><span class="lineno">  191</span>  <a class="code hl_struct" href="structrobot__specs__t.html">robot_specs_t</a> &amp;config; </div>
-<div class="line"><a id="l00192" name="l00192"></a><span class="lineno">  192</span> </div>
-<div class="line"><a id="l00193" name="l00193"></a><span class="lineno">  193</span>  <span class="keywordtype">bool</span> func_initialized = <span class="keyword">false</span>; </div>
-<div class="line"><a id="l00194" name="l00194"></a><span class="lineno">  194</span>  <span class="keywordtype">bool</span> is_pure_pursuit = <span class="keyword">false</span>; </div>
-<div class="line"><a id="l00195" name="l00195"></a><span class="lineno">  195</span>};</div>
-<div class="ttc" id="aclassFeedback_html"><div class="ttname"><a href="classFeedback.html">Feedback</a></div><div class="ttdef"><b>Definition:</b> feedback_base.h:11</div></div>
-<div class="ttc" id="aclassOdometryBase_html"><div class="ttname"><a href="classOdometryBase.html">OdometryBase</a></div><div class="ttdef"><b>Definition:</b> odometry_base.h:33</div></div>
-<div class="ttc" id="aclassPID_html"><div class="ttname"><a href="classPID.html">PID</a></div><div class="ttdef"><b>Definition:</b> pid.h:24</div></div>
-<div class="ttc" id="aclassTankDrive_html"><div class="ttname"><a href="classTankDrive.html">TankDrive</a></div><div class="ttdef"><b>Definition:</b> tank_drive.h:23</div></div>
-<div class="ttc" id="aclassTankDrive_html_a13bb19d1cf97b7f3534f4f2a0a13bf27"><div class="ttname"><a href="classTankDrive.html#a13bb19d1cf97b7f3534f4f2a0a13bf27">TankDrive::pure_pursuit</a></div><div class="ttdeci">bool pure_pursuit(std::vector&lt; PurePursuit::hermite_point &gt; path, directionType dir, double radius, double res, Feedback &amp;feedback, double max_speed=1)</div><div class="ttdef"><b>Definition:</b> tank_drive.cpp:411</div></div>
-<div class="ttc" id="aclassTankDrive_html_a1dff7827546fb3d17e0d2ca150bdf630"><div class="ttname"><a href="classTankDrive.html#a1dff7827546fb3d17e0d2ca150bdf630">TankDrive::drive_tank</a></div><div class="ttdeci">void drive_tank(double left, double right, int power=1, bool isdriver=false)</div><div class="ttdef"><b>Definition:</b> tank_drive.cpp:34</div></div>
-<div class="ttc" id="aclassTankDrive_html_a1fb3d661076afbb91452649cdaf8550f"><div class="ttname"><a href="classTankDrive.html#a1fb3d661076afbb91452649cdaf8550f">TankDrive::drive_forward</a></div><div class="ttdeci">bool drive_forward(double inches, directionType dir, Feedback &amp;feedback, double max_speed=1)</div><div class="ttdef"><b>Definition:</b> tank_drive.cpp:77</div></div>
-<div class="ttc" id="aclassTankDrive_html_a25030a7b5e9404a911f7b776a7df7f05"><div class="ttname"><a href="classTankDrive.html#a25030a7b5e9404a911f7b776a7df7f05">TankDrive::turn_to_heading</a></div><div class="ttdeci">bool turn_to_heading(double heading_deg, Feedback &amp;feedback, double max_speed=1)</div><div class="ttdef"><b>Definition:</b> tank_drive.cpp:344</div></div>
-<div class="ttc" id="aclassTankDrive_html_a4c52b51a9b149d97e9b0b175a10652ef"><div class="ttname"><a href="classTankDrive.html#a4c52b51a9b149d97e9b0b175a10652ef">TankDrive::drive_arcade</a></div><div class="ttdeci">void drive_arcade(double forward_back, double left_right, int power=1)</div><div class="ttdef"><b>Definition:</b> tank_drive.cpp:56</div></div>
-<div class="ttc" id="aclassTankDrive_html_aaa68eae1521e5b87ecfed2a60b15bf34"><div class="ttname"><a href="classTankDrive.html#aaa68eae1521e5b87ecfed2a60b15bf34">TankDrive::reset_auto</a></div><div class="ttdeci">void reset_auto()</div><div class="ttdef"><b>Definition:</b> tank_drive.cpp:14</div></div>
-<div class="ttc" id="aclassTankDrive_html_abb511cf1be40ef7be89c2ccff6a09cab"><div class="ttname"><a href="classTankDrive.html#abb511cf1be40ef7be89c2ccff6a09cab">TankDrive::modify_inputs</a></div><div class="ttdeci">static double modify_inputs(double input, int power=2)</div><div class="ttdef"><b>Definition:</b> tank_drive.cpp:406</div></div>
-<div class="ttc" id="aclassTankDrive_html_ac1ce9895b82b7298465d8e59fae95763"><div class="ttname"><a href="classTankDrive.html#ac1ce9895b82b7298465d8e59fae95763">TankDrive::turn_degrees</a></div><div class="ttdeci">bool turn_degrees(double degrees, Feedback &amp;feedback, double max_speed=1)</div><div class="ttdef"><b>Definition:</b> tank_drive.cpp:143</div></div>
-<div class="ttc" id="aclassTankDrive_html_ad64cf88b180865f7e0f9810a344db791"><div class="ttname"><a href="classTankDrive.html#ad64cf88b180865f7e0f9810a344db791">TankDrive::drive_to_point</a></div><div class="ttdeci">bool drive_to_point(double x, double y, vex::directionType dir, Feedback &amp;feedback, double max_speed=1)</div><div class="ttdef"><b>Definition:</b> tank_drive.cpp:198</div></div>
-<div class="ttc" id="aclassTankDrive_html_af10e648e4de35fa72859fb96a9a80485"><div class="ttname"><a href="classTankDrive.html#af10e648e4de35fa72859fb96a9a80485">TankDrive::stop</a></div><div class="ttdeci">void stop()</div><div class="ttdef"><b>Definition:</b> tank_drive.cpp:22</div></div>
-<div class="ttc" id="astructrobot__specs__t_html"><div class="ttname"><a href="structrobot__specs__t.html">robot_specs_t</a></div><div class="ttdef"><b>Definition:</b> robot_specs.h:12</div></div>
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diff --git a/documentation/html/trapezoid__profile_8h_source.html b/documentation/html/trapezoid__profile_8h_source.html
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-<div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno">    1</span><span class="preprocessor">#pragma once</span></div>
-<div class="line"><a id="l00002" name="l00002"></a><span class="lineno">    2</span> </div>
-<div class="line"><a id="l00006" name="l00006"></a><span class="lineno"><a class="line" href="structmotion__t.html">    6</a></span><span class="keyword">typedef</span> <span class="keyword">struct</span></div>
-<div class="line"><a id="l00007" name="l00007"></a><span class="lineno">    7</span>{</div>
-<div class="line"><a id="l00008" name="l00008"></a><span class="lineno"><a class="line" href="structmotion__t.html#a7f67afcb6e0a49061509a11c47de46e4">    8</a></span>    <span class="keywordtype">double</span> <a class="code hl_variable" href="structmotion__t.html#a7f67afcb6e0a49061509a11c47de46e4">pos</a>;   </div>
-<div class="line"><a id="l00009" name="l00009"></a><span class="lineno"><a class="line" href="structmotion__t.html#a038b39985525b904bb8257ea86adbcee">    9</a></span>    <span class="keywordtype">double</span> <a class="code hl_variable" href="structmotion__t.html#a038b39985525b904bb8257ea86adbcee">vel</a>;   </div>
-<div class="line"><a id="l00010" name="l00010"></a><span class="lineno"><a class="line" href="structmotion__t.html#a0bfa8ec05af92df3b8c0e7d0945824f2">   10</a></span>    <span class="keywordtype">double</span> <a class="code hl_variable" href="structmotion__t.html#a0bfa8ec05af92df3b8c0e7d0945824f2">accel</a>; </div>
-<div class="line"><a id="l00011" name="l00011"></a><span class="lineno">   11</span> </div>
-<div class="line"><a id="l00012" name="l00012"></a><span class="lineno">   12</span>} <a class="code hl_struct" href="structmotion__t.html">motion_t</a>;</div>
-<div class="line"><a id="l00013" name="l00013"></a><span class="lineno">   13</span> </div>
-<div class="line"><a id="l00034" name="l00034"></a><span class="lineno"><a class="line" href="classTrapezoidProfile.html">   34</a></span><span class="keyword">class </span><a class="code hl_class" href="classTrapezoidProfile.html">TrapezoidProfile</a></div>
-<div class="line"><a id="l00035" name="l00035"></a><span class="lineno">   35</span>{</div>
-<div class="line"><a id="l00036" name="l00036"></a><span class="lineno">   36</span>    <span class="keyword">public</span>:</div>
-<div class="line"><a id="l00037" name="l00037"></a><span class="lineno">   37</span> </div>
-<div class="line"><a id="l00044" name="l00044"></a><span class="lineno">   44</span>    <a class="code hl_class" href="classTrapezoidProfile.html">TrapezoidProfile</a>(<span class="keywordtype">double</span> max_v, <span class="keywordtype">double</span> accel);</div>
-<div class="line"><a id="l00045" name="l00045"></a><span class="lineno">   45</span> </div>
-<div class="line"><a id="l00052" name="l00052"></a><span class="lineno">   52</span>    <a class="code hl_struct" href="structmotion__t.html">motion_t</a> <a class="code hl_function" href="classTrapezoidProfile.html#a0b65a924664e6e052a16db19f73af17c">calculate</a>(<span class="keywordtype">double</span> time_s);</div>
-<div class="line"><a id="l00053" name="l00053"></a><span class="lineno">   53</span> </div>
-<div class="line"><a id="l00059" name="l00059"></a><span class="lineno">   59</span>    <span class="keywordtype">void</span> <a class="code hl_function" href="classTrapezoidProfile.html#a1d28f3fa6bf1dfa7f5c1a34d0d3b17b5">set_endpts</a>(<span class="keywordtype">double</span> start, <span class="keywordtype">double</span> end);</div>
-<div class="line"><a id="l00060" name="l00060"></a><span class="lineno">   60</span> </div>
-<div class="line"><a id="l00065" name="l00065"></a><span class="lineno">   65</span>    <span class="keywordtype">void</span> <a class="code hl_function" href="classTrapezoidProfile.html#a1dcdfa1c290347cf0af48aca5afd167c">set_accel</a>(<span class="keywordtype">double</span> accel);</div>
-<div class="line"><a id="l00066" name="l00066"></a><span class="lineno">   66</span> </div>
-<div class="line"><a id="l00072" name="l00072"></a><span class="lineno">   72</span>    <span class="keywordtype">void</span> <a class="code hl_function" href="classTrapezoidProfile.html#a6c08d08d8eadaa719f4dc9e607f9fe97">set_max_v</a>(<span class="keywordtype">double</span> max_v);</div>
-<div class="line"><a id="l00073" name="l00073"></a><span class="lineno">   73</span> </div>
-<div class="line"><a id="l00078" name="l00078"></a><span class="lineno">   78</span>    <span class="keywordtype">double</span> <a class="code hl_function" href="classTrapezoidProfile.html#abd551042dfffe0923200c4546d109c55">get_movement_time</a>();</div>
-<div class="line"><a id="l00079" name="l00079"></a><span class="lineno">   79</span> </div>
-<div class="line"><a id="l00080" name="l00080"></a><span class="lineno">   80</span>    <span class="keyword">private</span>:</div>
-<div class="line"><a id="l00081" name="l00081"></a><span class="lineno">   81</span>    <span class="keywordtype">double</span> start, end; </div>
-<div class="line"><a id="l00082" name="l00082"></a><span class="lineno">   82</span>    <span class="keywordtype">double</span> max_v; </div>
-<div class="line"><a id="l00083" name="l00083"></a><span class="lineno">   83</span>    <span class="keywordtype">double</span> accel; </div>
-<div class="line"><a id="l00084" name="l00084"></a><span class="lineno">   84</span>    <span class="keywordtype">double</span> time; </div>
-<div class="line"><a id="l00085" name="l00085"></a><span class="lineno">   85</span>    </div>
-<div class="line"><a id="l00086" name="l00086"></a><span class="lineno">   86</span> </div>
-<div class="line"><a id="l00087" name="l00087"></a><span class="lineno">   87</span>};</div>
-<div class="ttc" id="aclassTrapezoidProfile_html"><div class="ttname"><a href="classTrapezoidProfile.html">TrapezoidProfile</a></div><div class="ttdef"><b>Definition:</b> trapezoid_profile.h:35</div></div>
-<div class="ttc" id="aclassTrapezoidProfile_html_a0b65a924664e6e052a16db19f73af17c"><div class="ttname"><a href="classTrapezoidProfile.html#a0b65a924664e6e052a16db19f73af17c">TrapezoidProfile::calculate</a></div><div class="ttdeci">motion_t calculate(double time_s)</div><div class="ttdoc">Run the trapezoidal profile based on the time that's ellapsed.</div><div class="ttdef"><b>Definition:</b> trapezoid_profile.cpp:35</div></div>
-<div class="ttc" id="aclassTrapezoidProfile_html_a1d28f3fa6bf1dfa7f5c1a34d0d3b17b5"><div class="ttname"><a href="classTrapezoidProfile.html#a1d28f3fa6bf1dfa7f5c1a34d0d3b17b5">TrapezoidProfile::set_endpts</a></div><div class="ttdeci">void set_endpts(double start, double end)</div><div class="ttdef"><b>Definition:</b> trapezoid_profile.cpp:19</div></div>
-<div class="ttc" id="aclassTrapezoidProfile_html_a1dcdfa1c290347cf0af48aca5afd167c"><div class="ttname"><a href="classTrapezoidProfile.html#a1dcdfa1c290347cf0af48aca5afd167c">TrapezoidProfile::set_accel</a></div><div class="ttdeci">void set_accel(double accel)</div><div class="ttdef"><b>Definition:</b> trapezoid_profile.cpp:14</div></div>
-<div class="ttc" id="aclassTrapezoidProfile_html_a6c08d08d8eadaa719f4dc9e607f9fe97"><div class="ttname"><a href="classTrapezoidProfile.html#a6c08d08d8eadaa719f4dc9e607f9fe97">TrapezoidProfile::set_max_v</a></div><div class="ttdeci">void set_max_v(double max_v)</div><div class="ttdef"><b>Definition:</b> trapezoid_profile.cpp:9</div></div>
-<div class="ttc" id="aclassTrapezoidProfile_html_abd551042dfffe0923200c4546d109c55"><div class="ttname"><a href="classTrapezoidProfile.html#abd551042dfffe0923200c4546d109c55">TrapezoidProfile::get_movement_time</a></div><div class="ttdeci">double get_movement_time()</div><div class="ttdef"><b>Definition:</b> trapezoid_profile.cpp:113</div></div>
-<div class="ttc" id="astructmotion__t_html"><div class="ttname"><a href="structmotion__t.html">motion_t</a></div><div class="ttdef"><b>Definition:</b> trapezoid_profile.h:7</div></div>
-<div class="ttc" id="astructmotion__t_html_a038b39985525b904bb8257ea86adbcee"><div class="ttname"><a href="structmotion__t.html#a038b39985525b904bb8257ea86adbcee">motion_t::vel</a></div><div class="ttdeci">double vel</div><div class="ttdoc">1d velocity at this point in time</div><div class="ttdef"><b>Definition:</b> trapezoid_profile.h:9</div></div>
-<div class="ttc" id="astructmotion__t_html_a0bfa8ec05af92df3b8c0e7d0945824f2"><div class="ttname"><a href="structmotion__t.html#a0bfa8ec05af92df3b8c0e7d0945824f2">motion_t::accel</a></div><div class="ttdeci">double accel</div><div class="ttdoc">1d acceleration at this point in time</div><div class="ttdef"><b>Definition:</b> trapezoid_profile.h:10</div></div>
-<div class="ttc" id="astructmotion__t_html_a7f67afcb6e0a49061509a11c47de46e4"><div class="ttname"><a href="structmotion__t.html#a7f67afcb6e0a49061509a11c47de46e4">motion_t::pos</a></div><div class="ttdeci">double pos</div><div class="ttdoc">1d position at this point in time</div><div class="ttdef"><b>Definition:</b> trapezoid_profile.h:8</div></div>
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-</div><!--header-->
-<div class="contents">
-<div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno">    1</span><span class="preprocessor">#pragma once</span></div>
-<div class="line"><a id="l00002" name="l00002"></a><span class="lineno">    2</span> </div>
-<div class="line"><a id="l00003" name="l00003"></a><span class="lineno">    3</span><span class="preprocessor">#include &lt;cmath&gt;</span></div>
-<div class="line"><a id="l00004" name="l00004"></a><span class="lineno">    4</span> </div>
-<div class="line"><a id="l00005" name="l00005"></a><span class="lineno">    5</span><span class="preprocessor">#ifndef PI</span></div>
-<div class="line"><a id="l00006" name="l00006"></a><span class="lineno">    6</span><span class="preprocessor">#define PI 3.141592654</span></div>
-<div class="line"><a id="l00007" name="l00007"></a><span class="lineno">    7</span><span class="preprocessor">#endif</span></div>
-<div class="line"><a id="l00013" name="l00013"></a><span class="lineno"><a class="line" href="classVector2D.html">   13</a></span><span class="keyword">class </span><a class="code hl_class" href="classVector2D.html">Vector2D</a></div>
-<div class="line"><a id="l00014" name="l00014"></a><span class="lineno">   14</span>{</div>
-<div class="line"><a id="l00015" name="l00015"></a><span class="lineno">   15</span><span class="keyword">public</span>:</div>
-<div class="line"><a id="l00016" name="l00016"></a><span class="lineno">   16</span> </div>
-<div class="line"><a id="l00020" name="l00020"></a><span class="lineno"><a class="line" href="structVector2D_1_1point__t.html">   20</a></span>    <span class="keyword">struct </span><a class="code hl_struct" href="structVector2D_1_1point__t.html">point_t</a></div>
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-<div class="line"><a id="l00023" name="l00023"></a><span class="lineno"><a class="line" href="structVector2D_1_1point__t.html#a8290e79feb502e69cd95a7580cf6f1fe">   23</a></span>        <span class="keywordtype">double</span> <a class="code hl_variable" href="structVector2D_1_1point__t.html#a8290e79feb502e69cd95a7580cf6f1fe">y</a>; </div>
-<div class="line"><a id="l00024" name="l00024"></a><span class="lineno">   24</span> </div>
-<div class="line"><a id="l00025" name="l00025"></a><span class="lineno">   25</span> </div>
-<div class="line"><a id="l00031" name="l00031"></a><span class="lineno"><a class="line" href="structVector2D_1_1point__t.html#a118bb1552bd98c9708e452d593ed5e29">   31</a></span>        <span class="keywordtype">double</span> <a class="code hl_function" href="structVector2D_1_1point__t.html#a118bb1552bd98c9708e452d593ed5e29">dist</a>(<span class="keyword">const</span> <a class="code hl_struct" href="structVector2D_1_1point__t.html">point_t</a> other)</div>
-<div class="line"><a id="l00032" name="l00032"></a><span class="lineno">   32</span>        {</div>
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-<div class="ttc" id="astructVector2D_1_1point__t_html_ad139f137dd3554335c4ed9b51c8e3bd9"><div class="ttname"><a href="structVector2D_1_1point__t.html#ad139f137dd3554335c4ed9b51c8e3bd9">Vector2D::point_t::x</a></div><div class="ttdeci">double x</div><div class="ttdoc">the x position in space</div><div class="ttdef"><b>Definition:</b> vector2d.h:22</div></div>
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From 4201ac54559aa6d76bd17f009a324fcf8f01ea9e Mon Sep 17 00:00:00 2001
From: cowsed <richie.sommers@outlook.com>
Date: Sun, 12 Mar 2023 20:11:39 -0400
Subject: [PATCH 186/243] fixed typos

---
 .github/workflows/main.yml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/main.yml b/.github/workflows/main.yml
index c033af1..4dbeddd 100644
--- a/.github/workflows/main.yml
+++ b/.github/workflows/main.yml
@@ -6,7 +6,7 @@ name: Doxygen Action
 # events but only for the master branch
 on:
   push:
-    branches: [ master ]
+    branches: [ main ]
 
 
   

From a93641f5d9657c8f388d7fc3564f853462595932 Mon Sep 17 00:00:00 2001
From: cowsed <richie.sommers@outlook.com>
Date: Sun, 12 Mar 2023 20:14:40 -0400
Subject: [PATCH 187/243] fixed typo 2

---
 .github/workflows/main.yml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/main.yml b/.github/workflows/main.yml
index 4dbeddd..c033af1 100644
--- a/.github/workflows/main.yml
+++ b/.github/workflows/main.yml
@@ -6,7 +6,7 @@ name: Doxygen Action
 # events but only for the master branch
 on:
   push:
-    branches: [ main ]
+    branches: [ master ]
 
 
   

From 9b87fb1b019b0c90f5569baa93b64388069bad08 Mon Sep 17 00:00:00 2001
From: cowsed <richie.sommers@outlook.com>
Date: Sun, 12 Mar 2023 20:20:42 -0400
Subject: [PATCH 188/243] Doxygen excludes image files so it doesnt fail

---
 Doxyfile | 2741 ++++++++++++++++++++++++++++++++++++++++++++++++++++++
 1 file changed, 2741 insertions(+)
 create mode 100644 Doxyfile

diff --git a/Doxyfile b/Doxyfile
new file mode 100644
index 0000000..1101dd7
--- /dev/null
+++ b/Doxyfile
@@ -0,0 +1,2741 @@
+# Doxyfile 1.9.6
+
+# This file describes the settings to be used by the documentation system
+# doxygen (www.doxygen.org) for a project.
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+# front of the TAG it is preceding.
+#
+# All text after a single hash (#) is considered a comment and will be ignored.
+# The format is:
+# TAG = value [value, ...]
+# For lists, items can also be appended using:
+# TAG += value [value, ...]
+# Values that contain spaces should be placed between quotes (\" \").
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+# Note:
+#
+# Use doxygen to compare the used configuration file with the template
+# configuration file:
+# doxygen -x [configFile]
+# Use doxygen to compare the used configuration file with the template
+# configuration file without replacing the environment variables or CMake type
+# replacement variables:
+# doxygen -x_noenv [configFile]
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+# https://www.gnu.org/software/libiconv/ for the list of possible encodings.
+# The default value is: UTF-8.
+
+DOXYFILE_ENCODING      = UTF-8
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+# The default value is: My Project.
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+PROJECT_NAME           = "RIT VEXU Core API"
+
+# The PROJECT_NUMBER tag can be used to enter a project or revision number. This
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+SHORT_NAMES            = NO
+
+# If the JAVADOC_AUTOBRIEF tag is set to YES then doxygen will interpret the
+# first line (until the first dot) of a Javadoc-style comment as the brief
+# description. If set to NO, the Javadoc-style will behave just like regular Qt-
+# style comments (thus requiring an explicit @brief command for a brief
+# description.)
+# The default value is: NO.
+
+JAVADOC_AUTOBRIEF      = NO
+
+# If the JAVADOC_BANNER tag is set to YES then doxygen will interpret a line
+# such as
+# /***************
+# as being the beginning of a Javadoc-style comment "banner". If set to NO, the
+# Javadoc-style will behave just like regular comments and it will not be
+# interpreted by doxygen.
+# The default value is: NO.
+
+JAVADOC_BANNER         = NO
+
+# If the QT_AUTOBRIEF tag is set to YES then doxygen will interpret the first
+# line (until the first dot) of a Qt-style comment as the brief description. If
+# set to NO, the Qt-style will behave just like regular Qt-style comments (thus
+# requiring an explicit \brief command for a brief description.)
+# The default value is: NO.
+
+QT_AUTOBRIEF           = NO
+
+# The MULTILINE_CPP_IS_BRIEF tag can be set to YES to make doxygen treat a
+# multi-line C++ special comment block (i.e. a block of //! or /// comments) as
+# a brief description. This used to be the default behavior. The new default is
+# to treat a multi-line C++ comment block as a detailed description. Set this
+# tag to YES if you prefer the old behavior instead.
+#
+# Note that setting this tag to YES also means that rational rose comments are
+# not recognized any more.
+# The default value is: NO.
+
+MULTILINE_CPP_IS_BRIEF = NO
+
+# By default Python docstrings are displayed as preformatted text and doxygen's
+# special commands cannot be used. By setting PYTHON_DOCSTRING to NO the
+# doxygen's special commands can be used and the contents of the docstring
+# documentation blocks is shown as doxygen documentation.
+# The default value is: YES.
+
+PYTHON_DOCSTRING       = YES
+
+# If the INHERIT_DOCS tag is set to YES then an undocumented member inherits the
+# documentation from any documented member that it re-implements.
+# The default value is: YES.
+
+INHERIT_DOCS           = YES
+
+# If the SEPARATE_MEMBER_PAGES tag is set to YES then doxygen will produce a new
+# page for each member. If set to NO, the documentation of a member will be part
+# of the file/class/namespace that contains it.
+# The default value is: NO.
+
+SEPARATE_MEMBER_PAGES  = NO
+
+# The TAB_SIZE tag can be used to set the number of spaces in a tab. Doxygen
+# uses this value to replace tabs by spaces in code fragments.
+# Minimum value: 1, maximum value: 16, default value: 4.
+
+TAB_SIZE               = 4
+
+# This tag can be used to specify a number of aliases that act as commands in
+# the documentation. An alias has the form:
+# name=value
+# For example adding
+# "sideeffect=@par Side Effects:^^"
+# will allow you to put the command \sideeffect (or @sideeffect) in the
+# documentation, which will result in a user-defined paragraph with heading
+# "Side Effects:". Note that you cannot put \n's in the value part of an alias
+# to insert newlines (in the resulting output). You can put ^^ in the value part
+# of an alias to insert a newline as if a physical newline was in the original
+# file. When you need a literal { or } or , in the value part of an alias you
+# have to escape them by means of a backslash (\), this can lead to conflicts
+# with the commands \{ and \} for these it is advised to use the version @{ and
+# @} or use a double escape (\\{ and \\})
+
+ALIASES                =
+
+# Set the OPTIMIZE_OUTPUT_FOR_C tag to YES if your project consists of C sources
+# only. Doxygen will then generate output that is more tailored for C. For
+# instance, some of the names that are used will be different. The list of all
+# members will be omitted, etc.
+# The default value is: NO.
+
+OPTIMIZE_OUTPUT_FOR_C  = NO
+
+# Set the OPTIMIZE_OUTPUT_JAVA tag to YES if your project consists of Java or
+# Python sources only. Doxygen will then generate output that is more tailored
+# for that language. For instance, namespaces will be presented as packages,
+# qualified scopes will look different, etc.
+# The default value is: NO.
+
+OPTIMIZE_OUTPUT_JAVA   = NO
+
+# Set the OPTIMIZE_FOR_FORTRAN tag to YES if your project consists of Fortran
+# sources. Doxygen will then generate output that is tailored for Fortran.
+# The default value is: NO.
+
+OPTIMIZE_FOR_FORTRAN   = NO
+
+# Set the OPTIMIZE_OUTPUT_VHDL tag to YES if your project consists of VHDL
+# sources. Doxygen will then generate output that is tailored for VHDL.
+# The default value is: NO.
+
+OPTIMIZE_OUTPUT_VHDL   = NO
+
+# Set the OPTIMIZE_OUTPUT_SLICE tag to YES if your project consists of Slice
+# sources only. Doxygen will then generate output that is more tailored for that
+# language. For instance, namespaces will be presented as modules, types will be
+# separated into more groups, etc.
+# The default value is: NO.
+
+OPTIMIZE_OUTPUT_SLICE  = NO
+
+# Doxygen selects the parser to use depending on the extension of the files it
+# parses. With this tag you can assign which parser to use for a given
+# extension. Doxygen has a built-in mapping, but you can override or extend it
+# using this tag. The format is ext=language, where ext is a file extension, and
+# language is one of the parsers supported by doxygen: IDL, Java, JavaScript,
+# Csharp (C#), C, C++, Lex, D, PHP, md (Markdown), Objective-C, Python, Slice,
+# VHDL, Fortran (fixed format Fortran: FortranFixed, free formatted Fortran:
+# FortranFree, unknown formatted Fortran: Fortran. In the later case the parser
+# tries to guess whether the code is fixed or free formatted code, this is the
+# default for Fortran type files). For instance to make doxygen treat .inc files
+# as Fortran files (default is PHP), and .f files as C (default is Fortran),
+# use: inc=Fortran f=C.
+#
+# Note: For files without extension you can use no_extension as a placeholder.
+#
+# Note that for custom extensions you also need to set FILE_PATTERNS otherwise
+# the files are not read by doxygen. When specifying no_extension you should add
+# * to the FILE_PATTERNS.
+#
+# Note see also the list of default file extension mappings.
+
+EXTENSION_MAPPING      =
+
+# If the MARKDOWN_SUPPORT tag is enabled then doxygen pre-processes all comments
+# according to the Markdown format, which allows for more readable
+# documentation. See https://daringfireball.net/projects/markdown/ for details.
+# The output of markdown processing is further processed by doxygen, so you can
+# mix doxygen, HTML, and XML commands with Markdown formatting. Disable only in
+# case of backward compatibilities issues.
+# The default value is: YES.
+
+MARKDOWN_SUPPORT       = YES
+
+# When the TOC_INCLUDE_HEADINGS tag is set to a non-zero value, all headings up
+# to that level are automatically included in the table of contents, even if
+# they do not have an id attribute.
+# Note: This feature currently applies only to Markdown headings.
+# Minimum value: 0, maximum value: 99, default value: 5.
+# This tag requires that the tag MARKDOWN_SUPPORT is set to YES.
+
+TOC_INCLUDE_HEADINGS   = 5
+
+# When enabled doxygen tries to link words that correspond to documented
+# classes, or namespaces to their corresponding documentation. Such a link can
+# be prevented in individual cases by putting a % sign in front of the word or
+# globally by setting AUTOLINK_SUPPORT to NO.
+# The default value is: YES.
+
+AUTOLINK_SUPPORT       = YES
+
+# If you use STL classes (i.e. std::string, std::vector, etc.) but do not want
+# to include (a tag file for) the STL sources as input, then you should set this
+# tag to YES in order to let doxygen match functions declarations and
+# definitions whose arguments contain STL classes (e.g. func(std::string);
+# versus func(std::string) {}). This also make the inheritance and collaboration
+# diagrams that involve STL classes more complete and accurate.
+# The default value is: NO.
+
+BUILTIN_STL_SUPPORT    = NO
+
+# If you use Microsoft's C++/CLI language, you should set this option to YES to
+# enable parsing support.
+# The default value is: NO.
+
+CPP_CLI_SUPPORT        = NO
+
+# Set the SIP_SUPPORT tag to YES if your project consists of sip (see:
+# https://www.riverbankcomputing.com/software/sip/intro) sources only. Doxygen
+# will parse them like normal C++ but will assume all classes use public instead
+# of private inheritance when no explicit protection keyword is present.
+# The default value is: NO.
+
+SIP_SUPPORT            = NO
+
+# For Microsoft's IDL there are propget and propput attributes to indicate
+# getter and setter methods for a property. Setting this option to YES will make
+# doxygen to replace the get and set methods by a property in the documentation.
+# This will only work if the methods are indeed getting or setting a simple
+# type. If this is not the case, or you want to show the methods anyway, you
+# should set this option to NO.
+# The default value is: YES.
+
+IDL_PROPERTY_SUPPORT   = YES
+
+# If member grouping is used in the documentation and the DISTRIBUTE_GROUP_DOC
+# tag is set to YES then doxygen will reuse the documentation of the first
+# member in the group (if any) for the other members of the group. By default
+# all members of a group must be documented explicitly.
+# The default value is: NO.
+
+DISTRIBUTE_GROUP_DOC   = NO
+
+# If one adds a struct or class to a group and this option is enabled, then also
+# any nested class or struct is added to the same group. By default this option
+# is disabled and one has to add nested compounds explicitly via \ingroup.
+# The default value is: NO.
+
+GROUP_NESTED_COMPOUNDS = NO
+
+# Set the SUBGROUPING tag to YES to allow class member groups of the same type
+# (for instance a group of public functions) to be put as a subgroup of that
+# type (e.g. under the Public Functions section). Set it to NO to prevent
+# subgrouping. Alternatively, this can be done per class using the
+# \nosubgrouping command.
+# The default value is: YES.
+
+SUBGROUPING            = YES
+
+# When the INLINE_GROUPED_CLASSES tag is set to YES, classes, structs and unions
+# are shown inside the group in which they are included (e.g. using \ingroup)
+# instead of on a separate page (for HTML and Man pages) or section (for LaTeX
+# and RTF).
+#
+# Note that this feature does not work in combination with
+# SEPARATE_MEMBER_PAGES.
+# The default value is: NO.
+
+INLINE_GROUPED_CLASSES = NO
+
+# When the INLINE_SIMPLE_STRUCTS tag is set to YES, structs, classes, and unions
+# with only public data fields or simple typedef fields will be shown inline in
+# the documentation of the scope in which they are defined (i.e. file,
+# namespace, or group documentation), provided this scope is documented. If set
+# to NO, structs, classes, and unions are shown on a separate page (for HTML and
+# Man pages) or section (for LaTeX and RTF).
+# The default value is: NO.
+
+INLINE_SIMPLE_STRUCTS  = NO
+
+# When TYPEDEF_HIDES_STRUCT tag is enabled, a typedef of a struct, union, or
+# enum is documented as struct, union, or enum with the name of the typedef. So
+# typedef struct TypeS {} TypeT, will appear in the documentation as a struct
+# with name TypeT. When disabled the typedef will appear as a member of a file,
+# namespace, or class. And the struct will be named TypeS. This can typically be
+# useful for C code in case the coding convention dictates that all compound
+# types are typedef'ed and only the typedef is referenced, never the tag name.
+# The default value is: NO.
+
+TYPEDEF_HIDES_STRUCT   = NO
+
+# The size of the symbol lookup cache can be set using LOOKUP_CACHE_SIZE. This
+# cache is used to resolve symbols given their name and scope. Since this can be
+# an expensive process and often the same symbol appears multiple times in the
+# code, doxygen keeps a cache of pre-resolved symbols. If the cache is too small
+# doxygen will become slower. If the cache is too large, memory is wasted. The
+# cache size is given by this formula: 2^(16+LOOKUP_CACHE_SIZE). The valid range
+# is 0..9, the default is 0, corresponding to a cache size of 2^16=65536
+# symbols. At the end of a run doxygen will report the cache usage and suggest
+# the optimal cache size from a speed point of view.
+# Minimum value: 0, maximum value: 9, default value: 0.
+
+LOOKUP_CACHE_SIZE      = 0
+
+# The NUM_PROC_THREADS specifies the number of threads doxygen is allowed to use
+# during processing. When set to 0 doxygen will based this on the number of
+# cores available in the system. You can set it explicitly to a value larger
+# than 0 to get more control over the balance between CPU load and processing
+# speed. At this moment only the input processing can be done using multiple
+# threads. Since this is still an experimental feature the default is set to 1,
+# which effectively disables parallel processing. Please report any issues you
+# encounter. Generating dot graphs in parallel is controlled by the
+# DOT_NUM_THREADS setting.
+# Minimum value: 0, maximum value: 32, default value: 1.
+
+NUM_PROC_THREADS       = 1
+
+#---------------------------------------------------------------------------
+# Build related configuration options
+#---------------------------------------------------------------------------
+
+# If the EXTRACT_ALL tag is set to YES, doxygen will assume all entities in
+# documentation are documented, even if no documentation was available. Private
+# class members and static file members will be hidden unless the
+# EXTRACT_PRIVATE respectively EXTRACT_STATIC tags are set to YES.
+# Note: This will also disable the warnings about undocumented members that are
+# normally produced when WARNINGS is set to YES.
+# The default value is: NO.
+
+EXTRACT_ALL            = NO
+
+# If the EXTRACT_PRIVATE tag is set to YES, all private members of a class will
+# be included in the documentation.
+# The default value is: NO.
+
+EXTRACT_PRIVATE        = NO
+
+# If the EXTRACT_PRIV_VIRTUAL tag is set to YES, documented private virtual
+# methods of a class will be included in the documentation.
+# The default value is: NO.
+
+EXTRACT_PRIV_VIRTUAL   = NO
+
+# If the EXTRACT_PACKAGE tag is set to YES, all members with package or internal
+# scope will be included in the documentation.
+# The default value is: NO.
+
+EXTRACT_PACKAGE        = NO
+
+# If the EXTRACT_STATIC tag is set to YES, all static members of a file will be
+# included in the documentation.
+# The default value is: NO.
+
+EXTRACT_STATIC         = NO
+
+# If the EXTRACT_LOCAL_CLASSES tag is set to YES, classes (and structs) defined
+# locally in source files will be included in the documentation. If set to NO,
+# only classes defined in header files are included. Does not have any effect
+# for Java sources.
+# The default value is: YES.
+
+EXTRACT_LOCAL_CLASSES  = YES
+
+# This flag is only useful for Objective-C code. If set to YES, local methods,
+# which are defined in the implementation section but not in the interface are
+# included in the documentation. If set to NO, only methods in the interface are
+# included.
+# The default value is: NO.
+
+EXTRACT_LOCAL_METHODS  = NO
+
+# If this flag is set to YES, the members of anonymous namespaces will be
+# extracted and appear in the documentation as a namespace called
+# 'anonymous_namespace{file}', where file will be replaced with the base name of
+# the file that contains the anonymous namespace. By default anonymous namespace
+# are hidden.
+# The default value is: NO.
+
+EXTRACT_ANON_NSPACES   = NO
+
+# If this flag is set to YES, the name of an unnamed parameter in a declaration
+# will be determined by the corresponding definition. By default unnamed
+# parameters remain unnamed in the output.
+# The default value is: YES.
+
+RESOLVE_UNNAMED_PARAMS = YES
+
+# If the HIDE_UNDOC_MEMBERS tag is set to YES, doxygen will hide all
+# undocumented members inside documented classes or files. If set to NO these
+# members will be included in the various overviews, but no documentation
+# section is generated. This option has no effect if EXTRACT_ALL is enabled.
+# The default value is: NO.
+
+HIDE_UNDOC_MEMBERS     = NO
+
+# If the HIDE_UNDOC_CLASSES tag is set to YES, doxygen will hide all
+# undocumented classes that are normally visible in the class hierarchy. If set
+# to NO, these classes will be included in the various overviews. This option
+# will also hide undocumented C++ concepts if enabled. This option has no effect
+# if EXTRACT_ALL is enabled.
+# The default value is: NO.
+
+HIDE_UNDOC_CLASSES     = NO
+
+# If the HIDE_FRIEND_COMPOUNDS tag is set to YES, doxygen will hide all friend
+# declarations. If set to NO, these declarations will be included in the
+# documentation.
+# The default value is: NO.
+
+HIDE_FRIEND_COMPOUNDS  = NO
+
+# If the HIDE_IN_BODY_DOCS tag is set to YES, doxygen will hide any
+# documentation blocks found inside the body of a function. If set to NO, these
+# blocks will be appended to the function's detailed documentation block.
+# The default value is: NO.
+
+HIDE_IN_BODY_DOCS      = NO
+
+# The INTERNAL_DOCS tag determines if documentation that is typed after a
+# \internal command is included. If the tag is set to NO then the documentation
+# will be excluded. Set it to YES to include the internal documentation.
+# The default value is: NO.
+
+INTERNAL_DOCS          = NO
+
+# With the correct setting of option CASE_SENSE_NAMES doxygen will better be
+# able to match the capabilities of the underlying filesystem. In case the
+# filesystem is case sensitive (i.e. it supports files in the same directory
+# whose names only differ in casing), the option must be set to YES to properly
+# deal with such files in case they appear in the input. For filesystems that
+# are not case sensitive the option should be set to NO to properly deal with
+# output files written for symbols that only differ in casing, such as for two
+# classes, one named CLASS and the other named Class, and to also support
+# references to files without having to specify the exact matching casing. On
+# Windows (including Cygwin) and MacOS, users should typically set this option
+# to NO, whereas on Linux or other Unix flavors it should typically be set to
+# YES.
+# Possible values are: SYSTEM, NO and YES.
+# The default value is: SYSTEM.
+
+CASE_SENSE_NAMES       = SYSTEM
+
+# If the HIDE_SCOPE_NAMES tag is set to NO then doxygen will show members with
+# their full class and namespace scopes in the documentation. If set to YES, the
+# scope will be hidden.
+# The default value is: NO.
+
+HIDE_SCOPE_NAMES       = NO
+
+# If the HIDE_COMPOUND_REFERENCE tag is set to NO (default) then doxygen will
+# append additional text to a page's title, such as Class Reference. If set to
+# YES the compound reference will be hidden.
+# The default value is: NO.
+
+HIDE_COMPOUND_REFERENCE= NO
+
+# If the SHOW_HEADERFILE tag is set to YES then the documentation for a class
+# will show which file needs to be included to use the class.
+# The default value is: YES.
+
+SHOW_HEADERFILE        = YES
+
+# If the SHOW_INCLUDE_FILES tag is set to YES then doxygen will put a list of
+# the files that are included by a file in the documentation of that file.
+# The default value is: YES.
+
+SHOW_INCLUDE_FILES     = YES
+
+# If the SHOW_GROUPED_MEMB_INC tag is set to YES then Doxygen will add for each
+# grouped member an include statement to the documentation, telling the reader
+# which file to include in order to use the member.
+# The default value is: NO.
+
+SHOW_GROUPED_MEMB_INC  = NO
+
+# If the FORCE_LOCAL_INCLUDES tag is set to YES then doxygen will list include
+# files with double quotes in the documentation rather than with sharp brackets.
+# The default value is: NO.
+
+FORCE_LOCAL_INCLUDES   = NO
+
+# If the INLINE_INFO tag is set to YES then a tag [inline] is inserted in the
+# documentation for inline members.
+# The default value is: YES.
+
+INLINE_INFO            = YES
+
+# If the SORT_MEMBER_DOCS tag is set to YES then doxygen will sort the
+# (detailed) documentation of file and class members alphabetically by member
+# name. If set to NO, the members will appear in declaration order.
+# The default value is: YES.
+
+SORT_MEMBER_DOCS       = YES
+
+# If the SORT_BRIEF_DOCS tag is set to YES then doxygen will sort the brief
+# descriptions of file, namespace and class members alphabetically by member
+# name. If set to NO, the members will appear in declaration order. Note that
+# this will also influence the order of the classes in the class list.
+# The default value is: NO.
+
+SORT_BRIEF_DOCS        = NO
+
+# If the SORT_MEMBERS_CTORS_1ST tag is set to YES then doxygen will sort the
+# (brief and detailed) documentation of class members so that constructors and
+# destructors are listed first. If set to NO the constructors will appear in the
+# respective orders defined by SORT_BRIEF_DOCS and SORT_MEMBER_DOCS.
+# Note: If SORT_BRIEF_DOCS is set to NO this option is ignored for sorting brief
+# member documentation.
+# Note: If SORT_MEMBER_DOCS is set to NO this option is ignored for sorting
+# detailed member documentation.
+# The default value is: NO.
+
+SORT_MEMBERS_CTORS_1ST = NO
+
+# If the SORT_GROUP_NAMES tag is set to YES then doxygen will sort the hierarchy
+# of group names into alphabetical order. If set to NO the group names will
+# appear in their defined order.
+# The default value is: NO.
+
+SORT_GROUP_NAMES       = NO
+
+# If the SORT_BY_SCOPE_NAME tag is set to YES, the class list will be sorted by
+# fully-qualified names, including namespaces. If set to NO, the class list will
+# be sorted only by class name, not including the namespace part.
+# Note: This option is not very useful if HIDE_SCOPE_NAMES is set to YES.
+# Note: This option applies only to the class list, not to the alphabetical
+# list.
+# The default value is: NO.
+
+SORT_BY_SCOPE_NAME     = NO
+
+# If the STRICT_PROTO_MATCHING option is enabled and doxygen fails to do proper
+# type resolution of all parameters of a function it will reject a match between
+# the prototype and the implementation of a member function even if there is
+# only one candidate or it is obvious which candidate to choose by doing a
+# simple string match. By disabling STRICT_PROTO_MATCHING doxygen will still
+# accept a match between prototype and implementation in such cases.
+# The default value is: NO.
+
+STRICT_PROTO_MATCHING  = NO
+
+# The GENERATE_TODOLIST tag can be used to enable (YES) or disable (NO) the todo
+# list. This list is created by putting \todo commands in the documentation.
+# The default value is: YES.
+
+GENERATE_TODOLIST      = YES
+
+# The GENERATE_TESTLIST tag can be used to enable (YES) or disable (NO) the test
+# list. This list is created by putting \test commands in the documentation.
+# The default value is: YES.
+
+GENERATE_TESTLIST      = YES
+
+# The GENERATE_BUGLIST tag can be used to enable (YES) or disable (NO) the bug
+# list. This list is created by putting \bug commands in the documentation.
+# The default value is: YES.
+
+GENERATE_BUGLIST       = YES
+
+# The GENERATE_DEPRECATEDLIST tag can be used to enable (YES) or disable (NO)
+# the deprecated list. This list is created by putting \deprecated commands in
+# the documentation.
+# The default value is: YES.
+
+GENERATE_DEPRECATEDLIST= YES
+
+# The ENABLED_SECTIONS tag can be used to enable conditional documentation
+# sections, marked by \if <section_label> ... \endif and \cond <section_label>
+# ... \endcond blocks.
+
+ENABLED_SECTIONS       =
+
+# The MAX_INITIALIZER_LINES tag determines the maximum number of lines that the
+# initial value of a variable or macro / define can have for it to appear in the
+# documentation. If the initializer consists of more lines than specified here
+# it will be hidden. Use a value of 0 to hide initializers completely. The
+# appearance of the value of individual variables and macros / defines can be
+# controlled using \showinitializer or \hideinitializer command in the
+# documentation regardless of this setting.
+# Minimum value: 0, maximum value: 10000, default value: 30.
+
+MAX_INITIALIZER_LINES  = 30
+
+# Set the SHOW_USED_FILES tag to NO to disable the list of files generated at
+# the bottom of the documentation of classes and structs. If set to YES, the
+# list will mention the files that were used to generate the documentation.
+# The default value is: YES.
+
+SHOW_USED_FILES        = YES
+
+# Set the SHOW_FILES tag to NO to disable the generation of the Files page. This
+# will remove the Files entry from the Quick Index and from the Folder Tree View
+# (if specified).
+# The default value is: YES.
+
+SHOW_FILES             = YES
+
+# Set the SHOW_NAMESPACES tag to NO to disable the generation of the Namespaces
+# page. This will remove the Namespaces entry from the Quick Index and from the
+# Folder Tree View (if specified).
+# The default value is: YES.
+
+SHOW_NAMESPACES        = YES
+
+# The FILE_VERSION_FILTER tag can be used to specify a program or script that
+# doxygen should invoke to get the current version for each file (typically from
+# the version control system). Doxygen will invoke the program by executing (via
+# popen()) the command command input-file, where command is the value of the
+# FILE_VERSION_FILTER tag, and input-file is the name of an input file provided
+# by doxygen. Whatever the program writes to standard output is used as the file
+# version. For an example see the documentation.
+
+FILE_VERSION_FILTER    =
+
+# The LAYOUT_FILE tag can be used to specify a layout file which will be parsed
+# by doxygen. The layout file controls the global structure of the generated
+# output files in an output format independent way. To create the layout file
+# that represents doxygen's defaults, run doxygen with the -l option. You can
+# optionally specify a file name after the option, if omitted DoxygenLayout.xml
+# will be used as the name of the layout file. See also section "Changing the
+# layout of pages" for information.
+#
+# Note that if you run doxygen from a directory containing a file called
+# DoxygenLayout.xml, doxygen will parse it automatically even if the LAYOUT_FILE
+# tag is left empty.
+
+LAYOUT_FILE            =
+
+# The CITE_BIB_FILES tag can be used to specify one or more bib files containing
+# the reference definitions. This must be a list of .bib files. The .bib
+# extension is automatically appended if omitted. This requires the bibtex tool
+# to be installed. See also https://en.wikipedia.org/wiki/BibTeX for more info.
+# For LaTeX the style of the bibliography can be controlled using
+# LATEX_BIB_STYLE. To use this feature you need bibtex and perl available in the
+# search path. See also \cite for info how to create references.
+
+CITE_BIB_FILES         =
+
+#---------------------------------------------------------------------------
+# Configuration options related to warning and progress messages
+#---------------------------------------------------------------------------
+
+# The QUIET tag can be used to turn on/off the messages that are generated to
+# standard output by doxygen. If QUIET is set to YES this implies that the
+# messages are off.
+# The default value is: NO.
+
+QUIET                  = NO
+
+# The WARNINGS tag can be used to turn on/off the warning messages that are
+# generated to standard error (stderr) by doxygen. If WARNINGS is set to YES
+# this implies that the warnings are on.
+#
+# Tip: Turn warnings on while writing the documentation.
+# The default value is: YES.
+
+WARNINGS               = YES
+
+# If the WARN_IF_UNDOCUMENTED tag is set to YES then doxygen will generate
+# warnings for undocumented members. If EXTRACT_ALL is set to YES then this flag
+# will automatically be disabled.
+# The default value is: YES.
+
+WARN_IF_UNDOCUMENTED   = YES
+
+# If the WARN_IF_DOC_ERROR tag is set to YES, doxygen will generate warnings for
+# potential errors in the documentation, such as documenting some parameters in
+# a documented function twice, or documenting parameters that don't exist or
+# using markup commands wrongly.
+# The default value is: YES.
+
+WARN_IF_DOC_ERROR      = YES
+
+# If WARN_IF_INCOMPLETE_DOC is set to YES, doxygen will warn about incomplete
+# function parameter documentation. If set to NO, doxygen will accept that some
+# parameters have no documentation without warning.
+# The default value is: YES.
+
+WARN_IF_INCOMPLETE_DOC = YES
+
+# This WARN_NO_PARAMDOC option can be enabled to get warnings for functions that
+# are documented, but have no documentation for their parameters or return
+# value. If set to NO, doxygen will only warn about wrong parameter
+# documentation, but not about the absence of documentation. If EXTRACT_ALL is
+# set to YES then this flag will automatically be disabled. See also
+# WARN_IF_INCOMPLETE_DOC
+# The default value is: NO.
+
+WARN_NO_PARAMDOC       = NO
+
+# If WARN_IF_UNDOC_ENUM_VAL option is set to YES, doxygen will warn about
+# undocumented enumeration values. If set to NO, doxygen will accept
+# undocumented enumeration values. If EXTRACT_ALL is set to YES then this flag
+# will automatically be disabled.
+# The default value is: NO.
+
+WARN_IF_UNDOC_ENUM_VAL = NO
+
+# If the WARN_AS_ERROR tag is set to YES then doxygen will immediately stop when
+# a warning is encountered. If the WARN_AS_ERROR tag is set to FAIL_ON_WARNINGS
+# then doxygen will continue running as if WARN_AS_ERROR tag is set to NO, but
+# at the end of the doxygen process doxygen will return with a non-zero status.
+# Possible values are: NO, YES and FAIL_ON_WARNINGS.
+# The default value is: NO.
+
+WARN_AS_ERROR          = NO
+
+# The WARN_FORMAT tag determines the format of the warning messages that doxygen
+# can produce. The string should contain the $file, $line, and $text tags, which
+# will be replaced by the file and line number from which the warning originated
+# and the warning text. Optionally the format may contain $version, which will
+# be replaced by the version of the file (if it could be obtained via
+# FILE_VERSION_FILTER)
+# See also: WARN_LINE_FORMAT
+# The default value is: $file:$line: $text.
+
+WARN_FORMAT            = "$file:$line: $text"
+
+# In the $text part of the WARN_FORMAT command it is possible that a reference
+# to a more specific place is given. To make it easier to jump to this place
+# (outside of doxygen) the user can define a custom "cut" / "paste" string.
+# Example:
+# WARN_LINE_FORMAT = "'vi $file +$line'"
+# See also: WARN_FORMAT
+# The default value is: at line $line of file $file.
+
+WARN_LINE_FORMAT       = "at line $line of file $file"
+
+# The WARN_LOGFILE tag can be used to specify a file to which warning and error
+# messages should be written. If left blank the output is written to standard
+# error (stderr). In case the file specified cannot be opened for writing the
+# warning and error messages are written to standard error. When as file - is
+# specified the warning and error messages are written to standard output
+# (stdout).
+
+WARN_LOGFILE           =
+
+#---------------------------------------------------------------------------
+# Configuration options related to the input files
+#---------------------------------------------------------------------------
+
+# The INPUT tag is used to specify the files and/or directories that contain
+# documented source files. You may enter file names like myfile.cpp or
+# directories like /usr/src/myproject. Separate the files or directories with
+# spaces. See also FILE_PATTERNS and EXTENSION_MAPPING
+# Note: If this tag is empty the current directory is searched.
+
+INPUT                  =
+
+# This tag can be used to specify the character encoding of the source files
+# that doxygen parses. Internally doxygen uses the UTF-8 encoding. Doxygen uses
+# libiconv (or the iconv built into libc) for the transcoding. See the libiconv
+# documentation (see:
+# https://www.gnu.org/software/libiconv/) for the list of possible encodings.
+# See also: INPUT_FILE_ENCODING
+# The default value is: UTF-8.
+
+INPUT_ENCODING         = UTF-8
+
+# This tag can be used to specify the character encoding of the source files
+# that doxygen parses The INPUT_FILE_ENCODING tag can be used to specify
+# character encoding on a per file pattern basis. Doxygen will compare the file
+# name with each pattern and apply the encoding instead of the default
+# INPUT_ENCODING) if there is a match. The character encodings are a list of the
+# form: pattern=encoding (like *.php=ISO-8859-1). See cfg_input_encoding
+# "INPUT_ENCODING" for further information on supported encodings.
+
+INPUT_FILE_ENCODING    =
+
+# If the value of the INPUT tag contains directories, you can use the
+# FILE_PATTERNS tag to specify one or more wildcard patterns (like *.cpp and
+# *.h) to filter out the source-files in the directories.
+#
+# Note that for custom extensions or not directly supported extensions you also
+# need to set EXTENSION_MAPPING for the extension otherwise the files are not
+# read by doxygen.
+#
+# Note the list of default checked file patterns might differ from the list of
+# default file extension mappings.
+#
+# If left blank the following patterns are tested:*.c, *.cc, *.cxx, *.cpp,
+# *.c++, *.java, *.ii, *.ixx, *.ipp, *.i++, *.inl, *.idl, *.ddl, *.odl, *.h,
+# *.hh, *.hxx, *.hpp, *.h++, *.l, *.cs, *.d, *.php, *.php4, *.php5, *.phtml,
+# *.inc, *.m, *.markdown, *.md, *.mm, *.dox (to be provided as doxygen C
+# comment), *.py, *.pyw, *.f90, *.f95, *.f03, *.f08, *.f18, *.f, *.for, *.vhd,
+# *.vhdl, *.ucf, *.qsf and *.ice.
+
+FILE_PATTERNS          = *.c \
+                         *.cc \
+                         *.cxx \
+                         *.cpp \
+                         *.c++ \
+                         *.java \
+                         *.ii \
+                         *.ixx \
+                         *.ipp \
+                         *.i++ \
+                         *.inl \
+                         *.idl \
+                         *.ddl \
+                         *.odl \
+                         *.h \
+                         *.hh \
+                         *.hxx \
+                         *.hpp \
+                         *.h++ \
+                         *.l \
+                         *.cs \
+                         *.d \
+                         *.php \
+                         *.php4 \
+                         *.php5 \
+                         *.phtml \
+                         *.inc \
+                         *.m \
+                         *.markdown \
+                         *.md \
+                         *.mm \
+                         *.dox \
+                         *.py \
+                         *.pyw \
+                         *.f90 \
+                         *.f95 \
+                         *.f03 \
+                         *.f08 \
+                         *.f18 \
+                         *.f \
+                         *.for \
+                         *.vhd \
+                         *.vhdl \
+                         *.ucf \
+                         *.qsf \
+                         *.ice
+
+# The RECURSIVE tag can be used to specify whether or not subdirectories should
+# be searched for input files as well.
+# The default value is: NO.
+
+RECURSIVE              = YES
+
+# The EXCLUDE tag can be used to specify files and/or directories that should be
+# excluded from the INPUT source files. This way you can easily exclude a
+# subdirectory from a directory tree whose root is specified with the INPUT tag.
+#
+# Note that relative paths are relative to the directory from which doxygen is
+# run.
+
+EXCLUDE                = include/splash.h \
+                         include/intense_milk.h
+
+# The EXCLUDE_SYMLINKS tag can be used to select whether or not files or
+# directories that are symbolic links (a Unix file system feature) are excluded
+# from the input.
+# The default value is: NO.
+
+EXCLUDE_SYMLINKS       = NO
+
+# If the value of the INPUT tag contains directories, you can use the
+# EXCLUDE_PATTERNS tag to specify one or more wildcard patterns to exclude
+# certain files from those directories.
+#
+# Note that the wildcards are matched against the file with absolute path, so to
+# exclude all test directories for example use the pattern */test/*
+
+EXCLUDE_PATTERNS       =
+
+# The EXCLUDE_SYMBOLS tag can be used to specify one or more symbol names
+# (namespaces, classes, functions, etc.) that should be excluded from the
+# output. The symbol name can be a fully qualified name, a word, or if the
+# wildcard * is used, a substring. Examples: ANamespace, AClass,
+# ANamespace::AClass, ANamespace::*Test
+#
+# Note that the wildcards are matched against the file with absolute path, so to
+# exclude all test directories use the pattern */test/*
+
+EXCLUDE_SYMBOLS        =
+
+# The EXAMPLE_PATH tag can be used to specify one or more files or directories
+# that contain example code fragments that are included (see the \include
+# command).
+
+EXAMPLE_PATH           =
+
+# If the value of the EXAMPLE_PATH tag contains directories, you can use the
+# EXAMPLE_PATTERNS tag to specify one or more wildcard pattern (like *.cpp and
+# *.h) to filter out the source-files in the directories. If left blank all
+# files are included.
+
+EXAMPLE_PATTERNS       = *
+
+# If the EXAMPLE_RECURSIVE tag is set to YES then subdirectories will be
+# searched for input files to be used with the \include or \dontinclude commands
+# irrespective of the value of the RECURSIVE tag.
+# The default value is: NO.
+
+EXAMPLE_RECURSIVE      = NO
+
+# The IMAGE_PATH tag can be used to specify one or more files or directories
+# that contain images that are to be included in the documentation (see the
+# \image command).
+
+IMAGE_PATH             =
+
+# The INPUT_FILTER tag can be used to specify a program that doxygen should
+# invoke to filter for each input file. Doxygen will invoke the filter program
+# by executing (via popen()) the command:
+#
+# <filter> <input-file>
+#
+# where <filter> is the value of the INPUT_FILTER tag, and <input-file> is the
+# name of an input file. Doxygen will then use the output that the filter
+# program writes to standard output. If FILTER_PATTERNS is specified, this tag
+# will be ignored.
+#
+# Note that the filter must not add or remove lines; it is applied before the
+# code is scanned, but not when the output code is generated. If lines are added
+# or removed, the anchors will not be placed correctly.
+#
+# Note that doxygen will use the data processed and written to standard output
+# for further processing, therefore nothing else, like debug statements or used
+# commands (so in case of a Windows batch file always use @echo OFF), should be
+# written to standard output.
+#
+# Note that for custom extensions or not directly supported extensions you also
+# need to set EXTENSION_MAPPING for the extension otherwise the files are not
+# properly processed by doxygen.
+
+INPUT_FILTER           =
+
+# The FILTER_PATTERNS tag can be used to specify filters on a per file pattern
+# basis. Doxygen will compare the file name with each pattern and apply the
+# filter if there is a match. The filters are a list of the form: pattern=filter
+# (like *.cpp=my_cpp_filter). See INPUT_FILTER for further information on how
+# filters are used. If the FILTER_PATTERNS tag is empty or if none of the
+# patterns match the file name, INPUT_FILTER is applied.
+#
+# Note that for custom extensions or not directly supported extensions you also
+# need to set EXTENSION_MAPPING for the extension otherwise the files are not
+# properly processed by doxygen.
+
+FILTER_PATTERNS        =
+
+# If the FILTER_SOURCE_FILES tag is set to YES, the input filter (if set using
+# INPUT_FILTER) will also be used to filter the input files that are used for
+# producing the source files to browse (i.e. when SOURCE_BROWSER is set to YES).
+# The default value is: NO.
+
+FILTER_SOURCE_FILES    = NO
+
+# The FILTER_SOURCE_PATTERNS tag can be used to specify source filters per file
+# pattern. A pattern will override the setting for FILTER_PATTERN (if any) and
+# it is also possible to disable source filtering for a specific pattern using
+# *.ext= (so without naming a filter).
+# This tag requires that the tag FILTER_SOURCE_FILES is set to YES.
+
+FILTER_SOURCE_PATTERNS =
+
+# If the USE_MDFILE_AS_MAINPAGE tag refers to the name of a markdown file that
+# is part of the input, its contents will be placed on the main page
+# (index.html). This can be useful if you have a project on for instance GitHub
+# and want to reuse the introduction page also for the doxygen output.
+
+USE_MDFILE_AS_MAINPAGE =
+
+# The Fortran standard specifies that for fixed formatted Fortran code all
+# characters from position 72 are to be considered as comment. A common
+# extension is to allow longer lines before the automatic comment starts. The
+# setting FORTRAN_COMMENT_AFTER will also make it possible that longer lines can
+# be processed before the automatic comment starts.
+# Minimum value: 7, maximum value: 10000, default value: 72.
+
+FORTRAN_COMMENT_AFTER  = 72
+
+#---------------------------------------------------------------------------
+# Configuration options related to source browsing
+#---------------------------------------------------------------------------
+
+# If the SOURCE_BROWSER tag is set to YES then a list of source files will be
+# generated. Documented entities will be cross-referenced with these sources.
+#
+# Note: To get rid of all source code in the generated output, make sure that
+# also VERBATIM_HEADERS is set to NO.
+# The default value is: NO.
+
+SOURCE_BROWSER         = NO
+
+# Setting the INLINE_SOURCES tag to YES will include the body of functions,
+# classes and enums directly into the documentation.
+# The default value is: NO.
+
+INLINE_SOURCES         = NO
+
+# Setting the STRIP_CODE_COMMENTS tag to YES will instruct doxygen to hide any
+# special comment blocks from generated source code fragments. Normal C, C++ and
+# Fortran comments will always remain visible.
+# The default value is: YES.
+
+STRIP_CODE_COMMENTS    = YES
+
+# If the REFERENCED_BY_RELATION tag is set to YES then for each documented
+# entity all documented functions referencing it will be listed.
+# The default value is: NO.
+
+REFERENCED_BY_RELATION = NO
+
+# If the REFERENCES_RELATION tag is set to YES then for each documented function
+# all documented entities called/used by that function will be listed.
+# The default value is: NO.
+
+REFERENCES_RELATION    = NO
+
+# If the REFERENCES_LINK_SOURCE tag is set to YES and SOURCE_BROWSER tag is set
+# to YES then the hyperlinks from functions in REFERENCES_RELATION and
+# REFERENCED_BY_RELATION lists will link to the source code. Otherwise they will
+# link to the documentation.
+# The default value is: YES.
+
+REFERENCES_LINK_SOURCE = YES
+
+# If SOURCE_TOOLTIPS is enabled (the default) then hovering a hyperlink in the
+# source code will show a tooltip with additional information such as prototype,
+# brief description and links to the definition and documentation. Since this
+# will make the HTML file larger and loading of large files a bit slower, you
+# can opt to disable this feature.
+# The default value is: YES.
+# This tag requires that the tag SOURCE_BROWSER is set to YES.
+
+SOURCE_TOOLTIPS        = YES
+
+# If the USE_HTAGS tag is set to YES then the references to source code will
+# point to the HTML generated by the htags(1) tool instead of doxygen built-in
+# source browser. The htags tool is part of GNU's global source tagging system
+# (see https://www.gnu.org/software/global/global.html). You will need version
+# 4.8.6 or higher.
+#
+# To use it do the following:
+# - Install the latest version of global
+# - Enable SOURCE_BROWSER and USE_HTAGS in the configuration file
+# - Make sure the INPUT points to the root of the source tree
+# - Run doxygen as normal
+#
+# Doxygen will invoke htags (and that will in turn invoke gtags), so these
+# tools must be available from the command line (i.e. in the search path).
+#
+# The result: instead of the source browser generated by doxygen, the links to
+# source code will now point to the output of htags.
+# The default value is: NO.
+# This tag requires that the tag SOURCE_BROWSER is set to YES.
+
+USE_HTAGS              = NO
+
+# If the VERBATIM_HEADERS tag is set the YES then doxygen will generate a
+# verbatim copy of the header file for each class for which an include is
+# specified. Set to NO to disable this.
+# See also: Section \class.
+# The default value is: YES.
+
+VERBATIM_HEADERS       = YES
+
+#---------------------------------------------------------------------------
+# Configuration options related to the alphabetical class index
+#---------------------------------------------------------------------------
+
+# If the ALPHABETICAL_INDEX tag is set to YES, an alphabetical index of all
+# compounds will be generated. Enable this if the project contains a lot of
+# classes, structs, unions or interfaces.
+# The default value is: YES.
+
+ALPHABETICAL_INDEX     = YES
+
+# The IGNORE_PREFIX tag can be used to specify a prefix (or a list of prefixes)
+# that should be ignored while generating the index headers. The IGNORE_PREFIX
+# tag works for classes, function and member names. The entity will be placed in
+# the alphabetical list under the first letter of the entity name that remains
+# after removing the prefix.
+# This tag requires that the tag ALPHABETICAL_INDEX is set to YES.
+
+IGNORE_PREFIX          =
+
+#---------------------------------------------------------------------------
+# Configuration options related to the HTML output
+#---------------------------------------------------------------------------
+
+# If the GENERATE_HTML tag is set to YES, doxygen will generate HTML output
+# The default value is: YES.
+
+GENERATE_HTML          = YES
+
+# The HTML_OUTPUT tag is used to specify where the HTML docs will be put. If a
+# relative path is entered the value of OUTPUT_DIRECTORY will be put in front of
+# it.
+# The default directory is: html.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+HTML_OUTPUT            = html
+
+# The HTML_FILE_EXTENSION tag can be used to specify the file extension for each
+# generated HTML page (for example: .htm, .php, .asp).
+# The default value is: .html.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+HTML_FILE_EXTENSION    = .html
+
+# The HTML_HEADER tag can be used to specify a user-defined HTML header file for
+# each generated HTML page. If the tag is left blank doxygen will generate a
+# standard header.
+#
+# To get valid HTML the header file that includes any scripts and style sheets
+# that doxygen needs, which is dependent on the configuration options used (e.g.
+# the setting GENERATE_TREEVIEW). It is highly recommended to start with a
+# default header using
+# doxygen -w html new_header.html new_footer.html new_stylesheet.css
+# YourConfigFile
+# and then modify the file new_header.html. See also section "Doxygen usage"
+# for information on how to generate the default header that doxygen normally
+# uses.
+# Note: The header is subject to change so you typically have to regenerate the
+# default header when upgrading to a newer version of doxygen. For a description
+# of the possible markers and block names see the documentation.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+HTML_HEADER            =
+
+# The HTML_FOOTER tag can be used to specify a user-defined HTML footer for each
+# generated HTML page. If the tag is left blank doxygen will generate a standard
+# footer. See HTML_HEADER for more information on how to generate a default
+# footer and what special commands can be used inside the footer. See also
+# section "Doxygen usage" for information on how to generate the default footer
+# that doxygen normally uses.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+HTML_FOOTER            =
+
+# The HTML_STYLESHEET tag can be used to specify a user-defined cascading style
+# sheet that is used by each HTML page. It can be used to fine-tune the look of
+# the HTML output. If left blank doxygen will generate a default style sheet.
+# See also section "Doxygen usage" for information on how to generate the style
+# sheet that doxygen normally uses.
+# Note: It is recommended to use HTML_EXTRA_STYLESHEET instead of this tag, as
+# it is more robust and this tag (HTML_STYLESHEET) will in the future become
+# obsolete.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+HTML_STYLESHEET        =
+
+# The HTML_EXTRA_STYLESHEET tag can be used to specify additional user-defined
+# cascading style sheets that are included after the standard style sheets
+# created by doxygen. Using this option one can overrule certain style aspects.
+# This is preferred over using HTML_STYLESHEET since it does not replace the
+# standard style sheet and is therefore more robust against future updates.
+# Doxygen will copy the style sheet files to the output directory.
+# Note: The order of the extra style sheet files is of importance (e.g. the last
+# style sheet in the list overrules the setting of the previous ones in the
+# list).
+# Note: Since the styling of scrollbars can currently not be overruled in
+# Webkit/Chromium, the styling will be left out of the default doxygen.css if
+# one or more extra stylesheets have been specified. So if scrollbar
+# customization is desired it has to be added explicitly. For an example see the
+# documentation.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+HTML_EXTRA_STYLESHEET  =
+
+# The HTML_EXTRA_FILES tag can be used to specify one or more extra images or
+# other source files which should be copied to the HTML output directory. Note
+# that these files will be copied to the base HTML output directory. Use the
+# $relpath^ marker in the HTML_HEADER and/or HTML_FOOTER files to load these
+# files. In the HTML_STYLESHEET file, use the file name only. Also note that the
+# files will be copied as-is; there are no commands or markers available.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+HTML_EXTRA_FILES       =
+
+# The HTML_COLORSTYLE tag can be used to specify if the generated HTML output
+# should be rendered with a dark or light theme.
+# Possible values are: LIGHT always generate light mode output, DARK always
+# generate dark mode output, AUTO_LIGHT automatically set the mode according to
+# the user preference, use light mode if no preference is set (the default),
+# AUTO_DARK automatically set the mode according to the user preference, use
+# dark mode if no preference is set and TOGGLE allow to user to switch between
+# light and dark mode via a button.
+# The default value is: AUTO_LIGHT.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+HTML_COLORSTYLE        = AUTO_LIGHT
+
+# The HTML_COLORSTYLE_HUE tag controls the color of the HTML output. Doxygen
+# will adjust the colors in the style sheet and background images according to
+# this color. Hue is specified as an angle on a color-wheel, see
+# https://en.wikipedia.org/wiki/Hue for more information. For instance the value
+# 0 represents red, 60 is yellow, 120 is green, 180 is cyan, 240 is blue, 300
+# purple, and 360 is red again.
+# Minimum value: 0, maximum value: 359, default value: 220.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+HTML_COLORSTYLE_HUE    = 220
+
+# The HTML_COLORSTYLE_SAT tag controls the purity (or saturation) of the colors
+# in the HTML output. For a value of 0 the output will use gray-scales only. A
+# value of 255 will produce the most vivid colors.
+# Minimum value: 0, maximum value: 255, default value: 100.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+HTML_COLORSTYLE_SAT    = 100
+
+# The HTML_COLORSTYLE_GAMMA tag controls the gamma correction applied to the
+# luminance component of the colors in the HTML output. Values below 100
+# gradually make the output lighter, whereas values above 100 make the output
+# darker. The value divided by 100 is the actual gamma applied, so 80 represents
+# a gamma of 0.8, The value 220 represents a gamma of 2.2, and 100 does not
+# change the gamma.
+# Minimum value: 40, maximum value: 240, default value: 80.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+HTML_COLORSTYLE_GAMMA  = 80
+
+# If the HTML_TIMESTAMP tag is set to YES then the footer of each generated HTML
+# page will contain the date and time when the page was generated. Setting this
+# to YES can help to show when doxygen was last run and thus if the
+# documentation is up to date.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+HTML_TIMESTAMP         = NO
+
+# If the HTML_DYNAMIC_MENUS tag is set to YES then the generated HTML
+# documentation will contain a main index with vertical navigation menus that
+# are dynamically created via JavaScript. If disabled, the navigation index will
+# consists of multiple levels of tabs that are statically embedded in every HTML
+# page. Disable this option to support browsers that do not have JavaScript,
+# like the Qt help browser.
+# The default value is: YES.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+HTML_DYNAMIC_MENUS     = YES
+
+# If the HTML_DYNAMIC_SECTIONS tag is set to YES then the generated HTML
+# documentation will contain sections that can be hidden and shown after the
+# page has loaded.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+HTML_DYNAMIC_SECTIONS  = NO
+
+# With HTML_INDEX_NUM_ENTRIES one can control the preferred number of entries
+# shown in the various tree structured indices initially; the user can expand
+# and collapse entries dynamically later on. Doxygen will expand the tree to
+# such a level that at most the specified number of entries are visible (unless
+# a fully collapsed tree already exceeds this amount). So setting the number of
+# entries 1 will produce a full collapsed tree by default. 0 is a special value
+# representing an infinite number of entries and will result in a full expanded
+# tree by default.
+# Minimum value: 0, maximum value: 9999, default value: 100.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+HTML_INDEX_NUM_ENTRIES = 100
+
+# If the GENERATE_DOCSET tag is set to YES, additional index files will be
+# generated that can be used as input for Apple's Xcode 3 integrated development
+# environment (see:
+# https://developer.apple.com/xcode/), introduced with OSX 10.5 (Leopard). To
+# create a documentation set, doxygen will generate a Makefile in the HTML
+# output directory. Running make will produce the docset in that directory and
+# running make install will install the docset in
+# ~/Library/Developer/Shared/Documentation/DocSets so that Xcode will find it at
+# startup. See https://developer.apple.com/library/archive/featuredarticles/Doxy
+# genXcode/_index.html for more information.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+GENERATE_DOCSET        = NO
+
+# This tag determines the name of the docset feed. A documentation feed provides
+# an umbrella under which multiple documentation sets from a single provider
+# (such as a company or product suite) can be grouped.
+# The default value is: Doxygen generated docs.
+# This tag requires that the tag GENERATE_DOCSET is set to YES.
+
+DOCSET_FEEDNAME        = "Doxygen generated docs"
+
+# This tag determines the URL of the docset feed. A documentation feed provides
+# an umbrella under which multiple documentation sets from a single provider
+# (such as a company or product suite) can be grouped.
+# This tag requires that the tag GENERATE_DOCSET is set to YES.
+
+DOCSET_FEEDURL         =
+
+# This tag specifies a string that should uniquely identify the documentation
+# set bundle. This should be a reverse domain-name style string, e.g.
+# com.mycompany.MyDocSet. Doxygen will append .docset to the name.
+# The default value is: org.doxygen.Project.
+# This tag requires that the tag GENERATE_DOCSET is set to YES.
+
+DOCSET_BUNDLE_ID       = org.doxygen.Project
+
+# The DOCSET_PUBLISHER_ID tag specifies a string that should uniquely identify
+# the documentation publisher. This should be a reverse domain-name style
+# string, e.g. com.mycompany.MyDocSet.documentation.
+# The default value is: org.doxygen.Publisher.
+# This tag requires that the tag GENERATE_DOCSET is set to YES.
+
+DOCSET_PUBLISHER_ID    = org.doxygen.Publisher
+
+# The DOCSET_PUBLISHER_NAME tag identifies the documentation publisher.
+# The default value is: Publisher.
+# This tag requires that the tag GENERATE_DOCSET is set to YES.
+
+DOCSET_PUBLISHER_NAME  = Publisher
+
+# If the GENERATE_HTMLHELP tag is set to YES then doxygen generates three
+# additional HTML index files: index.hhp, index.hhc, and index.hhk. The
+# index.hhp is a project file that can be read by Microsoft's HTML Help Workshop
+# on Windows. In the beginning of 2021 Microsoft took the original page, with
+# a.o. the download links, offline the HTML help workshop was already many years
+# in maintenance mode). You can download the HTML help workshop from the web
+# archives at Installation executable (see:
+# http://web.archive.org/web/20160201063255/http://download.microsoft.com/downlo
+# ad/0/A/9/0A939EF6-E31C-430F-A3DF-DFAE7960D564/htmlhelp.exe).
+#
+# The HTML Help Workshop contains a compiler that can convert all HTML output
+# generated by doxygen into a single compiled HTML file (.chm). Compiled HTML
+# files are now used as the Windows 98 help format, and will replace the old
+# Windows help format (.hlp) on all Windows platforms in the future. Compressed
+# HTML files also contain an index, a table of contents, and you can search for
+# words in the documentation. The HTML workshop also contains a viewer for
+# compressed HTML files.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+GENERATE_HTMLHELP      = NO
+
+# The CHM_FILE tag can be used to specify the file name of the resulting .chm
+# file. You can add a path in front of the file if the result should not be
+# written to the html output directory.
+# This tag requires that the tag GENERATE_HTMLHELP is set to YES.
+
+CHM_FILE               =
+
+# The HHC_LOCATION tag can be used to specify the location (absolute path
+# including file name) of the HTML help compiler (hhc.exe). If non-empty,
+# doxygen will try to run the HTML help compiler on the generated index.hhp.
+# The file has to be specified with full path.
+# This tag requires that the tag GENERATE_HTMLHELP is set to YES.
+
+HHC_LOCATION           =
+
+# The GENERATE_CHI flag controls if a separate .chi index file is generated
+# (YES) or that it should be included in the main .chm file (NO).
+# The default value is: NO.
+# This tag requires that the tag GENERATE_HTMLHELP is set to YES.
+
+GENERATE_CHI           = NO
+
+# The CHM_INDEX_ENCODING is used to encode HtmlHelp index (hhk), content (hhc)
+# and project file content.
+# This tag requires that the tag GENERATE_HTMLHELP is set to YES.
+
+CHM_INDEX_ENCODING     =
+
+# The BINARY_TOC flag controls whether a binary table of contents is generated
+# (YES) or a normal table of contents (NO) in the .chm file. Furthermore it
+# enables the Previous and Next buttons.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_HTMLHELP is set to YES.
+
+BINARY_TOC             = NO
+
+# The TOC_EXPAND flag can be set to YES to add extra items for group members to
+# the table of contents of the HTML help documentation and to the tree view.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_HTMLHELP is set to YES.
+
+TOC_EXPAND             = NO
+
+# If the GENERATE_QHP tag is set to YES and both QHP_NAMESPACE and
+# QHP_VIRTUAL_FOLDER are set, an additional index file will be generated that
+# can be used as input for Qt's qhelpgenerator to generate a Qt Compressed Help
+# (.qch) of the generated HTML documentation.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+GENERATE_QHP           = NO
+
+# If the QHG_LOCATION tag is specified, the QCH_FILE tag can be used to specify
+# the file name of the resulting .qch file. The path specified is relative to
+# the HTML output folder.
+# This tag requires that the tag GENERATE_QHP is set to YES.
+
+QCH_FILE               =
+
+# The QHP_NAMESPACE tag specifies the namespace to use when generating Qt Help
+# Project output. For more information please see Qt Help Project / Namespace
+# (see:
+# https://doc.qt.io/archives/qt-4.8/qthelpproject.html#namespace).
+# The default value is: org.doxygen.Project.
+# This tag requires that the tag GENERATE_QHP is set to YES.
+
+QHP_NAMESPACE          = org.doxygen.Project
+
+# The QHP_VIRTUAL_FOLDER tag specifies the namespace to use when generating Qt
+# Help Project output. For more information please see Qt Help Project / Virtual
+# Folders (see:
+# https://doc.qt.io/archives/qt-4.8/qthelpproject.html#virtual-folders).
+# The default value is: doc.
+# This tag requires that the tag GENERATE_QHP is set to YES.
+
+QHP_VIRTUAL_FOLDER     = doc
+
+# If the QHP_CUST_FILTER_NAME tag is set, it specifies the name of a custom
+# filter to add. For more information please see Qt Help Project / Custom
+# Filters (see:
+# https://doc.qt.io/archives/qt-4.8/qthelpproject.html#custom-filters).
+# This tag requires that the tag GENERATE_QHP is set to YES.
+
+QHP_CUST_FILTER_NAME   =
+
+# The QHP_CUST_FILTER_ATTRS tag specifies the list of the attributes of the
+# custom filter to add. For more information please see Qt Help Project / Custom
+# Filters (see:
+# https://doc.qt.io/archives/qt-4.8/qthelpproject.html#custom-filters).
+# This tag requires that the tag GENERATE_QHP is set to YES.
+
+QHP_CUST_FILTER_ATTRS  =
+
+# The QHP_SECT_FILTER_ATTRS tag specifies the list of the attributes this
+# project's filter section matches. Qt Help Project / Filter Attributes (see:
+# https://doc.qt.io/archives/qt-4.8/qthelpproject.html#filter-attributes).
+# This tag requires that the tag GENERATE_QHP is set to YES.
+
+QHP_SECT_FILTER_ATTRS  =
+
+# The QHG_LOCATION tag can be used to specify the location (absolute path
+# including file name) of Qt's qhelpgenerator. If non-empty doxygen will try to
+# run qhelpgenerator on the generated .qhp file.
+# This tag requires that the tag GENERATE_QHP is set to YES.
+
+QHG_LOCATION           =
+
+# If the GENERATE_ECLIPSEHELP tag is set to YES, additional index files will be
+# generated, together with the HTML files, they form an Eclipse help plugin. To
+# install this plugin and make it available under the help contents menu in
+# Eclipse, the contents of the directory containing the HTML and XML files needs
+# to be copied into the plugins directory of eclipse. The name of the directory
+# within the plugins directory should be the same as the ECLIPSE_DOC_ID value.
+# After copying Eclipse needs to be restarted before the help appears.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+GENERATE_ECLIPSEHELP   = NO
+
+# A unique identifier for the Eclipse help plugin. When installing the plugin
+# the directory name containing the HTML and XML files should also have this
+# name. Each documentation set should have its own identifier.
+# The default value is: org.doxygen.Project.
+# This tag requires that the tag GENERATE_ECLIPSEHELP is set to YES.
+
+ECLIPSE_DOC_ID         = org.doxygen.Project
+
+# If you want full control over the layout of the generated HTML pages it might
+# be necessary to disable the index and replace it with your own. The
+# DISABLE_INDEX tag can be used to turn on/off the condensed index (tabs) at top
+# of each HTML page. A value of NO enables the index and the value YES disables
+# it. Since the tabs in the index contain the same information as the navigation
+# tree, you can set this option to YES if you also set GENERATE_TREEVIEW to YES.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+DISABLE_INDEX          = NO
+
+# The GENERATE_TREEVIEW tag is used to specify whether a tree-like index
+# structure should be generated to display hierarchical information. If the tag
+# value is set to YES, a side panel will be generated containing a tree-like
+# index structure (just like the one that is generated for HTML Help). For this
+# to work a browser that supports JavaScript, DHTML, CSS and frames is required
+# (i.e. any modern browser). Windows users are probably better off using the
+# HTML help feature. Via custom style sheets (see HTML_EXTRA_STYLESHEET) one can
+# further fine tune the look of the index (see "Fine-tuning the output"). As an
+# example, the default style sheet generated by doxygen has an example that
+# shows how to put an image at the root of the tree instead of the PROJECT_NAME.
+# Since the tree basically has the same information as the tab index, you could
+# consider setting DISABLE_INDEX to YES when enabling this option.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+GENERATE_TREEVIEW      = NO
+
+# When both GENERATE_TREEVIEW and DISABLE_INDEX are set to YES, then the
+# FULL_SIDEBAR option determines if the side bar is limited to only the treeview
+# area (value NO) or if it should extend to the full height of the window (value
+# YES). Setting this to YES gives a layout similar to
+# https://docs.readthedocs.io with more room for contents, but less room for the
+# project logo, title, and description. If either GENERATE_TREEVIEW or
+# DISABLE_INDEX is set to NO, this option has no effect.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+FULL_SIDEBAR           = NO
+
+# The ENUM_VALUES_PER_LINE tag can be used to set the number of enum values that
+# doxygen will group on one line in the generated HTML documentation.
+#
+# Note that a value of 0 will completely suppress the enum values from appearing
+# in the overview section.
+# Minimum value: 0, maximum value: 20, default value: 4.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+ENUM_VALUES_PER_LINE   = 4
+
+# If the treeview is enabled (see GENERATE_TREEVIEW) then this tag can be used
+# to set the initial width (in pixels) of the frame in which the tree is shown.
+# Minimum value: 0, maximum value: 1500, default value: 250.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+TREEVIEW_WIDTH         = 250
+
+# If the EXT_LINKS_IN_WINDOW option is set to YES, doxygen will open links to
+# external symbols imported via tag files in a separate window.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+EXT_LINKS_IN_WINDOW    = NO
+
+# If the OBFUSCATE_EMAILS tag is set to YES, doxygen will obfuscate email
+# addresses.
+# The default value is: YES.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+OBFUSCATE_EMAILS       = YES
+
+# If the HTML_FORMULA_FORMAT option is set to svg, doxygen will use the pdf2svg
+# tool (see https://github.com/dawbarton/pdf2svg) or inkscape (see
+# https://inkscape.org) to generate formulas as SVG images instead of PNGs for
+# the HTML output. These images will generally look nicer at scaled resolutions.
+# Possible values are: png (the default) and svg (looks nicer but requires the
+# pdf2svg or inkscape tool).
+# The default value is: png.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+HTML_FORMULA_FORMAT    = png
+
+# Use this tag to change the font size of LaTeX formulas included as images in
+# the HTML documentation. When you change the font size after a successful
+# doxygen run you need to manually remove any form_*.png images from the HTML
+# output directory to force them to be regenerated.
+# Minimum value: 8, maximum value: 50, default value: 10.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+FORMULA_FONTSIZE       = 10
+
+# The FORMULA_MACROFILE can contain LaTeX \newcommand and \renewcommand commands
+# to create new LaTeX commands to be used in formulas as building blocks. See
+# the section "Including formulas" for details.
+
+FORMULA_MACROFILE      =
+
+# Enable the USE_MATHJAX option to render LaTeX formulas using MathJax (see
+# https://www.mathjax.org) which uses client side JavaScript for the rendering
+# instead of using pre-rendered bitmaps. Use this if you do not have LaTeX
+# installed or if you want to formulas look prettier in the HTML output. When
+# enabled you may also need to install MathJax separately and configure the path
+# to it using the MATHJAX_RELPATH option.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+USE_MATHJAX            = NO
+
+# With MATHJAX_VERSION it is possible to specify the MathJax version to be used.
+# Note that the different versions of MathJax have different requirements with
+# regards to the different settings, so it is possible that also other MathJax
+# settings have to be changed when switching between the different MathJax
+# versions.
+# Possible values are: MathJax_2 and MathJax_3.
+# The default value is: MathJax_2.
+# This tag requires that the tag USE_MATHJAX is set to YES.
+
+MATHJAX_VERSION        = MathJax_2
+
+# When MathJax is enabled you can set the default output format to be used for
+# the MathJax output. For more details about the output format see MathJax
+# version 2 (see:
+# http://docs.mathjax.org/en/v2.7-latest/output.html) and MathJax version 3
+# (see:
+# http://docs.mathjax.org/en/latest/web/components/output.html).
+# Possible values are: HTML-CSS (which is slower, but has the best
+# compatibility. This is the name for Mathjax version 2, for MathJax version 3
+# this will be translated into chtml), NativeMML (i.e. MathML. Only supported
+# for NathJax 2. For MathJax version 3 chtml will be used instead.), chtml (This
+# is the name for Mathjax version 3, for MathJax version 2 this will be
+# translated into HTML-CSS) and SVG.
+# The default value is: HTML-CSS.
+# This tag requires that the tag USE_MATHJAX is set to YES.
+
+MATHJAX_FORMAT         = HTML-CSS
+
+# When MathJax is enabled you need to specify the location relative to the HTML
+# output directory using the MATHJAX_RELPATH option. The destination directory
+# should contain the MathJax.js script. For instance, if the mathjax directory
+# is located at the same level as the HTML output directory, then
+# MATHJAX_RELPATH should be ../mathjax. The default value points to the MathJax
+# Content Delivery Network so you can quickly see the result without installing
+# MathJax. However, it is strongly recommended to install a local copy of
+# MathJax from https://www.mathjax.org before deployment. The default value is:
+# - in case of MathJax version 2: https://cdn.jsdelivr.net/npm/mathjax@2
+# - in case of MathJax version 3: https://cdn.jsdelivr.net/npm/mathjax@3
+# This tag requires that the tag USE_MATHJAX is set to YES.
+
+MATHJAX_RELPATH        =
+
+# The MATHJAX_EXTENSIONS tag can be used to specify one or more MathJax
+# extension names that should be enabled during MathJax rendering. For example
+# for MathJax version 2 (see
+# https://docs.mathjax.org/en/v2.7-latest/tex.html#tex-and-latex-extensions):
+# MATHJAX_EXTENSIONS = TeX/AMSmath TeX/AMSsymbols
+# For example for MathJax version 3 (see
+# http://docs.mathjax.org/en/latest/input/tex/extensions/index.html):
+# MATHJAX_EXTENSIONS = ams
+# This tag requires that the tag USE_MATHJAX is set to YES.
+
+MATHJAX_EXTENSIONS     =
+
+# The MATHJAX_CODEFILE tag can be used to specify a file with javascript pieces
+# of code that will be used on startup of the MathJax code. See the MathJax site
+# (see:
+# http://docs.mathjax.org/en/v2.7-latest/output.html) for more details. For an
+# example see the documentation.
+# This tag requires that the tag USE_MATHJAX is set to YES.
+
+MATHJAX_CODEFILE       =
+
+# When the SEARCHENGINE tag is enabled doxygen will generate a search box for
+# the HTML output. The underlying search engine uses javascript and DHTML and
+# should work on any modern browser. Note that when using HTML help
+# (GENERATE_HTMLHELP), Qt help (GENERATE_QHP), or docsets (GENERATE_DOCSET)
+# there is already a search function so this one should typically be disabled.
+# For large projects the javascript based search engine can be slow, then
+# enabling SERVER_BASED_SEARCH may provide a better solution. It is possible to
+# search using the keyboard; to jump to the search box use <access key> + S
+# (what the <access key> is depends on the OS and browser, but it is typically
+# <CTRL>, <ALT>/<option>, or both). Inside the search box use the <cursor down
+# key> to jump into the search results window, the results can be navigated
+# using the <cursor keys>. Press <Enter> to select an item or <escape> to cancel
+# the search. The filter options can be selected when the cursor is inside the
+# search box by pressing <Shift>+<cursor down>. Also here use the <cursor keys>
+# to select a filter and <Enter> or <escape> to activate or cancel the filter
+# option.
+# The default value is: YES.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+SEARCHENGINE           = YES
+
+# When the SERVER_BASED_SEARCH tag is enabled the search engine will be
+# implemented using a web server instead of a web client using JavaScript. There
+# are two flavors of web server based searching depending on the EXTERNAL_SEARCH
+# setting. When disabled, doxygen will generate a PHP script for searching and
+# an index file used by the script. When EXTERNAL_SEARCH is enabled the indexing
+# and searching needs to be provided by external tools. See the section
+# "External Indexing and Searching" for details.
+# The default value is: NO.
+# This tag requires that the tag SEARCHENGINE is set to YES.
+
+SERVER_BASED_SEARCH    = NO
+
+# When EXTERNAL_SEARCH tag is enabled doxygen will no longer generate the PHP
+# script for searching. Instead the search results are written to an XML file
+# which needs to be processed by an external indexer. Doxygen will invoke an
+# external search engine pointed to by the SEARCHENGINE_URL option to obtain the
+# search results.
+#
+# Doxygen ships with an example indexer (doxyindexer) and search engine
+# (doxysearch.cgi) which are based on the open source search engine library
+# Xapian (see:
+# https://xapian.org/).
+#
+# See the section "External Indexing and Searching" for details.
+# The default value is: NO.
+# This tag requires that the tag SEARCHENGINE is set to YES.
+
+EXTERNAL_SEARCH        = NO
+
+# The SEARCHENGINE_URL should point to a search engine hosted by a web server
+# which will return the search results when EXTERNAL_SEARCH is enabled.
+#
+# Doxygen ships with an example indexer (doxyindexer) and search engine
+# (doxysearch.cgi) which are based on the open source search engine library
+# Xapian (see:
+# https://xapian.org/). See the section "External Indexing and Searching" for
+# details.
+# This tag requires that the tag SEARCHENGINE is set to YES.
+
+SEARCHENGINE_URL       =
+
+# When SERVER_BASED_SEARCH and EXTERNAL_SEARCH are both enabled the unindexed
+# search data is written to a file for indexing by an external tool. With the
+# SEARCHDATA_FILE tag the name of this file can be specified.
+# The default file is: searchdata.xml.
+# This tag requires that the tag SEARCHENGINE is set to YES.
+
+SEARCHDATA_FILE        = searchdata.xml
+
+# When SERVER_BASED_SEARCH and EXTERNAL_SEARCH are both enabled the
+# EXTERNAL_SEARCH_ID tag can be used as an identifier for the project. This is
+# useful in combination with EXTRA_SEARCH_MAPPINGS to search through multiple
+# projects and redirect the results back to the right project.
+# This tag requires that the tag SEARCHENGINE is set to YES.
+
+EXTERNAL_SEARCH_ID     =
+
+# The EXTRA_SEARCH_MAPPINGS tag can be used to enable searching through doxygen
+# projects other than the one defined by this configuration file, but that are
+# all added to the same external search index. Each project needs to have a
+# unique id set via EXTERNAL_SEARCH_ID. The search mapping then maps the id of
+# to a relative location where the documentation can be found. The format is:
+# EXTRA_SEARCH_MAPPINGS = tagname1=loc1 tagname2=loc2 ...
+# This tag requires that the tag SEARCHENGINE is set to YES.
+
+EXTRA_SEARCH_MAPPINGS  =
+
+#---------------------------------------------------------------------------
+# Configuration options related to the LaTeX output
+#---------------------------------------------------------------------------
+
+# If the GENERATE_LATEX tag is set to YES, doxygen will generate LaTeX output.
+# The default value is: YES.
+
+GENERATE_LATEX         = NO
+
+# The LATEX_OUTPUT tag is used to specify where the LaTeX docs will be put. If a
+# relative path is entered the value of OUTPUT_DIRECTORY will be put in front of
+# it.
+# The default directory is: latex.
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+LATEX_OUTPUT           = latex
+
+# The LATEX_CMD_NAME tag can be used to specify the LaTeX command name to be
+# invoked.
+#
+# Note that when not enabling USE_PDFLATEX the default is latex when enabling
+# USE_PDFLATEX the default is pdflatex and when in the later case latex is
+# chosen this is overwritten by pdflatex. For specific output languages the
+# default can have been set differently, this depends on the implementation of
+# the output language.
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+LATEX_CMD_NAME         =
+
+# The MAKEINDEX_CMD_NAME tag can be used to specify the command name to generate
+# index for LaTeX.
+# Note: This tag is used in the Makefile / make.bat.
+# See also: LATEX_MAKEINDEX_CMD for the part in the generated output file
+# (.tex).
+# The default file is: makeindex.
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+MAKEINDEX_CMD_NAME     = makeindex
+
+# The LATEX_MAKEINDEX_CMD tag can be used to specify the command name to
+# generate index for LaTeX. In case there is no backslash (\) as first character
+# it will be automatically added in the LaTeX code.
+# Note: This tag is used in the generated output file (.tex).
+# See also: MAKEINDEX_CMD_NAME for the part in the Makefile / make.bat.
+# The default value is: makeindex.
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+LATEX_MAKEINDEX_CMD    = makeindex
+
+# If the COMPACT_LATEX tag is set to YES, doxygen generates more compact LaTeX
+# documents. This may be useful for small projects and may help to save some
+# trees in general.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+COMPACT_LATEX          = NO
+
+# The PAPER_TYPE tag can be used to set the paper type that is used by the
+# printer.
+# Possible values are: a4 (210 x 297 mm), letter (8.5 x 11 inches), legal (8.5 x
+# 14 inches) and executive (7.25 x 10.5 inches).
+# The default value is: a4.
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+PAPER_TYPE             = a4
+
+# The EXTRA_PACKAGES tag can be used to specify one or more LaTeX package names
+# that should be included in the LaTeX output. The package can be specified just
+# by its name or with the correct syntax as to be used with the LaTeX
+# \usepackage command. To get the times font for instance you can specify :
+# EXTRA_PACKAGES=times or EXTRA_PACKAGES={times}
+# To use the option intlimits with the amsmath package you can specify:
+# EXTRA_PACKAGES=[intlimits]{amsmath}
+# If left blank no extra packages will be included.
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+EXTRA_PACKAGES         =
+
+# The LATEX_HEADER tag can be used to specify a user-defined LaTeX header for
+# the generated LaTeX document. The header should contain everything until the
+# first chapter. If it is left blank doxygen will generate a standard header. It
+# is highly recommended to start with a default header using
+# doxygen -w latex new_header.tex new_footer.tex new_stylesheet.sty
+# and then modify the file new_header.tex. See also section "Doxygen usage" for
+# information on how to generate the default header that doxygen normally uses.
+#
+# Note: Only use a user-defined header if you know what you are doing!
+# Note: The header is subject to change so you typically have to regenerate the
+# default header when upgrading to a newer version of doxygen. The following
+# commands have a special meaning inside the header (and footer): For a
+# description of the possible markers and block names see the documentation.
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+LATEX_HEADER           =
+
+# The LATEX_FOOTER tag can be used to specify a user-defined LaTeX footer for
+# the generated LaTeX document. The footer should contain everything after the
+# last chapter. If it is left blank doxygen will generate a standard footer. See
+# LATEX_HEADER for more information on how to generate a default footer and what
+# special commands can be used inside the footer. See also section "Doxygen
+# usage" for information on how to generate the default footer that doxygen
+# normally uses. Note: Only use a user-defined footer if you know what you are
+# doing!
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+LATEX_FOOTER           =
+
+# The LATEX_EXTRA_STYLESHEET tag can be used to specify additional user-defined
+# LaTeX style sheets that are included after the standard style sheets created
+# by doxygen. Using this option one can overrule certain style aspects. Doxygen
+# will copy the style sheet files to the output directory.
+# Note: The order of the extra style sheet files is of importance (e.g. the last
+# style sheet in the list overrules the setting of the previous ones in the
+# list).
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+LATEX_EXTRA_STYLESHEET =
+
+# The LATEX_EXTRA_FILES tag can be used to specify one or more extra images or
+# other source files which should be copied to the LATEX_OUTPUT output
+# directory. Note that the files will be copied as-is; there are no commands or
+# markers available.
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+LATEX_EXTRA_FILES      =
+
+# If the PDF_HYPERLINKS tag is set to YES, the LaTeX that is generated is
+# prepared for conversion to PDF (using ps2pdf or pdflatex). The PDF file will
+# contain links (just like the HTML output) instead of page references. This
+# makes the output suitable for online browsing using a PDF viewer.
+# The default value is: YES.
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+PDF_HYPERLINKS         = YES
+
+# If the USE_PDFLATEX tag is set to YES, doxygen will use the engine as
+# specified with LATEX_CMD_NAME to generate the PDF file directly from the LaTeX
+# files. Set this option to YES, to get a higher quality PDF documentation.
+#
+# See also section LATEX_CMD_NAME for selecting the engine.
+# The default value is: YES.
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+USE_PDFLATEX           = YES
+
+# If the LATEX_BATCHMODE tag is set to YES, doxygen will add the \batchmode
+# command to the generated LaTeX files. This will instruct LaTeX to keep running
+# if errors occur, instead of asking the user for help.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+LATEX_BATCHMODE        = NO
+
+# If the LATEX_HIDE_INDICES tag is set to YES then doxygen will not include the
+# index chapters (such as File Index, Compound Index, etc.) in the output.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+LATEX_HIDE_INDICES     = NO
+
+# The LATEX_BIB_STYLE tag can be used to specify the style to use for the
+# bibliography, e.g. plainnat, or ieeetr. See
+# https://en.wikipedia.org/wiki/BibTeX and \cite for more info.
+# The default value is: plain.
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+LATEX_BIB_STYLE        = plain
+
+# If the LATEX_TIMESTAMP tag is set to YES then the footer of each generated
+# page will contain the date and time when the page was generated. Setting this
+# to NO can help when comparing the output of multiple runs.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+LATEX_TIMESTAMP        = NO
+
+# The LATEX_EMOJI_DIRECTORY tag is used to specify the (relative or absolute)
+# path from which the emoji images will be read. If a relative path is entered,
+# it will be relative to the LATEX_OUTPUT directory. If left blank the
+# LATEX_OUTPUT directory will be used.
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+LATEX_EMOJI_DIRECTORY  =
+
+#---------------------------------------------------------------------------
+# Configuration options related to the RTF output
+#---------------------------------------------------------------------------
+
+# If the GENERATE_RTF tag is set to YES, doxygen will generate RTF output. The
+# RTF output is optimized for Word 97 and may not look too pretty with other RTF
+# readers/editors.
+# The default value is: NO.
+
+GENERATE_RTF           = NO
+
+# The RTF_OUTPUT tag is used to specify where the RTF docs will be put. If a
+# relative path is entered the value of OUTPUT_DIRECTORY will be put in front of
+# it.
+# The default directory is: rtf.
+# This tag requires that the tag GENERATE_RTF is set to YES.
+
+RTF_OUTPUT             = rtf
+
+# If the COMPACT_RTF tag is set to YES, doxygen generates more compact RTF
+# documents. This may be useful for small projects and may help to save some
+# trees in general.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_RTF is set to YES.
+
+COMPACT_RTF            = NO
+
+# If the RTF_HYPERLINKS tag is set to YES, the RTF that is generated will
+# contain hyperlink fields. The RTF file will contain links (just like the HTML
+# output) instead of page references. This makes the output suitable for online
+# browsing using Word or some other Word compatible readers that support those
+# fields.
+#
+# Note: WordPad (write) and others do not support links.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_RTF is set to YES.
+
+RTF_HYPERLINKS         = NO
+
+# Load stylesheet definitions from file. Syntax is similar to doxygen's
+# configuration file, i.e. a series of assignments. You only have to provide
+# replacements, missing definitions are set to their default value.
+#
+# See also section "Doxygen usage" for information on how to generate the
+# default style sheet that doxygen normally uses.
+# This tag requires that the tag GENERATE_RTF is set to YES.
+
+RTF_STYLESHEET_FILE    =
+
+# Set optional variables used in the generation of an RTF document. Syntax is
+# similar to doxygen's configuration file. A template extensions file can be
+# generated using doxygen -e rtf extensionFile.
+# This tag requires that the tag GENERATE_RTF is set to YES.
+
+RTF_EXTENSIONS_FILE    =
+
+#---------------------------------------------------------------------------
+# Configuration options related to the man page output
+#---------------------------------------------------------------------------
+
+# If the GENERATE_MAN tag is set to YES, doxygen will generate man pages for
+# classes and files.
+# The default value is: NO.
+
+GENERATE_MAN           = NO
+
+# The MAN_OUTPUT tag is used to specify where the man pages will be put. If a
+# relative path is entered the value of OUTPUT_DIRECTORY will be put in front of
+# it. A directory man3 will be created inside the directory specified by
+# MAN_OUTPUT.
+# The default directory is: man.
+# This tag requires that the tag GENERATE_MAN is set to YES.
+
+MAN_OUTPUT             = man
+
+# The MAN_EXTENSION tag determines the extension that is added to the generated
+# man pages. In case the manual section does not start with a number, the number
+# 3 is prepended. The dot (.) at the beginning of the MAN_EXTENSION tag is
+# optional.
+# The default value is: .3.
+# This tag requires that the tag GENERATE_MAN is set to YES.
+
+MAN_EXTENSION          = .3
+
+# The MAN_SUBDIR tag determines the name of the directory created within
+# MAN_OUTPUT in which the man pages are placed. If defaults to man followed by
+# MAN_EXTENSION with the initial . removed.
+# This tag requires that the tag GENERATE_MAN is set to YES.
+
+MAN_SUBDIR             =
+
+# If the MAN_LINKS tag is set to YES and doxygen generates man output, then it
+# will generate one additional man file for each entity documented in the real
+# man page(s). These additional files only source the real man page, but without
+# them the man command would be unable to find the correct page.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_MAN is set to YES.
+
+MAN_LINKS              = NO
+
+#---------------------------------------------------------------------------
+# Configuration options related to the XML output
+#---------------------------------------------------------------------------
+
+# If the GENERATE_XML tag is set to YES, doxygen will generate an XML file that
+# captures the structure of the code including all documentation.
+# The default value is: NO.
+
+GENERATE_XML           = NO
+
+# The XML_OUTPUT tag is used to specify where the XML pages will be put. If a
+# relative path is entered the value of OUTPUT_DIRECTORY will be put in front of
+# it.
+# The default directory is: xml.
+# This tag requires that the tag GENERATE_XML is set to YES.
+
+XML_OUTPUT             = xml
+
+# If the XML_PROGRAMLISTING tag is set to YES, doxygen will dump the program
+# listings (including syntax highlighting and cross-referencing information) to
+# the XML output. Note that enabling this will significantly increase the size
+# of the XML output.
+# The default value is: YES.
+# This tag requires that the tag GENERATE_XML is set to YES.
+
+XML_PROGRAMLISTING     = YES
+
+# If the XML_NS_MEMB_FILE_SCOPE tag is set to YES, doxygen will include
+# namespace members in file scope as well, matching the HTML output.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_XML is set to YES.
+
+XML_NS_MEMB_FILE_SCOPE = NO
+
+#---------------------------------------------------------------------------
+# Configuration options related to the DOCBOOK output
+#---------------------------------------------------------------------------
+
+# If the GENERATE_DOCBOOK tag is set to YES, doxygen will generate Docbook files
+# that can be used to generate PDF.
+# The default value is: NO.
+
+GENERATE_DOCBOOK       = NO
+
+# The DOCBOOK_OUTPUT tag is used to specify where the Docbook pages will be put.
+# If a relative path is entered the value of OUTPUT_DIRECTORY will be put in
+# front of it.
+# The default directory is: docbook.
+# This tag requires that the tag GENERATE_DOCBOOK is set to YES.
+
+DOCBOOK_OUTPUT         = docbook
+
+#---------------------------------------------------------------------------
+# Configuration options for the AutoGen Definitions output
+#---------------------------------------------------------------------------
+
+# If the GENERATE_AUTOGEN_DEF tag is set to YES, doxygen will generate an
+# AutoGen Definitions (see http://autogen.sourceforge.net/) file that captures
+# the structure of the code including all documentation. Note that this feature
+# is still experimental and incomplete at the moment.
+# The default value is: NO.
+
+GENERATE_AUTOGEN_DEF   = NO
+
+#---------------------------------------------------------------------------
+# Configuration options related to Sqlite3 output
+#---------------------------------------------------------------------------
+
+#---------------------------------------------------------------------------
+# Configuration options related to the Perl module output
+#---------------------------------------------------------------------------
+
+# If the GENERATE_PERLMOD tag is set to YES, doxygen will generate a Perl module
+# file that captures the structure of the code including all documentation.
+#
+# Note that this feature is still experimental and incomplete at the moment.
+# The default value is: NO.
+
+GENERATE_PERLMOD       = NO
+
+# If the PERLMOD_LATEX tag is set to YES, doxygen will generate the necessary
+# Makefile rules, Perl scripts and LaTeX code to be able to generate PDF and DVI
+# output from the Perl module output.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_PERLMOD is set to YES.
+
+PERLMOD_LATEX          = NO
+
+# If the PERLMOD_PRETTY tag is set to YES, the Perl module output will be nicely
+# formatted so it can be parsed by a human reader. This is useful if you want to
+# understand what is going on. On the other hand, if this tag is set to NO, the
+# size of the Perl module output will be much smaller and Perl will parse it
+# just the same.
+# The default value is: YES.
+# This tag requires that the tag GENERATE_PERLMOD is set to YES.
+
+PERLMOD_PRETTY         = YES
+
+# The names of the make variables in the generated doxyrules.make file are
+# prefixed with the string contained in PERLMOD_MAKEVAR_PREFIX. This is useful
+# so different doxyrules.make files included by the same Makefile don't
+# overwrite each other's variables.
+# This tag requires that the tag GENERATE_PERLMOD is set to YES.
+
+PERLMOD_MAKEVAR_PREFIX =
+
+#---------------------------------------------------------------------------
+# Configuration options related to the preprocessor
+#---------------------------------------------------------------------------
+
+# If the ENABLE_PREPROCESSING tag is set to YES, doxygen will evaluate all
+# C-preprocessor directives found in the sources and include files.
+# The default value is: YES.
+
+ENABLE_PREPROCESSING   = YES
+
+# If the MACRO_EXPANSION tag is set to YES, doxygen will expand all macro names
+# in the source code. If set to NO, only conditional compilation will be
+# performed. Macro expansion can be done in a controlled way by setting
+# EXPAND_ONLY_PREDEF to YES.
+# The default value is: NO.
+# This tag requires that the tag ENABLE_PREPROCESSING is set to YES.
+
+MACRO_EXPANSION        = NO
+
+# If the EXPAND_ONLY_PREDEF and MACRO_EXPANSION tags are both set to YES then
+# the macro expansion is limited to the macros specified with the PREDEFINED and
+# EXPAND_AS_DEFINED tags.
+# The default value is: NO.
+# This tag requires that the tag ENABLE_PREPROCESSING is set to YES.
+
+EXPAND_ONLY_PREDEF     = NO
+
+# If the SEARCH_INCLUDES tag is set to YES, the include files in the
+# INCLUDE_PATH will be searched if a #include is found.
+# The default value is: YES.
+# This tag requires that the tag ENABLE_PREPROCESSING is set to YES.
+
+SEARCH_INCLUDES        = YES
+
+# The INCLUDE_PATH tag can be used to specify one or more directories that
+# contain include files that are not input files but should be processed by the
+# preprocessor. Note that the INCLUDE_PATH is not recursive, so the setting of
+# RECURSIVE has no effect here.
+# This tag requires that the tag SEARCH_INCLUDES is set to YES.
+
+INCLUDE_PATH           =
+
+# You can use the INCLUDE_FILE_PATTERNS tag to specify one or more wildcard
+# patterns (like *.h and *.hpp) to filter out the header-files in the
+# directories. If left blank, the patterns specified with FILE_PATTERNS will be
+# used.
+# This tag requires that the tag ENABLE_PREPROCESSING is set to YES.
+
+INCLUDE_FILE_PATTERNS  =
+
+# The PREDEFINED tag can be used to specify one or more macro names that are
+# defined before the preprocessor is started (similar to the -D option of e.g.
+# gcc). The argument of the tag is a list of macros of the form: name or
+# name=definition (no spaces). If the definition and the "=" are omitted, "=1"
+# is assumed. To prevent a macro definition from being undefined via #undef or
+# recursively expanded use the := operator instead of the = operator.
+# This tag requires that the tag ENABLE_PREPROCESSING is set to YES.
+
+PREDEFINED             =
+
+# If the MACRO_EXPANSION and EXPAND_ONLY_PREDEF tags are set to YES then this
+# tag can be used to specify a list of macro names that should be expanded. The
+# macro definition that is found in the sources will be used. Use the PREDEFINED
+# tag if you want to use a different macro definition that overrules the
+# definition found in the source code.
+# This tag requires that the tag ENABLE_PREPROCESSING is set to YES.
+
+EXPAND_AS_DEFINED      =
+
+# If the SKIP_FUNCTION_MACROS tag is set to YES then doxygen's preprocessor will
+# remove all references to function-like macros that are alone on a line, have
+# an all uppercase name, and do not end with a semicolon. Such function macros
+# are typically used for boiler-plate code, and will confuse the parser if not
+# removed.
+# The default value is: YES.
+# This tag requires that the tag ENABLE_PREPROCESSING is set to YES.
+
+SKIP_FUNCTION_MACROS   = YES
+
+#---------------------------------------------------------------------------
+# Configuration options related to external references
+#---------------------------------------------------------------------------
+
+# The TAGFILES tag can be used to specify one or more tag files. For each tag
+# file the location of the external documentation should be added. The format of
+# a tag file without this location is as follows:
+# TAGFILES = file1 file2 ...
+# Adding location for the tag files is done as follows:
+# TAGFILES = file1=loc1 "file2 = loc2" ...
+# where loc1 and loc2 can be relative or absolute paths or URLs. See the
+# section "Linking to external documentation" for more information about the use
+# of tag files.
+# Note: Each tag file must have a unique name (where the name does NOT include
+# the path). If a tag file is not located in the directory in which doxygen is
+# run, you must also specify the path to the tagfile here.
+
+TAGFILES               =
+
+# When a file name is specified after GENERATE_TAGFILE, doxygen will create a
+# tag file that is based on the input files it reads. See section "Linking to
+# external documentation" for more information about the usage of tag files.
+
+GENERATE_TAGFILE       =
+
+# If the ALLEXTERNALS tag is set to YES, all external class will be listed in
+# the class index. If set to NO, only the inherited external classes will be
+# listed.
+# The default value is: NO.
+
+ALLEXTERNALS           = NO
+
+# If the EXTERNAL_GROUPS tag is set to YES, all external groups will be listed
+# in the modules index. If set to NO, only the current project's groups will be
+# listed.
+# The default value is: YES.
+
+EXTERNAL_GROUPS        = YES
+
+# If the EXTERNAL_PAGES tag is set to YES, all external pages will be listed in
+# the related pages index. If set to NO, only the current project's pages will
+# be listed.
+# The default value is: YES.
+
+EXTERNAL_PAGES         = YES
+
+#---------------------------------------------------------------------------
+# Configuration options related to the dot tool
+#---------------------------------------------------------------------------
+
+# You can include diagrams made with dia in doxygen documentation. Doxygen will
+# then run dia to produce the diagram and insert it in the documentation. The
+# DIA_PATH tag allows you to specify the directory where the dia binary resides.
+# If left empty dia is assumed to be found in the default search path.
+
+DIA_PATH               =
+
+# If set to YES the inheritance and collaboration graphs will hide inheritance
+# and usage relations if the target is undocumented or is not a class.
+# The default value is: YES.
+
+HIDE_UNDOC_RELATIONS   = YES
+
+# If you set the HAVE_DOT tag to YES then doxygen will assume the dot tool is
+# available from the path. This tool is part of Graphviz (see:
+# http://www.graphviz.org/), a graph visualization toolkit from AT&T and Lucent
+# Bell Labs. The other options in this section have no effect if this option is
+# set to NO
+# The default value is: NO.
+
+HAVE_DOT               = NO
+
+# The DOT_NUM_THREADS specifies the number of dot invocations doxygen is allowed
+# to run in parallel. When set to 0 doxygen will base this on the number of
+# processors available in the system. You can set it explicitly to a value
+# larger than 0 to get control over the balance between CPU load and processing
+# speed.
+# Minimum value: 0, maximum value: 32, default value: 0.
+# This tag requires that the tag HAVE_DOT is set to YES.
+
+DOT_NUM_THREADS        = 0
+
+# DOT_COMMON_ATTR is common attributes for nodes, edges and labels of
+# subgraphs. When you want a differently looking font in the dot files that
+# doxygen generates you can specify fontname, fontcolor and fontsize attributes.
+# For details please see <a href=https://graphviz.org/doc/info/attrs.html>Node,
+# Edge and Graph Attributes specification</a> You need to make sure dot is able
+# to find the font, which can be done by putting it in a standard location or by
+# setting the DOTFONTPATH environment variable or by setting DOT_FONTPATH to the
+# directory containing the font. Default graphviz fontsize is 14.
+# The default value is: fontname=Helvetica,fontsize=10.
+# This tag requires that the tag HAVE_DOT is set to YES.
+
+DOT_COMMON_ATTR        = "fontname=Helvetica,fontsize=10"
+
+# DOT_EDGE_ATTR is concatenated with DOT_COMMON_ATTR. For elegant style you can
+# add 'arrowhead=open, arrowtail=open, arrowsize=0.5'. <a
+# href=https://graphviz.org/doc/info/arrows.html>Complete documentation about
+# arrows shapes.</a>
+# The default value is: labelfontname=Helvetica,labelfontsize=10.
+# This tag requires that the tag HAVE_DOT is set to YES.
+
+DOT_EDGE_ATTR          = "labelfontname=Helvetica,labelfontsize=10"
+
+# DOT_NODE_ATTR is concatenated with DOT_COMMON_ATTR. For view without boxes
+# around nodes set 'shape=plain' or 'shape=plaintext' <a
+# href=https://www.graphviz.org/doc/info/shapes.html>Shapes specification</a>
+# The default value is: shape=box,height=0.2,width=0.4.
+# This tag requires that the tag HAVE_DOT is set to YES.
+
+DOT_NODE_ATTR          = "shape=box,height=0.2,width=0.4"
+
+# You can set the path where dot can find font specified with fontname in
+# DOT_COMMON_ATTR and others dot attributes.
+# This tag requires that the tag HAVE_DOT is set to YES.
+
+DOT_FONTPATH           =
+
+# If the CLASS_GRAPH tag is set to YES (or GRAPH) then doxygen will generate a
+# graph for each documented class showing the direct and indirect inheritance
+# relations. In case HAVE_DOT is set as well dot will be used to draw the graph,
+# otherwise the built-in generator will be used. If the CLASS_GRAPH tag is set
+# to TEXT the direct and indirect inheritance relations will be shown as texts /
+# links.
+# Possible values are: NO, YES, TEXT and GRAPH.
+# The default value is: YES.
+
+CLASS_GRAPH            = YES
+
+# If the COLLABORATION_GRAPH tag is set to YES then doxygen will generate a
+# graph for each documented class showing the direct and indirect implementation
+# dependencies (inheritance, containment, and class references variables) of the
+# class with other documented classes.
+# The default value is: YES.
+# This tag requires that the tag HAVE_DOT is set to YES.
+
+COLLABORATION_GRAPH    = YES
+
+# If the GROUP_GRAPHS tag is set to YES then doxygen will generate a graph for
+# groups, showing the direct groups dependencies. See also the chapter Grouping
+# in the manual.
+# The default value is: YES.
+# This tag requires that the tag HAVE_DOT is set to YES.
+
+GROUP_GRAPHS           = YES
+
+# If the UML_LOOK tag is set to YES, doxygen will generate inheritance and
+# collaboration diagrams in a style similar to the OMG's Unified Modeling
+# Language.
+# The default value is: NO.
+# This tag requires that the tag HAVE_DOT is set to YES.
+
+UML_LOOK               = NO
+
+# If the UML_LOOK tag is enabled, the fields and methods are shown inside the
+# class node. If there are many fields or methods and many nodes the graph may
+# become too big to be useful. The UML_LIMIT_NUM_FIELDS threshold limits the
+# number of items for each type to make the size more manageable. Set this to 0
+# for no limit. Note that the threshold may be exceeded by 50% before the limit
+# is enforced. So when you set the threshold to 10, up to 15 fields may appear,
+# but if the number exceeds 15, the total amount of fields shown is limited to
+# 10.
+# Minimum value: 0, maximum value: 100, default value: 10.
+# This tag requires that the tag UML_LOOK is set to YES.
+
+UML_LIMIT_NUM_FIELDS   = 10
+
+# If the DOT_UML_DETAILS tag is set to NO, doxygen will show attributes and
+# methods without types and arguments in the UML graphs. If the DOT_UML_DETAILS
+# tag is set to YES, doxygen will add type and arguments for attributes and
+# methods in the UML graphs. If the DOT_UML_DETAILS tag is set to NONE, doxygen
+# will not generate fields with class member information in the UML graphs. The
+# class diagrams will look similar to the default class diagrams but using UML
+# notation for the relationships.
+# Possible values are: NO, YES and NONE.
+# The default value is: NO.
+# This tag requires that the tag UML_LOOK is set to YES.
+
+DOT_UML_DETAILS        = NO
+
+# The DOT_WRAP_THRESHOLD tag can be used to set the maximum number of characters
+# to display on a single line. If the actual line length exceeds this threshold
+# significantly it will wrapped across multiple lines. Some heuristics are apply
+# to avoid ugly line breaks.
+# Minimum value: 0, maximum value: 1000, default value: 17.
+# This tag requires that the tag HAVE_DOT is set to YES.
+
+DOT_WRAP_THRESHOLD     = 17
+
+# If the TEMPLATE_RELATIONS tag is set to YES then the inheritance and
+# collaboration graphs will show the relations between templates and their
+# instances.
+# The default value is: NO.
+# This tag requires that the tag HAVE_DOT is set to YES.
+
+TEMPLATE_RELATIONS     = NO
+
+# If the INCLUDE_GRAPH, ENABLE_PREPROCESSING and SEARCH_INCLUDES tags are set to
+# YES then doxygen will generate a graph for each documented file showing the
+# direct and indirect include dependencies of the file with other documented
+# files.
+# The default value is: YES.
+# This tag requires that the tag HAVE_DOT is set to YES.
+
+INCLUDE_GRAPH          = YES
+
+# If the INCLUDED_BY_GRAPH, ENABLE_PREPROCESSING and SEARCH_INCLUDES tags are
+# set to YES then doxygen will generate a graph for each documented file showing
+# the direct and indirect include dependencies of the file with other documented
+# files.
+# The default value is: YES.
+# This tag requires that the tag HAVE_DOT is set to YES.
+
+INCLUDED_BY_GRAPH      = YES
+
+# If the CALL_GRAPH tag is set to YES then doxygen will generate a call
+# dependency graph for every global function or class method.
+#
+# Note that enabling this option will significantly increase the time of a run.
+# So in most cases it will be better to enable call graphs for selected
+# functions only using the \callgraph command. Disabling a call graph can be
+# accomplished by means of the command \hidecallgraph.
+# The default value is: NO.
+# This tag requires that the tag HAVE_DOT is set to YES.
+
+CALL_GRAPH             = NO
+
+# If the CALLER_GRAPH tag is set to YES then doxygen will generate a caller
+# dependency graph for every global function or class method.
+#
+# Note that enabling this option will significantly increase the time of a run.
+# So in most cases it will be better to enable caller graphs for selected
+# functions only using the \callergraph command. Disabling a caller graph can be
+# accomplished by means of the command \hidecallergraph.
+# The default value is: NO.
+# This tag requires that the tag HAVE_DOT is set to YES.
+
+CALLER_GRAPH           = NO
+
+# If the GRAPHICAL_HIERARCHY tag is set to YES then doxygen will graphical
+# hierarchy of all classes instead of a textual one.
+# The default value is: YES.
+# This tag requires that the tag HAVE_DOT is set to YES.
+
+GRAPHICAL_HIERARCHY    = YES
+
+# If the DIRECTORY_GRAPH tag is set to YES then doxygen will show the
+# dependencies a directory has on other directories in a graphical way. The
+# dependency relations are determined by the #include relations between the
+# files in the directories.
+# The default value is: YES.
+# This tag requires that the tag HAVE_DOT is set to YES.
+
+DIRECTORY_GRAPH        = YES
+
+# The DIR_GRAPH_MAX_DEPTH tag can be used to limit the maximum number of levels
+# of child directories generated in directory dependency graphs by dot.
+# Minimum value: 1, maximum value: 25, default value: 1.
+# This tag requires that the tag DIRECTORY_GRAPH is set to YES.
+
+DIR_GRAPH_MAX_DEPTH    = 1
+
+# The DOT_IMAGE_FORMAT tag can be used to set the image format of the images
+# generated by dot. For an explanation of the image formats see the section
+# output formats in the documentation of the dot tool (Graphviz (see:
+# http://www.graphviz.org/)).
+# Note: If you choose svg you need to set HTML_FILE_EXTENSION to xhtml in order
+# to make the SVG files visible in IE 9+ (other browsers do not have this
+# requirement).
+# Possible values are: png, jpg, gif, svg, png:gd, png:gd:gd, png:cairo,
+# png:cairo:gd, png:cairo:cairo, png:cairo:gdiplus, png:gdiplus and
+# png:gdiplus:gdiplus.
+# The default value is: png.
+# This tag requires that the tag HAVE_DOT is set to YES.
+
+DOT_IMAGE_FORMAT       = png
+
+# If DOT_IMAGE_FORMAT is set to svg, then this option can be set to YES to
+# enable generation of interactive SVG images that allow zooming and panning.
+#
+# Note that this requires a modern browser other than Internet Explorer. Tested
+# and working are Firefox, Chrome, Safari, and Opera.
+# Note: For IE 9+ you need to set HTML_FILE_EXTENSION to xhtml in order to make
+# the SVG files visible. Older versions of IE do not have SVG support.
+# The default value is: NO.
+# This tag requires that the tag HAVE_DOT is set to YES.
+
+INTERACTIVE_SVG        = NO
+
+# The DOT_PATH tag can be used to specify the path where the dot tool can be
+# found. If left blank, it is assumed the dot tool can be found in the path.
+# This tag requires that the tag HAVE_DOT is set to YES.
+
+DOT_PATH               =
+
+# The DOTFILE_DIRS tag can be used to specify one or more directories that
+# contain dot files that are included in the documentation (see the \dotfile
+# command).
+# This tag requires that the tag HAVE_DOT is set to YES.
+
+DOTFILE_DIRS           =
+
+# The MSCFILE_DIRS tag can be used to specify one or more directories that
+# contain msc files that are included in the documentation (see the \mscfile
+# command).
+
+MSCFILE_DIRS           =
+
+# The DIAFILE_DIRS tag can be used to specify one or more directories that
+# contain dia files that are included in the documentation (see the \diafile
+# command).
+
+DIAFILE_DIRS           =
+
+# When using plantuml, the PLANTUML_JAR_PATH tag should be used to specify the
+# path where java can find the plantuml.jar file or to the filename of jar file
+# to be used. If left blank, it is assumed PlantUML is not used or called during
+# a preprocessing step. Doxygen will generate a warning when it encounters a
+# \startuml command in this case and will not generate output for the diagram.
+
+PLANTUML_JAR_PATH      =
+
+# When using plantuml, the PLANTUML_CFG_FILE tag can be used to specify a
+# configuration file for plantuml.
+
+PLANTUML_CFG_FILE      =
+
+# When using plantuml, the specified paths are searched for files specified by
+# the !include statement in a plantuml block.
+
+PLANTUML_INCLUDE_PATH  =
+
+# The DOT_GRAPH_MAX_NODES tag can be used to set the maximum number of nodes
+# that will be shown in the graph. If the number of nodes in a graph becomes
+# larger than this value, doxygen will truncate the graph, which is visualized
+# by representing a node as a red box. Note that doxygen if the number of direct
+# children of the root node in a graph is already larger than
+# DOT_GRAPH_MAX_NODES then the graph will not be shown at all. Also note that
+# the size of a graph can be further restricted by MAX_DOT_GRAPH_DEPTH.
+# Minimum value: 0, maximum value: 10000, default value: 50.
+# This tag requires that the tag HAVE_DOT is set to YES.
+
+DOT_GRAPH_MAX_NODES    = 50
+
+# The MAX_DOT_GRAPH_DEPTH tag can be used to set the maximum depth of the graphs
+# generated by dot. A depth value of 3 means that only nodes reachable from the
+# root by following a path via at most 3 edges will be shown. Nodes that lay
+# further from the root node will be omitted. Note that setting this option to 1
+# or 2 may greatly reduce the computation time needed for large code bases. Also
+# note that the size of a graph can be further restricted by
+# DOT_GRAPH_MAX_NODES. Using a depth of 0 means no depth restriction.
+# Minimum value: 0, maximum value: 1000, default value: 0.
+# This tag requires that the tag HAVE_DOT is set to YES.
+
+MAX_DOT_GRAPH_DEPTH    = 0
+
+# Set the DOT_MULTI_TARGETS tag to YES to allow dot to generate multiple output
+# files in one run (i.e. multiple -o and -T options on the command line). This
+# makes dot run faster, but since only newer versions of dot (>1.8.10) support
+# this, this feature is disabled by default.
+# The default value is: NO.
+# This tag requires that the tag HAVE_DOT is set to YES.
+
+DOT_MULTI_TARGETS      = NO
+
+# If the GENERATE_LEGEND tag is set to YES doxygen will generate a legend page
+# explaining the meaning of the various boxes and arrows in the dot generated
+# graphs.
+# Note: This tag requires that UML_LOOK isn't set, i.e. the doxygen internal
+# graphical representation for inheritance and collaboration diagrams is used.
+# The default value is: YES.
+# This tag requires that the tag HAVE_DOT is set to YES.
+
+GENERATE_LEGEND        = YES
+
+# If the DOT_CLEANUP tag is set to YES, doxygen will remove the intermediate
+# files that are used to generate the various graphs.
+#
+# Note: This setting is not only used for dot files but also for msc temporary
+# files.
+# The default value is: YES.
+
+DOT_CLEANUP            = YES

From 25ef689fb5e9808c8e7e439cc3ec315d6a97ee5d Mon Sep 17 00:00:00 2001
From: cowsed <richie.sommers@outlook.com>
Date: Sun, 12 Mar 2023 20:57:56 -0400
Subject: [PATCH 189/243] added github pages link to README

---
 README.md | 1 +
 1 file changed, 1 insertion(+)

diff --git a/README.md b/README.md
index 3990a60..c44aaaf 100644
--- a/README.md
+++ b/README.md
@@ -1,6 +1,7 @@
 # Core
 This is the host repository for the custom VEX libraries used by the RIT VEXU team
 
+Automatically updated documentation is available at [here](https://rit-vex-u.github.io/Core/).
 ## Getting Started
 In order to simply use this repo, you can either clone it into your VEXcode project folder, or download the .zip and place it into a core/ subfolder. Then follow the instructions for setting up compilation at [Wiki/BuildSystem](https://github.com/RIT-VEX-U/Core/wiki/1-%7C-Project-Setup#build-system)
 

From b16ff541954e5a7c0f2c6e9ad232280c39ba544f Mon Sep 17 00:00:00 2001
From: cowsed <richie.sommers@outlook.com>
Date: Sun, 12 Mar 2023 21:06:00 -0400
Subject: [PATCH 190/243] Custom theming in doxygen

---
 .gitmodules         | 3 +++
 Doxyfile            | 5 +++--
 doxygen-awesome-css | 1 +
 3 files changed, 7 insertions(+), 2 deletions(-)
 create mode 100644 .gitmodules
 create mode 160000 doxygen-awesome-css

diff --git a/.gitmodules b/.gitmodules
new file mode 100644
index 0000000..d8da1e4
--- /dev/null
+++ b/.gitmodules
@@ -0,0 +1,3 @@
+[submodule "doxygen-awesome-css"]
+	path = doxygen-awesome-css
+	url = https://github.com/jothepro/doxygen-awesome-css.git
diff --git a/Doxyfile b/Doxyfile
index 1101dd7..000c898 100644
--- a/Doxyfile
+++ b/Doxyfile
@@ -1331,7 +1331,8 @@ HTML_STYLESHEET        =
 # documentation.
 # This tag requires that the tag GENERATE_HTML is set to YES.
 
-HTML_EXTRA_STYLESHEET  =
+HTML_EXTRA_STYLESHEET  =  doxygen-awesome-css/doxygen-awesome.css \
+                        doxygen-awesome-css/doxygen-awesome-sidebar-only.css
 
 # The HTML_EXTRA_FILES tag can be used to specify one or more extra images or
 # other source files which should be copied to the HTML output directory. Note
@@ -1654,7 +1655,7 @@ DISABLE_INDEX          = NO
 # The default value is: NO.
 # This tag requires that the tag GENERATE_HTML is set to YES.
 
-GENERATE_TREEVIEW      = NO
+GENERATE_TREEVIEW      = YES
 
 # When both GENERATE_TREEVIEW and DISABLE_INDEX are set to YES, then the
 # FULL_SIDEBAR option determines if the side bar is limited to only the treeview
diff --git a/doxygen-awesome-css b/doxygen-awesome-css
new file mode 160000
index 0000000..a7f7891
--- /dev/null
+++ b/doxygen-awesome-css
@@ -0,0 +1 @@
+Subproject commit a7f7891706c656903326f79baf74beb2b711688d

From 4c7b94d8b477430e6612fd92452aa5c35cc3803a Mon Sep 17 00:00:00 2001
From: cowsed <richie.sommers@outlook.com>
Date: Sun, 12 Mar 2023 21:11:41 -0400
Subject: [PATCH 191/243] Custom theming for doxygen pt2

---
 Doxyfile | 9 +++++----
 1 file changed, 5 insertions(+), 4 deletions(-)

diff --git a/Doxyfile b/Doxyfile
index 000c898..89ca550 100644
--- a/Doxyfile
+++ b/Doxyfile
@@ -1018,7 +1018,8 @@ RECURSIVE              = YES
 # run.
 
 EXCLUDE                = include/splash.h \
-                         include/intense_milk.h
+                         include/intense_milk.h \
+                         doxygen-awesome-css
 
 # The EXCLUDE_SYMLINKS tag can be used to select whether or not files or
 # directories that are symbolic links (a Unix file system feature) are excluded
@@ -1331,8 +1332,8 @@ HTML_STYLESHEET        =
 # documentation.
 # This tag requires that the tag GENERATE_HTML is set to YES.
 
-HTML_EXTRA_STYLESHEET  =  doxygen-awesome-css/doxygen-awesome.css \
-                        doxygen-awesome-css/doxygen-awesome-sidebar-only.css
+HTML_EXTRA_STYLESHEET  = doxygen-awesome-css/doxygen-awesome.css \
+                         doxygen-awesome-css/doxygen-awesome-sidebar-only.css
 
 # The HTML_EXTRA_FILES tag can be used to specify one or more extra images or
 # other source files which should be copied to the HTML output directory. Note
@@ -1355,7 +1356,7 @@ HTML_EXTRA_FILES       =
 # The default value is: AUTO_LIGHT.
 # This tag requires that the tag GENERATE_HTML is set to YES.
 
-HTML_COLORSTYLE        = AUTO_LIGHT
+HTML_COLORSTYLE        = DARK
 
 # The HTML_COLORSTYLE_HUE tag controls the color of the HTML output. Doxygen
 # will adjust the colors in the style sheet and background images according to

From 1c93ab44d104deee15399ef224c30ae6d57dab23 Mon Sep 17 00:00:00 2001
From: cowsed <richie.sommers@outlook.com>
Date: Sun, 12 Mar 2023 21:23:08 -0400
Subject: [PATCH 192/243] enabled latex docs for quick and easy pdf making

---
 Doxyfile | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/Doxyfile b/Doxyfile
index 89ca550..64107c6 100644
--- a/Doxyfile
+++ b/Doxyfile
@@ -1896,7 +1896,7 @@ EXTRA_SEARCH_MAPPINGS  =
 # If the GENERATE_LATEX tag is set to YES, doxygen will generate LaTeX output.
 # The default value is: YES.
 
-GENERATE_LATEX         = NO
+GENERATE_LATEX         = YES
 
 # The LATEX_OUTPUT tag is used to specify where the LaTeX docs will be put. If a
 # relative path is entered the value of OUTPUT_DIRECTORY will be put in front of

From 60522dc8fa664cf7fd7623a021b784ad0d3b3a0a Mon Sep 17 00:00:00 2001
From: cowsed <richie.sommers@outlook.com>
Date: Sun, 12 Mar 2023 21:26:42 -0400
Subject: [PATCH 193/243] transformed submodule theme into normal files

---
 .gitmodules                                   |    3 -
 doxygen-awesome-css                           |    1 -
 .../.github/workflows/publish.yaml            |   22 +
 doxygen-awesome-css/.gitignore                |    3 +
 doxygen-awesome-css/Doxyfile                  | 2793 +++++++++++++++++
 doxygen-awesome-css/LICENSE                   |   21 +
 doxygen-awesome-css/Makefile                  |   38 +
 doxygen-awesome-css/README.md                 |  137 +
 doxygen-awesome-css/docs/customization.md     |  115 +
 doxygen-awesome-css/docs/extensions.md        |  236 ++
 .../docs/img/darkmode_toggle.png              |  Bin 0 -> 11523 bytes
 .../docs/img/fancy_scrollbars_firefox.png     |  Bin 0 -> 37200 bytes
 .../docs/img/fancy_scrollbars_webkit.gif      |  Bin 0 -> 5614878 bytes
 .../docs/img/fragment_copy_button.png         |  Bin 0 -> 32871 bytes
 .../docs/img/interactive_toc_mobile.png       |  Bin 0 -> 16425 bytes
 .../docs/img/paragraph_link.png               |  Bin 0 -> 12629 bytes
 doxygen-awesome-css/docs/tricks.md            |  124 +
 .../doxygen-awesome-darkmode-toggle.js        |  157 +
 .../doxygen-awesome-fragment-copy-button.js   |   85 +
 .../doxygen-awesome-interactive-toc.js        |   81 +
 .../doxygen-awesome-paragraph-link.js         |   51 +
 ...n-awesome-sidebar-only-darkmode-toggle.css |   40 +
 .../doxygen-awesome-sidebar-only.css          |  115 +
 doxygen-awesome-css/doxygen-awesome-tabs.js   |   70 +
 doxygen-awesome-css/doxygen-awesome.css       | 2522 +++++++++++++++
 .../doxygen-custom/custom-alternative.css     |   54 +
 doxygen-awesome-css/doxygen-custom/custom.css |  101 +
 .../doxygen-custom/header.html                |   90 +
 .../toggle-alternative-theme.js               |   12 +
 doxygen-awesome-css/img/screenshot.png        |  Bin 0 -> 216518 bytes
 doxygen-awesome-css/img/testimage.png         |  Bin 0 -> 4792 bytes
 .../img/theme-variants.drawio.svg             |  250 ++
 .../include/MyLibrary/example.hpp             |  157 +
 .../include/MyLibrary/subclass-example.hpp    |   46 +
 doxygen-awesome-css/logo.drawio.svg           |    1 +
 35 files changed, 7321 insertions(+), 4 deletions(-)
 delete mode 100644 .gitmodules
 delete mode 160000 doxygen-awesome-css
 create mode 100644 doxygen-awesome-css/.github/workflows/publish.yaml
 create mode 100644 doxygen-awesome-css/.gitignore
 create mode 100644 doxygen-awesome-css/Doxyfile
 create mode 100644 doxygen-awesome-css/LICENSE
 create mode 100644 doxygen-awesome-css/Makefile
 create mode 100644 doxygen-awesome-css/README.md
 create mode 100644 doxygen-awesome-css/docs/customization.md
 create mode 100644 doxygen-awesome-css/docs/extensions.md
 create mode 100644 doxygen-awesome-css/docs/img/darkmode_toggle.png
 create mode 100644 doxygen-awesome-css/docs/img/fancy_scrollbars_firefox.png
 create mode 100644 doxygen-awesome-css/docs/img/fancy_scrollbars_webkit.gif
 create mode 100644 doxygen-awesome-css/docs/img/fragment_copy_button.png
 create mode 100644 doxygen-awesome-css/docs/img/interactive_toc_mobile.png
 create mode 100644 doxygen-awesome-css/docs/img/paragraph_link.png
 create mode 100644 doxygen-awesome-css/docs/tricks.md
 create mode 100644 doxygen-awesome-css/doxygen-awesome-darkmode-toggle.js
 create mode 100644 doxygen-awesome-css/doxygen-awesome-fragment-copy-button.js
 create mode 100644 doxygen-awesome-css/doxygen-awesome-interactive-toc.js
 create mode 100644 doxygen-awesome-css/doxygen-awesome-paragraph-link.js
 create mode 100644 doxygen-awesome-css/doxygen-awesome-sidebar-only-darkmode-toggle.css
 create mode 100644 doxygen-awesome-css/doxygen-awesome-sidebar-only.css
 create mode 100644 doxygen-awesome-css/doxygen-awesome-tabs.js
 create mode 100644 doxygen-awesome-css/doxygen-awesome.css
 create mode 100644 doxygen-awesome-css/doxygen-custom/custom-alternative.css
 create mode 100644 doxygen-awesome-css/doxygen-custom/custom.css
 create mode 100644 doxygen-awesome-css/doxygen-custom/header.html
 create mode 100644 doxygen-awesome-css/doxygen-custom/toggle-alternative-theme.js
 create mode 100644 doxygen-awesome-css/img/screenshot.png
 create mode 100644 doxygen-awesome-css/img/testimage.png
 create mode 100644 doxygen-awesome-css/img/theme-variants.drawio.svg
 create mode 100644 doxygen-awesome-css/include/MyLibrary/example.hpp
 create mode 100644 doxygen-awesome-css/include/MyLibrary/subclass-example.hpp
 create mode 100644 doxygen-awesome-css/logo.drawio.svg

diff --git a/.gitmodules b/.gitmodules
deleted file mode 100644
index d8da1e4..0000000
--- a/.gitmodules
+++ /dev/null
@@ -1,3 +0,0 @@
-[submodule "doxygen-awesome-css"]
-	path = doxygen-awesome-css
-	url = https://github.com/jothepro/doxygen-awesome-css.git
diff --git a/doxygen-awesome-css b/doxygen-awesome-css
deleted file mode 160000
index a7f7891..0000000
--- a/doxygen-awesome-css
+++ /dev/null
@@ -1 +0,0 @@
-Subproject commit a7f7891706c656903326f79baf74beb2b711688d
diff --git a/doxygen-awesome-css/.github/workflows/publish.yaml b/doxygen-awesome-css/.github/workflows/publish.yaml
new file mode 100644
index 0000000..331822f
--- /dev/null
+++ b/doxygen-awesome-css/.github/workflows/publish.yaml
@@ -0,0 +1,22 @@
+name: publish
+on:
+  release:
+    types: [published]
+jobs:
+  deploy:
+    runs-on: ubuntu-20.04
+    steps:
+      - name: Checkout repository
+        uses: actions/checkout@v2
+        with:
+          fetch-depth: 0
+      - name: set version
+        run: echo "PROJECT_NUMBER = `git describe --tags`" >> Doxyfile
+      - name: Generate Documentation
+        uses: mattnotmitt/doxygen-action@edge
+      - name: Publish generated content to GitHub Pages
+        uses: tsunematsu21/actions-publish-gh-pages@v1.0.2
+        with:
+          dir: docs/html
+          branch: gh-pages
+          token: ${{ secrets.ACCESS_TOKEN }}
\ No newline at end of file
diff --git a/doxygen-awesome-css/.gitignore b/doxygen-awesome-css/.gitignore
new file mode 100644
index 0000000..5c40af7
--- /dev/null
+++ b/doxygen-awesome-css/.gitignore
@@ -0,0 +1,3 @@
+docs/html
+.DS_Store
+.idea
\ No newline at end of file
diff --git a/doxygen-awesome-css/Doxyfile b/doxygen-awesome-css/Doxyfile
new file mode 100644
index 0000000..860e32f
--- /dev/null
+++ b/doxygen-awesome-css/Doxyfile
@@ -0,0 +1,2793 @@
+# Doxyfile 1.9.6
+
+# This file describes the settings to be used by the documentation system
+# doxygen (www.doxygen.org) for a project.
+#
+# All text after a double hash (##) is considered a comment and is placed in
+# front of the TAG it is preceding.
+#
+# All text after a single hash (#) is considered a comment and will be ignored.
+# The format is:
+# TAG = value [value, ...]
+# For lists, items can also be appended using:
+# TAG += value [value, ...]
+# Values that contain spaces should be placed between quotes (\" \").
+#
+# Note:
+#
+# Use doxygen to compare the used configuration file with the template
+# configuration file:
+# doxygen -x [configFile]
+# Use doxygen to compare the used configuration file with the template
+# configuration file without replacing the environment variables or CMake type
+# replacement variables:
+# doxygen -x_noenv [configFile]
+
+#---------------------------------------------------------------------------
+# Project related configuration options
+#---------------------------------------------------------------------------
+
+# This tag specifies the encoding used for all characters in the configuration
+# file that follow. The default is UTF-8 which is also the encoding used for all
+# text before the first occurrence of this tag. Doxygen uses libiconv (or the
+# iconv built into libc) for the transcoding. See
+# https://www.gnu.org/software/libiconv/ for the list of possible encodings.
+# The default value is: UTF-8.
+
+DOXYFILE_ENCODING      = UTF-8
+
+# The PROJECT_NAME tag is a single word (or a sequence of words surrounded by
+# double-quotes, unless you are using Doxywizard) that should identify the
+# project for which the documentation is generated. This name is used in the
+# title of most generated pages and in a few other places.
+# The default value is: My Project.
+
+PROJECT_NAME           = "Doxygen Awesome"
+
+# The PROJECT_NUMBER tag can be used to enter a project or revision number. This
+# could be handy for archiving the generated documentation or if some version
+# control system is used.
+
+PROJECT_NUMBER         =
+
+# Using the PROJECT_BRIEF tag one can provide an optional one line description
+# for a project that appears at the top of each page and should give viewer a
+# quick idea about the purpose of the project. Keep the description short.
+
+PROJECT_BRIEF          = "Modern Doxygen theme"
+
+# With the PROJECT_LOGO tag one can specify a logo or an icon that is included
+# in the documentation. The maximum height of the logo should not exceed 55
+# pixels and the maximum width should not exceed 200 pixels. Doxygen will copy
+# the logo to the output directory.
+
+PROJECT_LOGO           = ./logo.drawio.svg
+
+# The OUTPUT_DIRECTORY tag is used to specify the (relative or absolute) path
+# into which the generated documentation will be written. If a relative path is
+# entered, it will be relative to the location where doxygen was started. If
+# left blank the current directory will be used.
+
+OUTPUT_DIRECTORY       = docs
+
+# If the CREATE_SUBDIRS tag is set to YES then doxygen will create up to 4096
+# sub-directories (in 2 levels) under the output directory of each output format
+# and will distribute the generated files over these directories. Enabling this
+# option can be useful when feeding doxygen a huge amount of source files, where
+# putting all generated files in the same directory would otherwise causes
+# performance problems for the file system. Adapt CREATE_SUBDIRS_LEVEL to
+# control the number of sub-directories.
+# The default value is: NO.
+
+CREATE_SUBDIRS         = NO
+
+# Controls the number of sub-directories that will be created when
+# CREATE_SUBDIRS tag is set to YES. Level 0 represents 16 directories, and every
+# level increment doubles the number of directories, resulting in 4096
+# directories at level 8 which is the default and also the maximum value. The
+# sub-directories are organized in 2 levels, the first level always has a fixed
+# number of 16 directories.
+# Minimum value: 0, maximum value: 8, default value: 8.
+# This tag requires that the tag CREATE_SUBDIRS is set to YES.
+
+CREATE_SUBDIRS_LEVEL   = 8
+
+# If the ALLOW_UNICODE_NAMES tag is set to YES, doxygen will allow non-ASCII
+# characters to appear in the names of generated files. If set to NO, non-ASCII
+# characters will be escaped, for example _xE3_x81_x84 will be used for Unicode
+# U+3044.
+# The default value is: NO.
+
+ALLOW_UNICODE_NAMES    = NO
+
+# The OUTPUT_LANGUAGE tag is used to specify the language in which all
+# documentation generated by doxygen is written. Doxygen will use this
+# information to generate all constant output in the proper language.
+# Possible values are: Afrikaans, Arabic, Armenian, Brazilian, Bulgarian,
+# Catalan, Chinese, Chinese-Traditional, Croatian, Czech, Danish, Dutch, English
+# (United States), Esperanto, Farsi (Persian), Finnish, French, German, Greek,
+# Hindi, Hungarian, Indonesian, Italian, Japanese, Japanese-en (Japanese with
+# English messages), Korean, Korean-en (Korean with English messages), Latvian,
+# Lithuanian, Macedonian, Norwegian, Persian (Farsi), Polish, Portuguese,
+# Romanian, Russian, Serbian, Serbian-Cyrillic, Slovak, Slovene, Spanish,
+# Swedish, Turkish, Ukrainian and Vietnamese.
+# The default value is: English.
+
+OUTPUT_LANGUAGE        = English
+
+# If the BRIEF_MEMBER_DESC tag is set to YES, doxygen will include brief member
+# descriptions after the members that are listed in the file and class
+# documentation (similar to Javadoc). Set to NO to disable this.
+# The default value is: YES.
+
+BRIEF_MEMBER_DESC      = YES
+
+# If the REPEAT_BRIEF tag is set to YES, doxygen will prepend the brief
+# description of a member or function before the detailed description
+#
+# Note: If both HIDE_UNDOC_MEMBERS and BRIEF_MEMBER_DESC are set to NO, the
+# brief descriptions will be completely suppressed.
+# The default value is: YES.
+
+REPEAT_BRIEF           = YES
+
+# This tag implements a quasi-intelligent brief description abbreviator that is
+# used to form the text in various listings. Each string in this list, if found
+# as the leading text of the brief description, will be stripped from the text
+# and the result, after processing the whole list, is used as the annotated
+# text. Otherwise, the brief description is used as-is. If left blank, the
+# following values are used ($name is automatically replaced with the name of
+# the entity):The $name class, The $name widget, The $name file, is, provides,
+# specifies, contains, represents, a, an and the.
+
+ABBREVIATE_BRIEF       = "The $name class" \
+                         "The $name widget" \
+                         "The $name file" \
+                         is \
+                         provides \
+                         specifies \
+                         contains \
+                         represents \
+                         a \
+                         an \
+                         the
+
+# If the ALWAYS_DETAILED_SEC and REPEAT_BRIEF tags are both set to YES then
+# doxygen will generate a detailed section even if there is only a brief
+# description.
+# The default value is: NO.
+
+ALWAYS_DETAILED_SEC    = NO
+
+# If the INLINE_INHERITED_MEMB tag is set to YES, doxygen will show all
+# inherited members of a class in the documentation of that class as if those
+# members were ordinary class members. Constructors, destructors and assignment
+# operators of the base classes will not be shown.
+# The default value is: NO.
+
+INLINE_INHERITED_MEMB  = NO
+
+# If the FULL_PATH_NAMES tag is set to YES, doxygen will prepend the full path
+# before files name in the file list and in the header files. If set to NO the
+# shortest path that makes the file name unique will be used
+# The default value is: YES.
+
+FULL_PATH_NAMES        = YES
+
+# The STRIP_FROM_PATH tag can be used to strip a user-defined part of the path.
+# Stripping is only done if one of the specified strings matches the left-hand
+# part of the path. The tag can be used to show relative paths in the file list.
+# If left blank the directory from which doxygen is run is used as the path to
+# strip.
+#
+# Note that you can specify absolute paths here, but also relative paths, which
+# will be relative from the directory where doxygen is started.
+# This tag requires that the tag FULL_PATH_NAMES is set to YES.
+
+STRIP_FROM_PATH        =
+
+# The STRIP_FROM_INC_PATH tag can be used to strip a user-defined part of the
+# path mentioned in the documentation of a class, which tells the reader which
+# header file to include in order to use a class. If left blank only the name of
+# the header file containing the class definition is used. Otherwise one should
+# specify the list of include paths that are normally passed to the compiler
+# using the -I flag.
+
+STRIP_FROM_INC_PATH    =
+
+# If the SHORT_NAMES tag is set to YES, doxygen will generate much shorter (but
+# less readable) file names. This can be useful is your file systems doesn't
+# support long names like on DOS, Mac, or CD-ROM.
+# The default value is: NO.
+
+SHORT_NAMES            = NO
+
+# If the JAVADOC_AUTOBRIEF tag is set to YES then doxygen will interpret the
+# first line (until the first dot) of a Javadoc-style comment as the brief
+# description. If set to NO, the Javadoc-style will behave just like regular Qt-
+# style comments (thus requiring an explicit @brief command for a brief
+# description.)
+# The default value is: NO.
+
+JAVADOC_AUTOBRIEF      = NO
+
+# If the JAVADOC_BANNER tag is set to YES then doxygen will interpret a line
+# such as
+# /***************
+# as being the beginning of a Javadoc-style comment "banner". If set to NO, the
+# Javadoc-style will behave just like regular comments and it will not be
+# interpreted by doxygen.
+# The default value is: NO.
+
+JAVADOC_BANNER         = NO
+
+# If the QT_AUTOBRIEF tag is set to YES then doxygen will interpret the first
+# line (until the first dot) of a Qt-style comment as the brief description. If
+# set to NO, the Qt-style will behave just like regular Qt-style comments (thus
+# requiring an explicit \brief command for a brief description.)
+# The default value is: NO.
+
+QT_AUTOBRIEF           = NO
+
+# The MULTILINE_CPP_IS_BRIEF tag can be set to YES to make doxygen treat a
+# multi-line C++ special comment block (i.e. a block of //! or /// comments) as
+# a brief description. This used to be the default behavior. The new default is
+# to treat a multi-line C++ comment block as a detailed description. Set this
+# tag to YES if you prefer the old behavior instead.
+#
+# Note that setting this tag to YES also means that rational rose comments are
+# not recognized any more.
+# The default value is: NO.
+
+MULTILINE_CPP_IS_BRIEF = NO
+
+# By default Python docstrings are displayed as preformatted text and doxygen's
+# special commands cannot be used. By setting PYTHON_DOCSTRING to NO the
+# doxygen's special commands can be used and the contents of the docstring
+# documentation blocks is shown as doxygen documentation.
+# The default value is: YES.
+
+PYTHON_DOCSTRING       = YES
+
+# If the INHERIT_DOCS tag is set to YES then an undocumented member inherits the
+# documentation from any documented member that it re-implements.
+# The default value is: YES.
+
+INHERIT_DOCS           = YES
+
+# If the SEPARATE_MEMBER_PAGES tag is set to YES then doxygen will produce a new
+# page for each member. If set to NO, the documentation of a member will be part
+# of the file/class/namespace that contains it.
+# The default value is: NO.
+
+SEPARATE_MEMBER_PAGES  = NO
+
+# The TAB_SIZE tag can be used to set the number of spaces in a tab. Doxygen
+# uses this value to replace tabs by spaces in code fragments.
+# Minimum value: 1, maximum value: 16, default value: 4.
+
+TAB_SIZE               = 4
+
+# This tag can be used to specify a number of aliases that act as commands in
+# the documentation. An alias has the form:
+# name=value
+# For example adding
+# "sideeffect=@par Side Effects:^^"
+# will allow you to put the command \sideeffect (or @sideeffect) in the
+# documentation, which will result in a user-defined paragraph with heading
+# "Side Effects:". Note that you cannot put \n's in the value part of an alias
+# to insert newlines (in the resulting output). You can put ^^ in the value part
+# of an alias to insert a newline as if a physical newline was in the original
+# file. When you need a literal { or } or , in the value part of an alias you
+# have to escape them by means of a backslash (\), this can lead to conflicts
+# with the commands \{ and \} for these it is advised to use the version @{ and
+# @} or use a double escape (\\{ and \\})
+
+ALIASES                =
+
+# Set the OPTIMIZE_OUTPUT_FOR_C tag to YES if your project consists of C sources
+# only. Doxygen will then generate output that is more tailored for C. For
+# instance, some of the names that are used will be different. The list of all
+# members will be omitted, etc.
+# The default value is: NO.
+
+OPTIMIZE_OUTPUT_FOR_C  = NO
+
+# Set the OPTIMIZE_OUTPUT_JAVA tag to YES if your project consists of Java or
+# Python sources only. Doxygen will then generate output that is more tailored
+# for that language. For instance, namespaces will be presented as packages,
+# qualified scopes will look different, etc.
+# The default value is: NO.
+
+OPTIMIZE_OUTPUT_JAVA   = NO
+
+# Set the OPTIMIZE_FOR_FORTRAN tag to YES if your project consists of Fortran
+# sources. Doxygen will then generate output that is tailored for Fortran.
+# The default value is: NO.
+
+OPTIMIZE_FOR_FORTRAN   = NO
+
+# Set the OPTIMIZE_OUTPUT_VHDL tag to YES if your project consists of VHDL
+# sources. Doxygen will then generate output that is tailored for VHDL.
+# The default value is: NO.
+
+OPTIMIZE_OUTPUT_VHDL   = NO
+
+# Set the OPTIMIZE_OUTPUT_SLICE tag to YES if your project consists of Slice
+# sources only. Doxygen will then generate output that is more tailored for that
+# language. For instance, namespaces will be presented as modules, types will be
+# separated into more groups, etc.
+# The default value is: NO.
+
+OPTIMIZE_OUTPUT_SLICE  = NO
+
+# Doxygen selects the parser to use depending on the extension of the files it
+# parses. With this tag you can assign which parser to use for a given
+# extension. Doxygen has a built-in mapping, but you can override or extend it
+# using this tag. The format is ext=language, where ext is a file extension, and
+# language is one of the parsers supported by doxygen: IDL, Java, JavaScript,
+# Csharp (C#), C, C++, Lex, D, PHP, md (Markdown), Objective-C, Python, Slice,
+# VHDL, Fortran (fixed format Fortran: FortranFixed, free formatted Fortran:
+# FortranFree, unknown formatted Fortran: Fortran. In the later case the parser
+# tries to guess whether the code is fixed or free formatted code, this is the
+# default for Fortran type files). For instance to make doxygen treat .inc files
+# as Fortran files (default is PHP), and .f files as C (default is Fortran),
+# use: inc=Fortran f=C.
+#
+# Note: For files without extension you can use no_extension as a placeholder.
+#
+# Note that for custom extensions you also need to set FILE_PATTERNS otherwise
+# the files are not read by doxygen. When specifying no_extension you should add
+# * to the FILE_PATTERNS.
+#
+# Note see also the list of default file extension mappings.
+
+EXTENSION_MAPPING      =
+
+# If the MARKDOWN_SUPPORT tag is enabled then doxygen pre-processes all comments
+# according to the Markdown format, which allows for more readable
+# documentation. See https://daringfireball.net/projects/markdown/ for details.
+# The output of markdown processing is further processed by doxygen, so you can
+# mix doxygen, HTML, and XML commands with Markdown formatting. Disable only in
+# case of backward compatibilities issues.
+# The default value is: YES.
+
+MARKDOWN_SUPPORT       = YES
+
+# When the TOC_INCLUDE_HEADINGS tag is set to a non-zero value, all headings up
+# to that level are automatically included in the table of contents, even if
+# they do not have an id attribute.
+# Note: This feature currently applies only to Markdown headings.
+# Minimum value: 0, maximum value: 99, default value: 5.
+# This tag requires that the tag MARKDOWN_SUPPORT is set to YES.
+
+TOC_INCLUDE_HEADINGS   = 5
+
+# When enabled doxygen tries to link words that correspond to documented
+# classes, or namespaces to their corresponding documentation. Such a link can
+# be prevented in individual cases by putting a % sign in front of the word or
+# globally by setting AUTOLINK_SUPPORT to NO.
+# The default value is: YES.
+
+AUTOLINK_SUPPORT       = YES
+
+# If you use STL classes (i.e. std::string, std::vector, etc.) but do not want
+# to include (a tag file for) the STL sources as input, then you should set this
+# tag to YES in order to let doxygen match functions declarations and
+# definitions whose arguments contain STL classes (e.g. func(std::string);
+# versus func(std::string) {}). This also make the inheritance and collaboration
+# diagrams that involve STL classes more complete and accurate.
+# The default value is: NO.
+
+BUILTIN_STL_SUPPORT    = NO
+
+# If you use Microsoft's C++/CLI language, you should set this option to YES to
+# enable parsing support.
+# The default value is: NO.
+
+CPP_CLI_SUPPORT        = NO
+
+# Set the SIP_SUPPORT tag to YES if your project consists of sip (see:
+# https://www.riverbankcomputing.com/software/sip/intro) sources only. Doxygen
+# will parse them like normal C++ but will assume all classes use public instead
+# of private inheritance when no explicit protection keyword is present.
+# The default value is: NO.
+
+SIP_SUPPORT            = NO
+
+# For Microsoft's IDL there are propget and propput attributes to indicate
+# getter and setter methods for a property. Setting this option to YES will make
+# doxygen to replace the get and set methods by a property in the documentation.
+# This will only work if the methods are indeed getting or setting a simple
+# type. If this is not the case, or you want to show the methods anyway, you
+# should set this option to NO.
+# The default value is: YES.
+
+IDL_PROPERTY_SUPPORT   = YES
+
+# If member grouping is used in the documentation and the DISTRIBUTE_GROUP_DOC
+# tag is set to YES then doxygen will reuse the documentation of the first
+# member in the group (if any) for the other members of the group. By default
+# all members of a group must be documented explicitly.
+# The default value is: NO.
+
+DISTRIBUTE_GROUP_DOC   = NO
+
+# If one adds a struct or class to a group and this option is enabled, then also
+# any nested class or struct is added to the same group. By default this option
+# is disabled and one has to add nested compounds explicitly via \ingroup.
+# The default value is: NO.
+
+GROUP_NESTED_COMPOUNDS = NO
+
+# Set the SUBGROUPING tag to YES to allow class member groups of the same type
+# (for instance a group of public functions) to be put as a subgroup of that
+# type (e.g. under the Public Functions section). Set it to NO to prevent
+# subgrouping. Alternatively, this can be done per class using the
+# \nosubgrouping command.
+# The default value is: YES.
+
+SUBGROUPING            = YES
+
+# When the INLINE_GROUPED_CLASSES tag is set to YES, classes, structs and unions
+# are shown inside the group in which they are included (e.g. using \ingroup)
+# instead of on a separate page (for HTML and Man pages) or section (for LaTeX
+# and RTF).
+#
+# Note that this feature does not work in combination with
+# SEPARATE_MEMBER_PAGES.
+# The default value is: NO.
+
+INLINE_GROUPED_CLASSES = NO
+
+# When the INLINE_SIMPLE_STRUCTS tag is set to YES, structs, classes, and unions
+# with only public data fields or simple typedef fields will be shown inline in
+# the documentation of the scope in which they are defined (i.e. file,
+# namespace, or group documentation), provided this scope is documented. If set
+# to NO, structs, classes, and unions are shown on a separate page (for HTML and
+# Man pages) or section (for LaTeX and RTF).
+# The default value is: NO.
+
+INLINE_SIMPLE_STRUCTS  = NO
+
+# When TYPEDEF_HIDES_STRUCT tag is enabled, a typedef of a struct, union, or
+# enum is documented as struct, union, or enum with the name of the typedef. So
+# typedef struct TypeS {} TypeT, will appear in the documentation as a struct
+# with name TypeT. When disabled the typedef will appear as a member of a file,
+# namespace, or class. And the struct will be named TypeS. This can typically be
+# useful for C code in case the coding convention dictates that all compound
+# types are typedef'ed and only the typedef is referenced, never the tag name.
+# The default value is: NO.
+
+TYPEDEF_HIDES_STRUCT   = NO
+
+# The size of the symbol lookup cache can be set using LOOKUP_CACHE_SIZE. This
+# cache is used to resolve symbols given their name and scope. Since this can be
+# an expensive process and often the same symbol appears multiple times in the
+# code, doxygen keeps a cache of pre-resolved symbols. If the cache is too small
+# doxygen will become slower. If the cache is too large, memory is wasted. The
+# cache size is given by this formula: 2^(16+LOOKUP_CACHE_SIZE). The valid range
+# is 0..9, the default is 0, corresponding to a cache size of 2^16=65536
+# symbols. At the end of a run doxygen will report the cache usage and suggest
+# the optimal cache size from a speed point of view.
+# Minimum value: 0, maximum value: 9, default value: 0.
+
+LOOKUP_CACHE_SIZE      = 0
+
+# The NUM_PROC_THREADS specifies the number of threads doxygen is allowed to use
+# during processing. When set to 0 doxygen will based this on the number of
+# cores available in the system. You can set it explicitly to a value larger
+# than 0 to get more control over the balance between CPU load and processing
+# speed. At this moment only the input processing can be done using multiple
+# threads. Since this is still an experimental feature the default is set to 1,
+# which effectively disables parallel processing. Please report any issues you
+# encounter. Generating dot graphs in parallel is controlled by the
+# DOT_NUM_THREADS setting.
+# Minimum value: 0, maximum value: 32, default value: 1.
+
+NUM_PROC_THREADS       = 1
+
+#---------------------------------------------------------------------------
+# Build related configuration options
+#---------------------------------------------------------------------------
+
+# If the EXTRACT_ALL tag is set to YES, doxygen will assume all entities in
+# documentation are documented, even if no documentation was available. Private
+# class members and static file members will be hidden unless the
+# EXTRACT_PRIVATE respectively EXTRACT_STATIC tags are set to YES.
+# Note: This will also disable the warnings about undocumented members that are
+# normally produced when WARNINGS is set to YES.
+# The default value is: NO.
+
+EXTRACT_ALL            = YES
+
+# If the EXTRACT_PRIVATE tag is set to YES, all private members of a class will
+# be included in the documentation.
+# The default value is: NO.
+
+EXTRACT_PRIVATE        = NO
+
+# If the EXTRACT_PRIV_VIRTUAL tag is set to YES, documented private virtual
+# methods of a class will be included in the documentation.
+# The default value is: NO.
+
+EXTRACT_PRIV_VIRTUAL   = NO
+
+# If the EXTRACT_PACKAGE tag is set to YES, all members with package or internal
+# scope will be included in the documentation.
+# The default value is: NO.
+
+EXTRACT_PACKAGE        = NO
+
+# If the EXTRACT_STATIC tag is set to YES, all static members of a file will be
+# included in the documentation.
+# The default value is: NO.
+
+EXTRACT_STATIC         = NO
+
+# If the EXTRACT_LOCAL_CLASSES tag is set to YES, classes (and structs) defined
+# locally in source files will be included in the documentation. If set to NO,
+# only classes defined in header files are included. Does not have any effect
+# for Java sources.
+# The default value is: YES.
+
+EXTRACT_LOCAL_CLASSES  = YES
+
+# This flag is only useful for Objective-C code. If set to YES, local methods,
+# which are defined in the implementation section but not in the interface are
+# included in the documentation. If set to NO, only methods in the interface are
+# included.
+# The default value is: NO.
+
+EXTRACT_LOCAL_METHODS  = NO
+
+# If this flag is set to YES, the members of anonymous namespaces will be
+# extracted and appear in the documentation as a namespace called
+# 'anonymous_namespace{file}', where file will be replaced with the base name of
+# the file that contains the anonymous namespace. By default anonymous namespace
+# are hidden.
+# The default value is: NO.
+
+EXTRACT_ANON_NSPACES   = NO
+
+# If this flag is set to YES, the name of an unnamed parameter in a declaration
+# will be determined by the corresponding definition. By default unnamed
+# parameters remain unnamed in the output.
+# The default value is: YES.
+
+RESOLVE_UNNAMED_PARAMS = YES
+
+# If the HIDE_UNDOC_MEMBERS tag is set to YES, doxygen will hide all
+# undocumented members inside documented classes or files. If set to NO these
+# members will be included in the various overviews, but no documentation
+# section is generated. This option has no effect if EXTRACT_ALL is enabled.
+# The default value is: NO.
+
+HIDE_UNDOC_MEMBERS     = NO
+
+# If the HIDE_UNDOC_CLASSES tag is set to YES, doxygen will hide all
+# undocumented classes that are normally visible in the class hierarchy. If set
+# to NO, these classes will be included in the various overviews. This option
+# will also hide undocumented C++ concepts if enabled. This option has no effect
+# if EXTRACT_ALL is enabled.
+# The default value is: NO.
+
+HIDE_UNDOC_CLASSES     = NO
+
+# If the HIDE_FRIEND_COMPOUNDS tag is set to YES, doxygen will hide all friend
+# declarations. If set to NO, these declarations will be included in the
+# documentation.
+# The default value is: NO.
+
+HIDE_FRIEND_COMPOUNDS  = NO
+
+# If the HIDE_IN_BODY_DOCS tag is set to YES, doxygen will hide any
+# documentation blocks found inside the body of a function. If set to NO, these
+# blocks will be appended to the function's detailed documentation block.
+# The default value is: NO.
+
+HIDE_IN_BODY_DOCS      = NO
+
+# The INTERNAL_DOCS tag determines if documentation that is typed after a
+# \internal command is included. If the tag is set to NO then the documentation
+# will be excluded. Set it to YES to include the internal documentation.
+# The default value is: NO.
+
+INTERNAL_DOCS          = NO
+
+# With the correct setting of option CASE_SENSE_NAMES doxygen will better be
+# able to match the capabilities of the underlying filesystem. In case the
+# filesystem is case sensitive (i.e. it supports files in the same directory
+# whose names only differ in casing), the option must be set to YES to properly
+# deal with such files in case they appear in the input. For filesystems that
+# are not case sensitive the option should be set to NO to properly deal with
+# output files written for symbols that only differ in casing, such as for two
+# classes, one named CLASS and the other named Class, and to also support
+# references to files without having to specify the exact matching casing. On
+# Windows (including Cygwin) and MacOS, users should typically set this option
+# to NO, whereas on Linux or other Unix flavors it should typically be set to
+# YES.
+# Possible values are: SYSTEM, NO and YES.
+# The default value is: SYSTEM.
+
+CASE_SENSE_NAMES       = NO
+
+# If the HIDE_SCOPE_NAMES tag is set to NO then doxygen will show members with
+# their full class and namespace scopes in the documentation. If set to YES, the
+# scope will be hidden.
+# The default value is: NO.
+
+HIDE_SCOPE_NAMES       = NO
+
+# If the HIDE_COMPOUND_REFERENCE tag is set to NO (default) then doxygen will
+# append additional text to a page's title, such as Class Reference. If set to
+# YES the compound reference will be hidden.
+# The default value is: NO.
+
+HIDE_COMPOUND_REFERENCE= NO
+
+# If the SHOW_HEADERFILE tag is set to YES then the documentation for a class
+# will show which file needs to be included to use the class.
+# The default value is: YES.
+
+SHOW_HEADERFILE        = YES
+
+# If the SHOW_INCLUDE_FILES tag is set to YES then doxygen will put a list of
+# the files that are included by a file in the documentation of that file.
+# The default value is: YES.
+
+SHOW_INCLUDE_FILES     = YES
+
+# If the SHOW_GROUPED_MEMB_INC tag is set to YES then Doxygen will add for each
+# grouped member an include statement to the documentation, telling the reader
+# which file to include in order to use the member.
+# The default value is: NO.
+
+SHOW_GROUPED_MEMB_INC  = NO
+
+# If the FORCE_LOCAL_INCLUDES tag is set to YES then doxygen will list include
+# files with double quotes in the documentation rather than with sharp brackets.
+# The default value is: NO.
+
+FORCE_LOCAL_INCLUDES   = NO
+
+# If the INLINE_INFO tag is set to YES then a tag [inline] is inserted in the
+# documentation for inline members.
+# The default value is: YES.
+
+INLINE_INFO            = YES
+
+# If the SORT_MEMBER_DOCS tag is set to YES then doxygen will sort the
+# (detailed) documentation of file and class members alphabetically by member
+# name. If set to NO, the members will appear in declaration order.
+# The default value is: YES.
+
+SORT_MEMBER_DOCS       = YES
+
+# If the SORT_BRIEF_DOCS tag is set to YES then doxygen will sort the brief
+# descriptions of file, namespace and class members alphabetically by member
+# name. If set to NO, the members will appear in declaration order. Note that
+# this will also influence the order of the classes in the class list.
+# The default value is: NO.
+
+SORT_BRIEF_DOCS        = NO
+
+# If the SORT_MEMBERS_CTORS_1ST tag is set to YES then doxygen will sort the
+# (brief and detailed) documentation of class members so that constructors and
+# destructors are listed first. If set to NO the constructors will appear in the
+# respective orders defined by SORT_BRIEF_DOCS and SORT_MEMBER_DOCS.
+# Note: If SORT_BRIEF_DOCS is set to NO this option is ignored for sorting brief
+# member documentation.
+# Note: If SORT_MEMBER_DOCS is set to NO this option is ignored for sorting
+# detailed member documentation.
+# The default value is: NO.
+
+SORT_MEMBERS_CTORS_1ST = NO
+
+# If the SORT_GROUP_NAMES tag is set to YES then doxygen will sort the hierarchy
+# of group names into alphabetical order. If set to NO the group names will
+# appear in their defined order.
+# The default value is: NO.
+
+SORT_GROUP_NAMES       = NO
+
+# If the SORT_BY_SCOPE_NAME tag is set to YES, the class list will be sorted by
+# fully-qualified names, including namespaces. If set to NO, the class list will
+# be sorted only by class name, not including the namespace part.
+# Note: This option is not very useful if HIDE_SCOPE_NAMES is set to YES.
+# Note: This option applies only to the class list, not to the alphabetical
+# list.
+# The default value is: NO.
+
+SORT_BY_SCOPE_NAME     = NO
+
+# If the STRICT_PROTO_MATCHING option is enabled and doxygen fails to do proper
+# type resolution of all parameters of a function it will reject a match between
+# the prototype and the implementation of a member function even if there is
+# only one candidate or it is obvious which candidate to choose by doing a
+# simple string match. By disabling STRICT_PROTO_MATCHING doxygen will still
+# accept a match between prototype and implementation in such cases.
+# The default value is: NO.
+
+STRICT_PROTO_MATCHING  = NO
+
+# The GENERATE_TODOLIST tag can be used to enable (YES) or disable (NO) the todo
+# list. This list is created by putting \todo commands in the documentation.
+# The default value is: YES.
+
+GENERATE_TODOLIST      = YES
+
+# The GENERATE_TESTLIST tag can be used to enable (YES) or disable (NO) the test
+# list. This list is created by putting \test commands in the documentation.
+# The default value is: YES.
+
+GENERATE_TESTLIST      = YES
+
+# The GENERATE_BUGLIST tag can be used to enable (YES) or disable (NO) the bug
+# list. This list is created by putting \bug commands in the documentation.
+# The default value is: YES.
+
+GENERATE_BUGLIST       = YES
+
+# The GENERATE_DEPRECATEDLIST tag can be used to enable (YES) or disable (NO)
+# the deprecated list. This list is created by putting \deprecated commands in
+# the documentation.
+# The default value is: YES.
+
+GENERATE_DEPRECATEDLIST= YES
+
+# The ENABLED_SECTIONS tag can be used to enable conditional documentation
+# sections, marked by \if <section_label> ... \endif and \cond <section_label>
+# ... \endcond blocks.
+
+ENABLED_SECTIONS       =
+
+# The MAX_INITIALIZER_LINES tag determines the maximum number of lines that the
+# initial value of a variable or macro / define can have for it to appear in the
+# documentation. If the initializer consists of more lines than specified here
+# it will be hidden. Use a value of 0 to hide initializers completely. The
+# appearance of the value of individual variables and macros / defines can be
+# controlled using \showinitializer or \hideinitializer command in the
+# documentation regardless of this setting.
+# Minimum value: 0, maximum value: 10000, default value: 30.
+
+MAX_INITIALIZER_LINES  = 30
+
+# Set the SHOW_USED_FILES tag to NO to disable the list of files generated at
+# the bottom of the documentation of classes and structs. If set to YES, the
+# list will mention the files that were used to generate the documentation.
+# The default value is: YES.
+
+SHOW_USED_FILES        = YES
+
+# Set the SHOW_FILES tag to NO to disable the generation of the Files page. This
+# will remove the Files entry from the Quick Index and from the Folder Tree View
+# (if specified).
+# The default value is: YES.
+
+SHOW_FILES             = YES
+
+# Set the SHOW_NAMESPACES tag to NO to disable the generation of the Namespaces
+# page. This will remove the Namespaces entry from the Quick Index and from the
+# Folder Tree View (if specified).
+# The default value is: YES.
+
+SHOW_NAMESPACES        = YES
+
+# The FILE_VERSION_FILTER tag can be used to specify a program or script that
+# doxygen should invoke to get the current version for each file (typically from
+# the version control system). Doxygen will invoke the program by executing (via
+# popen()) the command command input-file, where command is the value of the
+# FILE_VERSION_FILTER tag, and input-file is the name of an input file provided
+# by doxygen. Whatever the program writes to standard output is used as the file
+# version. For an example see the documentation.
+
+FILE_VERSION_FILTER    =
+
+# The LAYOUT_FILE tag can be used to specify a layout file which will be parsed
+# by doxygen. The layout file controls the global structure of the generated
+# output files in an output format independent way. To create the layout file
+# that represents doxygen's defaults, run doxygen with the -l option. You can
+# optionally specify a file name after the option, if omitted DoxygenLayout.xml
+# will be used as the name of the layout file. See also section "Changing the
+# layout of pages" for information.
+#
+# Note that if you run doxygen from a directory containing a file called
+# DoxygenLayout.xml, doxygen will parse it automatically even if the LAYOUT_FILE
+# tag is left empty.
+
+LAYOUT_FILE            =
+
+# The CITE_BIB_FILES tag can be used to specify one or more bib files containing
+# the reference definitions. This must be a list of .bib files. The .bib
+# extension is automatically appended if omitted. This requires the bibtex tool
+# to be installed. See also https://en.wikipedia.org/wiki/BibTeX for more info.
+# For LaTeX the style of the bibliography can be controlled using
+# LATEX_BIB_STYLE. To use this feature you need bibtex and perl available in the
+# search path. See also \cite for info how to create references.
+
+CITE_BIB_FILES         =
+
+#---------------------------------------------------------------------------
+# Configuration options related to warning and progress messages
+#---------------------------------------------------------------------------
+
+# The QUIET tag can be used to turn on/off the messages that are generated to
+# standard output by doxygen. If QUIET is set to YES this implies that the
+# messages are off.
+# The default value is: NO.
+
+QUIET                  = NO
+
+# The WARNINGS tag can be used to turn on/off the warning messages that are
+# generated to standard error (stderr) by doxygen. If WARNINGS is set to YES
+# this implies that the warnings are on.
+#
+# Tip: Turn warnings on while writing the documentation.
+# The default value is: YES.
+
+WARNINGS               = YES
+
+# If the WARN_IF_UNDOCUMENTED tag is set to YES then doxygen will generate
+# warnings for undocumented members. If EXTRACT_ALL is set to YES then this flag
+# will automatically be disabled.
+# The default value is: YES.
+
+WARN_IF_UNDOCUMENTED   = YES
+
+# If the WARN_IF_DOC_ERROR tag is set to YES, doxygen will generate warnings for
+# potential errors in the documentation, such as documenting some parameters in
+# a documented function twice, or documenting parameters that don't exist or
+# using markup commands wrongly.
+# The default value is: YES.
+
+WARN_IF_DOC_ERROR      = YES
+
+# If WARN_IF_INCOMPLETE_DOC is set to YES, doxygen will warn about incomplete
+# function parameter documentation. If set to NO, doxygen will accept that some
+# parameters have no documentation without warning.
+# The default value is: YES.
+
+WARN_IF_INCOMPLETE_DOC = YES
+
+# This WARN_NO_PARAMDOC option can be enabled to get warnings for functions that
+# are documented, but have no documentation for their parameters or return
+# value. If set to NO, doxygen will only warn about wrong parameter
+# documentation, but not about the absence of documentation. If EXTRACT_ALL is
+# set to YES then this flag will automatically be disabled. See also
+# WARN_IF_INCOMPLETE_DOC
+# The default value is: NO.
+
+WARN_NO_PARAMDOC       = NO
+
+# If WARN_IF_UNDOC_ENUM_VAL option is set to YES, doxygen will warn about
+# undocumented enumeration values. If set to NO, doxygen will accept
+# undocumented enumeration values. If EXTRACT_ALL is set to YES then this flag
+# will automatically be disabled.
+# The default value is: NO.
+
+WARN_IF_UNDOC_ENUM_VAL = NO
+
+# If the WARN_AS_ERROR tag is set to YES then doxygen will immediately stop when
+# a warning is encountered. If the WARN_AS_ERROR tag is set to FAIL_ON_WARNINGS
+# then doxygen will continue running as if WARN_AS_ERROR tag is set to NO, but
+# at the end of the doxygen process doxygen will return with a non-zero status.
+# Possible values are: NO, YES and FAIL_ON_WARNINGS.
+# The default value is: NO.
+
+WARN_AS_ERROR          = NO
+
+# The WARN_FORMAT tag determines the format of the warning messages that doxygen
+# can produce. The string should contain the $file, $line, and $text tags, which
+# will be replaced by the file and line number from which the warning originated
+# and the warning text. Optionally the format may contain $version, which will
+# be replaced by the version of the file (if it could be obtained via
+# FILE_VERSION_FILTER)
+# See also: WARN_LINE_FORMAT
+# The default value is: $file:$line: $text.
+
+WARN_FORMAT            = "$file:$line: $text"
+
+# In the $text part of the WARN_FORMAT command it is possible that a reference
+# to a more specific place is given. To make it easier to jump to this place
+# (outside of doxygen) the user can define a custom "cut" / "paste" string.
+# Example:
+# WARN_LINE_FORMAT = "'vi $file +$line'"
+# See also: WARN_FORMAT
+# The default value is: at line $line of file $file.
+
+WARN_LINE_FORMAT       = "at line $line of file $file"
+
+# The WARN_LOGFILE tag can be used to specify a file to which warning and error
+# messages should be written. If left blank the output is written to standard
+# error (stderr). In case the file specified cannot be opened for writing the
+# warning and error messages are written to standard error. When as file - is
+# specified the warning and error messages are written to standard output
+# (stdout).
+
+WARN_LOGFILE           =
+
+#---------------------------------------------------------------------------
+# Configuration options related to the input files
+#---------------------------------------------------------------------------
+
+# The INPUT tag is used to specify the files and/or directories that contain
+# documented source files. You may enter file names like myfile.cpp or
+# directories like /usr/src/myproject. Separate the files or directories with
+# spaces. See also FILE_PATTERNS and EXTENSION_MAPPING
+# Note: If this tag is empty the current directory is searched.
+
+INPUT                  = include \
+                         README.md \
+                         docs/extensions.md \
+                         docs/customization.md \
+                         docs/tricks.md
+
+# This tag can be used to specify the character encoding of the source files
+# that doxygen parses. Internally doxygen uses the UTF-8 encoding. Doxygen uses
+# libiconv (or the iconv built into libc) for the transcoding. See the libiconv
+# documentation (see:
+# https://www.gnu.org/software/libiconv/) for the list of possible encodings.
+# See also: INPUT_FILE_ENCODING
+# The default value is: UTF-8.
+
+INPUT_ENCODING         = UTF-8
+
+# This tag can be used to specify the character encoding of the source files
+# that doxygen parses The INPUT_FILE_ENCODING tag can be used to specify
+# character encoding on a per file pattern basis. Doxygen will compare the file
+# name with each pattern and apply the encoding instead of the default
+# INPUT_ENCODING) if there is a match. The character encodings are a list of the
+# form: pattern=encoding (like *.php=ISO-8859-1). See cfg_input_encoding
+# "INPUT_ENCODING" for further information on supported encodings.
+
+INPUT_FILE_ENCODING    =
+
+# If the value of the INPUT tag contains directories, you can use the
+# FILE_PATTERNS tag to specify one or more wildcard patterns (like *.cpp and
+# *.h) to filter out the source-files in the directories.
+#
+# Note that for custom extensions or not directly supported extensions you also
+# need to set EXTENSION_MAPPING for the extension otherwise the files are not
+# read by doxygen.
+#
+# Note the list of default checked file patterns might differ from the list of
+# default file extension mappings.
+#
+# If left blank the following patterns are tested:*.c, *.cc, *.cxx, *.cpp,
+# *.c++, *.java, *.ii, *.ixx, *.ipp, *.i++, *.inl, *.idl, *.ddl, *.odl, *.h,
+# *.hh, *.hxx, *.hpp, *.h++, *.l, *.cs, *.d, *.php, *.php4, *.php5, *.phtml,
+# *.inc, *.m, *.markdown, *.md, *.mm, *.dox (to be provided as doxygen C
+# comment), *.py, *.pyw, *.f90, *.f95, *.f03, *.f08, *.f18, *.f, *.for, *.vhd,
+# *.vhdl, *.ucf, *.qsf and *.ice.
+
+FILE_PATTERNS          = *.c \
+                         *.cc \
+                         *.cxx \
+                         *.cpp \
+                         *.c++ \
+                         *.java \
+                         *.ii \
+                         *.ixx \
+                         *.ipp \
+                         *.i++ \
+                         *.inl \
+                         *.idl \
+                         *.ddl \
+                         *.odl \
+                         *.h \
+                         *.hh \
+                         *.hxx \
+                         *.hpp \
+                         *.h++ \
+                         *.cs \
+                         *.d \
+                         *.php \
+                         *.php4 \
+                         *.php5 \
+                         *.phtml \
+                         *.inc \
+                         *.m \
+                         *.markdown \
+                         *.md \
+                         *.mm \
+                         *.dox \
+                         *.py \
+                         *.pyw \
+                         *.f90 \
+                         *.f95 \
+                         *.f03 \
+                         *.f08 \
+                         *.f18 \
+                         *.f \
+                         *.for \
+                         *.vhd \
+                         *.vhdl \
+                         *.ucf \
+                         *.qsf \
+                         *.ice
+
+# The RECURSIVE tag can be used to specify whether or not subdirectories should
+# be searched for input files as well.
+# The default value is: NO.
+
+RECURSIVE              = YES
+
+# The EXCLUDE tag can be used to specify files and/or directories that should be
+# excluded from the INPUT source files. This way you can easily exclude a
+# subdirectory from a directory tree whose root is specified with the INPUT tag.
+#
+# Note that relative paths are relative to the directory from which doxygen is
+# run.
+
+EXCLUDE                =
+
+# The EXCLUDE_SYMLINKS tag can be used to select whether or not files or
+# directories that are symbolic links (a Unix file system feature) are excluded
+# from the input.
+# The default value is: NO.
+
+EXCLUDE_SYMLINKS       = NO
+
+# If the value of the INPUT tag contains directories, you can use the
+# EXCLUDE_PATTERNS tag to specify one or more wildcard patterns to exclude
+# certain files from those directories.
+#
+# Note that the wildcards are matched against the file with absolute path, so to
+# exclude all test directories for example use the pattern */test/*
+
+EXCLUDE_PATTERNS       =
+
+# The EXCLUDE_SYMBOLS tag can be used to specify one or more symbol names
+# (namespaces, classes, functions, etc.) that should be excluded from the
+# output. The symbol name can be a fully qualified name, a word, or if the
+# wildcard * is used, a substring. Examples: ANamespace, AClass,
+# ANamespace::AClass, ANamespace::*Test
+#
+# Note that the wildcards are matched against the file with absolute path, so to
+# exclude all test directories use the pattern */test/*
+
+EXCLUDE_SYMBOLS        =
+
+# The EXAMPLE_PATH tag can be used to specify one or more files or directories
+# that contain example code fragments that are included (see the \include
+# command).
+
+EXAMPLE_PATH           =
+
+# If the value of the EXAMPLE_PATH tag contains directories, you can use the
+# EXAMPLE_PATTERNS tag to specify one or more wildcard pattern (like *.cpp and
+# *.h) to filter out the source-files in the directories. If left blank all
+# files are included.
+
+EXAMPLE_PATTERNS       = *
+
+# If the EXAMPLE_RECURSIVE tag is set to YES then subdirectories will be
+# searched for input files to be used with the \include or \dontinclude commands
+# irrespective of the value of the RECURSIVE tag.
+# The default value is: NO.
+
+EXAMPLE_RECURSIVE      = NO
+
+# The IMAGE_PATH tag can be used to specify one or more files or directories
+# that contain images that are to be included in the documentation (see the
+# \image command).
+
+IMAGE_PATH             = img \
+                         docs/img
+
+# The INPUT_FILTER tag can be used to specify a program that doxygen should
+# invoke to filter for each input file. Doxygen will invoke the filter program
+# by executing (via popen()) the command:
+#
+# <filter> <input-file>
+#
+# where <filter> is the value of the INPUT_FILTER tag, and <input-file> is the
+# name of an input file. Doxygen will then use the output that the filter
+# program writes to standard output. If FILTER_PATTERNS is specified, this tag
+# will be ignored.
+#
+# Note that the filter must not add or remove lines; it is applied before the
+# code is scanned, but not when the output code is generated. If lines are added
+# or removed, the anchors will not be placed correctly.
+#
+# Note that doxygen will use the data processed and written to standard output
+# for further processing, therefore nothing else, like debug statements or used
+# commands (so in case of a Windows batch file always use @echo OFF), should be
+# written to standard output.
+#
+# Note that for custom extensions or not directly supported extensions you also
+# need to set EXTENSION_MAPPING for the extension otherwise the files are not
+# properly processed by doxygen.
+
+INPUT_FILTER           =
+
+# The FILTER_PATTERNS tag can be used to specify filters on a per file pattern
+# basis. Doxygen will compare the file name with each pattern and apply the
+# filter if there is a match. The filters are a list of the form: pattern=filter
+# (like *.cpp=my_cpp_filter). See INPUT_FILTER for further information on how
+# filters are used. If the FILTER_PATTERNS tag is empty or if none of the
+# patterns match the file name, INPUT_FILTER is applied.
+#
+# Note that for custom extensions or not directly supported extensions you also
+# need to set EXTENSION_MAPPING for the extension otherwise the files are not
+# properly processed by doxygen.
+
+FILTER_PATTERNS        =
+
+# If the FILTER_SOURCE_FILES tag is set to YES, the input filter (if set using
+# INPUT_FILTER) will also be used to filter the input files that are used for
+# producing the source files to browse (i.e. when SOURCE_BROWSER is set to YES).
+# The default value is: NO.
+
+FILTER_SOURCE_FILES    = NO
+
+# The FILTER_SOURCE_PATTERNS tag can be used to specify source filters per file
+# pattern. A pattern will override the setting for FILTER_PATTERN (if any) and
+# it is also possible to disable source filtering for a specific pattern using
+# *.ext= (so without naming a filter).
+# This tag requires that the tag FILTER_SOURCE_FILES is set to YES.
+
+FILTER_SOURCE_PATTERNS =
+
+# If the USE_MDFILE_AS_MAINPAGE tag refers to the name of a markdown file that
+# is part of the input, its contents will be placed on the main page
+# (index.html). This can be useful if you have a project on for instance GitHub
+# and want to reuse the introduction page also for the doxygen output.
+
+USE_MDFILE_AS_MAINPAGE = README.md
+
+# The Fortran standard specifies that for fixed formatted Fortran code all
+# characters from position 72 are to be considered as comment. A common
+# extension is to allow longer lines before the automatic comment starts. The
+# setting FORTRAN_COMMENT_AFTER will also make it possible that longer lines can
+# be processed before the automatic comment starts.
+# Minimum value: 7, maximum value: 10000, default value: 72.
+
+FORTRAN_COMMENT_AFTER  = 72
+
+#---------------------------------------------------------------------------
+# Configuration options related to source browsing
+#---------------------------------------------------------------------------
+
+# If the SOURCE_BROWSER tag is set to YES then a list of source files will be
+# generated. Documented entities will be cross-referenced with these sources.
+#
+# Note: To get rid of all source code in the generated output, make sure that
+# also VERBATIM_HEADERS is set to NO.
+# The default value is: NO.
+
+SOURCE_BROWSER         = NO
+
+# Setting the INLINE_SOURCES tag to YES will include the body of functions,
+# classes and enums directly into the documentation.
+# The default value is: NO.
+
+INLINE_SOURCES         = NO
+
+# Setting the STRIP_CODE_COMMENTS tag to YES will instruct doxygen to hide any
+# special comment blocks from generated source code fragments. Normal C, C++ and
+# Fortran comments will always remain visible.
+# The default value is: YES.
+
+STRIP_CODE_COMMENTS    = YES
+
+# If the REFERENCED_BY_RELATION tag is set to YES then for each documented
+# entity all documented functions referencing it will be listed.
+# The default value is: NO.
+
+REFERENCED_BY_RELATION = NO
+
+# If the REFERENCES_RELATION tag is set to YES then for each documented function
+# all documented entities called/used by that function will be listed.
+# The default value is: NO.
+
+REFERENCES_RELATION    = NO
+
+# If the REFERENCES_LINK_SOURCE tag is set to YES and SOURCE_BROWSER tag is set
+# to YES then the hyperlinks from functions in REFERENCES_RELATION and
+# REFERENCED_BY_RELATION lists will link to the source code. Otherwise they will
+# link to the documentation.
+# The default value is: YES.
+
+REFERENCES_LINK_SOURCE = YES
+
+# If SOURCE_TOOLTIPS is enabled (the default) then hovering a hyperlink in the
+# source code will show a tooltip with additional information such as prototype,
+# brief description and links to the definition and documentation. Since this
+# will make the HTML file larger and loading of large files a bit slower, you
+# can opt to disable this feature.
+# The default value is: YES.
+# This tag requires that the tag SOURCE_BROWSER is set to YES.
+
+SOURCE_TOOLTIPS        = YES
+
+# If the USE_HTAGS tag is set to YES then the references to source code will
+# point to the HTML generated by the htags(1) tool instead of doxygen built-in
+# source browser. The htags tool is part of GNU's global source tagging system
+# (see https://www.gnu.org/software/global/global.html). You will need version
+# 4.8.6 or higher.
+#
+# To use it do the following:
+# - Install the latest version of global
+# - Enable SOURCE_BROWSER and USE_HTAGS in the configuration file
+# - Make sure the INPUT points to the root of the source tree
+# - Run doxygen as normal
+#
+# Doxygen will invoke htags (and that will in turn invoke gtags), so these
+# tools must be available from the command line (i.e. in the search path).
+#
+# The result: instead of the source browser generated by doxygen, the links to
+# source code will now point to the output of htags.
+# The default value is: NO.
+# This tag requires that the tag SOURCE_BROWSER is set to YES.
+
+USE_HTAGS              = NO
+
+# If the VERBATIM_HEADERS tag is set the YES then doxygen will generate a
+# verbatim copy of the header file for each class for which an include is
+# specified. Set to NO to disable this.
+# See also: Section \class.
+# The default value is: YES.
+
+VERBATIM_HEADERS       = YES
+
+# If the CLANG_ASSISTED_PARSING tag is set to YES then doxygen will use the
+# clang parser (see:
+# http://clang.llvm.org/) for more accurate parsing at the cost of reduced
+# performance. This can be particularly helpful with template rich C++ code for
+# which doxygen's built-in parser lacks the necessary type information.
+# Note: The availability of this option depends on whether or not doxygen was
+# generated with the -Duse_libclang=ON option for CMake.
+# The default value is: NO.
+
+CLANG_ASSISTED_PARSING = NO
+
+# If the CLANG_ASSISTED_PARSING tag is set to YES and the CLANG_ADD_INC_PATHS
+# tag is set to YES then doxygen will add the directory of each input to the
+# include path.
+# The default value is: YES.
+# This tag requires that the tag CLANG_ASSISTED_PARSING is set to YES.
+
+CLANG_ADD_INC_PATHS    = YES
+
+# If clang assisted parsing is enabled you can provide the compiler with command
+# line options that you would normally use when invoking the compiler. Note that
+# the include paths will already be set by doxygen for the files and directories
+# specified with INPUT and INCLUDE_PATH.
+# This tag requires that the tag CLANG_ASSISTED_PARSING is set to YES.
+
+CLANG_OPTIONS          =
+
+# If clang assisted parsing is enabled you can provide the clang parser with the
+# path to the directory containing a file called compile_commands.json. This
+# file is the compilation database (see:
+# http://clang.llvm.org/docs/HowToSetupToolingForLLVM.html) containing the
+# options used when the source files were built. This is equivalent to
+# specifying the -p option to a clang tool, such as clang-check. These options
+# will then be passed to the parser. Any options specified with CLANG_OPTIONS
+# will be added as well.
+# Note: The availability of this option depends on whether or not doxygen was
+# generated with the -Duse_libclang=ON option for CMake.
+
+CLANG_DATABASE_PATH    =
+
+#---------------------------------------------------------------------------
+# Configuration options related to the alphabetical class index
+#---------------------------------------------------------------------------
+
+# If the ALPHABETICAL_INDEX tag is set to YES, an alphabetical index of all
+# compounds will be generated. Enable this if the project contains a lot of
+# classes, structs, unions or interfaces.
+# The default value is: YES.
+
+ALPHABETICAL_INDEX     = YES
+
+# The IGNORE_PREFIX tag can be used to specify a prefix (or a list of prefixes)
+# that should be ignored while generating the index headers. The IGNORE_PREFIX
+# tag works for classes, function and member names. The entity will be placed in
+# the alphabetical list under the first letter of the entity name that remains
+# after removing the prefix.
+# This tag requires that the tag ALPHABETICAL_INDEX is set to YES.
+
+IGNORE_PREFIX          =
+
+#---------------------------------------------------------------------------
+# Configuration options related to the HTML output
+#---------------------------------------------------------------------------
+
+# If the GENERATE_HTML tag is set to YES, doxygen will generate HTML output
+# The default value is: YES.
+
+GENERATE_HTML          = YES
+
+# The HTML_OUTPUT tag is used to specify where the HTML docs will be put. If a
+# relative path is entered the value of OUTPUT_DIRECTORY will be put in front of
+# it.
+# The default directory is: html.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+HTML_OUTPUT            = html
+
+# The HTML_FILE_EXTENSION tag can be used to specify the file extension for each
+# generated HTML page (for example: .htm, .php, .asp).
+# The default value is: .html.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+HTML_FILE_EXTENSION    = .html
+
+# The HTML_HEADER tag can be used to specify a user-defined HTML header file for
+# each generated HTML page. If the tag is left blank doxygen will generate a
+# standard header.
+#
+# To get valid HTML the header file that includes any scripts and style sheets
+# that doxygen needs, which is dependent on the configuration options used (e.g.
+# the setting GENERATE_TREEVIEW). It is highly recommended to start with a
+# default header using
+# doxygen -w html new_header.html new_footer.html new_stylesheet.css
+# YourConfigFile
+# and then modify the file new_header.html. See also section "Doxygen usage"
+# for information on how to generate the default header that doxygen normally
+# uses.
+# Note: The header is subject to change so you typically have to regenerate the
+# default header when upgrading to a newer version of doxygen. For a description
+# of the possible markers and block names see the documentation.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+HTML_HEADER            = doxygen-custom/header.html
+
+# The HTML_FOOTER tag can be used to specify a user-defined HTML footer for each
+# generated HTML page. If the tag is left blank doxygen will generate a standard
+# footer. See HTML_HEADER for more information on how to generate a default
+# footer and what special commands can be used inside the footer. See also
+# section "Doxygen usage" for information on how to generate the default footer
+# that doxygen normally uses.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+HTML_FOOTER            =
+
+# The HTML_STYLESHEET tag can be used to specify a user-defined cascading style
+# sheet that is used by each HTML page. It can be used to fine-tune the look of
+# the HTML output. If left blank doxygen will generate a default style sheet.
+# See also section "Doxygen usage" for information on how to generate the style
+# sheet that doxygen normally uses.
+# Note: It is recommended to use HTML_EXTRA_STYLESHEET instead of this tag, as
+# it is more robust and this tag (HTML_STYLESHEET) will in the future become
+# obsolete.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+HTML_STYLESHEET        =
+
+# The HTML_EXTRA_STYLESHEET tag can be used to specify additional user-defined
+# cascading style sheets that are included after the standard style sheets
+# created by doxygen. Using this option one can overrule certain style aspects.
+# This is preferred over using HTML_STYLESHEET since it does not replace the
+# standard style sheet and is therefore more robust against future updates.
+# Doxygen will copy the style sheet files to the output directory.
+# Note: The order of the extra style sheet files is of importance (e.g. the last
+# style sheet in the list overrules the setting of the previous ones in the
+# list).
+# Note: Since the styling of scrollbars can currently not be overruled in
+# Webkit/Chromium, the styling will be left out of the default doxygen.css if
+# one or more extra stylesheets have been specified. So if scrollbar
+# customization is desired it has to be added explicitly. For an example see the
+# documentation.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+HTML_EXTRA_STYLESHEET  = doxygen-awesome.css \
+                         doxygen-custom/custom.css \
+                         doxygen-awesome-sidebar-only.css \
+                         doxygen-awesome-sidebar-only-darkmode-toggle.css \
+                         doxygen-custom/custom-alternative.css
+
+# The HTML_EXTRA_FILES tag can be used to specify one or more extra images or
+# other source files which should be copied to the HTML output directory. Note
+# that these files will be copied to the base HTML output directory. Use the
+# $relpath^ marker in the HTML_HEADER and/or HTML_FOOTER files to load these
+# files. In the HTML_STYLESHEET file, use the file name only. Also note that the
+# files will be copied as-is; there are no commands or markers available.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+HTML_EXTRA_FILES       = doxygen-awesome-darkmode-toggle.js \
+                         doxygen-awesome-fragment-copy-button.js \
+                         doxygen-awesome-paragraph-link.js \
+                         doxygen-custom/toggle-alternative-theme.js \
+                         doxygen-awesome-interactive-toc.js \
+                         doxygen-awesome-tabs.js
+
+# The HTML_COLORSTYLE tag can be used to specify if the generated HTML output
+# should be rendered with a dark or light theme.
+# Possible values are: LIGHT always generate light mode output, DARK always
+# generate dark mode output, AUTO_LIGHT automatically set the mode according to
+# the user preference, use light mode if no preference is set (the default),
+# AUTO_DARK automatically set the mode according to the user preference, use
+# dark mode if no preference is set and TOGGLE allow to user to switch between
+# light and dark mode via a button.
+# The default value is: AUTO_LIGHT.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+HTML_COLORSTYLE        = LIGHT
+
+# The HTML_COLORSTYLE_HUE tag controls the color of the HTML output. Doxygen
+# will adjust the colors in the style sheet and background images according to
+# this color. Hue is specified as an angle on a color-wheel, see
+# https://en.wikipedia.org/wiki/Hue for more information. For instance the value
+# 0 represents red, 60 is yellow, 120 is green, 180 is cyan, 240 is blue, 300
+# purple, and 360 is red again.
+# Minimum value: 0, maximum value: 359, default value: 220.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+HTML_COLORSTYLE_HUE    = 209
+
+# The HTML_COLORSTYLE_SAT tag controls the purity (or saturation) of the colors
+# in the HTML output. For a value of 0 the output will use gray-scales only. A
+# value of 255 will produce the most vivid colors.
+# Minimum value: 0, maximum value: 255, default value: 100.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+HTML_COLORSTYLE_SAT    = 255
+
+# The HTML_COLORSTYLE_GAMMA tag controls the gamma correction applied to the
+# luminance component of the colors in the HTML output. Values below 100
+# gradually make the output lighter, whereas values above 100 make the output
+# darker. The value divided by 100 is the actual gamma applied, so 80 represents
+# a gamma of 0.8, The value 220 represents a gamma of 2.2, and 100 does not
+# change the gamma.
+# Minimum value: 40, maximum value: 240, default value: 80.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+HTML_COLORSTYLE_GAMMA  = 113
+
+# If the HTML_TIMESTAMP tag is set to YES then the footer of each generated HTML
+# page will contain the date and time when the page was generated. Setting this
+# to YES can help to show when doxygen was last run and thus if the
+# documentation is up to date.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+HTML_TIMESTAMP         = NO
+
+# If the HTML_DYNAMIC_MENUS tag is set to YES then the generated HTML
+# documentation will contain a main index with vertical navigation menus that
+# are dynamically created via JavaScript. If disabled, the navigation index will
+# consists of multiple levels of tabs that are statically embedded in every HTML
+# page. Disable this option to support browsers that do not have JavaScript,
+# like the Qt help browser.
+# The default value is: YES.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+HTML_DYNAMIC_MENUS     = YES
+
+# If the HTML_DYNAMIC_SECTIONS tag is set to YES then the generated HTML
+# documentation will contain sections that can be hidden and shown after the
+# page has loaded.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+HTML_DYNAMIC_SECTIONS  = NO
+
+# With HTML_INDEX_NUM_ENTRIES one can control the preferred number of entries
+# shown in the various tree structured indices initially; the user can expand
+# and collapse entries dynamically later on. Doxygen will expand the tree to
+# such a level that at most the specified number of entries are visible (unless
+# a fully collapsed tree already exceeds this amount). So setting the number of
+# entries 1 will produce a full collapsed tree by default. 0 is a special value
+# representing an infinite number of entries and will result in a full expanded
+# tree by default.
+# Minimum value: 0, maximum value: 9999, default value: 100.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+HTML_INDEX_NUM_ENTRIES = 100
+
+# If the GENERATE_DOCSET tag is set to YES, additional index files will be
+# generated that can be used as input for Apple's Xcode 3 integrated development
+# environment (see:
+# https://developer.apple.com/xcode/), introduced with OSX 10.5 (Leopard). To
+# create a documentation set, doxygen will generate a Makefile in the HTML
+# output directory. Running make will produce the docset in that directory and
+# running make install will install the docset in
+# ~/Library/Developer/Shared/Documentation/DocSets so that Xcode will find it at
+# startup. See https://developer.apple.com/library/archive/featuredarticles/Doxy
+# genXcode/_index.html for more information.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+GENERATE_DOCSET        = NO
+
+# This tag determines the name of the docset feed. A documentation feed provides
+# an umbrella under which multiple documentation sets from a single provider
+# (such as a company or product suite) can be grouped.
+# The default value is: Doxygen generated docs.
+# This tag requires that the tag GENERATE_DOCSET is set to YES.
+
+DOCSET_FEEDNAME        = "Doxygen generated docs"
+
+# This tag determines the URL of the docset feed. A documentation feed provides
+# an umbrella under which multiple documentation sets from a single provider
+# (such as a company or product suite) can be grouped.
+# This tag requires that the tag GENERATE_DOCSET is set to YES.
+
+DOCSET_FEEDURL         =
+
+# This tag specifies a string that should uniquely identify the documentation
+# set bundle. This should be a reverse domain-name style string, e.g.
+# com.mycompany.MyDocSet. Doxygen will append .docset to the name.
+# The default value is: org.doxygen.Project.
+# This tag requires that the tag GENERATE_DOCSET is set to YES.
+
+DOCSET_BUNDLE_ID       = org.doxygen.Project
+
+# The DOCSET_PUBLISHER_ID tag specifies a string that should uniquely identify
+# the documentation publisher. This should be a reverse domain-name style
+# string, e.g. com.mycompany.MyDocSet.documentation.
+# The default value is: org.doxygen.Publisher.
+# This tag requires that the tag GENERATE_DOCSET is set to YES.
+
+DOCSET_PUBLISHER_ID    = org.doxygen.Publisher
+
+# The DOCSET_PUBLISHER_NAME tag identifies the documentation publisher.
+# The default value is: Publisher.
+# This tag requires that the tag GENERATE_DOCSET is set to YES.
+
+DOCSET_PUBLISHER_NAME  = Publisher
+
+# If the GENERATE_HTMLHELP tag is set to YES then doxygen generates three
+# additional HTML index files: index.hhp, index.hhc, and index.hhk. The
+# index.hhp is a project file that can be read by Microsoft's HTML Help Workshop
+# on Windows. In the beginning of 2021 Microsoft took the original page, with
+# a.o. the download links, offline the HTML help workshop was already many years
+# in maintenance mode). You can download the HTML help workshop from the web
+# archives at Installation executable (see:
+# http://web.archive.org/web/20160201063255/http://download.microsoft.com/downlo
+# ad/0/A/9/0A939EF6-E31C-430F-A3DF-DFAE7960D564/htmlhelp.exe).
+#
+# The HTML Help Workshop contains a compiler that can convert all HTML output
+# generated by doxygen into a single compiled HTML file (.chm). Compiled HTML
+# files are now used as the Windows 98 help format, and will replace the old
+# Windows help format (.hlp) on all Windows platforms in the future. Compressed
+# HTML files also contain an index, a table of contents, and you can search for
+# words in the documentation. The HTML workshop also contains a viewer for
+# compressed HTML files.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+GENERATE_HTMLHELP      = NO
+
+# The CHM_FILE tag can be used to specify the file name of the resulting .chm
+# file. You can add a path in front of the file if the result should not be
+# written to the html output directory.
+# This tag requires that the tag GENERATE_HTMLHELP is set to YES.
+
+CHM_FILE               =
+
+# The HHC_LOCATION tag can be used to specify the location (absolute path
+# including file name) of the HTML help compiler (hhc.exe). If non-empty,
+# doxygen will try to run the HTML help compiler on the generated index.hhp.
+# The file has to be specified with full path.
+# This tag requires that the tag GENERATE_HTMLHELP is set to YES.
+
+HHC_LOCATION           =
+
+# The GENERATE_CHI flag controls if a separate .chi index file is generated
+# (YES) or that it should be included in the main .chm file (NO).
+# The default value is: NO.
+# This tag requires that the tag GENERATE_HTMLHELP is set to YES.
+
+GENERATE_CHI           = NO
+
+# The CHM_INDEX_ENCODING is used to encode HtmlHelp index (hhk), content (hhc)
+# and project file content.
+# This tag requires that the tag GENERATE_HTMLHELP is set to YES.
+
+CHM_INDEX_ENCODING     =
+
+# The BINARY_TOC flag controls whether a binary table of contents is generated
+# (YES) or a normal table of contents (NO) in the .chm file. Furthermore it
+# enables the Previous and Next buttons.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_HTMLHELP is set to YES.
+
+BINARY_TOC             = NO
+
+# The TOC_EXPAND flag can be set to YES to add extra items for group members to
+# the table of contents of the HTML help documentation and to the tree view.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_HTMLHELP is set to YES.
+
+TOC_EXPAND             = NO
+
+# If the GENERATE_QHP tag is set to YES and both QHP_NAMESPACE and
+# QHP_VIRTUAL_FOLDER are set, an additional index file will be generated that
+# can be used as input for Qt's qhelpgenerator to generate a Qt Compressed Help
+# (.qch) of the generated HTML documentation.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+GENERATE_QHP           = NO
+
+# If the QHG_LOCATION tag is specified, the QCH_FILE tag can be used to specify
+# the file name of the resulting .qch file. The path specified is relative to
+# the HTML output folder.
+# This tag requires that the tag GENERATE_QHP is set to YES.
+
+QCH_FILE               =
+
+# The QHP_NAMESPACE tag specifies the namespace to use when generating Qt Help
+# Project output. For more information please see Qt Help Project / Namespace
+# (see:
+# https://doc.qt.io/archives/qt-4.8/qthelpproject.html#namespace).
+# The default value is: org.doxygen.Project.
+# This tag requires that the tag GENERATE_QHP is set to YES.
+
+QHP_NAMESPACE          = org.doxygen.Project
+
+# The QHP_VIRTUAL_FOLDER tag specifies the namespace to use when generating Qt
+# Help Project output. For more information please see Qt Help Project / Virtual
+# Folders (see:
+# https://doc.qt.io/archives/qt-4.8/qthelpproject.html#virtual-folders).
+# The default value is: doc.
+# This tag requires that the tag GENERATE_QHP is set to YES.
+
+QHP_VIRTUAL_FOLDER     = doc
+
+# If the QHP_CUST_FILTER_NAME tag is set, it specifies the name of a custom
+# filter to add. For more information please see Qt Help Project / Custom
+# Filters (see:
+# https://doc.qt.io/archives/qt-4.8/qthelpproject.html#custom-filters).
+# This tag requires that the tag GENERATE_QHP is set to YES.
+
+QHP_CUST_FILTER_NAME   =
+
+# The QHP_CUST_FILTER_ATTRS tag specifies the list of the attributes of the
+# custom filter to add. For more information please see Qt Help Project / Custom
+# Filters (see:
+# https://doc.qt.io/archives/qt-4.8/qthelpproject.html#custom-filters).
+# This tag requires that the tag GENERATE_QHP is set to YES.
+
+QHP_CUST_FILTER_ATTRS  =
+
+# The QHP_SECT_FILTER_ATTRS tag specifies the list of the attributes this
+# project's filter section matches. Qt Help Project / Filter Attributes (see:
+# https://doc.qt.io/archives/qt-4.8/qthelpproject.html#filter-attributes).
+# This tag requires that the tag GENERATE_QHP is set to YES.
+
+QHP_SECT_FILTER_ATTRS  =
+
+# The QHG_LOCATION tag can be used to specify the location (absolute path
+# including file name) of Qt's qhelpgenerator. If non-empty doxygen will try to
+# run qhelpgenerator on the generated .qhp file.
+# This tag requires that the tag GENERATE_QHP is set to YES.
+
+QHG_LOCATION           =
+
+# If the GENERATE_ECLIPSEHELP tag is set to YES, additional index files will be
+# generated, together with the HTML files, they form an Eclipse help plugin. To
+# install this plugin and make it available under the help contents menu in
+# Eclipse, the contents of the directory containing the HTML and XML files needs
+# to be copied into the plugins directory of eclipse. The name of the directory
+# within the plugins directory should be the same as the ECLIPSE_DOC_ID value.
+# After copying Eclipse needs to be restarted before the help appears.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+GENERATE_ECLIPSEHELP   = NO
+
+# A unique identifier for the Eclipse help plugin. When installing the plugin
+# the directory name containing the HTML and XML files should also have this
+# name. Each documentation set should have its own identifier.
+# The default value is: org.doxygen.Project.
+# This tag requires that the tag GENERATE_ECLIPSEHELP is set to YES.
+
+ECLIPSE_DOC_ID         = org.doxygen.Project
+
+# If you want full control over the layout of the generated HTML pages it might
+# be necessary to disable the index and replace it with your own. The
+# DISABLE_INDEX tag can be used to turn on/off the condensed index (tabs) at top
+# of each HTML page. A value of NO enables the index and the value YES disables
+# it. Since the tabs in the index contain the same information as the navigation
+# tree, you can set this option to YES if you also set GENERATE_TREEVIEW to YES.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+DISABLE_INDEX          = NO
+
+# The GENERATE_TREEVIEW tag is used to specify whether a tree-like index
+# structure should be generated to display hierarchical information. If the tag
+# value is set to YES, a side panel will be generated containing a tree-like
+# index structure (just like the one that is generated for HTML Help). For this
+# to work a browser that supports JavaScript, DHTML, CSS and frames is required
+# (i.e. any modern browser). Windows users are probably better off using the
+# HTML help feature. Via custom style sheets (see HTML_EXTRA_STYLESHEET) one can
+# further fine tune the look of the index (see "Fine-tuning the output"). As an
+# example, the default style sheet generated by doxygen has an example that
+# shows how to put an image at the root of the tree instead of the PROJECT_NAME.
+# Since the tree basically has the same information as the tab index, you could
+# consider setting DISABLE_INDEX to YES when enabling this option.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+GENERATE_TREEVIEW      = YES
+
+# When both GENERATE_TREEVIEW and DISABLE_INDEX are set to YES, then the
+# FULL_SIDEBAR option determines if the side bar is limited to only the treeview
+# area (value NO) or if it should extend to the full height of the window (value
+# YES). Setting this to YES gives a layout similar to
+# https://docs.readthedocs.io with more room for contents, but less room for the
+# project logo, title, and description. If either GENERATE_TREEVIEW or
+# DISABLE_INDEX is set to NO, this option has no effect.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+FULL_SIDEBAR           = NO
+
+# The ENUM_VALUES_PER_LINE tag can be used to set the number of enum values that
+# doxygen will group on one line in the generated HTML documentation.
+#
+# Note that a value of 0 will completely suppress the enum values from appearing
+# in the overview section.
+# Minimum value: 0, maximum value: 20, default value: 4.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+ENUM_VALUES_PER_LINE   = 4
+
+# If the treeview is enabled (see GENERATE_TREEVIEW) then this tag can be used
+# to set the initial width (in pixels) of the frame in which the tree is shown.
+# Minimum value: 0, maximum value: 1500, default value: 250.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+TREEVIEW_WIDTH         = 335
+
+# If the EXT_LINKS_IN_WINDOW option is set to YES, doxygen will open links to
+# external symbols imported via tag files in a separate window.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+EXT_LINKS_IN_WINDOW    = NO
+
+# If the OBFUSCATE_EMAILS tag is set to YES, doxygen will obfuscate email
+# addresses.
+# The default value is: YES.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+OBFUSCATE_EMAILS       = YES
+
+# If the HTML_FORMULA_FORMAT option is set to svg, doxygen will use the pdf2svg
+# tool (see https://github.com/dawbarton/pdf2svg) or inkscape (see
+# https://inkscape.org) to generate formulas as SVG images instead of PNGs for
+# the HTML output. These images will generally look nicer at scaled resolutions.
+# Possible values are: png (the default) and svg (looks nicer but requires the
+# pdf2svg or inkscape tool).
+# The default value is: png.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+HTML_FORMULA_FORMAT    = png
+
+# Use this tag to change the font size of LaTeX formulas included as images in
+# the HTML documentation. When you change the font size after a successful
+# doxygen run you need to manually remove any form_*.png images from the HTML
+# output directory to force them to be regenerated.
+# Minimum value: 8, maximum value: 50, default value: 10.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+FORMULA_FONTSIZE       = 10
+
+# The FORMULA_MACROFILE can contain LaTeX \newcommand and \renewcommand commands
+# to create new LaTeX commands to be used in formulas as building blocks. See
+# the section "Including formulas" for details.
+
+FORMULA_MACROFILE      =
+
+# Enable the USE_MATHJAX option to render LaTeX formulas using MathJax (see
+# https://www.mathjax.org) which uses client side JavaScript for the rendering
+# instead of using pre-rendered bitmaps. Use this if you do not have LaTeX
+# installed or if you want to formulas look prettier in the HTML output. When
+# enabled you may also need to install MathJax separately and configure the path
+# to it using the MATHJAX_RELPATH option.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+USE_MATHJAX            = NO
+
+# With MATHJAX_VERSION it is possible to specify the MathJax version to be used.
+# Note that the different versions of MathJax have different requirements with
+# regards to the different settings, so it is possible that also other MathJax
+# settings have to be changed when switching between the different MathJax
+# versions.
+# Possible values are: MathJax_2 and MathJax_3.
+# The default value is: MathJax_2.
+# This tag requires that the tag USE_MATHJAX is set to YES.
+
+MATHJAX_VERSION        = MathJax_2
+
+# When MathJax is enabled you can set the default output format to be used for
+# the MathJax output. For more details about the output format see MathJax
+# version 2 (see:
+# http://docs.mathjax.org/en/v2.7-latest/output.html) and MathJax version 3
+# (see:
+# http://docs.mathjax.org/en/latest/web/components/output.html).
+# Possible values are: HTML-CSS (which is slower, but has the best
+# compatibility. This is the name for Mathjax version 2, for MathJax version 3
+# this will be translated into chtml), NativeMML (i.e. MathML. Only supported
+# for NathJax 2. For MathJax version 3 chtml will be used instead.), chtml (This
+# is the name for Mathjax version 3, for MathJax version 2 this will be
+# translated into HTML-CSS) and SVG.
+# The default value is: HTML-CSS.
+# This tag requires that the tag USE_MATHJAX is set to YES.
+
+MATHJAX_FORMAT         = HTML-CSS
+
+# When MathJax is enabled you need to specify the location relative to the HTML
+# output directory using the MATHJAX_RELPATH option. The destination directory
+# should contain the MathJax.js script. For instance, if the mathjax directory
+# is located at the same level as the HTML output directory, then
+# MATHJAX_RELPATH should be ../mathjax. The default value points to the MathJax
+# Content Delivery Network so you can quickly see the result without installing
+# MathJax. However, it is strongly recommended to install a local copy of
+# MathJax from https://www.mathjax.org before deployment. The default value is:
+# - in case of MathJax version 2: https://cdn.jsdelivr.net/npm/mathjax@2
+# - in case of MathJax version 3: https://cdn.jsdelivr.net/npm/mathjax@3
+# This tag requires that the tag USE_MATHJAX is set to YES.
+
+MATHJAX_RELPATH        = https://cdn.jsdelivr.net/npm/mathjax@2
+
+# The MATHJAX_EXTENSIONS tag can be used to specify one or more MathJax
+# extension names that should be enabled during MathJax rendering. For example
+# for MathJax version 2 (see https://docs.mathjax.org/en/v2.7-latest/tex.html
+# #tex-and-latex-extensions):
+# MATHJAX_EXTENSIONS = TeX/AMSmath TeX/AMSsymbols
+# For example for MathJax version 3 (see
+# http://docs.mathjax.org/en/latest/input/tex/extensions/index.html):
+# MATHJAX_EXTENSIONS = ams
+# This tag requires that the tag USE_MATHJAX is set to YES.
+
+MATHJAX_EXTENSIONS     =
+
+# The MATHJAX_CODEFILE tag can be used to specify a file with javascript pieces
+# of code that will be used on startup of the MathJax code. See the MathJax site
+# (see:
+# http://docs.mathjax.org/en/v2.7-latest/output.html) for more details. For an
+# example see the documentation.
+# This tag requires that the tag USE_MATHJAX is set to YES.
+
+MATHJAX_CODEFILE       =
+
+# When the SEARCHENGINE tag is enabled doxygen will generate a search box for
+# the HTML output. The underlying search engine uses javascript and DHTML and
+# should work on any modern browser. Note that when using HTML help
+# (GENERATE_HTMLHELP), Qt help (GENERATE_QHP), or docsets (GENERATE_DOCSET)
+# there is already a search function so this one should typically be disabled.
+# For large projects the javascript based search engine can be slow, then
+# enabling SERVER_BASED_SEARCH may provide a better solution. It is possible to
+# search using the keyboard; to jump to the search box use <access key> + S
+# (what the <access key> is depends on the OS and browser, but it is typically
+# <CTRL>, <ALT>/<option>, or both). Inside the search box use the <cursor down
+# key> to jump into the search results window, the results can be navigated
+# using the <cursor keys>. Press <Enter> to select an item or <escape> to cancel
+# the search. The filter options can be selected when the cursor is inside the
+# search box by pressing <Shift>+<cursor down>. Also here use the <cursor keys>
+# to select a filter and <Enter> or <escape> to activate or cancel the filter
+# option.
+# The default value is: YES.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+SEARCHENGINE           = YES
+
+# When the SERVER_BASED_SEARCH tag is enabled the search engine will be
+# implemented using a web server instead of a web client using JavaScript. There
+# are two flavors of web server based searching depending on the EXTERNAL_SEARCH
+# setting. When disabled, doxygen will generate a PHP script for searching and
+# an index file used by the script. When EXTERNAL_SEARCH is enabled the indexing
+# and searching needs to be provided by external tools. See the section
+# "External Indexing and Searching" for details.
+# The default value is: NO.
+# This tag requires that the tag SEARCHENGINE is set to YES.
+
+SERVER_BASED_SEARCH    = NO
+
+# When EXTERNAL_SEARCH tag is enabled doxygen will no longer generate the PHP
+# script for searching. Instead the search results are written to an XML file
+# which needs to be processed by an external indexer. Doxygen will invoke an
+# external search engine pointed to by the SEARCHENGINE_URL option to obtain the
+# search results.
+#
+# Doxygen ships with an example indexer (doxyindexer) and search engine
+# (doxysearch.cgi) which are based on the open source search engine library
+# Xapian (see:
+# https://xapian.org/).
+#
+# See the section "External Indexing and Searching" for details.
+# The default value is: NO.
+# This tag requires that the tag SEARCHENGINE is set to YES.
+
+EXTERNAL_SEARCH        = NO
+
+# The SEARCHENGINE_URL should point to a search engine hosted by a web server
+# which will return the search results when EXTERNAL_SEARCH is enabled.
+#
+# Doxygen ships with an example indexer (doxyindexer) and search engine
+# (doxysearch.cgi) which are based on the open source search engine library
+# Xapian (see:
+# https://xapian.org/). See the section "External Indexing and Searching" for
+# details.
+# This tag requires that the tag SEARCHENGINE is set to YES.
+
+SEARCHENGINE_URL       =
+
+# When SERVER_BASED_SEARCH and EXTERNAL_SEARCH are both enabled the unindexed
+# search data is written to a file for indexing by an external tool. With the
+# SEARCHDATA_FILE tag the name of this file can be specified.
+# The default file is: searchdata.xml.
+# This tag requires that the tag SEARCHENGINE is set to YES.
+
+SEARCHDATA_FILE        = searchdata.xml
+
+# When SERVER_BASED_SEARCH and EXTERNAL_SEARCH are both enabled the
+# EXTERNAL_SEARCH_ID tag can be used as an identifier for the project. This is
+# useful in combination with EXTRA_SEARCH_MAPPINGS to search through multiple
+# projects and redirect the results back to the right project.
+# This tag requires that the tag SEARCHENGINE is set to YES.
+
+EXTERNAL_SEARCH_ID     =
+
+# The EXTRA_SEARCH_MAPPINGS tag can be used to enable searching through doxygen
+# projects other than the one defined by this configuration file, but that are
+# all added to the same external search index. Each project needs to have a
+# unique id set via EXTERNAL_SEARCH_ID. The search mapping then maps the id of
+# to a relative location where the documentation can be found. The format is:
+# EXTRA_SEARCH_MAPPINGS = tagname1=loc1 tagname2=loc2 ...
+# This tag requires that the tag SEARCHENGINE is set to YES.
+
+EXTRA_SEARCH_MAPPINGS  =
+
+#---------------------------------------------------------------------------
+# Configuration options related to the LaTeX output
+#---------------------------------------------------------------------------
+
+# If the GENERATE_LATEX tag is set to YES, doxygen will generate LaTeX output.
+# The default value is: YES.
+
+GENERATE_LATEX         = NO
+
+# The LATEX_OUTPUT tag is used to specify where the LaTeX docs will be put. If a
+# relative path is entered the value of OUTPUT_DIRECTORY will be put in front of
+# it.
+# The default directory is: latex.
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+LATEX_OUTPUT           = latex
+
+# The LATEX_CMD_NAME tag can be used to specify the LaTeX command name to be
+# invoked.
+#
+# Note that when not enabling USE_PDFLATEX the default is latex when enabling
+# USE_PDFLATEX the default is pdflatex and when in the later case latex is
+# chosen this is overwritten by pdflatex. For specific output languages the
+# default can have been set differently, this depends on the implementation of
+# the output language.
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+LATEX_CMD_NAME         =
+
+# The MAKEINDEX_CMD_NAME tag can be used to specify the command name to generate
+# index for LaTeX.
+# Note: This tag is used in the Makefile / make.bat.
+# See also: LATEX_MAKEINDEX_CMD for the part in the generated output file
+# (.tex).
+# The default file is: makeindex.
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+MAKEINDEX_CMD_NAME     = makeindex
+
+# The LATEX_MAKEINDEX_CMD tag can be used to specify the command name to
+# generate index for LaTeX. In case there is no backslash (\) as first character
+# it will be automatically added in the LaTeX code.
+# Note: This tag is used in the generated output file (.tex).
+# See also: MAKEINDEX_CMD_NAME for the part in the Makefile / make.bat.
+# The default value is: makeindex.
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+LATEX_MAKEINDEX_CMD    = makeindex
+
+# If the COMPACT_LATEX tag is set to YES, doxygen generates more compact LaTeX
+# documents. This may be useful for small projects and may help to save some
+# trees in general.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+COMPACT_LATEX          = NO
+
+# The PAPER_TYPE tag can be used to set the paper type that is used by the
+# printer.
+# Possible values are: a4 (210 x 297 mm), letter (8.5 x 11 inches), legal (8.5 x
+# 14 inches) and executive (7.25 x 10.5 inches).
+# The default value is: a4.
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+PAPER_TYPE             = a4
+
+# The EXTRA_PACKAGES tag can be used to specify one or more LaTeX package names
+# that should be included in the LaTeX output. The package can be specified just
+# by its name or with the correct syntax as to be used with the LaTeX
+# \usepackage command. To get the times font for instance you can specify :
+# EXTRA_PACKAGES=times or EXTRA_PACKAGES={times}
+# To use the option intlimits with the amsmath package you can specify:
+# EXTRA_PACKAGES=[intlimits]{amsmath}
+# If left blank no extra packages will be included.
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+EXTRA_PACKAGES         =
+
+# The LATEX_HEADER tag can be used to specify a user-defined LaTeX header for
+# the generated LaTeX document. The header should contain everything until the
+# first chapter. If it is left blank doxygen will generate a standard header. It
+# is highly recommended to start with a default header using
+# doxygen -w latex new_header.tex new_footer.tex new_stylesheet.sty
+# and then modify the file new_header.tex. See also section "Doxygen usage" for
+# information on how to generate the default header that doxygen normally uses.
+#
+# Note: Only use a user-defined header if you know what you are doing!
+# Note: The header is subject to change so you typically have to regenerate the
+# default header when upgrading to a newer version of doxygen. The following
+# commands have a special meaning inside the header (and footer): For a
+# description of the possible markers and block names see the documentation.
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+LATEX_HEADER           =
+
+# The LATEX_FOOTER tag can be used to specify a user-defined LaTeX footer for
+# the generated LaTeX document. The footer should contain everything after the
+# last chapter. If it is left blank doxygen will generate a standard footer. See
+# LATEX_HEADER for more information on how to generate a default footer and what
+# special commands can be used inside the footer. See also section "Doxygen
+# usage" for information on how to generate the default footer that doxygen
+# normally uses. Note: Only use a user-defined footer if you know what you are
+# doing!
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+LATEX_FOOTER           =
+
+# The LATEX_EXTRA_STYLESHEET tag can be used to specify additional user-defined
+# LaTeX style sheets that are included after the standard style sheets created
+# by doxygen. Using this option one can overrule certain style aspects. Doxygen
+# will copy the style sheet files to the output directory.
+# Note: The order of the extra style sheet files is of importance (e.g. the last
+# style sheet in the list overrules the setting of the previous ones in the
+# list).
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+LATEX_EXTRA_STYLESHEET =
+
+# The LATEX_EXTRA_FILES tag can be used to specify one or more extra images or
+# other source files which should be copied to the LATEX_OUTPUT output
+# directory. Note that the files will be copied as-is; there are no commands or
+# markers available.
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+LATEX_EXTRA_FILES      =
+
+# If the PDF_HYPERLINKS tag is set to YES, the LaTeX that is generated is
+# prepared for conversion to PDF (using ps2pdf or pdflatex). The PDF file will
+# contain links (just like the HTML output) instead of page references. This
+# makes the output suitable for online browsing using a PDF viewer.
+# The default value is: YES.
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+PDF_HYPERLINKS         = YES
+
+# If the USE_PDFLATEX tag is set to YES, doxygen will use the engine as
+# specified with LATEX_CMD_NAME to generate the PDF file directly from the LaTeX
+# files. Set this option to YES, to get a higher quality PDF documentation.
+#
+# See also section LATEX_CMD_NAME for selecting the engine.
+# The default value is: YES.
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+USE_PDFLATEX           = YES
+
+# If the LATEX_BATCHMODE tag is set to YES, doxygen will add the \batchmode
+# command to the generated LaTeX files. This will instruct LaTeX to keep running
+# if errors occur, instead of asking the user for help.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+LATEX_BATCHMODE        = NO
+
+# If the LATEX_HIDE_INDICES tag is set to YES then doxygen will not include the
+# index chapters (such as File Index, Compound Index, etc.) in the output.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+LATEX_HIDE_INDICES     = NO
+
+# The LATEX_BIB_STYLE tag can be used to specify the style to use for the
+# bibliography, e.g. plainnat, or ieeetr. See
+# https://en.wikipedia.org/wiki/BibTeX and \cite for more info.
+# The default value is: plain.
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+LATEX_BIB_STYLE        = plain
+
+# If the LATEX_TIMESTAMP tag is set to YES then the footer of each generated
+# page will contain the date and time when the page was generated. Setting this
+# to NO can help when comparing the output of multiple runs.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+LATEX_TIMESTAMP        = NO
+
+# The LATEX_EMOJI_DIRECTORY tag is used to specify the (relative or absolute)
+# path from which the emoji images will be read. If a relative path is entered,
+# it will be relative to the LATEX_OUTPUT directory. If left blank the
+# LATEX_OUTPUT directory will be used.
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+LATEX_EMOJI_DIRECTORY  =
+
+#---------------------------------------------------------------------------
+# Configuration options related to the RTF output
+#---------------------------------------------------------------------------
+
+# If the GENERATE_RTF tag is set to YES, doxygen will generate RTF output. The
+# RTF output is optimized for Word 97 and may not look too pretty with other RTF
+# readers/editors.
+# The default value is: NO.
+
+GENERATE_RTF           = NO
+
+# The RTF_OUTPUT tag is used to specify where the RTF docs will be put. If a
+# relative path is entered the value of OUTPUT_DIRECTORY will be put in front of
+# it.
+# The default directory is: rtf.
+# This tag requires that the tag GENERATE_RTF is set to YES.
+
+RTF_OUTPUT             = rtf
+
+# If the COMPACT_RTF tag is set to YES, doxygen generates more compact RTF
+# documents. This may be useful for small projects and may help to save some
+# trees in general.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_RTF is set to YES.
+
+COMPACT_RTF            = NO
+
+# If the RTF_HYPERLINKS tag is set to YES, the RTF that is generated will
+# contain hyperlink fields. The RTF file will contain links (just like the HTML
+# output) instead of page references. This makes the output suitable for online
+# browsing using Word or some other Word compatible readers that support those
+# fields.
+#
+# Note: WordPad (write) and others do not support links.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_RTF is set to YES.
+
+RTF_HYPERLINKS         = NO
+
+# Load stylesheet definitions from file. Syntax is similar to doxygen's
+# configuration file, i.e. a series of assignments. You only have to provide
+# replacements, missing definitions are set to their default value.
+#
+# See also section "Doxygen usage" for information on how to generate the
+# default style sheet that doxygen normally uses.
+# This tag requires that the tag GENERATE_RTF is set to YES.
+
+RTF_STYLESHEET_FILE    =
+
+# Set optional variables used in the generation of an RTF document. Syntax is
+# similar to doxygen's configuration file. A template extensions file can be
+# generated using doxygen -e rtf extensionFile.
+# This tag requires that the tag GENERATE_RTF is set to YES.
+
+RTF_EXTENSIONS_FILE    =
+
+#---------------------------------------------------------------------------
+# Configuration options related to the man page output
+#---------------------------------------------------------------------------
+
+# If the GENERATE_MAN tag is set to YES, doxygen will generate man pages for
+# classes and files.
+# The default value is: NO.
+
+GENERATE_MAN           = NO
+
+# The MAN_OUTPUT tag is used to specify where the man pages will be put. If a
+# relative path is entered the value of OUTPUT_DIRECTORY will be put in front of
+# it. A directory man3 will be created inside the directory specified by
+# MAN_OUTPUT.
+# The default directory is: man.
+# This tag requires that the tag GENERATE_MAN is set to YES.
+
+MAN_OUTPUT             = man
+
+# The MAN_EXTENSION tag determines the extension that is added to the generated
+# man pages. In case the manual section does not start with a number, the number
+# 3 is prepended. The dot (.) at the beginning of the MAN_EXTENSION tag is
+# optional.
+# The default value is: .3.
+# This tag requires that the tag GENERATE_MAN is set to YES.
+
+MAN_EXTENSION          = .3
+
+# The MAN_SUBDIR tag determines the name of the directory created within
+# MAN_OUTPUT in which the man pages are placed. If defaults to man followed by
+# MAN_EXTENSION with the initial . removed.
+# This tag requires that the tag GENERATE_MAN is set to YES.
+
+MAN_SUBDIR             =
+
+# If the MAN_LINKS tag is set to YES and doxygen generates man output, then it
+# will generate one additional man file for each entity documented in the real
+# man page(s). These additional files only source the real man page, but without
+# them the man command would be unable to find the correct page.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_MAN is set to YES.
+
+MAN_LINKS              = NO
+
+#---------------------------------------------------------------------------
+# Configuration options related to the XML output
+#---------------------------------------------------------------------------
+
+# If the GENERATE_XML tag is set to YES, doxygen will generate an XML file that
+# captures the structure of the code including all documentation.
+# The default value is: NO.
+
+GENERATE_XML           = NO
+
+# The XML_OUTPUT tag is used to specify where the XML pages will be put. If a
+# relative path is entered the value of OUTPUT_DIRECTORY will be put in front of
+# it.
+# The default directory is: xml.
+# This tag requires that the tag GENERATE_XML is set to YES.
+
+XML_OUTPUT             = xml
+
+# If the XML_PROGRAMLISTING tag is set to YES, doxygen will dump the program
+# listings (including syntax highlighting and cross-referencing information) to
+# the XML output. Note that enabling this will significantly increase the size
+# of the XML output.
+# The default value is: YES.
+# This tag requires that the tag GENERATE_XML is set to YES.
+
+XML_PROGRAMLISTING     = YES
+
+# If the XML_NS_MEMB_FILE_SCOPE tag is set to YES, doxygen will include
+# namespace members in file scope as well, matching the HTML output.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_XML is set to YES.
+
+XML_NS_MEMB_FILE_SCOPE = NO
+
+#---------------------------------------------------------------------------
+# Configuration options related to the DOCBOOK output
+#---------------------------------------------------------------------------
+
+# If the GENERATE_DOCBOOK tag is set to YES, doxygen will generate Docbook files
+# that can be used to generate PDF.
+# The default value is: NO.
+
+GENERATE_DOCBOOK       = NO
+
+# The DOCBOOK_OUTPUT tag is used to specify where the Docbook pages will be put.
+# If a relative path is entered the value of OUTPUT_DIRECTORY will be put in
+# front of it.
+# The default directory is: docbook.
+# This tag requires that the tag GENERATE_DOCBOOK is set to YES.
+
+DOCBOOK_OUTPUT         = docbook
+
+#---------------------------------------------------------------------------
+# Configuration options for the AutoGen Definitions output
+#---------------------------------------------------------------------------
+
+# If the GENERATE_AUTOGEN_DEF tag is set to YES, doxygen will generate an
+# AutoGen Definitions (see http://autogen.sourceforge.net/) file that captures
+# the structure of the code including all documentation. Note that this feature
+# is still experimental and incomplete at the moment.
+# The default value is: NO.
+
+GENERATE_AUTOGEN_DEF   = NO
+
+#---------------------------------------------------------------------------
+# Configuration options related to Sqlite3 output
+#---------------------------------------------------------------------------
+
+#---------------------------------------------------------------------------
+# Configuration options related to the Perl module output
+#---------------------------------------------------------------------------
+
+# If the GENERATE_PERLMOD tag is set to YES, doxygen will generate a Perl module
+# file that captures the structure of the code including all documentation.
+#
+# Note that this feature is still experimental and incomplete at the moment.
+# The default value is: NO.
+
+GENERATE_PERLMOD       = NO
+
+# If the PERLMOD_LATEX tag is set to YES, doxygen will generate the necessary
+# Makefile rules, Perl scripts and LaTeX code to be able to generate PDF and DVI
+# output from the Perl module output.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_PERLMOD is set to YES.
+
+PERLMOD_LATEX          = NO
+
+# If the PERLMOD_PRETTY tag is set to YES, the Perl module output will be nicely
+# formatted so it can be parsed by a human reader. This is useful if you want to
+# understand what is going on. On the other hand, if this tag is set to NO, the
+# size of the Perl module output will be much smaller and Perl will parse it
+# just the same.
+# The default value is: YES.
+# This tag requires that the tag GENERATE_PERLMOD is set to YES.
+
+PERLMOD_PRETTY         = YES
+
+# The names of the make variables in the generated doxyrules.make file are
+# prefixed with the string contained in PERLMOD_MAKEVAR_PREFIX. This is useful
+# so different doxyrules.make files included by the same Makefile don't
+# overwrite each other's variables.
+# This tag requires that the tag GENERATE_PERLMOD is set to YES.
+
+PERLMOD_MAKEVAR_PREFIX =
+
+#---------------------------------------------------------------------------
+# Configuration options related to the preprocessor
+#---------------------------------------------------------------------------
+
+# If the ENABLE_PREPROCESSING tag is set to YES, doxygen will evaluate all
+# C-preprocessor directives found in the sources and include files.
+# The default value is: YES.
+
+ENABLE_PREPROCESSING   = YES
+
+# If the MACRO_EXPANSION tag is set to YES, doxygen will expand all macro names
+# in the source code. If set to NO, only conditional compilation will be
+# performed. Macro expansion can be done in a controlled way by setting
+# EXPAND_ONLY_PREDEF to YES.
+# The default value is: NO.
+# This tag requires that the tag ENABLE_PREPROCESSING is set to YES.
+
+MACRO_EXPANSION        = NO
+
+# If the EXPAND_ONLY_PREDEF and MACRO_EXPANSION tags are both set to YES then
+# the macro expansion is limited to the macros specified with the PREDEFINED and
+# EXPAND_AS_DEFINED tags.
+# The default value is: NO.
+# This tag requires that the tag ENABLE_PREPROCESSING is set to YES.
+
+EXPAND_ONLY_PREDEF     = NO
+
+# If the SEARCH_INCLUDES tag is set to YES, the include files in the
+# INCLUDE_PATH will be searched if a #include is found.
+# The default value is: YES.
+# This tag requires that the tag ENABLE_PREPROCESSING is set to YES.
+
+SEARCH_INCLUDES        = YES
+
+# The INCLUDE_PATH tag can be used to specify one or more directories that
+# contain include files that are not input files but should be processed by the
+# preprocessor. Note that the INCLUDE_PATH is not recursive, so the setting of
+# RECURSIVE has no effect here.
+# This tag requires that the tag SEARCH_INCLUDES is set to YES.
+
+INCLUDE_PATH           =
+
+# You can use the INCLUDE_FILE_PATTERNS tag to specify one or more wildcard
+# patterns (like *.h and *.hpp) to filter out the header-files in the
+# directories. If left blank, the patterns specified with FILE_PATTERNS will be
+# used.
+# This tag requires that the tag ENABLE_PREPROCESSING is set to YES.
+
+INCLUDE_FILE_PATTERNS  =
+
+# The PREDEFINED tag can be used to specify one or more macro names that are
+# defined before the preprocessor is started (similar to the -D option of e.g.
+# gcc). The argument of the tag is a list of macros of the form: name or
+# name=definition (no spaces). If the definition and the "=" are omitted, "=1"
+# is assumed. To prevent a macro definition from being undefined via #undef or
+# recursively expanded use the := operator instead of the = operator.
+# This tag requires that the tag ENABLE_PREPROCESSING is set to YES.
+
+PREDEFINED             =
+
+# If the MACRO_EXPANSION and EXPAND_ONLY_PREDEF tags are set to YES then this
+# tag can be used to specify a list of macro names that should be expanded. The
+# macro definition that is found in the sources will be used. Use the PREDEFINED
+# tag if you want to use a different macro definition that overrules the
+# definition found in the source code.
+# This tag requires that the tag ENABLE_PREPROCESSING is set to YES.
+
+EXPAND_AS_DEFINED      =
+
+# If the SKIP_FUNCTION_MACROS tag is set to YES then doxygen's preprocessor will
+# remove all references to function-like macros that are alone on a line, have
+# an all uppercase name, and do not end with a semicolon. Such function macros
+# are typically used for boiler-plate code, and will confuse the parser if not
+# removed.
+# The default value is: YES.
+# This tag requires that the tag ENABLE_PREPROCESSING is set to YES.
+
+SKIP_FUNCTION_MACROS   = YES
+
+#---------------------------------------------------------------------------
+# Configuration options related to external references
+#---------------------------------------------------------------------------
+
+# The TAGFILES tag can be used to specify one or more tag files. For each tag
+# file the location of the external documentation should be added. The format of
+# a tag file without this location is as follows:
+# TAGFILES = file1 file2 ...
+# Adding location for the tag files is done as follows:
+# TAGFILES = file1=loc1 "file2 = loc2" ...
+# where loc1 and loc2 can be relative or absolute paths or URLs. See the
+# section "Linking to external documentation" for more information about the use
+# of tag files.
+# Note: Each tag file must have a unique name (where the name does NOT include
+# the path). If a tag file is not located in the directory in which doxygen is
+# run, you must also specify the path to the tagfile here.
+
+TAGFILES               =
+
+# When a file name is specified after GENERATE_TAGFILE, doxygen will create a
+# tag file that is based on the input files it reads. See section "Linking to
+# external documentation" for more information about the usage of tag files.
+
+GENERATE_TAGFILE       =
+
+# If the ALLEXTERNALS tag is set to YES, all external class will be listed in
+# the class index. If set to NO, only the inherited external classes will be
+# listed.
+# The default value is: NO.
+
+ALLEXTERNALS           = NO
+
+# If the EXTERNAL_GROUPS tag is set to YES, all external groups will be listed
+# in the modules index. If set to NO, only the current project's groups will be
+# listed.
+# The default value is: YES.
+
+EXTERNAL_GROUPS        = YES
+
+# If the EXTERNAL_PAGES tag is set to YES, all external pages will be listed in
+# the related pages index. If set to NO, only the current project's pages will
+# be listed.
+# The default value is: YES.
+
+EXTERNAL_PAGES         = YES
+
+#---------------------------------------------------------------------------
+# Configuration options related to the dot tool
+#---------------------------------------------------------------------------
+
+# You can include diagrams made with dia in doxygen documentation. Doxygen will
+# then run dia to produce the diagram and insert it in the documentation. The
+# DIA_PATH tag allows you to specify the directory where the dia binary resides.
+# If left empty dia is assumed to be found in the default search path.
+
+DIA_PATH               =
+
+# If set to YES the inheritance and collaboration graphs will hide inheritance
+# and usage relations if the target is undocumented or is not a class.
+# The default value is: YES.
+
+HIDE_UNDOC_RELATIONS   = YES
+
+# If you set the HAVE_DOT tag to YES then doxygen will assume the dot tool is
+# available from the path. This tool is part of Graphviz (see:
+# http://www.graphviz.org/), a graph visualization toolkit from AT&T and Lucent
+# Bell Labs. The other options in this section have no effect if this option is
+# set to NO
+# The default value is: NO.
+
+HAVE_DOT               = YES
+
+# The DOT_NUM_THREADS specifies the number of dot invocations doxygen is allowed
+# to run in parallel. When set to 0 doxygen will base this on the number of
+# processors available in the system. You can set it explicitly to a value
+# larger than 0 to get control over the balance between CPU load and processing
+# speed.
+# Minimum value: 0, maximum value: 32, default value: 0.
+# This tag requires that the tag HAVE_DOT is set to YES.
+
+DOT_NUM_THREADS        = 0
+
+# DOT_COMMON_ATTR is common attributes for nodes, edges and labels of
+# subgraphs. When you want a differently looking font in the dot files that
+# doxygen generates you can specify fontname, fontcolor and fontsize attributes.
+# For details please see <a href=https://graphviz.org/doc/info/attrs.html>Node,
+# Edge and Graph Attributes specification</a> You need to make sure dot is able
+# to find the font, which can be done by putting it in a standard location or by
+# setting the DOTFONTPATH environment variable or by setting DOT_FONTPATH to the
+# directory containing the font. Default graphviz fontsize is 14.
+# The default value is: fontname=Helvetica,fontsize=10.
+# This tag requires that the tag HAVE_DOT is set to YES.
+
+DOT_COMMON_ATTR        = "fontname=Helvetica,fontsize=10"
+
+# DOT_EDGE_ATTR is concatenated with DOT_COMMON_ATTR. For elegant style you can
+# add 'arrowhead=open, arrowtail=open, arrowsize=0.5'. <a
+# href=https://graphviz.org/doc/info/arrows.html>Complete documentation about
+# arrows shapes.</a>
+# The default value is: labelfontname=Helvetica,labelfontsize=10.
+# This tag requires that the tag HAVE_DOT is set to YES.
+
+DOT_EDGE_ATTR          = "labelfontname=Helvetica,labelfontsize=10"
+
+# DOT_NODE_ATTR is concatenated with DOT_COMMON_ATTR. For view without boxes
+# around nodes set 'shape=plain' or 'shape=plaintext' <a
+# href=https://www.graphviz.org/doc/info/shapes.html>Shapes specification</a>
+# The default value is: shape=box,height=0.2,width=0.4.
+# This tag requires that the tag HAVE_DOT is set to YES.
+
+DOT_NODE_ATTR          = "shape=box,height=0.2,width=0.4"
+
+# You can set the path where dot can find font specified with fontname in
+# DOT_COMMON_ATTR and others dot attributes.
+# This tag requires that the tag HAVE_DOT is set to YES.
+
+DOT_FONTPATH           =
+
+# If the CLASS_GRAPH tag is set to YES (or GRAPH) then doxygen will generate a
+# graph for each documented class showing the direct and indirect inheritance
+# relations. In case HAVE_DOT is set as well dot will be used to draw the graph,
+# otherwise the built-in generator will be used. If the CLASS_GRAPH tag is set
+# to TEXT the direct and indirect inheritance relations will be shown as texts /
+# links.
+# Possible values are: NO, YES, TEXT and GRAPH.
+# The default value is: YES.
+
+CLASS_GRAPH            = YES
+
+# If the COLLABORATION_GRAPH tag is set to YES then doxygen will generate a
+# graph for each documented class showing the direct and indirect implementation
+# dependencies (inheritance, containment, and class references variables) of the
+# class with other documented classes.
+# The default value is: YES.
+# This tag requires that the tag HAVE_DOT is set to YES.
+
+COLLABORATION_GRAPH    = NO
+
+# If the GROUP_GRAPHS tag is set to YES then doxygen will generate a graph for
+# groups, showing the direct groups dependencies. See also the chapter Grouping
+# in the manual.
+# The default value is: YES.
+# This tag requires that the tag HAVE_DOT is set to YES.
+
+GROUP_GRAPHS           = YES
+
+# If the UML_LOOK tag is set to YES, doxygen will generate inheritance and
+# collaboration diagrams in a style similar to the OMG's Unified Modeling
+# Language.
+# The default value is: NO.
+# This tag requires that the tag HAVE_DOT is set to YES.
+
+UML_LOOK               = NO
+
+# If the UML_LOOK tag is enabled, the fields and methods are shown inside the
+# class node. If there are many fields or methods and many nodes the graph may
+# become too big to be useful. The UML_LIMIT_NUM_FIELDS threshold limits the
+# number of items for each type to make the size more manageable. Set this to 0
+# for no limit. Note that the threshold may be exceeded by 50% before the limit
+# is enforced. So when you set the threshold to 10, up to 15 fields may appear,
+# but if the number exceeds 15, the total amount of fields shown is limited to
+# 10.
+# Minimum value: 0, maximum value: 100, default value: 10.
+# This tag requires that the tag UML_LOOK is set to YES.
+
+UML_LIMIT_NUM_FIELDS   = 10
+
+# If the DOT_UML_DETAILS tag is set to NO, doxygen will show attributes and
+# methods without types and arguments in the UML graphs. If the DOT_UML_DETAILS
+# tag is set to YES, doxygen will add type and arguments for attributes and
+# methods in the UML graphs. If the DOT_UML_DETAILS tag is set to NONE, doxygen
+# will not generate fields with class member information in the UML graphs. The
+# class diagrams will look similar to the default class diagrams but using UML
+# notation for the relationships.
+# Possible values are: NO, YES and NONE.
+# The default value is: NO.
+# This tag requires that the tag UML_LOOK is set to YES.
+
+DOT_UML_DETAILS        = NO
+
+# The DOT_WRAP_THRESHOLD tag can be used to set the maximum number of characters
+# to display on a single line. If the actual line length exceeds this threshold
+# significantly it will wrapped across multiple lines. Some heuristics are apply
+# to avoid ugly line breaks.
+# Minimum value: 0, maximum value: 1000, default value: 17.
+# This tag requires that the tag HAVE_DOT is set to YES.
+
+DOT_WRAP_THRESHOLD     = 17
+
+# If the TEMPLATE_RELATIONS tag is set to YES then the inheritance and
+# collaboration graphs will show the relations between templates and their
+# instances.
+# The default value is: NO.
+# This tag requires that the tag HAVE_DOT is set to YES.
+
+TEMPLATE_RELATIONS     = NO
+
+# If the INCLUDE_GRAPH, ENABLE_PREPROCESSING and SEARCH_INCLUDES tags are set to
+# YES then doxygen will generate a graph for each documented file showing the
+# direct and indirect include dependencies of the file with other documented
+# files.
+# The default value is: YES.
+# This tag requires that the tag HAVE_DOT is set to YES.
+
+INCLUDE_GRAPH          = YES
+
+# If the INCLUDED_BY_GRAPH, ENABLE_PREPROCESSING and SEARCH_INCLUDES tags are
+# set to YES then doxygen will generate a graph for each documented file showing
+# the direct and indirect include dependencies of the file with other documented
+# files.
+# The default value is: YES.
+# This tag requires that the tag HAVE_DOT is set to YES.
+
+INCLUDED_BY_GRAPH      = YES
+
+# If the CALL_GRAPH tag is set to YES then doxygen will generate a call
+# dependency graph for every global function or class method.
+#
+# Note that enabling this option will significantly increase the time of a run.
+# So in most cases it will be better to enable call graphs for selected
+# functions only using the \callgraph command. Disabling a call graph can be
+# accomplished by means of the command \hidecallgraph.
+# The default value is: NO.
+# This tag requires that the tag HAVE_DOT is set to YES.
+
+CALL_GRAPH             = NO
+
+# If the CALLER_GRAPH tag is set to YES then doxygen will generate a caller
+# dependency graph for every global function or class method.
+#
+# Note that enabling this option will significantly increase the time of a run.
+# So in most cases it will be better to enable caller graphs for selected
+# functions only using the \callergraph command. Disabling a caller graph can be
+# accomplished by means of the command \hidecallergraph.
+# The default value is: NO.
+# This tag requires that the tag HAVE_DOT is set to YES.
+
+CALLER_GRAPH           = NO
+
+# If the GRAPHICAL_HIERARCHY tag is set to YES then doxygen will graphical
+# hierarchy of all classes instead of a textual one.
+# The default value is: YES.
+# This tag requires that the tag HAVE_DOT is set to YES.
+
+GRAPHICAL_HIERARCHY    = YES
+
+# If the DIRECTORY_GRAPH tag is set to YES then doxygen will show the
+# dependencies a directory has on other directories in a graphical way. The
+# dependency relations are determined by the #include relations between the
+# files in the directories.
+# The default value is: YES.
+# This tag requires that the tag HAVE_DOT is set to YES.
+
+DIRECTORY_GRAPH        = YES
+
+# The DIR_GRAPH_MAX_DEPTH tag can be used to limit the maximum number of levels
+# of child directories generated in directory dependency graphs by dot.
+# Minimum value: 1, maximum value: 25, default value: 1.
+# This tag requires that the tag DIRECTORY_GRAPH is set to YES.
+
+DIR_GRAPH_MAX_DEPTH    = 1
+
+# The DOT_IMAGE_FORMAT tag can be used to set the image format of the images
+# generated by dot. For an explanation of the image formats see the section
+# output formats in the documentation of the dot tool (Graphviz (see:
+# http://www.graphviz.org/)).
+# Note: If you choose svg you need to set HTML_FILE_EXTENSION to xhtml in order
+# to make the SVG files visible in IE 9+ (other browsers do not have this
+# requirement).
+# Possible values are: png, jpg, gif, svg, png:gd, png:gd:gd, png:cairo,
+# png:cairo:gd, png:cairo:cairo, png:cairo:gdiplus, png:gdiplus and
+# png:gdiplus:gdiplus.
+# The default value is: png.
+# This tag requires that the tag HAVE_DOT is set to YES.
+
+DOT_IMAGE_FORMAT       = svg
+
+# If DOT_IMAGE_FORMAT is set to svg, then this option can be set to YES to
+# enable generation of interactive SVG images that allow zooming and panning.
+#
+# Note that this requires a modern browser other than Internet Explorer. Tested
+# and working are Firefox, Chrome, Safari, and Opera.
+# Note: For IE 9+ you need to set HTML_FILE_EXTENSION to xhtml in order to make
+# the SVG files visible. Older versions of IE do not have SVG support.
+# The default value is: NO.
+# This tag requires that the tag HAVE_DOT is set to YES.
+
+INTERACTIVE_SVG        = NO
+
+# The DOT_PATH tag can be used to specify the path where the dot tool can be
+# found. If left blank, it is assumed the dot tool can be found in the path.
+# This tag requires that the tag HAVE_DOT is set to YES.
+
+DOT_PATH               =
+
+# The DOTFILE_DIRS tag can be used to specify one or more directories that
+# contain dot files that are included in the documentation (see the \dotfile
+# command).
+# This tag requires that the tag HAVE_DOT is set to YES.
+
+DOTFILE_DIRS           =
+
+# The MSCFILE_DIRS tag can be used to specify one or more directories that
+# contain msc files that are included in the documentation (see the \mscfile
+# command).
+
+MSCFILE_DIRS           =
+
+# The DIAFILE_DIRS tag can be used to specify one or more directories that
+# contain dia files that are included in the documentation (see the \diafile
+# command).
+
+DIAFILE_DIRS           =
+
+# When using plantuml, the PLANTUML_JAR_PATH tag should be used to specify the
+# path where java can find the plantuml.jar file or to the filename of jar file
+# to be used. If left blank, it is assumed PlantUML is not used or called during
+# a preprocessing step. Doxygen will generate a warning when it encounters a
+# \startuml command in this case and will not generate output for the diagram.
+
+PLANTUML_JAR_PATH      =
+
+# When using plantuml, the PLANTUML_CFG_FILE tag can be used to specify a
+# configuration file for plantuml.
+
+PLANTUML_CFG_FILE      =
+
+# When using plantuml, the specified paths are searched for files specified by
+# the !include statement in a plantuml block.
+
+PLANTUML_INCLUDE_PATH  =
+
+# The DOT_GRAPH_MAX_NODES tag can be used to set the maximum number of nodes
+# that will be shown in the graph. If the number of nodes in a graph becomes
+# larger than this value, doxygen will truncate the graph, which is visualized
+# by representing a node as a red box. Note that doxygen if the number of direct
+# children of the root node in a graph is already larger than
+# DOT_GRAPH_MAX_NODES then the graph will not be shown at all. Also note that
+# the size of a graph can be further restricted by MAX_DOT_GRAPH_DEPTH.
+# Minimum value: 0, maximum value: 10000, default value: 50.
+# This tag requires that the tag HAVE_DOT is set to YES.
+
+DOT_GRAPH_MAX_NODES    = 50
+
+# The MAX_DOT_GRAPH_DEPTH tag can be used to set the maximum depth of the graphs
+# generated by dot. A depth value of 3 means that only nodes reachable from the
+# root by following a path via at most 3 edges will be shown. Nodes that lay
+# further from the root node will be omitted. Note that setting this option to 1
+# or 2 may greatly reduce the computation time needed for large code bases. Also
+# note that the size of a graph can be further restricted by
+# DOT_GRAPH_MAX_NODES. Using a depth of 0 means no depth restriction.
+# Minimum value: 0, maximum value: 1000, default value: 0.
+# This tag requires that the tag HAVE_DOT is set to YES.
+
+MAX_DOT_GRAPH_DEPTH    = 0
+
+# Set the DOT_MULTI_TARGETS tag to YES to allow dot to generate multiple output
+# files in one run (i.e. multiple -o and -T options on the command line). This
+# makes dot run faster, but since only newer versions of dot (>1.8.10) support
+# this, this feature is disabled by default.
+# The default value is: NO.
+# This tag requires that the tag HAVE_DOT is set to YES.
+
+DOT_MULTI_TARGETS      = NO
+
+# If the GENERATE_LEGEND tag is set to YES doxygen will generate a legend page
+# explaining the meaning of the various boxes and arrows in the dot generated
+# graphs.
+# Note: This tag requires that UML_LOOK isn't set, i.e. the doxygen internal
+# graphical representation for inheritance and collaboration diagrams is used.
+# The default value is: YES.
+# This tag requires that the tag HAVE_DOT is set to YES.
+
+GENERATE_LEGEND        = YES
+
+# If the DOT_CLEANUP tag is set to YES, doxygen will remove the intermediate
+# files that are used to generate the various graphs.
+#
+# Note: This setting is not only used for dot files but also for msc temporary
+# files.
+# The default value is: YES.
+
+DOT_CLEANUP            = YES
diff --git a/doxygen-awesome-css/LICENSE b/doxygen-awesome-css/LICENSE
new file mode 100644
index 0000000..1d8b99a
--- /dev/null
+++ b/doxygen-awesome-css/LICENSE
@@ -0,0 +1,21 @@
+MIT License
+
+Copyright (c) 2021 jothepro
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.
diff --git a/doxygen-awesome-css/Makefile b/doxygen-awesome-css/Makefile
new file mode 100644
index 0000000..a936ece
--- /dev/null
+++ b/doxygen-awesome-css/Makefile
@@ -0,0 +1,38 @@
+# SPDX-FileCopyrightText: 2022 Andrea Pappacoda <andrea@pappacoda.it>
+# SPDX-License-Identifier: MIT
+
+.POSIX:
+
+PROJECT = doxygen-awesome-css
+
+# Paths
+PREFIX = /usr/local
+DATADIR = share
+INSTALLDIR = $(DESTDIR)$(PREFIX)/$(DATADIR)/$(PROJECT)
+
+# Utilities
+INSTALL = install -m 644
+MKDIR = mkdir -p
+RM = rm -f
+
+# Files to be installed
+FILES = doxygen-awesome-darkmode-toggle.js \
+  doxygen-awesome-fragment-copy-button.js \
+  doxygen-awesome-interactive-toc.js \
+  doxygen-awesome-paragraph-link.js \
+  doxygen-awesome-sidebar-only-darkmode-toggle.css \
+  doxygen-awesome-sidebar-only.css \
+  doxygen-awesome.css
+
+# Empty targets so that `make` and `make clean` do not cause errors
+all:
+clean:
+
+install:
+	$(MKDIR) $(INSTALLDIR)
+	$(INSTALL) $(FILES) $(INSTALLDIR)/
+
+uninstall:
+	$(RM) -r $(INSTALLDIR)/
+
+.PHONY: all clean install uninstall
diff --git a/doxygen-awesome-css/README.md b/doxygen-awesome-css/README.md
new file mode 100644
index 0000000..3b812b5
--- /dev/null
+++ b/doxygen-awesome-css/README.md
@@ -0,0 +1,137 @@
+#  Doxygen Awesome
+
+[![GitHub release (latest by date)](https://img.shields.io/github/v/release/jothepro/doxygen-awesome-css)](https://github.com/jothepro/doxygen-awesome-css/releases/latest)
+[![GitHub](https://img.shields.io/github/license/jothepro/doxygen-awesome-css)](https://github.com/jothepro/doxygen-awesome-css/blob/main/LICENSE)
+![GitHub Repo stars](https://img.shields.io/github/stars/jothepro/doxygen-awesome-css)
+
+<div class="title_screenshot">
+
+![Screenshot of Doxygen Awesome CSS](img/screenshot.png)
+
+</div>
+
+**Doxygen Awesome** is a custom **CSS theme for Doxygen HTML-documentation** with lots of customization parameters.
+
+## Motivation
+
+I really like how the Doxygen HTML-documentation is structured! But IMHO it looks a bit outdated.
+
+This theme is an attempt to update the visuals of Doxygen without changing its overall layout too much.
+
+## Features
+
+- 🌈 Clean, modern design
+- 🚀 Heavily customizable by adjusting CSS-variables
+- 🧩 No changes to the HTML structure of Doxygen required
+- 📱 Improved mobile usability
+- 🌘 Dark mode support!
+- 🥇 Works best with **doxygen 1.9.1** - **1.9.4** and **1.9.6**
+
+## Examples
+
+Some websites using this theme:
+
+- [Documentation of this repository](https://jothepro.github.io/doxygen-awesome-css/)
+- [wxWidgets](https://docs.wxwidgets.org/3.2/)
+- [OpenCV 5.x](https://docs.opencv.org/5.x/)
+- [Zephyr](https://docs.zephyrproject.org/latest/doxygen/html/index.html)
+- [FELTOR](https://mwiesenberger.github.io/feltor/dg/html/modules.html)
+- [Spatial Audio Framework (SAF)](https://leomccormack.github.io/Spatial_Audio_Framework/index.html)
+- [libCloudSync](https://jothepro.github.io/libCloudSync/)
+- [libsl3](https://a4z.github.io/libsl3/)
+
+## Installation
+
+To use the theme in your documentation, copy the required CSS and JS files from this repository into your project or add the repository as submodule and check out the latest release:
+
+```bash
+git submodule add https://github.com/jothepro/doxygen-awesome-css.git
+cd doxygen-awesome-css
+git checkout v2.2.0
+```
+
+You can even install the theme system-wide by running `make install`. The files will be installed to `/usr/local/share/` by default, but you can customize the install location with `make PREFIX=/my/custom/path install`.
+
+All theme files are located in the root of this repository and start with the prefix `doxygen-awesome-`. You may not need all of them. Follow the install instructions to figure out what files are required for your setup.
+
+### Choosing a layout
+
+There is two layout options. Choose one of them and configure Doxygen accordingly:
+
+<div class="darkmode_inverted_image">
+
+![Available theme variants](img/theme-variants.drawio.svg)
+
+</div>
+
+<div class="tabbed">
+
+- <b class="tab-title">1️⃣ Base Theme </b>
+    Comes with the typical Doxygen titlebar. Optionally the treeview in the sidebar can be enabled. 
+
+    Required files: `doxygen-awesome.css`
+
+    Required `Doxyfile` configuration:
+    ```
+    GENERATE_TREEVIEW      = YES # optional. Also works without treeview
+    DISABLE_INDEX = NO
+    FULL_SIDEBAR = NO
+    HTML_EXTRA_STYLESHEET  = doxygen-awesome-css/doxygen-awesome.css
+    HTML_COLORSTYLE        = LIGHT # required with Doxygen >= 1.9.5
+    ```
+
+- <b class="tab-title">2️⃣ Sidebar-Only Theme </b>
+    Hides the top titlebar to give more space to the content. The treeview must be enabled in order for this theme to work.
+
+    Required files: `doxygen-awesome.css`, `doxygen-awesome-sidebar-only.css`
+
+    Required `Doxyfile` configuration:
+    ```
+
+    GENERATE_TREEVIEW      = YES # required!
+    DISABLE_INDEX          = NO
+    FULL_SIDEBAR           = NO
+    HTML_EXTRA_STYLESHEET  = doxygen-awesome-css/doxygen-awesome.css \
+                            doxygen-awesome-css/doxygen-awesome-sidebar-only.css
+    HTML_COLORSTYLE        = LIGHT # required with Doxygen >= 1.9.5
+    ```
+
+</div>
+
+**Caution**: 
+- This theme is not compatible with the `FULL_SIDEBAR = YES` option provided by Doxygen!
+- `HTML_COLORSTYLE` must be set to `LIGHT` since Doxygen 1.9.5!
+
+### Further installation instructions:
+
+- [Installing extensions](docs/extensions.md)
+- [Customizing the theme (colors, spacing, border-radius, ...)](docs/customization.md)
+- [Tips and Tricks for further configuration](docs/tricks.md)
+
+## Browser support
+
+Tested with
+
+- Chrome 110, Chrome 109 for Android, Chrome 110 for iOS
+- Safari 16, Safari for iOS 16
+- Firefox 110, Firefox 110 for Android, Firefox 109 for iOS
+- Edge 110
+
+
+The theme does not strive to be backwards compatible to (significantly) older browser versions.
+
+
+## Credits
+
+Thanks for all the bug reports and inspiring feedback on github!
+
+Special thanks to all the contributors:
+<br><br>
+<a href="https://github.com/jothepro/doxygen-awesome-css/graphs/contributors">
+    <img src="https://contrib.rocks/image?repo=jothepro/doxygen-awesome-css" />
+</a>
+
+<span class="next_section_button">
+
+Read Next: [Extensions](docs/extensions.md)
+</span>
\ No newline at end of file
diff --git a/doxygen-awesome-css/docs/customization.md b/doxygen-awesome-css/docs/customization.md
new file mode 100644
index 0000000..15e5014
--- /dev/null
+++ b/doxygen-awesome-css/docs/customization.md
@@ -0,0 +1,115 @@
+# Customization
+
+[TOC]
+
+
+## CSS-Variables
+
+This theme is highly customizable because a lot of things are parameterized with CSS variables.
+
+Just to give you an idea on how flexible the styling is, click this button:
+
+<div class="alter-theme-button" onclick="toggle_alternative_theme()" onkeypress="if (event.keyCode == 13) toggle_alternative_theme()" tabindex=0>Alter theme</div>
+
+### Setup
+
+It is recommended to add your own `custom.css` and overwrite the variables there:
+```
+HTML_EXTRA_STYLESHEET  = doxygen-awesome.css custom.css
+```
+
+Make sure to override the variables in the correct spot. All variables should be customized where they have been defined, in the `html` tag selector:
+
+```css
+html {
+    /* override light-mode variables here */
+}
+```
+
+For dark-mode overrides you have to choose where to put them, depending on whether the dark-mode toggle extension is installed or not:
+
+<div class="tabbed">
+
+- <b class="tab-title">dark-mode toggle is installed</b>
+    ```css
+    html.dark-mode {
+        /* define dark-mode variable overrides here if you DO use doxygen-awesome-darkmode-toggle.js */
+    }
+    ```
+- <b class="tab-title">dark-mode toggle is **NOT** installed</b>
+   The dark-mode is enabled automatically depending on the system preference:
+    ```css
+    @media (prefers-color-scheme: dark) {
+        html:not(.light-mode) {
+            /* define dark-mode variable overrides here if you DON'T use doxygen-awesome-darkmode-toggle.js */
+        }
+    }
+    ```
+
+</div>
+
+### Available variables
+
+The following list gives an overview of the variables defined in [`doxygen-awesome.css`](https://github.com/jothepro/doxygen-awesome-css/blob/main/doxygen-awesome.css).
+
+The list is not complete. To explore all available variables, have a look at the CSS starting from [here](https://github.com/jothepro/doxygen-awesome-css/blob/main/doxygen-awesome.css#L30).
+All variables are defined at the beginning of the stylesheet.
+
+| Parameter                           | Default (Light)                                             | Default (Dark)                                              |
+| :---------------------------------- | :---------------------------------------------------------- | :---------------------------------------------------------- |
+| **Color Scheme**:<br>primary theme colors. This will affect the entire websites color scheme: links, arrows, labels, ...                                      |||
+| `--primary-color`                   | <code style="background:#1779c4;color:white">#1779c4</code> | <code style="background:#1982d2;color:white">#1982d2</code> |
+| `--primary-dark-color`              | <code style="background:#335c80;color:white">#335c80</code> | <code style="background:#5ca8e2;color:black">#5ca8e2</code> |
+| `--primary-light-color`             | <code style="background:#70b1e9;color:black">#70b1e9</code> | <code style="background:#4779ac;color:white">#4779ac</code> |
+| **Page Colors**:<br>background and foreground (text-color) of the documentation.                                                                              |||
+| `--page-background-color`           | <code style="background:#ffffff;color:black">#ffffff</code> | <code style="background:#1C1D1F;color:white">#1C1D1F</code> |
+| `--page-foreground-color`           | <code style="background:#2f4153;color:white">#2f4153</code> | <code style="background:#d2dbde;color:black">#d2dbde</code> |
+| `--page-secondary-foreground-color` | <code style="background:#6f7e8e;color:white">#6f7e8e</code> | <code style="background:#859399;color:white">#859399</code> |
+| **Spacing:**<br>default spacings. Most ui components reference these values for spacing, to provide uniform spacing on the page.                              |||
+| `--spacing-small`                   | `5px`                                                       |                                                             |
+| `--spacing-medium`                  | `10px`                                                      |                                                             |
+| `--spacing-large`                   | `16px`                                                      |                                                             |
+| **Border Radius**:<br>border radius for all rounded ui components. Will affect many components, like dropdowns, memitems, codeblocks, ...                     |||
+| `--border-radius-small`             | `4px`                                                       |                                                             |
+| `--border-radius-medium`            | `6px`                                                       |                                                             |
+| `--border-radius-large`             | `8px`                                                       |                                                             |
+| **Content Width**:<br>The content is centered and constrained in its width. To make the content fill the whole page, set the following variable to `auto`.    |||
+| `--content-maxwidth`                | `1000px`                                                    |                                                             |
+| **Code Fragment Colors**:<br>Color-Scheme of multiline codeblocks                                                                                             |||
+| `--fragment-background`             | <code style="background:#F8F9FA;color:black">#F8F9FA</code> | <code style="background:#282c34;color:white">#282c34</code> |
+| `--fragment-foreground`             | <code style="background:#37474F;color:white">#37474F</code> | <code style="background:#dbe4eb;color:black">#dbe4eb</code> |
+| **Arrow Opacity**:<br>By default the arrows in the sidebar are only visible on hover. You can override this behavior so they are visible all the time.       |||
+| `--side-nav-arrow-opacity`          | `0`                                                         |                                                             |
+| `--side-nav-arrow-hover-opacity`    | `0.9`                                                       |                                                             |
+| ...and many more                                                                                                                                              |||
+
+
+If you miss a configuration option or find a bug, please consider [opening an issue](https://github.com/jothepro/doxygen-awesome-css/issues)!
+
+## Doxygen generator
+
+The theme overrides most colors with the `--primary-color-*` variables.
+
+But there is a few small images and graphics that the theme cannot adjust or replace. To make these blend in better with
+the rest, it is recommended to adjust the [doxygen color settings](https://www.doxygen.nl/manual/customize.html#minor_tweaks_colors) 
+to something that matches the chosen color-scheme.
+
+For the default color-scheme, these values work out quite well:
+
+```
+# Doxyfile
+HTML_COLORSTYLE_HUE    = 209
+HTML_COLORSTYLE_SAT    = 255
+HTML_COLORSTYLE_GAMMA  = 113
+```
+
+## Share your customizations
+
+If you customized the theme with custom colors, spacings, font-sizes, etc. and you want to share your creation with others, you can to this [here](https://github.com/jothepro/doxygen-awesome-css/discussions/13).
+
+I am always curious to learn about how you made the theme look even better!
+
+<span class="next_section_button">
+
+Read Next: [Tips & Tricks](tricks.md)
+</span>
\ No newline at end of file
diff --git a/doxygen-awesome-css/docs/extensions.md b/doxygen-awesome-css/docs/extensions.md
new file mode 100644
index 0000000..6b2395f
--- /dev/null
+++ b/doxygen-awesome-css/docs/extensions.md
@@ -0,0 +1,236 @@
+# Extensions
+
+[TOC]
+
+On top of the base theme provided by `doxygen-awesome.css`, this repository comes with Javascript extensions that require additional setup steps to get them running.
+
+The extensions require customizations in the header HTML-template.
+This is how you can create the default template with Doxygen:
+
+1. Create default header template:
+    ```sh
+    doxygen -w html header.html delete_me.html delete_me.css
+    ```
+
+2. Reference the template  in your `Doxyfile`:
+    ```
+    HTML_HEADER            = header.html
+    ```
+
+[More details on header customization](https://www.doxygen.nl/manual/customize.html#minor_tweaks_header_css)
+
+## Dark Mode Toggle {#extension-dark-mode-toggle}
+
+Adds a button next to the search bar to enable and disable the dark theme variant manually:
+
+<div class="darkmode_inverted_image bordered_image">
+    <img width=250 src="darkmode_toggle.png" />
+</div>
+
+### Installation
+
+1. Add the required resources in your `Doxyfile`:
+   - **HTML_EXTRA_FILES:** `doxygen-awesome-darkmode-toggle.js`
+   - **HTML_EXTRA_STYLESHEET:** `doxygen-awesome-sidebar-only-darkmode-toggle.css`
+        <em>(ONLY required for the sidebar-only theme variant!)</em>
+2. In the `header.html` template, include `doxygen-awesome-darkmode-toggle.js` at the end of the `<head>` and then initialize it:
+    ```html
+   <html> 
+       <head>
+           <!-- ... other metadata & script includes ... -->
+           <script type="text/javascript" src="$relpath^doxygen-awesome-darkmode-toggle.js"></script>
+           <script type="text/javascript">
+               DoxygenAwesomeDarkModeToggle.init()
+           </script>
+       </head>
+       <body>
+    ```
+
+### Customizing
+
+Changing the tooltip of the button:
+```js
+DoxygenAwesomeDarkModeToggle.title = "Zwischen hellem/dunklem Modus wechseln"
+```
+
+Changing Icons. Both Emoji or SVG icons are supported:
+```js
+DoxygenAwesomeDarkModeToggle.lightModeIcon = '🌞'
+// icon from https://fonts.google.com/icons
+DoxygenAwesomeDarkModeToggle.darkModeIcon = `<svg xmlns="http://www.w3.org/2000/svg" enable-background="new 0 0 24 24" height="24px" viewBox="0 0 24 24" width="24px" fill="#009793"><g><rect fill="none" height="24" width="24"/></g><g><g><path d="M8.1,14.15C9.77,14.63,11,16.17,11,18c0,0.68-0.19,1.31-0.48,1.87c0.48,0.09,0.97,0.14,1.48,0.14 c1.48,0,2.9-0.41,4.13-1.15c-2.62-0.92-5.23-2.82-6.8-5.86C7.74,9.94,7.78,7.09,8.29,4.9c-2.57,1.33-4.3,4.01-4.3,7.1c0,0,0,0,0,0 c0.01,0,0.01,0,0.02,0C5.66,12,7.18,12.83,8.1,14.15z" opacity=".3"/><path d="M19.78,17.51c-2.47,0-6.57-1.33-8.68-5.43C8.77,7.57,10.6,3.6,11.63,2.01C6.27,2.2,1.98,6.59,1.98,12 c0,0.14,0.02,0.28,0.02,0.42C2.61,12.16,3.28,12,3.98,12c0,0,0,0,0,0c0-3.09,1.73-5.77,4.3-7.1C7.78,7.09,7.74,9.94,9.32,13 c1.57,3.04,4.18,4.95,6.8,5.86c-1.23,0.74-2.65,1.15-4.13,1.15c-0.5,0-1-0.05-1.48-0.14c-0.37,0.7-0.94,1.27-1.64,1.64 c0.98,0.32,2.03,0.5,3.11,0.5c3.5,0,6.58-1.8,8.37-4.52C20.18,17.5,19.98,17.51,19.78,17.51z"/><path d="M7,16l-0.18,0C6.4,14.84,5.3,14,4,14c-1.66,0-3,1.34-3,3s1.34,3,3,3c0.62,0,2.49,0,3,0c1.1,0,2-0.9,2-2 C9,16.9,8.1,16,7,16z"/></g></g></svg>`
+```
+
+All customizations must be applied before calling `DoxygenAwesomeDarkModeToggle.init()`!
+
+
+## Fragment Copy Button {#extension-copy-button}
+
+Shows a copy button when the user hovers over a code fragment:
+
+<div class="darkmode_inverted_image bordered_image">
+    <img width=490 src="fragment_copy_button.png"/>
+</div>
+
+### Installation
+
+1. Add the required resources in your `Doxyfile`:
+   - **HTML_EXTRA_FILES:** `doxygen-awesome-fragment-copy-button.js`
+2. In the `header.html` template, include `doxygen-awesome-fragment-copy-button.js` at the end of the `<head>` and then initialize it:
+    ```html
+   <html>
+       <head>
+           <!-- ... other metadata & script includes ... -->
+           <script type="text/javascript" src="$relpath^doxygen-awesome-fragment-copy-button.js"></script>
+           <script type="text/javascript">
+               DoxygenAwesomeFragmentCopyButton.init()
+           </script>
+       </head>
+       <body>
+    ```
+
+### Customizing
+
+The tooltip of the button can be changed:
+```js
+DoxygenAwesomeFragmentCopyButton.title = "In die Zwischenablage kopieren"
+```
+
+The icon can be changed. It must be an SVG:
+```js
+DoxygenAwesomeFragmentCopyButton.copyIcon = `<svg ...>`
+DoxygenAwesomeFragmentCopyButton.successIcon = `<svg ...>`
+```
+
+All customizations must be applied before calling `DoxygenAwesomeDarkModeToggle.init()`!
+
+## Paragraph Linking {#extension-para}
+
+Provides a button on hover behind every headline to allow easy creation of a permanent link to the headline:
+
+<div class="darkmode_inverted_image bordered_image">
+    <img width=220 src="paragraph_link.png"/>
+</div>
+
+Works for all headlines and for many documentation section titles.
+
+### Installation
+
+1. Add the required resources in your `Doxyfile`:
+   - **HTML_EXTRA_FILES:** `doxygen-awesome-paragraph-link.js`
+2. In the `header.html` template, include `doxygen-awesome-paragraph-link.js` at the end of the `<head>` and then initialize it:
+    ```html
+   <html>
+       <head>
+           <!-- ... other metadata & script includes ... -->
+           <script type="text/javascript" src="$relpath^doxygen-awesome-paragraph-link.js"></script>
+           <script type="text/javascript">
+               DoxygenAwesomeParagraphLink.init()
+           </script>
+       </head>
+       <body>
+    ```
+
+### Customizing
+
+The button tooltip can be changed:
+```js
+DoxygenAwesomeParagraphLink.title = "Abschnitt verknüpfen"
+```
+
+The icon of the button can be changed. Both plain characters or SVG icons are supported:
+```js
+DoxygenAwesomeParagraphLink.icon = "¶"
+```
+
+All customizations must be applied before calling `DoxygenAwesomeParagraphLink.init()`!
+
+## Interactive TOC {#extension-toc}
+
+On large screens the Table of Contents (TOC) is anchored on the top right of the page. This extension visualizes the reading progress by dynamically highlighting the currently active section.
+
+On small screens the extension hides the TOC by default. The user can open it manually when needed:
+
+
+<div class="darkmode_inverted_image bordered_image">
+    <img width=380 src="interactive_toc_mobile.png" />
+</div>
+
+### Installation
+
+1. Add the required resources in your `Doxyfile`:
+   - **HTML_EXTRA_FILES:** `doxygen-awesome-interactive-toc.js`
+2. In the `header.html` template, include `doxygen-awesome-interactive-toc.js` at the end of the `<head>` and then initialize it:
+    ```html
+   <html>
+       <head>
+           <!-- ... other metadata & script includes ... -->
+           <script type="text/javascript" src="$relpath^doxygen-awesome-interactive-toc.js"></script>
+           <script type="text/javascript">
+               DoxygenAwesomeInteractiveToc.init()
+           </script>
+       </head>
+       <body>
+    ```
+
+### Customizing
+
+The offset for when a headline is considered active can be changed. A smaller value means that the headline of the section must be closer to the top of the viewport before it is highlighted in the TOC:
+```js
+DoxygenAwesomeInteractiveToc.topOffset = 45
+```
+
+Hiding the TOC on small screens can be disabled. It is still interactive and can be hidden by the user but will now be open by default:
+```js
+DoxygenAwesomeInteractiveToc.hideMobileMenu = false
+```
+
+## Tabs {#extension-tabs}
+
+@note Experimental feature! Please report bugs [here](https://github.com/jothepro/doxygen-awesome-css/issues).
+
+
+This extension allows to arrange list content in tabs:
+
+<div class="tabbed">
+
+- <b class="tab-title">Tab 1</b> This is the content of tab 1
+- <b class="tab-title">Tab 2</b> This is the content of tab 2
+
+</div>
+
+
+### Installation
+
+1. Add the required resources in your `Doxyfile`:
+   - **HTML_EXTRA_FILES:** `doxygen-awesome-tabs.js`
+2. In the `header.html` template, include `doxygen-awesome-tabs.js` at the end of the `<head>` and then initialize it:
+    ```html
+   <html>
+       <head>
+           <!-- ... other metadata & script includes ... -->
+           <script type="text/javascript" src="$relpath^doxygen-awesome-tabs.js"></script>
+           <script type="text/javascript">
+               DoxygenAwesomeTabs.init()
+           </script>
+       </head>
+       <body>
+    ```
+
+### Usage
+
+Each List that is supposed to be displayed as tabs has to be wrapped with the `tabbed` CSS class.
+Each Item in the list must start with an element that has the class `tab-title`. It will then be used as tab title.
+
+```md
+<div class="tabbed">
+
+- <b class="tab-title">Tab 1</b> This is the content of tab 1
+- <b class="tab-title">Tab 2</b> This is the content of tab 2
+
+</div>
+```
+
+<span class="next_section_button">
+
+Read Next: [Customization](customization.md)
+</span>
diff --git a/doxygen-awesome-css/docs/img/darkmode_toggle.png b/doxygen-awesome-css/docs/img/darkmode_toggle.png
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diff --git a/doxygen-awesome-css/docs/tricks.md b/doxygen-awesome-css/docs/tricks.md
new file mode 100644
index 0000000..77b447c
--- /dev/null
+++ b/doxygen-awesome-css/docs/tricks.md
@@ -0,0 +1,124 @@
+# Tips & Tricks
+
+[TOC]
+
+## Diagrams with Graphviz {#tricks-graphviz}
+
+To get the best looking class diagrams for your documentation, generate them with Graphviz as vector graphics with transparent background:
+
+```
+# Doxyfile
+HAVE_DOT = YES
+DOT_IMAGE_FORMAT = svg
+DOT_TRANSPARENT = YES
+```
+
+In case `INTERACTIVE_SVG = YES` is set in the Doxyfile, all user-defined dotgraphs must be wrapped with the `interactive_dotgraph` CSS class in order for them to be rendered correctly:
+
+```md
+<div class="interactive_dotgraph">
+
+\dotfile graph.dot
+
+</div>
+```
+
+@note Both the default overflow scrolling behavior in this theme and the interactive editor enabled by `INTERACTIVE_SVG` are unsatisfying workarounds IMHO. Consider designing your graphs to be narrow enough to fit the page to avoid scrolling.
+
+## Disable Dark Mode {#tricks-darkmode}
+
+If you don't want the theme to automatically switch to dark mode depending on the browser preference,
+you can disable dark mode by adding the `light-mode` class to the html-tag in the header template:
+
+```html
+<html xmlns="http://www.w3.org/1999/xhtml" class="light-mode">
+```
+
+The same can be done to always enable dark-mode:
+
+```html
+<html xmlns="http://www.w3.org/1999/xhtml" class="dark-mode">
+```
+
+
+@warning This only works if you don't use the dark-mode toggle extension.
+
+## Choosing Sidebar Width {#tricks-sidebar}
+
+If you have enabled the sidebar-only theme variant, make sure to carefully choose a proper width for your sidebar.
+It should be wide enough to hold the icon, project title and version number. If the content is too wide, it will be
+cut off.
+
+```css
+html {
+    /* Make sure sidebar is wide enough to contain the page title (logo + title + version) */
+    --side-nav-fixed-width: 335px;
+}
+```
+
+The chosen width should also be set in the Doxyfile:
+
+```
+# Doxyfile
+TREEVIEW_WIDTH = 335
+```
+
+## Formatting Tables {#tricks-tables}
+
+By default tables in this theme are left-aligned and as wide as required to fit their content.
+Those properties can be changed for individual tables.
+
+### Centering
+
+Tables can be centered by wrapping them in the `<center>` HTML-tag.
+
+<div class="tabbed">
+
+- <span class="tab-title">Code</span>
+    ```md
+    <center>
+        | This table | is centered          |
+        |------------|----------------------|
+        | test 1     | test 2               |
+    </center>
+    ```
+- <span class="tab-title">Result</span>
+    <center>
+        | This table | is centered |
+        |------------|----------------------|
+        | test 1     | test 2               |
+    </center>
+
+</div>
+
+
+
+### Full Width
+
+To make tables span the full width of the page, no matter how wide the content is, wrap the table in the `full_width_table` CSS class.
+
+@warning Apply with caution! This breaks the overflow scrolling of the table. Content might be cut of on small screens!
+
+<div class="tabbed">
+
+- <span class="tab-title">Code</span>
+    ```md
+    <div class="full_width_table">
+        | This table | spans the full width |
+        |------------|----------------------|
+        | test 1     | test 2               |
+    </div>
+    ```
+- <span class="tab-title">Result</span>
+    <div class="full_width_table">
+        | This table | spans the full width |
+        |------------|----------------------|
+        | test 1     | test 2               |
+    </div>
+
+</div>
+
+<span class="next_section_button">
+
+Read Next: [Example](https://jothepro.github.io/doxygen-awesome-css/class_my_library_1_1_example.html)
+</span>
\ No newline at end of file
diff --git a/doxygen-awesome-css/doxygen-awesome-darkmode-toggle.js b/doxygen-awesome-css/doxygen-awesome-darkmode-toggle.js
new file mode 100644
index 0000000..40fe2d3
--- /dev/null
+++ b/doxygen-awesome-css/doxygen-awesome-darkmode-toggle.js
@@ -0,0 +1,157 @@
+/**
+
+Doxygen Awesome
+https://github.com/jothepro/doxygen-awesome-css
+
+MIT License
+
+Copyright (c) 2021 - 2023 jothepro
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.
+
+*/
+
+class DoxygenAwesomeDarkModeToggle extends HTMLElement {
+    // SVG icons from https://fonts.google.com/icons
+    // Licensed under the Apache 2.0 license:
+    // https://www.apache.org/licenses/LICENSE-2.0.html
+    static lightModeIcon = `<svg xmlns="http://www.w3.org/2000/svg" enable-background="new 0 0 24 24" height="24px" viewBox="0 0 24 24" width="24px" fill="#FCBF00"><rect fill="none" height="24" width="24"/><circle cx="12" cy="12" opacity=".3" r="3"/><path d="M12,9c1.65,0,3,1.35,3,3s-1.35,3-3,3s-3-1.35-3-3S10.35,9,12,9 M12,7c-2.76,0-5,2.24-5,5s2.24,5,5,5s5-2.24,5-5 S14.76,7,12,7L12,7z M2,13l2,0c0.55,0,1-0.45,1-1s-0.45-1-1-1l-2,0c-0.55,0-1,0.45-1,1S1.45,13,2,13z M20,13l2,0c0.55,0,1-0.45,1-1 s-0.45-1-1-1l-2,0c-0.55,0-1,0.45-1,1S19.45,13,20,13z M11,2v2c0,0.55,0.45,1,1,1s1-0.45,1-1V2c0-0.55-0.45-1-1-1S11,1.45,11,2z M11,20v2c0,0.55,0.45,1,1,1s1-0.45,1-1v-2c0-0.55-0.45-1-1-1C11.45,19,11,19.45,11,20z M5.99,4.58c-0.39-0.39-1.03-0.39-1.41,0 c-0.39,0.39-0.39,1.03,0,1.41l1.06,1.06c0.39,0.39,1.03,0.39,1.41,0s0.39-1.03,0-1.41L5.99,4.58z M18.36,16.95 c-0.39-0.39-1.03-0.39-1.41,0c-0.39,0.39-0.39,1.03,0,1.41l1.06,1.06c0.39,0.39,1.03,0.39,1.41,0c0.39-0.39,0.39-1.03,0-1.41 L18.36,16.95z M19.42,5.99c0.39-0.39,0.39-1.03,0-1.41c-0.39-0.39-1.03-0.39-1.41,0l-1.06,1.06c-0.39,0.39-0.39,1.03,0,1.41 s1.03,0.39,1.41,0L19.42,5.99z M7.05,18.36c0.39-0.39,0.39-1.03,0-1.41c-0.39-0.39-1.03-0.39-1.41,0l-1.06,1.06 c-0.39,0.39-0.39,1.03,0,1.41s1.03,0.39,1.41,0L7.05,18.36z"/></svg>`
+    static darkModeIcon = `<svg xmlns="http://www.w3.org/2000/svg" enable-background="new 0 0 24 24" height="24px" viewBox="0 0 24 24" width="24px" fill="#FE9700"><rect fill="none" height="24" width="24"/><path d="M9.37,5.51C9.19,6.15,9.1,6.82,9.1,7.5c0,4.08,3.32,7.4,7.4,7.4c0.68,0,1.35-0.09,1.99-0.27 C17.45,17.19,14.93,19,12,19c-3.86,0-7-3.14-7-7C5,9.07,6.81,6.55,9.37,5.51z" opacity=".3"/><path d="M9.37,5.51C9.19,6.15,9.1,6.82,9.1,7.5c0,4.08,3.32,7.4,7.4,7.4c0.68,0,1.35-0.09,1.99-0.27C17.45,17.19,14.93,19,12,19 c-3.86,0-7-3.14-7-7C5,9.07,6.81,6.55,9.37,5.51z M12,3c-4.97,0-9,4.03-9,9s4.03,9,9,9s9-4.03,9-9c0-0.46-0.04-0.92-0.1-1.36 c-0.98,1.37-2.58,2.26-4.4,2.26c-2.98,0-5.4-2.42-5.4-5.4c0-1.81,0.89-3.42,2.26-4.4C12.92,3.04,12.46,3,12,3L12,3z"/></svg>`
+    static title = "Toggle Light/Dark Mode"
+
+    static prefersLightModeInDarkModeKey = "prefers-light-mode-in-dark-mode"
+    static prefersDarkModeInLightModeKey = "prefers-dark-mode-in-light-mode"
+
+    static _staticConstructor = function() {
+        DoxygenAwesomeDarkModeToggle.enableDarkMode(DoxygenAwesomeDarkModeToggle.userPreference)
+        // Update the color scheme when the browsers preference changes
+        // without user interaction on the website.
+        window.matchMedia('(prefers-color-scheme: dark)').addEventListener('change', event => {
+            DoxygenAwesomeDarkModeToggle.onSystemPreferenceChanged()
+        })
+        // Update the color scheme when the tab is made visible again.
+        // It is possible that the appearance was changed in another tab 
+        // while this tab was in the background.
+        document.addEventListener("visibilitychange", visibilityState => {
+            if (document.visibilityState === 'visible') {
+                DoxygenAwesomeDarkModeToggle.onSystemPreferenceChanged()
+            }
+        });
+    }()
+
+    static init() {
+        $(function() {
+            $(document).ready(function() {
+                const toggleButton = document.createElement('doxygen-awesome-dark-mode-toggle')
+                toggleButton.title = DoxygenAwesomeDarkModeToggle.title
+                toggleButton.updateIcon()
+
+                window.matchMedia('(prefers-color-scheme: dark)').addEventListener('change', event => {
+                    toggleButton.updateIcon()
+                })
+                document.addEventListener("visibilitychange", visibilityState => {
+                    if (document.visibilityState === 'visible') {
+                        toggleButton.updateIcon()
+                    }
+                });
+
+                $(document).ready(function(){
+                    document.getElementById("MSearchBox").parentNode.appendChild(toggleButton)
+                })
+                $(window).resize(function(){
+                    document.getElementById("MSearchBox").parentNode.appendChild(toggleButton)
+                })
+            })
+        })
+    }
+
+    constructor() {
+        super();
+        this.onclick=this.toggleDarkMode
+    }
+
+    /**
+     * @returns `true` for dark-mode, `false` for light-mode system preference
+     */
+    static get systemPreference() {
+        return window.matchMedia('(prefers-color-scheme: dark)').matches
+    }
+
+    /**
+     * @returns `true` for dark-mode, `false` for light-mode user preference
+     */
+    static get userPreference() {
+        return (!DoxygenAwesomeDarkModeToggle.systemPreference && localStorage.getItem(DoxygenAwesomeDarkModeToggle.prefersDarkModeInLightModeKey)) || 
+        (DoxygenAwesomeDarkModeToggle.systemPreference && !localStorage.getItem(DoxygenAwesomeDarkModeToggle.prefersLightModeInDarkModeKey))
+    }
+
+    static set userPreference(userPreference) {
+        DoxygenAwesomeDarkModeToggle.darkModeEnabled = userPreference
+        if(!userPreference) {
+            if(DoxygenAwesomeDarkModeToggle.systemPreference) {
+                localStorage.setItem(DoxygenAwesomeDarkModeToggle.prefersLightModeInDarkModeKey, true)
+            } else {
+                localStorage.removeItem(DoxygenAwesomeDarkModeToggle.prefersDarkModeInLightModeKey)
+            }
+        } else {
+            if(!DoxygenAwesomeDarkModeToggle.systemPreference) {
+                localStorage.setItem(DoxygenAwesomeDarkModeToggle.prefersDarkModeInLightModeKey, true)
+            } else {
+                localStorage.removeItem(DoxygenAwesomeDarkModeToggle.prefersLightModeInDarkModeKey)
+            }
+        }
+        DoxygenAwesomeDarkModeToggle.onUserPreferenceChanged()
+    }
+
+    static enableDarkMode(enable) {
+        if(enable) {
+            DoxygenAwesomeDarkModeToggle.darkModeEnabled = true
+            document.documentElement.classList.add("dark-mode")
+            document.documentElement.classList.remove("light-mode")
+        } else {
+            DoxygenAwesomeDarkModeToggle.darkModeEnabled = false
+            document.documentElement.classList.remove("dark-mode")
+            document.documentElement.classList.add("light-mode")
+        }
+    }
+
+    static onSystemPreferenceChanged() {
+        DoxygenAwesomeDarkModeToggle.darkModeEnabled = DoxygenAwesomeDarkModeToggle.userPreference
+        DoxygenAwesomeDarkModeToggle.enableDarkMode(DoxygenAwesomeDarkModeToggle.darkModeEnabled)
+    }
+
+    static onUserPreferenceChanged() {
+        DoxygenAwesomeDarkModeToggle.enableDarkMode(DoxygenAwesomeDarkModeToggle.darkModeEnabled)
+    }
+
+    toggleDarkMode() {
+        DoxygenAwesomeDarkModeToggle.userPreference = !DoxygenAwesomeDarkModeToggle.userPreference
+        this.updateIcon()
+    }
+
+    updateIcon() {
+        if(DoxygenAwesomeDarkModeToggle.darkModeEnabled) {
+            this.innerHTML = DoxygenAwesomeDarkModeToggle.darkModeIcon
+        } else {
+            this.innerHTML = DoxygenAwesomeDarkModeToggle.lightModeIcon
+        }
+    }
+}
+
+customElements.define("doxygen-awesome-dark-mode-toggle", DoxygenAwesomeDarkModeToggle);
diff --git a/doxygen-awesome-css/doxygen-awesome-fragment-copy-button.js b/doxygen-awesome-css/doxygen-awesome-fragment-copy-button.js
new file mode 100644
index 0000000..86c16fd
--- /dev/null
+++ b/doxygen-awesome-css/doxygen-awesome-fragment-copy-button.js
@@ -0,0 +1,85 @@
+/**
+
+Doxygen Awesome
+https://github.com/jothepro/doxygen-awesome-css
+
+MIT License
+
+Copyright (c) 2022 - 2023 jothepro
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.
+
+*/
+
+class DoxygenAwesomeFragmentCopyButton extends HTMLElement {
+    constructor() {
+        super();
+        this.onclick=this.copyContent
+    }
+    static title = "Copy to clipboard"
+    static copyIcon = `<svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24" width="24" height="24"><path d="M0 0h24v24H0V0z" fill="none"/><path d="M16 1H4c-1.1 0-2 .9-2 2v14h2V3h12V1zm3 4H8c-1.1 0-2 .9-2 2v14c0 1.1.9 2 2 2h11c1.1 0 2-.9 2-2V7c0-1.1-.9-2-2-2zm0 16H8V7h11v14z"/></svg>`
+    static successIcon = `<svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24" width="24" height="24"><path d="M0 0h24v24H0V0z" fill="none"/><path d="M9 16.17L4.83 12l-1.42 1.41L9 19 21 7l-1.41-1.41L9 16.17z"/></svg>`
+    static successDuration = 980
+    static init() {
+        $(function() {
+            $(document).ready(function() {
+                if(navigator.clipboard) {
+                    const fragments = document.getElementsByClassName("fragment")
+                    for(const fragment of fragments) {
+                        const fragmentWrapper = document.createElement("div")
+                        fragmentWrapper.className = "doxygen-awesome-fragment-wrapper"
+                        const fragmentCopyButton = document.createElement("doxygen-awesome-fragment-copy-button")
+                        fragmentCopyButton.innerHTML = DoxygenAwesomeFragmentCopyButton.copyIcon
+                        fragmentCopyButton.title = DoxygenAwesomeFragmentCopyButton.title
+                
+                        fragment.parentNode.replaceChild(fragmentWrapper, fragment)
+                        fragmentWrapper.appendChild(fragment)
+                        fragmentWrapper.appendChild(fragmentCopyButton)
+            
+                    }
+                }
+            })
+        })
+    }
+
+
+    copyContent() {
+        const content = this.previousSibling.cloneNode(true)
+        // filter out line number from file listings
+        content.querySelectorAll(".lineno, .ttc").forEach((node) => {
+            node.remove()
+        })
+        let textContent = content.textContent
+        // remove trailing newlines that appear in file listings
+        let numberOfTrailingNewlines = 0
+        while(textContent.charAt(textContent.length - (numberOfTrailingNewlines + 1)) == '\n') {
+            numberOfTrailingNewlines++;
+        }
+        textContent = textContent.substring(0, textContent.length - numberOfTrailingNewlines)
+        navigator.clipboard.writeText(textContent);
+        this.classList.add("success")
+        this.innerHTML = DoxygenAwesomeFragmentCopyButton.successIcon
+        window.setTimeout(() => {
+            this.classList.remove("success")
+            this.innerHTML = DoxygenAwesomeFragmentCopyButton.copyIcon
+        }, DoxygenAwesomeFragmentCopyButton.successDuration);
+    }
+}
+
+customElements.define("doxygen-awesome-fragment-copy-button", DoxygenAwesomeFragmentCopyButton)
diff --git a/doxygen-awesome-css/doxygen-awesome-interactive-toc.js b/doxygen-awesome-css/doxygen-awesome-interactive-toc.js
new file mode 100644
index 0000000..20a9669
--- /dev/null
+++ b/doxygen-awesome-css/doxygen-awesome-interactive-toc.js
@@ -0,0 +1,81 @@
+/**
+
+Doxygen Awesome
+https://github.com/jothepro/doxygen-awesome-css
+
+MIT License
+
+Copyright (c) 2022 - 2023 jothepro
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.
+
+*/
+
+class DoxygenAwesomeInteractiveToc {
+    static topOffset = 38
+    static hideMobileMenu = true
+    static headers = []
+
+    static init() {
+        window.addEventListener("load", () => {
+            let toc = document.querySelector(".contents > .toc")
+            if(toc) {
+                toc.classList.add("interactive")
+                if(!DoxygenAwesomeInteractiveToc.hideMobileMenu) {
+                    toc.classList.add("open")
+                }
+                document.querySelector(".contents > .toc > h3")?.addEventListener("click", () => {
+                    if(toc.classList.contains("open")) {
+                        toc.classList.remove("open")
+                    } else {
+                        toc.classList.add("open")
+                    }
+                })
+
+                document.querySelectorAll(".contents > .toc > ul a").forEach((node) => {
+                    let id = node.getAttribute("href").substring(1)
+                    DoxygenAwesomeInteractiveToc.headers.push({
+                        node: node,
+                        headerNode: document.getElementById(id)
+                    })
+
+                    document.getElementById("doc-content")?.addEventListener("scroll", () => {
+                        DoxygenAwesomeInteractiveToc.update()
+                    })
+                })
+                DoxygenAwesomeInteractiveToc.update()
+            }
+        })
+    }
+
+    static update() {
+        let active = DoxygenAwesomeInteractiveToc.headers[0]?.node
+        DoxygenAwesomeInteractiveToc.headers.forEach((header) => {
+            let position = header.headerNode.getBoundingClientRect().top
+            header.node.classList.remove("active")
+            header.node.classList.remove("aboveActive")
+            if(position < DoxygenAwesomeInteractiveToc.topOffset) {
+                active = header.node
+                active?.classList.add("aboveActive")
+            }
+        })
+        active?.classList.add("active")
+        active?.classList.remove("aboveActive")
+    }
+}
\ No newline at end of file
diff --git a/doxygen-awesome-css/doxygen-awesome-paragraph-link.js b/doxygen-awesome-css/doxygen-awesome-paragraph-link.js
new file mode 100644
index 0000000..e53d132
--- /dev/null
+++ b/doxygen-awesome-css/doxygen-awesome-paragraph-link.js
@@ -0,0 +1,51 @@
+/**
+
+Doxygen Awesome
+https://github.com/jothepro/doxygen-awesome-css
+
+MIT License
+
+Copyright (c) 2022 - 2023 jothepro
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.
+
+*/
+
+class DoxygenAwesomeParagraphLink {
+    // Icon from https://fonts.google.com/icons
+    // Licensed under the Apache 2.0 license:
+    // https://www.apache.org/licenses/LICENSE-2.0.html
+    static icon = `<svg xmlns="http://www.w3.org/2000/svg" height="20px" viewBox="0 0 24 24" width="20px"><path d="M0 0h24v24H0V0z" fill="none"/><path d="M17 7h-4v2h4c1.65 0 3 1.35 3 3s-1.35 3-3 3h-4v2h4c2.76 0 5-2.24 5-5s-2.24-5-5-5zm-6 8H7c-1.65 0-3-1.35-3-3s1.35-3 3-3h4V7H7c-2.76 0-5 2.24-5 5s2.24 5 5 5h4v-2zm-3-4h8v2H8z"/></svg>`
+    static title = "Permanent Link"
+    static init() {
+        $(function() {
+            $(document).ready(function() {
+                document.querySelectorAll(".contents a.anchor[id], .contents .groupheader > a[id]").forEach((node) => {
+                    let anchorlink = document.createElement("a")
+                    anchorlink.setAttribute("href", `#${node.getAttribute("id")}`)
+                    anchorlink.setAttribute("title", DoxygenAwesomeParagraphLink.title)
+                    anchorlink.classList.add("anchorlink")
+                    node.classList.add("anchor")
+                    anchorlink.innerHTML = DoxygenAwesomeParagraphLink.icon
+                    node.parentElement.appendChild(anchorlink)
+                })
+            })
+        })
+    }
+}
diff --git a/doxygen-awesome-css/doxygen-awesome-sidebar-only-darkmode-toggle.css b/doxygen-awesome-css/doxygen-awesome-sidebar-only-darkmode-toggle.css
new file mode 100644
index 0000000..d207446
--- /dev/null
+++ b/doxygen-awesome-css/doxygen-awesome-sidebar-only-darkmode-toggle.css
@@ -0,0 +1,40 @@
+
+/**
+
+Doxygen Awesome
+https://github.com/jothepro/doxygen-awesome-css
+
+MIT License
+
+Copyright (c) 2021 - 2023 jothepro
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.
+
+*/
+
+@media screen and (min-width: 768px) {
+
+    #MSearchBox {
+        width: calc(var(--side-nav-fixed-width) - calc(2 * var(--spacing-medium)) - var(--searchbar-height) - 1px);
+    }
+
+    #MSearchField {
+        width: calc(var(--side-nav-fixed-width) - calc(2 * var(--spacing-medium)) - 66px - var(--searchbar-height));
+    }
+}
diff --git a/doxygen-awesome-css/doxygen-awesome-sidebar-only.css b/doxygen-awesome-css/doxygen-awesome-sidebar-only.css
new file mode 100644
index 0000000..f58fcbe
--- /dev/null
+++ b/doxygen-awesome-css/doxygen-awesome-sidebar-only.css
@@ -0,0 +1,115 @@
+/**
+
+Doxygen Awesome
+https://github.com/jothepro/doxygen-awesome-css
+
+MIT License
+
+Copyright (c) 2021 - 2023 jothepro
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.
+
+ */
+
+html {
+    /* side nav width. MUST be = `TREEVIEW_WIDTH`.
+     * Make sure it is wide enough to contain the page title (logo + title + version)
+     */
+    --side-nav-fixed-width: 335px;
+    --menu-display: none;
+
+    --top-height: 120px;
+    --toc-sticky-top: -25px;
+    --toc-max-height: calc(100vh - 2 * var(--spacing-medium) - 25px);
+}
+
+#projectname {
+    white-space: nowrap;
+}
+
+
+@media screen and (min-width: 768px) {
+    html {
+        --searchbar-background: var(--page-background-color);
+    }
+
+    #side-nav {
+        min-width: var(--side-nav-fixed-width);
+        max-width: var(--side-nav-fixed-width);
+        top: var(--top-height);
+        overflow: visible;
+    }
+
+    #nav-tree, #side-nav {
+        height: calc(100vh - var(--top-height)) !important;
+    }
+
+    #nav-tree {
+        padding: 0;
+    }
+
+    #top {
+        display: block;
+        border-bottom: none;
+        height: var(--top-height);
+        margin-bottom: calc(0px - var(--top-height));
+        max-width: var(--side-nav-fixed-width);
+        overflow: hidden;
+        background: var(--side-nav-background);
+    }
+    #main-nav {
+        float: left;
+        padding-right: 0;
+    }
+
+    .ui-resizable-handle {
+        cursor: default;
+        width: 1px !important;
+        box-shadow: 0 calc(-2 * var(--top-height)) 0 0 var(--separator-color);
+    }
+
+    #nav-path {
+        position: fixed;
+        right: 0;
+        left: var(--side-nav-fixed-width);
+        bottom: 0;
+        width: auto;
+    }
+
+    #doc-content {
+        height: calc(100vh - 31px) !important;
+        padding-bottom: calc(3 * var(--spacing-large));
+        padding-top: calc(var(--top-height) - 80px);
+        box-sizing: border-box;
+        margin-left: var(--side-nav-fixed-width) !important;
+    }
+
+    #MSearchBox {
+        width: calc(var(--side-nav-fixed-width) - calc(2 * var(--spacing-medium)));
+    }
+
+    #MSearchField {
+        width: calc(var(--side-nav-fixed-width) - calc(2 * var(--spacing-medium)) - 65px);
+    }
+
+    #MSearchResultsWindow {
+        left: var(--spacing-medium) !important;
+        right: auto;
+    }
+}
diff --git a/doxygen-awesome-css/doxygen-awesome-tabs.js b/doxygen-awesome-css/doxygen-awesome-tabs.js
new file mode 100644
index 0000000..8e725b2
--- /dev/null
+++ b/doxygen-awesome-css/doxygen-awesome-tabs.js
@@ -0,0 +1,70 @@
+/**
+
+Doxygen Awesome
+https://github.com/jothepro/doxygen-awesome-css
+
+MIT License
+
+Copyright (c) 2023 jothepro
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.
+
+*/
+
+class DoxygenAwesomeTabs {
+
+    static init() {
+        window.addEventListener("load", () => {
+            document.querySelectorAll(".tabbed:not(:empty)").forEach((tabbed, tabbedIndex) => {
+                let tabLinkList = []
+                tabbed.querySelectorAll("li").forEach((tab, tabIndex) => {
+                    tab.id = "tab_" + tabbedIndex + "_" + tabIndex
+                    let header = tab.querySelector(".tab-title")
+                    let tabLink = document.createElement("button")
+                    tabLink.classList.add("tab-button")
+                    tabLink.appendChild(header)
+                    tabLink.addEventListener("click", () => {
+                        tabbed.querySelectorAll("li").forEach((tab) => {
+                            tab.classList.remove("selected")
+                        })
+                        tabLinkList.forEach((tabLink) => {
+                            tabLink.classList.remove("active")
+                        })
+                        tab.classList.add("selected")
+                        tabLink.classList.add("active")
+                    })
+                    tabLinkList.push(tabLink)
+                    if(tabIndex == 0) {
+                        tab.classList.add("selected")
+                        tabLink.classList.add("active")
+                    }
+                })
+                let tabsOverview = document.createElement("div")
+                tabsOverview.classList.add("tabs-overview")
+                let tabsOverviewContainer = document.createElement("div")
+                tabsOverviewContainer.classList.add("tabs-overview-container")
+                tabLinkList.forEach((tabLink) => {
+                    tabsOverview.appendChild(tabLink)
+                })
+                tabsOverviewContainer.appendChild(tabsOverview)
+                tabbed.before(tabsOverviewContainer)
+            })
+        })
+    }
+}
\ No newline at end of file
diff --git a/doxygen-awesome-css/doxygen-awesome.css b/doxygen-awesome-css/doxygen-awesome.css
new file mode 100644
index 0000000..e8399cb
--- /dev/null
+++ b/doxygen-awesome-css/doxygen-awesome.css
@@ -0,0 +1,2522 @@
+/**
+
+Doxygen Awesome
+https://github.com/jothepro/doxygen-awesome-css
+
+MIT License
+
+Copyright (c) 2021 - 2023 jothepro
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.
+
+*/
+
+html {
+    /* primary theme color. This will affect the entire websites color scheme: links, arrows, labels, ... */
+    --primary-color: #1779c4;
+    --primary-dark-color: #335c80;
+    --primary-light-color: #70b1e9;
+
+    /* page base colors */
+    --page-background-color: #ffffff;
+    --page-foreground-color: #2f4153;
+    --page-secondary-foreground-color: #6f7e8e;
+
+    /* color for all separators on the website: hr, borders, ... */
+    --separator-color: #dedede;
+
+    /* border radius for all rounded components. Will affect many components, like dropdowns, memitems, codeblocks, ... */
+    --border-radius-large: 8px;
+    --border-radius-small: 4px;
+    --border-radius-medium: 6px;
+
+    /* default spacings. Most components reference these values for spacing, to provide uniform spacing on the page. */
+    --spacing-small: 5px;
+    --spacing-medium: 10px;
+    --spacing-large: 16px;
+
+    /* default box shadow used for raising an element above the normal content. Used in dropdowns, search result, ... */
+    --box-shadow: 0 2px 8px 0 rgba(0,0,0,.075);
+
+    --odd-color: rgba(0,0,0,.028);
+
+    /* font-families. will affect all text on the website
+     * font-family: the normal font for text, headlines, menus
+     * font-family-monospace: used for preformatted text in memtitle, code, fragments
+     */
+    --font-family: -apple-system,BlinkMacSystemFont,Segoe UI,Roboto,Oxygen,Ubuntu,Cantarell,Fira Sans,Droid Sans,Helvetica Neue,sans-serif;
+    --font-family-monospace: ui-monospace,SFMono-Regular,SF Mono,Menlo,Consolas,Liberation Mono,monospace;
+
+    /* font sizes */
+    --page-font-size: 15.6px;
+    --navigation-font-size: 14.4px;
+    --toc-font-size: 13.4px;
+    --code-font-size: 14px; /* affects code, fragment */
+    --title-font-size: 22px;
+
+    /* content text properties. These only affect the page content, not the navigation or any other ui elements */
+    --content-line-height: 27px;
+    /* The content is centered and constraint in it's width. To make the content fill the whole page, set the variable to auto.*/
+    --content-maxwidth: 1050px;
+    --table-line-height: 24px;
+    --toc-sticky-top: var(--spacing-medium);
+    --toc-width: 200px;
+    --toc-max-height: calc(100vh - 2 * var(--spacing-medium) - 85px);
+
+    /* colors for various content boxes: @warning, @note, @deprecated @bug */
+    --warning-color: #f8d1cc;
+    --warning-color-dark: #b61825;
+    --warning-color-darker: #75070f;
+    --note-color: #faf3d8;
+    --note-color-dark: #f3a600;
+    --note-color-darker: #5f4204;
+    --todo-color: #e4f3ff;
+    --todo-color-dark: #1879C4;
+    --todo-color-darker: #274a5c;
+    --deprecated-color: #ecf0f3;
+    --deprecated-color-dark: #5b6269;
+    --deprecated-color-darker: #43454a;
+    --bug-color: #e4dafd;
+    --bug-color-dark: #5b2bdd;
+    --bug-color-darker: #2a0d72;
+    --invariant-color: #d8f1e3;
+    --invariant-color-dark: #44b86f;
+    --invariant-color-darker: #265532;
+
+    /* blockquote colors */
+    --blockquote-background: #f8f9fa;
+    --blockquote-foreground: #636568;
+
+    /* table colors */
+    --tablehead-background: #f1f1f1;
+    --tablehead-foreground: var(--page-foreground-color);
+
+    /* menu-display: block | none
+     * Visibility of the top navigation on screens >= 768px. On smaller screen the menu is always visible.
+     * `GENERATE_TREEVIEW` MUST be enabled!
+     */
+    --menu-display: block;
+
+    --menu-focus-foreground: var(--page-background-color);
+    --menu-focus-background: var(--primary-color);
+    --menu-selected-background: rgba(0,0,0,.05);
+
+
+    --header-background: var(--page-background-color);
+    --header-foreground: var(--page-foreground-color);
+
+    /* searchbar colors */
+    --searchbar-background: var(--side-nav-background);
+    --searchbar-foreground: var(--page-foreground-color);
+
+    /* searchbar size
+     * (`searchbar-width` is only applied on screens >= 768px.
+     * on smaller screens the searchbar will always fill the entire screen width) */
+    --searchbar-height: 33px;
+    --searchbar-width: 210px;
+    --searchbar-border-radius: var(--searchbar-height);
+
+    /* code block colors */
+    --code-background: #f5f5f5;
+    --code-foreground: var(--page-foreground-color);
+
+    /* fragment colors */
+    --fragment-background: #F8F9FA;
+    --fragment-foreground: #37474F;
+    --fragment-keyword: #bb6bb2;
+    --fragment-keywordtype: #8258b3;
+    --fragment-keywordflow: #d67c3b;
+    --fragment-token: #438a59;
+    --fragment-comment: #969696;
+    --fragment-link: #5383d6;
+    --fragment-preprocessor: #46aaa5;
+    --fragment-linenumber-color: #797979;
+    --fragment-linenumber-background: #f4f4f5;
+    --fragment-linenumber-border: #e3e5e7;
+    --fragment-lineheight: 20px;
+
+    /* sidebar navigation (treeview) colors */
+    --side-nav-background: #fbfbfb;
+    --side-nav-foreground: var(--page-foreground-color);
+    --side-nav-arrow-opacity: 0;
+    --side-nav-arrow-hover-opacity: 0.9;
+
+    --toc-background: var(--side-nav-background);
+    --toc-foreground: var(--side-nav-foreground);
+
+    /* height of an item in any tree / collapsible table */
+    --tree-item-height: 30px;
+
+    --memname-font-size: var(--code-font-size);
+    --memtitle-font-size: 18px;
+
+    --webkit-scrollbar-size: 7px;
+    --webkit-scrollbar-padding: 4px;
+    --webkit-scrollbar-color: var(--separator-color);
+}
+
+@media screen and (max-width: 767px) {
+    html {
+        --page-font-size: 16px;
+        --navigation-font-size: 16px;
+        --toc-font-size: 15px;
+        --code-font-size: 15px; /* affects code, fragment */
+        --title-font-size: 22px;
+    }
+}
+
+@media (prefers-color-scheme: dark) {
+    html:not(.light-mode) {
+        color-scheme: dark;
+
+        --primary-color: #1982d2;
+        --primary-dark-color: #86a9c4;
+        --primary-light-color: #4779ac;
+
+        --box-shadow: 0 2px 8px 0 rgba(0,0,0,.35);
+
+        --odd-color: rgba(100,100,100,.06);
+
+        --menu-selected-background: rgba(0,0,0,.4);
+
+        --page-background-color: #1C1D1F;
+        --page-foreground-color: #d2dbde;
+        --page-secondary-foreground-color: #859399;
+        --separator-color: #38393b;
+        --side-nav-background: #252628;
+
+        --code-background: #2a2c2f;
+
+        --tablehead-background: #2a2c2f;
+    
+        --blockquote-background: #222325;
+        --blockquote-foreground: #7e8c92;
+
+        --warning-color: #2e1917;
+        --warning-color-dark: #ad2617;
+        --warning-color-darker: #f5b1aa;
+        --note-color: #3b2e04;
+        --note-color-dark: #f1b602;
+        --note-color-darker: #ceb670;
+        --todo-color: #163750;
+        --todo-color-dark: #1982D2;
+        --todo-color-darker: #dcf0fa;
+        --deprecated-color: #2e323b;
+        --deprecated-color-dark: #738396;
+        --deprecated-color-darker: #abb0bd;
+        --bug-color: #2a2536;
+        --bug-color-dark: #7661b3;
+        --bug-color-darker: #ae9ed6;
+        --invariant-color: #303a35;
+        --invariant-color-dark: #76ce96;
+        --invariant-color-darker: #cceed5;
+
+        --fragment-background: #282c34;
+        --fragment-foreground: #dbe4eb;
+        --fragment-keyword: #cc99cd;
+        --fragment-keywordtype: #ab99cd;
+        --fragment-keywordflow: #e08000;
+        --fragment-token: #7ec699;
+        --fragment-comment: #999999;
+        --fragment-link: #98c0e3;
+        --fragment-preprocessor: #65cabe;
+        --fragment-linenumber-color: #cccccc;
+        --fragment-linenumber-background: #35393c;
+        --fragment-linenumber-border: #1f1f1f;
+    }
+}
+
+/* dark mode variables are defined twice, to support both the dark-mode without and with doxygen-awesome-darkmode-toggle.js */
+html.dark-mode {
+    color-scheme: dark;
+
+    --primary-color: #1982d2;
+    --primary-dark-color: #86a9c4;
+    --primary-light-color: #4779ac;
+
+    --box-shadow: 0 2px 8px 0 rgba(0,0,0,.30);
+
+    --odd-color: rgba(100,100,100,.06);
+
+    --menu-selected-background: rgba(0,0,0,.4);
+
+    --page-background-color: #1C1D1F;
+    --page-foreground-color: #d2dbde;
+    --page-secondary-foreground-color: #859399;
+    --separator-color: #38393b;
+    --side-nav-background: #252628;
+
+    --code-background: #2a2c2f;
+
+    --tablehead-background: #2a2c2f;
+
+    --blockquote-background: #222325;
+    --blockquote-foreground: #7e8c92;
+
+    --warning-color: #2e1917;
+    --warning-color-dark: #ad2617;
+    --warning-color-darker: #f5b1aa;
+    --note-color: #3b2e04;
+    --note-color-dark: #f1b602;
+    --note-color-darker: #ceb670;
+    --todo-color: #163750;
+    --todo-color-dark: #1982D2;
+    --todo-color-darker: #dcf0fa;
+    --deprecated-color: #2e323b;
+    --deprecated-color-dark: #738396;
+    --deprecated-color-darker: #abb0bd;
+    --bug-color: #2a2536;
+    --bug-color-dark: #7661b3;
+    --bug-color-darker: #ae9ed6;
+    --invariant-color: #303a35;
+    --invariant-color-dark: #76ce96;
+    --invariant-color-darker: #cceed5;
+
+    --fragment-background: #282c34;
+    --fragment-foreground: #dbe4eb;
+    --fragment-keyword: #cc99cd;
+    --fragment-keywordtype: #ab99cd;
+    --fragment-keywordflow: #e08000;
+    --fragment-token: #7ec699;
+    --fragment-comment: #999999;
+    --fragment-link: #98c0e3;
+    --fragment-preprocessor: #65cabe;
+    --fragment-linenumber-color: #cccccc;
+    --fragment-linenumber-background: #35393c;
+    --fragment-linenumber-border: #1f1f1f;
+}
+
+body {
+    color: var(--page-foreground-color);
+    background-color: var(--page-background-color);
+    font-size: var(--page-font-size);
+}
+
+body, table, div, p, dl, #nav-tree .label, .title,
+.sm-dox a, .sm-dox a:hover, .sm-dox a:focus, #projectname,
+.SelectItem, #MSearchField, .navpath li.navelem a,
+.navpath li.navelem a:hover, p.reference, p.definition {
+    font-family: var(--font-family);
+}
+
+h1, h2, h3, h4, h5 {
+    margin-top: .9em;
+    font-weight: 600;
+    line-height: initial;
+}
+
+p, div, table, dl, p.reference, p.definition {
+    font-size: var(--page-font-size);
+}
+
+p.reference, p.definition {
+    color: var(--page-secondary-foreground-color);
+}
+
+a:link, a:visited, a:hover, a:focus, a:active {
+    color: var(--primary-color) !important;
+    font-weight: 500;
+}
+
+a.anchor {
+    scroll-margin-top: var(--spacing-large);
+    display: block;
+}
+
+/*
+ Title and top navigation
+ */
+
+#top {
+    background: var(--header-background);
+    border-bottom: 1px solid var(--separator-color);
+}
+
+@media screen and (min-width: 768px) {
+    #top {
+        display: flex;
+        flex-wrap: wrap;
+        justify-content: space-between;
+        align-items: center;
+    }
+}
+
+#main-nav {
+    flex-grow: 5;
+    padding: var(--spacing-small) var(--spacing-medium);
+}
+
+#titlearea {
+    width: auto;
+    padding: var(--spacing-medium) var(--spacing-large);
+    background: none;
+    color: var(--header-foreground);
+    border-bottom: none;
+}
+
+@media screen and (max-width: 767px) {
+    #titlearea {
+        padding-bottom: var(--spacing-small);
+    }
+}
+
+#titlearea table tbody tr {
+    height: auto !important;
+}
+
+#projectname {
+    font-size: var(--title-font-size);
+    font-weight: 600;
+}
+
+#projectnumber {
+    font-family: inherit;
+    font-size: 60%;
+}
+
+#projectbrief {
+    font-family: inherit;
+    font-size: 80%;
+}
+
+#projectlogo {
+    vertical-align: middle;
+}
+
+#projectlogo img {
+    max-height: calc(var(--title-font-size) * 2);
+    margin-right: var(--spacing-small);
+}
+
+.sm-dox, .tabs, .tabs2, .tabs3 {
+    background: none;
+    padding: 0;
+}
+
+.tabs, .tabs2, .tabs3 {
+    border-bottom: 1px solid var(--separator-color);
+    margin-bottom: -1px;
+}
+
+.main-menu-btn-icon, .main-menu-btn-icon:before, .main-menu-btn-icon:after {
+    background: var(--page-secondary-foreground-color);
+}
+
+@media screen and (max-width: 767px) {
+    .sm-dox a span.sub-arrow {
+        background: var(--code-background);
+    }
+
+    #main-menu a.has-submenu span.sub-arrow {
+        color: var(--page-secondary-foreground-color);
+        border-radius: var(--border-radius-medium);
+    }
+
+    #main-menu a.has-submenu:hover span.sub-arrow {
+        color: var(--page-foreground-color);
+    }
+}
+
+@media screen and (min-width: 768px) {
+    .sm-dox li, .tablist li {
+        display: var(--menu-display);
+    }
+
+    .sm-dox a span.sub-arrow {
+        border-color: var(--header-foreground) transparent transparent transparent;
+    }
+
+    .sm-dox a:hover span.sub-arrow {
+        border-color: var(--menu-focus-foreground) transparent transparent transparent;
+    }
+
+    .sm-dox ul a span.sub-arrow {
+        border-color: transparent transparent transparent var(--page-foreground-color);
+    }
+
+    .sm-dox ul a:hover span.sub-arrow {
+        border-color: transparent transparent transparent var(--menu-focus-foreground);
+    }
+}
+
+.sm-dox ul {
+    background: var(--page-background-color);
+    box-shadow: var(--box-shadow);
+    border: 1px solid var(--separator-color);
+    border-radius: var(--border-radius-medium) !important;
+    padding: var(--spacing-small);
+    animation: ease-out 150ms slideInMenu;
+}
+
+@keyframes slideInMenu {
+    from {
+        opacity: 0;
+        transform: translate(0px, -2px);
+    }
+
+    to {
+        opacity: 1;
+        transform: translate(0px, 0px);
+    }
+}
+
+.sm-dox ul a {
+    color: var(--page-foreground-color) !important;
+    background: var(--page-background-color);
+    font-size: var(--navigation-font-size);
+}
+
+.sm-dox>li>ul:after {
+    border-bottom-color: var(--page-background-color) !important;
+}
+
+.sm-dox>li>ul:before {
+    border-bottom-color: var(--separator-color) !important;
+}
+
+.sm-dox ul a:hover, .sm-dox ul a:active, .sm-dox ul a:focus {
+    font-size: var(--navigation-font-size) !important;
+    color: var(--menu-focus-foreground) !important;
+    text-shadow: none;
+    background-color: var(--menu-focus-background);
+    border-radius: var(--border-radius-small) !important;
+}
+
+.sm-dox a, .sm-dox a:focus, .tablist li, .tablist li a, .tablist li.current a {
+    text-shadow: none;
+    background: transparent;
+    background-image: none !important;
+    color: var(--header-foreground) !important;
+    font-weight: normal;
+    font-size: var(--navigation-font-size);
+    border-radius: var(--border-radius-small) !important;
+}
+
+.sm-dox a:focus {
+    outline: auto;
+}
+
+.sm-dox a:hover, .sm-dox a:active, .tablist li a:hover {
+    text-shadow: none;
+    font-weight: normal;
+    background: var(--menu-focus-background);
+    color: var(--menu-focus-foreground) !important;
+    border-radius: var(--border-radius-small) !important;
+    font-size: var(--navigation-font-size);
+}
+
+.tablist li.current {
+    border-radius: var(--border-radius-small);
+    background: var(--menu-selected-background);
+}
+
+.tablist li {
+    margin: var(--spacing-small) 0 var(--spacing-small) var(--spacing-small);
+}
+
+.tablist a {
+    padding: 0 var(--spacing-large);
+}
+
+
+/*
+ Search box
+ */
+
+#MSearchBox {
+    height: var(--searchbar-height);
+    background: var(--searchbar-background);
+    border-radius: var(--searchbar-border-radius);
+    border: 1px solid var(--separator-color);
+    overflow: hidden;
+    width: var(--searchbar-width);
+    position: relative;
+    box-shadow: none;
+    display: block;
+    margin-top: 0;
+}
+
+/* until Doxygen 1.9.4 */
+.left img#MSearchSelect {
+    left: 0;
+    user-select: none;
+    padding-left: 8px;
+}
+
+/* Doxygen 1.9.5 */
+.left span#MSearchSelect {
+    left: 0;
+    user-select: none;
+    margin-left: 8px;
+    padding: 0;
+}
+
+.left #MSearchSelect[src$=".png"] {
+    padding-left: 0
+}
+
+.SelectionMark {
+    user-select: none;
+}
+
+.tabs .left #MSearchSelect {
+    padding-left: 0;
+}
+
+.tabs #MSearchBox {
+    position: absolute;
+    right: var(--spacing-medium);
+}
+
+@media screen and (max-width: 767px) {
+    .tabs #MSearchBox {
+        position: relative;
+        right: 0;
+        margin-left: var(--spacing-medium);
+        margin-top: 0;
+    }
+}
+
+#MSearchSelectWindow, #MSearchResultsWindow {
+    z-index: 9999;
+}
+
+#MSearchBox.MSearchBoxActive {
+    border-color: var(--primary-color);
+    box-shadow: inset 0 0 0 1px var(--primary-color);
+}
+
+#main-menu > li:last-child {
+    margin-right: 0;
+}
+
+@media screen and (max-width: 767px) {
+    #main-menu > li:last-child {
+        height: 50px;
+    }
+}
+
+#MSearchField {
+    font-size: var(--navigation-font-size);
+    height: calc(var(--searchbar-height) - 2px);
+    background: transparent;
+    width: calc(var(--searchbar-width) - 64px);
+}
+
+.MSearchBoxActive #MSearchField {
+    color: var(--searchbar-foreground);
+}
+
+#MSearchSelect {
+    top: calc(calc(var(--searchbar-height) / 2) - 11px);
+}
+
+#MSearchBox span.left, #MSearchBox span.right {
+    background: none;
+    background-image: none;
+}
+
+#MSearchBox span.right {
+    padding-top: calc(calc(var(--searchbar-height) / 2) - 12px);
+    position: absolute;
+    right: var(--spacing-small);
+}
+
+.tabs #MSearchBox span.right {
+    top: calc(calc(var(--searchbar-height) / 2) - 12px);
+}
+
+@keyframes slideInSearchResults {
+    from {
+        opacity: 0;
+        transform: translate(0, 15px);
+    }
+
+    to {
+        opacity: 1;
+        transform: translate(0, 20px);
+    }
+}
+
+#MSearchResultsWindow {
+    left: auto !important;
+    right: var(--spacing-medium);
+    border-radius: var(--border-radius-large);
+    border: 1px solid var(--separator-color);
+    transform: translate(0, 20px);
+    box-shadow: var(--box-shadow);
+    animation: ease-out 280ms slideInSearchResults;
+    background: var(--page-background-color);
+}
+
+iframe#MSearchResults {
+    margin: 4px;
+}
+
+iframe {
+    color-scheme: normal;
+}
+
+@media (prefers-color-scheme: dark) {
+    html:not(.light-mode) iframe#MSearchResults {
+        filter: invert() hue-rotate(180deg);
+    }
+}
+
+html.dark-mode iframe#MSearchResults {
+    filter: invert() hue-rotate(180deg);
+}
+
+#MSearchResults .SRPage {
+    background-color: transparent;
+}
+
+#MSearchResults .SRPage .SREntry {
+    font-size: 10pt;
+    padding: var(--spacing-small) var(--spacing-medium);
+}
+
+#MSearchSelectWindow {
+    border: 1px solid var(--separator-color);
+    border-radius: var(--border-radius-medium);
+    box-shadow: var(--box-shadow);
+    background: var(--page-background-color);
+    padding-top: var(--spacing-small);
+    padding-bottom: var(--spacing-small);
+}
+
+#MSearchSelectWindow a.SelectItem {
+    font-size: var(--navigation-font-size);
+    line-height: var(--content-line-height);
+    margin: 0 var(--spacing-small);
+    border-radius: var(--border-radius-small);
+    color: var(--page-foreground-color) !important;
+    font-weight: normal;
+}
+
+#MSearchSelectWindow a.SelectItem:hover {
+    background: var(--menu-focus-background);
+    color: var(--menu-focus-foreground) !important;
+}
+
+@media screen and (max-width: 767px) {
+    #MSearchBox {
+        margin-top: var(--spacing-medium);
+        margin-bottom: var(--spacing-medium);
+        width: calc(100vw - 30px);
+    }
+
+    #main-menu > li:last-child {
+        float: none !important;
+    }
+
+    #MSearchField {
+        width: calc(100vw - 110px);
+    }
+
+    @keyframes slideInSearchResultsMobile {
+        from {
+            opacity: 0;
+            transform: translate(0, 15px);
+        }
+
+        to {
+            opacity: 1;
+            transform: translate(0, 20px);
+        }
+    }
+
+    #MSearchResultsWindow {
+        left: var(--spacing-medium) !important;
+        right: var(--spacing-medium);
+        overflow: auto;
+        transform: translate(0, 20px);
+        animation: ease-out 280ms slideInSearchResultsMobile;
+        width: auto !important;
+    }
+
+    /*
+     * Overwrites for fixing the searchbox on mobile in doxygen 1.9.2
+     */
+    label.main-menu-btn ~ #searchBoxPos1 {
+        top: 3px !important;
+        right: 6px !important;
+        left: 45px;
+        display: flex;
+    }
+
+    label.main-menu-btn ~ #searchBoxPos1 > #MSearchBox {
+        margin-top: 0;
+        margin-bottom: 0;
+        flex-grow: 2;
+        float: left;
+    }
+}
+
+/*
+ Tree view
+ */
+
+#side-nav {
+    padding: 0 !important;
+    background: var(--side-nav-background);
+}
+
+@media screen and (max-width: 767px) {
+    #side-nav {
+        display: none;
+    }
+
+    #doc-content {
+        margin-left: 0 !important;
+    }
+}
+
+#nav-tree {
+    background: transparent;
+    margin-right: 1px;
+}
+
+#nav-tree .label {
+    font-size: var(--navigation-font-size);
+}
+
+#nav-tree .item {
+    height: var(--tree-item-height);
+    line-height: var(--tree-item-height);
+}
+
+#nav-sync {
+    bottom: 12px;
+    right: 12px;
+    top: auto !important;
+    user-select: none;
+}
+
+#nav-tree .selected {
+    text-shadow: none;
+    background-image: none;
+    background-color: transparent;
+    position: relative;
+}
+
+#nav-tree .selected::after {
+    content: "";
+    position: absolute;
+    top: 1px;
+    bottom: 1px;
+    left: 0;
+    width: 4px;
+    border-radius: 0 var(--border-radius-small) var(--border-radius-small) 0;
+    background: var(--primary-color);
+}
+
+
+#nav-tree a {
+    color: var(--side-nav-foreground) !important;
+    font-weight: normal;
+}
+
+#nav-tree a:focus {
+    outline-style: auto;
+}
+
+#nav-tree .arrow {
+    opacity: var(--side-nav-arrow-opacity);
+}
+
+.arrow {
+    color: inherit;
+    cursor: pointer;
+    font-size: 45%;
+    vertical-align: middle;
+    margin-right: 2px;
+    font-family: serif;
+    height: auto;
+    text-align: right;
+}
+
+#nav-tree div.item:hover .arrow, #nav-tree a:focus .arrow {
+    opacity: var(--side-nav-arrow-hover-opacity);
+}
+
+#nav-tree .selected a {
+    color: var(--primary-color) !important;
+    font-weight: bolder;
+    font-weight: 600;
+}
+
+.ui-resizable-e {
+    background: var(--separator-color);
+    width: 1px;
+}
+
+/*
+ Contents
+ */
+
+div.header {
+    border-bottom: 1px solid var(--separator-color);
+    background-color: var(--page-background-color);
+    background-image: none;
+}
+
+@media screen and (min-width: 1000px) {
+    #doc-content > div > div.contents,
+    .PageDoc > div.contents {
+        display: flex;
+        flex-direction: row-reverse;
+        flex-wrap: nowrap;
+        align-items: flex-start;
+    }
+    
+    div.contents .textblock {
+        min-width: 200px;
+        flex-grow: 1;
+    }
+}
+
+div.contents, div.header .title, div.header .summary {
+    max-width: var(--content-maxwidth);
+}
+
+div.contents, div.header .title  {
+    line-height: initial;
+    margin: calc(var(--spacing-medium) + .2em) auto var(--spacing-medium) auto;
+}
+
+div.header .summary {
+    margin: var(--spacing-medium) auto 0 auto;
+}
+
+div.headertitle {
+    padding: 0;
+}
+
+div.header .title {
+    font-weight: 600;
+    font-size: 225%;
+    padding: var(--spacing-medium) var(--spacing-large);
+    word-break: break-word;
+}
+
+div.header .summary {
+    width: auto;
+    display: block;
+    float: none;
+    padding: 0 var(--spacing-large);
+}
+
+td.memSeparator {
+    border-color: var(--separator-color);
+}
+
+span.mlabel {
+    background: var(--primary-color);
+    border: none;
+    padding: 4px 9px;
+    border-radius: 12px;
+    margin-right: var(--spacing-medium);
+}
+
+span.mlabel:last-of-type {
+    margin-right: 2px;
+}
+
+div.contents {
+    padding: 0 var(--spacing-large);
+}
+
+div.contents p, div.contents li {
+    line-height: var(--content-line-height);
+}
+
+div.contents div.dyncontent {
+    margin: var(--spacing-medium) 0;
+}
+
+@media (prefers-color-scheme: dark) {
+    html:not(.light-mode) div.contents div.dyncontent img,
+    html:not(.light-mode) div.contents center img,
+    html:not(.light-mode) div.contents > table img,
+    html:not(.light-mode) div.contents div.dyncontent iframe,
+    html:not(.light-mode) div.contents center iframe,
+    html:not(.light-mode) div.contents table iframe,
+    html:not(.light-mode) div.contents .dotgraph iframe {
+        filter: brightness(89%) hue-rotate(180deg) invert();
+    }
+}
+
+html.dark-mode div.contents div.dyncontent img,
+html.dark-mode div.contents center img,
+html.dark-mode div.contents > table img,
+html.dark-mode div.contents div.dyncontent iframe,
+html.dark-mode div.contents center iframe,
+html.dark-mode div.contents table iframe,
+html.dark-mode div.contents .dotgraph iframe
+ {
+    filter: brightness(89%) hue-rotate(180deg) invert();
+}
+
+h2.groupheader {
+    border-bottom: 0px;
+    color: var(--page-foreground-color);
+    box-shadow: 
+        100px 0 var(--page-background-color), 
+        -100px 0 var(--page-background-color),
+        100px 0.75px var(--separator-color),
+        -100px 0.75px var(--separator-color),
+        500px 0 var(--page-background-color), 
+        -500px 0 var(--page-background-color),
+        500px 0.75px var(--separator-color),
+        -500px 0.75px var(--separator-color),
+        900px 0 var(--page-background-color), 
+        -900px 0 var(--page-background-color),
+        900px 0.75px var(--separator-color),
+        -900px 0.75px var(--separator-color),
+        1400px 0 var(--page-background-color),
+        -1400px 0 var(--page-background-color), 
+        1400px 0.75px var(--separator-color),
+        -1400px 0.75px var(--separator-color),
+        1900px 0 var(--page-background-color),
+        -1900px 0 var(--page-background-color),
+        1900px 0.75px var(--separator-color),
+        -1900px 0.75px var(--separator-color);
+}
+
+blockquote {
+    margin: 0 var(--spacing-medium) 0 var(--spacing-medium);
+    padding: var(--spacing-small) var(--spacing-large);
+    background: var(--blockquote-background);
+    color: var(--blockquote-foreground);
+    border-left: 0;
+    overflow: visible;
+    border-radius: var(--border-radius-medium);
+    overflow: visible;
+    position: relative;
+}
+
+blockquote::before, blockquote::after {
+    font-weight: bold;
+    font-family: serif;
+    font-size: 360%;
+    opacity: .15;
+    position: absolute;
+}
+
+blockquote::before {
+    content: "“";
+    left: -10px;
+    top: 4px;
+}
+
+blockquote::after {
+    content: "”";
+    right: -8px;
+    bottom: -25px;
+}
+
+blockquote p {
+    margin: var(--spacing-small) 0 var(--spacing-medium) 0;
+}
+.paramname {
+    font-weight: 600;
+    color: var(--primary-dark-color);
+}
+
+.paramname > code {
+    border: 0;
+}
+
+table.params .paramname {
+    font-weight: 600;
+    font-family: var(--font-family-monospace);
+    font-size: var(--code-font-size);
+    padding-right: var(--spacing-small);
+    line-height: var(--table-line-height);
+}
+
+h1.glow, h2.glow, h3.glow, h4.glow, h5.glow, h6.glow {
+    text-shadow: 0 0 15px var(--primary-light-color);
+}
+
+.alphachar a {
+    color: var(--page-foreground-color);
+}
+
+.dotgraph {
+    max-width: 100%;
+    overflow-x: scroll;
+}
+
+.dotgraph .caption {
+    position: sticky;
+    left: 0;
+}
+
+/* Wrap Graphviz graphs with the `interactive_dotgraph` class if `INTERACTIVE_SVG = YES` */
+.interactive_dotgraph .dotgraph iframe {
+    max-width: 100%;
+}
+
+/*
+ Table of Contents
+ */
+
+div.contents .toc {
+    max-height: var(--toc-max-height);
+    min-width: var(--toc-width);
+    border: 0;
+    border-left: 1px solid var(--separator-color);
+    border-radius: 0;
+    background-color: transparent;
+    box-shadow: none;
+    position: sticky;
+    top: var(--toc-sticky-top);
+    padding: 0 var(--spacing-large);
+    margin: var(--spacing-small) 0 var(--spacing-large) var(--spacing-large);
+}
+
+div.toc h3 {
+    color: var(--toc-foreground);
+    font-size: var(--navigation-font-size);
+    margin: var(--spacing-large) 0 var(--spacing-medium) 0;
+}
+
+div.toc li {
+    padding: 0;
+    background: none;
+    line-height: var(--toc-font-size);
+    margin: var(--toc-font-size) 0 0 0;
+}
+
+div.toc li::before {
+    display: none;
+}
+
+div.toc ul {
+    margin-top: 0
+}
+
+div.toc li a {
+    font-size: var(--toc-font-size);
+    color: var(--page-foreground-color) !important;
+    text-decoration: none;
+}
+
+div.toc li a:hover, div.toc li a.active {
+    color: var(--primary-color) !important;
+}
+
+div.toc li a.aboveActive {
+    color: var(--page-secondary-foreground-color) !important;
+}
+
+
+@media screen and (max-width: 999px) {
+    div.contents .toc {
+        max-height: 45vh;
+        float: none;
+        width: auto;
+        margin: 0 0 var(--spacing-medium) 0;
+        position: relative;
+        top: 0;
+        position: relative;
+        border: 1px solid var(--separator-color);
+        border-radius: var(--border-radius-medium);
+        background-color: var(--toc-background);
+        box-shadow: var(--box-shadow);
+    }
+
+    div.contents .toc.interactive {
+        max-height: calc(var(--navigation-font-size) + 2 * var(--spacing-large));
+        overflow: hidden;
+    }
+
+    div.contents .toc > h3 {
+        -webkit-tap-highlight-color: transparent;
+        cursor: pointer;
+        position: sticky;
+        top: 0;
+        background-color: var(--toc-background);
+        margin: 0;
+        padding: var(--spacing-large) 0;
+        display: block;
+    }
+
+    div.contents .toc.interactive > h3::before {
+        content: "";
+        width: 0; 
+        height: 0; 
+        border-left: 4px solid transparent;
+        border-right: 4px solid transparent;
+        border-top: 5px solid var(--primary-color);
+        display: inline-block;
+        margin-right: var(--spacing-small);
+        margin-bottom: calc(var(--navigation-font-size) / 4);
+        transform: rotate(-90deg);
+        transition: transform 0.25s ease-out;
+    }
+
+    div.contents .toc.interactive.open > h3::before {
+        transform: rotate(0deg);
+    }
+
+    div.contents .toc.interactive.open {
+        max-height: 45vh;
+        overflow: auto;
+        transition: max-height 0.2s ease-in-out;
+    }
+
+    div.contents .toc a, div.contents .toc a.active {
+        color: var(--primary-color) !important;
+    }
+
+    div.contents .toc a:hover {
+        text-decoration: underline;
+    }
+}
+
+/*
+ Code & Fragments
+ */
+
+code, div.fragment, pre.fragment {
+    border-radius: var(--border-radius-small);
+    border: 1px solid var(--separator-color);
+    overflow: hidden;
+}
+
+code {
+    display: inline;
+    background: var(--code-background);
+    color: var(--code-foreground);
+    padding: 2px 6px;
+}
+
+div.fragment, pre.fragment {
+    margin: var(--spacing-medium) 0;
+    padding: calc(var(--spacing-large) - (var(--spacing-large) / 6)) var(--spacing-large);
+    background: var(--fragment-background);
+    color: var(--fragment-foreground);
+    overflow-x: auto;
+}
+
+@media screen and (max-width: 767px) {
+    div.fragment, pre.fragment {
+        border-top-right-radius: 0;
+        border-bottom-right-radius: 0;
+        border-right: 0;
+    }
+
+    .contents > div.fragment,
+    .textblock > div.fragment,
+    .textblock > pre.fragment,
+    .contents > .doxygen-awesome-fragment-wrapper > div.fragment,
+    .textblock > .doxygen-awesome-fragment-wrapper > div.fragment,
+    .textblock > .doxygen-awesome-fragment-wrapper > pre.fragment {
+        margin: var(--spacing-medium) calc(0px - var(--spacing-large));
+        border-radius: 0;
+        border-left: 0;
+    }
+
+    .textblock li > .fragment,
+    .textblock li > .doxygen-awesome-fragment-wrapper > .fragment {
+        margin: var(--spacing-medium) calc(0px - var(--spacing-large));
+    }
+
+    .memdoc li > .fragment,
+    .memdoc li > .doxygen-awesome-fragment-wrapper > .fragment {
+        margin: var(--spacing-medium) calc(0px - var(--spacing-medium));
+    }
+
+    .textblock ul, .memdoc ul {
+        overflow: initial;
+    }
+
+    .memdoc > div.fragment,
+    .memdoc > pre.fragment,
+    dl dd > div.fragment,
+    dl dd pre.fragment,
+    .memdoc > .doxygen-awesome-fragment-wrapper > div.fragment,
+    .memdoc > .doxygen-awesome-fragment-wrapper > pre.fragment,
+    dl dd > .doxygen-awesome-fragment-wrapper > div.fragment,
+    dl dd .doxygen-awesome-fragment-wrapper > pre.fragment {
+        margin: var(--spacing-medium) calc(0px - var(--spacing-medium));
+        border-radius: 0;
+        border-left: 0;
+    }
+}
+
+code, code a, pre.fragment, div.fragment, div.fragment .line, div.fragment span, div.fragment .line a, div.fragment .line span {
+    font-family: var(--font-family-monospace);
+    font-size: var(--code-font-size) !important;
+}
+
+div.line:after {
+    margin-right: var(--spacing-medium);
+}
+
+div.fragment .line, pre.fragment {
+    white-space: pre;
+    word-wrap: initial;
+    line-height: var(--fragment-lineheight);
+}
+
+div.fragment span.keyword {
+    color: var(--fragment-keyword);
+}
+
+div.fragment span.keywordtype {
+    color: var(--fragment-keywordtype);
+}
+
+div.fragment span.keywordflow {
+    color: var(--fragment-keywordflow);
+}
+
+div.fragment span.stringliteral {
+    color: var(--fragment-token)
+}
+
+div.fragment span.comment {
+    color: var(--fragment-comment);
+}
+
+div.fragment a.code {
+    color: var(--fragment-link) !important;
+}
+
+div.fragment span.preprocessor {
+    color: var(--fragment-preprocessor);
+}
+
+div.fragment span.lineno {
+    display: inline-block;
+    width: 27px;
+    border-right: none;
+    background: var(--fragment-linenumber-background);
+    color: var(--fragment-linenumber-color);
+}
+
+div.fragment span.lineno a {
+    background: none;
+    color: var(--fragment-link) !important;
+}
+
+div.fragment .line:first-child .lineno {
+    box-shadow: -999999px 0px 0 999999px var(--fragment-linenumber-background), -999998px 0px 0 999999px var(--fragment-linenumber-border);
+}
+
+div.line {
+    border-radius: var(--border-radius-small);
+}
+
+div.line.glow {
+    background-color: var(--primary-light-color);
+    box-shadow: none;
+}
+
+/*
+ dl warning, attention, note, deprecated, bug, ...
+ */
+
+dl.bug dt a, dl.deprecated dt a, dl.todo dt a {
+    font-weight: bold !important;
+}
+
+dl.warning, dl.attention, dl.note, dl.deprecated, dl.bug, dl.invariant, dl.pre, dl.post, dl.todo, dl.remark {
+    padding: var(--spacing-medium);
+    margin: var(--spacing-medium) 0;
+    color: var(--page-background-color);
+    overflow: hidden;
+    margin-left: 0;
+    border-radius: var(--border-radius-small);
+}
+
+dl.section dd {
+    margin-bottom: 2px;
+}
+
+dl.warning, dl.attention {
+    background: var(--warning-color);
+    border-left: 8px solid var(--warning-color-dark);
+    color: var(--warning-color-darker);
+}
+
+dl.warning dt, dl.attention dt {
+    color: var(--warning-color-dark);
+}
+
+dl.note, dl.remark {
+    background: var(--note-color);
+    border-left: 8px solid var(--note-color-dark);
+    color: var(--note-color-darker);
+}
+
+dl.note dt, dl.remark dt {
+    color: var(--note-color-dark);
+}
+
+dl.todo {
+    background: var(--todo-color);
+    border-left: 8px solid var(--todo-color-dark);
+    color: var(--todo-color-darker);
+}
+
+dl.todo dt {
+    color: var(--todo-color-dark);
+}
+
+dl.bug dt a {
+    color: var(--todo-color-dark) !important;
+}
+
+dl.bug {
+    background: var(--bug-color);
+    border-left: 8px solid var(--bug-color-dark);
+    color: var(--bug-color-darker);
+}
+
+dl.bug dt a {
+    color: var(--bug-color-dark) !important;
+}
+
+dl.deprecated {
+    background: var(--deprecated-color);
+    border-left: 8px solid var(--deprecated-color-dark);
+    color: var(--deprecated-color-darker);
+}
+
+dl.deprecated dt a {
+    color: var(--deprecated-color-dark) !important;
+}
+
+dl.section dd, dl.bug dd, dl.deprecated dd, dl.todo dd {
+    margin-inline-start: 0px;
+}
+
+dl.invariant, dl.pre, dl.post {
+    background: var(--invariant-color);
+    border-left: 8px solid var(--invariant-color-dark);
+    color: var(--invariant-color-darker);
+}
+
+dl.invariant dt, dl.pre dt, dl.post dt {
+    color: var(--invariant-color-dark);
+}
+
+/*
+ memitem
+ */
+
+div.memdoc, div.memproto, h2.memtitle {
+    box-shadow: none;
+    background-image: none;
+    border: none;
+}
+
+div.memdoc {
+    padding: 0 var(--spacing-medium);
+    background: var(--page-background-color);
+}
+
+h2.memtitle, div.memitem {
+    border: 1px solid var(--separator-color);
+    box-shadow: var(--box-shadow);
+}
+
+h2.memtitle {
+    box-shadow: 0px var(--spacing-medium) 0 -1px var(--fragment-background), var(--box-shadow);
+}
+
+div.memitem {
+    transition: none;
+}
+
+div.memproto, h2.memtitle {
+    background: var(--fragment-background);
+}
+
+h2.memtitle {
+    font-weight: 500;
+    font-size: var(--memtitle-font-size);
+    font-family: var(--font-family-monospace);
+    border-bottom: none;
+    border-top-left-radius: var(--border-radius-medium);
+    border-top-right-radius: var(--border-radius-medium);
+    word-break: break-all;
+    position: relative;
+}
+
+h2.memtitle:after {
+    content: "";
+    display: block;
+    background: var(--fragment-background);
+    height: var(--spacing-medium);
+    bottom: calc(0px - var(--spacing-medium));
+    left: 0;
+    right: -14px;
+    position: absolute;
+    border-top-right-radius: var(--border-radius-medium);
+}
+
+h2.memtitle > span.permalink {
+    font-size: inherit;
+}
+
+h2.memtitle > span.permalink > a {
+    text-decoration: none;
+    padding-left: 3px;
+    margin-right: -4px;
+    user-select: none;
+    display: inline-block;
+    margin-top: -6px;
+}
+
+h2.memtitle > span.permalink > a:hover {
+    color: var(--primary-dark-color) !important;
+}
+
+a:target + h2.memtitle, a:target + h2.memtitle + div.memitem {
+    border-color: var(--primary-light-color);
+}
+
+div.memitem {
+    border-top-right-radius: var(--border-radius-medium);
+    border-bottom-right-radius: var(--border-radius-medium);
+    border-bottom-left-radius: var(--border-radius-medium);
+    overflow: hidden;
+    display: block !important;
+}
+
+div.memdoc {
+    border-radius: 0;
+}
+
+div.memproto {
+    border-radius: 0 var(--border-radius-small) 0 0;
+    overflow: auto;
+    border-bottom: 1px solid var(--separator-color);
+    padding: var(--spacing-medium);
+    margin-bottom: -1px;
+}
+
+div.memtitle {
+    border-top-right-radius: var(--border-radius-medium);
+    border-top-left-radius: var(--border-radius-medium);
+}
+
+div.memproto table.memname {
+    font-family: var(--font-family-monospace);
+    color: var(--page-foreground-color);
+    font-size: var(--memname-font-size);
+    text-shadow: none;
+}
+
+div.memproto div.memtemplate {
+    font-family: var(--font-family-monospace);
+    color: var(--primary-dark-color);
+    font-size: var(--memname-font-size);
+    margin-left: 2px;
+    text-shadow: none;
+}
+
+table.mlabels, table.mlabels > tbody {
+    display: block;
+}
+
+td.mlabels-left {
+    width: auto;
+}
+
+td.mlabels-right {
+    margin-top: 3px;
+    position: sticky;
+    left: 0;
+}
+
+table.mlabels > tbody > tr:first-child {
+    display: flex;
+    justify-content: space-between;
+    flex-wrap: wrap;
+}
+
+.memname, .memitem span.mlabels {
+    margin: 0
+}
+
+/*
+ reflist
+ */
+
+dl.reflist {
+    box-shadow: var(--box-shadow);
+    border-radius: var(--border-radius-medium);
+    border: 1px solid var(--separator-color);
+    overflow: hidden;
+    padding: 0;
+}
+
+
+dl.reflist dt, dl.reflist dd {
+    box-shadow: none;
+    text-shadow: none;
+    background-image: none;
+    border: none;
+    padding: 12px;
+}
+
+
+dl.reflist dt {
+    font-weight: 500;
+    border-radius: 0;
+    background: var(--code-background);
+    border-bottom: 1px solid var(--separator-color);
+    color: var(--page-foreground-color)
+}
+
+
+dl.reflist dd {
+    background: none;
+}
+
+/*
+ Table
+ */
+
+.contents table:not(.memberdecls):not(.mlabels):not(.fieldtable):not(.memname),
+.contents table:not(.memberdecls):not(.mlabels):not(.fieldtable):not(.memname) tbody {
+    display: inline-block;
+    max-width: 100%;
+}
+
+.contents > table:not(.memberdecls):not(.mlabels):not(.fieldtable):not(.memname):not(.classindex) {
+    margin-left: calc(0px - var(--spacing-large));
+    margin-right: calc(0px - var(--spacing-large));
+    max-width: calc(100% + 2 * var(--spacing-large));
+}
+
+table.fieldtable,
+table.markdownTable tbody,
+table.doxtable tbody {
+    border: none;
+    margin: var(--spacing-medium) 0;
+    box-shadow: 0 0 0 1px var(--separator-color);
+    border-radius: var(--border-radius-small);
+}
+
+table.markdownTable, table.doxtable, table.fieldtable {
+    padding: 1px;
+}
+
+table.doxtable caption {
+    display: block;
+}
+
+table.fieldtable {
+    border-collapse: collapse;
+    width: 100%;
+}
+
+th.markdownTableHeadLeft,
+th.markdownTableHeadRight,
+th.markdownTableHeadCenter,
+th.markdownTableHeadNone,
+table.doxtable th {
+    background: var(--tablehead-background);
+    color: var(--tablehead-foreground);
+    font-weight: 600;
+    font-size: var(--page-font-size);
+}
+
+th.markdownTableHeadLeft:first-child,
+th.markdownTableHeadRight:first-child,
+th.markdownTableHeadCenter:first-child,
+th.markdownTableHeadNone:first-child,
+table.doxtable tr th:first-child {
+    border-top-left-radius: var(--border-radius-small);
+}
+
+th.markdownTableHeadLeft:last-child,
+th.markdownTableHeadRight:last-child,
+th.markdownTableHeadCenter:last-child,
+th.markdownTableHeadNone:last-child,
+table.doxtable tr th:last-child {
+    border-top-right-radius: var(--border-radius-small);
+}
+
+table.markdownTable td,
+table.markdownTable th,
+table.fieldtable td,
+table.fieldtable th,
+table.doxtable td,
+table.doxtable th {
+    border: 1px solid var(--separator-color);
+    padding: var(--spacing-small) var(--spacing-medium);
+}
+
+table.markdownTable td:last-child,
+table.markdownTable th:last-child,
+table.fieldtable td:last-child,
+table.fieldtable th:last-child,
+table.doxtable td:last-child,
+table.doxtable th:last-child {
+    border-right: none;
+}
+
+table.markdownTable td:first-child,
+table.markdownTable th:first-child,
+table.fieldtable td:first-child,
+table.fieldtable th:first-child,
+table.doxtable td:first-child,
+table.doxtable th:first-child {
+    border-left: none;
+}
+
+table.markdownTable tr:first-child td,
+table.markdownTable tr:first-child th,
+table.fieldtable tr:first-child td,
+table.fieldtable tr:first-child th,
+table.doxtable tr:first-child td,
+table.doxtable tr:first-child th {
+    border-top: none;
+}
+
+table.markdownTable tr:last-child td,
+table.markdownTable tr:last-child th,
+table.fieldtable tr:last-child td,
+table.fieldtable tr:last-child th,
+table.doxtable tr:last-child td,
+table.doxtable tr:last-child th {
+    border-bottom: none;
+}
+
+table.markdownTable tr, table.doxtable tr {
+    border-bottom: 1px solid var(--separator-color);
+}
+
+table.markdownTable tr:last-child, table.doxtable tr:last-child {
+    border-bottom: none;
+}
+
+.full_width_table table:not(.memberdecls):not(.mlabels):not(.fieldtable):not(.memname) {
+    display: block;
+}
+
+.full_width_table table:not(.memberdecls):not(.mlabels):not(.fieldtable):not(.memname) tbody {
+    display: table;
+    width: 100%;
+}
+
+table.fieldtable th {
+    font-size: var(--page-font-size);
+    font-weight: 600;
+    background-image: none;
+    background-color: var(--tablehead-background);
+    color: var(--tablehead-foreground);
+}
+
+table.fieldtable td.fieldtype, .fieldtable td.fieldname, .fieldtable td.fielddoc, .fieldtable th {
+    border-bottom: 1px solid var(--separator-color);
+    border-right: 1px solid var(--separator-color);
+}
+
+table.fieldtable tr:last-child td:first-child {
+    border-bottom-left-radius: var(--border-radius-small);
+}
+
+table.fieldtable tr:last-child td:last-child {
+    border-bottom-right-radius: var(--border-radius-small);
+}
+
+.memberdecls td.glow, .fieldtable tr.glow {
+    background-color: var(--primary-light-color);
+    box-shadow: none;
+}
+
+table.memberdecls {
+    display: block;
+    -webkit-tap-highlight-color: transparent;
+}
+
+table.memberdecls tr[class^='memitem'] {
+    font-family: var(--font-family-monospace);
+    font-size: var(--code-font-size);
+}
+
+table.memberdecls tr[class^='memitem'] .memTemplParams {
+    font-family: var(--font-family-monospace);
+    font-size: var(--code-font-size);
+    color: var(--primary-dark-color);
+    white-space: normal;
+}
+
+table.memberdecls .memItemLeft,
+table.memberdecls .memItemRight,
+table.memberdecls .memTemplItemLeft,
+table.memberdecls .memTemplItemRight,
+table.memberdecls .memTemplParams {
+    transition: none;
+    padding-top: var(--spacing-small);
+    padding-bottom: var(--spacing-small);
+    border-top: 1px solid var(--separator-color);
+    border-bottom: 1px solid var(--separator-color);
+    background-color: var(--fragment-background);
+}
+
+table.memberdecls .memTemplItemLeft,
+table.memberdecls .memTemplItemRight {
+    padding-top: 2px;
+}
+
+table.memberdecls .memTemplParams {
+    border-bottom: 0;
+    border-left: 1px solid var(--separator-color);
+    border-right: 1px solid var(--separator-color);
+    border-radius: var(--border-radius-small) var(--border-radius-small) 0 0;
+    padding-bottom: var(--spacing-small);
+}
+
+table.memberdecls .memTemplItemLeft {
+    border-radius: 0 0 0 var(--border-radius-small);
+    border-left: 1px solid var(--separator-color);
+    border-top: 0;
+}
+
+table.memberdecls .memTemplItemRight {
+    border-radius: 0 0 var(--border-radius-small) 0;
+    border-right: 1px solid var(--separator-color);
+    padding-left: 0;
+    border-top: 0;
+}
+
+table.memberdecls .memItemLeft {
+    border-radius: var(--border-radius-small) 0 0 var(--border-radius-small);
+    border-left: 1px solid var(--separator-color);
+    padding-left: var(--spacing-medium);
+    padding-right: 0;
+}
+
+table.memberdecls .memItemRight  {
+    border-radius: 0 var(--border-radius-small) var(--border-radius-small) 0;
+    border-right: 1px solid var(--separator-color);
+    padding-right: var(--spacing-medium);
+    padding-left: 0;
+
+}
+
+table.memberdecls .mdescLeft, table.memberdecls .mdescRight {
+    background: none;
+    color: var(--page-foreground-color);
+    padding: var(--spacing-small) 0;
+}
+
+table.memberdecls .memItemLeft,
+table.memberdecls .memTemplItemLeft {
+    padding-right: var(--spacing-medium);
+}
+
+table.memberdecls .memSeparator {
+    background: var(--page-background-color);
+    height: var(--spacing-large);
+    border: 0;
+    transition: none;
+}
+
+table.memberdecls .groupheader {
+    margin-bottom: var(--spacing-large);
+}
+
+table.memberdecls .inherit_header td {
+    padding: 0 0 var(--spacing-medium) 0;
+    text-indent: -12px;
+    color: var(--page-secondary-foreground-color);
+}
+
+table.memberdecls img[src="closed.png"],
+table.memberdecls img[src="open.png"],
+div.dynheader img[src="open.png"],
+div.dynheader img[src="closed.png"] {
+    width: 0; 
+    height: 0; 
+    border-left: 4px solid transparent;
+    border-right: 4px solid transparent;
+    border-top: 5px solid var(--primary-color);
+    margin-top: 8px;
+    display: block;
+    float: left;
+    margin-left: -10px;
+    transition: transform 0.25s ease-out;
+}
+
+table.memberdecls img {
+    margin-right: 10px;
+}
+
+table.memberdecls img[src="closed.png"],
+div.dynheader img[src="closed.png"] {
+    transform: rotate(-90deg);
+    
+}
+
+.compoundTemplParams {
+    font-family: var(--font-family-monospace);
+    color: var(--primary-dark-color);
+    font-size: var(--code-font-size);
+}
+
+@media screen and (max-width: 767px) {
+
+    table.memberdecls .memItemLeft,
+    table.memberdecls .memItemRight,
+    table.memberdecls .mdescLeft,
+    table.memberdecls .mdescRight,
+    table.memberdecls .memTemplItemLeft,
+    table.memberdecls .memTemplItemRight,
+    table.memberdecls .memTemplParams {
+        display: block;
+        text-align: left;
+        padding-left: var(--spacing-large);
+        margin: 0 calc(0px - var(--spacing-large)) 0 calc(0px - var(--spacing-large));
+        border-right: none;
+        border-left: none;
+        border-radius: 0;
+        white-space: normal;
+    }
+
+    table.memberdecls .memItemLeft,
+    table.memberdecls .mdescLeft,
+    table.memberdecls .memTemplItemLeft {
+        border-bottom: 0;
+        padding-bottom: 0;
+    }
+
+    table.memberdecls .memTemplItemLeft {
+        padding-top: 0;
+    }
+
+    table.memberdecls .mdescLeft {
+        margin-bottom: calc(0px - var(--page-font-size));
+    }
+
+    table.memberdecls .memItemRight, 
+    table.memberdecls .mdescRight,
+    table.memberdecls .memTemplItemRight {
+        border-top: 0;
+        padding-top: 0;
+        padding-right: var(--spacing-large);
+        overflow-x: auto;
+    }
+
+    table.memberdecls tr[class^='memitem']:not(.inherit) {
+        display: block;
+        width: calc(100vw - 2 * var(--spacing-large));
+    }
+
+    table.memberdecls .mdescRight {
+        color: var(--page-foreground-color);
+    }
+
+    table.memberdecls tr.inherit {
+        visibility: hidden;
+    }
+
+    table.memberdecls tr[style="display: table-row;"] {
+        display: block !important;
+        visibility: visible;
+        width: calc(100vw - 2 * var(--spacing-large));
+        animation: fade .5s;
+    }
+
+    @keyframes fade {
+        0% {
+            opacity: 0;
+            max-height: 0;
+        }
+
+        100% {
+            opacity: 1;
+            max-height: 200px;
+        }
+    }
+}
+
+
+/*
+ Horizontal Rule
+ */
+
+hr {
+    margin-top: var(--spacing-large);
+    margin-bottom: var(--spacing-large);
+    height: 1px;
+    background-color: var(--separator-color);
+    border: 0;
+}
+
+.contents hr {
+    box-shadow: 100px 0 0 var(--separator-color),
+                -100px 0 0 var(--separator-color),
+                500px 0 0 var(--separator-color),
+                -500px 0 0 var(--separator-color),
+                1500px 0 0 var(--separator-color),
+                -1500px 0 0 var(--separator-color),
+                2000px 0 0 var(--separator-color),
+                -2000px 0 0 var(--separator-color);
+}
+
+.contents img, .contents .center, .contents center, .contents div.image object {
+    max-width: 100%;
+    overflow: auto;
+}
+
+@media screen and (max-width: 767px) {
+    .contents .dyncontent > .center, .contents > center {
+        margin-left: calc(0px - var(--spacing-large));
+        margin-right: calc(0px - var(--spacing-large));
+        max-width: calc(100% + 2 * var(--spacing-large));
+    }
+}
+
+/*
+ Directories
+ */
+div.directory {
+    border-top: 1px solid var(--separator-color);
+    border-bottom: 1px solid var(--separator-color);
+    width: auto;
+}
+
+table.directory {
+    font-family: var(--font-family);
+    font-size: var(--page-font-size);
+    font-weight: normal;
+    width: 100%;
+}
+
+table.directory td.entry, table.directory td.desc {
+    padding: calc(var(--spacing-small) / 2) var(--spacing-small);
+    line-height: var(--table-line-height);
+}
+
+table.directory tr.even td:last-child {
+    border-radius: 0 var(--border-radius-small) var(--border-radius-small) 0;
+}
+
+table.directory tr.even td:first-child {
+    border-radius: var(--border-radius-small) 0 0 var(--border-radius-small);
+}
+
+table.directory tr.even:last-child td:last-child {
+    border-radius: 0 var(--border-radius-small) 0 0;
+}
+
+table.directory tr.even:last-child td:first-child {
+    border-radius: var(--border-radius-small) 0 0 0;
+}
+
+table.directory td.desc {
+    min-width: 250px;
+}
+
+table.directory tr.even {
+    background-color: var(--odd-color);
+}
+
+table.directory tr.odd {
+    background-color: transparent;
+}
+
+.icona {
+    width: auto;
+    height: auto;
+    margin: 0 var(--spacing-small);
+}
+
+.icon {
+    background: var(--primary-color);
+    border-radius: var(--border-radius-small);
+    font-size: var(--page-font-size);
+    padding: calc(var(--page-font-size) / 5);
+    line-height: var(--page-font-size);
+    transform: scale(0.8);
+    height: auto;
+    width: var(--page-font-size);
+    user-select: none;
+}
+
+.iconfopen, .icondoc, .iconfclosed {
+    background-position: center;
+    margin-bottom: 0;
+    height: var(--table-line-height);
+}
+
+.icondoc {
+    filter: saturate(0.2);
+}
+
+@media screen and (max-width: 767px) {
+    div.directory {
+        margin-left: calc(0px - var(--spacing-large));
+        margin-right: calc(0px - var(--spacing-large));
+    }
+}
+
+@media (prefers-color-scheme: dark) {
+    html:not(.light-mode) .iconfopen, html:not(.light-mode) .iconfclosed {
+        filter: hue-rotate(180deg) invert();
+    }
+}
+
+html.dark-mode .iconfopen, html.dark-mode .iconfclosed {
+    filter: hue-rotate(180deg) invert();
+}
+
+/*
+ Class list
+ */
+
+.classindex dl.odd {
+    background: var(--odd-color);
+    border-radius: var(--border-radius-small);
+}
+
+.classindex dl.even {
+    background-color: transparent;
+}
+
+/* 
+ Class Index Doxygen 1.8 
+*/
+
+table.classindex {
+    margin-left: 0;
+    margin-right: 0;
+    width: 100%;
+}
+
+table.classindex table div.ah {
+    background-image: none;
+    background-color: initial;
+    border-color: var(--separator-color);
+    color: var(--page-foreground-color);
+    box-shadow: var(--box-shadow);
+    border-radius: var(--border-radius-large);
+    padding: var(--spacing-small);
+}
+
+div.qindex {
+    background-color: var(--odd-color);
+    border-radius: var(--border-radius-small);
+    border: 1px solid var(--separator-color);
+    padding: var(--spacing-small) 0;
+}
+
+/*
+  Footer and nav-path
+ */
+
+#nav-path {
+    width: 100%;
+}
+
+#nav-path ul {
+    background-image: none;
+    background: var(--page-background-color);
+    border: none;
+    border-top: 1px solid var(--separator-color);
+    border-bottom: 1px solid var(--separator-color);
+    border-bottom: 0;
+    box-shadow: 0 0.75px 0 var(--separator-color);
+    font-size: var(--navigation-font-size);
+}
+
+img.footer {
+    width: 60px;
+}
+
+.navpath li.footer {
+    color: var(--page-secondary-foreground-color);
+}
+
+address.footer {
+    color: var(--page-secondary-foreground-color);
+    margin-bottom: var(--spacing-large);
+}
+
+#nav-path li.navelem {
+    background-image: none;
+    display: flex;
+    align-items: center;
+}
+
+.navpath li.navelem a {
+    text-shadow: none;
+    display: inline-block;
+    color: var(--primary-color) !important;
+}
+
+.navpath li.navelem b {
+    color: var(--primary-dark-color);
+    font-weight: 500;
+}
+
+li.navelem {
+    padding: 0;
+    margin-left: -8px;
+}
+
+li.navelem:first-child {
+    margin-left: var(--spacing-large);
+}
+
+li.navelem:first-child:before {
+    display: none;
+}
+
+#nav-path li.navelem:after {
+    content: '';
+    border: 5px solid var(--page-background-color);
+    border-bottom-color: transparent;
+    border-right-color: transparent;
+    border-top-color: transparent;
+    transform: translateY(-1px) scaleY(4.2);
+    z-index: 10;
+    margin-left: 6px;
+}
+
+#nav-path li.navelem:before {
+    content: '';
+    border: 5px solid var(--separator-color);
+    border-bottom-color: transparent;
+    border-right-color: transparent;
+    border-top-color: transparent;
+    transform: translateY(-1px) scaleY(3.2);
+    margin-right: var(--spacing-small);
+}
+
+.navpath li.navelem a:hover {
+    color: var(--primary-color);
+}
+
+/*
+ Scrollbars for Webkit
+*/
+
+#nav-tree::-webkit-scrollbar,
+div.fragment::-webkit-scrollbar,
+pre.fragment::-webkit-scrollbar,
+div.memproto::-webkit-scrollbar,
+.contents center::-webkit-scrollbar,
+.contents .center::-webkit-scrollbar,
+.contents table:not(.memberdecls):not(.mlabels):not(.fieldtable):not(.memname) tbody::-webkit-scrollbar,
+div.contents .toc::-webkit-scrollbar,
+.contents .dotgraph::-webkit-scrollbar,
+.contents .tabs-overview-container::-webkit-scrollbar {
+    background: transparent;
+    width: calc(var(--webkit-scrollbar-size) + var(--webkit-scrollbar-padding) + var(--webkit-scrollbar-padding));
+    height: calc(var(--webkit-scrollbar-size) + var(--webkit-scrollbar-padding) + var(--webkit-scrollbar-padding));
+}
+
+#nav-tree::-webkit-scrollbar-thumb,
+div.fragment::-webkit-scrollbar-thumb,
+pre.fragment::-webkit-scrollbar-thumb,
+div.memproto::-webkit-scrollbar-thumb,
+.contents center::-webkit-scrollbar-thumb,
+.contents .center::-webkit-scrollbar-thumb,
+.contents table:not(.memberdecls):not(.mlabels):not(.fieldtable):not(.memname) tbody::-webkit-scrollbar-thumb,
+div.contents .toc::-webkit-scrollbar-thumb,
+.contents .dotgraph::-webkit-scrollbar-thumb,
+.contents .tabs-overview-container::-webkit-scrollbar-thumb {
+    background-color: transparent;
+    border: var(--webkit-scrollbar-padding) solid transparent;
+    border-radius: calc(var(--webkit-scrollbar-padding) + var(--webkit-scrollbar-padding));
+    background-clip: padding-box;  
+}
+
+#nav-tree:hover::-webkit-scrollbar-thumb,
+div.fragment:hover::-webkit-scrollbar-thumb,
+pre.fragment:hover::-webkit-scrollbar-thumb,
+div.memproto:hover::-webkit-scrollbar-thumb,
+.contents center:hover::-webkit-scrollbar-thumb,
+.contents .center:hover::-webkit-scrollbar-thumb,
+.contents table:not(.memberdecls):not(.mlabels):not(.fieldtable):not(.memname) tbody:hover::-webkit-scrollbar-thumb,
+div.contents .toc:hover::-webkit-scrollbar-thumb,
+.contents .dotgraph:hover::-webkit-scrollbar-thumb,
+.contents .tabs-overview-container:hover::-webkit-scrollbar-thumb {
+    background-color: var(--webkit-scrollbar-color);
+}
+
+#nav-tree::-webkit-scrollbar-track,
+div.fragment::-webkit-scrollbar-track,
+pre.fragment::-webkit-scrollbar-track,
+div.memproto::-webkit-scrollbar-track,
+.contents center::-webkit-scrollbar-track,
+.contents .center::-webkit-scrollbar-track,
+.contents table:not(.memberdecls):not(.mlabels):not(.fieldtable):not(.memname) tbody::-webkit-scrollbar-track,
+div.contents .toc::-webkit-scrollbar-track,
+.contents .dotgraph::-webkit-scrollbar-track,
+.contents .tabs-overview-container::-webkit-scrollbar-track {
+    background: transparent;
+}
+
+#nav-tree::-webkit-scrollbar-corner {
+    background-color: var(--side-nav-background);
+}
+
+#nav-tree,
+div.fragment,
+pre.fragment,
+div.memproto,
+.contents center,
+.contents .center,
+.contents table:not(.memberdecls):not(.mlabels):not(.fieldtable):not(.memname) tbody,
+div.contents .toc {
+    overflow-x: auto;
+    overflow-x: overlay;
+}
+
+#nav-tree {
+    overflow-x: auto;
+    overflow-y: auto;
+    overflow-y: overlay;
+}
+
+/*
+ Scrollbars for Firefox
+*/
+
+#nav-tree,
+div.fragment,
+pre.fragment,
+div.memproto,
+.contents center,
+.contents .center,
+.contents table:not(.memberdecls):not(.mlabels):not(.fieldtable):not(.memname) tbody,
+div.contents .toc,
+.contents .dotgraph,
+.contents .tabs-overview-container {
+    scrollbar-width: thin;
+}
+
+/*
+  Optional Dark mode toggle button
+*/
+
+doxygen-awesome-dark-mode-toggle {
+    display: inline-block;
+    margin: 0 0 0 var(--spacing-small);
+    padding: 0;
+    width: var(--searchbar-height);
+    height: var(--searchbar-height);
+    background: none;
+    border: none;
+    border-radius: var(--searchbar-height);
+    vertical-align: middle;
+    text-align: center;
+    line-height: var(--searchbar-height);
+    font-size: 22px;
+    display: flex;
+    align-items: center;
+    justify-content: center;
+    user-select: none;
+    cursor: pointer;
+}
+
+doxygen-awesome-dark-mode-toggle > svg {
+    transition: transform .1s ease-in-out;
+}
+
+doxygen-awesome-dark-mode-toggle:active > svg {
+    transform: scale(.5);
+}
+
+doxygen-awesome-dark-mode-toggle:hover {
+    background-color: rgba(0,0,0,.03);
+}
+
+html.dark-mode doxygen-awesome-dark-mode-toggle:hover {
+    background-color: rgba(0,0,0,.18);
+}
+
+/*
+ Optional fragment copy button
+*/
+.doxygen-awesome-fragment-wrapper {
+    position: relative;
+}
+
+doxygen-awesome-fragment-copy-button {
+    opacity: 0;
+    background: var(--fragment-background);
+    width: 28px;
+    height: 28px;
+    position: absolute;
+    right: calc(var(--spacing-large) - (var(--spacing-large) / 2.5));
+    top: calc(var(--spacing-large) - (var(--spacing-large) / 2.5));
+    border: 1px solid var(--fragment-foreground);
+    cursor: pointer;
+    border-radius: var(--border-radius-small);
+    display: flex;
+    justify-content: center;
+    align-items: center;
+}
+
+.doxygen-awesome-fragment-wrapper:hover doxygen-awesome-fragment-copy-button, doxygen-awesome-fragment-copy-button.success {
+    opacity: .28;
+}
+
+doxygen-awesome-fragment-copy-button:hover, doxygen-awesome-fragment-copy-button.success {
+    opacity: 1 !important;
+}
+
+doxygen-awesome-fragment-copy-button:active:not([class~=success]) svg {
+    transform: scale(.91);
+}
+
+doxygen-awesome-fragment-copy-button svg {
+    fill: var(--fragment-foreground);
+    width: 18px;
+    height: 18px;
+}
+
+doxygen-awesome-fragment-copy-button.success svg {
+    fill: rgb(14, 168, 14);
+}
+
+doxygen-awesome-fragment-copy-button.success {
+    border-color: rgb(14, 168, 14);
+}
+
+@media screen and (max-width: 767px) {
+    .textblock > .doxygen-awesome-fragment-wrapper > doxygen-awesome-fragment-copy-button,
+    .textblock li > .doxygen-awesome-fragment-wrapper > doxygen-awesome-fragment-copy-button,
+    .memdoc li > .doxygen-awesome-fragment-wrapper > doxygen-awesome-fragment-copy-button,
+    .memdoc > .doxygen-awesome-fragment-wrapper > doxygen-awesome-fragment-copy-button,
+    dl dd > .doxygen-awesome-fragment-wrapper > doxygen-awesome-fragment-copy-button {
+        right: 0;
+    }
+}
+
+/*
+ Optional paragraph link button
+*/
+
+a.anchorlink {
+    font-size: 90%;
+    margin-left: var(--spacing-small);
+    color: var(--page-foreground-color) !important;
+    text-decoration: none;
+    opacity: .15;
+    display: none;
+    transition: opacity .1s ease-in-out, color .1s ease-in-out;
+}
+
+a.anchorlink svg {
+    fill: var(--page-foreground-color);
+}
+
+h3 a.anchorlink svg, h4 a.anchorlink svg {
+    margin-bottom: -3px;
+    margin-top: -4px;
+}
+
+a.anchorlink:hover {
+    opacity: .45;
+}
+
+h2:hover a.anchorlink, h1:hover a.anchorlink, h3:hover a.anchorlink, h4:hover a.anchorlink  {
+    display: inline-block;
+}
+
+/*
+ Optional tab feature
+*/
+
+.tabbed ul {
+    padding-inline-start: 0px;
+    margin: 0;
+    padding: var(--spacing-small) 0;
+    border-bottom: 1px solid var(--separator-color);
+}
+
+.tabbed li {
+    display: none;
+}
+
+.tabbed li.selected {
+    display: block;
+}
+
+.tabs-overview-container {
+    overflow-x: auto;
+    display: block;
+    overflow-y: visible;
+}
+
+.tabs-overview {
+    border-bottom: 1px solid var(--separator-color);
+    display: flex;
+    flex-direction: row;
+}
+
+.tabs-overview button.tab-button {
+    color: var(--page-foreground-color);
+    margin: 0;
+    border: none;
+    background: transparent;
+    padding: var(--spacing-small) 0;
+    display: inline-block;
+    font-size: var(--page-font-size);
+    cursor: pointer;
+    box-shadow: 0 1px 0 0 var(--separator-color);
+}
+
+.tabs-overview button.tab-button .tab-title {
+    float: left;
+    white-space: nowrap;
+    padding: var(--spacing-small) var(--spacing-large);
+    border-radius: var(--border-radius-medium);
+}
+
+.tabs-overview button.tab-button:not(:last-child) .tab-title {
+    box-shadow: 8px 0 0 -7px var(--separator-color);
+}
+
+.tabs-overview button.tab-button:hover .tab-title {
+    background: var(--primary-color);
+    color: var(--page-background-color);
+    box-shadow: none;
+}
+
+.tabs-overview button.tab-button.active {
+    color: var(--primary-color);
+    box-shadow: 0 1px 0 0 var(--primary-color), inset 0 -1px 0 0 var(--primary-color);
+}
+
+@media (prefers-color-scheme: dark) {
+    html:not(.light-mode) .tabs-overview button.tab-button:hover .tab-title {
+        color: var(--page-foreground-color);
+    }
+}
+
+html.dark-mode .tabs-overview button.tab-button:hover .tab-title {
+    color: var(--page-foreground-color);
+}
\ No newline at end of file
diff --git a/doxygen-awesome-css/doxygen-custom/custom-alternative.css b/doxygen-awesome-css/doxygen-custom/custom-alternative.css
new file mode 100644
index 0000000..e66c1ae
--- /dev/null
+++ b/doxygen-awesome-css/doxygen-custom/custom-alternative.css
@@ -0,0 +1,54 @@
+html.alternative {
+    /* primary theme color. This will affect the entire websites color scheme: links, arrows, labels, ... */
+    --primary-color: #AF7FE4;
+    --primary-dark-color: #9270E4;
+    --primary-light-color: #7aabd6;
+    --primary-lighter-color: #cae1f1;
+    --primary-lightest-color: #e9f1f8;
+
+    /* page base colors */
+    --page-background-color: white;
+    --page-foreground-color: #2c3e50;
+    --page-secondary-foreground-color: #67727e;
+
+
+    --border-radius-large: 22px;
+    --border-radius-small: 9px;
+    --border-radius-medium: 14px;
+    --spacing-small: 8px;
+    --spacing-medium: 14px;
+    --spacing-large: 19px;
+
+    --top-height: 125px;
+
+    --side-nav-background: #324067;
+    --side-nav-foreground: #F1FDFF;
+    --header-foreground: var(--side-nav-foreground);
+    --searchbar-background: var(--side-nav-foreground);
+    --searchbar-border-radius: var(--border-radius-medium);
+    --header-background: var(--side-nav-background);
+    --header-foreground: var(--side-nav-foreground);
+
+    --toc-background: rgb(243, 240, 252);
+    --toc-foreground: var(--page-foreground-color);
+}
+
+html.alternative.dark-mode {
+    color-scheme: dark;
+
+    --primary-color: #AF7FE4;
+    --primary-dark-color: #9270E4;
+    --primary-light-color: #4779ac;
+    --primary-lighter-color: #191e21;
+    --primary-lightest-color: #191a1c;
+
+    --page-background-color: #1C1D1F;
+    --page-foreground-color: #d2dbde;
+    --page-secondary-foreground-color: #859399;
+    --separator-color: #3a3246;
+    --side-nav-background: #171D32;
+    --side-nav-foreground: #F1FDFF;
+    --toc-background: #20142C;
+    --searchbar-background: var(--page-background-color);
+
+}
\ No newline at end of file
diff --git a/doxygen-awesome-css/doxygen-custom/custom.css b/doxygen-awesome-css/doxygen-custom/custom.css
new file mode 100644
index 0000000..23b91c8
--- /dev/null
+++ b/doxygen-awesome-css/doxygen-custom/custom.css
@@ -0,0 +1,101 @@
+.github-corner svg {
+    fill: var(--primary-light-color);
+    color: var(--page-background-color);
+    width: 72px;
+    height: 72px;
+}
+
+@media screen and (max-width: 767px) {
+    .github-corner svg {
+        width: 50px;
+        height: 50px;
+    }
+    #projectnumber {
+        margin-right: 22px;
+    }
+}
+
+.alter-theme-button {
+    display: inline-block;
+    cursor: pointer;
+    background: var(--primary-color);
+    color: var(--page-background-color) !important;
+    border-radius: var(--border-radius-medium);
+    padding: var(--spacing-small) var(--spacing-medium);
+    text-decoration: none;
+}
+
+.next_section_button {
+    display: block;
+    padding: var(--spacing-large) 0 var(--spacing-small) 0;
+    color: var(--page-background-color);
+    user-select: none;
+}
+
+.next_section_button::after {
+    /* clearfix */
+    content: "";
+    clear: both;
+    display: table;
+}
+
+.next_section_button a {
+    overflow: hidden;
+    float: right;
+    border: 1px solid var(--separator-color);
+    padding: var(--spacing-medium) calc(var(--spacing-large) / 2) var(--spacing-medium) var(--spacing-large);
+    border-radius: var(--border-radius-medium);
+    color: var(--page-secondary-foreground-color) !important;
+    text-decoration: none;
+    background-color: var(--page-background-color);
+    transition: color .08s ease-in-out, background-color .1s ease-in-out;
+}
+
+.next_section_button a:hover {
+    color: var(--page-foreground-color) !important;
+    background-color: var(--odd-color);
+}
+
+.next_section_button a::after {
+    content: '〉';
+    color: var(--page-secondary-foreground-color) !important;
+    padding-left: var(--spacing-large);
+    display: inline-block;
+    transition: color .08s ease-in-out, transform .09s ease-in-out;
+}
+
+.next_section_button a:hover::after {
+    color: var(--page-foreground-color) !important;
+    transform: translateX(3px);
+}
+
+.alter-theme-button:hover {
+    background: var(--primary-dark-color);
+}
+
+html.dark-mode .darkmode_inverted_image img, /* < doxygen 1.9.3 */
+html.dark-mode .darkmode_inverted_image object[type="image/svg+xml"] /* doxygen 1.9.3 */ {
+    filter: brightness(89%) hue-rotate(180deg) invert();
+}
+
+.bordered_image {
+    border-radius: var(--border-radius-small);
+    border: 1px solid var(--separator-color);
+    display: inline-block;
+    overflow: hidden;
+}
+
+html.dark-mode .bordered_image img, /* < doxygen 1.9.3 */
+html.dark-mode .bordered_image object[type="image/svg+xml"] /* doxygen 1.9.3 */ {
+    border-radius: var(--border-radius-small);
+}
+
+.title_screenshot {
+    filter: drop-shadow(0px 3px 10px rgba(0,0,0,0.22));
+    max-width: 500px;
+    margin: var(--spacing-large) 0;
+}
+
+.title_screenshot .caption {
+    display: none;
+}
diff --git a/doxygen-awesome-css/doxygen-custom/header.html b/doxygen-awesome-css/doxygen-custom/header.html
new file mode 100644
index 0000000..7f37e6f
--- /dev/null
+++ b/doxygen-awesome-css/doxygen-custom/header.html
@@ -0,0 +1,90 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen $doxygenversion"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+
+<!-- BEGIN opengraph metadata -->
+<meta property="og:title" content="Doxygen Awesome" />
+<meta property="og:image" content="https://repository-images.githubusercontent.com/348492097/4f16df80-88fb-11eb-9d31-4015ff22c452" />
+<meta property="og:description" content="Custom CSS theme for doxygen html-documentation with lots of customization parameters." />
+<meta property="og:url" content="https://jothepro.github.io/doxygen-awesome-css/" />
+<!-- END opengraph metadata -->
+
+<!-- BEGIN twitter metadata -->
+<meta name="twitter:image:src" content="https://repository-images.githubusercontent.com/348492097/4f16df80-88fb-11eb-9d31-4015ff22c452" />
+<meta name="twitter:title" content="Doxygen Awesome" />
+<meta name="twitter:description" content="Custom CSS theme for doxygen html-documentation with lots of customization parameters." />
+<!-- END twitter metadata -->
+
+<!--BEGIN PROJECT_NAME--><title>$projectname: $title</title><!--END PROJECT_NAME-->
+<!--BEGIN !PROJECT_NAME--><title>$title</title><!--END !PROJECT_NAME-->
+<link href="$relpath^tabs.css" rel="stylesheet" type="text/css"/>
+<link rel="icon" type="image/svg+xml" href="logo.drawio.svg"/>
+<script type="text/javascript" src="$relpath^jquery.js"></script>
+<script type="text/javascript" src="$relpath^dynsections.js"></script>
+<script type="text/javascript" src="$relpath^doxygen-awesome-darkmode-toggle.js"></script>
+<script type="text/javascript" src="$relpath^doxygen-awesome-fragment-copy-button.js"></script>
+<script type="text/javascript" src="$relpath^doxygen-awesome-paragraph-link.js"></script>
+<script type="text/javascript" src="$relpath^doxygen-awesome-interactive-toc.js"></script>
+<script type="text/javascript" src="$relpath^doxygen-awesome-tabs.js"></script>
+<script type="text/javascript" src="$relpath^toggle-alternative-theme.js"></script>
+<script type="text/javascript">
+    DoxygenAwesomeFragmentCopyButton.init()
+    DoxygenAwesomeDarkModeToggle.init()
+    DoxygenAwesomeParagraphLink.init()
+    DoxygenAwesomeInteractiveToc.init()
+    DoxygenAwesomeTabs.init()
+</script>
+$treeview
+$search
+$mathjax
+<link href="$relpath^$stylesheet" rel="stylesheet" type="text/css" />
+$extrastylesheet
+</head>
+<body>
+
+<!-- https://tholman.com/github-corners/ -->
+<a href="https://github.com/jothepro/doxygen-awesome-css" class="github-corner" title="View source on GitHub" target="_blank">
+    <svg viewBox="0 0 250 250" width="40" height="40" style="position: absolute; top: 0; border: 0; right: 0; z-index: 99;" aria-hidden="true">
+    <path d="M0,0 L115,115 L130,115 L142,142 L250,250 L250,0 Z"></path><path d="M128.3,109.0 C113.8,99.7 119.0,89.6 119.0,89.6 C122.0,82.7 120.5,78.6 120.5,78.6 C119.2,72.0 123.4,76.3 123.4,76.3 C127.3,80.9 125.5,87.3 125.5,87.3 C122.9,97.6 130.6,101.9 134.4,103.2" fill="currentColor" style="transform-origin: 130px 106px;" class="octo-arm"></path><path d="M115.0,115.0 C114.9,115.1 118.7,116.5 119.8,115.4 L133.7,101.6 C136.9,99.2 139.9,98.4 142.2,98.6 C133.8,88.0 127.5,74.4 143.8,58.0 C148.5,53.4 154.0,51.2 159.7,51.0 C160.3,49.4 163.2,43.6 171.4,40.1 C171.4,40.1 176.1,42.5 178.8,56.2 C183.1,58.6 187.2,61.8 190.9,65.4 C194.5,69.0 197.7,73.2 200.1,77.6 C213.8,80.2 216.3,84.9 216.3,84.9 C212.7,93.1 206.9,96.0 205.4,96.6 C205.1,102.4 203.0,107.8 198.3,112.5 C181.9,128.9 168.3,122.5 157.7,114.1 C157.9,116.9 156.7,120.9 152.7,124.9 L141.0,136.5 C139.8,137.7 141.6,141.9 141.8,141.8 Z" fill="currentColor" class="octo-body"></path></svg></a><style>.github-corner:hover .octo-arm{animation:octocat-wave 560ms ease-in-out}@keyframes octocat-wave{0%,100%{transform:rotate(0)}20%,60%{transform:rotate(-25deg)}40%,80%{transform:rotate(10deg)}}@media (max-width:500px){.github-corner:hover .octo-arm{animation:none}.github-corner .octo-arm{animation:octocat-wave 560ms ease-in-out}}</style>
+
+
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+
+<!--BEGIN TITLEAREA-->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <!--BEGIN PROJECT_LOGO-->
+  <td id="projectlogo"><img alt="Logo" src="$relpath^$projectlogo"/></td>
+  <!--END PROJECT_LOGO-->
+  <!--BEGIN PROJECT_NAME-->
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">$projectname
+   <!--BEGIN PROJECT_NUMBER-->&#160;<span id="projectnumber">$projectnumber</span><!--END PROJECT_NUMBER-->
+   </div>
+   <!--BEGIN PROJECT_BRIEF--><div id="projectbrief">$projectbrief</div><!--END PROJECT_BRIEF-->
+  </td>
+  <!--END PROJECT_NAME-->
+  <!--BEGIN !PROJECT_NAME-->
+   <!--BEGIN PROJECT_BRIEF-->
+    <td style="padding-left: 0.5em;">
+    <div id="projectbrief">$projectbrief</div>
+    </td>
+   <!--END PROJECT_BRIEF-->
+  <!--END !PROJECT_NAME-->
+  <!--BEGIN DISABLE_INDEX-->
+   <!--BEGIN SEARCHENGINE-->
+   <td>$searchbox</td>
+   <!--END SEARCHENGINE-->
+  <!--END DISABLE_INDEX-->
+ </tr>
+ </tbody>
+</table>
+</div>
+<!--END TITLEAREA-->
+<!-- end header part -->
diff --git a/doxygen-awesome-css/doxygen-custom/toggle-alternative-theme.js b/doxygen-awesome-css/doxygen-custom/toggle-alternative-theme.js
new file mode 100644
index 0000000..72c3731
--- /dev/null
+++ b/doxygen-awesome-css/doxygen-custom/toggle-alternative-theme.js
@@ -0,0 +1,12 @@
+
+let original_theme_active = true;
+
+function toggle_alternative_theme() {
+    if(original_theme_active) {
+        document.documentElement.classList.add("alternative")
+        original_theme_active = false;
+    } else {
+        document.documentElement.classList.remove("alternative")
+        original_theme_active = true;
+    }
+}
\ No newline at end of file
diff --git a/doxygen-awesome-css/img/screenshot.png b/doxygen-awesome-css/img/screenshot.png
new file mode 100644
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+        <g transform="translate(-0.5 -0.5)">
+            <switch>
+                <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
+                    <div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 99px; height: 1px; padding-top: 23px; margin-left: 373px;">
+                        <div data-drawio-colors="color: #262626; " style="box-sizing: border-box; font-size: 0px; text-align: center;">
+                            <div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(38, 38, 38); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;">
+                                Search
+                            </div>
+                        </div>
+                    </div>
+                </foreignObject>
+                <text x="422" y="27" fill="#262626" font-family="Helvetica" font-size="12px" text-anchor="middle">
+                    Search
+                </text>
+            </switch>
+        </g>
+        <g transform="translate(-0.5 -0.5)">
+            <switch>
+                <foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;">
+                    <div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe flex-start; width: 32px; height: 1px; padding-top: 23px; margin-left: 19px;">
+                        <div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: left;">
+                            <div style="display: inline-block; font-size: 20px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;">
+                                <font color="#262626">
+                                    Title
+                                </font>
+                            </div>
+                        </div>
+                    </div>
+                </foreignObject>
+                <text x="19" y="29" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="20px">
+                    Tit...
+                </text>
+            </switch>
+        </g>
+    </g>
+    <switch>
+        <g requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility"/>
+        <a transform="translate(0,-5)" xlink:href="https://www.diagrams.net/doc/faq/svg-export-text-problems" target="_blank">
+            <text text-anchor="middle" font-size="10px" x="50%" y="100%">
+                Text is not SVG - cannot display
+            </text>
+        </a>
+    </switch>
+</svg>
\ No newline at end of file
diff --git a/doxygen-awesome-css/include/MyLibrary/example.hpp b/doxygen-awesome-css/include/MyLibrary/example.hpp
new file mode 100644
index 0000000..75f4c75
--- /dev/null
+++ b/doxygen-awesome-css/include/MyLibrary/example.hpp
@@ -0,0 +1,157 @@
+#pragma once
+#include <string>
+
+namespace MyLibrary {
+
+enum Color { red, green, blue };
+
+/**
+ * @brief Example class to demonstrate the features of the custom CSS.
+ *
+ * @author jothepro
+ *
+ */
+class Example {
+public:
+    /**
+     * @brief brief summary
+     *
+     * doxygen test documentation
+     *
+     * @param test this is the only parameter of this test function. It does nothing!
+     *
+     * # Supported elements
+     *
+     * These elements have been tested with the custom CSS.
+     *
+     * ## Tables
+     *
+     * The table content is scrollable if the table gets too wide.
+     * 
+     * | first_column | second_column | third_column | fourth_column | fifth_column | sixth_column | seventh_column | eighth_column | ninth_column |
+     * |--------------|---------------|--------------|---------------|--------------|--------------|----------------|---------------|--------------|
+     * | 1            | 2             | 3            | 4             | 5            | 6            | 7              | 8             | 9            |
+     *
+     * A table can contain images:
+     *
+     * | Column 1                  | Column 2                                        |
+     * |---------------------------|-------------------------------------------------|
+     * | ![doxygen](testimage.png) | ← the image should not be inverted in dark-mode |
+     *
+     * Complex [Doxygen tables](https://www.doxygen.nl/manual/tables.html) are also supported as seen in @ref multi_row "this example":
+     * 
+     * <table>
+     * <caption id="multi_row">Complex table</caption>
+     * <tr><th>Column 1                      <th>Column 2        <th>Column 3
+     * <tr><td rowspan="2">cell row=1+2,col=1<td>cell row=1,col=2<td>cell row=1,col=3
+     * <tr><td rowspan="2">cell row=2+3,col=2                    <td>cell row=2,col=3
+     * <tr><td>cell row=3,col=1                                  <td rowspan="2">cell row=3+4,col=3
+     * <tr><td colspan="2">cell row=4,col=1+2
+     * <tr><td>cell row=5,col=1              <td colspan="2">cell row=5,col=2+3
+     * <tr><td colspan="2" rowspan="2">cell row=6+7,col=1+2      <td>cell row=6,col=3
+     * <tr>                                                      <td>cell row=7,col=3
+     * <tr><td>cell row=8,col=1              <td>cell row=8,col=2\n
+     *   <table>
+     *     <tr><td>Inner cell row=1,col=1<td>Inner cell row=1,col=2
+     *     <tr><td>Inner cell row=2,col=1<td>Inner cell row=2,col=2
+     *   </table>
+     *   <td>cell row=8,col=3
+     *   <ul>
+     *     <li>Item 1
+     *     <li>Item 2
+     *   </ul>
+     * </table>
+     * 
+     * A table can be centered with the `<center>` html tag:
+     * <center>
+     * | Foo         | Bar            | Baz                       | FooBar      |
+     * |-------------|----------------|---------------------------|-------------|
+     * | Lorem imsum | dolor sit amet | cenectetur adipisici elit | At vero eos |
+     * </center>
+     *
+     * Embedded Graphviz graphs support dark mode and can be scrolled once they get too wide:
+     * \dot Graphviz with a caption
+     *  digraph example {
+     *      node [fontsize="12"];
+     *      rankdir="LR"
+     *      a -> b -> c -> d -> e -> f -> g -> h -> i -> j -> k;
+     *  }
+     *  \enddot
+     *
+     * ## Lists
+     *
+     * - element 1
+     * - element 2
+     *
+     * 1. element 1
+     *    ```
+     *    code in lists
+     *    ```
+     * 2. element 2
+     *
+     * ## Quotes
+     *
+     * > Lorem ipsum dolor sit amet, consectetur adipiscing elit, sed do eiusmod tempor incididunt 
+     * > ut labore et dolore magna aliqua. Vitae proin sagittis nisl rhoncus mattis rhoncus urna neque viverra. 
+     * > Velit sed ullamcorper morbi tincidunt ornare. 
+     * > 
+     * > Lorem ipsum dolor sit amet consectetur adipiscing elit duis.
+     * *- jothepro*
+     *
+     * ## Code block
+     *
+     * ```cpp
+     * auto x = "code within md fences (```)";
+     * ```
+     *
+     * @code{.cpp}
+     * // code within @code block
+     * while(true) {
+     *    auto example = std::make_shared<Example>(5);
+     *    example->test("test");
+     * }
+     * 
+     * @endcode
+     *
+     *     // code within indented code block
+     *     auto test = std::shared_ptr<Example(5);
+     *
+     *
+     * Inline `code` elements in a text. *Lorem ipsum dolor sit amet, consectetur adipiscing elit, sed do eiusmod tempor incididunt ut labore et dolore magna aliqua.* This also works within multiline text and does not break the `layout`.
+     *
+     *
+     * ## Special hints
+     *
+     * @warning this is a warning only for demonstration purposes
+     *
+     * @note this is a note to show that notes work. They can also include `code`:
+     * @code{.c}
+     * void this_looks_awesome();
+     * @endcode
+     *
+     * @bug example bug
+     *
+     * @deprecated None of this will be deprecated, because it's beautiful!
+     *
+     * @invariant This is an invariant
+     *
+     * @pre This is a precondition
+     *
+     * @post This is a postcondition
+     *
+     * @todo This theme is never finished!
+     *
+     * @remark This is awesome!
+     *
+     */
+    std::string test(const std::string& test);
+
+    virtual int virtualfunc() = 0;
+
+    static bool staticfunc();
+
+
+};
+
+}
+
diff --git a/doxygen-awesome-css/include/MyLibrary/subclass-example.hpp b/doxygen-awesome-css/include/MyLibrary/subclass-example.hpp
new file mode 100644
index 0000000..1e6ae36
--- /dev/null
+++ b/doxygen-awesome-css/include/MyLibrary/subclass-example.hpp
@@ -0,0 +1,46 @@
+#pragma once
+#include <string>
+#include "example.hpp"
+#include <iostream>
+
+namespace MyLibrary {
+
+    /**
+     * @brief some subclass
+     */
+    template<typename TemplatedClass>
+    class SubclassExample : public Example {
+    public:
+
+        /**
+         * @bug second bug
+         * @return
+         */
+        int virtualfunc() override;
+
+        /**
+         * @brief Template function function
+         */
+        template <typename T>
+        std::shared_ptr<std::string> function_template_test(std::shared_ptr<T>& param);
+
+        /**
+         * @brief Extra long function with lots of parameters and many template types.
+         *
+         * Also has a long return type.
+         *
+         * @param param1 first parameter
+         * @param param2 second parameter
+         * @param parameter3 third parameter
+         */
+        template <typename T, typename Foo, typename Bar, typename Alice, typename Bob, typename Charlie, typename Hello, typename World>
+        std::pair<std::string, std::string> long_function_with_many_parameters(std::shared_ptr<T>& param1, std::shared_ptr<std::string>& param2, bool parameter3, Alice paramater4 Bob parameter 5) {
+            if(true) {
+                std::cout << "this even has some code." << std::endl;
+            }
+        }
+
+    };
+
+}
+
diff --git a/doxygen-awesome-css/logo.drawio.svg b/doxygen-awesome-css/logo.drawio.svg
new file mode 100644
index 0000000..a506ee0
--- /dev/null
+++ b/doxygen-awesome-css/logo.drawio.svg
@@ -0,0 +1 @@
+<svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" version="1.1" width="61px" height="74px" viewBox="-0.5 -0.5 61 74" content="&lt;mxfile host=&quot;drawio-plugin&quot; modified=&quot;2021-03-16T23:58:23.462Z&quot; agent=&quot;5.0 (Macintosh; Intel Mac OS X 10_16_0) AppleWebKit/537.36 (KHTML, like Gecko) Chrome/84.0.4147.105 Safari/537.36&quot; version=&quot;13.7.9&quot; etag=&quot;JoeaGLJ54FcERO7YrWLQ&quot; type=&quot;embed&quot;&gt;&lt;diagram id=&quot;JMB9aH8b_oZ7EWDuqJgx&quot; name=&quot;Page-1&quot;&gt;7VdNc5swEP01HDsjkGPDsSVJe+lMZnzoWYENaAwsI8ux6a+vCCtA4KSu62kmSS+M9LT7tB9P0uDxuDx8VaLOv2MKhRew9ODxay8Igigy3xZoCOC8AzIl0w7yB2AtfwKBjNCdTGHrGGrEQsvaBROsKki0gwmlcO+aPWDh7lqLDGbAOhHFHP0hU513aHjFBvwbyCy3O/uMVkphjQnY5iLF/QjiNx6PFaLuRuUhhqKtna1L53f7zGofmIJKn+RAcTyKYkfJUWC6sdlmCnc1mYHScDhWY3Fvzdk8Br/PzCgCsAStGmNCRJy2JDH4pIV8VMG+edS4rCcZcjMDSu+ZVP3fpwpV+rnVh5ndF5hsPP4l16VhvPbN8AErTWI0re7mMRaonpw5Y8tlHBvcsNzKwnpttVDaslZYgcXIhj3NFW56LS1bbrM44l6m4Wq5MLhxzEDfgZKmAKDWtUhklRFNgqVM7LYb0Enu8I9j9dkVC80KtgS6Lb3fGnYVgXSm/1Ez2fFu7oeTYA/CuIUWU1AILR9d/mN9pR3uUJqde7F88leOWhYLl2GLO5UAOY2FP+GxMm3c6CwNlXlKY9oompFZ3Rps59EOkuw8BoH2BTtNs8EfaZbUdYZkXQGuXhDgR9DYRBycXURj00D+UmMT2ktJLnr9B8HG0IzFcPkHYfUe3oPZqfOjMEiDs1+KEw5n9P/+/1f3f/gq1394lt7erqQ+0HVvpsPPRWc+/KHxm18=&lt;/diagram&gt;&lt;/mxfile&gt;"><defs/><g><path d="M 13 57 L 13.01 57.01 L 15.87 50.14 L 18.37 43.14 L 20.91 36.15 L 23.67 29.25 L 26.4 22.33 Q 30 13 33.71 22.28 L 33.55 22.22 L 35.48 26.91 L 37.49 31.64 L 39.48 36.36 L 41.2 40.97 L 43.05 45.63" fill="none" stroke="#010508" stroke-opacity="0.1" stroke-width="6" stroke-linejoin="round" stroke-linecap="round" stroke-miterlimit="10" pointer-events="stroke"/><path d="M 47.51 56.77 L 47.65 56.93 L 45.43 54.91 L 43.41 53.11 L 41.43 51.35 L 39.63 49.8 L 37.48 47.86 L 37.39 47.64 L 39.79 47.17 L 41.9 45.98 L 44.24 45.37 L 46.48 44.52 L 48.62 43.4 L 48.54 43.39 L 48.58 46.09 L 48.04 48.74 L 48.04 51.43 L 47.8 54.1 L 47.51 56.77 Z Z" fill-opacity="0.1" fill="#010508" stroke="#010508" stroke-opacity="0.1" stroke-width="6" stroke-linejoin="round" stroke-linecap="round" stroke-miterlimit="10" pointer-events="all"/><path d="M 10 43 L 9.94 42.88 L 12.16 41.98 L 14.31 40.96 L 16.51 40.01 L 18.62 38.89 L 20.88 38.1 Q 30 34 40 34 L 40 33.75 L 42 33.83 L 44 33.8 L 46 33.79 L 48 34.05 L 50 34" fill="none" stroke="#010508" stroke-opacity="0.1" stroke-width="7" stroke-linejoin="round" stroke-linecap="round" stroke-miterlimit="10" pointer-events="stroke"/><path d="M 10 54 L 9.97 53.99 L 12.69 47.07 L 15.43 40.16 L 18.07 33.21 L 20.65 26.24 L 23.4 19.33 Q 27 10 30.71 19.28 L 30.66 19.26 L 32.46 23.91 L 34.55 28.66 L 36.26 33.27 L 38.35 38.03 L 40.05 42.63" fill="none" stroke="#1982d2" stroke-width="6" stroke-linejoin="round" stroke-linecap="round" stroke-miterlimit="10" pointer-events="stroke"/><path d="M 44.51 53.77 L 44.56 53.83 L 42.48 51.97 L 40.5 50.21 L 38.48 48.41 L 36.41 46.56 L 34.48 44.86 L 34.55 45.02 L 36.72 44 L 39 43.24 L 41.21 42.28 L 43.48 41.51 L 45.62 40.4 L 45.78 40.42 L 45.51 43.09 L 45.01 45.74 L 44.87 48.42 L 44.94 51.12 L 44.51 53.77 Z Z" fill="#1982d2" stroke="#1982d2" stroke-width="6" stroke-linejoin="round" stroke-linecap="round" stroke-miterlimit="10" pointer-events="all"/><path d="M 7 40 L 7.02 40.05 L 9.28 39.25 L 11.33 38 L 13.48 36.96 L 15.73 36.14 L 17.88 35.1 Q 27 31 37 31 L 37 30.79 L 39 31.11 L 41 30.85 L 43 30.78 L 45 30.89 L 47 31" fill="none" stroke="#1982d2" stroke-width="8" stroke-linejoin="round" stroke-linecap="round" stroke-miterlimit="10" pointer-events="stroke"/></g></svg>
\ No newline at end of file

From 4e8b8037a5d8b3f65a9e2cbf080ec7c891476caa Mon Sep 17 00:00:00 2001
From: cowsed <richie.sommers@outlook.com>
Date: Sun, 12 Mar 2023 21:34:04 -0400
Subject: [PATCH 194/243] dark mode toggle

---
 Doxyfile    |  8 +++---
 header.html | 78 +++++++++++++++++++++++++++++++++++++++++++++++++++++
 2 files changed, 82 insertions(+), 4 deletions(-)
 create mode 100644 header.html

diff --git a/Doxyfile b/Doxyfile
index 64107c6..d4fb3dc 100644
--- a/Doxyfile
+++ b/Doxyfile
@@ -1292,7 +1292,7 @@ HTML_FILE_EXTENSION    = .html
 # of the possible markers and block names see the documentation.
 # This tag requires that the tag GENERATE_HTML is set to YES.
 
-HTML_HEADER            =
+HTML_HEADER            = header.html
 
 # The HTML_FOOTER tag can be used to specify a user-defined HTML footer for each
 # generated HTML page. If the tag is left blank doxygen will generate a standard
@@ -1333,8 +1333,8 @@ HTML_STYLESHEET        =
 # This tag requires that the tag GENERATE_HTML is set to YES.
 
 HTML_EXTRA_STYLESHEET  = doxygen-awesome-css/doxygen-awesome.css \
-                         doxygen-awesome-css/doxygen-awesome-sidebar-only.css
-
+                         doxygen-awesome-css/doxygen-awesome-sidebar-only.css \
+						 doxygen-awesome-sidebar-only-darkmode-toggle.css
 # The HTML_EXTRA_FILES tag can be used to specify one or more extra images or
 # other source files which should be copied to the HTML output directory. Note
 # that these files will be copied to the base HTML output directory. Use the
@@ -1343,7 +1343,7 @@ HTML_EXTRA_STYLESHEET  = doxygen-awesome-css/doxygen-awesome.css \
 # files will be copied as-is; there are no commands or markers available.
 # This tag requires that the tag GENERATE_HTML is set to YES.
 
-HTML_EXTRA_FILES       =
+HTML_EXTRA_FILES       = doxygen-awesome-darkmode-toggle.js
 
 # The HTML_COLORSTYLE tag can be used to specify if the generated HTML output
 # should be rendered with a dark or light theme.
diff --git a/header.html b/header.html
new file mode 100644
index 0000000..37eec5e
--- /dev/null
+++ b/header.html
@@ -0,0 +1,78 @@
+<!-- HTML header for doxygen 1.9.6-->
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml" lang="$langISO">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=11"/>
+<meta name="generator" content="Doxygen $doxygenversion"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<!--BEGIN PROJECT_NAME--><title>$projectname: $title</title><!--END PROJECT_NAME-->
+<!--BEGIN !PROJECT_NAME--><title>$title</title><!--END !PROJECT_NAME-->
+<link href="$relpath^tabs.css" rel="stylesheet" type="text/css"/>
+<!--BEGIN DISABLE_INDEX-->
+  <!--BEGIN FULL_SIDEBAR-->
+<script type="text/javascript">var page_layout=1;</script>
+  <!--END FULL_SIDEBAR-->
+<!--END DISABLE_INDEX-->
+<script type="text/javascript" src="$relpath^jquery.js"></script>
+<script type="text/javascript" src="$relpath^dynsections.js"></script>
+$treeview
+$search
+$mathjax
+$darkmode
+<link href="$relpath^$stylesheet" rel="stylesheet" type="text/css" />
+$extrastylesheet
+        <script type="text/javascript" src="$relpath^doxygen-awesome-darkmode-toggle.js"></script>
+<script type="text/javascript">
+	DoxygenAwesomeDarkModeToggle.init()
+</script>
+</head>
+<body>
+<!--BEGIN DISABLE_INDEX-->
+  <!--BEGIN FULL_SIDEBAR-->
+<div id="side-nav" class="ui-resizable side-nav-resizable"><!-- do not remove this div, it is closed by doxygen! -->
+  <!--END FULL_SIDEBAR-->
+<!--END DISABLE_INDEX-->
+
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+
+<!--BEGIN TITLEAREA-->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr id="projectrow">
+  <!--BEGIN PROJECT_LOGO-->
+  <td id="projectlogo"><img alt="Logo" src="$relpath^$projectlogo"/></td>
+  <!--END PROJECT_LOGO-->
+  <!--BEGIN PROJECT_NAME-->
+  <td id="projectalign">
+   <div id="projectname">$projectname<!--BEGIN PROJECT_NUMBER--><span id="projectnumber">&#160;$projectnumber</span><!--END PROJECT_NUMBER-->
+   </div>
+   <!--BEGIN PROJECT_BRIEF--><div id="projectbrief">$projectbrief</div><!--END PROJECT_BRIEF-->
+  </td>
+  <!--END PROJECT_NAME-->
+  <!--BEGIN !PROJECT_NAME-->
+   <!--BEGIN PROJECT_BRIEF-->
+    <td>
+    <div id="projectbrief">$projectbrief</div>
+    </td>
+   <!--END PROJECT_BRIEF-->
+  <!--END !PROJECT_NAME-->
+  <!--BEGIN DISABLE_INDEX-->
+   <!--BEGIN SEARCHENGINE-->
+     <!--BEGIN !FULL_SIDEBAR-->
+    <td>$searchbox</td>
+     <!--END !FULL_SIDEBAR-->
+   <!--END SEARCHENGINE-->
+  <!--END DISABLE_INDEX-->
+ </tr>
+  <!--BEGIN SEARCHENGINE-->
+   <!--BEGIN FULL_SIDEBAR-->
+   <tr><td colspan="2">$searchbox</td></tr>
+   <!--END FULL_SIDEBAR-->
+  <!--END SEARCHENGINE-->
+ </tbody>
+</table>
+</div>
+<!--END TITLEAREA-->
+<!-- end header part -->

From add4088e23dbc541ecf32e265ef612d987517937 Mon Sep 17 00:00:00 2001
From: cowsed <richie.sommers@outlook.com>
Date: Sun, 12 Mar 2023 21:36:09 -0400
Subject: [PATCH 195/243] fixed goof in theming

---
 Doxyfile | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/Doxyfile b/Doxyfile
index d4fb3dc..3807b19 100644
--- a/Doxyfile
+++ b/Doxyfile
@@ -1356,7 +1356,7 @@ HTML_EXTRA_FILES       = doxygen-awesome-darkmode-toggle.js
 # The default value is: AUTO_LIGHT.
 # This tag requires that the tag GENERATE_HTML is set to YES.
 
-HTML_COLORSTYLE        = DARK
+HTML_COLORSTYLE        = LIGHT
 
 # The HTML_COLORSTYLE_HUE tag controls the color of the HTML output. Doxygen
 # will adjust the colors in the style sheet and background images according to

From 48c308f13f81d5524968aa32410b05045feb359e Mon Sep 17 00:00:00 2001
From: cowsed <richie.sommers@outlook.com>
Date: Sun, 5 Mar 2023 13:12:24 -0500
Subject: [PATCH 196/243] Screen stuff from CLU

---
 include/utils/command_structure/auto_command.h   | 4 ----
 include/utils/command_structure/drive_commands.h | 1 +
 src/subsystems/flywheel.cpp                      | 4 ----
 3 files changed, 1 insertion(+), 8 deletions(-)

diff --git a/include/utils/command_structure/auto_command.h b/include/utils/command_structure/auto_command.h
index 060dd12..fd44850 100644
--- a/include/utils/command_structure/auto_command.h
+++ b/include/utils/command_structure/auto_command.h
@@ -21,11 +21,7 @@ class AutoCommand {
     */
     virtual void on_timeout(){}
     AutoCommand* withTimeout(double t_seconds){
-<<<<<<< HEAD
       this->timeout_seconds = t_seconds;
-=======
-      timeout_seconds = t_seconds;
->>>>>>> refs/subrepo/core/fetch
       return this;
     }
     /** 
diff --git a/include/utils/command_structure/drive_commands.h b/include/utils/command_structure/drive_commands.h
index 8e4ff04..fba33f2 100644
--- a/include/utils/command_structure/drive_commands.h
+++ b/include/utils/command_structure/drive_commands.h
@@ -176,6 +176,7 @@ class DriveStopCommand: public AutoCommand {
      * @returns true when execution is complete, false otherwise
      */
     bool run() override;
+    void on_timeout() override;
 
   private:
     // drive system to run the function on
diff --git a/src/subsystems/flywheel.cpp b/src/subsystems/flywheel.cpp
index 48ee49b..01a2c2a 100644
--- a/src/subsystems/flywheel.cpp
+++ b/src/subsystems/flywheel.cpp
@@ -22,11 +22,7 @@
 
 using namespace vex;
 
-<<<<<<< HEAD
 const int FlywheelWindowSize = 20;
-=======
-const int FlywheelWindowSize = 1;
->>>>>>> refs/subrepo/core/fetch
 
 /*********************************************************
 *         CONSTRUCTOR, GETTERS, SETTERS

From d06b2048c64af8b0f67400a6a8f48c98cd881f85 Mon Sep 17 00:00:00 2001
From: cowsed <richie.sommers@outlook.com>
Date: Sun, 5 Mar 2023 14:40:01 -0500
Subject: [PATCH 197/243] Fixed reference to copy for spin roller commane

---
 src/subsystems/screen.cpp | 6 +-----
 1 file changed, 1 insertion(+), 5 deletions(-)

diff --git a/src/subsystems/screen.cpp b/src/subsystems/screen.cpp
index fd06524..4374ce5 100644
--- a/src/subsystems/screen.cpp
+++ b/src/subsystems/screen.cpp
@@ -87,10 +87,6 @@ void draw_mot_stats(vex::brain::lcd &screen, int x, int y, int width, const char
         {
             bg_col = not_plugged_in_col;
         }
-        else
-        {
-            bg_col = bg_col;
-        }
     }
 
     vex::color border_col = vex::white;
@@ -161,7 +157,7 @@ int handle_screen_thread(vex::brain::lcd &screen, std::vector<screenFunc> pages,
         {
 
             int x = screen.xPosition();
-            int y = screen.yPosition();
+            //int y = screen.yPosition();
 
             if (x < bar_width)
             {

From 8935e9f5b307ed306dda120d115e7d22c136ef5b Mon Sep 17 00:00:00 2001
From: cowsed <richie.sommers@outlook.com>
Date: Tue, 7 Mar 2023 00:03:11 -0500
Subject: [PATCH 198/243] Tunings ofr skills before the git god smites me

---
 include/subsystems/lift.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/include/subsystems/lift.h b/include/subsystems/lift.h
index 947c7a3..d04ddc4 100644
--- a/include/subsystems/lift.h
+++ b/include/subsystems/lift.h
@@ -296,7 +296,7 @@ class Lift
   /**
     * Enables or disables the background task. Note that running the control functions, or set_position functions
     * will immediately re-enable the task for autonomous use.
-    * @param Whether or not the background thread should run the lift
+    * @param val Whether or not the background thread should run the lift
     */
   void set_async(bool val)
   {

From ee24293bec3598b8bc38faa725dab913d4aa5902 Mon Sep 17 00:00:00 2001
From: cowsed <richie.sommers@outlook.com>
Date: Tue, 7 Mar 2023 00:56:32 -0500
Subject: [PATCH 199/243] Skills tunint 63 second 65 point auto

---
 include/utils/command_structure/command_controller.h | 2 +-
 src/utils/command_structure/command_controller.cpp   | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/include/utils/command_structure/command_controller.h b/include/utils/command_structure/command_controller.h
index 3d270d7..75766be 100644
--- a/include/utils/command_structure/command_controller.h
+++ b/include/utils/command_structure/command_controller.h
@@ -8,7 +8,7 @@
  */
 
 #pragma once
-
+#include <vector>
 #include <queue>
 #include "../core/include/utils/command_structure/auto_command.h"
 
diff --git a/src/utils/command_structure/command_controller.cpp b/src/utils/command_structure/command_controller.cpp
index 691664c..0a83bff 100644
--- a/src/utils/command_structure/command_controller.cpp
+++ b/src/utils/command_structure/command_controller.cpp
@@ -59,7 +59,7 @@ void CommandController::run() {
     command_queue.pop();
     command_timed_out = false;
 
-    printf("Beginning Command %d : timeout = %f\n", command_count, next_cmd->timeout_seconds);
+    printf("Beginning Command %d : timeout = %.2f : at time = %.1f seconds\n", command_count, next_cmd->timeout_seconds, tmr.time(vex::seconds));
     fflush(stdout);
 
 

From 0e64337949ebe0960679f74da9660a534200737f Mon Sep 17 00:00:00 2001
From: cowsed <richie.sommers@outlook.com>
Date: Sun, 12 Mar 2023 19:56:16 -0400
Subject: [PATCH 200/243] post WV

---
 src/subsystems/screen.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/subsystems/screen.cpp b/src/subsystems/screen.cpp
index 4374ce5..45409ec 100644
--- a/src/subsystems/screen.cpp
+++ b/src/subsystems/screen.cpp
@@ -169,7 +169,7 @@ int handle_screen_thread(vex::brain::lcd &screen, std::vector<screenFunc> pages,
                 first_draw = true;
             }
 
-            if (x > width - bar_width * 2)
+            if (x > width - bar_width)
             {
                 current_page++;
                 current_page %= num_pages;

From 02fd965f5e66c4b2c9ed45069061be68bd0ebab3 Mon Sep 17 00:00:00 2001
From: cowsed <richie.sommers@outlook.com>
Date: Sat, 18 Mar 2023 21:35:02 -0400
Subject: [PATCH 201/243] created gitattributes to handle line endings

---
 include/utils/vector2d.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/include/utils/vector2d.h b/include/utils/vector2d.h
index 7d805c5..221cb84 100644
--- a/include/utils/vector2d.h
+++ b/include/utils/vector2d.h
@@ -151,7 +151,7 @@ double deg2rad(double deg);
 
 /**
  * General function for converting radians to degrees
- * @param rad the angle in radians
+ * @param r the angle in radians
  * @return the angle in degrees
 
  */

From 2bb215b0902b1bb5021836bf651a72ce882572d4 Mon Sep 17 00:00:00 2001
From: cowsed <richie.sommers@outlook.com>
Date: Mon, 20 Mar 2023 21:01:01 -0400
Subject: [PATCH 202/243] improved screen with imu unplugged info

---
 include/subsystems/screen.h |  4 +-
 src/subsystems/screen.cpp   | 74 +++++++++++++++++++++++++++++++------
 2 files changed, 65 insertions(+), 13 deletions(-)

diff --git a/include/subsystems/screen.h b/include/subsystems/screen.h
index 891c57d..60a49ef 100644
--- a/include/subsystems/screen.h
+++ b/include/subsystems/screen.h
@@ -11,7 +11,9 @@ typedef void (*screenFunc)(vex::brain::lcd &screen, int x, int y, int width, int
 
 void draw_mot_header(vex::brain::lcd &screen, int x, int y, int width);
 // name should be no longer than 15 characters
-void draw_mot_stats(vex::brain::lcd &screen, int x, int y, int width, const char *name, vex::motor &motor);
+void draw_mot_stats(vex::brain::lcd &screen, int x, int y, int width, const char *name, vex::motor &motor, int animation_tick);
+void draw_dev_stats(vex::brain::lcd &screen, int x, int y, int width, const char *name, vex::device &dev, int animation_tick);
+
 void draw_battery_stats(vex::brain::lcd &screen, int x, int y, double voltage, double percentage);
 
 
diff --git a/src/subsystems/screen.cpp b/src/subsystems/screen.cpp
index 45409ec..4a4f5f4 100644
--- a/src/subsystems/screen.cpp
+++ b/src/subsystems/screen.cpp
@@ -9,7 +9,11 @@ void draw_battery_stats(vex::brain::lcd &screen, int x, int y, double voltage, d
     vex::color med_col = vex::color(140, 100, 0);
     vex::color high_col = vex::black;
 
+
+
     vex::color bg_col = vex::black;
+    vex::color border_col = vex::white;
+
     if (percentage < low_pct)
     {
         bg_col = low_col;
@@ -23,23 +27,26 @@ void draw_battery_stats(vex::brain::lcd &screen, int x, int y, double voltage, d
         bg_col = high_col;
     }
 
+    screen.setPenWidth(3);
     screen.setFillColor(bg_col);
-    screen.setPenColor(vex::white);
+    screen.setPenColor(border_col);
     screen.setFont(vex::mono15);
 
-    screen.drawRectangle(x, y, 200, 20);
-    screen.printAt(x + 2, y + 15, "battery: %.1fv  %d%%", voltage, (int)percentage);
+
+    screen.drawRectangle(x+3, y, 200-3, 20);
+    screen.printAt(x + 5, y + 15, "battery: %.1fv  %d%%", voltage, (int)percentage);
 }
 
 void draw_mot_header(vex::brain::lcd &screen, int x, int y, int width)
 {
     vex::color bg_col = vex::black;
     vex::color border_col = vex::white;
+    screen.setPenWidth(3);
     screen.setFillColor(bg_col);
     screen.setPenColor(border_col);
     screen.setFont(vex::mono15);
 
-    screen.drawRectangle(x, y, width, 20);
+    screen.drawRectangle(x+3, y, width-3, 20);
     screen.printAt(x + 5, y + 15, "motor name");
     int name_width = 110;
 
@@ -52,14 +59,13 @@ void draw_mot_header(vex::brain::lcd &screen, int x, int y, int width)
     screen.printAt(x + name_width + 55, y + 15, "port");
 }
 
-void draw_mot_stats(vex::brain::lcd &screen, int x, int y, int width, const char *name, vex::motor &motor)
+void draw_mot_stats(vex::brain::lcd &screen, int x, int y, int width, const char *name, vex::motor &motor, int animation_tick)
 {
     double tempC = motor.temperature(vex::celsius);
     bool pluggedin = motor.installed();
     int port = motor.index() + 1;
 
     // used for flashing
-    static int count = 0;
     vex::color bg_col = vex::black;
     vex::color hot_col = vex::color(120, 0, 0);
     vex::color med_col = vex::color(140, 100, 0);
@@ -83,21 +89,22 @@ void draw_mot_stats(vex::brain::lcd &screen, int x, int y, int width, const char
 
     if (!pluggedin)
     {
-        if ((count / 16) % 2 == 0)
+        if ((animation_tick / 8) % 2 == 0)
         {
             bg_col = not_plugged_in_col;
         }
     }
 
     vex::color border_col = vex::white;
+    screen.setPenWidth(3);
     screen.setFillColor(bg_col);
     screen.setPenColor(border_col);
     screen.setFont(vex::mono15);
 
-    screen.drawRectangle(x, y, width, 20);
+    screen.drawRectangle(x+3, y, width-3, 20);
 
     // name
-    screen.printAt(x + 5, y + 15, name);
+    screen.printAt(x + 7, y + 15, name);
     int name_width = 110;
 
     // temp
@@ -112,7 +119,50 @@ void draw_mot_stats(vex::brain::lcd &screen, int x, int y, int width, const char
         warning = "";
     }
     screen.printAt(x + name_width + 60, y + 15, "%d%s", port, warning);
-    count++;
+}
+
+//
+void draw_dev_stats(vex::brain::lcd &screen, int x, int y, int width, const char *name, vex::device &dev, int animation_tick)
+{
+    bool pluggedin = dev.installed();
+    int port = dev.index() + 1;
+
+    // used for flashing
+    vex::color bg_col = vex::black;
+    vex::color not_plugged_in_col = vex::color(255, 0, 0);
+
+    if (!pluggedin)
+    {
+        if ((animation_tick / 8) % 2 == 0)
+        {
+            bg_col = not_plugged_in_col;
+        }
+    }
+
+    vex::color border_col = vex::white;
+    screen.setPenWidth(3);
+    screen.setFillColor(bg_col);
+    screen.setPenColor(border_col);
+    screen.setFont(vex::mono15);
+
+    screen.drawRectangle(x+3, y, width-3, 20);
+
+    // name
+    screen.printAt(x + 5, y + 15, name);
+    int name_width = 110;
+
+    // temp
+    // screen.drawLine(x + name_width, y, x + name_width, y + 20);
+    // screen.printAt(x + name_width + 10, y + 15, "%dC", (int)tempC);
+
+    // PORT
+    screen.drawLine(x + name_width + 50, y, x + name_width + 50, y + 20);
+    char *warning = "!";
+    if (pluggedin)
+    {
+        warning = "";
+    }
+    screen.printAt(x + name_width + 60, y + 15, "%d%s", port, warning);
 }
 
 void draw_lr_arrows(vex::brain::lcd &screen, int bar_width, int width, int height)
@@ -157,7 +207,7 @@ int handle_screen_thread(vex::brain::lcd &screen, std::vector<screenFunc> pages,
         {
 
             int x = screen.xPosition();
-            //int y = screen.yPosition();
+            // int y = screen.yPosition();
 
             if (x < bar_width)
             {
@@ -175,8 +225,8 @@ int handle_screen_thread(vex::brain::lcd &screen, std::vector<screenFunc> pages,
                 current_page %= num_pages;
                 first_draw = true;
             }
-            draw_lr_arrows(screen, bar_width, width, height);
         }
+        draw_lr_arrows(screen, bar_width, width, height);
         was_pressing = screen.pressing();
         screen.render();
         vexDelay(40);

From 175c8b24e1cdb1525a34d5f8be8527b4b0e34244 Mon Sep 17 00:00:00 2001
From: cowsed <richie.sommers@outlook.com>
Date: Mon, 20 Mar 2023 21:04:12 -0400
Subject: [PATCH 203/243] odometry imu fallback

---
 src/subsystems/odometry/odometry_tank.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/subsystems/odometry/odometry_tank.cpp b/src/subsystems/odometry/odometry_tank.cpp
index 8dd3e25..404f865 100644
--- a/src/subsystems/odometry/odometry_tank.cpp
+++ b/src/subsystems/odometry/odometry_tank.cpp
@@ -60,7 +60,7 @@ position_t OdometryTank::update()
     double angle = 0;
 
     // If the IMU data was passed in, use it for rotational data
-    if(imu == NULL)
+    if(imu == NULL || imu->installed() == false)
     {
       // Get the difference in distance driven between the two sides
       // Uses the absolute position of the encoders, so resetting them will result in

From ceecebef3205039295af6dfc44437eb762eb6e06 Mon Sep 17 00:00:00 2001
From: cowsed <richie.sommers@outlook.com>
Date: Mon, 17 Apr 2023 18:44:38 -0400
Subject: [PATCH 204/243] removed intense milk :(

---
 include/intense_milk.h       | 12 ------------
 include/utils/graph_drawer.h |  2 +-
 src/subsystems/screen.cpp    |  8 ++++----
 3 files changed, 5 insertions(+), 17 deletions(-)
 delete mode 100644 include/intense_milk.h

diff --git a/include/intense_milk.h b/include/intense_milk.h
deleted file mode 100644
index bb0980f..0000000
--- a/include/intense_milk.h
+++ /dev/null
@@ -1,12 +0,0 @@
-<<<<<<< HEAD
-#include <stdint.h>
-// file: ritchie.png
-int intense_milk_width = 400;
-int intense_milk_height = 251
-;uint32_t intense_milk[100400] = {0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 0x00000000, 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-=======
-#include <stdio.h>
-int intense_milk_width = 426;
-int intense_milk_height = 244
-;uint32_t intense_milk[103944] = {0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00141212, 0x00221e1f, 0x001e1a1b, 0x00191617, 0x00151313, 0x0011ff, 0x00cbb, 0x00877, 0x00433, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 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0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000, 0x00000};
->>>>>>> refs/subrepo/core/fetch
diff --git a/include/utils/graph_drawer.h b/include/utils/graph_drawer.h
index f4f3f97..2df4f8b 100644
--- a/include/utils/graph_drawer.h
+++ b/include/utils/graph_drawer.h
@@ -18,7 +18,7 @@ class GraphDrawer
  * @param y_label the name of the y axis (currently unused)
  * @param draw_border whether to draw the border around the graph. can be turned off if there are multiple graphs in the same space ie. a graph of error and output
  * @param lower_bound the bottom of the window to graph. if lower_bound == upperbound, the graph will scale to it's datapoints  
- * @param upper_bound the top of the window to graph. if lower_bound == upperbound, the graph will scale to it's datapoints  
+ * @param upper_bound the top of the window to graph. if lower_bound == upperbound, the graph will scale to it's datapoints
 */
   GraphDrawer(vex::brain::lcd &screen, int num_samples, std::string x_label, std::string y_label, vex::color col, bool draw_border, double lower_bound, double upper_bound) : Screen(screen), sample_index(0), xlabel(x_label), ylabel(y_label), col(col), border(draw_border), upper(upper_bound), lower(lower_bound)
   {
diff --git a/src/subsystems/screen.cpp b/src/subsystems/screen.cpp
index 4a4f5f4..13af0c8 100644
--- a/src/subsystems/screen.cpp
+++ b/src/subsystems/screen.cpp
@@ -113,10 +113,10 @@ void draw_mot_stats(vex::brain::lcd &screen, int x, int y, int width, const char
 
     // PORT
     screen.drawLine(x + name_width + 50, y, x + name_width + 50, y + 20);
-    char *warning = "!";
+    char *warning = (char *)"!";
     if (pluggedin)
     {
-        warning = "";
+        warning = (char *)"";
     }
     screen.printAt(x + name_width + 60, y + 15, "%d%s", port, warning);
 }
@@ -157,10 +157,10 @@ void draw_dev_stats(vex::brain::lcd &screen, int x, int y, int width, const char
 
     // PORT
     screen.drawLine(x + name_width + 50, y, x + name_width + 50, y + 20);
-    char *warning = "!";
+    char *warning = (char *)"!";
     if (pluggedin)
     {
-        warning = "";
+        warning = (char *)"";
     }
     screen.printAt(x + name_width + 60, y + 15, "%d%s", port, warning);
 }

From c5bda37890c2a3668610d500d695683f88d043d3 Mon Sep 17 00:00:00 2001
From: cowsed <richie.sommers@outlook.com>
Date: Mon, 17 Apr 2023 18:49:05 -0400
Subject: [PATCH 205/243] grpah drawer to a source file

---
 include/utils/graph_drawer.h | 113 ++++++-----------------------------
 src/utils/graph_drawer.cpp   | 108 +++++++++++++++++++++++++++++++++
 2 files changed, 125 insertions(+), 96 deletions(-)
 create mode 100644 src/utils/graph_drawer.cpp

diff --git a/include/utils/graph_drawer.h b/include/utils/graph_drawer.h
index 2df4f8b..3087d3e 100644
--- a/include/utils/graph_drawer.h
+++ b/include/utils/graph_drawer.h
@@ -3,117 +3,38 @@
 #include <string>
 #include <stdio.h>
 #include <vector>
+#include <cmath>
 #include "vex.h"
 #include "../core/include/utils/vector2d.h"
 
 class GraphDrawer
 {
 public:
-/**
- * Construct a GraphDrawer
- * @brief a helper class to graph values on the brain screen
- * @param screen a reference to Brain.screen we can save for later
- * @param num_samples the graph works on a fixed window and will plot the last `num_samples` before the history is forgotten. Larger values give more context but may slow down if you have many graphs or an exceptionally high 
- * @param x_label the name of the x axis (currently unused)
- * @param y_label the name of the y axis (currently unused)
- * @param draw_border whether to draw the border around the graph. can be turned off if there are multiple graphs in the same space ie. a graph of error and output
- * @param lower_bound the bottom of the window to graph. if lower_bound == upperbound, the graph will scale to it's datapoints  
- * @param upper_bound the top of the window to graph. if lower_bound == upperbound, the graph will scale to it's datapoints
-*/
-  GraphDrawer(vex::brain::lcd &screen, int num_samples, std::string x_label, std::string y_label, vex::color col, bool draw_border, double lower_bound, double upper_bound) : Screen(screen), sample_index(0), xlabel(x_label), ylabel(y_label), col(col), border(draw_border), upper(upper_bound), lower(lower_bound)
-  {
-    std::vector<Vector2D::point_t> temp(num_samples, Vector2D::point_t{.x = 0.0, .y = 0.0});
-    samples = temp;
-  }
-
+  /**
+   * Construct a GraphDrawer
+   * @brief a helper class to graph values on the brain screen
+   * @param screen a reference to Brain.screen we can save for later
+   * @param num_samples the graph works on a fixed window and will plot the last `num_samples` before the history is forgotten. Larger values give more context but may slow down if you have many graphs or an exceptionally high
+   * @param x_label the name of the x axis (currently unused)
+   * @param y_label the name of the y axis (currently unused)
+   * @param draw_border whether to draw the border around the graph. can be turned off if there are multiple graphs in the same space ie. a graph of error and output
+   * @param lower_bound the bottom of the window to graph. if lower_bound == upperbound, the graph will scale to it's datapoints
+   * @param upper_bound the top of the window to graph. if lower_bound == upperbound, the graph will scale to it's datapoints
+   */
+  GraphDrawer(vex::brain::lcd &screen, int num_samples, std::string x_label, std::string y_label, vex::color col, bool draw_border, double lower_bound, double upper_bound);
   /**
    * add_sample adds a point to the graph, removing one from the back
    * @param sample an x, y coordinate of the next point to graph
-  */
-  void add_sample(Vector2D::point_t sample)
-  {
-    samples[sample_index] = sample;
-    sample_index++;
-    sample_index %= samples.size();
-  }
+   */
+  void add_sample(Vector2D::point_t sample);
   /**
    * draws the graph to the screen in the constructor
    * @param x x position of the top left of the graphed region
    * @param y y position of the top left of the graphed region
    * @param width the width of the graphed region
    * @param height the height of the graphed region
-  */
-  void draw(int x, int y, int width, int height)
-  {
-    if (samples.size() < 1)
-    {
-      return;
-    }
-
-    double current_min = samples[0].y;
-    double current_max = samples[0].y;
-    double earliest_time = samples[0].x;
-    double latest_time = samples[0].x;
-    // collect data
-    for (int i = 0; i < samples.size(); i++)
-    {
-      Vector2D::point_t p = samples[i];
-      if (p.x < earliest_time)
-      {
-        earliest_time = p.x;
-      }
-      else if (p.x > latest_time)
-      {
-        latest_time = p.x;
-      }
-
-      if (p.y < current_min)
-      {
-        current_min = p.y;
-      }
-      else if (p.y > current_max)
-      {
-        current_max = p.y;
-      }
-    }
-    if (fabs(latest_time - earliest_time) < 0.001)
-    {
-      Screen.printAt(width / 2, height / 2, "Not enough Data");
-      return;
-    }
-    if (upper != lower)
-    {
-      current_min = lower;
-      current_max = upper;
-    }
-
-    if (border)
-    {
-      Screen.setPenWidth(1);
-      Screen.setPenColor(vex::white);
-      Screen.setFillColor(bgcol);
-      Screen.drawRectangle(x, y, width, height);
-    }
-
-    double time_range = latest_time - earliest_time;
-    double sample_range = current_max - current_min;
-    double x_s = (double)x;
-    double y_s = (double)y + (double)height;
-    Screen.setPenWidth(4);
-    Screen.setPenColor(col);
-    for (int i = sample_index; i < samples.size() + sample_index - 1; i++)
-    {
-      Vector2D::point_t p = samples[i % samples.size()];
-      double x_pos = x_s + ((p.x - earliest_time) / time_range) * (double)width;
-      double y_pos = y_s + ((p.y - current_min) / sample_range) * (double)(-height);
-
-      Vector2D::point_t p2 = samples[(i + 1) % samples.size()];
-      double x_pos2 = x_s + ((p2.x - earliest_time) / time_range) * (double)width;
-      double y_pos2 = y_s + ((p2.y - current_min) / sample_range) * (double)(-height);
-
-      Screen.drawLine((int)x_pos, (int)y_pos, (int)x_pos2, (int)y_pos2);
-    }
-  }
+   */
+  void draw(int x, int y, int width, int height);
 
 private:
   vex::brain::lcd &Screen;
diff --git a/src/utils/graph_drawer.cpp b/src/utils/graph_drawer.cpp
new file mode 100644
index 0000000..4b99563
--- /dev/null
+++ b/src/utils/graph_drawer.cpp
@@ -0,0 +1,108 @@
+#include "../core/include/utils/graph_drawer.h"
+
+/**
+ * Construct a GraphDrawer
+ * @brief a helper class to graph values on the brain screen
+ * @param screen a reference to Brain.screen we can save for later
+ * @param num_samples the graph works on a fixed window and will plot the last `num_samples` before the history is forgotten. Larger values give more context but may slow down if you have many graphs or an exceptionally high
+ * @param x_label the name of the x axis (currently unused)
+ * @param y_label the name of the y axis (currently unused)
+ * @param draw_border whether to draw the border around the graph. can be turned off if there are multiple graphs in the same space ie. a graph of error and output
+ * @param lower_bound the bottom of the window to graph. if lower_bound == upperbound, the graph will scale to it's datapoints
+ * @param upper_bound the top of the window to graph. if lower_bound == upperbound, the graph will scale to it's datapoints
+ */
+GraphDrawer::GraphDrawer(vex::brain::lcd &screen, int num_samples, std::string x_label, std::string y_label, vex::color col, bool draw_border, double lower_bound, double upper_bound) : Screen(screen), sample_index(0), xlabel(x_label), ylabel(y_label), col(col), border(draw_border), upper(upper_bound), lower(lower_bound)
+{
+    std::vector<Vector2D::point_t> temp(num_samples, Vector2D::point_t{.x = 0.0, .y = 0.0});
+    samples = temp;
+}
+
+/**
+ * add_sample adds a point to the graph, removing one from the back
+ * @param sample an x, y coordinate of the next point to graph
+ */
+void GraphDrawer::add_sample(Vector2D::point_t sample)
+{
+    samples[sample_index] = sample;
+    sample_index++;
+    sample_index %= samples.size();
+}
+
+/**
+ * draws the graph to the screen in the constructor
+ * @param x x position of the top left of the graphed region
+ * @param y y position of the top left of the graphed region
+ * @param width the width of the graphed region
+ * @param height the height of the graphed region
+ */
+void GraphDrawer::draw(int x, int y, int width, int height)
+{
+    if (samples.size() < 1)
+    {
+        return;
+    }
+
+    double current_min = samples[0].y;
+    double current_max = samples[0].y;
+    double earliest_time = samples[0].x;
+    double latest_time = samples[0].x;
+    // collect data
+    for (int i = 0; i < samples.size(); i++)
+    {
+        Vector2D::point_t p = samples[i];
+        if (p.x < earliest_time)
+        {
+            earliest_time = p.x;
+        }
+        else if (p.x > latest_time)
+        {
+            latest_time = p.x;
+        }
+
+        if (p.y < current_min)
+        {
+            current_min = p.y;
+        }
+        else if (p.y > current_max)
+        {
+            current_max = p.y;
+        }
+    }
+    if (std::abs(latest_time - earliest_time) < 0.001)
+    {
+        Screen.printAt(width / 2, height / 2, "Not enough Data");
+        return;
+    }
+    if (upper != lower)
+    {
+        current_min = lower;
+        current_max = upper;
+    }
+
+    if (border)
+    {
+        Screen.setPenWidth(1);
+        Screen.setPenColor(vex::white);
+        Screen.setFillColor(bgcol);
+        Screen.drawRectangle(x, y, width, height);
+    }
+
+    double time_range = latest_time - earliest_time;
+    double sample_range = current_max - current_min;
+    double x_s = (double)x;
+    double y_s = (double)y + (double)height;
+    Screen.setPenWidth(4);
+    Screen.setPenColor(col);
+    for (int i = sample_index; i < samples.size() + sample_index - 1; i++)
+    {
+        Vector2D::point_t p = samples[i % samples.size()];
+        double x_pos = x_s + ((p.x - earliest_time) / time_range) * (double)width;
+        double y_pos = y_s + ((p.y - current_min) / sample_range) * (double)(-height);
+
+        Vector2D::point_t p2 = samples[(i + 1) % samples.size()];
+        double x_pos2 = x_s + ((p2.x - earliest_time) / time_range) * (double)width;
+        double y_pos2 = y_s + ((p2.y - current_min) / sample_range) * (double)(-height);
+
+        Screen.drawLine((int)x_pos, (int)y_pos, (int)x_pos2, (int)y_pos2);
+    }
+}

From 841e3a1cfd24eb73a98055bc5ed2d80e50b2e759 Mon Sep 17 00:00:00 2001
From: cowsed <richie.sommers@outlook.com>
Date: Tue, 18 Apr 2023 18:28:08 -0400
Subject: [PATCH 206/243] Command control applying timeoutsacross vector add
 initial tunings for flynn skills and auto worlds paths

---
 .../utils/command_structure/auto_command.h    |  3 +-
 .../command_structure/command_controller.h    | 22 ++++---
 .../command_structure/command_controller.cpp  | 58 ++++++++++++++-----
 3 files changed, 58 insertions(+), 25 deletions(-)

diff --git a/include/utils/command_structure/auto_command.h b/include/utils/command_structure/auto_command.h
index fd44850..e19a356 100644
--- a/include/utils/command_structure/auto_command.h
+++ b/include/utils/command_structure/auto_command.h
@@ -10,6 +10,7 @@
 
 class AutoCommand {
   public:
+    static constexpr double default_timeout = 10.0;
     /**
      * Executes the command
      * Overridden by child classes
@@ -33,6 +34,6 @@ class AutoCommand {
      * - a command that waits until something is up to speed that never gets up to speed because of battery voltage
      * - something else...
     */
-    double timeout_seconds = 10.0;
+    double timeout_seconds = default_timeout;
 
 };
\ No newline at end of file
diff --git a/include/utils/command_structure/command_controller.h b/include/utils/command_structure/command_controller.h
index 75766be..2757f1a 100644
--- a/include/utils/command_structure/command_controller.h
+++ b/include/utils/command_structure/command_controller.h
@@ -12,22 +12,28 @@
 #include <queue>
 #include "../core/include/utils/command_structure/auto_command.h"
 
-class CommandController {
-  public:
-
+class CommandController
+{
+public:
   /**
    * Adds a command to the queue
    * @param cmd the AutoCommand we want to add to our list
    * @param timeout_seconds the number of seconds we will let the command run for. If it exceeds this, we cancel it and run on_timeout. if it is <= 0 no time out will be applied
    */
   void add(AutoCommand *cmd, double timeout_seconds = 10.0);
-  
+
   /**
-   * Add multiple commands to the queue. No timeout here. 
+   * Add multiple commands to the queue. No timeout here.
    * @param cmds the AutoCommands we want to add to our list
    */
   void add(std::vector<AutoCommand *> cmds);
 
+  /**
+   * Add multiple commands to the queue. No timeout here.
+   * @param cmds the AutoCommands we want to add to our list
+   * @param timeout_sec timeout in seconds to apply to all commands if they are still the default
+   */
+  void add(std::vector<AutoCommand *> cmds, double timeout_sec);
   /**
    * Adds a command that will delay progression
    * of the queue
@@ -48,7 +54,7 @@ class CommandController {
    */
   bool last_command_timed_out();
 
-  private:
-    std::queue<AutoCommand*> command_queue;
-    bool command_timed_out = false;
+private:
+  std::queue<AutoCommand *> command_queue;
+  bool command_timed_out = false;
 };
\ No newline at end of file
diff --git a/src/utils/command_structure/command_controller.cpp b/src/utils/command_structure/command_controller.cpp
index 0a83bff..782ca0a 100644
--- a/src/utils/command_structure/command_controller.cpp
+++ b/src/utils/command_structure/command_controller.cpp
@@ -6,7 +6,7 @@
  *    a queue and get executed and removed from the queue
  *    in FIFO order.
  */
-
+#include <stdio.h>
 #include "../core/include/utils/command_structure/command_controller.h"
 #include "../core/include/utils/command_structure/delay_command.h"
 
@@ -15,19 +15,39 @@
  * @param cmd the AutoCommand we want to add to our list
  * @param timeout_seconds the number of seconds we will let the command run for. If it exceeds this, we cancel it and run on_timeout
  */
-void CommandController::add(AutoCommand *cmd, double timeout_seconds) {
+void CommandController::add(AutoCommand *cmd, double timeout_seconds)
+{
   cmd->timeout_seconds = timeout_seconds;
   command_queue.push(cmd);
 }
 
 /**
- * Add multiple commands to the queue. No timeout here. 
+ * Add multiple commands to the queue. No timeout here.
  * @param cmds the AutoCommands we want to add to our list
  */
-void CommandController::add(std::vector<AutoCommand *> cmds) {
-  for(AutoCommand * cmd : cmds){
+void CommandController::add(std::vector<AutoCommand *> cmds)
+{
+  for (AutoCommand *cmd : cmds)
+  {
     command_queue.push(cmd);
-  } 
+  }
+}
+
+/**
+ * Add multiple commands to the queue. No timeout here.
+ * @param cmds the AutoCommands we want to add to our list
+ * @param timeout timeout in seconds to apply to all commands if they are still the default
+ */
+void CommandController::add(std::vector<AutoCommand *> cmds, double timeout_sec)
+{
+  for (AutoCommand *cmd : cmds)
+  {
+    if (cmd->timeout_seconds == AutoCommand::default_timeout)
+    {
+      cmd->timeout_seconds = timeout_sec;
+    }
+    command_queue.push(cmd);
+  }
 }
 
 /**
@@ -36,7 +56,8 @@ void CommandController::add(std::vector<AutoCommand *> cmds) {
  * @param ms - number of milliseconds to wait
  *    before continuing execution of autonomous
  */
-void CommandController::add_delay(int ms) {
+void CommandController::add_delay(int ms)
+{
   AutoCommand *delay = new DelayCommand(ms);
   command_queue.push(delay);
 }
@@ -45,7 +66,8 @@ void CommandController::add_delay(int ms) {
  * Begin execution of the queue
  * Execute and remove commands in FIFO order
  */
-void CommandController::run() {
+void CommandController::run()
+{
   AutoCommand *next_cmd;
   printf("Running Auto. Commands 1 to %d\n", command_queue.size());
   fflush(stdout);
@@ -53,7 +75,8 @@ void CommandController::run() {
   vex::timer tmr;
   tmr.reset();
 
-  while(!command_queue.empty()) {
+  while (!command_queue.empty())
+  {
     // retrieve and remove command at the front of the queue
     next_cmd = command_queue.front();
     command_queue.pop();
@@ -62,35 +85,38 @@ void CommandController::run() {
     printf("Beginning Command %d : timeout = %.2f : at time = %.1f seconds\n", command_count, next_cmd->timeout_seconds, tmr.time(vex::seconds));
     fflush(stdout);
 
-
     vex::timer timeout_timer;
     timeout_timer.reset();
     bool doTimeout = next_cmd->timeout_seconds > 0.0;
 
     // run the current command until it returns true or we timeout
-    while(!next_cmd -> run()) {
+    while (!next_cmd->run())
+    {
       vexDelay(20);
 
-      if (!doTimeout){
+      if (!doTimeout)
+      {
         continue;
       }
 
       // If we do want to check for timeout, check and end the command if we should
-      double cmd_elapsed_sec = ((double)timeout_timer.time())/1000.0;
-      if (cmd_elapsed_sec > next_cmd->timeout_seconds){
+      double cmd_elapsed_sec = ((double)timeout_timer.time()) / 1000.0;
+      if (cmd_elapsed_sec > next_cmd->timeout_seconds)
+      {
         next_cmd->on_timeout();
         command_timed_out = true;
         break;
       }
     }
 
-    printf("Finished Command %d. Timed out: %s\n", command_count, command_timed_out ? "true" : "false" );
+    printf("Finished Command %d. Timed out: %s\n", command_count, command_timed_out ? "true" : "false");
     fflush(stdout);
     command_count++;
   }
   printf("Finished commands in %f seconds\n", tmr.time(vex::sec));
 }
 
-bool CommandController::last_command_timed_out(){
+bool CommandController::last_command_timed_out()
+{
   return command_timed_out;
 }
\ No newline at end of file

From d637387dff3eb96f7c0b29e7e03794bf21c2b20d Mon Sep 17 00:00:00 2001
From: cowsed <richie.sommers@outlook.com>
Date: Tue, 16 May 2023 12:22:23 -0400
Subject: [PATCH 207/243] geometry.h created holds point_t (2d point) and
 pose_t (2d pose)

---
 include/subsystems/odometry/odometry_3wheel.h |  4 +-
 include/subsystems/odometry/odometry_base.h   | 25 +++-----
 include/subsystems/odometry/odometry_tank.h   |  7 ++-
 .../utils/command_structure/drive_commands.h  |  7 ++-
 include/utils/geometry.h                      | 58 +++++++++++++++++++
 include/utils/graph_drawer.h                  |  5 +-
 include/utils/pure_pursuit.h                  | 15 ++---
 include/utils/vector2d.h                      | 55 +-----------------
 src/subsystems/odometry/odometry_3wheel.cpp   | 10 ++--
 src/subsystems/odometry/odometry_base.cpp     | 10 ++--
 src/subsystems/odometry/odometry_tank.cpp     | 12 ++--
 src/subsystems/tank_drive.cpp                 | 15 ++---
 .../command_structure/drive_commands.cpp      |  4 +-
 src/utils/graph_drawer.cpp                    | 10 ++--
 src/utils/motion_controller.cpp               |  2 +-
 src/utils/pure_pursuit.cpp                    | 56 +++++++++---------
 src/utils/vector2d.cpp                        |  2 +-
 17 files changed, 152 insertions(+), 145 deletions(-)
 create mode 100644 include/utils/geometry.h

diff --git a/include/subsystems/odometry/odometry_3wheel.h b/include/subsystems/odometry/odometry_3wheel.h
index f66da93..15ce85d 100644
--- a/include/subsystems/odometry/odometry_3wheel.h
+++ b/include/subsystems/odometry/odometry_3wheel.h
@@ -62,7 +62,7 @@ class Odometry3Wheel : public OdometryBase
      * 
      * @return the robot's updated position
      */
-    position_t update() override;
+    pose_t update() override;
 
     /**
      * A guided tuning process to automatically find tuning parameters.
@@ -88,7 +88,7 @@ class Odometry3Wheel : public OdometryBase
      * @param cfg Data on robot's configuration (wheel diameter, wheelbase, off-axis distance from center)
      * @return The robot's new position (x, y, rot) 
      */
-    static position_t calculate_new_pos(double lside_delta_deg, double rside_delta_deg, double offax_delta_deg, position_t old_pos, odometry3wheel_cfg_t cfg);
+    static pose_t calculate_new_pos(double lside_delta_deg, double rside_delta_deg, double offax_delta_deg, pose_t old_pos, odometry3wheel_cfg_t cfg);
 
     CustomEncoder &lside_fwd, &rside_fwd, &off_axis;
     odometry3wheel_cfg_t &cfg;
diff --git a/include/subsystems/odometry/odometry_base.h b/include/subsystems/odometry/odometry_base.h
index 25128d8..304a2c4 100644
--- a/include/subsystems/odometry/odometry_base.h
+++ b/include/subsystems/odometry/odometry_base.h
@@ -1,21 +1,14 @@
 #pragma once
 
 #include "vex.h"
+#include "../core/include/utils/geometry.h"
 #include "../core/include/robot_specs.h"
 
 #ifndef PI
 #define PI 3.141592654
 #endif
 
-/**
- *  Describes a single position and rotation
- */
-typedef struct
-{
-    double x;   ///< x position in the world
-    double y;   ///< y position in the world
-    double rot; ///< rotation in the world
-} position_t;
+
 
 /**
  * OdometryBase
@@ -44,19 +37,19 @@ class OdometryBase
     * Gets the current position and rotation
     * @return the position that the odometry believes the robot is at
     */
-    position_t get_position(void);
+    pose_t get_position(void);
 
     /**
      * Sets the current position of the robot
      * @param newpos the new position that the odometry will believe it is at
      */
-    virtual void set_position(const position_t& newpos=zero_pos);
+    virtual void set_position(const pose_t& newpos=zero_pos);
 
     /**
      * Update the current position on the field based on the sensors
      * @return the location that the robot is at after the odometry does its calculations
      */
-    virtual position_t update() = 0;
+    virtual pose_t update() = 0;
 
     /**
      * Function that runs in the background task. This function pointer is passed
@@ -80,7 +73,7 @@ class OdometryBase
      * @param end_pos to this point
      * @return the euclidean distance between start_pos and end_pos
      */
-    static double pos_diff(position_t start_pos, position_t end_pos);
+    static double pos_diff(pose_t start_pos, pose_t end_pos);
 
     /**
      * Get the change in rotation between two points
@@ -88,7 +81,7 @@ class OdometryBase
      * @param pos2 position with final rotation
      * @return change in rotation between pos1 and pos2
      */
-    static double rot_diff(position_t pos1, position_t pos2);
+    static double rot_diff(pose_t pos1, pose_t pos2);
 
     /**
      * Get the smallest difference in angle between a start heading and end heading.
@@ -130,7 +123,7 @@ class OdometryBase
     /**
      * Zeroed position. X=0, Y=0, Rotation= 90 degrees
      */
-    inline static constexpr position_t zero_pos = {.x=0.0L, .y=0.0L, .rot=90.0L};
+    inline static constexpr pose_t zero_pos = {.x=0.0L, .y=0.0L, .rot=90.0L};
 
 protected:
     /**
@@ -146,7 +139,7 @@ class OdometryBase
     /**
      * Current position of the robot in terms of x,y,rotation
      */
-    position_t current_pos;
+    pose_t current_pos;
 
     double speed; /**< the speed at which we are travelling (inch/s)*/
     double accel; /**< the rate at which we are accelerating (inch/s^2)*/
diff --git a/include/subsystems/odometry/odometry_tank.h b/include/subsystems/odometry/odometry_tank.h
index 2a2a92f..6c35e10 100644
--- a/include/subsystems/odometry/odometry_tank.h
+++ b/include/subsystems/odometry/odometry_tank.h
@@ -2,6 +2,7 @@
 
 #include "../core/include/subsystems/odometry/odometry_base.h"
 #include "../core/include/subsystems/custom_encoder.h"
+#include "../core/include/utils/geometry.h"
 #include "../core/include/utils/vector2d.h"
 #include "../core/include/robot_specs.h"
 
@@ -42,13 +43,13 @@ class OdometryTank : public OdometryBase
      * Update the current position on the field based on the sensors
      * @return the position that odometry has calculated itself to be at
      */
-    position_t update() override;
+    pose_t update() override;
 
     /**
      * set_position tells the odometry to place itself at a position
      * @param newpos the position the odometry will take
     */
-    void set_position(const position_t &newpos=zero_pos) override;
+    void set_position(const pose_t &newpos=zero_pos) override;
 
     
 
@@ -56,7 +57,7 @@ class OdometryTank : public OdometryBase
     /**
      * Get information from the input hardware and an existing position, and calculate a new current position
      */
-    static position_t calculate_new_pos(robot_specs_t &config, position_t &stored_info, double lside_diff, double rside_diff, double angle_deg);
+    static pose_t calculate_new_pos(robot_specs_t &config, pose_t &stored_info, double lside_diff, double rside_diff, double angle_deg);
 
     vex::motor_group *left_side, *right_side;
     CustomEncoder *left_enc, *right_enc;
diff --git a/include/utils/command_structure/drive_commands.h b/include/utils/command_structure/drive_commands.h
index fba33f2..97a08d7 100644
--- a/include/utils/command_structure/drive_commands.h
+++ b/include/utils/command_structure/drive_commands.h
@@ -19,6 +19,7 @@
 #pragma once
 
 #include "vex.h"
+#include "../core/include/utils/geometry.h"
 #include "../core/include/utils/command_structure/auto_command.h"
 #include "../core/include/subsystems/tank_drive.h"
 
@@ -99,7 +100,7 @@ class TurnDegreesCommand: public AutoCommand {
 class DriveToPointCommand: public AutoCommand {
   public:
     DriveToPointCommand(TankDrive &drive_sys, Feedback &feedback, double x, double y, directionType dir, double max_speed = 1);
-    DriveToPointCommand(TankDrive &drive_sys, Feedback &feedback, Vector2D::point_t point, directionType dir, double max_speed=1);
+    DriveToPointCommand(TankDrive &drive_sys, Feedback &feedback, point_t point, directionType dir, double max_speed=1);
 
     /**
      * Run drive_to_point
@@ -197,7 +198,7 @@ class OdomSetPosition: public AutoCommand {
      * @param odom the odometry system we are setting
      * @param newpos the position we are telling the odometry to take. defaults to (0, 0), angle = 90
     */
-    OdomSetPosition(OdometryBase &odom, const position_t &newpos=OdometryBase::zero_pos);
+    OdomSetPosition(OdometryBase &odom, const pose_t &newpos=OdometryBase::zero_pos);
 
     /**
      * Run set_position
@@ -209,5 +210,5 @@ class OdomSetPosition: public AutoCommand {
   private:
     // drive system with an odometry config
     OdometryBase &odom;
-    position_t newpos;
+    pose_t newpos;
 };
diff --git a/include/utils/geometry.h b/include/utils/geometry.h
new file mode 100644
index 0000000..5730e6d
--- /dev/null
+++ b/include/utils/geometry.h
@@ -0,0 +1,58 @@
+#pragma once
+#include <cmath>
+
+/**
+ * Data structure representing an X,Y coordinate
+ */
+struct point_t
+{
+    double x; ///< the x position in space
+    double y; ///< the y position in space
+
+    /**
+     * dist calculates the euclidian distance between this point and another point using the pythagorean theorem
+     * @param other the point to measure the distance from
+     * @return the euclidian distance between this and other
+     */
+    double dist(const point_t other)
+    {
+        return std::sqrt(std::pow(this->x - other.x, 2) + pow(this->y - other.y, 2));
+    }
+
+    /**
+     * Vector2D addition operation on points
+     * @param other the point to add on to this
+     * @return this + other (this.x + other.x, this.y + other.y)
+     */
+    point_t operator+(const point_t &other)
+    {
+        point_t p{
+            .x = this->x + other.x,
+            .y = this->y + other.y};
+        return p;
+    }
+
+    /**
+     * Vector2D subtraction operation on points
+     * @param other the point_t to subtract from this
+     * @return this - other (this.x - other.x, this.y - other.y)
+     */
+    point_t operator-(const point_t &other)
+    {
+        point_t p{
+            .x = this->x - other.x,
+            .y = this->y - other.y};
+        return p;
+    }
+};
+
+
+/**
+ *  Describes a single position and rotation
+ */
+typedef struct
+{
+    double x;   ///< x position in the world
+    double y;   ///< y position in the world
+    double rot; ///< rotation in the world
+} pose_t;
\ No newline at end of file
diff --git a/include/utils/graph_drawer.h b/include/utils/graph_drawer.h
index 3087d3e..09cce09 100644
--- a/include/utils/graph_drawer.h
+++ b/include/utils/graph_drawer.h
@@ -5,6 +5,7 @@
 #include <vector>
 #include <cmath>
 #include "vex.h"
+#include "../core/include/utils/geometry.h"
 #include "../core/include/utils/vector2d.h"
 
 class GraphDrawer
@@ -26,7 +27,7 @@ class GraphDrawer
    * add_sample adds a point to the graph, removing one from the back
    * @param sample an x, y coordinate of the next point to graph
    */
-  void add_sample(Vector2D::point_t sample);
+  void add_sample(point_t sample);
   /**
    * draws the graph to the screen in the constructor
    * @param x x position of the top left of the graphed region
@@ -38,7 +39,7 @@ class GraphDrawer
 
 private:
   vex::brain::lcd &Screen;
-  std::vector<Vector2D::point_t> samples;
+  std::vector<point_t> samples;
   int sample_index = 0;
   std::string xlabel;
   std::string ylabel;
diff --git a/include/utils/pure_pursuit.h b/include/utils/pure_pursuit.h
index e14f8f6..f3f427c 100644
--- a/include/utils/pure_pursuit.h
+++ b/include/utils/pure_pursuit.h
@@ -1,6 +1,7 @@
 #pragma once
 
 #include <vector>
+#include "../core/include/utils/geometry.h"
 #include "../core/include/utils/vector2d.h"
 #include "vex.h"
 
@@ -30,7 +31,7 @@ namespace PurePursuit {
     double dir;
     double mag;
 
-    Vector2D::point_t getPoint() {
+    point_t getPoint() {
       return {x, y};
     }
 
@@ -43,16 +44,16 @@ namespace PurePursuit {
     * Returns points of the intersections of a line segment and a circle. The line 
     * segment is defined by two points, and the circle is defined by a center and radius.
     */
-  static std::vector<Vector2D::point_t> line_circle_intersections(Vector2D::point_t center, double r, Vector2D::point_t point1, Vector2D::point_t point2);
+  static std::vector<point_t> line_circle_intersections(point_t center, double r, point_t point1, point_t point2);
   /**
     * Selects a look ahead from all the intersections in the path.
     */
-  static Vector2D::point_t get_lookahead(std::vector<Vector2D::point_t> path, Vector2D::point_t robot_loc, double radius);
+  static point_t get_lookahead(std::vector<point_t> path, point_t robot_loc, double radius);
 
   /**
     * Injects points in a path without changing the curvature with a certain spacing.
     */
-  static std::vector<Vector2D::point_t> inject_path(std::vector<Vector2D::point_t> path, double spacing);
+  static std::vector<point_t> inject_path(std::vector<point_t> path, double spacing);
 
   /**
   * Returns a smoothed path maintaining the start and end of the path.
@@ -65,9 +66,9 @@ namespace PurePursuit {
   * https://medium.com/@jaems33/understanding-robot-motion-path-smoothing-5970c8363bc4
   */
 
-  static std::vector<Vector2D::point_t> smooth_path(std::vector<Vector2D::point_t> path, double weight_data, double weight_smooth, double tolerance);
+  static std::vector<point_t> smooth_path(std::vector<point_t> path, double weight_data, double weight_smooth, double tolerance);
 
-  static std::vector<Vector2D::point_t> smooth_path_cubic(std::vector<Vector2D::point_t> path, double res);
+  static std::vector<point_t> smooth_path_cubic(std::vector<point_t> path, double res);
 
   /**
    * Interpolates a smooth path given a list of waypoints using hermite splines.
@@ -77,5 +78,5 @@ namespace PurePursuit {
    * @param steps The number of points interpolated between points.
    * @return The smoothed path.
    */
-  static std::vector<Vector2D::point_t> smooth_path_hermite(std::vector<hermite_point> path, double step);
+  static std::vector<point_t> smooth_path_hermite(std::vector<hermite_point> path, double step);
 }
\ No newline at end of file
diff --git a/include/utils/vector2d.h b/include/utils/vector2d.h
index 221cb84..c39f50f 100644
--- a/include/utils/vector2d.h
+++ b/include/utils/vector2d.h
@@ -1,6 +1,8 @@
 #pragma once
 
+
 #include <cmath>
+#include "../core/include/utils/geometry.h"
 
 #ifndef PI
 #define PI 3.141592654
@@ -13,57 +15,6 @@
 class Vector2D
 {
 public:
-
-    /**
-     * Data structure representing an X,Y coordinate
-     */
-    struct point_t
-    {
-        double x; ///< the x position in space
-        double y; ///< the y position in space
-
-
-        /** 
-         * dist calculates the euclidian distance between this point and another point using the pythagorean theorem
-         * @param other the point to measure the distance from
-         * @return the euclidian distance between this and other
-         */
-        double dist(const point_t other)
-        {
-          return sqrt(pow(this->x - other.x, 2) + pow(this->y - other.y, 2));
-        }
-
-        /**
-         * Vector2D addition operation on points
-         * @param other the point to add on to this
-         * @return this + other (this.x + other.x, this.y + other.y)
-         */
-        point_t operator+(const point_t &other)
-        {
-          point_t p 
-          {
-            .x = this->x + other.x,
-            .y = this->y + other.y
-          };
-          return p;
-        }
-
-        /**
-         * Vector2D subtraction operation on points
-         * @param other the point_t to subtract from this
-         * @return this - other (this.x - other.x, this.y - other.y)
-         */
-        point_t operator-(const point_t &other)
-        {
-          point_t p 
-          {
-            .x = this->x - other.x,
-            .y = this->y - other.y
-          };
-          return p;
-        }
-    };
-
     /**
      * Construct a vector object.
      * 
@@ -113,7 +64,7 @@ class Vector2D
     * Returns a point from the vector
     * @return the point represented by the vector
     */
-    Vector2D::point_t point();
+    point_t point();
 
 /**
  * Scales a Vector2D by a scalar with the * operator
diff --git a/src/subsystems/odometry/odometry_3wheel.cpp b/src/subsystems/odometry/odometry_3wheel.cpp
index a032512..4715559 100644
--- a/src/subsystems/odometry/odometry_3wheel.cpp
+++ b/src/subsystems/odometry/odometry_3wheel.cpp
@@ -12,7 +12,7 @@ Odometry3Wheel::Odometry3Wheel(CustomEncoder &lside_fwd, CustomEncoder &rside_fw
  * 
  * @return the robot's updated position
  */
-position_t Odometry3Wheel::update()
+pose_t Odometry3Wheel::update()
 {
     static double lside_old=0, rside_old=0, offax_old=0;
 
@@ -28,9 +28,9 @@ position_t Odometry3Wheel::update()
     rside_old = rside;
     offax_old = offax;
 
-    position_t updated_pos = calculate_new_pos(lside_delta, rside_delta, offax_delta, current_pos, cfg);
+    pose_t updated_pos = calculate_new_pos(lside_delta, rside_delta, offax_delta, current_pos, cfg);
 
-    static position_t last_pos = updated_pos;
+    static pose_t last_pos = updated_pos;
     static double last_speed = 0;
     static double last_ang_speed = 0;
     static timer tmr;
@@ -86,9 +86,9 @@ position_t Odometry3Wheel::update()
  * @param cfg Data on robot's configuration (wheel diameter, wheelbase, off-axis distance from center)
  * @return The robot's new position (x, y, rot) 
  */
-position_t Odometry3Wheel::calculate_new_pos(double lside_delta_deg, double rside_delta_deg, double offax_delta_deg, position_t old_pos, odometry3wheel_cfg_t cfg)
+pose_t Odometry3Wheel::calculate_new_pos(double lside_delta_deg, double rside_delta_deg, double offax_delta_deg, pose_t old_pos, odometry3wheel_cfg_t cfg)
 {
-    position_t retval = {};
+    pose_t retval = {};
 
     // Arclength formula for encoder degrees -> single wheel distance driven
     double lside_dist = (cfg.wheel_diam / 2.0) * deg2rad(lside_delta_deg);
diff --git a/src/subsystems/odometry/odometry_base.cpp b/src/subsystems/odometry/odometry_base.cpp
index ecbfae0..fad0728 100644
--- a/src/subsystems/odometry/odometry_base.cpp
+++ b/src/subsystems/odometry/odometry_base.cpp
@@ -45,12 +45,12 @@ void OdometryBase::end_async()
 /**
 * Gets the current position and rotation
 */
-position_t OdometryBase::get_position(void)
+pose_t OdometryBase::get_position(void)
 {
     mut.lock();
 
     // Create a new struct to pass-by-value
-    position_t out = current_pos;
+    pose_t out = current_pos;
 
     mut.unlock();
 
@@ -60,7 +60,7 @@ position_t OdometryBase::get_position(void)
 /**
  * Sets the current position of the robot
  */
-void OdometryBase::set_position(const position_t& newpos)
+void OdometryBase::set_position(const pose_t& newpos)
 {
     mut.lock();
 
@@ -75,7 +75,7 @@ void OdometryBase::set_position(const position_t& newpos)
  * @param end_pos to this point
  * @return the euclidean distance between start_pos and end_pos
  */
-double OdometryBase::pos_diff(position_t start_pos, position_t end_pos)
+double OdometryBase::pos_diff(pose_t start_pos, pose_t end_pos)
 {
   // Use the pythagorean theorem
   double retval = sqrt(pow(end_pos.x - start_pos.x, 2) + pow(end_pos.y - start_pos.y, 2));
@@ -86,7 +86,7 @@ double OdometryBase::pos_diff(position_t start_pos, position_t end_pos)
 /**
  * Get the change in rotation between two points
  */
-double OdometryBase::rot_diff(position_t pos1, position_t pos2)
+double OdometryBase::rot_diff(pose_t pos1, pose_t pos2)
 {
   return pos1.rot - pos2.rot;
 }
diff --git a/src/subsystems/odometry/odometry_tank.cpp b/src/subsystems/odometry/odometry_tank.cpp
index 404f865..e594ef4 100644
--- a/src/subsystems/odometry/odometry_tank.cpp
+++ b/src/subsystems/odometry/odometry_tank.cpp
@@ -30,7 +30,7 @@ OdometryTank::OdometryTank(CustomEncoder &left_enc, CustomEncoder &right_enc, ro
  * Resets the position and rotational data to the input.
  * 
  */
-void OdometryTank::set_position(const position_t &newpos)
+void OdometryTank::set_position(const pose_t &newpos)
 {
   mut.lock();
   rotation_offset = newpos.rot - (current_pos.rot - rotation_offset);
@@ -43,7 +43,7 @@ void OdometryTank::set_position(const position_t &newpos)
  * Update, store and return the current position of the robot. Only use if not initializing
  * with a separate thread.
  */
-position_t OdometryTank::update()
+pose_t OdometryTank::update()
 {
     double lside_revs = 0, rside_revs = 0;
 
@@ -92,7 +92,7 @@ position_t OdometryTank::update()
     current_pos = calculate_new_pos(config, current_pos, lside_revs, rside_revs, angle);
 
 
-    static position_t last_pos = current_pos;
+    static pose_t last_pos = current_pos;
     static double last_speed = 0;
     static double last_ang_speed = 0;
     static timer tmr;
@@ -126,9 +126,9 @@ position_t OdometryTank::update()
  * Using information about the robot's mechanical structure and sensors, calculate a new position
  * of the robot, relative to when this method was previously ran.
  */
-position_t OdometryTank::calculate_new_pos(robot_specs_t &config, position_t &curr_pos, double lside_revs, double rside_revs, double angle_deg)
+pose_t OdometryTank::calculate_new_pos(robot_specs_t &config, pose_t &curr_pos, double lside_revs, double rside_revs, double angle_deg)
 {
-    position_t new_pos;
+    pose_t new_pos;
 
     static double stored_lside_revs = lside_revs;
     static double stored_rside_revs = rside_revs;
@@ -145,7 +145,7 @@ position_t OdometryTank::calculate_new_pos(robot_specs_t &config, position_t &cu
     Vector2D chg_vec(angle, dist_driven);
     
     // Create a vector from the current position in reference to X,Y=0,0
-    Vector2D::point_t curr_point = {.x = curr_pos.x, .y = curr_pos.y};
+    point_t curr_point = {.x = curr_pos.x, .y = curr_pos.y};
     Vector2D curr_vec(curr_point);
 
     // Tack on the "difference" vector to the current vector
diff --git a/src/subsystems/tank_drive.cpp b/src/subsystems/tank_drive.cpp
index 812f6bd..6c0353e 100644
--- a/src/subsystems/tank_drive.cpp
+++ b/src/subsystems/tank_drive.cpp
@@ -1,3 +1,4 @@
+#include "../core/include/utils/geometry.h"
 #include "../core/include/subsystems/tank_drive.h"
 #include "../core/include/utils/math_util.h"
 
@@ -76,7 +77,7 @@ void TankDrive::drive_arcade(double forward_back, double left_right, int power)
  */
 bool TankDrive::drive_forward(double inches, directionType dir, Feedback &feedback, double max_speed)
 {
-  static position_t pos_setpt;
+  static pose_t pos_setpt;
 
   // We can't run the auto drive function without odometry
   if(odometry == NULL)
@@ -89,7 +90,7 @@ bool TankDrive::drive_forward(double inches, directionType dir, Feedback &feedba
   // Generate a point X inches forward of the current position, on first startup
   if (!func_initialized)
   {
-    position_t cur_pos = odometry->get_position();
+    pose_t cur_pos = odometry->get_position();
 
     // forwards is positive Y axis, backwards is negative
     if (dir == directionType::rev)
@@ -221,11 +222,11 @@ bool TankDrive::drive_to_point(double x, double y, vex::directionType dir, Feedb
   }
 
   // Store the initial position of the robot
-  position_t current_pos = odometry->get_position();
-  position_t end_pos = {.x=x, .y=y};
+  pose_t current_pos = odometry->get_position();
+  pose_t end_pos = {.x=x, .y=y};
 
   // Create a point (and vector) to get the direction
-  Vector2D::point_t pos_diff_pt = 
+  point_t pos_diff_pt = 
   {
     .x = x - current_pos.x,
     .y = y - current_pos.y
@@ -411,9 +412,9 @@ double TankDrive::modify_inputs(double input, int power)
 bool TankDrive::pure_pursuit(std::vector<PurePursuit::hermite_point> path, directionType dir, double radius, double res, Feedback &feedback, double max_speed) 
 {
   is_pure_pursuit = true;
-  std::vector<Vector2D::point_t> smoothed_path = PurePursuit::smooth_path_hermite(path, res);
+  std::vector<point_t> smoothed_path = PurePursuit::smooth_path_hermite(path, res);
 
-  Vector2D::point_t lookahead = PurePursuit::get_lookahead(smoothed_path, {odometry->get_position().x, odometry->get_position().y}, radius);
+  point_t lookahead = PurePursuit::get_lookahead(smoothed_path, {odometry->get_position().x, odometry->get_position().y}, radius);
   //printf("%f\t%f\n", odometry->get_position().x, odometry->get_position().y); 
   //printf("%f\t%f\n", lookahead.x, lookahead.y);
   bool is_last_point = (path.back().x == lookahead.x) && (path.back().y == lookahead.y);
diff --git a/src/utils/command_structure/drive_commands.cpp b/src/utils/command_structure/drive_commands.cpp
index 6e8ea45..dbb5d3d 100644
--- a/src/utils/command_structure/drive_commands.cpp
+++ b/src/utils/command_structure/drive_commands.cpp
@@ -97,7 +97,7 @@ DriveToPointCommand::DriveToPointCommand(TankDrive &drive_sys, Feedback &feedbac
  * @param dir the direction to drive
  * @param max_speed 0 -> 1 percentage of the drive systems speed to drive at
  */
-DriveToPointCommand::DriveToPointCommand(TankDrive &drive_sys, Feedback &feedback, Vector2D::point_t point, directionType dir, double max_speed):
+DriveToPointCommand::DriveToPointCommand(TankDrive &drive_sys, Feedback &feedback, point_t point, directionType dir, double max_speed):
   drive_sys(drive_sys), feedback(feedback), x(point.x), y(point.y), dir(dir), max_speed(max_speed) {}
 
 /**
@@ -173,7 +173,7 @@ bool DriveStopCommand::run() {
  * @param odom the odometry system we are setting
  * @param newpos the now position to set the odometry to
  */
-OdomSetPosition::OdomSetPosition(OdometryBase &odom, const position_t &newpos): odom(odom), newpos(newpos){}
+OdomSetPosition::OdomSetPosition(OdometryBase &odom, const pose_t &newpos): odom(odom), newpos(newpos){}
 
 bool OdomSetPosition::run() {
   odom.set_position(newpos);
diff --git a/src/utils/graph_drawer.cpp b/src/utils/graph_drawer.cpp
index 4b99563..3386620 100644
--- a/src/utils/graph_drawer.cpp
+++ b/src/utils/graph_drawer.cpp
@@ -13,7 +13,7 @@
  */
 GraphDrawer::GraphDrawer(vex::brain::lcd &screen, int num_samples, std::string x_label, std::string y_label, vex::color col, bool draw_border, double lower_bound, double upper_bound) : Screen(screen), sample_index(0), xlabel(x_label), ylabel(y_label), col(col), border(draw_border), upper(upper_bound), lower(lower_bound)
 {
-    std::vector<Vector2D::point_t> temp(num_samples, Vector2D::point_t{.x = 0.0, .y = 0.0});
+    std::vector<point_t> temp(num_samples, point_t{.x = 0.0, .y = 0.0});
     samples = temp;
 }
 
@@ -21,7 +21,7 @@ GraphDrawer::GraphDrawer(vex::brain::lcd &screen, int num_samples, std::string x
  * add_sample adds a point to the graph, removing one from the back
  * @param sample an x, y coordinate of the next point to graph
  */
-void GraphDrawer::add_sample(Vector2D::point_t sample)
+void GraphDrawer::add_sample(point_t sample)
 {
     samples[sample_index] = sample;
     sample_index++;
@@ -49,7 +49,7 @@ void GraphDrawer::draw(int x, int y, int width, int height)
     // collect data
     for (int i = 0; i < samples.size(); i++)
     {
-        Vector2D::point_t p = samples[i];
+        point_t p = samples[i];
         if (p.x < earliest_time)
         {
             earliest_time = p.x;
@@ -95,11 +95,11 @@ void GraphDrawer::draw(int x, int y, int width, int height)
     Screen.setPenColor(col);
     for (int i = sample_index; i < samples.size() + sample_index - 1; i++)
     {
-        Vector2D::point_t p = samples[i % samples.size()];
+        point_t p = samples[i % samples.size()];
         double x_pos = x_s + ((p.x - earliest_time) / time_range) * (double)width;
         double y_pos = y_s + ((p.y - current_min) / sample_range) * (double)(-height);
 
-        Vector2D::point_t p2 = samples[(i + 1) % samples.size()];
+        point_t p2 = samples[(i + 1) % samples.size()];
         double x_pos2 = x_s + ((p2.x - earliest_time) / time_range) * (double)width;
         double y_pos2 = y_s + ((p2.y - current_min) / sample_range) * (double)(-height);
 
diff --git a/src/utils/motion_controller.cpp b/src/utils/motion_controller.cpp
index 9d915ca..a68770a 100644
--- a/src/utils/motion_controller.cpp
+++ b/src/utils/motion_controller.cpp
@@ -107,7 +107,7 @@ FeedForward::ff_config_t MotionController::tune_feedforward(TankDrive &drive, Od
 {
     FeedForward::ff_config_t out = {};
     
-    position_t start_pos = odometry.get_position();
+    pose_t start_pos = odometry.get_position();
 
     // ========== kS Tuning =========
     // Start at 0 and slowly increase the power until the robot starts moving
diff --git a/src/utils/pure_pursuit.cpp b/src/utils/pure_pursuit.cpp
index 4b28a3c..6c70ad1 100644
--- a/src/utils/pure_pursuit.cpp
+++ b/src/utils/pure_pursuit.cpp
@@ -4,9 +4,9 @@
   * Returns points of the intersections of a line segment and a circle. The line 
   * segment is defined by two points, and the circle is defined by a center and radius.
   */
-std::vector<Vector2D::point_t> PurePursuit::line_circle_intersections(Vector2D::point_t center, double r, Vector2D::point_t point1, Vector2D::point_t point2)
+std::vector<point_t> PurePursuit::line_circle_intersections(point_t center, double r, point_t point1, point_t point2)
 {
-  std::vector<Vector2D::point_t> intersections = {};
+  std::vector<point_t> intersections = {};
 
   //Do future calculations relative to the circle's center
   point1.y -= center.y;
@@ -38,12 +38,12 @@ std::vector<Vector2D::point_t> PurePursuit::line_circle_intersections(Vector2D::
   //The equations used define an infinitely long line, so we check if the detected intersection falls on the line segment.
   if(x1 >= fmin(point1.x, point2.x) && x1 <= fmax(point1.x, point2.x) && y1 >= fmin(point1.y, point2.y) && y1 <= fmax(point1.y, point2.y))
   {
-    intersections.push_back(Vector2D::point_t{.x = x1 + center.x, .y = y1 + center.y});
+    intersections.push_back(point_t{.x = x1 + center.x, .y = y1 + center.y});
   }
 
   if(x2 >= fmin(point1.x, point2.x) && x2 <= fmax(point1.x, point2.x) && y2 >= fmin(point1.y, point2.y) && y2 <= fmax(point1.y, point2.y))
   {
-    intersections.push_back(Vector2D::point_t{.x = x2 + center.x, .y = y2 + center.y});
+    intersections.push_back(point_t{.x = x2 + center.x, .y = y2 + center.y});
   }
 
   return intersections;
@@ -52,10 +52,10 @@ std::vector<Vector2D::point_t> PurePursuit::line_circle_intersections(Vector2D::
 /**
  * Selects a look ahead from all the intersections in the path.
  */
-Vector2D::point_t PurePursuit::get_lookahead(std::vector<Vector2D::point_t> path, Vector2D::point_t robot_loc, double radius)
+point_t PurePursuit::get_lookahead(std::vector<point_t> path, point_t robot_loc, double radius)
 { 
   //Default: the end of the path
-  Vector2D::point_t target = path.back();
+  point_t target = path.back();
 
   
   if(target.dist(robot_loc) <= radius)
@@ -66,13 +66,13 @@ Vector2D::point_t PurePursuit::get_lookahead(std::vector<Vector2D::point_t> path
   //Check each line segment of the path for potential targets
   for(int i = 0; i < path.size() - 1; i++)
   {
-    Vector2D::point_t start = path[i];
-    Vector2D::point_t end = path[i+1];
+    point_t start = path[i];
+    point_t end = path[i+1];
 
-    std::vector<Vector2D::point_t> intersections = line_circle_intersections(robot_loc, radius, start, end);
+    std::vector<point_t> intersections = line_circle_intersections(robot_loc, radius, start, end);
     //Choose the intersection that is closest to the end of the line segment
     //This prioritizes the closest intersection to the end of the path
-    for(Vector2D::point_t intersection: intersections)
+    for(point_t intersection: intersections)
     {
       if(intersection.dist(end) < target.dist(end))
         target = intersection;
@@ -85,17 +85,17 @@ Vector2D::point_t PurePursuit::get_lookahead(std::vector<Vector2D::point_t> path
 /**
  Injects points in a path without changing the curvature with a certain spacing.
 */
-std::vector<Vector2D::point_t> PurePursuit::inject_path(std::vector<Vector2D::point_t> path, double spacing)
+std::vector<point_t> PurePursuit::inject_path(std::vector<point_t> path, double spacing)
 {
-  std::vector<Vector2D::point_t> new_path;
+  std::vector<point_t> new_path;
 
   //Injecting points for each line segment
   for(int i = 0; i < path.size() - 1; i++)
   {
-    Vector2D::point_t start = path[i];
-    Vector2D::point_t end = path[i+1];
+    point_t start = path[i];
+    point_t end = path[i+1];
 
-    Vector2D::point_t diff = end - start;
+    point_t diff = end - start;
     Vector2D vector = Vector2D(diff);
     
     int num_points = ceil(vector.get_mag() / spacing);
@@ -106,7 +106,7 @@ std::vector<Vector2D::point_t> PurePursuit::inject_path(std::vector<Vector2D::po
     for(int j = 0; j < num_points; j++)
     {
       //We take the start point and add additional vectors
-      Vector2D::point_t path_point = (Vector2D(start) + vector * j).point();
+      point_t path_point = (Vector2D(start) + vector * j).point();
       new_path.push_back(path_point);
     }
   }
@@ -125,21 +125,21 @@ std::vector<Vector2D::point_t> PurePursuit::inject_path(std::vector<Vector2D::po
  * Honestly have no idea if/how this works.
  * https://medium.com/@jaems33/understanding-robot-motion-path-smoothing-5970c8363bc4
 */
-std::vector<Vector2D::point_t> PurePursuit::smooth_path(std::vector<Vector2D::point_t> path, double weight_data, double weight_smooth, double tolerance)
+std::vector<point_t> PurePursuit::smooth_path(std::vector<point_t> path, double weight_data, double weight_smooth, double tolerance)
 {
-  std::vector<Vector2D::point_t> new_path = path;
+  std::vector<point_t> new_path = path;
   double change = tolerance;
   while(change >= tolerance)
   {
     change = 0;
     for(int i = 1; i < path.size() - 1; i++)
     {
-        Vector2D::point_t x_i = path[i];
-        Vector2D::point_t y_i = new_path[i];
-        Vector2D::point_t y_prev = new_path[i-1];
-        Vector2D::point_t y_next = new_path[i+1];
+        point_t x_i = path[i];
+        point_t y_i = new_path[i];
+        point_t y_prev = new_path[i-1];
+        point_t y_next = new_path[i+1];
         
-        Vector2D::point_t y_i_saved = y_i;
+        point_t y_i_saved = y_i;
         
         y_i.x += weight_data * (x_i.x - y_i.x) + weight_smooth * (y_next.x + y_prev.x - (2 * y_i.x));
         y_i.y += weight_data * (x_i.y - y_i.y) + weight_smooth * (y_next.y + y_prev.y - (2 * y_i.y));
@@ -159,12 +159,12 @@ std::vector<Vector2D::point_t> PurePursuit::smooth_path(std::vector<Vector2D::po
  * @param steps The number of points interpolated between points.
  * @return The smoothed path.
  */
-std::vector<Vector2D::point_t> PurePursuit::smooth_path_hermite(std::vector<hermite_point> path, double steps) {
-  std::vector<Vector2D::point_t> new_path;
+std::vector<point_t> PurePursuit::smooth_path_hermite(std::vector<hermite_point> path, double steps) {
+  std::vector<point_t> new_path;
   for(int i = 0; i < path.size() - 1; i++) {
     for(int t = 0; t < steps; t++) {
       // Storing the start and end points and slopes at those points as Vector2Ds.
-      Vector2D::point_t tmp = path[i].getPoint();
+      point_t tmp = path[i].getPoint();
       Vector2D p1 = Vector2D(tmp);
       tmp = path[i+1].getPoint();
       Vector2D p2 = Vector2D(tmp);
@@ -191,8 +191,8 @@ std::vector<Vector2D::point_t> PurePursuit::smooth_path_hermite(std::vector<herm
   return new_path;
 }
 
-std::vector<Vector2D::point_t> PurePursuit::smooth_path_cubic(std::vector<Vector2D::point_t> path, double res) {
-  std::vector<Vector2D::point_t> new_path;
+std::vector<point_t> PurePursuit::smooth_path_cubic(std::vector<point_t> path, double res) {
+  std::vector<point_t> new_path;
   std::vector<spline> splines;
 
   double delta_x[path.size() - 1];
diff --git a/src/utils/vector2d.cpp b/src/utils/vector2d.cpp
index 322dd6f..8399b5f 100644
--- a/src/utils/vector2d.cpp
+++ b/src/utils/vector2d.cpp
@@ -64,7 +64,7 @@ Vector2D Vector2D::normalize()
  * Convert a direction and magnitude representation to an x, y representation
  * @return the x, y representation of the vector 
 */
-Vector2D::point_t Vector2D::point()
+point_t Vector2D::point()
 {
   point_t p = 
   {

From 21a91b9f3696891e3ef6eb0b7e382678e9d3e368 Mon Sep 17 00:00:00 2001
From: cowsed <richie.sommers@outlook.com>
Date: Wed, 21 Jun 2023 19:53:32 -0400
Subject: [PATCH 208/243] fixed ternary in modify inputs

---
 src/subsystems/tank_drive.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/subsystems/tank_drive.cpp b/src/subsystems/tank_drive.cpp
index 6c0353e..92c613b 100644
--- a/src/subsystems/tank_drive.cpp
+++ b/src/subsystems/tank_drive.cpp
@@ -406,7 +406,7 @@ bool TankDrive::turn_to_heading(double heading_deg, double max_speed)
  */
 double TankDrive::modify_inputs(double input, int power)
 {
-  return (power % 2 == 0 ? (input < 0 ? -1 : 1) : 1) * pow(input, power);
+  return sign(input)* pow(std::abs(input), power);
 }
 
 bool TankDrive::pure_pursuit(std::vector<PurePursuit::hermite_point> path, directionType dir, double radius, double res, Feedback &feedback, double max_speed) 

From 9cc5b1d9ac6b64c6866af4955b257cd3868973f4 Mon Sep 17 00:00:00 2001
From: cowsed <richie.sommers@outlook.com>
Date: Sun, 10 Sep 2023 15:55:24 -0400
Subject: [PATCH 209/243] Serializer (brought from other branch)

---
 include/utils/serializer.h |  52 ++++++++
 src/utils/serializer.cpp   | 249 +++++++++++++++++++++++++++++++++++++
 2 files changed, 301 insertions(+)
 create mode 100644 include/utils/serializer.h
 create mode 100644 src/utils/serializer.cpp

diff --git a/include/utils/serializer.h b/include/utils/serializer.h
new file mode 100644
index 0000000..2a762d1
--- /dev/null
+++ b/include/utils/serializer.h
@@ -0,0 +1,52 @@
+#pragma once
+#include <algorithm>
+#include <map>
+#include <string>
+#include <vector>
+#include <stdio.h>
+
+const char serialization_separator = '$';
+const std::size_t MAX_FILE_SIZE = 2048;
+
+class Serializer
+{
+private:
+    bool flush_always;
+    std::string filename;
+    std::map<std::string, int> ints;
+    std::map<std::string, bool> bools;
+    std::map<std::string, double> doubles;
+    std::map<std::string, std::string> strings;
+
+public:
+    /// @brief create an empty Serializer
+    ~Serializer()
+    {
+        save_to_disk();
+        printf("Saving %s\n", filename.c_str());
+        fflush(stdout);
+    }
+
+    /// @brief create a Serializer filled with values from file
+    explicit Serializer(const std::string &filename, bool flush_always = true) : flush_always(flush_always), filename(filename), ints({}), bools({}), doubles({}), strings({}) { read_from_disk(); }
+
+    /// @brief saves current Serializer state to disk
+    void save_to_disk() const;
+    /// @brief loads Serializer state from disk
+    bool read_from_disk();
+
+    /// Setters - not saved until save_to_disk is called
+
+    void set_int(const std::string &name, int i);
+    void set_bool(const std::string &name, bool b);
+    void set_double(const std::string &name, double d);
+    void set_string(const std::string &name, std::string str);
+
+    /// Getters
+    /// Return value if it exists in the serializer
+
+    int int_or(const std::string &name, int otherwise);
+    bool bool_or(const std::string &name, bool otherwise);
+    double double_or(const std::string &name, double otherwise);
+    std::string string_or(const std::string &name, std::string otherwise);
+};
diff --git a/src/utils/serializer.cpp b/src/utils/serializer.cpp
new file mode 100644
index 0000000..50b4161
--- /dev/null
+++ b/src/utils/serializer.cpp
@@ -0,0 +1,249 @@
+#include "../core/include/utils/serializer.h"
+#include "stdlib.h"
+#include "vex.h"
+
+// ===================== Helper Functions for converting to and from bytes =====================
+// Specialize these if you have non trivial types you need to save I suppose
+
+// Convert a type to bytes to serialize
+
+template <typename T>
+std::vector<char> to_bytes(T value)
+{
+    // copy bytes of data into vector
+    std::vector<char> value_bytes(sizeof(T));
+    std::copy(static_cast<const char *>(static_cast<const void *>(&value)),
+              static_cast<const char *>(static_cast<const void *>(&value)) + sizeof(value),
+              value_bytes.begin());
+    return value_bytes;
+}
+
+template <>
+std::vector<char> to_bytes<std::string>(std::string str)
+{
+    std::vector<char> value_bytes(str.size() + 1);
+    std::copy(str.begin(), str.end(), value_bytes.begin());
+    value_bytes[str.size()] = 0x0;
+    return value_bytes;
+}
+
+// Convert bytes to a type
+
+template <typename T>
+T from_bytes(const std::vector<char> &data, std::vector<char>::const_iterator &position)
+{
+    T value;
+    std::copy(position, position + sizeof(T), static_cast<char *>(static_cast<void *>(&value)));
+    position = position + sizeof(T);
+    return value;
+}
+
+template <>
+std::string from_bytes(const std::vector<char> &data, std::vector<char>::const_iterator &position)
+{
+    auto pos = position;
+    while (*pos != 0x0)
+    {
+        ++pos;
+    }
+    std::string s(position, pos);
+    position = pos + 1;
+    return s;
+}
+
+// Replaces funny characters in names so they don't mess with serialization specifiers
+
+std::string sanitize_name(std::string s)
+{
+    std::replace(s.begin(), s.end(), serialization_separator, '-');
+    return s;
+}
+
+// Protocol
+/*
+ * Null terminated name immediatly followed by the bytes of the value
+ * +----Ints-----+
+ * |name\0 bytes |
+ * |   [sep]     |
+ * +---Bools-----+
+ * |name\0 byte  |
+ * |   [sep]     |
+ * +---Doubles --+
+ * |name\0 bytes |
+ * |   [sep]     |
+ * +---Strings --+
+ * |name\0 str\0 |
+ * |   [sep]     |
+ * +-------------+
+ */
+
+// Adds data to a file (represented by array of bytes) as specified by the format above
+template <typename value_type>
+static void add_data(std::vector<char> &data, const std::map<std::string, value_type> &map)
+{
+    for (const auto &pair : map)
+    {
+        const std::string &name = pair.first;
+        const value_type value = pair.second;
+
+        data.insert(data.end(), name.cbegin(), name.cend());
+        data.insert(data.end(), 0x0);
+
+        auto bytes = to_bytes<value_type>(value);
+        data.insert(data.end(), bytes.cbegin(), bytes.cend());
+    }
+    data.push_back(serialization_separator);
+}
+
+// reads data of a certain type from a file
+template <typename value_type>
+static std::vector<char>::const_iterator read_data(const std::vector<char> &data,
+                                                   std::vector<char>::const_iterator begin,
+                                                   std::map<std::string, value_type> &map)
+{
+    std::vector<char>::const_iterator pos = begin;
+
+    while (*pos != serialization_separator)
+    {
+        auto name_start = pos;
+        // read name
+        std::string name = from_bytes<std::string>(data, name_start);
+        pos += name.size() + 1;
+        // read value
+        value_type value = from_bytes<value_type>(data, pos);
+        printf("Read Name: %s\n", name.c_str());
+        map.insert({name, value});
+    }
+
+    return pos + 1;
+}
+
+void Serializer::set_int(const std::string &name, int i)
+{
+    ints[sanitize_name(name)] = i;
+    if (flush_always)
+    {
+        save_to_disk();
+    }
+}
+void Serializer::set_bool(const std::string &name, bool b)
+{
+    bools[sanitize_name(name)] = b;
+    if (flush_always)
+    {
+        save_to_disk();
+    }
+}
+void Serializer::set_double(const std::string &name, double d)
+{
+    doubles[sanitize_name(name)] = d;
+    if (flush_always)
+    {
+        save_to_disk();
+    }
+}
+void Serializer::set_string(const std::string &name, std::string str)
+{
+    strings[sanitize_name(name)] = str;
+    if (flush_always)
+    {
+        save_to_disk();
+    }
+}
+
+int Serializer::int_or(const std::string &name, int otherwise)
+{
+    if (ints.count(name))
+    {
+        return ints.at(name);
+    }
+    return otherwise;
+}
+bool Serializer::bool_or(const std::string &name, bool otherwise)
+{
+    if (bools.count(name))
+    {
+        return bools.at(name);
+    }
+    return otherwise;
+}
+double Serializer::double_or(const std::string &name, double otherwise)
+{
+    if (doubles.count(name))
+    {
+        printf("Double Read");
+        fflush(stdout);
+        return doubles.at(name);
+    }
+    set_double(name, otherwise);
+    return otherwise;
+}
+std::string Serializer::string_or(const std::string &name, std::string otherwise)
+{
+    if (strings.count(name))
+    {
+        return strings.at(name);
+    }
+    return otherwise;
+}
+
+// forms data bytes then saves to a filename
+void Serializer::save_to_disk() const
+{
+    std::vector<char> data = {};
+    add_data<int>(data, ints);
+    add_data<bool>(data, bools);
+    add_data<double>(data, doubles);
+    add_data<std::string>(data, strings);
+
+    fflush(stdout);
+
+    vex::brain::sdcard sd;
+    int32_t written = sd.savefile(filename.c_str(), (unsigned char *)&data[0], data.size());
+    if (written != data.size())
+    {
+        printf("!! Error writing to `%s`!!", filename.c_str());
+        return;
+    }
+}
+
+// reads types from file data
+bool Serializer::read_from_disk()
+{
+    vex::brain::sdcard sd;
+    if (!sd.isInserted())
+    {
+        printf("!! Trying to Serialize to No SD Card !!\n");
+        return false;
+    }
+    int size = sd.size(filename.c_str());
+
+    if (filename == ""){
+        printf("!! Can't write to empty filename!!\n");
+        return false;
+    }
+
+    if (!sd.exists(filename.c_str()))
+    {
+        printf("!!f Trying to Serialize to a file that doesnt exist: Creating %s !!\n", filename.c_str());
+        save_to_disk();
+        return false;
+    }
+
+    std::vector<char> data(size);
+
+    int readsize = sd.loadfile(filename.c_str(), (unsigned char *)&data[0], size);
+    if (size != readsize)
+    {
+        printf("!! Error reading from file !!");;
+        return false;
+    }
+
+    auto bool_start = read_data<int>(data, data.cbegin(), ints);
+    auto doubles_start = read_data<bool>(data, bool_start, bools);
+    auto strings_start = read_data<double>(data, doubles_start, doubles);
+    auto file_end = read_data<std::string>(data, strings_start, strings);
+
+
+    return true;
+}

From 8396a1f3b6a2356bc55d5c96c1a4a89b99a86589 Mon Sep 17 00:00:00 2001
From: cowsed <richie.sommers@outlook.com>
Date: Sun, 10 Sep 2023 16:10:56 -0400
Subject: [PATCH 210/243] bLOcK CoMmeNts MakE YoUR CoDe MoRE REadaBLE

---
 include/utils/serializer.h | 50 ++++++++++++++++++++++++++++++++++----
 src/utils/serializer.cpp   | 22 ++++++++++-------
 2 files changed, 58 insertions(+), 14 deletions(-)

diff --git a/include/utils/serializer.h b/include/utils/serializer.h
index 2a762d1..bf29138 100644
--- a/include/utils/serializer.h
+++ b/include/utils/serializer.h
@@ -5,9 +5,12 @@
 #include <vector>
 #include <stdio.h>
 
+/// @brief character that will be used to seperate values
 const char serialization_separator = '$';
-const std::size_t MAX_FILE_SIZE = 2048;
+/// @brief max file size that the system can deal with
+const std::size_t MAX_FILE_SIZE = 4096; 
 
+/// @brief Serializes Arbitrary data to a file on the SD Card
 class Serializer
 {
 private:
@@ -18,8 +21,11 @@ class Serializer
     std::map<std::string, double> doubles;
     std::map<std::string, std::string> strings;
 
+    /// @brief loads Serializer state from disk
+    bool read_from_disk();
+
 public:
-    /// @brief create an empty Serializer
+    /// @brief Save and close upon destruction (bc of vex, this doesnt always get called when the program ends. To be sure, call save_to_disk)
     ~Serializer()
     {
         save_to_disk();
@@ -27,26 +33,60 @@ class Serializer
         fflush(stdout);
     }
 
-    /// @brief create a Serializer filled with values from file
+    /// @brief create a Serializer
+    /// @param filename the file to read from. If filename does not exist we will create that file
+    /// @param flush_always If true, after every write flush to a file. If false, you are responsible for calling save_to_disk
     explicit Serializer(const std::string &filename, bool flush_always = true) : flush_always(flush_always), filename(filename), ints({}), bools({}), doubles({}), strings({}) { read_from_disk(); }
 
     /// @brief saves current Serializer state to disk
     void save_to_disk() const;
-    /// @brief loads Serializer state from disk
-    bool read_from_disk();
 
     /// Setters - not saved until save_to_disk is called
 
+    /// @brief sets an integer by the name of name to i. If flush_always == true, this will save to the sd card
+    /// @param name name of integer
+    /// @param i value of integer
     void set_int(const std::string &name, int i);
+
+    /// @brief sets a bool by the name of name to b. If flush_always == true, this will save to the sd card
+    /// @param name name of bool
+    /// @param b value of bool
     void set_bool(const std::string &name, bool b);
+
+    /// @brief sets a double by the name of name to d. If flush_always == true, this will save to the sd card
+    /// @param name name of double
+    /// @param d value of double
     void set_double(const std::string &name, double d);
+
+    /// @brief sets a string by the name of name to s. If flush_always == true, this will save to the sd card
+    /// @param name name of string
+    /// @param i value of string
     void set_string(const std::string &name, std::string str);
 
     /// Getters
     /// Return value if it exists in the serializer
 
+    /// @brief gets a value stored in the serializer. If not found, sets the value to otherwise
+    /// @param name name of value
+    /// @param otherwise value if the name is not specified
+    /// @return the value if found or otherwise
     int int_or(const std::string &name, int otherwise);
+
+    /// @brief gets a value stored in the serializer. If not, sets the value to otherwise
+    /// @param name name of value
+    /// @param otherwise value if the name is not specified
+    /// @return the value if found or otherwise
     bool bool_or(const std::string &name, bool otherwise);
+
+    /// @brief gets a value stored in the serializer. If not, sets the value to otherwise
+    /// @param name name of value
+    /// @param otherwise value if the name is not specified
+    /// @return the value if found or otherwise
     double double_or(const std::string &name, double otherwise);
+
+    /// @brief gets a value stored in the serializer. If not, sets the value to otherwise
+    /// @param name name of value
+    /// @param otherwise value if the name is not specified
+    /// @return the value if found or otherwise
     std::string string_or(const std::string &name, std::string otherwise);
 };
diff --git a/src/utils/serializer.cpp b/src/utils/serializer.cpp
index 50b4161..c93d1ad 100644
--- a/src/utils/serializer.cpp
+++ b/src/utils/serializer.cpp
@@ -7,6 +7,8 @@
 
 // Convert a type to bytes to serialize
 
+/// @brief Convert type to bytes. Overload this for non integer types
+/// @param value value to convert
 template <typename T>
 std::vector<char> to_bytes(T value)
 {
@@ -27,8 +29,8 @@ std::vector<char> to_bytes<std::string>(std::string str)
     return value_bytes;
 }
 
-// Convert bytes to a type
-
+/// @brief Convert bytes to a type
+/// @param gets data from arbitrary bytes. Overload this for non integer types
 template <typename T>
 T from_bytes(const std::vector<char> &data, std::vector<char>::const_iterator &position)
 {
@@ -51,8 +53,7 @@ std::string from_bytes(const std::vector<char> &data, std::vector<char>::const_i
     return s;
 }
 
-// Replaces funny characters in names so they don't mess with serialization specifiers
-
+/// @brief Replaces funny characters in names so they don't mess with serialization specifiers
 std::string sanitize_name(std::string s)
 {
     std::replace(s.begin(), s.end(), serialization_separator, '-');
@@ -77,7 +78,9 @@ std::string sanitize_name(std::string s)
  * +-------------+
  */
 
-// Adds data to a file (represented by array of bytes) as specified by the format above
+/// @brief Adds data to a file (represented by array of bytes) as specified by the format above
+/// @param data the bytes to add to
+/// @param map the values and names we are talking about
 template <typename value_type>
 static void add_data(std::vector<char> &data, const std::map<std::string, value_type> &map)
 {
@@ -157,6 +160,7 @@ int Serializer::int_or(const std::string &name, int otherwise)
     {
         return ints.at(name);
     }
+    set_int(name, otherwise);
     return otherwise;
 }
 bool Serializer::bool_or(const std::string &name, bool otherwise)
@@ -165,14 +169,13 @@ bool Serializer::bool_or(const std::string &name, bool otherwise)
     {
         return bools.at(name);
     }
+    set_bool(name, otherwise);
     return otherwise;
 }
 double Serializer::double_or(const std::string &name, double otherwise)
 {
     if (doubles.count(name))
     {
-        printf("Double Read");
-        fflush(stdout);
         return doubles.at(name);
     }
     set_double(name, otherwise);
@@ -184,10 +187,11 @@ std::string Serializer::string_or(const std::string &name, std::string otherwise
     {
         return strings.at(name);
     }
+    set_string(name, otherwise);
     return otherwise;
 }
 
-// forms data bytes then saves to a filename
+/// @brief forms data bytes then saves to filename this was openned with
 void Serializer::save_to_disk() const
 {
     std::vector<char> data = {};
@@ -207,7 +211,7 @@ void Serializer::save_to_disk() const
     }
 }
 
-// reads types from file data
+/// @brief reads types from file data
 bool Serializer::read_from_disk()
 {
     vex::brain::sdcard sd;

From b3b0916c9296689e5ef135a3115715ae928e2cab Mon Sep 17 00:00:00 2001
From: cowsed <richie.sommers@outlook.com>
Date: Sun, 10 Sep 2023 15:55:24 -0400
Subject: [PATCH 211/243] Serializer (brought from other branch)

---
 include/utils/serializer.h |  52 ++++++++
 src/utils/serializer.cpp   | 249 +++++++++++++++++++++++++++++++++++++
 2 files changed, 301 insertions(+)
 create mode 100644 include/utils/serializer.h
 create mode 100644 src/utils/serializer.cpp

diff --git a/include/utils/serializer.h b/include/utils/serializer.h
new file mode 100644
index 0000000..2a762d1
--- /dev/null
+++ b/include/utils/serializer.h
@@ -0,0 +1,52 @@
+#pragma once
+#include <algorithm>
+#include <map>
+#include <string>
+#include <vector>
+#include <stdio.h>
+
+const char serialization_separator = '$';
+const std::size_t MAX_FILE_SIZE = 2048;
+
+class Serializer
+{
+private:
+    bool flush_always;
+    std::string filename;
+    std::map<std::string, int> ints;
+    std::map<std::string, bool> bools;
+    std::map<std::string, double> doubles;
+    std::map<std::string, std::string> strings;
+
+public:
+    /// @brief create an empty Serializer
+    ~Serializer()
+    {
+        save_to_disk();
+        printf("Saving %s\n", filename.c_str());
+        fflush(stdout);
+    }
+
+    /// @brief create a Serializer filled with values from file
+    explicit Serializer(const std::string &filename, bool flush_always = true) : flush_always(flush_always), filename(filename), ints({}), bools({}), doubles({}), strings({}) { read_from_disk(); }
+
+    /// @brief saves current Serializer state to disk
+    void save_to_disk() const;
+    /// @brief loads Serializer state from disk
+    bool read_from_disk();
+
+    /// Setters - not saved until save_to_disk is called
+
+    void set_int(const std::string &name, int i);
+    void set_bool(const std::string &name, bool b);
+    void set_double(const std::string &name, double d);
+    void set_string(const std::string &name, std::string str);
+
+    /// Getters
+    /// Return value if it exists in the serializer
+
+    int int_or(const std::string &name, int otherwise);
+    bool bool_or(const std::string &name, bool otherwise);
+    double double_or(const std::string &name, double otherwise);
+    std::string string_or(const std::string &name, std::string otherwise);
+};
diff --git a/src/utils/serializer.cpp b/src/utils/serializer.cpp
new file mode 100644
index 0000000..50b4161
--- /dev/null
+++ b/src/utils/serializer.cpp
@@ -0,0 +1,249 @@
+#include "../core/include/utils/serializer.h"
+#include "stdlib.h"
+#include "vex.h"
+
+// ===================== Helper Functions for converting to and from bytes =====================
+// Specialize these if you have non trivial types you need to save I suppose
+
+// Convert a type to bytes to serialize
+
+template <typename T>
+std::vector<char> to_bytes(T value)
+{
+    // copy bytes of data into vector
+    std::vector<char> value_bytes(sizeof(T));
+    std::copy(static_cast<const char *>(static_cast<const void *>(&value)),
+              static_cast<const char *>(static_cast<const void *>(&value)) + sizeof(value),
+              value_bytes.begin());
+    return value_bytes;
+}
+
+template <>
+std::vector<char> to_bytes<std::string>(std::string str)
+{
+    std::vector<char> value_bytes(str.size() + 1);
+    std::copy(str.begin(), str.end(), value_bytes.begin());
+    value_bytes[str.size()] = 0x0;
+    return value_bytes;
+}
+
+// Convert bytes to a type
+
+template <typename T>
+T from_bytes(const std::vector<char> &data, std::vector<char>::const_iterator &position)
+{
+    T value;
+    std::copy(position, position + sizeof(T), static_cast<char *>(static_cast<void *>(&value)));
+    position = position + sizeof(T);
+    return value;
+}
+
+template <>
+std::string from_bytes(const std::vector<char> &data, std::vector<char>::const_iterator &position)
+{
+    auto pos = position;
+    while (*pos != 0x0)
+    {
+        ++pos;
+    }
+    std::string s(position, pos);
+    position = pos + 1;
+    return s;
+}
+
+// Replaces funny characters in names so they don't mess with serialization specifiers
+
+std::string sanitize_name(std::string s)
+{
+    std::replace(s.begin(), s.end(), serialization_separator, '-');
+    return s;
+}
+
+// Protocol
+/*
+ * Null terminated name immediatly followed by the bytes of the value
+ * +----Ints-----+
+ * |name\0 bytes |
+ * |   [sep]     |
+ * +---Bools-----+
+ * |name\0 byte  |
+ * |   [sep]     |
+ * +---Doubles --+
+ * |name\0 bytes |
+ * |   [sep]     |
+ * +---Strings --+
+ * |name\0 str\0 |
+ * |   [sep]     |
+ * +-------------+
+ */
+
+// Adds data to a file (represented by array of bytes) as specified by the format above
+template <typename value_type>
+static void add_data(std::vector<char> &data, const std::map<std::string, value_type> &map)
+{
+    for (const auto &pair : map)
+    {
+        const std::string &name = pair.first;
+        const value_type value = pair.second;
+
+        data.insert(data.end(), name.cbegin(), name.cend());
+        data.insert(data.end(), 0x0);
+
+        auto bytes = to_bytes<value_type>(value);
+        data.insert(data.end(), bytes.cbegin(), bytes.cend());
+    }
+    data.push_back(serialization_separator);
+}
+
+// reads data of a certain type from a file
+template <typename value_type>
+static std::vector<char>::const_iterator read_data(const std::vector<char> &data,
+                                                   std::vector<char>::const_iterator begin,
+                                                   std::map<std::string, value_type> &map)
+{
+    std::vector<char>::const_iterator pos = begin;
+
+    while (*pos != serialization_separator)
+    {
+        auto name_start = pos;
+        // read name
+        std::string name = from_bytes<std::string>(data, name_start);
+        pos += name.size() + 1;
+        // read value
+        value_type value = from_bytes<value_type>(data, pos);
+        printf("Read Name: %s\n", name.c_str());
+        map.insert({name, value});
+    }
+
+    return pos + 1;
+}
+
+void Serializer::set_int(const std::string &name, int i)
+{
+    ints[sanitize_name(name)] = i;
+    if (flush_always)
+    {
+        save_to_disk();
+    }
+}
+void Serializer::set_bool(const std::string &name, bool b)
+{
+    bools[sanitize_name(name)] = b;
+    if (flush_always)
+    {
+        save_to_disk();
+    }
+}
+void Serializer::set_double(const std::string &name, double d)
+{
+    doubles[sanitize_name(name)] = d;
+    if (flush_always)
+    {
+        save_to_disk();
+    }
+}
+void Serializer::set_string(const std::string &name, std::string str)
+{
+    strings[sanitize_name(name)] = str;
+    if (flush_always)
+    {
+        save_to_disk();
+    }
+}
+
+int Serializer::int_or(const std::string &name, int otherwise)
+{
+    if (ints.count(name))
+    {
+        return ints.at(name);
+    }
+    return otherwise;
+}
+bool Serializer::bool_or(const std::string &name, bool otherwise)
+{
+    if (bools.count(name))
+    {
+        return bools.at(name);
+    }
+    return otherwise;
+}
+double Serializer::double_or(const std::string &name, double otherwise)
+{
+    if (doubles.count(name))
+    {
+        printf("Double Read");
+        fflush(stdout);
+        return doubles.at(name);
+    }
+    set_double(name, otherwise);
+    return otherwise;
+}
+std::string Serializer::string_or(const std::string &name, std::string otherwise)
+{
+    if (strings.count(name))
+    {
+        return strings.at(name);
+    }
+    return otherwise;
+}
+
+// forms data bytes then saves to a filename
+void Serializer::save_to_disk() const
+{
+    std::vector<char> data = {};
+    add_data<int>(data, ints);
+    add_data<bool>(data, bools);
+    add_data<double>(data, doubles);
+    add_data<std::string>(data, strings);
+
+    fflush(stdout);
+
+    vex::brain::sdcard sd;
+    int32_t written = sd.savefile(filename.c_str(), (unsigned char *)&data[0], data.size());
+    if (written != data.size())
+    {
+        printf("!! Error writing to `%s`!!", filename.c_str());
+        return;
+    }
+}
+
+// reads types from file data
+bool Serializer::read_from_disk()
+{
+    vex::brain::sdcard sd;
+    if (!sd.isInserted())
+    {
+        printf("!! Trying to Serialize to No SD Card !!\n");
+        return false;
+    }
+    int size = sd.size(filename.c_str());
+
+    if (filename == ""){
+        printf("!! Can't write to empty filename!!\n");
+        return false;
+    }
+
+    if (!sd.exists(filename.c_str()))
+    {
+        printf("!!f Trying to Serialize to a file that doesnt exist: Creating %s !!\n", filename.c_str());
+        save_to_disk();
+        return false;
+    }
+
+    std::vector<char> data(size);
+
+    int readsize = sd.loadfile(filename.c_str(), (unsigned char *)&data[0], size);
+    if (size != readsize)
+    {
+        printf("!! Error reading from file !!");;
+        return false;
+    }
+
+    auto bool_start = read_data<int>(data, data.cbegin(), ints);
+    auto doubles_start = read_data<bool>(data, bool_start, bools);
+    auto strings_start = read_data<double>(data, doubles_start, doubles);
+    auto file_end = read_data<std::string>(data, strings_start, strings);
+
+
+    return true;
+}

From b20a35d8ca30ba4bb0d950b255666f97b16c163e Mon Sep 17 00:00:00 2001
From: cowsed <richie.sommers@outlook.com>
Date: Sun, 10 Sep 2023 16:10:56 -0400
Subject: [PATCH 212/243] bLOcK CoMmeNts MakE YoUR CoDe MoRE REadaBLE

---
 include/utils/serializer.h | 50 ++++++++++++++++++++++++++++++++++----
 src/utils/serializer.cpp   | 22 ++++++++++-------
 2 files changed, 58 insertions(+), 14 deletions(-)

diff --git a/include/utils/serializer.h b/include/utils/serializer.h
index 2a762d1..bf29138 100644
--- a/include/utils/serializer.h
+++ b/include/utils/serializer.h
@@ -5,9 +5,12 @@
 #include <vector>
 #include <stdio.h>
 
+/// @brief character that will be used to seperate values
 const char serialization_separator = '$';
-const std::size_t MAX_FILE_SIZE = 2048;
+/// @brief max file size that the system can deal with
+const std::size_t MAX_FILE_SIZE = 4096; 
 
+/// @brief Serializes Arbitrary data to a file on the SD Card
 class Serializer
 {
 private:
@@ -18,8 +21,11 @@ class Serializer
     std::map<std::string, double> doubles;
     std::map<std::string, std::string> strings;
 
+    /// @brief loads Serializer state from disk
+    bool read_from_disk();
+
 public:
-    /// @brief create an empty Serializer
+    /// @brief Save and close upon destruction (bc of vex, this doesnt always get called when the program ends. To be sure, call save_to_disk)
     ~Serializer()
     {
         save_to_disk();
@@ -27,26 +33,60 @@ class Serializer
         fflush(stdout);
     }
 
-    /// @brief create a Serializer filled with values from file
+    /// @brief create a Serializer
+    /// @param filename the file to read from. If filename does not exist we will create that file
+    /// @param flush_always If true, after every write flush to a file. If false, you are responsible for calling save_to_disk
     explicit Serializer(const std::string &filename, bool flush_always = true) : flush_always(flush_always), filename(filename), ints({}), bools({}), doubles({}), strings({}) { read_from_disk(); }
 
     /// @brief saves current Serializer state to disk
     void save_to_disk() const;
-    /// @brief loads Serializer state from disk
-    bool read_from_disk();
 
     /// Setters - not saved until save_to_disk is called
 
+    /// @brief sets an integer by the name of name to i. If flush_always == true, this will save to the sd card
+    /// @param name name of integer
+    /// @param i value of integer
     void set_int(const std::string &name, int i);
+
+    /// @brief sets a bool by the name of name to b. If flush_always == true, this will save to the sd card
+    /// @param name name of bool
+    /// @param b value of bool
     void set_bool(const std::string &name, bool b);
+
+    /// @brief sets a double by the name of name to d. If flush_always == true, this will save to the sd card
+    /// @param name name of double
+    /// @param d value of double
     void set_double(const std::string &name, double d);
+
+    /// @brief sets a string by the name of name to s. If flush_always == true, this will save to the sd card
+    /// @param name name of string
+    /// @param i value of string
     void set_string(const std::string &name, std::string str);
 
     /// Getters
     /// Return value if it exists in the serializer
 
+    /// @brief gets a value stored in the serializer. If not found, sets the value to otherwise
+    /// @param name name of value
+    /// @param otherwise value if the name is not specified
+    /// @return the value if found or otherwise
     int int_or(const std::string &name, int otherwise);
+
+    /// @brief gets a value stored in the serializer. If not, sets the value to otherwise
+    /// @param name name of value
+    /// @param otherwise value if the name is not specified
+    /// @return the value if found or otherwise
     bool bool_or(const std::string &name, bool otherwise);
+
+    /// @brief gets a value stored in the serializer. If not, sets the value to otherwise
+    /// @param name name of value
+    /// @param otherwise value if the name is not specified
+    /// @return the value if found or otherwise
     double double_or(const std::string &name, double otherwise);
+
+    /// @brief gets a value stored in the serializer. If not, sets the value to otherwise
+    /// @param name name of value
+    /// @param otherwise value if the name is not specified
+    /// @return the value if found or otherwise
     std::string string_or(const std::string &name, std::string otherwise);
 };
diff --git a/src/utils/serializer.cpp b/src/utils/serializer.cpp
index 50b4161..c93d1ad 100644
--- a/src/utils/serializer.cpp
+++ b/src/utils/serializer.cpp
@@ -7,6 +7,8 @@
 
 // Convert a type to bytes to serialize
 
+/// @brief Convert type to bytes. Overload this for non integer types
+/// @param value value to convert
 template <typename T>
 std::vector<char> to_bytes(T value)
 {
@@ -27,8 +29,8 @@ std::vector<char> to_bytes<std::string>(std::string str)
     return value_bytes;
 }
 
-// Convert bytes to a type
-
+/// @brief Convert bytes to a type
+/// @param gets data from arbitrary bytes. Overload this for non integer types
 template <typename T>
 T from_bytes(const std::vector<char> &data, std::vector<char>::const_iterator &position)
 {
@@ -51,8 +53,7 @@ std::string from_bytes(const std::vector<char> &data, std::vector<char>::const_i
     return s;
 }
 
-// Replaces funny characters in names so they don't mess with serialization specifiers
-
+/// @brief Replaces funny characters in names so they don't mess with serialization specifiers
 std::string sanitize_name(std::string s)
 {
     std::replace(s.begin(), s.end(), serialization_separator, '-');
@@ -77,7 +78,9 @@ std::string sanitize_name(std::string s)
  * +-------------+
  */
 
-// Adds data to a file (represented by array of bytes) as specified by the format above
+/// @brief Adds data to a file (represented by array of bytes) as specified by the format above
+/// @param data the bytes to add to
+/// @param map the values and names we are talking about
 template <typename value_type>
 static void add_data(std::vector<char> &data, const std::map<std::string, value_type> &map)
 {
@@ -157,6 +160,7 @@ int Serializer::int_or(const std::string &name, int otherwise)
     {
         return ints.at(name);
     }
+    set_int(name, otherwise);
     return otherwise;
 }
 bool Serializer::bool_or(const std::string &name, bool otherwise)
@@ -165,14 +169,13 @@ bool Serializer::bool_or(const std::string &name, bool otherwise)
     {
         return bools.at(name);
     }
+    set_bool(name, otherwise);
     return otherwise;
 }
 double Serializer::double_or(const std::string &name, double otherwise)
 {
     if (doubles.count(name))
     {
-        printf("Double Read");
-        fflush(stdout);
         return doubles.at(name);
     }
     set_double(name, otherwise);
@@ -184,10 +187,11 @@ std::string Serializer::string_or(const std::string &name, std::string otherwise
     {
         return strings.at(name);
     }
+    set_string(name, otherwise);
     return otherwise;
 }
 
-// forms data bytes then saves to a filename
+/// @brief forms data bytes then saves to filename this was openned with
 void Serializer::save_to_disk() const
 {
     std::vector<char> data = {};
@@ -207,7 +211,7 @@ void Serializer::save_to_disk() const
     }
 }
 
-// reads types from file data
+/// @brief reads types from file data
 bool Serializer::read_from_disk()
 {
     vex::brain::sdcard sd;

From d7ac2c1391aba2059e7acc91b2c5769a8b650437 Mon Sep 17 00:00:00 2001
From: cowsed <richie.sommers@outlook.com>
Date: Sun, 10 Sep 2023 16:53:20 -0400
Subject: [PATCH 213/243] Logging From other branch

---
 include/utils/logger.h | 68 ++++++++++++++++++++++++++++++++++
 src/utils/logger.cpp   | 84 ++++++++++++++++++++++++++++++++++++++++++
 2 files changed, 152 insertions(+)
 create mode 100644 include/utils/logger.h
 create mode 100644 src/utils/logger.cpp

diff --git a/include/utils/logger.h b/include/utils/logger.h
new file mode 100644
index 0000000..3194841
--- /dev/null
+++ b/include/utils/logger.h
@@ -0,0 +1,68 @@
+#pragma once
+
+#include <cstdarg>
+#include <cstdio>
+#include <string>
+#include "vex.h"
+
+/// @brief possible values for log filtering
+enum LogLevel
+{
+    DEBUG,
+    NOTICE,
+    WARNING,
+    ERROR,
+    CRITICAL,
+    TIME
+};
+
+/// @brief Class to simplify writing to files
+class Logger
+{
+private:
+    const std::string filename;
+    vex::brain::sdcard sd;
+    void write_level(LogLevel l);
+
+public:
+    /// @brief  maximum size for a string to be before it's written
+    const int MAX_FORMAT_LEN = 512;
+    /// @brief  Create a logger that will save to a file
+    /// @param filename the file to save to
+    explicit Logger(const std::string &filename);
+
+    /// @brief copying not allowed
+    Logger(const Logger &l) = delete;
+    /// @brief copying not allowed
+    Logger &operator=(const Logger &l) = delete;
+
+
+    /// @brief Write a string to the log
+    /// @param s the string to write
+    void Log(const std::string &s);
+
+    /// @brief Write a string to the log with a loglevel
+    /// @param level the level to write. DEBUG, NOTICE, WARNING, ERROR, CRITICAL, TIME
+    /// @param s the string to write
+    void Log(LogLevel level, const std::string &s);
+
+    /// @brief Write a string and newline to the log
+    /// @param s the string to write
+    void Logln(const std::string &s);
+
+    /// @brief Write a string and a newline to the log with a loglevel
+    /// @param level the level to write. DEBUG, NOTICE, WARNING, ERROR, CRITICAL, TIME
+    /// @param s the string to write
+    void Logln(LogLevel level, const std::string &s);
+
+    /// @brief Write a formatted string to the log
+    /// @param fmt the format string (like printf)
+    /// @param ... the args
+    void Logf(const char *fmt, ...);
+
+    /// @brief Write a formatted string to the log with a loglevel
+    /// @param level the level to write. DEBUG, NOTICE, WARNING, ERROR, CRITICAL, TIME
+    /// @param fmt the format string (like printf)
+    /// @param ... the args
+    void Logf(LogLevel level, const char *fmt, ...);
+};
diff --git a/src/utils/logger.cpp b/src/utils/logger.cpp
new file mode 100644
index 0000000..65ff58d
--- /dev/null
+++ b/src/utils/logger.cpp
@@ -0,0 +1,84 @@
+#include "../core/include/utils/logger.h"
+#include <stdarg.h>
+
+void Logger::write_level(LogLevel l)
+{
+    unsigned char *debug = (unsigned char *)"DEBUG: ";
+    unsigned char *notice = (unsigned char *)"NOTICE: ";
+    unsigned char *warning = (unsigned char *)"WARNING: ";
+    unsigned char *error = (unsigned char *)"ERROR: ";
+    unsigned char *critical = (unsigned char *)"CRITICAL: ";
+    switch (l)
+    {
+    case DEBUG:
+        sd.appendfile(filename.c_str(), debug, 7);
+        break;
+    case NOTICE:
+        sd.appendfile(filename.c_str(), notice, 8);
+        break;
+    case WARNING:
+        sd.appendfile(filename.c_str(), warning, 9);
+        break;
+    case ERROR:
+        sd.appendfile(filename.c_str(), error, 7);
+        break;
+    case CRITICAL:
+        sd.appendfile(filename.c_str(), critical, 10);
+        break;
+    case TIME:
+        int32_t msec = vexSystemTimeGet();
+        Logf("%d: ", msec);
+        break;
+    };
+}
+
+Logger::Logger(const std::string &filename) : filename(filename) {
+    sd.savefile(filename.c_str(), NULL, 0);
+}
+
+void Logger::Log(const std::string &s)
+{
+    sd.appendfile(filename.c_str(), (unsigned char *)s.c_str(), s.size());
+}
+void Logger::Log(LogLevel level, const std::string &s)
+{
+    write_level(level);
+    sd.appendfile(filename.c_str(), (unsigned char *)s.c_str(), s.size());
+}
+
+void Logger::Logln(const std::string &s)
+{
+    sd.appendfile(filename.c_str(), (unsigned char *)s.c_str(), s.size());
+    unsigned char newline = '\n';
+    sd.appendfile(filename.c_str(), &newline, 1);
+}
+void Logger::Logln(LogLevel level, const std::string &s)
+{
+    write_level(level);
+    Logln(s);
+}
+
+void Logger::Logf(const char *fmt, ...)
+{
+    char buf[MAX_FORMAT_LEN];
+    va_list args;
+    va_start(args, fmt);
+
+    int32_t written = vex_vsnprintf(buf, MAX_FORMAT_LEN, fmt, args);
+
+    va_end(args);
+    sd.appendfile(filename.c_str(), (unsigned char *)buf, written);
+
+}
+void Logger::Logf(LogLevel level, const char *fmt, ...)
+{
+    char buf[MAX_FORMAT_LEN];
+
+    write_level(level);
+    va_list args;
+    va_start(args, fmt);
+    int32_t written = vex_vsnprintf(buf, MAX_FORMAT_LEN, fmt, args);
+    va_end(args);
+
+    sd.appendfile(filename.c_str(), (unsigned char *)buf, written);
+}

From f6e30a2ba3bf619dfe07697fa7ad6c0d80f76124 Mon Sep 17 00:00:00 2001
From: Richie Sommers <44383226+cowsed@users.noreply.github.com>
Date: Sun, 17 Sep 2023 13:41:52 -0400
Subject: [PATCH 214/243] Updated action to make pdf

---
 .github/workflows/main.yml | 20 ++++++++++++++++++++
 1 file changed, 20 insertions(+)

diff --git a/.github/workflows/main.yml b/.github/workflows/main.yml
index c033af1..5f89bed 100644
--- a/.github/workflows/main.yml
+++ b/.github/workflows/main.yml
@@ -29,6 +29,26 @@ jobs:
         doxyfile-path: "./Doxyfile" # default is ./Doxyfile
         # Working directory
         working-directory: "." # default is .
+
+    - name: Install pdflatex dependencies
+      run: sudo apt-get install -y texlive-latex-base texlive-fonts-extra texlive-latex-extra texlive-font-utils
+
+    - run: sudo make --directory=documentation/latex
+
+    
+    - name: Copy file
+      uses: canastro/copy-action@0.0.2
+      with:
+        source: "documentation/latex/refman.pdf"
+        target: "documentation/html/refman.pdf"
+
+    - name: Copy log
+      uses: canastro/copy-action@0.0.2
+      with:
+        source: "documentation/latex/refman.log"
+        target: "documentation/html/refman.log"
+
+
     
     - name: Deploy
       uses: peaceiris/actions-gh-pages@v3

From 4d2eadcc6e7f7b78acaa4bb608711944707109ad Mon Sep 17 00:00:00 2001
From: Richie Sommers <44383226+cowsed@users.noreply.github.com>
Date: Sun, 17 Sep 2023 13:46:51 -0400
Subject: [PATCH 215/243] Update README.md

---
 README.md | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/README.md b/README.md
index c44aaaf..6e1e6b0 100644
--- a/README.md
+++ b/README.md
@@ -2,6 +2,8 @@
 This is the host repository for the custom VEX libraries used by the RIT VEXU team
 
 Automatically updated documentation is available at [here](https://rit-vex-u.github.io/Core/).
+There is also a downloadable [reference manual](https://rit-vex-u.github.io/Core/refman.pdf).
+
 ## Getting Started
 In order to simply use this repo, you can either clone it into your VEXcode project folder, or download the .zip and place it into a core/ subfolder. Then follow the instructions for setting up compilation at [Wiki/BuildSystem](https://github.com/RIT-VEX-U/Core/wiki/1-%7C-Project-Setup#build-system)
 

From 52888361b7fb77b8860a598ccba1ec292970cd96 Mon Sep 17 00:00:00 2001
From: Richie Sommers <44383226+cowsed@users.noreply.github.com>
Date: Sun, 17 Sep 2023 14:50:50 -0400
Subject: [PATCH 216/243] Generate Notebook

---
 .github/workflows/main.yml | 29 ++++++++++++++++++++++++++---
 1 file changed, 26 insertions(+), 3 deletions(-)

diff --git a/.github/workflows/main.yml b/.github/workflows/main.yml
index 5f89bed..40da577 100644
--- a/.github/workflows/main.yml
+++ b/.github/workflows/main.yml
@@ -21,6 +21,15 @@ jobs:
     steps:
     # Checks-out your repository under $GITHUB_WORKSPACE, so your job can access it
     - uses: actions/checkout@v2
+
+
+    - name: Install Dependencies
+      uses: awalsh128/cache-apt-pkgs-action@latest
+      with:
+        packages: doxygen-latex poppler-utils
+        version: 1.1
+
+
         
     - name: Doxygen Action
       uses: mattnotmitt/doxygen-action@v1.1.0
@@ -30,10 +39,9 @@ jobs:
         # Working directory
         working-directory: "." # default is .
 
-    - name: Install pdflatex dependencies
-      run: sudo apt-get install -y texlive-latex-base texlive-fonts-extra texlive-latex-extra texlive-font-utils
 
-    - run: sudo make --directory=documentation/latex
+    - name: Generate Reference Manual
+      run: sudo make --directory=documentation/latex
 
     
     - name: Copy file
@@ -49,6 +57,21 @@ jobs:
         target: "documentation/html/refman.log"
 
 
+    - name: Get Notebook Link 
+      shell: bash
+      run: |
+        echo "NOTEBOOK_URL=$(curl -s https://docs.google.com/document/d/1Qi4-ZraS1KN8aG-58iJjD0aQQz0nNSEPkc6Hfz7vbTE/export\?format\=pdf |grep HREF |sed -E "s|.*HREF=\"([^\"]*).*|\1|g")" >> "$GITHUB_ENV"  
+
+    - name: Download Notebook
+      uses: wei/curl@master
+      with: 
+        args: ${{ env.NOTEBOOK_URL }} --output documentation/html/notebook_top.pdf
+
+
+
+    - name: Concatenate Manual and Notebook
+      run: sudo pdfunite documentation/html/notebook_top.pdf documentation/html/refman.pdf documentation/html/notebook.pdf
+
     
     - name: Deploy
       uses: peaceiris/actions-gh-pages@v3

From 65f1f26b07f8cfa5c7517a8de3cf5223c451c899 Mon Sep 17 00:00:00 2001
From: Richie Sommers <44383226+cowsed@users.noreply.github.com>
Date: Sun, 17 Sep 2023 14:59:14 -0400
Subject: [PATCH 217/243] Updated to new notebook link

---
 .github/workflows/main.yml | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/.github/workflows/main.yml b/.github/workflows/main.yml
index 40da577..e7cb32f 100644
--- a/.github/workflows/main.yml
+++ b/.github/workflows/main.yml
@@ -60,7 +60,8 @@ jobs:
     - name: Get Notebook Link 
       shell: bash
       run: |
-        echo "NOTEBOOK_URL=$(curl -s https://docs.google.com/document/d/1Qi4-ZraS1KN8aG-58iJjD0aQQz0nNSEPkc6Hfz7vbTE/export\?format\=pdf |grep HREF |sed -E "s|.*HREF=\"([^\"]*).*|\1|g")" >> "$GITHUB_ENV"  
+        echo "NOTEBOOK_URL=$(curl -s https://docs.google.com/document/d/1MXCeYx3YnUjLv4AaNY4qdkM84N3KkZn0HwgL6a-Di8U/export\?format\=pdf |grep HREF |sed -E "s|.*HREF=\"([^\"]*).*|\1|g")" >> "$GITHUB_ENV"  
+
 
     - name: Download Notebook
       uses: wei/curl@master

From 7bca3d54eb97db1eaddefae907c79246280a198e Mon Sep 17 00:00:00 2001
From: Richie Sommers <44383226+cowsed@users.noreply.github.com>
Date: Sun, 17 Sep 2023 15:00:44 -0400
Subject: [PATCH 218/243] fixed dependencies

---
 .github/workflows/main.yml | 5 +----
 1 file changed, 1 insertion(+), 4 deletions(-)

diff --git a/.github/workflows/main.yml b/.github/workflows/main.yml
index e7cb32f..e93b7f8 100644
--- a/.github/workflows/main.yml
+++ b/.github/workflows/main.yml
@@ -24,10 +24,7 @@ jobs:
 
 
     - name: Install Dependencies
-      uses: awalsh128/cache-apt-pkgs-action@latest
-      with:
-        packages: doxygen-latex poppler-utils
-        version: 1.1
+      run: sudo apt-get install -y doxygen-latex poppler-utils
 
 
         

From 4d8fd9175fbbc7b61feac12d2b7a5f61ba58debb Mon Sep 17 00:00:00 2001
From: cowsed <richie.sommers@outlook.com>
Date: Sun, 10 Sep 2023 13:48:16 -0400
Subject: [PATCH 219/243] fixed initial warnings

---
 src/utils/pidff.cpp        |  2 +-
 src/utils/pure_pursuit.cpp | 10 +++++-----
 2 files changed, 6 insertions(+), 6 deletions(-)

diff --git a/src/utils/pidff.cpp b/src/utils/pidff.cpp
index 01286de..7d1df2a 100644
--- a/src/utils/pidff.cpp
+++ b/src/utils/pidff.cpp
@@ -1,7 +1,7 @@
 #include "../core/include/utils/pidff.h"
 #include "../core/include/utils/math_util.h"
 
-PIDFF::PIDFF(PID::pid_config_t &pid_cfg, FeedForward::ff_config_t &ff_cfg): ff_cfg(ff_cfg), pid(pid_cfg), ff(ff_cfg)  
+PIDFF::PIDFF(PID::pid_config_t &pid_cfg, FeedForward::ff_config_t &ff_cfg):  pid(pid_cfg), ff_cfg(ff_cfg),ff(ff_cfg)  
 {
     out = 0;
     lower_lim = 0;
diff --git a/src/utils/pure_pursuit.cpp b/src/utils/pure_pursuit.cpp
index 6c70ad1..78e1740 100644
--- a/src/utils/pure_pursuit.cpp
+++ b/src/utils/pure_pursuit.cpp
@@ -52,7 +52,7 @@ std::vector<point_t> PurePursuit::line_circle_intersections(point_t center, doub
 /**
  * Selects a look ahead from all the intersections in the path.
  */
-point_t PurePursuit::get_lookahead(std::vector<point_t> path, point_t robot_loc, double radius)
+[[maybe_unused]] point_t PurePursuit::get_lookahead(std::vector<point_t> path, point_t robot_loc, double radius)
 { 
   //Default: the end of the path
   point_t target = path.back();
@@ -85,7 +85,7 @@ point_t PurePursuit::get_lookahead(std::vector<point_t> path, point_t robot_loc,
 /**
  Injects points in a path without changing the curvature with a certain spacing.
 */
-std::vector<point_t> PurePursuit::inject_path(std::vector<point_t> path, double spacing)
+[[maybe_unused]] std::vector<point_t> PurePursuit::inject_path(std::vector<point_t> path, double spacing)
 {
   std::vector<point_t> new_path;
 
@@ -125,7 +125,7 @@ std::vector<point_t> PurePursuit::inject_path(std::vector<point_t> path, double
  * Honestly have no idea if/how this works.
  * https://medium.com/@jaems33/understanding-robot-motion-path-smoothing-5970c8363bc4
 */
-std::vector<point_t> PurePursuit::smooth_path(std::vector<point_t> path, double weight_data, double weight_smooth, double tolerance)
+[[maybe_unused]] std::vector<point_t> PurePursuit::smooth_path(std::vector<point_t> path, double weight_data, double weight_smooth, double tolerance)
 {
   std::vector<point_t> new_path = path;
   double change = tolerance;
@@ -159,7 +159,7 @@ std::vector<point_t> PurePursuit::smooth_path(std::vector<point_t> path, double
  * @param steps The number of points interpolated between points.
  * @return The smoothed path.
  */
-std::vector<point_t> PurePursuit::smooth_path_hermite(std::vector<hermite_point> path, double steps) {
+[[maybe_unused]] std::vector<point_t> PurePursuit::smooth_path_hermite(std::vector<hermite_point> path, double steps) {
   std::vector<point_t> new_path;
   for(int i = 0; i < path.size() - 1; i++) {
     for(int t = 0; t < steps; t++) {
@@ -191,7 +191,7 @@ std::vector<point_t> PurePursuit::smooth_path_hermite(std::vector<hermite_point>
   return new_path;
 }
 
-std::vector<point_t> PurePursuit::smooth_path_cubic(std::vector<point_t> path, double res) {
+[[maybe_unused]] std::vector<point_t> PurePursuit::smooth_path_cubic(std::vector<point_t> path, double res) {
   std::vector<point_t> new_path;
   std::vector<spline> splines;
 

From 888585ea874b3bd48881a53373de20169e078558 Mon Sep 17 00:00:00 2001
From: max-49 <massimomarino49@gmail.com>
Date: Tue, 12 Sep 2023 20:01:35 -0400
Subject: [PATCH 220/243] Odometry now can use VEX encoders

---
 include/subsystems/odometry/odometry_tank.h | 20 ++++++++++---
 src/subsystems/odometry/odometry_tank.cpp   | 33 ++++++++++++++++-----
 2 files changed, 41 insertions(+), 12 deletions(-)

diff --git a/include/subsystems/odometry/odometry_tank.h b/include/subsystems/odometry/odometry_tank.h
index 6c35e10..c2e4e1c 100644
--- a/include/subsystems/odometry/odometry_tank.h
+++ b/include/subsystems/odometry/odometry_tank.h
@@ -30,14 +30,25 @@ class OdometryTank : public OdometryBase
 
     /**
     * Initialize the Odometry module, calculating position from the drive motors.
-    * @param left_enc The left motors 
-    * @param right_enc The right motors
+    * @param left_custom_enc The left custom encoder 
+    * @param right_custom_enc The right custom encoder
     * @param config the specifications that supply the odometry with descriptions of the robot. See robot_specs_t for what is contained
     * @param imu The robot's inertial sensor. If not included, rotation is calculated from the encoders.
     * @param is_async If true, position will be updated in the background continuously. If false, the programmer will have to manually call update().
     */
 
-    OdometryTank(CustomEncoder &left_enc, CustomEncoder &right_enc, robot_specs_t &config, vex::inertial *imu=NULL, bool is_async=true);
+    OdometryTank(CustomEncoder &left_custom_enc, CustomEncoder &right_custom_enc, robot_specs_t &config, vex::inertial *imu=NULL, bool is_async=true);
+
+    /**
+    * Initialize the Odometry module, calculating position from the drive motors.
+    * @param left_vex_enc The left vex encoder 
+    * @param right_vex_enc The right vex encoder
+    * @param config the specifications that supply the odometry with descriptions of the robot. See robot_specs_t for what is contained
+    * @param imu The robot's inertial sensor. If not included, rotation is calculated from the encoders.
+    * @param is_async If true, position will be updated in the background continuously. If false, the programmer will have to manually call update().
+    */
+
+    OdometryTank(vex::encoder &left_vex_enc, vex::encoder &right_vex_enc, robot_specs_t &config, vex::inertial *imu=NULL, bool is_async=true);
 
     /**
      * Update the current position on the field based on the sensors
@@ -60,7 +71,8 @@ class OdometryTank : public OdometryBase
     static pose_t calculate_new_pos(robot_specs_t &config, pose_t &stored_info, double lside_diff, double rside_diff, double angle_deg);
 
     vex::motor_group *left_side, *right_side;
-    CustomEncoder *left_enc, *right_enc;
+    CustomEncoder *left_custom_enc, *right_custom_enc;
+    vex::encoder *left_vex_enc, *right_vex_enc;
     vex::inertial *imu;
     robot_specs_t &config;
 
diff --git a/src/subsystems/odometry/odometry_tank.cpp b/src/subsystems/odometry/odometry_tank.cpp
index e594ef4..171c880 100644
--- a/src/subsystems/odometry/odometry_tank.cpp
+++ b/src/subsystems/odometry/odometry_tank.cpp
@@ -9,20 +9,33 @@
 * @param is_async If true, position will be updated in the background continuously. If false, the programmer will have to manually call update().
 */
 OdometryTank::OdometryTank(vex::motor_group &left_side, vex::motor_group &right_side, robot_specs_t &config, vex::inertial *imu, bool is_async)
-: OdometryBase(is_async), left_side(&left_side), right_side(&right_side), left_enc(NULL), right_enc(NULL), imu(imu), config(config)
+: OdometryBase(is_async), left_side(&left_side), right_side(&right_side), left_custom_enc(NULL), right_custom_enc(NULL), left_vex_enc(NULL), right_vex_enc(NULL), imu(imu), config(config)
 {
 }
 
 /**
 * Initialize the Odometry module, calculating position from the drive motors.
-* @param left_enc The left motors 
-* @param right_enc The right motors
+* @param left_custom_enc The left custom encoder 
+* @param right_custom_enc The right custom encoder
 * @param config the specifications that supply the odometry with descriptions of the robot. See robot_specs_t for what is contained
 * @param imu The robot's inertial sensor. If not included, rotation is calculated from the encoders.
 * @param is_async If true, position will be updated in the background continuously. If false, the programmer will have to manually call update().
 */
-OdometryTank::OdometryTank(CustomEncoder &left_enc, CustomEncoder &right_enc, robot_specs_t &config, vex::inertial *imu, bool is_async)
-: OdometryBase(is_async), left_side(NULL), right_side(NULL), left_enc(&left_enc), right_enc(&right_enc), imu(imu), config(config)
+OdometryTank::OdometryTank(CustomEncoder &left_custom_enc, CustomEncoder &right_custom_enc, robot_specs_t &config, vex::inertial *imu, bool is_async)
+: OdometryBase(is_async), left_side(NULL), right_side(NULL), left_custom_enc(&left_custom_enc), right_custom_enc(&right_custom_enc), left_vex_enc(NULL), right_vex_enc(NULL), imu(imu), config(config)
+{
+}
+
+/**
+* Initialize the Odometry module, calculating position from the drive motors.
+* @param left_vex_enc The left vex encoder 
+* @param right_vex_enc The right vex encoder
+* @param config the specifications that supply the odometry with descriptions of the robot. See robot_specs_t for what is contained
+* @param imu The robot's inertial sensor. If not included, rotation is calculated from the encoders.
+* @param is_async If true, position will be updated in the background continuously. If false, the programmer will have to manually call update().
+*/
+OdometryTank::OdometryTank(vex::encoder &left_vex_enc, vex::encoder &right_vex_enc, robot_specs_t &config, vex::inertial *imu, bool is_async)
+: OdometryBase(is_async), left_side(NULL), right_side(NULL), left_custom_enc(NULL), right_custom_enc(NULL), left_vex_enc(&left_vex_enc), right_vex_enc(&right_vex_enc), imu(imu), config(config)
 {
 }
 
@@ -51,10 +64,14 @@ pose_t OdometryTank::update()
     {
       lside_revs = left_side->position(vex::rotationUnits::rev) / config.odom_gear_ratio;
       rside_revs = right_side->position(vex::rotationUnits::rev) / config.odom_gear_ratio;
-    }else if(left_enc != NULL && right_enc != NULL)
+    }else if(left_custom_enc != NULL && right_custom_enc != NULL)
+    {
+      lside_revs = left_custom_enc->position(vex::rotationUnits::rev) / config.odom_gear_ratio;
+      rside_revs = right_custom_enc->position(vex::rotationUnits::rev) / config.odom_gear_ratio;
+    }else if(left_vex_enc != NULL && right_vex_enc != NULL)
     {
-      lside_revs = left_enc->position(vex::rotationUnits::rev) / config.odom_gear_ratio;
-      rside_revs = right_enc->position(vex::rotationUnits::rev) / config.odom_gear_ratio;
+      lside_revs = left_vex_enc->position(vex::rotationUnits::rev) / config.odom_gear_ratio;
+      rside_revs = right_vex_enc->position(vex::rotationUnits::rev) / config.odom_gear_ratio;
     }
 
     double angle = 0;

From 4da2becb438ae6f283b13ac846dc785416d2c0b8 Mon Sep 17 00:00:00 2001
From: Ryan McGee <ramtech51@comcast.net>
Date: Sun, 24 Sep 2023 15:20:58 -0400
Subject: [PATCH 221/243] First working version of pure pursuit; no reverse
 drive

---
 include/splash.h                          |  6 --
 include/subsystems/tank_drive.h           | 18 ++---
 include/utils/geometry.h                  | 10 +++
 include/utils/math_util.h                 |  5 +-
 include/utils/moving_average.h            |  1 +
 include/utils/pure_pursuit.h              | 25 +++++--
 src/subsystems/odometry/odometry_base.cpp |  1 +
 src/subsystems/tank_drive.cpp             | 84 +++++++++++++++++------
 src/utils/math_util.cpp                   | 20 ++++++
 src/utils/pidff.cpp                       |  8 ++-
 src/utils/pure_pursuit.cpp                | 50 ++++++++++++--
 11 files changed, 173 insertions(+), 55 deletions(-)
 delete mode 100644 include/splash.h

diff --git a/include/splash.h b/include/splash.h
deleted file mode 100644
index d45932d..0000000
--- a/include/splash.h
+++ /dev/null
@@ -1,6 +0,0 @@
-#include <stdint.h>
-// file: clu.png
-int intense_milk_width = 420;
-int intense_milk_height = 246;
-uint32_t intense_milk[103320];
-// = {0x00152021, 0x00141f21, 0x00141d20, 0x00131d1f, 0x00131e1e, 0x00131e1e, 0x00141f1f, 0x00141f1f, 0x00141e20, 0x00131d1f, 0x00131d1f, 0x00131d1e, 0x00121c1c, 0x00111c1c, 0x00111c1a, 0x00111c1a, 0x00111c1a, 0x00111b19, 0x00111b19, 0x00111b19, 0x00111b19, 0x00101918, 0x00101918, 0x00101918, 0x00101918, 0x00101916, 0x00101916, 0x00101818, 0x00101817, 0x00101817, 0x00101817, 0x00101817, 0x00101817, 0x000f1817, 0x000f1816, 0x000e1816, 0x000d1714, 0x000d1714, 0x000d1714, 0x000c1613, 0x000c1512, 0x000c1512, 0x000e1611, 0x000e1611, 0x000e1611, 0x000e1511, 0x000d1410, 0x000c1410, 0x000c1410, 0x000c1410, 0x000c1410, 0x000c1410, 0x000c1410, 0x000c140f, 0x000c140e, 0x000c140d, 0x000c140d, 0x000d140e, 0x000d140e, 0x000d140e, 0x000d140e, 0x000f1310, 0x000d140e, 0x000d140e, 0x000c140c, 0x000c140c, 0x000c140c, 0x000c140e, 0x000c140e, 0x000c140e, 0x000c140e, 0x000c140e, 0x000c140e, 0x000c140f, 0x000b1410, 0x000b1510, 0x000c1510, 0x000c1511, 0x000c1512, 0x000c1610, 0x000c1611, 0x000c1710, 0x000f1610, 0x00101811, 0x000f1814, 0x00101914, 0x00101a17, 0x00101a17, 0x00101916, 0x00101915, 0x00101918, 0x00101918, 0x00101918, 0x000f1a18, 0x000f1b18, 0x000e1c19, 0x000c1d19, 0x000c1c19, 0x000d1c19, 0x000d1c19, 0x000d1c19, 0x000f1c19, 0x000e1b18, 0x000e1918, 0x000f1a18, 0x000f1a18, 0x00111c1a, 0x00121b18, 0x00111c18, 0x00101b17, 0x00141c19, 0x002d3030, 0x00454545, 0x00403e3e, 0x00444040, 0x00484446, 0x004a4649, 0x004a484b, 0x00494448, 0x004a4244, 0x004b4040, 0x004a3d3b, 0x004c3e3a, 0x0050403c, 0x004c3b35, 0x00493833, 0x00473530, 0x00473630, 0x0045322e, 0x00473430, 0x00413831, 0x0039322c, 0x00342c26, 0x00322b25, 0x0038332c, 0x00372e26, 0x003a2a22, 0x00412c23, 0x003e1e15, 0x00401b10, 0x003d1c0d, 0x003a1e09, 0x00462812, 0x0050301a, 0x004c2c16, 0x004e2c1a, 0x004f2c1c, 0x00492515, 0x00442210, 0x004c2e18, 0x00573a1f, 0x005e3419, 0x0064391c, 0x00673b1a, 0x00633914, 0x00643a18, 0x00532b0a, 0x004e2508, 0x00532a10, 0x005c3418, 0x005e3818, 0x00603a1a, 0x005c3515, 0x00573113, 0x00593417, 0x00583416, 0x005a3414, 0x005d3716, 0x00613819, 0x00643c1c, 0x006c4220, 0x00673d18, 0x00653c16, 0x00633a16, 0x00603414, 0x00633815, 0x00683c18, 0x006e441c, 0x006e421b, 0x00643910, 0x006a3f18, 0x005b320b, 0x00643c15, 0x00633b16, 0x00613b16, 0x00603a16, 0x005d3818, 0x00583414, 0x005b3518, 0x004c280b, 0x004a2508, 0x00502b0c, 0x005c3416, 0x00613719, 0x0061371a, 0x005e3716, 0x00502c0b, 0x003c220c, 0x00311c0c, 0x00261810, 0x00201414, 0x0017140d, 0x00141509, 0x0015160c, 0x001a1a10, 0x0018170f, 0x00191910, 0x0018180f, 0x0016160d, 0x0016160d, 0x0016160d, 0x0016160d, 0x0015170c, 0x0018160c, 0x001a160c, 0x00201810, 0x00281d16, 0x00342720, 0x00302a24, 0x00312924, 0x00302b24, 0x00282a20, 0x001b2420, 0x00182623, 0x00182824, 0x00152824, 0x00152824, 0x00152724, 0x00172625, 0x00182627, 0x00182627, 0x00182627, 0x00172526, 0x00162424, 0x00162425, 0x00172526, 0x00182526, 0x00172524, 0x00162423, 0x00152420, 0x00142320, 0x00152220, 0x0013201d, 0x00131f1e, 0x0013201f, 0x00121f1e, 0x00101d1d, 0x00101c1c, 0x000f1c1b, 0x00101b1b, 0x00101a1a, 0x000f1819, 0x000f1818, 0x000e1814, 0x000e1611, 0x000e170f, 0x000e170e, 0x000e1610, 0x00101610, 0x00101610, 0x00101610, 0x00101510, 0x0010140f, 0x000e140e, 0x000d140e, 0x000c140e, 0x000d140e, 0x000d140e, 0x000d140e, 0x000d140e, 0x000e140e, 0x000f140e, 0x000f140e, 0x000f140e, 0x000f140e, 0x000f140e, 0x000f140e, 0x000d140e, 0x000d140e, 0x000d140e, 0x000d140e, 0x000d140e, 0x000d140e, 0x000d140e, 0x000d140e, 0x000d140e, 0x000d140e, 0x000d140e, 0x000d140e, 0x000d140e, 0x000d140e, 0x000d140e, 0x000d140e, 0x000d140e, 0x000d140e, 0x000d140e, 0x000d140e, 0x000d140e, 0x000d140e, 0x000d140e, 0x000d140e, 0x000d140e, 0x000d140e, 0x000d140e, 0x000d140e, 0x000d140e, 0x000d140e, 0x000d140e, 0x000d140e, 0x000d140e, 0x000d140e, 0x000d140e, 0x000d140e, 0x000d140e, 0x000d140e, 0x000d140e, 0x000d140e, 0x000d140e, 0x000d140e, 0x000d140e, 0x000d140e, 0x000d140e, 0x000d140e, 0x000d140e, 0x000d140e, 0x000d140e, 0x000d140e, 0x000d140e, 0x000d140e, 0x000d140e, 0x000d140e, 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0x000f130c, 0x0014180b, 0x0014180a, 0x00191c09, 0x001d2008, 0x0024250c, 0x0026280b, 0x00292b0a, 0x0030310c, 0x0036370c, 0x00393b0c, 0x003e400c, 0x0043440e, 0x0048490e, 0x004c4d0f, 0x00505010, 0x00545511, 0x00585810, 0x00746813, 0x00cca418, 0x00c6a018, 0x00656313, 0x00646414, 0x00646514, 0x00666713, 0x00656613, 0x00666713, 0x00666714, 0x00636414, 0x00a88e16, 0x00cca519, 0x00a18815, 0x005e5f13, 0x005c5d11, 0x005b5b12, 0x00585911, 0x00585810, 0x00555611, 0x00535410, 0x00525310, 0x00515110, 0x00505010, 0x00505010, 0x00515110, 0x00525310, 0x00545510, 0x00555611, 0x00565710, 0x00585911, 0x005b5b12, 0x005c5d11, 0x00626013, 0x00c39e18, 0x00cca518, 0x00786e14, 0x00636414, 0x00636414, 0x00636414, 0x00626313, 0x00616112, 0x00606013, 0x005e5f13, 0x00887614, 0x00c8a117, 0x00b09015, 0x00505010, 0x00515110, 0x004d4e0f, 0x0048490f, 0x0045470e, 0x0041420d, 0x003c3e0d, 0x0038380c, 0x0032330c, 0x002d2f0c, 0x00292b0a, 0x0026280b, 0x0024250c, 0x001d2008, 0x00191c09, 0x00191c0b, 0x0014180b, 0x0014180e, 0x000f130f, 0x00060e06, 0x00060e06, 0x00070d08, 0x00050e08, 0x00040f08, 0x00031008, 0x00030f09, 0x00030f09, 0x00040e09, 0x00040e09, 0x00050f0a, 0x0005100a, 0x0005100a, 0x0005100a, 0x0005100a, 0x0005100a, 0x0005100a, 0x00070f0a, 0x00070f0a, 0x00070f0a, 0x00070f0a, 0x00070f0a, 0x00070f0a, 0x00070f0a, 0x00070f0a, 0x00070f0a, 0x00070f0a, 0x0008100b, 0x0008100b, 0x0008100b, 0x0008100b, 0x0008100b, 0x0008100b, 0x0008100b, 0x0008110a, 0x0008110a, 0x0009120c, 0x0009120c, 0x000d140e, 0x00101610, 0x00111611, 0x00121712, 0x00171912, 0x00171913, 0x00181a14, 0x001b1c16, 0x001c1e16, 0x001c1e16, 0x001f1c16, 0x00201c14, 0x00201c14, 0x00201c14, 0x001c1b14, 0x00191b16, 0x00181a15, 0x00151811, 0x0012160f, 0x0010150e, 0x0010160e, 0x000f150f, 0x000b140d, 0x0009140c, 0x0008140c, 0x00061009, 0x00061009, 0x00051008, 0x00051008, 0x00060e08, 0x00060e08, 0x00070f08, 0x00070f08, 0x00070f08, 0x00070f08, 0x00070f08, 0x00070f08, 0x0008100a, 0x00070f0a, 0x00060f0a, 0x0008100b, 0x0008100b, 0x0008100c, 0x0008110a, 0x00081009, 0x00070f08, 0x0008100b, 0x0008100b, 0x00060e09, 0x0008100b, 0x0006100b, 0x0006100b, 0x0006100b, 0x0008120d, 0x0008120d, 0x0007110c, 0x0007100a, 0x00081009, 0x00091008, 0x000a0f08, 0x000a0f08, 0x000b1008, 0x00090e05, 0x000a0f06, 0x000c0f04, 0x000f1007, 0x00101005, 0x00141008, 0x00141008, 0x00141006, 0x00171008, 0x0019140b, 0x0019140b, 0x001c1308, 0x00201508, 0x00231809, 0x00271b0b, 0x002b1c08, 0x00302008, 0x00342408, 0x003c2a08, 0x00443109, 0x0051390b, 0x0063470c, 0x00896c18, 0x00c0a835, 0x00ccb721, 0x00cbba0d, 0x00cbba08, 0x00cab90a, 0x00cbb90d, 0x00ccb811, 0x00b6950b, 0x007d5700, 0x00603e00, 0x004b3702, 0x00403006, 0x00342502, 0x003c2e0b, 0x00443610, 0x0040340a, 0x003e3208, 0x00382c08, 0x00342709, 0x0030240a, 0x00271e08, 0x001a1505, 0x00100e04, 0x000c0e06, 0x000c1005, 0x000e1208, 0x00101208, 0x00121108, 0x00131008, 0x00141008, 0x00170f07, 0x00181108, 0x001e1409, 0x001f1406, 0x00211507, 0x00271809, 0x002b1a0b, 0x002e1b0a, 0x00301c0b, 0x00331e09, 0x0037200a, 0x00382009, 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0x0006100b, 0x0006100b, 0x0006100b, 0x000f130f, 0x000f130f, 0x000f130f, 0x0014180b, 0x0014180a, 0x00191c09, 0x001d2008, 0x0024250c, 0x0026280b, 0x00292b0a, 0x0030310c, 0x0034350c, 0x00393b0c, 0x003e400c, 0x0043440e, 0x0047480e, 0x004b4c0f, 0x004f5010, 0x00535410, 0x00565710, 0x00736812, 0x00cca418, 0x00c6a018, 0x00646212, 0x00626313, 0x00646414, 0x00646514, 0x00646514, 0x00646514, 0x00646514, 0x00616114, 0x00a88d16, 0x00cca518, 0x00a08716, 0x005d5e12, 0x005c5c11, 0x00595a11, 0x00585810, 0x00555611, 0x00535410, 0x00525310, 0x00505010, 0x00505010, 0x00505010, 0x00505010, 0x00505010, 0x00515110, 0x00525310, 0x00545510, 0x00555610, 0x00585810, 0x00595a12, 0x005c5c11, 0x00615f12, 0x00c39e17, 0x00cca418, 0x00786c14, 0x00616112, 0x00616112, 0x00626312, 0x00616112, 0x00606013, 0x00606013, 0x005e5f12, 0x00877514, 0x00c8a117, 0x00b09014, 0x00505010, 0x00515110, 0x004d4e0f, 0x00494a10, 0x0045470e, 0x0041420d, 0x003c3e0d, 0x0038380c, 0x0032330c, 0x002d2f0c, 0x00292b0a, 0x0026280b, 0x0024250c, 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0x002d1a0a, 0x002f1c09, 0x00321d08, 0x0037200b, 0x003a220c, 0x003b240c, 0x003b240c, 0x003b230a, 0x003c230b, 0x00392008, 0x003c220a, 0x00392007, 0x00392104, 0x00382004, 0x00381f08, 0x00381e09, 0x00371c08, 0x00331a08, 0x00301a08, 0x002f1a08, 0x002d1a08, 0x00281808, 0x00271708, 0x00241608, 0x00221708, 0x001f1408, 0x001a1108, 0x00181008, 0x00161008, 0x00151109, 0x00151109, 0x00141008, 0x0016110c, 0x0016130b, 0x001d180e, 0x001d1709, 0x00221a06, 0x00342910, 0x003c2f14, 0x002f2004, 0x00342206, 0x003c2c0a, 0x0049350c, 0x005c3f0f, 0x00785712, 0x00b4942a, 0x00ccb320, 0x00ccb70e, 0x00ccb80a, 0x00ccb809, 0x00cbb415, 0x00b18a0c, 0x007b5000, 0x005e3c00, 0x004f3404, 0x00442c05, 0x00382501, 0x00312004, 0x002d1d05, 0x00291a06, 0x00261808, 0x00201504, 0x00191104, 0x00171307, 0x00161209, 0x00151109, 0x00141109, 0x0014130a, 0x0014120a, 0x00141109, 0x00141109, 0x00141008, 0x00141008, 0x00121009, 0x00101009, 0x00110f08, 0x00121009, 0x00101009, 0x000f0f06, 0x000c0f05, 0x000c1007, 0x000b1008, 0x00081108, 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0x00161c17, 0x00151c15, 0x00151c15, 0x00161b14, 0x00151b14, 0x00141a13, 0x00141912, 0x00131812, 0x00131813, 0x00141813, 0x00060c07, 0x00060c07, 0x000f130f, 0x000f130f, 0x000f130c, 0x0014180b, 0x0014180a, 0x001d200a, 0x001d2008, 0x00202309, 0x0024250b, 0x0026280a, 0x002d2f0a, 0x0032330c, 0x0034350c, 0x00393b0d, 0x003c3e0c, 0x0041420d, 0x0044450d, 0x0048490f, 0x004b4c0f, 0x004f5010, 0x00685f10, 0x00c39c15, 0x00cca316, 0x00b09014, 0x005e5c11, 0x005b5b12, 0x005c5c11, 0x005c5d11, 0x005c5d11, 0x005d5e11, 0x005d5e11, 0x005d5e11, 0x005d5e11, 0x005d5e11, 0x00636012, 0x00958014, 0x00c09d16, 0x00cba417, 0x00caa317, 0x00c6a117, 0x00bb9816, 0x00b49415, 0x00b69515, 0x00c19d17, 0x00c8a218, 0x00cca418, 0x00cba418, 0x00c19c18, 0x00978014, 0x00646213, 0x005e5f13, 0x005e5f13, 0x005e5f13, 0x005e5f13, 0x005d5e11, 0x005c5d11, 0x005c5d11, 0x005c5c12, 0x00585912, 0x00887413, 0x00caa116, 0x00caa116, 0x00847012, 0x004f5010, 0x004c4d0f, 0x0048490f, 0x0045470e, 0x0041420e, 0x003e400c, 0x00393b0d, 0x0036370c, 0x0032330c, 0x002d2f0b, 0x00292b0a, 0x0026280c, 0x0020230a, 0x001d2008, 0x00191c09, 0x00191c0a, 0x0014180b, 0x000f130c, 0x000f130f, 0x000f130f, 0x000f130f, 0x00111812, 0x00111812, 0x00131812, 0x00131812, 0x00131812, 0x00131712, 0x00131812, 0x00131812, 0x00141813, 0x00141813, 0x00141814, 0x00141914, 0x00141a14, 0x00131914, 0x00141914, 0x00161814, 0x00171814, 0x00171711, 0x00151610, 0x0014150f, 0x0014150f, 0x0014140f, 0x0015140f, 0x0015140d, 0x0015140e, 0x0015150c, 0x0015150c, 0x0014140b, 0x0014140b, 0x0017150c, 0x0017150d, 0x0015140b, 0x0014130a, 0x0014120a, 0x00141109, 0x00141109, 0x0014130a, 0x0014130a, 0x00131209, 0x00101208, 0x00101108, 0x00101108, 0x00101008, 0x00101008, 0x00111008, 0x00121008, 0x00141109, 0x00110e07, 0x00101009, 0x00101009, 0x000f1008, 0x00101008, 0x00101008, 0x00101109, 0x0014100a, 0x0015100b, 0x0015100b, 0x0016100c, 0x0014120c, 0x0014120c, 0x0015120c, 0x0015120d, 0x0016120c, 0x001c1009, 0x001c1107, 0x001d1206, 0x001f1408, 0x00201408, 0x0020160b, 0x0023160b, 0x0024180b, 0x0026180a, 0x0027180a, 0x0029190b, 0x002b1b0c, 0x002c1c0c, 0x002c1c0f, 0x002d1d0e, 0x002e1d0d, 0x002d1e0b, 0x002d1c08, 0x002d1c08, 0x002d1e09, 0x002c1d08, 0x002b1c08, 0x00291a08, 0x00271805, 0x00251804, 0x00241704, 0x00201400, 0x001e1300, 0x001e1300, 0x001c1406, 0x001b1508, 0x00181507, 0x00161506, 0x00141505, 0x00151404, 0x00171304, 0x001c1404, 0x00201607, 0x00211708, 0x00211708, 0x00201605, 0x00201706, 0x00241908, 0x00281b0b, 0x00281a09, 0x002a1c08, 0x00281c06, 0x00281d05, 0x002c1f05, 0x00302008, 0x00332307, 0x00382506, 0x003b2704, 0x00402a04, 0x00442d06, 0x00482f08, 0x0050350c, 0x00583b0b, 0x0062420c, 0x00795510, 0x00b4902c, 0x00ccb228, 0x00ccb717, 0x00ccb610, 0x00ccb70c, 0x00c9b908, 0x00cab810, 0x00ae910d, 0x00725100, 0x00563a00, 0x00452d00, 0x00382802, 0x002d1e00, 0x00342509, 0x00362a10, 0x0030250c, 0x0029210a, 0x00211c09, 0x001e1909, 0x00181709, 0x00101207, 0x000e1105, 0x000e1208, 0x000f1308, 0x000e1007, 0x000b0e04, 0x000a0d03, 0x000a0d03, 0x000b0c02, 0x000b0c02, 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0x00231706, 0x00211407, 0x00211504, 0x00201401, 0x00221403, 0x00241504, 0x00281808, 0x002a1807, 0x002e1c08, 0x002e1c06, 0x00311d07, 0x00372008, 0x003c230c, 0x003e250a, 0x0040270b, 0x0042280d, 0x0042280d, 0x0042280f, 0x0042280e, 0x0040280d, 0x0040270b, 0x003d280c, 0x003c270e, 0x0038260f, 0x0033230a, 0x00302006, 0x00301e04, 0x00311c05, 0x002d1c08, 0x00281a08, 0x00271809, 0x0026180a, 0x00241608, 0x00211406, 0x001e1205, 0x001d1206, 0x001b1208, 0x00181309, 0x00161409, 0x0013140a, 0x00121108, 0x0013120a, 0x0013120b, 0x0012110a, 0x0012110a, 0x0012110a, 0x0012110a, 0x0012110a, 0x0012110a, 0x0013100a, 0x0013100a, 0x0013100a, 0x00121009, 0x00111009, 0x00101009, 0x00101009, 0x00111009, 0x00121009, 0x00131008, 0x00121008, 0x00131008, 0x00131008, 0x00131008, 0x00131008, 0x00131008, 0x00141109, 0x00161008, 0x00151108, 0x00151208, 0x00141308, 0x0016130b, 0x0016140b, 0x0016150c, 0x0016160d, 0x0017160f, 0x00181710, 0x0017160f, 0x0016160f, 0x00181710, 0x001c1910, 0x001c1910, 0x001a1811, 0x001a1710, 0x00191811, 0x001a1913, 0x001c1d18, 0x001b1e18, 0x00181d16, 0x00171d16, 0x00161c15, 0x00161c15, 0x00151c15, 0x00151c15, 0x00151c15, 0x00141b14, 0x00131a14, 0x00121a14, 0x00131b14, 0x00060c07, 0x00060c07, 0x000f130f, 0x000f130f, 0x000f130f, 0x0014180b, 0x0014180a, 0x00191c09, 0x001d2009, 0x00202309, 0x0024250c, 0x0026280b, 0x002c2d0a, 0x002d2f0b, 0x0034350c, 0x0038380c, 0x003b3c0d, 0x0040400d, 0x0043440e, 0x0047480e, 0x00494a10, 0x004c4d0f, 0x00515110, 0x00947c13, 0x00caa216, 0x00caa216, 0x00917c13, 0x00585912, 0x005b5b12, 0x005c5c11, 0x005c5d11, 0x005c5d11, 0x005d5e11, 0x005d5e11, 0x005d5e11, 0x005d5e11, 0x005d5e11, 0x005d5d11, 0x006b6412, 0x00957f14, 0x00b59516, 0x00c7a117, 0x00cba418, 0x00cca418, 0x00cba418, 0x00cba418, 0x00c39e18, 0x00b19316, 0x00947f15, 0x006b6513, 0x005e5f13, 0x005e5f13, 0x005e5f13, 0x005e5f13, 0x005e5f13, 0x005d5e11, 0x005c5d11, 0x005c5d11, 0x005c5c12, 0x005b5b12, 0x00666011, 0x00bc9815, 0x00cca316, 0x00b08f14, 0x00565410, 0x004d4e10, 0x00494a0f, 0x0047480e, 0x0044450e, 0x0040400d, 0x003c3e0d, 0x0038380c, 0x0034350c, 0x0030310c, 0x002d2f0a, 0x00292b0b, 0x0024250b, 0x00202309, 0x001d2008, 0x00191c09, 0x0014180a, 0x0014180b, 0x000f130c, 0x000f130f, 0x000f130f, 0x00060c07, 0x00131914, 0x00131914, 0x00141914, 0x00141914, 0x00141914, 0x00141914, 0x00151a14, 0x00151a14, 0x00151a14, 0x00151a14, 0x00151a14, 0x00141a14, 0x00141a14, 0x00131914, 0x00141914, 0x00171813, 0x00171812, 0x00161510, 0x0014130d, 0x0014130c, 0x0014110b, 0x0014110b, 0x0014110b, 0x0014110b, 0x0014110b, 0x00141109, 0x00141109, 0x00121108, 0x00121108, 0x0014140b, 0x0015140c, 0x0013120a, 0x00101008, 0x00111008, 0x00121009, 0x00121009, 0x00121009, 0x00101009, 0x00101008, 0x00101108, 0x000f1007, 0x000f1007, 0x00101009, 0x00101009, 0x00100f08, 0x000f0e07, 0x0012110a, 0x000f1008, 0x000d1008, 0x000d1008, 0x000f1008, 0x00101008, 0x00121008, 0x00131008, 0x00141109, 0x0017100b, 0x00171009, 0x00181009, 0x0018110a, 0x0018110a, 0x0018130a, 0x0019140a, 0x001a130a, 0x001f1308, 0x001f1307, 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0x00cbb80d, 0x00c8b011, 0x00a07c03, 0x00784f02, 0x00603e07, 0x004e3808, 0x00402f06, 0x00382608, 0x002e2105, 0x00291d06, 0x002a1909, 0x0026180b, 0x0022160a, 0x001d1409, 0x00181308, 0x00141004, 0x00101006, 0x000f1007, 0x00100f08, 0x00110e08, 0x0013100a, 0x0011100a, 0x00121007, 0x00110f07, 0x00131107, 0x00131107, 0x00131107, 0x00141107, 0x00171208, 0x00181107, 0x00181207, 0x00191306, 0x001a1306, 0x001b1407, 0x001b1407, 0x001c1307, 0x001c1307, 0x001c1307, 0x001c1307, 0x001b1407, 0x001b1407, 0x001b1407, 0x001b1407, 0x001b1405, 0x001c1305, 0x001e1407, 0x001e1407, 0x001e1205, 0x0023160a, 0x00201408, 0x00201408, 0x00201408, 0x001f1408, 0x001f1408, 0x001e1407, 0x001e1407, 0x00201508, 0x00201508, 0x0020150a, 0x001f1409, 0x00170e03, 0x00171004, 0x001b1508, 0x001d1407, 0x00201307, 0x00211308, 0x00211308, 0x00211408, 0x00221408, 0x00221408, 0x00221408, 0x00221408, 0x00211408, 0x00211408, 0x00211408, 0x00221509, 0x00211408, 0x00211408, 0x00201408, 0x00221509, 0x00221509, 0x00201609, 0x00201508, 0x001d1305, 0x001d1305, 0x001d1306, 0x001e1306, 0x001d1306, 0x001d1306, 0x001c1308, 0x001c1308, 0x001b1206, 0x001b1206, 0x001a1306, 0x001b1407, 0x001c1408, 0x001c1308, 0x001c1408, 0x001d1407, 0x001d1407, 0x001d1306, 0x001d1306, 0x001d1306, 0x001d1306, 0x001e1407, 0x001e1407, 0x001d1306, 0x001d1306, 0x001d1306, 0x001d1306, 0x001d1208, 0x001d1208, 0x001d1207, 0x001d1207, 0x001d1208, 0x001e1308, 0x001f1409, 0x001f1409, 0x001f1409, 0x001e1308, 0x001e1308, 0x001e1308, 0x001e1308, 0x001d1207, 0x001c1106, 0x001c1106, 0x001c1106, 0x001b1206, 0x001b1206, 0x001b1206, 0x001b1206, 0x001b1206, 0x001b1206, 0x001b1206, 0x001b1206, 0x001a1306, 0x001b1407, 0x001b1408, 0x001c1408, 0x001c1408, 0x001b1408, 0x001a1306, 0x00191206, 0x001b1408, 0x00181105, 0x00181004, 0x001c1509, 0x001a1304, 0x001c1406, 0x001c1407, 0x001c1407, 0x001c1407, 0x001c1408, 0x001c1408, 0x001c1307, 0x001c1307, 0x001c1307, 0x001c1307, 0x001b1206, 0x001b1206, 0x001b1206, 0x001b1206, 0x001b1206, 0x001b1206, 0x001b1206, 0x001b1206, 0x001b1206, 0x001b1206, 0x001b1206, 0x001b1206, 0x001b1206, 0x001c1307, 0x001c1307, 0x001c1307, 0x001c1307, 0x001b1206, 0x001b1206, 0x001a1306, 0x00191306, 0x00191306, 0x00191306, 0x00191206, 0x00181105, 0x00181105, 0x00181105, 0x00181105, 0x001b1206, 0x001b1206, 0x001a1105, 0x001a1105, 0x001a1105, 0x001a1105, 0x001b1206, 0x001c1307, 0x001c1307, 0x001e1409, 0x001e1409, 0x001f150a, 0x001f1409, 0x001e1308, 0x001e1308, 0x001e1308, 0x001e1308, 0x001e1308, 0x001d1207, 0x001c1106, 0x001d1207, 0x001d1205, 0x001e1407, 0x001e1407, 0x00201609, 0x0022170a, 0x00221509, 0x00241608, 0x00281809, 0x002e1a0b, 0x002f1a09, 0x00331c0b, 0x0039200d, 0x003f270c, 0x00492c0e, 0x005c3814, 0x00714617, 0x00936618, 0x00c7a02b, 0x00ccac19, 0x00ccae0e, 0x00cbad0f, 0x00caa912, 0x00c8a70f, 0x00c8a20c, 0x00c39b08, 0x00ba8f07, 0x00b18303, 0x00ac7801, 0x00a67100, 0x00a36c00, 0x00a36a01, 0x00a36702, 0x00a76804, 0x00ab6d08, 0x00b0770f, 0x00b98417, 0x00c2901d, 0x00c89c24, 0x00cca324, 0x00cca421, 0x00bd8c17, 0x00925e04, 0x00804c08, 0x00643804, 0x004a2700, 0x00402202, 0x00371d04, 0x00301a04, 0x00301c08, 0x002a1909, 0x00261704, 0x00231504, 0x001f1305, 0x001b1106, 0x00191208, 0x00181308, 0x0017110a, 0x0017100b, 0x0017100b, 0x0017110a, 0x0017110a, 0x0017110a, 0x0018120c, 0x0017130b, 0x001a1308, 0x001c1408, 0x00291d0d, 0x002e2008, 0x00312407, 0x00382807, 0x003f2f08, 0x004e360c, 0x005c3f0e, 0x00785213, 0x00a27c1a, 0x00c9ad26, 0x00ccb717, 0x00ccbb0d, 0x00ccbb0d, 0x00cbba10, 0x00c4a813, 0x009d7005, 0x00744800, 0x00593c03, 0x004b3508, 0x00442e06, 0x003f2906, 0x00382405, 0x00342006, 0x00301c05, 0x002a1c0c, 0x001f1809, 0x00101005, 0x000d0c04, 0x0014130c, 0x0014130a, 0x00101007, 0x00101007, 0x000f1008, 0x000e110a, 0x000e100c, 0x000e110d, 0x000e130e, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00222922, 0x001b2018, 0x00151811, 0x00171610, 0x001a1812, 0x001c1810, 0x0017140c, 0x0016130b, 0x001e1910, 0x00231d10, 0x0027200d, 0x002c210b, 0x0030250c, 0x00382810, 0x003d2c0f, 0x0044350f, 0x004c3c10, 0x00554011, 0x006b4c13, 0x00906b1c, 0x00c5a534, 0x00ccb41e, 0x00cbbb0d, 0x00c9bb0c, 0x00cbb80f, 0x00c8ae11, 0x009e7901, 0x007b5004, 0x00624008, 0x00513c0d, 0x0045330b, 0x00402c0e, 0x0035280d, 0x0030240c, 0x002d1c0d, 0x00281b0e, 0x0025180d, 0x0020180c, 0x001e180d, 0x0019160b, 0x0016150b, 0x0014160c, 0x0016150e, 0x001b1812, 0x0017140e, 0x0015140e, 0x0018160d, 0x0018160e, 0x0018160c, 0x0019170d, 0x0018180d, 0x001a170d, 0x001d180e, 0x001f180e, 0x0020180d, 0x0020180c, 0x0020180c, 0x0020180c, 0x0020180c, 0x0020180c, 0x0020180c, 0x0021180c, 0x0021180c, 0x0020180c, 0x0020180c, 0x0020180c, 0x0020180c, 0x0020190b, 0x00221a0c, 0x00241a0e, 0x00241a0e, 0x0025190d, 0x002a1e12, 0x00281b0f, 0x0025180c, 0x0024180c, 0x0024190d, 0x0024190c, 0x0024180c, 0x0024190c, 0x00271c10, 0x00281d10, 0x00281d12, 0x00281d12, 0x0020170c, 0x0020190c, 0x0020190d, 0x00231a0c, 0x00251a0d, 0x00281a0f, 0x0027190d, 0x0026190d, 0x0026180c, 0x0027180c, 0x0027180c, 0x0027180d, 0x0026190d, 0x00261a0e, 0x00281b0f, 0x00281b10, 0x00271a0e, 0x00281b0f, 0x00281b10, 0x00271a0e, 0x0025190d, 0x0024180c, 0x0024180c, 0x00251a0d, 0x0024190c, 0x0024190c, 0x0023180c, 0x0024190c, 0x0024190c, 0x00231a0e, 0x00231a0e, 0x0022190d, 0x0022190d, 0x0021190d, 0x0020190d, 0x0021190e, 0x0022190e, 0x0022190d, 0x00231a0d, 0x00241a0d, 0x0024190c, 0x0024190c, 0x0024190c, 0x0024190c, 0x00251b0e, 0x00251b0f, 0x00251b0e, 0x00261c0f, 0x00251b0e, 0x00251b0e, 0x00251a10, 0x00251a10, 0x0024190f, 0x0024190f, 0x0024190f, 0x0024180e, 0x0024190f, 0x0024190f, 0x0024190f, 0x0024190f, 0x0024190e, 0x0024190e, 0x0024190e, 0x0024190e, 0x0024190e, 0x0022180c, 0x0022180c, 0x0021180d, 0x0021180d, 0x0022190d, 0x0022190d, 0x0022190d, 0x0022190d, 0x0021180d, 0x0022190d, 0x00221a0e, 0x00221b0f, 0x00211a0e, 0x0020190e, 0x00211a0e, 0x00211a0e, 0x00211a0e, 0x00211a0f, 0x00231c10, 0x0020190d, 0x00201a0e, 0x00241c11, 0x00231c0f, 0x00221b0d, 0x0020190a, 0x00211a0c, 0x00221b0c, 0x00231a0e, 0x00231a0e, 0x00221a0e, 0x0022190e, 0x0022190e, 0x0022190e, 0x0022190e, 0x0022190d, 0x0022190d, 0x0022190d, 0x0022190d, 0x0022190d, 0x0022190d, 0x0022190d, 0x0022190d, 0x0022190d, 0x0022190d, 0x0022190d, 0x0022190d, 0x0022190e, 0x0022190e, 0x0022190e, 0x0022190e, 0x0021180d, 0x0021180d, 0x0020190d, 0x0020190d, 0x0020190d, 0x0020190d, 0x0020190d, 0x0020190d, 0x00201a0e, 0x00201a0e, 0x00211a0e, 0x00231a0f, 0x00231a0f, 0x0022190e, 0x0022190e, 0x0022190e, 0x0022190e, 0x00231a0f, 0x00231a0e, 0x00231a10, 0x00231a0f, 0x00221a0f, 0x00221a0f, 0x0024190f, 0x0024190f, 0x0024190f, 0x0024190e, 0x0024190e, 0x0024180e, 0x0024180e, 0x0024190e, 0x0024190e, 0x00251c0f, 0x00251c0f, 0x00241a0d, 0x00261c10, 0x00271c10, 0x00281b10, 0x002c1e10, 0x00302010, 0x00342112, 0x0036210f, 0x00382110, 0x003d2512, 0x00442c12, 0x004e3113, 0x00623d1b, 0x00744819, 0x0092641b, 0x00c4982e, 0x00c39c17, 0x00bf9a0b, 0x00b89208, 0x00b08506, 0x00aa7d02, 0x00a47400, 0x009f6c00, 0x009c6800, 0x009c6601, 0x00a16704, 0x00a46709, 0x00ac6c14, 0x00b3741b, 0x00ba7c21, 0x00c48928, 0x00c6942a, 0x00c89d2b, 0x00cca42a, 0x00cca827, 0x00ccac22, 0x00cbad1c, 0x00ccad1b, 0x00b99210, 0x008f6000, 0x007f4e08, 0x00623804, 0x004c2c04, 0x00432606, 0x003e240c, 0x0038220c, 0x0034210f, 0x00301e0f, 0x002c1d0b, 0x00291c0c, 0x0024180b, 0x0021180c, 0x0020180d, 0x001f190e, 0x001f1811, 0x001f1812, 0x001e1811, 0x001d1810, 0x001e1811, 0x001f1811, 0x001f1812, 0x001e1911, 0x0020180f, 0x0022180d, 0x002e2313, 0x0032240d, 0x0034280b, 0x003c2c0b, 0x0044320c, 0x00513a11, 0x00604212, 0x00785212, 0x00a37c1b, 0x00c8ac25, 0x00ccb719, 0x00ccbb0f, 0x00ccbb0e, 0x00cbba10, 0x00c6a814, 0x00a27508, 0x007b4e04, 0x005f400b, 0x00503b0e, 0x0049330c, 0x00442e0d, 0x003f2a0c, 0x003b270d, 0x0036220c, 0x00302111, 0x00261e10, 0x0017160c, 0x0014130c, 0x00191811, 0x001b1b11, 0x00191810, 0x0017170e, 0x0014160e, 0x00141610, 0x00141510, 0x00131611, 0x00141813, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07, 0x00060c07};
\ No newline at end of file
diff --git a/include/subsystems/tank_drive.h b/include/subsystems/tank_drive.h
index d55125a..2c0bbba 100644
--- a/include/subsystems/tank_drive.h
+++ b/include/subsystems/tank_drive.h
@@ -9,7 +9,7 @@
 #include "../core/include/utils/pid.h"
 #include "../core/include/utils/feedback_base.h"
 #include "../core/include/robot_specs.h"
-#include "../core/src/utils/pure_pursuit.cpp"
+#include "../core/include/utils/pure_pursuit.h"
 #include <vector>
 
 
@@ -47,7 +47,7 @@ class TankDrive
    * @param power modifies the input velocities left^power, right^power
    * @param isdriver default false. if true uses motor percentage. if false uses plain percentage of maximum voltage
    */
-  void drive_tank(double left, double right, int power=1, bool isdriver=false);
+  void drive_tank(double left, double right, int power=1);
 
   /**
    * Drive the robot using arcade style controls. forward_back controls the linear motion,
@@ -165,18 +165,8 @@ class TankDrive
    */
   static double modify_inputs(double input, int power=2);
 
-  /**
-   * Follow a hermite curve using the pure pursuit algorithm.
-   * 
-   * @param path The hermite curve for the robot to take. Must have 2 or more points.
-   * @param dir Whether the robot should move forward or backwards
-   * @param radius How the pure pursuit radius, in inches, for finding the lookahead point
-   * @param res The number of points to use along the path; the hermite curve is split up into "res" individual points.
-   * @param feedback The feedback controller to use
-   * @param max_speed Robot's maximum speed throughout the path, between 0 and 1.0
-   * @return true when we reach the end of the path
-   */
-  bool pure_pursuit(std::vector<PurePursuit::hermite_point> path, directionType dir, double radius, double res, Feedback &feedback, double max_speed=1);
+  
+  bool pure_pursuit(std::vector<point_t> path, directionType dir, double radius, Feedback &feedback, double max_speed=1);
 
 private:
   motor_group &left_motors; ///< left drive motors
diff --git a/include/utils/geometry.h b/include/utils/geometry.h
index 5730e6d..b653031 100644
--- a/include/utils/geometry.h
+++ b/include/utils/geometry.h
@@ -44,6 +44,11 @@ struct point_t
             .y = this->y - other.y};
         return p;
     }
+
+    bool operator==(const point_t& rhs)
+    {
+        return x==rhs.x && y==rhs.y;
+    }
 };
 
 
@@ -55,4 +60,9 @@ typedef struct
     double x;   ///< x position in the world
     double y;   ///< y position in the world
     double rot; ///< rotation in the world
+
+    point_t get_point()
+    {
+        return point_t{.x=x, .y=y};
+    }
 } pose_t;
\ No newline at end of file
diff --git a/include/utils/math_util.h b/include/utils/math_util.h
index 71fbe30..4ec27c9 100644
--- a/include/utils/math_util.h
+++ b/include/utils/math_util.h
@@ -1,7 +1,9 @@
 #pragma once
+#include <vector>
 #include "math.h"
 #include "vex.h"
-#include <vector>
+#include "../core/include/utils/geometry.h"
+
 
 /**
 * Constrain the input between a minimum and a maximum value
@@ -54,3 +56,4 @@ Calculates the slope and y intercept of the line of best fit for the data
 */
 std::pair<double, double> calculate_linear_regression(std::vector<std::pair<double, double>> const &points);
 
+double estimate_path_length(std::vector<point_t> points);
\ No newline at end of file
diff --git a/include/utils/moving_average.h b/include/utils/moving_average.h
index 07acc79..39bb9a0 100644
--- a/include/utils/moving_average.h
+++ b/include/utils/moving_average.h
@@ -1,3 +1,4 @@
+#pragma once
 #include <vector>
 
 /**
diff --git a/include/utils/pure_pursuit.h b/include/utils/pure_pursuit.h
index f3f427c..66cd15a 100644
--- a/include/utils/pure_pursuit.h
+++ b/include/utils/pure_pursuit.h
@@ -44,16 +44,16 @@ namespace PurePursuit {
     * Returns points of the intersections of a line segment and a circle. The line 
     * segment is defined by two points, and the circle is defined by a center and radius.
     */
-  static std::vector<point_t> line_circle_intersections(point_t center, double r, point_t point1, point_t point2);
+  extern std::vector<point_t> line_circle_intersections(point_t center, double r, point_t point1, point_t point2);
   /**
     * Selects a look ahead from all the intersections in the path.
     */
-  static point_t get_lookahead(std::vector<point_t> path, point_t robot_loc, double radius);
+  extern point_t get_lookahead(std::vector<point_t> path, pose_t robot_loc, double radius);
 
   /**
     * Injects points in a path without changing the curvature with a certain spacing.
     */
-  static std::vector<point_t> inject_path(std::vector<point_t> path, double spacing);
+  extern std::vector<point_t> inject_path(std::vector<point_t> path, double spacing);
 
   /**
   * Returns a smoothed path maintaining the start and end of the path.
@@ -66,9 +66,9 @@ namespace PurePursuit {
   * https://medium.com/@jaems33/understanding-robot-motion-path-smoothing-5970c8363bc4
   */
 
-  static std::vector<point_t> smooth_path(std::vector<point_t> path, double weight_data, double weight_smooth, double tolerance);
+  extern std::vector<point_t> smooth_path(std::vector<point_t> path, double weight_data, double weight_smooth, double tolerance);
 
-  static std::vector<point_t> smooth_path_cubic(std::vector<point_t> path, double res);
+  extern std::vector<point_t> smooth_path_cubic(std::vector<point_t> path, double res);
 
   /**
    * Interpolates a smooth path given a list of waypoints using hermite splines.
@@ -78,5 +78,18 @@ namespace PurePursuit {
    * @param steps The number of points interpolated between points.
    * @return The smoothed path.
    */
-  static std::vector<point_t> smooth_path_hermite(std::vector<hermite_point> path, double step);
+  extern std::vector<point_t> smooth_path_hermite(std::vector<hermite_point> path, double step);
+
+  /**
+   * Estimates the remaining distance from the robot's position to the end,
+   * by "searching" for the robot along the path and running a "connect the dots"
+   * distance algoritm
+   * 
+   * @param path The pure pursuit path the robot is following
+   * @param robot_pose The robot's current position
+   * @param radius Pure pursuit "radius", used to search for the robot along the path
+   * @return A rough estimate of the remaining distance
+  */
+  extern double estimate_remaining_dist(std::vector<point_t> path, pose_t robot_pose, double radius);
+
 }
\ No newline at end of file
diff --git a/src/subsystems/odometry/odometry_base.cpp b/src/subsystems/odometry/odometry_base.cpp
index fad0728..15a650a 100644
--- a/src/subsystems/odometry/odometry_base.cpp
+++ b/src/subsystems/odometry/odometry_base.cpp
@@ -22,6 +22,7 @@ OdometryBase::OdometryBase(bool is_async) : current_pos(zero_pos)
 int OdometryBase::background_task(void* ptr)
 {
     OdometryBase &obj = *((OdometryBase*) ptr);
+    vexDelay(1000);
     while(!obj.end_task)
     {
       obj.mut.lock();
diff --git a/src/subsystems/tank_drive.cpp b/src/subsystems/tank_drive.cpp
index 92c613b..4fd7fc6 100644
--- a/src/subsystems/tank_drive.cpp
+++ b/src/subsystems/tank_drive.cpp
@@ -1,6 +1,7 @@
 #include "../core/include/utils/geometry.h"
 #include "../core/include/subsystems/tank_drive.h"
 #include "../core/include/utils/math_util.h"
+#include "../core/include/utils/pidff.h"
 
 TankDrive::TankDrive(motor_group &left_motors, motor_group &right_motors, robot_specs_t &config, OdometryBase *odom)
     : left_motors(left_motors), right_motors(right_motors), correction_pid(config.correction_pid), odometry(odom), config(config)
@@ -32,20 +33,13 @@ void TankDrive::stop()
  * 
  * left_motors and right_motors are in "percent": -1.0 -> 1.0
  */
-void TankDrive::drive_tank(double left, double right, int power, bool isdriver)
+void TankDrive::drive_tank(double left, double right, int power)
 {
   left = modify_inputs(left, power);
   right = modify_inputs(right, power);
 
-  if(isdriver == false)
-  {
-    left_motors.spin(directionType::fwd, left * 12, voltageUnits::volt);
-    right_motors.spin(directionType::fwd, right * 12, voltageUnits::volt);
-  }else
-  {
-    left_motors.spin(directionType::fwd, left * 100.0, percentUnits::pct);
-    right_motors.spin(directionType::fwd, right * 100.0, percentUnits::pct);
-  }
+  left_motors.spin(directionType::fwd, left * 12, voltageUnits::volt);
+  right_motors.spin(directionType::fwd, right * 12, voltageUnits::volt);
 }
 
 /**
@@ -409,23 +403,69 @@ double TankDrive::modify_inputs(double input, int power)
   return sign(input)* pow(std::abs(input), power);
 }
 
-bool TankDrive::pure_pursuit(std::vector<PurePursuit::hermite_point> path, directionType dir, double radius, double res, Feedback &feedback, double max_speed) 
+// TODO forwards & backwards
+bool TankDrive::pure_pursuit(std::vector<point_t> path, directionType dir, double radius, Feedback &feedback, double max_speed)
 {
-  is_pure_pursuit = true;
-  std::vector<point_t> smoothed_path = PurePursuit::smooth_path_hermite(path, res);
+  pose_t robot_pose = odometry->get_position();
+  static pose_t start_pos;
+  // static PID::pid_config_t pid_cfg = {
+  //   .p=.1
+  // };
+  // static FeedForward::ff_config_t ff_cfg = {
+
+  // };
+  // static PIDFF pid(pid_cfg, ff_cfg);
+
+  if(!func_initialized)
+  {
+    feedback.init(-estimate_path_length(path), 0);
+    start_pos = robot_pose;
+    func_initialized = true;
+  }
+  
+  point_t lookahead = PurePursuit::get_lookahead(path, odometry->get_position(), radius);
+  point_t localized = lookahead - robot_pose.get_point();
+
+  point_t last_point = path[path.size()-1];
+  bool is_last_point = (lookahead == last_point);
+  
+  double correction = 0;
+  double dist_remaining = PurePursuit::estimate_remaining_dist(path, robot_pose, radius);
+  double angle_diff = OdometryBase::smallest_angle(robot_pose.rot, rad2deg(atan2(localized.y, localized.x)));
+  
+  // Correct the robot's heading until the last cut-off 
+  if(!(is_last_point && robot_pose.get_point().dist(last_point) < config.drive_correction_cutoff))
+  {
+    correction_pid.update(angle_diff);
+    correction = correction_pid.get();
+  } else // Inside cut-off radius, ignore horizontal diffs
+  {
+    dist_remaining *= cos(angle_diff * (PI / 180.0));
+  }
+
+  feedback.update(-dist_remaining);
 
-  point_t lookahead = PurePursuit::get_lookahead(smoothed_path, {odometry->get_position().x, odometry->get_position().y}, radius);
-  //printf("%f\t%f\n", odometry->get_position().x, odometry->get_position().y); 
-  //printf("%f\t%f\n", lookahead.x, lookahead.y);
-  bool is_last_point = (path.back().x == lookahead.x) && (path.back().y == lookahead.y);
+  max_speed = fabs(max_speed);
 
-  if(is_last_point)
-    is_pure_pursuit = false;
+  double left = clamp(feedback.get(), -max_speed, max_speed);
+  double right = clamp(feedback.get(), -max_speed, max_speed);
 
-  bool retval = drive_to_point(lookahead.x, lookahead.y, dir, feedback, max_speed);
+  left += correction;
+  right -= correction;
+  
+  // left = clamp(left + correction, -max_speed, max_speed);
+  // right = clamp(right - correction, -max_speed, max_speed);
+
+  // printf("x:%f, y:%f, rot:%f, d:%f, c:%f l:%f, r:%f\n", robot_pose.x, robot_pose.y, robot_pose.rot, dist_remaining, correction, left, right);
 
-  if(is_last_point)
-    return retval;
+  drive_tank(left, right);
 
+  // When the robot has reached the end point and feedback reports on target, end pure pursuit
+  if(is_last_point && feedback.is_on_target())
+  {
+    func_initialized = false;
+    stop();
+    return true;
+  }
   return false;
 }
diff --git a/src/utils/math_util.cpp b/src/utils/math_util.cpp
index 4ab2406..494f9d4 100644
--- a/src/utils/math_util.cpp
+++ b/src/utils/math_util.cpp
@@ -117,3 +117,23 @@ std::pair<double, double> calculate_linear_regression(std::vector<std::pair<doub
 
     return std::pair<double, double>(slope, y_intercept);
 }
+
+
+double estimate_path_length(std::vector<point_t> points)
+{
+  double dist = 0;
+
+  for(point_t p : points)
+  {
+    static point_t last_p = p;
+
+    // Ignore the first point
+    if(p == last_p)
+      continue;
+
+    dist += p.dist(last_p);
+    last_p = p;
+  }
+  
+  return dist;
+}
\ No newline at end of file
diff --git a/src/utils/pidff.cpp b/src/utils/pidff.cpp
index 7d1df2a..616caec 100644
--- a/src/utils/pidff.cpp
+++ b/src/utils/pidff.cpp
@@ -35,7 +35,9 @@ double PIDFF::update(double val)
 {
     double pid_out = pid.update(val);
     double ff_out = ff_cfg.kS * sign(pid_out);
-    out = clamp(pid_out + ff_out, lower_lim, upper_lim);
+    out = pid_out + ff_out;
+    if (lower_lim != upper_lim)
+        out = clamp(out, lower_lim, upper_lim);
 
     return out;
 }
@@ -53,7 +55,9 @@ double PIDFF::update(double val, double vel_setpt, double a_setpt)
 
     double pid_out = pid.update(val);
     double ff_out = ff.calculate(vel_setpt, a_setpt);
-    out = clamp(ff_out + pid_out, lower_lim, upper_lim);
+    out = pid_out + ff_out;
+    if (lower_lim != upper_lim)
+        out = clamp(out, lower_lim, upper_lim);
     
     return out;
 }
diff --git a/src/utils/pure_pursuit.cpp b/src/utils/pure_pursuit.cpp
index 78e1740..dfdbc9c 100644
--- a/src/utils/pure_pursuit.cpp
+++ b/src/utils/pure_pursuit.cpp
@@ -52,13 +52,13 @@ std::vector<point_t> PurePursuit::line_circle_intersections(point_t center, doub
 /**
  * Selects a look ahead from all the intersections in the path.
  */
-[[maybe_unused]] point_t PurePursuit::get_lookahead(std::vector<point_t> path, point_t robot_loc, double radius)
+[[maybe_unused]] point_t PurePursuit::get_lookahead(std::vector<point_t> path, pose_t robot_loc, double radius)
 { 
   //Default: the end of the path
   point_t target = path.back();
 
-  
-  if(target.dist(robot_loc) <= radius)
+
+  if(target.dist(robot_loc.get_point()) <= radius)
   {
     return target;
   }
@@ -69,7 +69,7 @@ std::vector<point_t> PurePursuit::line_circle_intersections(point_t center, doub
     point_t start = path[i];
     point_t end = path[i+1];
 
-    std::vector<point_t> intersections = line_circle_intersections(robot_loc, radius, start, end);
+    std::vector<point_t> intersections = line_circle_intersections(robot_loc.get_point(), radius, start, end);
     //Choose the intersection that is closest to the end of the line segment
     //This prioritizes the closest intersection to the end of the path
     for(point_t intersection: intersections)
@@ -234,3 +234,45 @@ std::vector<point_t> PurePursuit::line_circle_intersections(point_t center, doub
 
   return new_path;
 }
+
+/**
+ * Estimates the remaining distance from the robot's position to the end,
+ * by "searching" for the robot along the path and running a "connect the dots"
+ * distance algoritm
+ * 
+ * @param path The pure pursuit path the robot is following
+ * @param robot_pose The robot's current position
+ * @param radius Pure pursuit "radius", used to search for the robot along the path
+ * @return A rough estimate of the remaining distance
+*/
+double PurePursuit::estimate_remaining_dist(std::vector<point_t> path, pose_t robot_pose, double radius)
+{
+  point_t lookahead_pt = get_lookahead(path, robot_pose, radius);
+  
+  if (lookahead_pt == path[path.size() - 1])
+    return robot_pose.get_point().dist(lookahead_pt);
+
+  double dist = 0;
+
+  // Run through the path backwards, adding distances
+  for(int i = path.size()-1; i >= 0; i--)
+  {
+    // Test if the robot is between the two points
+    auto pts = line_circle_intersections(robot_pose.get_point(), radius, path[i-1], path[i]);
+    
+    // There is an intersection? Robot is between the points so add the distance
+    // from the bot to the next point and end.
+    if(!pts.empty())
+    {
+      dist += robot_pose.get_point().dist(path[i]);
+      return dist;
+    }
+    
+    // No intersections? Add the distance between the two points and move backwards
+    // in the path until we find the robot, or run out of points.
+    dist += path[i-1].dist(path[i]);      
+  }
+
+  return dist;
+}
+

From f0f89dfddba7c07ab088beb884f52b02842fed24 Mon Sep 17 00:00:00 2001
From: Ryan McGee <ramtech51@comcast.net>
Date: Sun, 24 Sep 2023 17:26:54 -0400
Subject: [PATCH 222/243] Now supports backwards driving

---
 src/subsystems/tank_drive.cpp | 26 ++++++++++++++++----------
 1 file changed, 16 insertions(+), 10 deletions(-)

diff --git a/src/subsystems/tank_drive.cpp b/src/subsystems/tank_drive.cpp
index 4fd7fc6..431e457 100644
--- a/src/subsystems/tank_drive.cpp
+++ b/src/subsystems/tank_drive.cpp
@@ -408,17 +408,14 @@ bool TankDrive::pure_pursuit(std::vector<point_t> path, directionType dir, doubl
 {
   pose_t robot_pose = odometry->get_position();
   static pose_t start_pos;
-  // static PID::pid_config_t pid_cfg = {
-  //   .p=.1
-  // };
-  // static FeedForward::ff_config_t ff_cfg = {
-
-  // };
-  // static PIDFF pid(pid_cfg, ff_cfg);
 
   if(!func_initialized)
   {
-    feedback.init(-estimate_path_length(path), 0);
+    if(dir != directionType::rev)
+      feedback.init(-estimate_path_length(path), 0);
+    else
+      feedback.init(estimate_path_length(path), 0);
+    
     start_pos = robot_pose;
     func_initialized = true;
   }
@@ -431,8 +428,14 @@ bool TankDrive::pure_pursuit(std::vector<point_t> path, directionType dir, doubl
   
   double correction = 0;
   double dist_remaining = PurePursuit::estimate_remaining_dist(path, robot_pose, radius);
-  double angle_diff = OdometryBase::smallest_angle(robot_pose.rot, rad2deg(atan2(localized.y, localized.x)));
+  double angle_diff = 0;
   
+  // Robot is facing forwards / backwards, change the bot's angle by 180
+  if(dir != directionType::rev)
+    angle_diff = OdometryBase::smallest_angle(robot_pose.rot, rad2deg(atan2(localized.y, localized.x)));
+  else
+    angle_diff = OdometryBase::smallest_angle(robot_pose.rot + 180, rad2deg(atan2(localized.y, localized.x)));
+
   // Correct the robot's heading until the last cut-off 
   if(!(is_last_point && robot_pose.get_point().dist(last_point) < config.drive_correction_cutoff))
   {
@@ -443,7 +446,10 @@ bool TankDrive::pure_pursuit(std::vector<point_t> path, directionType dir, doubl
     dist_remaining *= cos(angle_diff * (PI / 180.0));
   }
 
-  feedback.update(-dist_remaining);
+  if(dir != directionType::rev)
+    feedback.update(-dist_remaining);
+  else
+    feedback.update(dist_remaining);
 
   max_speed = fabs(max_speed);
 

From 3d97a86a49fc93d9799ee1974d09d1d4f399c162 Mon Sep 17 00:00:00 2001
From: Ryan McGee <ramtech51@comcast.net>
Date: Sun, 1 Oct 2023 12:33:42 -0400
Subject: [PATCH 223/243] Added AutoCommand functionality

---
 include/subsystems/tank_drive.h               | 28 +++++++++-
 .../utils/command_structure/drive_commands.h  | 55 +++++++++++++++++--
 src/subsystems/tank_drive.cpp                 | 39 ++++++++++---
 .../command_structure/drive_commands.cpp      | 29 ++++++++++
 4 files changed, 136 insertions(+), 15 deletions(-)

diff --git a/include/subsystems/tank_drive.h b/include/subsystems/tank_drive.h
index 2c0bbba..e92ab25 100644
--- a/include/subsystems/tank_drive.h
+++ b/include/subsystems/tank_drive.h
@@ -165,9 +165,35 @@ class TankDrive
    */
   static double modify_inputs(double input, int power=2);
 
-  
+  /**
+   * Drive the robot autonomously using a pure-pursuit algorithm - Input path with a set of 
+   * waypoints - the robot will attempt to follow the points while cutting corners (radius)
+   * to save time (compared to stop / turn / start)
+   * 
+   * @param path The list of coordinates to follow, in order
+   * @param dir Run the bot forwards or backwards
+   * @param radius How big the corner cutting should be - small values follow the path more closely
+   * @param feedback The feedback controller determining speed
+   * @param max_speed Limit the speed of the robot (for pid / pidff feedbacks)
+   * @return True when the path is complete
+  */
   bool pure_pursuit(std::vector<point_t> path, directionType dir, double radius, Feedback &feedback, double max_speed=1);
 
+  /**
+   * Drive the robot autonomously using a pure-pursuit algorithm - Input path with a set of 
+   * waypoints - the robot will attempt to follow the points while cutting corners (radius)
+   * to save time (compared to stop / turn / start)
+   * 
+   * Use the default drive feedback
+   * 
+   * @param path The list of coordinates to follow, in order
+   * @param dir Run the bot forwards or backwards
+   * @param radius How big the corner cutting should be - small values follow the path more closely
+   * @param max_speed Limit the speed of the robot (for pid / pidff feedbacks)
+   * @return True when the path is complete
+  */
+  bool pure_pursuit(std::vector<point_t> path, directionType dir, double radius, double max_speed=1);
+
 private:
   motor_group &left_motors; ///< left drive motors
   motor_group &right_motors; ///< right drive motors
diff --git a/include/utils/command_structure/drive_commands.h b/include/utils/command_structure/drive_commands.h
index 97a08d7..b7636ff 100644
--- a/include/utils/command_structure/drive_commands.h
+++ b/include/utils/command_structure/drive_commands.h
@@ -33,7 +33,8 @@ using namespace vex;
  * TankDrive class
  *
  */
-class DriveForwardCommand: public AutoCommand {
+class DriveForwardCommand: public AutoCommand 
+{
   public:
     DriveForwardCommand(TankDrive &drive_sys, Feedback &feedback, double inches, directionType dir, double max_speed=1);
 
@@ -65,7 +66,8 @@ class DriveForwardCommand: public AutoCommand {
  * AutoCommand wrapper class for the turn_degrees function in the 
  * TankDrive class
  */
-class TurnDegreesCommand: public AutoCommand {
+class TurnDegreesCommand: public AutoCommand 
+{
   public:
     TurnDegreesCommand(TankDrive &drive_sys, Feedback &feedback, double degrees, double max_speed = 1);
 
@@ -97,7 +99,8 @@ class TurnDegreesCommand: public AutoCommand {
  * AutoCommand wrapper class for the drive_to_point function in the
  * TankDrive class
  */
-class DriveToPointCommand: public AutoCommand {
+class DriveToPointCommand: public AutoCommand 
+{
   public:
     DriveToPointCommand(TankDrive &drive_sys, Feedback &feedback, double x, double y, directionType dir, double max_speed = 1);
     DriveToPointCommand(TankDrive &drive_sys, Feedback &feedback, point_t point, directionType dir, double max_speed=1);
@@ -135,7 +138,8 @@ class DriveToPointCommand: public AutoCommand {
  * TankDrive class
  *
  */
-class TurnToHeadingCommand: public AutoCommand {
+class TurnToHeadingCommand: public AutoCommand 
+{
   public:
     TurnToHeadingCommand(TankDrive &drive_sys, Feedback &feedback, double heading_deg, double speed = 1);
 
@@ -163,11 +167,49 @@ class TurnToHeadingCommand: public AutoCommand {
     double max_speed;
 };
 
+/**
+ * Autocommand wrapper class for pure pursuit function in the TankDrive class
+*/
+class PurePursuitCommand: public AutoCommand
+{
+  public:
+  /**
+   * Construct a Pure Pursuit AutoCommand
+   * 
+   * @param path The list of coordinates to follow, in order
+   * @param dir Run the bot forwards or backwards
+   * @param radius How big the corner cutting should be - small values follow the path more closely
+   * @param feedback The feedback controller determining speed
+   * @param max_speed Limit the speed of the robot (for pid / pidff feedbacks)
+  */
+  PurePursuitCommand(TankDrive &drive_sys, Feedback &feedback, std::vector<point_t> path, directionType dir, double radius, double max_speed=1);
+
+  /**
+   * Direct call to TankDrive::pure_pursuit
+  */
+  bool run() override;
+
+  /**
+   * Reset the drive system when it times out
+  */
+  void on_timeout() override;
+
+  private:
+  TankDrive &drive_sys;
+  std::vector<point_t> path;
+  directionType dir;
+  double radius;
+  Feedback &feedback;
+  double max_speed;
+
+};
+
 /**
  * AutoCommand wrapper class for the stop() function in the 
  * TankDrive class
  */
-class DriveStopCommand: public AutoCommand {
+class DriveStopCommand: public AutoCommand 
+{
   public:
     DriveStopCommand(TankDrive &drive_sys);
 
@@ -191,7 +233,8 @@ class DriveStopCommand: public AutoCommand {
  * AutoCommand wrapper class for the set_position function in the 
  * Odometry class
  */
-class OdomSetPosition: public AutoCommand {
+class OdomSetPosition: public AutoCommand 
+{
   public:
     /**
      * constructs a new OdomSetPosition command
diff --git a/src/subsystems/tank_drive.cpp b/src/subsystems/tank_drive.cpp
index 431e457..d2d6586 100644
--- a/src/subsystems/tank_drive.cpp
+++ b/src/subsystems/tank_drive.cpp
@@ -403,12 +403,23 @@ double TankDrive::modify_inputs(double input, int power)
   return sign(input)* pow(std::abs(input), power);
 }
 
-// TODO forwards & backwards
+/**
+ * Drive the robot autonomously using a pure-pursuit algorithm - Input path with a set of 
+ * waypoints - the robot will attempt to follow the points while cutting corners (radius)
+ * to save time (compared to stop / turn / start)
+ * 
+ * @param path The list of coordinates to follow, in order
+ * @param dir Run the bot forwards or backwards
+ * @param radius How big the corner cutting should be - small values follow the path more closely
+ * @param feedback The feedback controller determining speed
+ * @param max_speed Limit the speed of the robot (for pid / pidff feedbacks)
+ * @return True when the path is complete
+*/
 bool TankDrive::pure_pursuit(std::vector<point_t> path, directionType dir, double radius, Feedback &feedback, double max_speed)
 {
   pose_t robot_pose = odometry->get_position();
-  static pose_t start_pos;
 
+  // On function initialization, send the path-length estimate to the feedback controller
   if(!func_initialized)
   {
     if(dir != directionType::rev)
@@ -416,7 +427,6 @@ bool TankDrive::pure_pursuit(std::vector<point_t> path, directionType dir, doubl
     else
       feedback.init(estimate_path_length(path), 0);
     
-    start_pos = robot_pose;
     func_initialized = true;
   }
   
@@ -459,11 +469,6 @@ bool TankDrive::pure_pursuit(std::vector<point_t> path, directionType dir, doubl
   left += correction;
   right -= correction;
   
-  // left = clamp(left + correction, -max_speed, max_speed);
-  // right = clamp(right - correction, -max_speed, max_speed);
-
-  // printf("x:%f, y:%f, rot:%f, d:%f, c:%f l:%f, r:%f\n", robot_pose.x, robot_pose.y, robot_pose.rot, dist_remaining, correction, left, right);
-
   drive_tank(left, right);
 
   // When the robot has reached the end point and feedback reports on target, end pure pursuit
@@ -475,3 +480,21 @@ bool TankDrive::pure_pursuit(std::vector<point_t> path, directionType dir, doubl
   }
   return false;
 }
+
+/**
+ * Drive the robot autonomously using a pure-pursuit algorithm - Input path with a set of 
+ * waypoints - the robot will attempt to follow the points while cutting corners (radius)
+ * to save time (compared to stop / turn / start)
+ * 
+ * Use the default drive feedback
+ * 
+ * @param path The list of coordinates to follow, in order
+ * @param dir Run the bot forwards or backwards
+ * @param radius How big the corner cutting should be - small values follow the path more closely
+ * @param max_speed Limit the speed of the robot (for pid / pidff feedbacks)
+ * @return True when the path is complete
+*/
+bool TankDrive::pure_pursuit(std::vector<point_t> path, directionType dir, double radius, double max_speed)
+{
+  return pure_pursuit(path, dir, radius, *config.drive_feedback, max_speed);
+}
\ No newline at end of file
diff --git a/src/utils/command_structure/drive_commands.cpp b/src/utils/command_structure/drive_commands.cpp
index dbb5d3d..633fa4f 100644
--- a/src/utils/command_structure/drive_commands.cpp
+++ b/src/utils/command_structure/drive_commands.cpp
@@ -143,6 +143,35 @@ void TurnToHeadingCommand::on_timeout(){
   drive_sys.stop();
 }
 
+/**
+ * Construct a Pure Pursuit AutoCommand
+ * 
+ * @param path The list of coordinates to follow, in order
+ * @param dir Run the bot forwards or backwards
+ * @param radius How big the corner cutting should be - small values follow the path more closely
+ * @param feedback The feedback controller determining speed
+ * @param max_speed Limit the speed of the robot (for pid / pidff feedbacks)
+*/
+PurePursuitCommand::PurePursuitCommand(TankDrive &drive_sys, Feedback &feedback, std::vector<point_t> path, directionType dir, double radius, double max_speed)
+: drive_sys(drive_sys), path(path), dir(dir), radius(radius), feedback(feedback), max_speed(max_speed)
+{}
+
+/**
+ * Direct call to TankDrive::pure_pursuit
+*/
+bool PurePursuitCommand::run()
+{
+  return drive_sys.pure_pursuit(path, dir, radius, feedback, max_speed);
+}
+
+/**
+ * Reset the drive system when it times out
+*/
+void PurePursuitCommand::on_timeout()
+{
+  drive_sys.reset_auto();
+  drive_sys.stop();
+}
 
 /**
  * Construct a DriveStop Command

From b1a8d1e2f935e04c34ab83d3079d375f45050448 Mon Sep 17 00:00:00 2001
From: Ryan McGee <ramtech51@comcast.net>
Date: Sun, 1 Oct 2023 13:32:18 -0400
Subject: [PATCH 224/243] Merge remote-tracking branch 'origin/main' into
 pure_pursuit

---
 include/subsystems/flywheel.h                 | 213 ++++++++--------
 include/subsystems/tank_drive.h               |  83 +++---
 .../utils/command_structure/auto_command.h    | 200 +++++++++++++--
 .../command_structure/command_controller.h    |  18 +-
 include/utils/generic_auto.h                  |   4 +
 src/subsystems/tank_drive.cpp                 | 182 +++++++------
 src/utils/command_structure/auto_command.cpp  | 239 ++++++++++++++++++
 .../command_structure/command_controller.cpp  |  12 +-
 8 files changed, 713 insertions(+), 238 deletions(-)
 create mode 100644 src/utils/command_structure/auto_command.cpp

diff --git a/include/subsystems/flywheel.h b/include/subsystems/flywheel.h
index 199cf3e..31b8e94 100644
--- a/include/subsystems/flywheel.h
+++ b/include/subsystems/flywheel.h
@@ -1,20 +1,21 @@
 #pragma once
 /*********************************************************
-*
-*     File:     Flywheel.h
-*     Purpose:  Generalized flywheel class for Core.
-*     Author:   Chris Nokes
-*     
-**********************************************************
-* EDIT HISTORY
-**********************************************************
-* 09/23/2022  <CRN> Reorganized, added documentation.
-* 09/23/2022  <CRN> Added functions elaborated on in .cpp.
-*********************************************************/
+ *
+ *     File:     Flywheel.h
+ *     Purpose:  Generalized flywheel class for Core.
+ *     Author:   Chris Nokes
+ *
+ **********************************************************
+ * EDIT HISTORY
+ **********************************************************
+ * 09/23/2022  <CRN> Reorganized, added documentation.
+ * 09/23/2022  <CRN> Added functions elaborated on in .cpp.
+ *********************************************************/
 #include "../core/include/utils/feedforward.h"
 #include "vex.h"
 #include "../core/include/robot_specs.h"
 #include "../core/include/utils/pid.h"
+#include "../core/include/utils/command_structure/auto_command.h"
 #include <atomic>
 
 using namespace vex;
@@ -22,162 +23,176 @@ using namespace vex;
 /**
  * a Flywheel class that handles all control of a high inertia spinning disk
  * It gives multiple options for what control system to use in order to control wheel velocity and functions alerting the user when the flywheel is up to speed.
- * Flywheel is a set and forget class. 
+ * Flywheel is a set and forget class.
  * Once you create it you can call spinRPM or stop on it at any time and it will take all necessary steps to accomplish this
- * 
-*/
-class Flywheel{
-  enum FlywheelControlStyle{
+ *
+ */
+class Flywheel
+{
+  enum FlywheelControlStyle
+  {
     PID_Feedforward,
     Feedforward,
     Take_Back_Half,
     Bang_Bang,
   };
-  public:
 
+public:
   // CONSTRUCTORS, GETTERS, AND SETTERS
   /**
-  * Create the Flywheel object using PID + feedforward for control.
-  * @param motors      pointer to the motors on the fly wheel
-  * @param pid_config  pointer the pid config to use
-  * @param ff_config   the feedforward config to use
-  * @param ratio       ratio of the whatever just multiplies the velocity
-  */
+   * Create the Flywheel object using PID + feedforward for control.
+   * @param motors      pointer to the motors on the fly wheel
+   * @param pid_config  pointer the pid config to use
+   * @param ff_config   the feedforward config to use
+   * @param ratio       ratio of the whatever just multiplies the velocity
+   */
   Flywheel(motor_group &motors, PID::pid_config_t &pid_config, FeedForward::ff_config_t &ff_config, const double ratio);
 
   /**
-  * Create the Flywheel object using only feedforward for control
-  * @param motors    the motors on the fly wheel
-  * @param ff_config the feedforward config to use
-  * @param ratio     ratio of the whatever just multiplies the velocity
-  */
+   * Create the Flywheel object using only feedforward for control
+   * @param motors    the motors on the fly wheel
+   * @param ff_config the feedforward config to use
+   * @param ratio     ratio of the whatever just multiplies the velocity
+   */
   Flywheel(motor_group &motors, FeedForward::ff_config_t &ff_config, const double ratio);
 
   /**
-  * Create the Flywheel object using Take Back Half for control
-  * @param motors   the motors on the fly wheel
-  * @param tbh_gain the TBH control paramater
-  * @param ratio    ratio of the whatever just multiplies the velocity
-  */
+   * Create the Flywheel object using Take Back Half for control
+   * @param motors   the motors on the fly wheel
+   * @param tbh_gain the TBH control paramater
+   * @param ratio    ratio of the whatever just multiplies the velocity
+   */
   Flywheel(motor_group &motors, double tbh_gain, const double ratio);
 
   /**
-  * Create the Flywheel object using Bang Bang for control
-  * @param motors the motors on the fly wheel
-  * @param ratio  ratio of the whatever just multiplies the velocity
-  */
+   * Create the Flywheel object using Bang Bang for control
+   * @param motors the motors on the fly wheel
+   * @param ratio  ratio of the whatever just multiplies the velocity
+   */
   Flywheel(motor_group &motors, const double ratio);
 
   /**
-  * Return the RPM that the flywheel is currently trying to achieve
-  * @return RPM  the target rpm
-  */
+   * Return the RPM that the flywheel is currently trying to achieve
+   * @return RPM  the target rpm
+   */
   double getDesiredRPM();
 
   /**
-  * Checks if the background RPM controlling task is running
-  * @return true if the task is running
-  */
+   * Checks if the background RPM controlling task is running
+   * @return true if the task is running
+   */
   bool isTaskRunning();
 
   /**
-  * Returns a POINTER to the motors
-  */
-  motor_group* getMotors();
+   * Returns a POINTER to the motors
+   */
+  motor_group *getMotors();
 
   /**
-  * make a measurement of the current RPM of the flywheel motor and return a smoothed version
-  */
+   * make a measurement of the current RPM of the flywheel motor and return a smoothed version
+   */
   double measureRPM();
 
   /**
-  * return the current smoothed velocity of the flywheel motors, in RPM
-  */
+   * return the current smoothed velocity of the flywheel motors, in RPM
+   */
   double getRPM();
   /**
-  * Returns a POINTER to the PID.
-  */
-  PID* getPID();
+   * Returns a POINTER to the PID.
+   */
+  PID *getPID();
 
   /**
-  * returns the current OUT value of the PID - the value that the PID would set the motors to
-  */
+   * returns the current OUT value of the PID - the value that the PID would set the motors to
+   */
   double getPIDValue();
 
   /**
-  * returns the current OUT value of the PID - the value that the PID would set the motors to
-  */
+   * returns the current OUT value of the PID - the value that the PID would set the motors to
+   */
   double getFeedforwardValue();
-  
+
   /**
-  * get the gain used for TBH control
-  */
+   * get the gain used for TBH control
+   */
   double getTBHGain();
-  
+
   /**
-  * Sets the value of the PID target
-  * @param value - desired value of the PID
-  */
+   * Sets the value of the PID target
+   * @param value - desired value of the PID
+   */
   void setPIDTarget(double value);
 
-/**
-* updates the value of the PID
-* @param value - value to update the PID with
-*/
+  /**
+   * updates the value of the PID
+   * @param value - value to update the PID with
+   */
   void updatePID(double value);
 
   // SPINNERS AND STOPPERS
 
-  /** 
-  * Spin motors using voltage; defaults forward at 12 volts
-  * FOR USE BY TASKS ONLY
-  * @param speed - speed (between -1 and 1) to set the motor
-  * @param dir - direction that the motor moves in; defaults to forward
-  */
-  void spin_raw(double speed, directionType dir=fwd);
-  
-  /**
-  * Spin motors using voltage; defaults forward at 12 volts
-  * FOR USE BY OPCONTROL AND AUTONOMOUS - this only applies if the RPM thread is not running
-  * @param speed - speed (between -1 and 1) to set the motor
-  * @param dir - direction that the motor moves in; defaults to forward
-  */
-  void spin_manual(double speed, directionType dir=fwd);
-  
-  /**
-  * starts or sets the RPM thread at new value
-  * what control scheme is dependent on control_style
-  * @param rpm - the RPM we want to spin at
-  */
+  /**
+   * Spin motors using voltage; defaults forward at 12 volts
+   * FOR USE BY TASKS ONLY
+   * @param speed - speed (between -1 and 1) to set the motor
+   * @param dir - direction that the motor moves in; defaults to forward
+   */
+  void spin_raw(double speed, directionType dir = fwd);
+
+  /**
+   * Spin motors using voltage; defaults forward at 12 volts
+   * FOR USE BY OPCONTROL AND AUTONOMOUS - this only applies if the RPM thread is not running
+   * @param speed - speed (between -1 and 1) to set the motor
+   * @param dir - direction that the motor moves in; defaults to forward
+   */
+  void spin_manual(double speed, directionType dir = fwd);
+
+  /**
+   * starts or sets the RPM thread at new value
+   * what control scheme is dependent on control_style
+   * @param rpm - the RPM we want to spin at
+   */
   void spinRPM(int rpm);
 
   /**
-  * stop the RPM thread and the wheel
-  */
+   * stop the RPM thread and the wheel
+   */
   void stop();
 
-  
   /**
-  * stop only the motors; exclusively for BANG BANG use
-  */
+   * stop only the motors; exclusively for BANG BANG use
+   */
   void stopMotors();
 
   /**
-  * Stop the motors if the task isn't running - stop manual control
-  */
+   * Stop the motors if the task isn't running - stop manual control
+   */
   void stopNonTasks();
 
-  private:
+  AutoCommand *SpinRpmCmd(int rpm)
+  {
+
+    return new FunctionCommand([this]()
+                               {spinRPM(1000); return true; });
+  }
+
+  AutoCommand *WaitUntilUpToSpeedCmd()
+  {
+    return new WaitUntilCondition(
+        new FunctionCondition([this]()
+                              { return RPM == smoothedRPM; }));
+  }
 
+private:
   motor_group &motors;                // motors that make up the flywheel
   bool taskRunning = false;           // is the task (thread but not) currently running?
   PID pid;                            // PID on the flywheel
   FeedForward ff;                     // FF constants for the flywheel
   double TBH_gain;                    // TBH gain parameter for the flywheel
   double ratio;                       // multiplies the velocity by this value
-  std::atomic<double> RPM;            // Desired RPM of the flywheel. 
+  std::atomic<double> RPM;            // Desired RPM of the flywheel.
   task rpmTask;                       // task (thread but not) that handles spinning the wheel at a given RPM
   FlywheelControlStyle control_style; // how the flywheel should be controlled
   double smoothedRPM;
   MovingAverage RPM_avger;
-  };
\ No newline at end of file
+};
\ No newline at end of file
diff --git a/include/subsystems/tank_drive.h b/include/subsystems/tank_drive.h
index e92ab25..3b3887d 100644
--- a/include/subsystems/tank_drive.h
+++ b/include/subsystems/tank_drive.h
@@ -10,27 +10,38 @@
 #include "../core/include/utils/feedback_base.h"
 #include "../core/include/robot_specs.h"
 #include "../core/include/utils/pure_pursuit.h"
+#include "../core/include/utils/command_structure/auto_command.h"
 #include <vector>
 
-
 using namespace vex;
 
 /**
  * TankDrive is a class to run a tank drive system.
  * A tank drive system, sometimes called differential drive, has a motor (or group of synchronized motors) on the left and right side
-*/
+ */
 class TankDrive
 {
 public:
-
   /**
-   * Create the TankDrive object 
+   * Create the TankDrive object
    * @param left_motors left side drive motors
    * @param right_motors right side drive motors
    * @param config the configuration specification defining physical dimensions about the robot. See robot_specs_t for more info
    * @param odom an odometry system to track position and rotation. this is necessary to execute autonomous paths
    */
-  TankDrive(motor_group &left_motors, motor_group &right_motors, robot_specs_t &config, OdometryBase *odom=NULL);
+  TankDrive(motor_group &left_motors, motor_group &right_motors, robot_specs_t &config, OdometryBase *odom = NULL);
+
+  AutoCommand *DriveToPointCmd(point_t pt, vex::directionType dir = vex::forward, double max_speed = 1.0);
+  AutoCommand *DriveToPointCmd(Feedback &fb, point_t pt, vex::directionType dir = vex::forward, double max_speed = 1.0);
+
+  AutoCommand *DriveForwardCmd(double dist, vex::directionType dir = vex::forward, double max_speed = 1.0);
+  AutoCommand *DriveForwardCmd(Feedback &fb, double dist, vex::directionType dir = vex::forward, double max_speed = 1.0);
+
+  AutoCommand *TurnToHeadingCmd(double heading, double max_speed = 1.0);
+  AutoCommand *TurnToHeadingCmd(Feedback &fb, double heading, double max_speed = 1.0);
+
+  AutoCommand *TurnDegreesCmd(double degrees, double max_speed = 1.0);
+  AutoCommand *TurnDegreesCmd(Feedback &fb, double degrees, double max_speed = 1.0);
 
   /**
    * Stops rotation of all the motors using their "brake mode"
@@ -40,7 +51,7 @@ class TankDrive
   /**
    * Drive the robot using differential style controls. left_motors controls the left motors,
    * right_motors controls the right motors.
-   * 
+   *
    * left_motors and right_motors are in "percent": -1.0 -> 1.0
    * @param left the percent to run the left motors
    * @param right the percent to run the right motors
@@ -52,14 +63,14 @@ class TankDrive
   /**
    * Drive the robot using arcade style controls. forward_back controls the linear motion,
    * left_right controls the turning.
-   * 
+   *
    * forward_back and left_right are in "percent": -1.0 -> 1.0
-   * 
+   *
    * @param forward_back the percent to move forward or backward
    * @param left_right the percent to turn left or right
    * @param power modifies the input velocities left^power, right^power
    */
-  void drive_arcade(double forward_back, double left_right, int power=1);
+  void drive_arcade(double forward_back, double left_right, int power = 1);
 
   /**
    * Use odometry to drive forward a certain distance using a custom feedback controller
@@ -71,40 +82,40 @@ class TankDrive
    * @param max_speed  the maximum percentage of robot speed at which the robot will travel. 1 = full power
    * @return true when we have reached our target distance
    */
-  bool drive_forward(double inches, directionType dir, Feedback &feedback, double max_speed=1);
+  bool drive_forward(double inches, directionType dir, Feedback &feedback, double max_speed = 1);
 
   /**
    * Autonomously drive the robot forward a certain distance
-   * 
-   * 
+   *
+   *
    * @param inches      degrees by which we will turn relative to the robot (+) turns ccw, (-) turns cw
    * @param dir        the direction we want to travel forward and backward
    * @param max_speed   the maximum percentage of robot speed at which the robot will travel. 1 = full power
    */
-  bool drive_forward(double inches, directionType dir, double max_speed=1);
+  bool drive_forward(double inches, directionType dir, double max_speed = 1);
 
   /**
    * Autonomously turn the robot X degrees counterclockwise (negative for clockwise), with a maximum motor speed
    * of percent_speed (-1.0 -> 1.0)
-   * 
+   *
    * Uses PID + Feedforward for it's control.
-   * 
+   *
    * @param degrees     degrees by which we will turn relative to the robot (+) turns ccw, (-) turns cw
    * @param feedback    the feedback controller we will use to travel. controls the rate at which we accelerate and drive.
    * @param max_speed   the maximum percentage of robot speed at which the robot will travel. 1 = full power
    */
-  bool turn_degrees(double degrees, Feedback &feedback, double max_speed=1);
+  bool turn_degrees(double degrees, Feedback &feedback, double max_speed = 1);
 
   /**
    * Autonomously turn the robot X degrees to counterclockwise (negative for clockwise), with a maximum motor speed
    * of percent_speed (-1.0 -> 1.0)
-   * 
+   *
    * Uses the defualt turning feedback of the drive system.
-   * 
+   *
    * @param degrees     degrees by which we will turn relative to the robot (+) turns ccw, (-) turns cw
    * @param max_speed   the maximum percentage of robot speed at which the robot will travel. 1 = full power
-   */  
-  bool turn_degrees(double degrees, double max_speed=1);
+   */
+  bool turn_degrees(double degrees, double max_speed = 1);
 
   /**
    * Use odometry to automatically drive the robot to a point on the field.
@@ -117,8 +128,8 @@ class TankDrive
    * @param feedback   the feedback controller we will use to travel. controls the rate at which we accelerate and drive.
    * @param max_speed  the maximum percentage of robot speed at which the robot will travel. 1 = full power
    */
-  bool drive_to_point(double x, double y, vex::directionType dir, Feedback &feedback, double max_speed=1);
-  
+  bool drive_to_point(double x, double y, vex::directionType dir, Feedback &feedback, double max_speed = 1);
+
   /**
    * Use odometry to automatically drive the robot to a point on the field.
    * X and Y is the final point we want the robot.
@@ -130,25 +141,25 @@ class TankDrive
    * @param dir        the direction we want to travel forward and backward
    * @param max_speed  the maximum percentage of robot speed at which the robot will travel. 1 = full power
    */
-  bool drive_to_point(double x, double y, vex::directionType dir, double max_speed=1);
+  bool drive_to_point(double x, double y, vex::directionType dir, double max_speed = 1);
 
   /**
    * Turn the robot in place to an exact heading relative to the field.
    * 0 is forward.
-   * 
-   * @param heading_deg the heading to which we will turn 
+   *
+   * @param heading_deg the heading to which we will turn
    * @param feedback    the feedback controller we will use to travel. controls the rate at which we accelerate and drive.
    * @param max_speed  the maximum percentage of robot speed at which the robot will travel. 1 = full power
    */
-  bool turn_to_heading(double heading_deg, Feedback &feedback, double max_speed=1);
+  bool turn_to_heading(double heading_deg, Feedback &feedback, double max_speed = 1);
   /**
    * Turn the robot in place to an exact heading relative to the field.
-   * 0 is forward. Uses the defualt turn feedback of the drive system 
-   * 
-   * @param heading_deg the heading to which we will turn 
+   * 0 is forward. Uses the defualt turn feedback of the drive system
+   *
+   * @param heading_deg the heading to which we will turn
    * @param max_speed  the maximum percentage of robot speed at which the robot will travel. 1 = full power
    */
-  bool turn_to_heading(double heading_deg, double max_speed=1);
+  bool turn_to_heading(double heading_deg, double max_speed = 1);
 
   /**
    * Reset the initialization for autonomous drive functions
@@ -158,12 +169,12 @@ class TankDrive
   /**
    * Create a curve for the inputs, so that drivers have more control at lower speeds.
    * Curves are exponential, with the default being squaring the inputs.
-   * 
+   *
    * @param input the input before modification
    * @param power the power to raise input to
    * @return input ^ power (accounts for negative inputs and odd numbered powers)
    */
-  static double modify_inputs(double input, int power=2);
+  static double modify_inputs(double input, int power = 2);
 
   /**
    * Drive the robot autonomously using a pure-pursuit algorithm - Input path with a set of 
@@ -195,17 +206,17 @@ class TankDrive
   bool pure_pursuit(std::vector<point_t> path, directionType dir, double radius, double max_speed=1);
 
 private:
-  motor_group &left_motors; ///< left drive motors
+  motor_group &left_motors;  ///< left drive motors
   motor_group &right_motors; ///< right drive motors
 
-  PID correction_pid; ///< PID controller used to drive in as straight a line as possible
+  PID correction_pid;                      ///< PID controller used to drive in as straight a line as possible
   Feedback *drive_default_feedback = NULL; ///< feedback to use to drive if none is specified
-  Feedback *turn_default_feedback = NULL; ///< feedback to use to turn if none is specified
+  Feedback *turn_default_feedback = NULL;  ///< feedback to use to turn if none is specified
 
   OdometryBase *odometry; ///< odometry system to track position and rotation. necessary for autonomous driving
 
   robot_specs_t &config; ///< configuration holding physical dimensions of the robot. see robot_specs_t for more information
 
   bool func_initialized = false; ///< used to control initialization of autonomous driving. (you only wan't to set the target once, not every iteration that you're driving)
-  bool is_pure_pursuit = false; ///< true if we are driving with a pure pursuit system
+  bool is_pure_pursuit = false;  ///< true if we are driving with a pure pursuit system
 };
diff --git a/include/utils/command_structure/auto_command.h b/include/utils/command_structure/auto_command.h
index e19a356..066cb20 100644
--- a/include/utils/command_structure/auto_command.h
+++ b/include/utils/command_structure/auto_command.h
@@ -7,33 +7,179 @@
 #pragma once
 
 #include "vex.h"
+#include <functional>
+#include <vector>
+#include <queue>
+#include <atomic>
 
-class AutoCommand {
-  public:
-    static constexpr double default_timeout = 10.0;
-    /**
-     * Executes the command
-     * Overridden by child classes
-     * @returns true when the command is finished, false otherwise
-     */
-    virtual bool run() { return true; }
-    /**
-     * What to do if we timeout instead of finishing. timeout is specified by the timeout seconds in the constructor
-    */
-    virtual void on_timeout(){}
-    AutoCommand* withTimeout(double t_seconds){
-      this->timeout_seconds = t_seconds;
+class AutoCommand
+{
+public:
+  static constexpr double default_timeout = 10.0;
+  /**
+   * Executes the command
+   * Overridden by child classes
+   * @returns true when the command is finished, false otherwise
+   */
+  virtual bool run() { return true; }
+  /**
+   * What to do if we timeout instead of finishing. timeout is specified by the timeout seconds in the constructor
+   */
+  virtual void on_timeout() {}
+  AutoCommand *withTimeout(double t_seconds)
+  {
+    if (this->timeout_seconds < 0)
+    {
+      // should never be timed out
       return this;
     }
-    /** 
-     * How long to run until we cancel this command. 
-     * If the command is cancelled, on_timeout() is called to allow any cleanup from the function. 
-     * If the timeout_seconds <= 0, no timeout will be applied and this command will run forever
-     * A timeout can come in handy for some commands that can not reach the end due to some physical limitation such as
-     * - a drive command hitting a wall and not being able to reach its target
-     * - a command that waits until something is up to speed that never gets up to speed because of battery voltage
-     * - something else...
-    */
-    double timeout_seconds = default_timeout;
-
-};
\ No newline at end of file
+    this->timeout_seconds = t_seconds;
+    return this;
+  }
+  /**
+   * How long to run until we cancel this command.
+   * If the command is cancelled, on_timeout() is called to allow any cleanup from the function.
+   * If the timeout_seconds <= 0, no timeout will be applied and this command will run forever
+   * A timeout can come in handy for some commands that can not reach the end due to some physical limitation such as
+   * - a drive command hitting a wall and not being able to reach its target
+   * - a command that waits until something is up to speed that never gets up to speed because of battery voltage
+   * - something else...
+   */
+  double timeout_seconds = default_timeout;
+};
+
+/**
+ * FunctionCommand is fun and good way to do simple things
+ * Printing, launching nukes, and other quick and dirty one time things
+ */
+class FunctionCommand : public AutoCommand
+{
+public:
+  FunctionCommand(std::function<bool(void)> f) : f(f) {}
+  bool run()
+  {
+    return f();
+  }
+
+private:
+  std::function<bool(void)> f;
+};
+
+/**
+ * A Condition is a function that returns true or false
+ * is_even is a predicate that would return true if a number is even
+ * For our purposes, a Condition is a choice to be made at runtime
+ * drive_sys.reached_point(10, 30) is a predicate
+ * time.has_elapsed(10, vex::seconds) is a predicate
+ * extend this class for different choices you wish to make
+
+ */
+class Condition
+{
+public:
+  virtual bool test() = 0;
+};
+
+/// @brief FunctionCondition is a quick and dirty Condition to wrap some expression that should be evaluated at runtime
+class FunctionCondition : public Condition
+{
+public:
+  FunctionCondition(
+      std::function<bool()> cond, std::function<void(void)> timeout = []() {}) : cond(cond), timeout(timeout)
+  {
+  }
+  bool test() override;
+
+private:
+  std::function<bool()> cond;
+  std::function<void(void)> timeout;
+};
+
+/// @brief IfTimePassed tests based on time since the command controller was constructed. Returns true if elapsed time > time_s
+class IfTimePassed : public Condition
+{
+public:
+  IfTimePassed(double time_s);
+  bool test() override;
+
+private:
+  double time_s;
+  vex::timer tmr;
+};
+
+/// @brief Waits until the condition is true
+class WaitUntilCondition : public AutoCommand
+{
+public:
+  WaitUntilCondition(Condition *cond) : cond(cond) {}
+  bool run() override
+  {
+    return cond->test();
+  }
+
+private:
+  Condition *cond;
+};
+
+/// @brief InOrder runs its commands sequentially then continues.
+/// How to handle timeout in this case. Automatically set it to sum of commands timouts?
+class InOrder : public AutoCommand
+{
+public:
+  InOrder(std::queue<AutoCommand *> cmds);
+  InOrder(std::initializer_list<AutoCommand *> cmds);
+  bool run() override;
+  void on_timeout() override;
+
+private:
+  AutoCommand *current_command = nullptr;
+  std::queue<AutoCommand *> cmds;
+  vex::timer tmr;
+};
+
+/// @brief  Parallel runs multiple commands in parallel and waits for all to finish before continuing.
+/// if none finish before this command's timeout, it will call on_timeout on all children continue
+class Parallel : public AutoCommand
+{
+public:
+  Parallel(std::initializer_list<AutoCommand *> cmds);
+  bool run() override;
+  void on_timeout() override;
+
+private:
+  std::vector<AutoCommand *> cmds;
+  std::vector<vex::task *> runners;
+};
+
+/// @brief Branch chooses from multiple options at runtime. the function decider returns an index into the choices vector
+/// If you wish to make no choice and skip this section, return NO_CHOICE;
+/// any choice that is out of bounds set to NO_CHOICE
+class Branch : public AutoCommand
+{
+public:
+  Branch(Condition *cond, AutoCommand *false_choice, AutoCommand *true_choice);
+  ~Branch();
+  bool run() override;
+  void on_timeout() override;
+
+private:
+  AutoCommand *false_choice;
+  AutoCommand *true_choice;
+  Condition *cond;
+  bool choice = false;
+  bool chosen = false;
+  vex::timer tmr;
+};
+
+/// @brief Async runs a command asynchronously
+/// will simply let it go and never look back
+/// THIS HAS A VERY NICHE USE CASE. THINK ABOUT IF YOU REALLY NEED IT
+class Async : public AutoCommand
+{
+public:
+  Async(AutoCommand *cmd) : cmd(cmd) {}
+  bool run() override;
+
+private:
+  AutoCommand *cmd = nullptr;
+};
diff --git a/include/utils/command_structure/command_controller.h b/include/utils/command_structure/command_controller.h
index 2757f1a..3bae711 100644
--- a/include/utils/command_structure/command_controller.h
+++ b/include/utils/command_structure/command_controller.h
@@ -15,25 +15,32 @@
 class CommandController
 {
 public:
+  /// @brief Create an empty CommandController. Add Command with CommandController::add()
+  [[deprecated("Use list constructor instead.")]] CommandController() : command_queue({}) {}
+
+  /// @brief Create a CommandController with commands pre added. More can be added with CommandController::add()
+  /// @param cmds
+  CommandController(std::initializer_list<AutoCommand *> cmds) : command_queue(cmds) {}
   /**
    * Adds a command to the queue
    * @param cmd the AutoCommand we want to add to our list
    * @param timeout_seconds the number of seconds we will let the command run for. If it exceeds this, we cancel it and run on_timeout. if it is <= 0 no time out will be applied
    */
+  [[deprecated("Use list constructor instead. If you need to make a decision before adding new commands, use Branch")]] void add(std::vector<AutoCommand *> cmds);
   void add(AutoCommand *cmd, double timeout_seconds = 10.0);
 
   /**
    * Add multiple commands to the queue. No timeout here.
    * @param cmds the AutoCommands we want to add to our list
    */
-  void add(std::vector<AutoCommand *> cmds);
 
   /**
    * Add multiple commands to the queue. No timeout here.
    * @param cmds the AutoCommands we want to add to our list
    * @param timeout_sec timeout in seconds to apply to all commands if they are still the default
    */
-  void add(std::vector<AutoCommand *> cmds, double timeout_sec);
+  [[deprecated("Use list constructor instead. If you need to make a decision before adding new commands, use Branch")]] void
+  add(std::vector<AutoCommand *> cmds, double timeout_sec);
   /**
    * Adds a command that will delay progression
    * of the queue
@@ -42,11 +49,16 @@ class CommandController
    */
   void add_delay(int ms);
 
+  /// @brief add_cancel_func specifies that when this func evaluates to true, to cancel the command controller
+  /// @param true_if_cancel a function that returns true when we want to cancel the command controller
+  void add_cancel_func(std::function<bool(void)> true_if_cancel);
+
   /**
    * Begin execution of the queue
    * Execute and remove commands in FIFO order
    */
   void run();
+
   /**
    * last_command_timed_out tells how the last command ended
    * Use this if you want to make decisions based on the end of the last command
@@ -57,4 +69,6 @@ class CommandController
 private:
   std::queue<AutoCommand *> command_queue;
   bool command_timed_out = false;
+  std::function<bool()> should_cancel = []()
+  { return false; };
 };
\ No newline at end of file
diff --git a/include/utils/generic_auto.h b/include/utils/generic_auto.h
index d344847..f03fd76 100644
--- a/include/utils/generic_auto.h
+++ b/include/utils/generic_auto.h
@@ -28,24 +28,28 @@ class GenericAuto
   * @returns
   *     true after all states have finished.
   */
+  [[deprecated("Use CommandController instead.")]] 
   bool run(bool blocking);
 
   /**
    * Add a new state to the autonomous via function point of type "bool (ptr*)()"
    * @param new_state the function to run
    */
+  [[deprecated("Use CommandController instead.")]] 
   void add(state_ptr new_state);
 
   /**
    * Add a new state to the autonomous via function point of type "bool (ptr*)()" that will run asynchronously
    * @param async_state the function to run
    */
+  [[deprecated("Use CommandController instead.")]] 
   void add_async(state_ptr async_state);
 
   /**
    * add_delay adds a period where the auto system will simply wait for the specified time
    * @param ms how long to wait in milliseconds
   */
+  [[deprecated("Use CommandController instead.")]] 
   void add_delay(int ms);
 
   private:
diff --git a/src/subsystems/tank_drive.cpp b/src/subsystems/tank_drive.cpp
index d2d6586..2afb3f9 100644
--- a/src/subsystems/tank_drive.cpp
+++ b/src/subsystems/tank_drive.cpp
@@ -2,6 +2,7 @@
 #include "../core/include/subsystems/tank_drive.h"
 #include "../core/include/utils/math_util.h"
 #include "../core/include/utils/pidff.h"
+#include "../core/include/utils/command_structure/drive_commands.h"
 
 TankDrive::TankDrive(motor_group &left_motors, motor_group &right_motors, robot_specs_t &config, OdometryBase *odom)
     : left_motors(left_motors), right_motors(right_motors), correction_pid(config.correction_pid), odometry(odom), config(config)
@@ -10,6 +11,44 @@ TankDrive::TankDrive(motor_group &left_motors, motor_group &right_motors, robot_
   turn_default_feedback = config.turn_feedback;
 }
 
+AutoCommand *TankDrive::DriveToPointCmd(Feedback &fb, point_t pt, vex::directionType dir, double max_speed)
+{
+  return new DriveToPointCommand(*this, fb, pt, dir, max_speed);
+}
+
+AutoCommand *TankDrive::DriveToPointCmd(point_t pt, vex::directionType dir, double max_speed)
+{
+  return new DriveToPointCommand(*this, *drive_default_feedback, pt, dir, max_speed);
+}
+
+AutoCommand *TankDrive::DriveForwardCmd(double dist, vex::directionType dir, double max_speed)
+{
+  return new DriveForwardCommand(*this, *drive_default_feedback, dist, dir, max_speed);
+}
+
+AutoCommand *TankDrive::DriveForwardCmd(Feedback &fb, double dist, vex::directionType dir, double max_speed)
+{
+  return new DriveForwardCommand(*this, fb, dist, dir, max_speed);
+}
+
+AutoCommand *TankDrive::TurnToHeadingCmd(double heading, double max_speed)
+{
+  return new TurnToHeadingCommand(*this, *turn_default_feedback, heading, max_speed);
+}
+AutoCommand *TankDrive::TurnToHeadingCmd(Feedback &fb, double heading, double max_speed)
+{
+  return new TurnToHeadingCommand(*this, fb, heading, max_speed);
+}
+
+AutoCommand *TankDrive::TurnDegreesCmd(double degrees, double max_speed)
+{
+  return new TurnDegreesCommand(*this, *turn_default_feedback, degrees, max_speed);
+}
+AutoCommand *TankDrive::TurnDegreesCmd(Feedback &fb, double degrees, double max_speed)
+{
+  return new TurnDegreesCommand(*this, fb, degrees, max_speed);
+}
+
 /**
  * Reset the initialization for autonomous drive functions
  */
@@ -30,7 +69,7 @@ void TankDrive::stop()
 /**
  * Drive the robot using differential style controls. left_motors controls the left motors,
  * right_motors controls the right motors.
- * 
+ *
  * left_motors and right_motors are in "percent": -1.0 -> 1.0
  */
 void TankDrive::drive_tank(double left, double right, int power)
@@ -45,7 +84,7 @@ void TankDrive::drive_tank(double left, double right, int power)
 /**
  * Drive the robot using arcade style controls. forward_back controls the linear motion,
  * left_right controls the turning.
- * 
+ *
  * left_motors and right_motors are in "percent": -1.0 -> 1.0
  */
 void TankDrive::drive_arcade(double forward_back, double left_right, int power)
@@ -74,7 +113,7 @@ bool TankDrive::drive_forward(double inches, directionType dir, Feedback &feedba
   static pose_t pos_setpt;
 
   // We can't run the auto drive function without odometry
-  if(odometry == NULL)
+  if (odometry == NULL)
   {
     fprintf(stderr, "Odometry is NULL. Unable to run drive_forward()\n");
     fflush(stderr);
@@ -93,13 +132,12 @@ bool TankDrive::drive_forward(double inches, directionType dir, Feedback &feedba
       inches = fabs(inches);
 
     // Use vector math to get an X and Y
-    Vector2D cur_pos_vec({.x=cur_pos.x , .y=cur_pos.y});
+    Vector2D cur_pos_vec({.x = cur_pos.x, .y = cur_pos.y});
     Vector2D delta_pos_vec(deg2rad(cur_pos.rot), inches);
     Vector2D setpt_vec = cur_pos_vec + delta_pos_vec;
 
     // Save the new X and Y values
-    pos_setpt = {.x=setpt_vec.get_x(), .y=setpt_vec.get_y()};
-
+    pos_setpt = {.x = setpt_vec.get_x(), .y = setpt_vec.get_y()};
   }
 
   // Call the drive_to_point with updated point values
@@ -107,8 +145,8 @@ bool TankDrive::drive_forward(double inches, directionType dir, Feedback &feedba
 }
 /**
  * Autonomously drive the robot forward a certain distance
- * 
- * 
+ *
+ *
  * @param inches      degrees by which we will turn relative to the robot (+) turns ccw, (-) turns cw
  * @param dir        the direction we want to travel forward and backward
  * @param max_speed   the maximum percentage of robot speed at which the robot will travel. 1 = full power
@@ -116,7 +154,7 @@ bool TankDrive::drive_forward(double inches, directionType dir, Feedback &feedba
  */
 bool TankDrive::drive_forward(double inches, directionType dir, double max_speed)
 {
-  if(drive_default_feedback != NULL)
+  if (drive_default_feedback != NULL)
     return drive_forward(inches, dir, *drive_default_feedback, max_speed);
 
   printf("tank_drive.cpp: Cannot run drive_forward without a feedback controller!\n");
@@ -127,9 +165,9 @@ bool TankDrive::drive_forward(double inches, directionType dir, double max_speed
 /**
  * Autonomously turn the robot X degrees to counterclockwise (negative for clockwise), with a maximum motor speed
  * of percent_speed (-1.0 -> 1.0)
- * 
+ *
  * Uses the specified feedback for it's control.
- * 
+ *
  * @param degrees     degrees by which we will turn relative to the robot (+) turns ccw, (-) turns cw
  * @param feedback    the feedback controller we will use to travel. controls the rate at which we accelerate and drive.
  * @param max_speed   the maximum percentage of robot speed at which the robot will travel. 1 = full power
@@ -138,7 +176,7 @@ bool TankDrive::drive_forward(double inches, directionType dir, double max_speed
 bool TankDrive::turn_degrees(double degrees, Feedback &feedback, double max_speed)
 {
   // We can't run the auto drive function without odometry
-  if(odometry == NULL)
+  if (odometry == NULL)
   {
     fprintf(stderr, "Odometry is NULL. Unable to run drive_forward()\n");
     fflush(stderr);
@@ -152,58 +190,57 @@ bool TankDrive::turn_degrees(double degrees, Feedback &feedback, double max_spee
   {
     double start_heading = odometry->get_position().rot;
     target_heading = start_heading + degrees;
-
   }
 
-  return turn_to_heading(target_heading);
+  return turn_to_heading(target_heading, feedback, max_speed);
 }
 
 /**
  * Autonomously turn the robot X degrees to counterclockwise (negative for clockwise), with a maximum motor speed
  * of percent_speed (-1.0 -> 1.0)
- * 
+ *
  * Uses the defualt turning feedback of the drive system.
- * 
+ *
  * @param degrees     degrees by which we will turn relative to the robot (+) turns ccw, (-) turns cw
  * @param max_speed   the maximum percentage of robot speed at which the robot will travel. 1 = full power
  * @return true if we turned te target number of degrees
  */
 bool TankDrive::turn_degrees(double degrees, double max_speed)
 {
-  if(turn_default_feedback != NULL)
+  if (turn_default_feedback != NULL)
     return turn_degrees(degrees, *turn_default_feedback, max_speed);
-  
+
   printf("tank_drive.cpp: Cannot run turn_degrees without a feedback controller!\n");
   fflush(stdout);
   return true;
 }
 
 /**
-  * Use odometry to automatically drive the robot to a point on the field.
-  * X and Y is the final point we want the robot.
-  *
-  * Returns whether or not the robot has reached it's destination.
-  * @param x          the x position of the target
-  * @param y          the y position of the target
-  * @param dir        the direction we want to travel forward and backward
-  * @param feedback   the feedback controller we will use to travel. controls the rate at which we accelerate and drive.
-  * @param max_speed  the maximum percentage of robot speed at which the robot will travel. 1 = full power
-  * @return true if we have reached our target point
-  */
+ * Use odometry to automatically drive the robot to a point on the field.
+ * X and Y is the final point we want the robot.
+ *
+ * Returns whether or not the robot has reached it's destination.
+ * @param x          the x position of the target
+ * @param y          the y position of the target
+ * @param dir        the direction we want to travel forward and backward
+ * @param feedback   the feedback controller we will use to travel. controls the rate at which we accelerate and drive.
+ * @param max_speed  the maximum percentage of robot speed at which the robot will travel. 1 = full power
+ * @return true if we have reached our target point
+ */
 bool TankDrive::drive_to_point(double x, double y, vex::directionType dir, Feedback &feedback, double max_speed)
 {
   // We can't run the auto drive function without odometry
-  if(odometry == NULL)
+  if (odometry == NULL)
   {
     fprintf(stderr, "Odometry is NULL. Unable to run drive_forward()\n");
     fflush(stderr);
     return true;
   }
-  
-  if(!func_initialized)
+
+  if (!func_initialized)
   {
-    
-    double initial_dist = OdometryBase::pos_diff(odometry->get_position(), {.x=x, .y=y});
+
+    double initial_dist = OdometryBase::pos_diff(odometry->get_position(), {.x = x, .y = y});
 
     // Reset the control loops
     correction_pid.init(0, 0);
@@ -217,20 +254,19 @@ bool TankDrive::drive_to_point(double x, double y, vex::directionType dir, Feedb
 
   // Store the initial position of the robot
   pose_t current_pos = odometry->get_position();
-  pose_t end_pos = {.x=x, .y=y};
+  pose_t end_pos = {.x = x, .y = y};
 
   // Create a point (and vector) to get the direction
-  point_t pos_diff_pt = 
-  {
-    .x = x - current_pos.x,
-    .y = y - current_pos.y
-  };
+  point_t pos_diff_pt =
+      {
+          .x = x - current_pos.x,
+          .y = y - current_pos.y};
 
   Vector2D point_vec(pos_diff_pt);
 
   // Get the distance between 2 points
   double dist_left = OdometryBase::pos_diff(current_pos, end_pos);
-  
+
   int sign = 1;
 
   // Make an imaginary perpendicualar line to that between the bot and the point. If the point is behind that line,
@@ -240,16 +276,18 @@ bool TankDrive::drive_to_point(double x, double y, vex::directionType dir, Feedb
   double angle = fmod(current_pos.rot - angle_to_point, 360.0);
 
   // Normalize the angle between 0 and 360
-  if (angle > 360) angle -= 360;
-  if (angle < 0) angle += 360; 
+  if (angle > 360)
+    angle -= 360;
+  if (angle < 0)
+    angle += 360;
 
   // If the angle is behind the robot, report negative.
   if (dir == directionType::fwd && angle > 90 && angle < 270)
     sign = -1;
-  else if(dir == directionType::rev && (angle < 90 || angle > 270))
+  else if (dir == directionType::rev && (angle < 90 || angle > 270))
     sign = -1;
 
-  if (fabs(dist_left) < config.drive_correction_cutoff) 
+  if (fabs(dist_left) < config.drive_correction_cutoff)
   {
     // When inside the robot's cutoff radius, report the distance to the point along the robot's forward axis,
     // so we always "reach" the point without having to do a lateral translation
@@ -273,12 +311,12 @@ bool TankDrive::drive_to_point(double x, double y, vex::directionType dir, Feedb
 
   // Disable correction when we're close enough to the point
   double correction = 0;
-  if(is_pure_pursuit || fabs(dist_left) > config.drive_correction_cutoff)
+  if (is_pure_pursuit || fabs(dist_left) > config.drive_correction_cutoff)
     correction = correction_pid.get();
 
   // Reverse the drive_pid output if we're going backwards
   double drive_pid_rval;
-  if(dir == directionType::rev)
+  if (dir == directionType::rev)
     drive_pid_rval = feedback.get() * -1;
   else
     drive_pid_rval = feedback.get();
@@ -288,13 +326,13 @@ bool TankDrive::drive_to_point(double x, double y, vex::directionType dir, Feedb
   double rside = drive_pid_rval - correction;
 
   // limit the outputs between -1 and +1
-  lside = clamp(lside, -1, 1);
-  rside = clamp(rside, -1, 1);
+  lside = clamp(lside, -max_speed, max_speed);
+  rside = clamp(rside, -max_speed, max_speed);
 
   drive_tank(lside, rside);
 
   // Check if the robot has reached it's destination
-  if(feedback.is_on_target())
+  if (feedback.is_on_target())
   {
     stop();
     func_initialized = false;
@@ -306,20 +344,20 @@ bool TankDrive::drive_to_point(double x, double y, vex::directionType dir, Feedb
 }
 
 /**
-  * Use odometry to automatically drive the robot to a point on the field.
-  * X and Y is the final point we want the robot.
-  * Here we use the default feedback controller from the drive_sys
-  *
-  * Returns whether or not the robot has reached it's destination.
-  * @param x          the x position of the target
-  * @param y          the y position of the target
-  * @param dir        the direction we want to travel forward and backward
-  * @param max_speed  the maximum percentage of robot speed at which the robot will travel. 1 = full power
-  * @return true if we have reached our target point
-  */
+ * Use odometry to automatically drive the robot to a point on the field.
+ * X and Y is the final point we want the robot.
+ * Here we use the default feedback controller from the drive_sys
+ *
+ * Returns whether or not the robot has reached it's destination.
+ * @param x          the x position of the target
+ * @param y          the y position of the target
+ * @param dir        the direction we want to travel forward and backward
+ * @param max_speed  the maximum percentage of robot speed at which the robot will travel. 1 = full power
+ * @return true if we have reached our target point
+ */
 bool TankDrive::drive_to_point(double x, double y, vex::directionType dir, double max_speed)
 {
-  if(drive_default_feedback != NULL)
+  if (drive_default_feedback != NULL)
     return this->drive_to_point(x, y, dir, *drive_default_feedback, max_speed);
 
   printf("tank_drive.cpp: Cannot run drive_to_point without a feedback controller!\n");
@@ -330,8 +368,8 @@ bool TankDrive::drive_to_point(double x, double y, vex::directionType dir, doubl
 /**
  * Turn the robot in place to an exact heading relative to the field.
  * 0 is forward.
- * 
- * @param heading_deg the heading to which we will turn 
+ *
+ * @param heading_deg the heading to which we will turn
  * @param feedback    the feedback controller we will use to travel. controls the rate at which we accelerate and drive.
  * @param max_speed  the maximum percentage of robot speed at which the robot will travel. 1 = full power
  * @return true if we have reached our target heading
@@ -339,14 +377,14 @@ bool TankDrive::drive_to_point(double x, double y, vex::directionType dir, doubl
 bool TankDrive::turn_to_heading(double heading_deg, Feedback &feedback, double max_speed)
 {
   // We can't run the auto drive function without odometry
-  if(odometry == NULL)
+  if (odometry == NULL)
   {
     fprintf(stderr, "Odometry is NULL. Unable to run drive_forward()\n");
     fflush(stderr);
     return true;
   }
 
-  if(!func_initialized)
+  if (!func_initialized)
   {
     double initial_delta = OdometryBase::smallest_angle(odometry->get_position().rot, heading_deg);
     feedback.init(-initial_delta, 0);
@@ -364,7 +402,7 @@ bool TankDrive::turn_to_heading(double heading_deg, Feedback &feedback, double m
   drive_tank(-feedback.get(), feedback.get());
 
   // When the robot has reached it's angle, return true.
-  if(feedback.is_on_target())
+  if (feedback.is_on_target())
   {
     func_initialized = false;
     stop();
@@ -375,15 +413,15 @@ bool TankDrive::turn_to_heading(double heading_deg, Feedback &feedback, double m
 }
 /**
  * Turn the robot in place to an exact heading relative to the field.
- * 0 is forward. Uses the defualt turn feedback of the drive system 
- * 
- * @param heading_deg the heading to which we will turn 
+ * 0 is forward. Uses the defualt turn feedback of the drive system
+ *
+ * @param heading_deg the heading to which we will turn
  * @param max_speed  the maximum percentage of robot speed at which the robot will travel. 1 = full power
  * @return true if we have reached our target heading
  */
 bool TankDrive::turn_to_heading(double heading_deg, double max_speed)
 {
-  if(turn_default_feedback != NULL)
+  if (turn_default_feedback != NULL)
     return turn_to_heading(heading_deg, *turn_default_feedback, max_speed);
 
   printf("tank_drive.cpp: Cannot run turn_to_heading without a feedback controller!\n");
@@ -400,7 +438,7 @@ bool TankDrive::turn_to_heading(double heading_deg, double max_speed)
  */
 double TankDrive::modify_inputs(double input, int power)
 {
-  return sign(input)* pow(std::abs(input), power);
+  return sign(input) * pow(std::abs(input), power);
 }
 
 /**
diff --git a/src/utils/command_structure/auto_command.cpp b/src/utils/command_structure/auto_command.cpp
new file mode 100644
index 0000000..d9b0461
--- /dev/null
+++ b/src/utils/command_structure/auto_command.cpp
@@ -0,0 +1,239 @@
+#include "../core/include/utils/command_structure/auto_command.h"
+
+bool FunctionCondition::test()
+{
+    return cond();
+}
+IfTimePassed::IfTimePassed(double time_s) : time_s(time_s), tmr() {}
+bool IfTimePassed::test()
+{
+    return (static_cast<double>(tmr.time()) / 1000.0) > time_s;
+}
+
+InOrder::InOrder(std::queue<AutoCommand *> cmds) : cmds(cmds)
+{
+    timeout_seconds = -1.0; // never timeout unless with_timeout is explicitly called
+}
+InOrder::InOrder(std::initializer_list<AutoCommand *> cmds) : cmds(cmds)
+{
+    timeout_seconds = -1.0;
+}
+
+bool InOrder::run()
+{
+    // outer loop finished
+    if (cmds.size() == 0)
+    {
+        return true;
+    }
+    // retrieve and remove command at the front of the queue
+    if (current_command == nullptr)
+    {
+        current_command = cmds.front();
+        cmds.pop();
+        tmr.reset();
+    }
+
+    // run command
+    bool cmd_finished = current_command->run();
+    if (cmd_finished)
+    {
+        current_command = nullptr;
+        return false; // continue omn next command
+    }
+
+    double seconds = static_cast<double>(tmr.time()) / 1000.0;
+
+    bool should_timeout = current_command->timeout_seconds > 0.0;
+    bool command_timed_out = seconds > current_command->timeout_seconds;
+
+    // timeout
+    if (should_timeout && command_timed_out)
+    {
+        current_command->on_timeout();
+        current_command = nullptr;
+        return false;
+    }
+    return false;
+}
+
+void InOrder::on_timeout()
+{
+    if (current_command != nullptr)
+    {
+        current_command->on_timeout();
+    }
+}
+
+struct parallel_runner_info
+{
+    int index;
+    std::vector<vex::task *> *runners;
+    AutoCommand *cmd;
+};
+static int parallel_runner(void *arg)
+{
+    parallel_runner_info *ri = (parallel_runner_info *)arg;
+    vex::timer tmr;
+    while (1)
+    {
+        bool finished = ri->cmd->run();
+        if (finished)
+        {
+            break;
+        }
+        double t = (double)(tmr.time()) / 1000.0;
+        bool timed_out = t > ri->cmd->timeout_seconds;
+        bool should_timeout = ri->cmd->timeout_seconds > 0;
+
+        if (timed_out && should_timeout)
+        {
+            ri->cmd->on_timeout();
+        }
+        vexDelay(20);
+    }
+
+    if ((*ri->runners)[ri->index] != nullptr)
+    {
+        delete (*ri->runners)[ri->index];
+        (*ri->runners)[ri->index] = nullptr;
+    }
+    return 0;
+}
+
+// wait for all to finish
+Parallel::Parallel(std::initializer_list<AutoCommand *> cmds) : cmds(cmds), runners(0) {}
+
+bool Parallel::run()
+{
+    if (runners.size() == 0)
+    {
+        // not initialized yet
+        for (int i = 0; i < cmds.size(); i++)
+        {
+            parallel_runner_info *ri = new parallel_runner_info{
+                .index = i,
+                .runners = &runners,
+                .cmd = cmds[i],
+            };
+            runners.push_back(new vex::task(parallel_runner, ri));
+        }
+    }
+
+    bool all_finished = true;
+
+    for (int i = 0; i < cmds.size(); i++)
+    {
+        if (runners[i] != nullptr)
+        {
+            all_finished = false;
+        }
+    }
+    return all_finished;
+}
+void Parallel::on_timeout()
+{
+    for (int i = 0; i < runners.size(); i++)
+    {
+
+        if (runners[i] != nullptr)
+        {
+            runners[i]->stop();
+            if (cmds[i] != nullptr)
+            {
+                cmds[i]->on_timeout();
+            }
+            delete runners[i];
+            runners[i] = nullptr;
+            if (cmds[i] != nullptr)
+            {
+                delete cmds[i];
+                cmds[i] = nullptr;
+            }
+        }
+    }
+}
+
+Branch::Branch(Condition *cond, AutoCommand *false_choice, AutoCommand *true_choice) : false_choice(false_choice), true_choice(true_choice), cond(cond), choice(false), chosen(false), tmr() {}
+
+Branch::~Branch()
+{
+    delete false_choice;
+    delete true_choice;
+};
+bool Branch::run()
+{
+    if (!chosen)
+    {
+        choice = cond->test();
+        chosen = true;
+    }
+
+    double seconds = static_cast<double>(tmr.time()) / 1000.0;
+    if (choice == false)
+    {
+        if (seconds > false_choice->timeout_seconds && false_choice->timeout_seconds != -1)
+        {
+            false_choice->on_timeout();
+        }
+        return false_choice->run();
+    }
+    else
+    {
+        if (seconds > true_choice->timeout_seconds && true_choice->timeout_seconds != -1)
+        {
+            true_choice->on_timeout();
+        }
+        return true_choice->run();
+    }
+}
+void Branch::on_timeout()
+{
+    if (!chosen)
+    {
+        // dont need to do anything
+        return;
+    }
+
+    if (choice == false)
+    {
+        false_choice->on_timeout();
+    }
+    else
+    {
+        true_choice->on_timeout();
+    }
+}
+
+static int async_runner(void *arg)
+{
+    AutoCommand *cmd = (AutoCommand *)arg;
+    vex::timer tmr;
+    while (1)
+    {
+        bool finished = cmd->run();
+        if (finished)
+        {
+            break;
+        }
+        double t = (double)(tmr.time()) / 1000.0;
+        bool timed_out = t > cmd->timeout_seconds;
+        bool should_timeout = cmd->timeout_seconds > 0;
+        if (timed_out && should_timeout)
+        {
+            cmd->on_timeout();
+            break;
+        }
+        vexDelay(20);
+    }
+    delete cmd;
+
+    return 0;
+}
+bool Async::run()
+{
+    vex::task *t = new vex::task(async_runner, (void *)cmd);
+    (void)t;
+    // lmao get memory leaked
+    return true;
+}
diff --git a/src/utils/command_structure/command_controller.cpp b/src/utils/command_structure/command_controller.cpp
index 782ca0a..37bfa84 100644
--- a/src/utils/command_structure/command_controller.cpp
+++ b/src/utils/command_structure/command_controller.cpp
@@ -62,6 +62,11 @@ void CommandController::add_delay(int ms)
   command_queue.push(delay);
 }
 
+
+void CommandController::add_cancel_func(std::function<bool(void)> true_if_cancel){
+  should_cancel = true_if_cancel;
+}
+
 /**
  * Begin execution of the queue
  * Execute and remove commands in FIFO order
@@ -75,7 +80,7 @@ void CommandController::run()
   vex::timer tmr;
   tmr.reset();
 
-  while (!command_queue.empty())
+  while (!command_queue.empty() )
   {
     // retrieve and remove command at the front of the queue
     next_cmd = command_queue.front();
@@ -101,13 +106,16 @@ void CommandController::run()
 
       // If we do want to check for timeout, check and end the command if we should
       double cmd_elapsed_sec = ((double)timeout_timer.time()) / 1000.0;
-      if (cmd_elapsed_sec > next_cmd->timeout_seconds)
+      if (cmd_elapsed_sec > next_cmd->timeout_seconds || should_cancel())
       {
         next_cmd->on_timeout();
         command_timed_out = true;
         break;
       }
     }
+    if (should_cancel()){
+      break;
+    }
 
     printf("Finished Command %d. Timed out: %s\n", command_count, command_timed_out ? "true" : "false");
     fflush(stdout);

From 7dd16360d284c99efa01a616917e43e932e402c6 Mon Sep 17 00:00:00 2001
From: Ryan McGee <ramtech51@comcast.net>
Date: Sun, 1 Oct 2023 14:11:36 -0400
Subject: [PATCH 225/243] Added pure pursuit commands in tank_drive

---
 include/subsystems/tank_drive.h | 3 +++
 src/subsystems/tank_drive.cpp   | 8 ++++++++
 2 files changed, 11 insertions(+)

diff --git a/include/subsystems/tank_drive.h b/include/subsystems/tank_drive.h
index 3b3887d..02edee4 100644
--- a/include/subsystems/tank_drive.h
+++ b/include/subsystems/tank_drive.h
@@ -43,6 +43,9 @@ class TankDrive
   AutoCommand *TurnDegreesCmd(double degrees, double max_speed = 1.0);
   AutoCommand *TurnDegreesCmd(Feedback &fb, double degrees, double max_speed = 1.0);
 
+  AutoCommand *PurePursuitCmd(std::vector<point_t> path, directionType dir, double radius, double max_speed=1);
+  AutoCommand *PurePursuitCmd(Feedback &feedback, std::vector<point_t> path, directionType dir, double radius, double max_speed=1);
+
   /**
    * Stops rotation of all the motors using their "brake mode"
    */
diff --git a/src/subsystems/tank_drive.cpp b/src/subsystems/tank_drive.cpp
index 2afb3f9..095cf80 100644
--- a/src/subsystems/tank_drive.cpp
+++ b/src/subsystems/tank_drive.cpp
@@ -48,6 +48,14 @@ AutoCommand *TankDrive::TurnDegreesCmd(Feedback &fb, double degrees, double max_
 {
   return new TurnDegreesCommand(*this, fb, degrees, max_speed);
 }
+AutoCommand *TankDrive::PurePursuitCmd(std::vector<point_t> path, directionType dir, double radius, double max_speed)
+{
+  return new PurePursuitCommand(*this, *drive_default_feedback, path, dir, radius, max_speed);
+}
+AutoCommand *TankDrive::PurePursuitCmd(Feedback &feedback, std::vector<point_t> path, directionType dir, double radius, double max_speed)
+{
+  return new PurePursuitCommand(*this, feedback, path, dir, radius, max_speed);
+}
 
 /**
  * Reset the initialization for autonomous drive functions

From 1e7a752a254a10f34a4b4b1098e568984c8168f8 Mon Sep 17 00:00:00 2001
From: Ryan McGee <ramtech51@comcast.net>
Date: Sun, 1 Oct 2023 17:41:24 -0400
Subject: [PATCH 226/243] Updated const parameters

---
 include/utils/geometry.h     |  2 +-
 include/utils/math_util.h    |  2 +-
 include/utils/pure_pursuit.h | 16 ++++++++--------
 src/utils/math_util.cpp      |  2 +-
 src/utils/pure_pursuit.cpp   | 12 ++++++------
 5 files changed, 17 insertions(+), 17 deletions(-)

diff --git a/include/utils/geometry.h b/include/utils/geometry.h
index b653031..1226e49 100644
--- a/include/utils/geometry.h
+++ b/include/utils/geometry.h
@@ -14,7 +14,7 @@ struct point_t
      * @param other the point to measure the distance from
      * @return the euclidian distance between this and other
      */
-    double dist(const point_t other)
+    double dist(const point_t other) const
     {
         return std::sqrt(std::pow(this->x - other.x, 2) + pow(this->y - other.y, 2));
     }
diff --git a/include/utils/math_util.h b/include/utils/math_util.h
index 4ec27c9..8cfc91c 100644
--- a/include/utils/math_util.h
+++ b/include/utils/math_util.h
@@ -56,4 +56,4 @@ Calculates the slope and y intercept of the line of best fit for the data
 */
 std::pair<double, double> calculate_linear_regression(std::vector<std::pair<double, double>> const &points);
 
-double estimate_path_length(std::vector<point_t> points);
\ No newline at end of file
+double estimate_path_length(const std::vector<point_t> &points);
\ No newline at end of file
diff --git a/include/utils/pure_pursuit.h b/include/utils/pure_pursuit.h
index 66cd15a..9d3b17c 100644
--- a/include/utils/pure_pursuit.h
+++ b/include/utils/pure_pursuit.h
@@ -31,11 +31,11 @@ namespace PurePursuit {
     double dir;
     double mag;
 
-    point_t getPoint() {
+    point_t getPoint() const {
       return {x, y};
     }
 
-    Vector2D getTangent() {
+    Vector2D getTangent() const {
       return Vector2D(dir, mag);
     }
   };
@@ -48,12 +48,12 @@ namespace PurePursuit {
   /**
     * Selects a look ahead from all the intersections in the path.
     */
-  extern point_t get_lookahead(std::vector<point_t> path, pose_t robot_loc, double radius);
+  extern point_t get_lookahead(const std::vector<point_t> &path, pose_t robot_loc, double radius);
 
   /**
     * Injects points in a path without changing the curvature with a certain spacing.
     */
-  extern std::vector<point_t> inject_path(std::vector<point_t> path, double spacing);
+  extern std::vector<point_t> inject_path(const std::vector<point_t> &path, double spacing);
 
   /**
   * Returns a smoothed path maintaining the start and end of the path.
@@ -66,9 +66,9 @@ namespace PurePursuit {
   * https://medium.com/@jaems33/understanding-robot-motion-path-smoothing-5970c8363bc4
   */
 
-  extern std::vector<point_t> smooth_path(std::vector<point_t> path, double weight_data, double weight_smooth, double tolerance);
+  extern std::vector<point_t> smooth_path(const std::vector<point_t> &path, double weight_data, double weight_smooth, double tolerance);
 
-  extern std::vector<point_t> smooth_path_cubic(std::vector<point_t> path, double res);
+  extern std::vector<point_t> smooth_path_cubic(const std::vector<point_t> &path, double res);
 
   /**
    * Interpolates a smooth path given a list of waypoints using hermite splines.
@@ -78,7 +78,7 @@ namespace PurePursuit {
    * @param steps The number of points interpolated between points.
    * @return The smoothed path.
    */
-  extern std::vector<point_t> smooth_path_hermite(std::vector<hermite_point> path, double step);
+  extern std::vector<point_t> smooth_path_hermite(const std::vector<hermite_point> &path, double step);
 
   /**
    * Estimates the remaining distance from the robot's position to the end,
@@ -90,6 +90,6 @@ namespace PurePursuit {
    * @param radius Pure pursuit "radius", used to search for the robot along the path
    * @return A rough estimate of the remaining distance
   */
-  extern double estimate_remaining_dist(std::vector<point_t> path, pose_t robot_pose, double radius);
+  extern double estimate_remaining_dist(const std::vector<point_t> &path, pose_t robot_pose, double radius);
 
 }
\ No newline at end of file
diff --git a/src/utils/math_util.cpp b/src/utils/math_util.cpp
index 494f9d4..6d28630 100644
--- a/src/utils/math_util.cpp
+++ b/src/utils/math_util.cpp
@@ -119,7 +119,7 @@ std::pair<double, double> calculate_linear_regression(std::vector<std::pair<doub
 }
 
 
-double estimate_path_length(std::vector<point_t> points)
+double estimate_path_length(const std::vector<point_t> &points)
 {
   double dist = 0;
 
diff --git a/src/utils/pure_pursuit.cpp b/src/utils/pure_pursuit.cpp
index dfdbc9c..34db5a6 100644
--- a/src/utils/pure_pursuit.cpp
+++ b/src/utils/pure_pursuit.cpp
@@ -52,7 +52,7 @@ std::vector<point_t> PurePursuit::line_circle_intersections(point_t center, doub
 /**
  * Selects a look ahead from all the intersections in the path.
  */
-[[maybe_unused]] point_t PurePursuit::get_lookahead(std::vector<point_t> path, pose_t robot_loc, double radius)
+[[maybe_unused]] point_t PurePursuit::get_lookahead(const std::vector<point_t> &path, pose_t robot_loc, double radius)
 { 
   //Default: the end of the path
   point_t target = path.back();
@@ -85,7 +85,7 @@ std::vector<point_t> PurePursuit::line_circle_intersections(point_t center, doub
 /**
  Injects points in a path without changing the curvature with a certain spacing.
 */
-[[maybe_unused]] std::vector<point_t> PurePursuit::inject_path(std::vector<point_t> path, double spacing)
+[[maybe_unused]] std::vector<point_t> PurePursuit::inject_path(const std::vector<point_t> &path, double spacing)
 {
   std::vector<point_t> new_path;
 
@@ -125,7 +125,7 @@ std::vector<point_t> PurePursuit::line_circle_intersections(point_t center, doub
  * Honestly have no idea if/how this works.
  * https://medium.com/@jaems33/understanding-robot-motion-path-smoothing-5970c8363bc4
 */
-[[maybe_unused]] std::vector<point_t> PurePursuit::smooth_path(std::vector<point_t> path, double weight_data, double weight_smooth, double tolerance)
+[[maybe_unused]] std::vector<point_t> PurePursuit::smooth_path(const std::vector<point_t> &path, double weight_data, double weight_smooth, double tolerance)
 {
   std::vector<point_t> new_path = path;
   double change = tolerance;
@@ -159,7 +159,7 @@ std::vector<point_t> PurePursuit::line_circle_intersections(point_t center, doub
  * @param steps The number of points interpolated between points.
  * @return The smoothed path.
  */
-[[maybe_unused]] std::vector<point_t> PurePursuit::smooth_path_hermite(std::vector<hermite_point> path, double steps) {
+[[maybe_unused]] std::vector<point_t> PurePursuit::smooth_path_hermite(const std::vector<hermite_point> &path, double steps) {
   std::vector<point_t> new_path;
   for(int i = 0; i < path.size() - 1; i++) {
     for(int t = 0; t < steps; t++) {
@@ -191,7 +191,7 @@ std::vector<point_t> PurePursuit::line_circle_intersections(point_t center, doub
   return new_path;
 }
 
-[[maybe_unused]] std::vector<point_t> PurePursuit::smooth_path_cubic(std::vector<point_t> path, double res) {
+[[maybe_unused]] std::vector<point_t> PurePursuit::smooth_path_cubic(const std::vector<point_t> &path, double res) {
   std::vector<point_t> new_path;
   std::vector<spline> splines;
 
@@ -245,7 +245,7 @@ std::vector<point_t> PurePursuit::line_circle_intersections(point_t center, doub
  * @param radius Pure pursuit "radius", used to search for the robot along the path
  * @return A rough estimate of the remaining distance
 */
-double PurePursuit::estimate_remaining_dist(std::vector<point_t> path, pose_t robot_pose, double radius)
+double PurePursuit::estimate_remaining_dist(const std::vector<point_t> &path, pose_t robot_pose, double radius)
 {
   point_t lookahead_pt = get_lookahead(path, robot_pose, radius);
   

From ff8dc3d3ce617174d35510989df7a32503fb4778 Mon Sep 17 00:00:00 2001
From: cowsed <richie.sommers@outlook.com>
Date: Thu, 5 Oct 2023 21:50:57 -0400
Subject: [PATCH 227/243] fixed warnings

---
 include/utils/command_structure/command_controller.h |  4 ++--
 src/utils/serializer.cpp                             | 10 +++++-----
 2 files changed, 7 insertions(+), 7 deletions(-)

diff --git a/include/utils/command_structure/command_controller.h b/include/utils/command_structure/command_controller.h
index 3bae711..4f8cf14 100644
--- a/include/utils/command_structure/command_controller.h
+++ b/include/utils/command_structure/command_controller.h
@@ -26,7 +26,7 @@ class CommandController
    * @param cmd the AutoCommand we want to add to our list
    * @param timeout_seconds the number of seconds we will let the command run for. If it exceeds this, we cancel it and run on_timeout. if it is <= 0 no time out will be applied
    */
-  [[deprecated("Use list constructor instead. If you need to make a decision before adding new commands, use Branch")]] void add(std::vector<AutoCommand *> cmds);
+  [[deprecated("Use list constructor instead. If you need to make a decision before adding new commands, use Branch (https://github.com/RIT-VEX-U/Core/wiki/3-%7C-Utilites#commandcontroller)")]] void add(std::vector<AutoCommand *> cmds);
   void add(AutoCommand *cmd, double timeout_seconds = 10.0);
 
   /**
@@ -39,7 +39,7 @@ class CommandController
    * @param cmds the AutoCommands we want to add to our list
    * @param timeout_sec timeout in seconds to apply to all commands if they are still the default
    */
-  [[deprecated("Use list constructor instead. If you need to make a decision before adding new commands, use Branch")]] void
+  [[deprecated("Use list constructor instead. If you need to make a decision before adding new commands, use Branch (https://github.com/RIT-VEX-U/Core/wiki/3-%7C-Utilites#commandcontroller)")]] void
   add(std::vector<AutoCommand *> cmds, double timeout_sec);
   /**
    * Adds a command that will delay progression
diff --git a/src/utils/serializer.cpp b/src/utils/serializer.cpp
index c93d1ad..9e611f1 100644
--- a/src/utils/serializer.cpp
+++ b/src/utils/serializer.cpp
@@ -32,7 +32,7 @@ std::vector<char> to_bytes<std::string>(std::string str)
 /// @brief Convert bytes to a type
 /// @param gets data from arbitrary bytes. Overload this for non integer types
 template <typename T>
-T from_bytes(const std::vector<char> &data, std::vector<char>::const_iterator &position)
+T from_bytes(std::vector<char>::const_iterator &position)
 {
     T value;
     std::copy(position, position + sizeof(T), static_cast<char *>(static_cast<void *>(&value)));
@@ -41,7 +41,7 @@ T from_bytes(const std::vector<char> &data, std::vector<char>::const_iterator &p
 }
 
 template <>
-std::string from_bytes(const std::vector<char> &data, std::vector<char>::const_iterator &position)
+std::string from_bytes(std::vector<char>::const_iterator &position)
 {
     auto pos = position;
     while (*pos != 0x0)
@@ -110,10 +110,10 @@ static std::vector<char>::const_iterator read_data(const std::vector<char> &data
     {
         auto name_start = pos;
         // read name
-        std::string name = from_bytes<std::string>(data, name_start);
+        std::string name = from_bytes<std::string>(name_start);
         pos += name.size() + 1;
         // read value
-        value_type value = from_bytes<value_type>(data, pos);
+        value_type value = from_bytes<value_type>(pos);
         printf("Read Name: %s\n", name.c_str());
         map.insert({name, value});
     }
@@ -247,7 +247,7 @@ bool Serializer::read_from_disk()
     auto doubles_start = read_data<bool>(data, bool_start, bools);
     auto strings_start = read_data<double>(data, doubles_start, doubles);
     auto file_end = read_data<std::string>(data, strings_start, strings);
-
+    (void)file_end;
 
     return true;
 }

From db61c54f2809f20a8eb8576d9335101ad7ee346b Mon Sep 17 00:00:00 2001
From: cowsed <richie.sommers@outlook.com>
Date: Tue, 10 Oct 2023 19:02:46 -0400
Subject: [PATCH 228/243] started, breaking

---
 include/subsystems/screen.h |  74 +++++++++++++---
 src/subsystems/screen.cpp   | 169 ++++++++++++++++++++++++++++++------
 2 files changed, 204 insertions(+), 39 deletions(-)

diff --git a/include/subsystems/screen.h b/include/subsystems/screen.h
index 60a49ef..5ba4770 100644
--- a/include/subsystems/screen.h
+++ b/include/subsystems/screen.h
@@ -1,24 +1,72 @@
 #pragma once
 #include "vex.h"
 #include <vector>
+#include <functional>
 
-/// @brief the type of function that the screen controller expects
-/// @param screen a reference to the screen to draw on
-/// @param x the x position this widget has been told to start at
-/// @param y the y position this widget has been told to start at
+namespace screen
+{
+    /**
+     * @brief Start the screen background task. Once you start this, no need to draw to the screen manually elsewhere
+     * @param screen reference to the vex screen
+     * @param pages drawing pages
+     * @param first_page optional, which page to start the program at. by default 0
+     */
+    void start_screen(vex::brain::lcd &screen, std::vector<Page *> pages, int first_page = 0);
 
-typedef void (*screenFunc)(vex::brain::lcd &screen, int x, int y, int width, int height, bool first_run);
+    void stop_screen();
+    /// @brief Page describes one part of the screen slideshow
+    class Page
+    {
+    public:
+        /**
+         * @brief collect data, respond to screen input, do fast things (runs at
+         * 50hz even if you're not focused on this Page (only drawn page gets
+         * touch updates))
+         * @param was_pressed true if the screen has been pressed
+         * @param x x position of screen press (if the screen was pressed)
+         * @param y y position of screen press (if the screen was pressed)
+         */
+        virtual void update(bool was_pressed, int x, int y);
+        /**
+         * @brief draw stored data to the screen (runs at 10 hz and only runs if
+         * this page is in front)
+         * @param first_draw true if we just switched to this page
+         * @param frame_number frame of drawing we are on (basically an animation
+         * tick)
+         */
+        virtual void draw(vex::brain::lcd &screen, bool first_draw,
+                          unsigned int frame_number);
+    };
 
-void draw_mot_header(vex::brain::lcd &screen, int x, int y, int width);
-// name should be no longer than 15 characters
-void draw_mot_stats(vex::brain::lcd &screen, int x, int y, int width, const char *name, vex::motor &motor, int animation_tick);
-void draw_dev_stats(vex::brain::lcd &screen, int x, int y, int width, const char *name, vex::device &dev, int animation_tick);
+    /// @brief  type of function needed for update
+    using update_func_t = std::function<void(bool, int, int)>;
 
-void draw_battery_stats(vex::brain::lcd &screen, int x, int y, double voltage, double percentage);
+    /// @brief  type of function needed for draw
+    using draw_func_t = std::function<void(vex::brain::lcd &screen, bool, unsigned int)>;
 
+    class MotorPage : public Page
+    {
+    public:
+        MotorPage(std::map<std::string, vex::motor&> motors) : motors(motors) {}
+        void update(bool was_pressed, int x, int y) override;
+        void draw(vex::brain::lcd &, bool first_draw, unsigned int frame_number) override;
 
+    private:
+        std::map<std::string, vex::motor&> motors;
+    };
 
-void draw_lr_arrows(vex::brain::lcd &screen, int bar_width, int width, int height);
+    /// @brief Simple page that stores no internal data. the draw and update functions use only global data rather than storing anything
+    class FunctionPage : public Page
+    {
+    public:
+        FunctionPage(update_func_t update_f, draw_func_t draw_t);
 
-int handle_screen_thread(vex::brain::lcd &screen, std::vector<screenFunc> pages, int first_page);
-void StartScreen(vex::brain::lcd &screen, std::vector<screenFunc> pages, int first_page = 0);
\ No newline at end of file
+        void update(bool was_pressed, int x, int y) override;
+        void draw(vex::brain::lcd &, bool first_draw, unsigned int frame_number) override;
+
+    private:
+        update_func_t update_f;
+        draw_func_t draw_f;
+    };
+
+}
diff --git a/src/subsystems/screen.cpp b/src/subsystems/screen.cpp
index 13af0c8..6f5acd7 100644
--- a/src/subsystems/screen.cpp
+++ b/src/subsystems/screen.cpp
@@ -1,6 +1,117 @@
 #include "../core/include/subsystems/screen.h"
 
-void draw_battery_stats(vex::brain::lcd &screen, int x, int y, double voltage, double percentage)
+namespace screen
+{
+    /// @brief start_screen begins a screen. only call this once per program (a
+    /// good place is vexcodeInit)
+    /// This is a set and forget type function. You don't have to wait on it or
+    /// start it in a new thread
+    /// @param screen the brain screen
+    /// @param pages the list of pages in your UI slideshow
+    /// @param first_page the page to start on (by default 0)
+    void start_screen(vex::brain::lcd &screen, std::vector<Page *> pages,
+                      int first_page)
+    {
+        if (running)
+        {
+            printf("THERE IS ALREADY A SCREEN THREAD RUNNING\n");
+            return;
+        }
+        ScreenData *data = new ScreenData{pages, first_page, &screen};
+
+        screen_thread = new vex::thread(screen_thread_func, static_cast<void *>(data));
+    }
+
+    void stop_screen() { running = false; }
+    /**
+     * @brief The ScreenData class holds the data that will be passed to the
+     * screen thread
+     * you probably shouldnt have to use it
+     */
+    struct ScreenData
+    {
+        ScreenData(const std::vector<Page *> &m_pages, int m_page, vex::brain::lcd *m_screen)
+            : pages(m_pages), page(m_page), screen(m_screen) {}
+        std::vector<Page *> pages;
+        int page = 0;
+        vex::brain::lcd *screen = nullptr;
+    };
+
+    static vex::thread *screen_thread = nullptr;
+    static bool running = false;
+
+    /**
+     * @brief runs the screen thread
+     * This should only be called by start_screen
+     * If you are calling this, maybe don't
+     */
+    int screen_thread_func(void *screen_data_v)
+    {
+        ScreenData screen_data = *static_cast<ScreenData *>(screen_data_v);
+        running = true;
+        unsigned int frame = 0;
+
+        bool was_pressed = false;
+        int x_press = 0;
+        int y_press = 0;
+
+        while (running)
+        {
+            Page *front_page = screen_data.pages[screen_data.page];
+
+            // Update all pages
+            for (auto page : screen_data.pages)
+            {
+                if (page == front_page)
+                {
+                    page->update(was_pressed, x_press, y_press);
+                }
+                else
+                {
+                    page->update(false, 0, 0);
+                }
+            }
+
+            // Draw First Page
+            if (frame % 5 == 0)
+            {
+                front_page->draw(*screen_data.screen, false, frame);
+            }
+
+            vexDelay(20);
+        }
+
+        return 0;
+    }
+    /**
+     * @brief FunctionPage
+     * @param update_f drawing function
+     * @param draw_f drawing function
+     */
+    FunctionPage::FunctionPage(update_func_t update_f, draw_func_t draw_f)
+        : update_f(update_f), draw_f(draw_f)
+    {
+    }
+
+    /// @brief update uses the supplied update function to update this page
+    void FunctionPage::update(bool was_pressed, int x, int y)
+    {
+        update_f(was_pressed, x, y);
+    }
+    /// @brief draw uses the supplied draw function to draw to the screen
+    void FunctionPage::draw(vex::brain::lcd &screen, bool first_draw,
+                            unsigned int frame_number)
+    {
+        draw_f(screen, first_draw, frame_number);
+    }
+
+    MotorPage::MotorPage(std::map<std::string, vex::motor&> motors)
+
+} // namespace screen
+
+/*
+void draw_battery_stats(vex::brain::lcd &screen, int x, int y, double
+voltage, double percentage)
 {
     double low_pct = 70.0;
     double med_pct = 85.0;
@@ -9,8 +120,6 @@ void draw_battery_stats(vex::brain::lcd &screen, int x, int y, double voltage, d
     vex::color med_col = vex::color(140, 100, 0);
     vex::color high_col = vex::black;
 
-
-
     vex::color bg_col = vex::black;
     vex::color border_col = vex::white;
 
@@ -32,9 +141,9 @@ void draw_battery_stats(vex::brain::lcd &screen, int x, int y, double voltage, d
     screen.setPenColor(border_col);
     screen.setFont(vex::mono15);
 
-
-    screen.drawRectangle(x+3, y, 200-3, 20);
-    screen.printAt(x + 5, y + 15, "battery: %.1fv  %d%%", voltage, (int)percentage);
+    screen.drawRectangle(x + 3, y, 200 - 3, 20);
+    screen.printAt(x + 5, y + 15, "battery: %.1fv  %d%%", voltage,
+(int)percentage);
 }
 
 void draw_mot_header(vex::brain::lcd &screen, int x, int y, int width)
@@ -46,7 +155,7 @@ void draw_mot_header(vex::brain::lcd &screen, int x, int y, int width)
     screen.setPenColor(border_col);
     screen.setFont(vex::mono15);
 
-    screen.drawRectangle(x+3, y, width-3, 20);
+    screen.drawRectangle(x + 3, y, width - 3, 20);
     screen.printAt(x + 5, y + 15, "motor name");
     int name_width = 110;
 
@@ -59,7 +168,8 @@ void draw_mot_header(vex::brain::lcd &screen, int x, int y, int width)
     screen.printAt(x + name_width + 55, y + 15, "port");
 }
 
-void draw_mot_stats(vex::brain::lcd &screen, int x, int y, int width, const char *name, vex::motor &motor, int animation_tick)
+void draw_mot_stats(vex::brain::lcd &screen, int x, int y, int width, const
+char *name, vex::motor &motor, int animation_tick)
 {
     double tempC = motor.temperature(vex::celsius);
     bool pluggedin = motor.installed();
@@ -101,7 +211,7 @@ void draw_mot_stats(vex::brain::lcd &screen, int x, int y, int width, const char
     screen.setPenColor(border_col);
     screen.setFont(vex::mono15);
 
-    screen.drawRectangle(x+3, y, width-3, 20);
+    screen.drawRectangle(x + 3, y, width - 3, 20);
 
     // name
     screen.printAt(x + 7, y + 15, name);
@@ -122,7 +232,8 @@ void draw_mot_stats(vex::brain::lcd &screen, int x, int y, int width, const char
 }
 
 //
-void draw_dev_stats(vex::brain::lcd &screen, int x, int y, int width, const char *name, vex::device &dev, int animation_tick)
+void draw_dev_stats(vex::brain::lcd &screen, int x, int y, int width, const
+char *name, vex::device &dev, int animation_tick)
 {
     bool pluggedin = dev.installed();
     int port = dev.index() + 1;
@@ -145,7 +256,7 @@ void draw_dev_stats(vex::brain::lcd &screen, int x, int y, int width, const char
     screen.setPenColor(border_col);
     screen.setFont(vex::mono15);
 
-    screen.drawRectangle(x+3, y, width-3, 20);
+    screen.drawRectangle(x + 3, y, width - 3, 20);
 
     // name
     screen.printAt(x + 5, y + 15, name);
@@ -165,7 +276,8 @@ void draw_dev_stats(vex::brain::lcd &screen, int x, int y, int width, const char
     screen.printAt(x + name_width + 60, y + 15, "%d%s", port, warning);
 }
 
-void draw_lr_arrows(vex::brain::lcd &screen, int bar_width, int width, int height)
+void draw_lr_arrows(vex::brain::lcd &screen, int bar_width, int width, int
+height)
 {
     auto bar_col = vex::color(40, 40, 40);
     auto arrow_col = vex::color(255, 255, 255);
@@ -178,14 +290,17 @@ void draw_lr_arrows(vex::brain::lcd &screen, int bar_width, int width, int heigh
 
     // draw arrows
     screen.setPenColor(arrow_col);
-    screen.drawLine(bar_width / 3, height / 2, 2 * bar_width / 3, height / 2 - 20);
-    screen.drawLine(bar_width / 3, height / 2, 2 * bar_width / 3, height / 2 + 20);
+    screen.drawLine(bar_width / 3, height / 2, 2 * bar_width / 3, height / 2
+- 20); screen.drawLine(bar_width / 3, height / 2, 2 * bar_width / 3, height
+/ 2 + 20);
 
-    screen.drawLine(width - bar_width / 3, height / 2, width - 2 * bar_width / 3, height / 2 - 20);
-    screen.drawLine(width - bar_width / 3, height / 2, width - 2 * bar_width / 3, height / 2 + 20);
+    screen.drawLine(width - bar_width / 3, height / 2, width - 2 * bar_width
+/ 3, height / 2 - 20); screen.drawLine(width - bar_width / 3, height / 2,
+width - 2 * bar_width / 3, height / 2 + 20);
 }
 
-int handle_screen_thread(vex::brain::lcd &screen, std::vector<screenFunc> pages, int first_page)
+int handle_screen_thread(vex::brain::lcd &screen, std::vector<screenFunc>
+pages, int first_page)
 {
     unsigned int num_pages = pages.size();
     unsigned int current_page = first_page;
@@ -199,7 +314,8 @@ int handle_screen_thread(vex::brain::lcd &screen, std::vector<screenFunc> pages,
     bool first_draw = true;
     while (true)
     {
-        pages[current_page](screen, bar_width, 0, width - bar_width * 2, height, first_draw);
+        pages[current_page](screen, bar_width, 0, width - bar_width * 2,
+height, first_draw);
 
         first_draw = false;
         // handle presses
@@ -235,12 +351,13 @@ int handle_screen_thread(vex::brain::lcd &screen, std::vector<screenFunc> pages,
     return 0;
 }
 
-void StartScreen(vex::brain::lcd &screen, std::vector<screenFunc> pages, int first_page)
+void StartScreen(vex::brain::lcd &screen, std::vector<screenFunc> pages, int
+first_page)
 {
-    // hold onto arguments here so we don't lose them and can use then in the lambda down there. capture semantics are not fun
-    static std::vector<screenFunc> my_pages = pages;
-    static vex::brain::lcd my_screen = screen;
-    static int my_first_page = first_page;
-    vex::task screenTask([]()
-                         { return handle_screen_thread(my_screen, my_pages, my_first_page); });
-}
\ No newline at end of file
+    // hold onto arguments here so we don't lose them and can use then in
+the lambda down there. capture semantics are not fun static
+std::vector<screenFunc> my_pages = pages; static vex::brain::lcd my_screen =
+screen; static int my_first_page = first_page; vex::task screenTask([]() {
+return handle_screen_thread(my_screen, my_pages, my_first_page); });
+}
+*/

From 86fe9f05228a8b31fc2c61e62482e532019f5ec7 Mon Sep 17 00:00:00 2001
From: cowsed <richie.sommers@outlook.com>
Date: Tue, 10 Oct 2023 19:05:48 -0400
Subject: [PATCH 229/243] more

---
 include/subsystems/screen.h | 22 +++++++++++++---------
 1 file changed, 13 insertions(+), 9 deletions(-)

diff --git a/include/subsystems/screen.h b/include/subsystems/screen.h
index 5ba4770..589fefc 100644
--- a/include/subsystems/screen.h
+++ b/include/subsystems/screen.h
@@ -5,15 +5,6 @@
 
 namespace screen
 {
-    /**
-     * @brief Start the screen background task. Once you start this, no need to draw to the screen manually elsewhere
-     * @param screen reference to the vex screen
-     * @param pages drawing pages
-     * @param first_page optional, which page to start the program at. by default 0
-     */
-    void start_screen(vex::brain::lcd &screen, std::vector<Page *> pages, int first_page = 0);
-
-    void stop_screen();
     /// @brief Page describes one part of the screen slideshow
     class Page
     {
@@ -38,6 +29,19 @@ namespace screen
                           unsigned int frame_number);
     };
 
+
+    /**
+     * @brief Start the screen background task. Once you start this, no need to draw to the screen manually elsewhere
+     * @param screen reference to the vex screen
+     * @param pages drawing pages
+     * @param first_page optional, which page to start the program at. by default 0
+     */
+    void start_screen(vex::brain::lcd &screen, std::vector<Page *> pages, int first_page = 0);
+
+    void stop_screen();
+
+
+
     /// @brief  type of function needed for update
     using update_func_t = std::function<void(bool, int, int)>;
 

From 36fa87e8cb4cce7dc6829b3410f5f81b976eb376 Mon Sep 17 00:00:00 2001
From: cowsed <richie.sommers@outlook.com>
Date: Tue, 10 Oct 2023 22:35:43 -0400
Subject: [PATCH 230/243] odometry map

---
 include/subsystems/screen.h |  33 +++++-
 include/utils/geometry.h    |  46 +++++++-
 src/subsystems/screen.cpp   | 213 ++++++++++++++++++++++++++++++++----
 3 files changed, 262 insertions(+), 30 deletions(-)

diff --git a/include/subsystems/screen.h b/include/subsystems/screen.h
index 589fefc..861f529 100644
--- a/include/subsystems/screen.h
+++ b/include/subsystems/screen.h
@@ -2,6 +2,8 @@
 #include "vex.h"
 #include <vector>
 #include <functional>
+#include <map>
+#include "../core/include/subsystems/odometry/odometry_base.h"
 
 namespace screen
 {
@@ -29,7 +31,6 @@ namespace screen
                           unsigned int frame_number);
     };
 
-
     /**
      * @brief Start the screen background task. Once you start this, no need to draw to the screen manually elsewhere
      * @param screen reference to the vex screen
@@ -40,23 +41,43 @@ namespace screen
 
     void stop_screen();
 
-
-
     /// @brief  type of function needed for update
     using update_func_t = std::function<void(bool, int, int)>;
 
     /// @brief  type of function needed for draw
     using draw_func_t = std::function<void(vex::brain::lcd &screen, bool, unsigned int)>;
 
-    class MotorPage : public Page
+    class StatsPage : public Page
+    {
+    public:
+        StatsPage(std::map<std::string, vex::motor &> motors);
+        void update(bool was_pressed, int x, int y) override;
+        void draw(vex::brain::lcd &, bool first_draw, unsigned int frame_number) override;
+
+    private:
+        void draw_motor_stats(const std::string &name, vex::motor &mot, unsigned int frame, int x, int y, vex::brain::lcd &scr);
+
+        std::map<std::string, vex::motor &> motors;
+        static const int y_start = 0;
+        static const int per_column = 4;
+        static const int row_height = 20;
+        static const int row_width = 200;
+    };
+
+    class OdometryPage : public Page
     {
     public:
-        MotorPage(std::map<std::string, vex::motor&> motors) : motors(motors) {}
+        OdometryPage(OdometryBase &odom, double width, double height);
         void update(bool was_pressed, int x, int y) override;
         void draw(vex::brain::lcd &, bool first_draw, unsigned int frame_number) override;
 
     private:
-        std::map<std::string, vex::motor&> motors;
+        OdometryBase &odom;
+        double width;
+        double height;
+        uint8_t *buf = nullptr;
+        int buf_size = 0;
+        static constexpr char const *field_filename = "vex_field_240p.png";
     };
 
     /// @brief Simple page that stores no internal data. the draw and update functions use only global data rather than storing anything
diff --git a/include/utils/geometry.h b/include/utils/geometry.h
index 1226e49..c01c186 100644
--- a/include/utils/geometry.h
+++ b/include/utils/geometry.h
@@ -45,12 +45,27 @@ struct point_t
         return p;
     }
 
-    bool operator==(const point_t& rhs)
+    point_t operator*(double s) const
     {
-        return x==rhs.x && y==rhs.y;
+        return {x * s, y * s};
+    }
+    point_t operator/(double s) const
+    {
+        return {x / s, y / s};
     }
-};
 
+    point_t operator-() const{
+        return {-x, -y};
+    }
+    point_t operator+() const{
+        return {x, y};
+    }
+
+    bool operator==(const point_t &rhs)
+    {
+        return x == rhs.x && y == rhs.y;
+    }
+};
 
 /**
  *  Describes a single position and rotation
@@ -63,6 +78,27 @@ typedef struct
 
     point_t get_point()
     {
-        return point_t{.x=x, .y=y};
+        return point_t{.x = x, .y = y};
+    }
+
+} pose_t;
+
+struct Mat2
+{
+    double X11, X12;
+    double X21, X22;
+    point_t operator*(const point_t p) const
+    {
+        double outx = p.x * X11 + p.y * X12;
+        double outy = p.x * X21 + p.y * X22;
+        return {outx, outy};
+    }
+
+    static Mat2 FromRotationDegrees(double degrees)
+    {
+        double rad = degrees * (M_PI / 180.0);
+        double c = cos(rad);
+        double s = sin(rad);
+        return {c, -s, s, c};
     }
-} pose_t;
\ No newline at end of file
+};
\ No newline at end of file
diff --git a/src/subsystems/screen.cpp b/src/subsystems/screen.cpp
index 6f5acd7..a0d52f6 100644
--- a/src/subsystems/screen.cpp
+++ b/src/subsystems/screen.cpp
@@ -2,6 +2,24 @@
 
 namespace screen
 {
+    /**
+     * @brief The ScreenData class holds the data that will be passed to the
+     * screen thread
+     * you probably shouldnt have to use it
+     */
+    struct ScreenData
+    {
+        ScreenData(const std::vector<Page *> &m_pages, int m_page, vex::brain::lcd &m_screen)
+            : pages(m_pages), page(m_page), screen(m_screen) {}
+        std::vector<Page *> pages;
+        int page = 0;
+        vex::brain::lcd screen;
+    };
+
+    static vex::thread *screen_thread = nullptr;
+    static bool running = false;
+    static int screen_thread_func(void *screen_data_v);
+
     /// @brief start_screen begins a screen. only call this once per program (a
     /// good place is vexcodeInit)
     /// This is a set and forget type function. You don't have to wait on it or
@@ -17,28 +35,12 @@ namespace screen
             printf("THERE IS ALREADY A SCREEN THREAD RUNNING\n");
             return;
         }
-        ScreenData *data = new ScreenData{pages, first_page, &screen};
+        ScreenData *data = new ScreenData{pages, first_page, screen};
 
         screen_thread = new vex::thread(screen_thread_func, static_cast<void *>(data));
     }
 
     void stop_screen() { running = false; }
-    /**
-     * @brief The ScreenData class holds the data that will be passed to the
-     * screen thread
-     * you probably shouldnt have to use it
-     */
-    struct ScreenData
-    {
-        ScreenData(const std::vector<Page *> &m_pages, int m_page, vex::brain::lcd *m_screen)
-            : pages(m_pages), page(m_page), screen(m_screen) {}
-        std::vector<Page *> pages;
-        int page = 0;
-        vex::brain::lcd *screen = nullptr;
-    };
-
-    static vex::thread *screen_thread = nullptr;
-    static bool running = false;
 
     /**
      * @brief runs the screen thread
@@ -58,6 +60,29 @@ namespace screen
         while (running)
         {
             Page *front_page = screen_data.pages[screen_data.page];
+            bool pressing = screen_data.screen.pressing();
+
+            if (pressing)
+            {
+                pressing = true;
+                x_press = screen_data.screen.xPosition();
+                y_press = screen_data.screen.yPosition();
+            }
+            bool just_pressed = pressing && !was_pressed;
+
+            if (just_pressed && x_press < 40)
+            {
+                screen_data.page--;
+                if (screen_data.page < 0)
+                {
+                    screen_data.page += screen_data.pages.size();
+                }
+            }
+            if (just_pressed && x_press > 440)
+            {
+                screen_data.page++;
+                screen_data.page %= screen_data.pages.size();
+            }
 
             // Update all pages
             for (auto page : screen_data.pages)
@@ -75,9 +100,28 @@ namespace screen
             // Draw First Page
             if (frame % 5 == 0)
             {
-                front_page->draw(*screen_data.screen, false, frame);
+                screen_data.screen.clearScreen(vex::color::black);
+                screen_data.screen.setPenColor("#FFFFFF");
+                screen_data.screen.setFillColor("#000000");
+                front_page->draw(screen_data.screen, false, frame / 5);
+
+                // Draw side boxes
+                screen_data.screen.setPenColor("#202020");
+                screen_data.screen.setFillColor("#202020");
+                screen_data.screen.drawRectangle(0, 0, 40, 240);
+                screen_data.screen.drawRectangle(440, 0, 40, 240);
+                screen_data.screen.setPenColor("#FFFFFF");
+                // left arrow
+                screen_data.screen.drawLine(30, 100, 15, 120);
+                screen_data.screen.drawLine(30, 140, 15, 120);
+                // right arrow
+                screen_data.screen.drawLine(450, 100, 465, 120);
+                screen_data.screen.drawLine(450, 140, 465, 120);
             }
 
+            screen_data.screen.render();
+            frame++;
+            was_pressed = pressing;
             vexDelay(20);
         }
 
@@ -105,8 +149,139 @@ namespace screen
         draw_f(screen, first_draw, frame_number);
     }
 
-    MotorPage::MotorPage(std::map<std::string, vex::motor&> motors)
+    StatsPage::StatsPage(std::map<std::string, vex::motor &> motors) : motors(motors) {}
+    void StatsPage::update(bool was_pressed, int x, int y)
+    {
+        (void)x;
+        (void)y;
+        (void)was_pressed;
+    }
+    void StatsPage::draw_motor_stats(const std::string &name, vex::motor &mot, unsigned int frame, int x, int y, vex::brain::lcd &scr)
+    {
+        const vex::color hot_col = vex::color(120, 0, 0);
+        const vex::color med_col = vex::color(140, 100, 0);
+        const vex::color ok_col = vex::black;
+        const vex::color not_plugged_in_col = vex::color(255, 0, 0);
+        bool installed = mot.installed();
+        double temp = 0;
+        int port = mot.index() + 1;
+        vex::color col = ok_col;
+        if (installed)
+        {
+            temp = mot.temperature(vex::temperatureUnits::celsius);
+        }
 
+        if (temp > 40)
+        {
+            col = med_col;
+        }
+        else if (temp > 50)
+        {
+            col = hot_col;
+        }
+        if (!installed && frame % 2 == 0)
+        {
+            col = not_plugged_in_col;
+        }
+
+        scr.drawRectangle(x, y, row_width, row_height, col);
+        scr.printAt(x + 2, y + 16, false, " %2d   %2.0fC   %.7s", port, temp, name.c_str());
+    }
+    void StatsPage::draw(vex::brain::lcd &scr, bool first_draw, unsigned int frame_number)
+    {
+        int num = 0;
+        int x = 40;
+        int y = y_start + row_height;
+        scr.drawRectangle(x, y_start, row_width, row_height);
+        scr.printAt(x, y_start + 16, false, " port temp  name");
+        for (auto &kv : motors)
+        {
+            if (num > per_column)
+            {
+                scr.drawRectangle(x + row_width, y_start, row_width, row_height);
+                scr.printAt(x + row_width, y_start + 16, false, " port temp  name");
+
+                y = y_start + row_height;
+                x += row_width;
+                num = 0;
+            }
+
+            draw_motor_stats(kv.first, kv.second, frame_number, x, y, scr);
+            y += row_height;
+            num++;
+        }
+        vex::brain b;
+        scr.printAt(50, 220, "Battery: %2.1fv  %2.0fC %d%%", b.Battery.voltage(), b.Battery.temperature(vex::temperatureUnits::celsius), b.Battery.capacity());
+    }
+
+    OdometryPage::OdometryPage(OdometryBase &odom, double width, double height) : odom(odom), width(width), height(height)
+    {
+        vex::brain b;
+
+        buf_size = b.SDcard.size(field_filename);
+        buf = (uint8_t *)malloc(buf_size);
+        b.SDcard.loadfile(field_filename, buf, buf_size);
+    }
+
+    int in_to_px(double in)
+    {
+        double p = in / (6.0 * 24.0);
+        return (int)(p * 240);
+    }
+
+    void OdometryPage::draw(vex::brain::lcd &scr, bool first_draw, unsigned int frame_number)
+    {
+        auto to_px = [](const point_t p) -> point_t
+        {
+            return {(double)in_to_px(p.x) + 200, (double)in_to_px(-p.y) + 240};
+        };
+
+        auto draw_line = [to_px, &scr](const point_t from, const point_t to)
+        {
+            scr.drawLine((int)to_px(from).x, (int)to_px(from).y, (int)to_px(to).x, (int)to_px(to).y);
+        };
+
+        pose_t pose = odom.get_position();
+        point_t pos = pose.get_point();
+        fflush(stdout);
+        scr.printAt(45, 30, "(%.2f, %.2f)", pose.x, pose.y);
+        scr.printAt(45, 50, "%.2f deg", pose.rot);
+
+        if (buf == nullptr)
+        {
+            scr.printAt(320, 110, "Field Image Not Found");
+            return;
+        }
+
+        scr.drawImageFromBuffer(buf, 200, 0, buf_size);
+
+        point_t pos_px = to_px(pos);
+        scr.drawCircle((int)pos_px.x, (int)pos_px.y, 3, vex::color::white);
+
+        Mat2 mat = Mat2::FromRotationDegrees(pose.rot - 90);
+        const point_t to_left = point_t{-width / 2.0, 0};
+        const point_t to_front = point_t{0.0, height / 2.0};
+
+        const point_t fl = pos + mat * (+to_left + to_front);
+        const point_t fr = pos + mat * (-to_left + to_front);
+        const point_t bl = pos + mat * (+to_left - to_front);
+        const point_t br = pos + mat * (-to_left - to_front);
+        const point_t front = pos + mat * (to_front * 2.0);
+
+
+        draw_line(fl, fr);
+        draw_line(fr, br);
+        draw_line(br, bl);
+        draw_line(bl, fl);
+
+        draw_line(pos, front);
+    }
+    void OdometryPage::update(bool was_pressed, int x, int y)
+    {
+        (void)x;
+        (void)y;
+        (void)was_pressed;
+    }
 } // namespace screen
 
 /*

From 89c81b7d34e630b52384a320e225af2c4e6b141e Mon Sep 17 00:00:00 2001
From: cowsed <richie.sommers@outlook.com>
Date: Tue, 10 Oct 2023 22:52:53 -0400
Subject: [PATCH 231/243] odometry map with trail

---
 include/subsystems/screen.h | 12 +++++++++--
 include/utils/geometry.h    |  6 ++++--
 src/subsystems/screen.cpp   | 43 ++++++++++++++++++++++++++++++-------
 3 files changed, 49 insertions(+), 12 deletions(-)

diff --git a/include/subsystems/screen.h b/include/subsystems/screen.h
index 861f529..b096bda 100644
--- a/include/subsystems/screen.h
+++ b/include/subsystems/screen.h
@@ -64,20 +64,28 @@ namespace screen
         static const int row_width = 200;
     };
 
+    /**
+     * @brief a page that shows odometry position and rotation and a map (if an sd card with the file is on)
+    */
     class OdometryPage : public Page
     {
     public:
-        OdometryPage(OdometryBase &odom, double width, double height);
+        OdometryPage(OdometryBase &odom, double width, double height, bool do_trail);
         void update(bool was_pressed, int x, int y) override;
         void draw(vex::brain::lcd &, bool first_draw, unsigned int frame_number) override;
 
     private:
+        static const int path_len = 40;
+        static constexpr char const *field_filename = "vex_field_240p.png";
+
         OdometryBase &odom;
         double width;
         double height;
         uint8_t *buf = nullptr;
         int buf_size = 0;
-        static constexpr char const *field_filename = "vex_field_240p.png";
+        pose_t path[path_len];
+        int path_index = 0;
+        bool do_trail;        
     };
 
     /// @brief Simple page that stores no internal data. the draw and update functions use only global data rather than storing anything
diff --git a/include/utils/geometry.h b/include/utils/geometry.h
index c01c186..52b34b8 100644
--- a/include/utils/geometry.h
+++ b/include/utils/geometry.h
@@ -54,10 +54,12 @@ struct point_t
         return {x / s, y / s};
     }
 
-    point_t operator-() const{
+    point_t operator-() const
+    {
         return {-x, -y};
     }
-    point_t operator+() const{
+    point_t operator+() const
+    {
         return {x, y};
     }
 
diff --git a/src/subsystems/screen.cpp b/src/subsystems/screen.cpp
index a0d52f6..40e11dc 100644
--- a/src/subsystems/screen.cpp
+++ b/src/subsystems/screen.cpp
@@ -214,13 +214,20 @@ namespace screen
         scr.printAt(50, 220, "Battery: %2.1fv  %2.0fC %d%%", b.Battery.voltage(), b.Battery.temperature(vex::temperatureUnits::celsius), b.Battery.capacity());
     }
 
-    OdometryPage::OdometryPage(OdometryBase &odom, double width, double height) : odom(odom), width(width), height(height)
+    OdometryPage::OdometryPage(OdometryBase &odom, double width, double height, bool do_trail) : odom(odom), width(width), height(height), do_trail(do_trail)
     {
         vex::brain b;
-
-        buf_size = b.SDcard.size(field_filename);
-        buf = (uint8_t *)malloc(buf_size);
-        b.SDcard.loadfile(field_filename, buf, buf_size);
+        if (b.SDcard.exists(field_filename))
+        {
+            buf_size = b.SDcard.size(field_filename);
+            buf = (uint8_t *)malloc(buf_size);
+            b.SDcard.loadfile(field_filename, buf, buf_size);
+        }
+        pose_t pos = odom.get_position();
+        for (int i = 0; i < path_len; i++)
+        {
+            path[i] = pos;
+        }
     }
 
     int in_to_px(double in)
@@ -231,6 +238,13 @@ namespace screen
 
     void OdometryPage::draw(vex::brain::lcd &scr, bool first_draw, unsigned int frame_number)
     {
+        if (do_trail)
+        {
+            path_index++;
+            path_index %= path_len;
+            path[path_index] = odom.get_position();
+        }
+
         auto to_px = [](const point_t p) -> point_t
         {
             return {(double)in_to_px(p.x) + 200, (double)in_to_px(-p.y) + 240};
@@ -241,7 +255,7 @@ namespace screen
             scr.drawLine((int)to_px(from).x, (int)to_px(from).y, (int)to_px(to).x, (int)to_px(to).y);
         };
 
-        pose_t pose = odom.get_position();
+        pose_t pose = path[path_index];
         point_t pos = pose.get_point();
         fflush(stdout);
         scr.printAt(45, 30, "(%.2f, %.2f)", pose.x, pose.y);
@@ -249,7 +263,7 @@ namespace screen
 
         if (buf == nullptr)
         {
-            scr.printAt(320, 110, "Field Image Not Found");
+            scr.printAt(180, 110, "Field Image Not Found");
             return;
         }
 
@@ -258,6 +272,20 @@ namespace screen
         point_t pos_px = to_px(pos);
         scr.drawCircle((int)pos_px.x, (int)pos_px.y, 3, vex::color::white);
 
+        if (do_trail)
+        {
+            pose_t last_pos = path[(path_index + 1) % path_len];
+            for (int i = path_index + 2; i < path_index + path_len; i++)
+            {
+                int j = i % path_len;
+                pose_t pose = path[j];
+                scr.setPenColor(vex::color(80, 80, 80));
+                draw_line(pose.get_point(), last_pos.get_point());
+                last_pos = pose;
+            }
+        }
+        scr.setPenColor(vex::color::white);
+
         Mat2 mat = Mat2::FromRotationDegrees(pose.rot - 90);
         const point_t to_left = point_t{-width / 2.0, 0};
         const point_t to_front = point_t{0.0, height / 2.0};
@@ -268,7 +296,6 @@ namespace screen
         const point_t br = pos + mat * (-to_left - to_front);
         const point_t front = pos + mat * (to_front * 2.0);
 
-
         draw_line(fl, fr);
         draw_line(fr, br);
         draw_line(br, bl);

From 4e2530202cd907dbc996358cadcdf18f41193681 Mon Sep 17 00:00:00 2001
From: Richard Sommers <44383226+cowsed@users.noreply.github.com>
Date: Sun, 15 Oct 2023 13:59:14 -0400
Subject: [PATCH 232/243] Update main.yml

---
 .github/workflows/main.yml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/main.yml b/.github/workflows/main.yml
index e93b7f8..9b1d5b7 100644
--- a/.github/workflows/main.yml
+++ b/.github/workflows/main.yml
@@ -6,7 +6,7 @@ name: Doxygen Action
 # events but only for the master branch
 on:
   push:
-    branches: [ master ]
+    branches: [ main ]
 
 
   

From d3cf9b7e913760a5046eeec3d0f296c301176b54 Mon Sep 17 00:00:00 2001
From: Ryan McGee <ramtech51@comcast.net>
Date: Tue, 31 Oct 2023 13:49:17 -0400
Subject: [PATCH 233/243] Update README.md

---
 README.md | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/README.md b/README.md
index 6e1e6b0..09e0eb1 100644
--- a/README.md
+++ b/README.md
@@ -4,6 +4,9 @@ This is the host repository for the custom VEX libraries used by the RIT VEXU te
 Automatically updated documentation is available at [here](https://rit-vex-u.github.io/Core/).
 There is also a downloadable [reference manual](https://rit-vex-u.github.io/Core/refman.pdf).
 
+![core_logo](https://github.com/RIT-VEX-U/Core/assets/12285261/e91c680b-5bf4-431c-b164-6631bef2a853)
+
+
 ## Getting Started
 In order to simply use this repo, you can either clone it into your VEXcode project folder, or download the .zip and place it into a core/ subfolder. Then follow the instructions for setting up compilation at [Wiki/BuildSystem](https://github.com/RIT-VEX-U/Core/wiki/1-%7C-Project-Setup#build-system)
 

From b95c030fcee38eeae2b6b76a579f778841fef88e Mon Sep 17 00:00:00 2001
From: Ryan McGee <ramtech51@comcast.net>
Date: Sun, 5 Nov 2023 13:35:17 -0500
Subject: [PATCH 234/243] git subrepo pull (merge) core

subrepo:
  subdir:   "core"
  merged:   "09f265d"
upstream:
  origin:   "git@github.com:RIT-VEX-U/Core.git"
  branch:   "main"
  commit:   "d3cf9b7"
git-subrepo:
  version:  "0.4.6"
  origin:   "???"
  commit:   "???"
---
 include/robot_specs.h                         |   4 +-
 include/subsystems/flywheel.h                 | 207 ++++-----
 include/subsystems/lift.h                     |   2 +-
 include/subsystems/mecanum_drive.h            |   2 +-
 include/subsystems/screen.h                   | 132 +++++-
 include/subsystems/tank_drive.h               |  57 +--
 include/utils/auto_chooser.h                  |  54 +--
 .../utils/command_structure/auto_command.h    |  80 +++-
 .../utils/command_structure/basic_command.h   | 118 +++++
 .../utils/command_structure/drive_commands.h  |  21 +-
 .../command_structure/flywheel_commands.h     |   4 +-
 include/utils/controls/bang_bang.h            |  50 +++
 include/utils/{ => controls}/feedback_base.h  |  16 +-
 include/utils/{ => controls}/feedforward.h    |   0
 .../utils/{ => controls}/motion_controller.h  |  13 +-
 include/utils/{ => controls}/pid.h            |  16 +-
 include/utils/{ => controls}/pidff.h          |  10 +-
 include/utils/controls/take_back_half.h       |  59 +++
 include/utils/controls/trapezoid_profile.h    | 162 +++++++
 include/utils/geometry.h                      |  37 +-
 include/utils/graph_drawer.h                  |  38 +-
 include/utils/logger.h                        |   2 +-
 include/utils/math_util.h                     |   7 +
 include/utils/moving_average.h                | 116 +++--
 include/utils/pure_pursuit.h                  |  33 ++
 include/utils/serializer.h                    |   9 +-
 include/utils/trapezoid_profile.h             |  87 ----
 src/subsystems/flywheel.cpp                   | 402 ++++++------------
 src/subsystems/screen.cpp                     | 351 +++++----------
 src/subsystems/tank_drive.cpp                 | 170 ++++----
 src/utils/auto_chooser.cpp                    | 118 +++--
 src/utils/command_structure/auto_command.cpp  | 112 ++++-
 src/utils/command_structure/basic_command.cpp |  89 ++++
 .../command_structure/command_controller.cpp  |  17 +-
 .../command_structure/drive_commands.cpp      |  45 +-
 .../command_structure/flywheel_commands.cpp   |   8 +-
 src/utils/controls/bang_bang.cpp              |  43 ++
 src/utils/{ => controls}/feedforward.cpp      |   6 +-
 .../{ => controls}/motion_controller.cpp      |  19 +-
 src/utils/{ => controls}/pid.cpp              |  33 +-
 src/utils/{ => controls}/pidff.cpp            |   6 +-
 src/utils/controls/take_back_half.cpp         | 120 ++++++
 src/utils/graph_drawer.cpp                    | 163 ++++---
 src/utils/math_util.cpp                       | 145 ++++---
 src/utils/moving_average.cpp                  | 123 ++++--
 src/utils/pure_pursuit.cpp                    | 101 +++--
 src/utils/serializer.cpp                      |  36 +-
 src/utils/trapezoid_profile.cpp               | 324 +++++++++++---
 48 files changed, 2401 insertions(+), 1366 deletions(-)
 create mode 100644 include/utils/command_structure/basic_command.h
 create mode 100644 include/utils/controls/bang_bang.h
 rename include/utils/{ => controls}/feedback_base.h (80%)
 rename include/utils/{ => controls}/feedforward.h (100%)
 rename include/utils/{ => controls}/motion_controller.h (92%)
 rename include/utils/{ => controls}/pid.h (90%)
 rename include/utils/{ => controls}/pidff.h (80%)
 create mode 100644 include/utils/controls/take_back_half.h
 create mode 100644 include/utils/controls/trapezoid_profile.h
 delete mode 100644 include/utils/trapezoid_profile.h
 create mode 100644 src/utils/command_structure/basic_command.cpp
 create mode 100644 src/utils/controls/bang_bang.cpp
 rename src/utils/{ => controls}/feedforward.cpp (95%)
 rename src/utils/{ => controls}/motion_controller.cpp (90%)
 rename src/utils/{ => controls}/pid.cpp (83%)
 rename src/utils/{ => controls}/pidff.cpp (91%)
 create mode 100644 src/utils/controls/take_back_half.cpp

diff --git a/include/robot_specs.h b/include/robot_specs.h
index baf9877..9a5fa0c 100644
--- a/include/robot_specs.h
+++ b/include/robot_specs.h
@@ -1,6 +1,6 @@
 #pragma once
-#include "../core/include/utils/pid.h"
-#include "../core/include/utils/feedback_base.h"
+#include "../core/include/utils/controls/pid.h"
+#include "../core/include/utils/controls/feedback_base.h"
 
 /**
  * Main robot characterization struct.
diff --git a/include/subsystems/flywheel.h b/include/subsystems/flywheel.h
index 31b8e94..c8c42b3 100644
--- a/include/subsystems/flywheel.h
+++ b/include/subsystems/flywheel.h
@@ -1,198 +1,139 @@
 #pragma once
-/*********************************************************
- *
- *     File:     Flywheel.h
- *     Purpose:  Generalized flywheel class for Core.
- *     Author:   Chris Nokes
- *
- **********************************************************
- * EDIT HISTORY
- **********************************************************
- * 09/23/2022  <CRN> Reorganized, added documentation.
- * 09/23/2022  <CRN> Added functions elaborated on in .cpp.
- *********************************************************/
-#include "../core/include/utils/feedforward.h"
+
+#include "../core/include/utils/controls/feedforward.h"
 #include "vex.h"
 #include "../core/include/robot_specs.h"
-#include "../core/include/utils/pid.h"
+#include "../core/include/utils/controls/pid.h"
 #include "../core/include/utils/command_structure/auto_command.h"
+#include "../core/include/subsystems/screen.h"
 #include <atomic>
 
-using namespace vex;
-
 /**
  * a Flywheel class that handles all control of a high inertia spinning disk
  * It gives multiple options for what control system to use in order to control wheel velocity and functions alerting the user when the flywheel is up to speed.
  * Flywheel is a set and forget class.
- * Once you create it you can call spinRPM or stop on it at any time and it will take all necessary steps to accomplish this
+ * Once you create it you can call spin_rpm or stop on it at any time and it will take all necessary steps to accomplish this
  *
  */
 class Flywheel
 {
-  enum FlywheelControlStyle
-  {
-    PID_Feedforward,
-    Feedforward,
-    Take_Back_Half,
-    Bang_Bang,
-  };
 
 public:
   // CONSTRUCTORS, GETTERS, AND SETTERS
   /**
    * Create the Flywheel object using PID + feedforward for control.
    * @param motors      pointer to the motors on the fly wheel
-   * @param pid_config  pointer the pid config to use
-   * @param ff_config   the feedforward config to use
-   * @param ratio       ratio of the whatever just multiplies the velocity
-   */
-  Flywheel(motor_group &motors, PID::pid_config_t &pid_config, FeedForward::ff_config_t &ff_config, const double ratio);
-
-  /**
-   * Create the Flywheel object using only feedforward for control
-   * @param motors    the motors on the fly wheel
-   * @param ff_config the feedforward config to use
-   * @param ratio     ratio of the whatever just multiplies the velocity
-   */
-  Flywheel(motor_group &motors, FeedForward::ff_config_t &ff_config, const double ratio);
-
-  /**
-   * Create the Flywheel object using Take Back Half for control
-   * @param motors   the motors on the fly wheel
-   * @param tbh_gain the TBH control paramater
-   * @param ratio    ratio of the whatever just multiplies the velocity
-   */
-  Flywheel(motor_group &motors, double tbh_gain, const double ratio);
-
-  /**
-   * Create the Flywheel object using Bang Bang for control
-   * @param motors the motors on the fly wheel
-   * @param ratio  ratio of the whatever just multiplies the velocity
-   */
-  Flywheel(motor_group &motors, const double ratio);
-
-  /**
-   * Return the RPM that the flywheel is currently trying to achieve
-   * @return RPM  the target rpm
+   * @param feedback    a feedback controleller
+   * @param helper      a feedforward config (only kV is used) to help the feedback controller along
+   * @param ratio       ratio of the gears from the motor to the flywheel just multiplies the velocity
+   * @param filter      the filter to use to smooth noisy motor readings
    */
-  double getDesiredRPM();
+  Flywheel(vex::motor_group &motors, Feedback &feedback, FeedForward &helper, const double ratio, Filter &filt);
 
   /**
-   * Checks if the background RPM controlling task is running
-   * @return true if the task is running
+   * Return the target_rpm that the flywheel is currently trying to achieve
+   * @return target_rpm  the target rpm
    */
-  bool isTaskRunning();
+  double get_target() const;
 
   /**
-   * Returns a POINTER to the motors
+   * return the velocity of the flywheel
    */
-  motor_group *getMotors();
+  double getRPM() const;
 
   /**
-   * make a measurement of the current RPM of the flywheel motor and return a smoothed version
+   * Returns the motors
    */
-  double measureRPM();
-
-  /**
-   * return the current smoothed velocity of the flywheel motors, in RPM
-   */
-  double getRPM();
-  /**
-   * Returns a POINTER to the PID.
-   */
-  PID *getPID();
-
-  /**
-   * returns the current OUT value of the PID - the value that the PID would set the motors to
-   */
-  double getPIDValue();
-
-  /**
-   * returns the current OUT value of the PID - the value that the PID would set the motors to
-   */
-  double getFeedforwardValue();
-
-  /**
-   * get the gain used for TBH control
-   */
-  double getTBHGain();
-
-  /**
-   * Sets the value of the PID target
-   * @param value - desired value of the PID
-   */
-  void setPIDTarget(double value);
-
-  /**
-   * updates the value of the PID
-   * @param value - value to update the PID with
-   */
-  void updatePID(double value);
-
-  // SPINNERS AND STOPPERS
-
-  /**
-   * Spin motors using voltage; defaults forward at 12 volts
-   * FOR USE BY TASKS ONLY
-   * @param speed - speed (between -1 and 1) to set the motor
-   * @param dir - direction that the motor moves in; defaults to forward
-   */
-  void spin_raw(double speed, directionType dir = fwd);
+  vex::motor_group &get_motors() const;
 
   /**
    * Spin motors using voltage; defaults forward at 12 volts
-   * FOR USE BY OPCONTROL AND AUTONOMOUS - this only applies if the RPM thread is not running
+   * FOR USE BY OPCONTROL AND AUTONOMOUS - this only applies if the target_rpm thread is not running
    * @param speed - speed (between -1 and 1) to set the motor
    * @param dir - direction that the motor moves in; defaults to forward
    */
   void spin_manual(double speed, directionType dir = fwd);
 
   /**
-   * starts or sets the RPM thread at new value
+   * starts or sets the target_rpm thread at new value
    * what control scheme is dependent on control_style
-   * @param rpm - the RPM we want to spin at
+   * @param rpm - the target_rpm we want to spin at
    */
-  void spinRPM(int rpm);
+  void spin_rpm(double rpm);
 
   /**
-   * stop the RPM thread and the wheel
+   * Stops the motors. If manually spinning, this will do nothing just call spin_mainual(0.0) to send 0 volts
    */
   void stop();
 
   /**
-   * stop only the motors; exclusively for BANG BANG use
+   * @brief check if the feedback controller thinks the flywheel is on target
+   * @return true if on target
    */
-  void stopMotors();
+  bool is_on_target()
+  {
+    return fb.is_on_target();
+  }
 
   /**
-   * Stop the motors if the task isn't running - stop manual control
+   *  @brief Creates a page displaying info about the flywheel
+   *  @return the page should be used for `screen::start_screen(screen, {fw.Page()});
    */
-  void stopNonTasks();
+  screen::Page *Page() const;
 
+  /**
+   * @brief Creates a new auto command to spin the flywheel at the desired velocity
+   * @param rpm the rpm to spin at
+   * @return an auto command to add to a command controller
+  */
   AutoCommand *SpinRpmCmd(int rpm)
   {
 
-    return new FunctionCommand([this]()
-                               {spinRPM(1000); return true; });
+    return new FunctionCommand([this, rpm]()
+                               {spin_rpm(rpm); return true; });
   }
 
+  /**
+   * @brief Creates a new auto command that will hold until the flywheel has its target as defined by its feedback controller
+   * @return an auto command to add to a command controller
+   */
   AutoCommand *WaitUntilUpToSpeedCmd()
   {
     return new WaitUntilCondition(
         new FunctionCondition([this]()
-                              { return RPM == smoothedRPM; }));
+                              { return is_on_target(); }));
   }
 
 private:
-  motor_group &motors;                // motors that make up the flywheel
-  bool taskRunning = false;           // is the task (thread but not) currently running?
-  PID pid;                            // PID on the flywheel
-  FeedForward ff;                     // FF constants for the flywheel
-  double TBH_gain;                    // TBH gain parameter for the flywheel
-  double ratio;                       // multiplies the velocity by this value
-  std::atomic<double> RPM;            // Desired RPM of the flywheel.
-  task rpmTask;                       // task (thread but not) that handles spinning the wheel at a given RPM
-  FlywheelControlStyle control_style; // how the flywheel should be controlled
-  double smoothedRPM;
-  MovingAverage RPM_avger;
+  friend class FlywheelPage;
+  friend int spinRPMTask(void *wheelPointer);
+
+  vex::motor_group &motors;       ///< motors that make up the flywheel
+  bool task_running = false;      ///< is the task currently running?
+  Feedback &fb;                   ///< Main Feeback controller
+  FeedForward &ff;                ///< Helper Feedforward Controller
+  vex::mutex fb_mut;              ///< guard for talking to the runner thread
+  double ratio;                   ///< ratio between motor and flywheel. For accurate RPM calcualation
+  std::atomic<double> target_rpm; ///< Desired RPM of the flywheel.
+  task rpm_task;                  ///< task that handles spinning the wheel at a given target_rpm
+  Filter &avger;            ///< Moving average to smooth out noise from
+
+  // Functions for internal use only
+  /**
+   * Sets the target rpm of the flywheel
+   * @param value - desired RPM
+   */
+  void set_target(double value);
+  /**
+   * make a measurement of the current target_rpm of the flywheel motor and return a smoothed version
+   */
+  double measure_RPM();
+
+  /**
+   * Spin motors using voltage; defaults forward at 12 volts
+   * FOR USE BY TASKS ONLY
+   * @param speed - speed (between -1 and 1) to set the motor
+   * @param dir - direction that the motor moves in; defaults to forward
+   */
+  void spin_raw(double speed, directionType dir = fwd);
 };
\ No newline at end of file
diff --git a/include/subsystems/lift.h b/include/subsystems/lift.h
index d04ddc4..2b45fa7 100644
--- a/include/subsystems/lift.h
+++ b/include/subsystems/lift.h
@@ -1,7 +1,7 @@
 #pragma once
 
 #include "vex.h"
-#include "../core/include/utils/pid.h"
+#include "../core/include/utils/controls/pid.h"
 #include <iostream>
 #include <map>
 #include <atomic>
diff --git a/include/subsystems/mecanum_drive.h b/include/subsystems/mecanum_drive.h
index fdc4777..97f3cdb 100644
--- a/include/subsystems/mecanum_drive.h
+++ b/include/subsystems/mecanum_drive.h
@@ -1,7 +1,7 @@
 #pragma once
 
 #include "vex.h"
-#include "../core/include/utils/pid.h"
+#include "../core/include/utils/controls/pid.h"
 
 #ifndef PI
 #define PI 3.141592654
diff --git a/include/subsystems/screen.h b/include/subsystems/screen.h
index b096bda..d5ebcea 100644
--- a/include/subsystems/screen.h
+++ b/include/subsystems/screen.h
@@ -3,7 +3,11 @@
 #include <vector>
 #include <functional>
 #include <map>
+#include <cassert>
 #include "../core/include/subsystems/odometry/odometry_base.h"
+#include "../core/include/utils/graph_drawer.h"
+#include "../core/include/utils/controls/pid.h"
+#include "../core/include/utils/controls/pidff.h"
 
 namespace screen
 {
@@ -31,6 +35,68 @@ namespace screen
                           unsigned int frame_number);
     };
 
+    /// @brief Widget that updates a double value. Updates by reference so watch out for race conditions cuz the screen stuff lives on another thread
+    class SliderWidget
+    {
+    public:
+        /// @brief Creates a slider widget
+        /// @param val reference to the value to modify
+        /// @param low minimum value to go to
+        /// @param high maximum value to go to
+        /// @param rect rect to draw it
+        /// @param name name of the value
+        SliderWidget(double &val, double low, double high, Rect rect, std::string name) : value(val), low(low), high(high), rect(rect), name(name) {}
+
+        /// @brief responds to user input
+        /// @param was_pressed if the screen is pressed
+        /// @param x x position if the screen was pressed
+        /// @param y y position if the screen was pressed
+        /// @return true if the value updated
+        bool update(bool was_pressed, int x, int y);
+        /// @brief @ref Page::draws the slide to the screen
+        void draw(vex::brain::lcd &, bool first_draw, unsigned int frame_number);
+
+    private:
+        double &value;
+
+        double low;
+        double high;
+
+        Rect rect;
+        std::string name = "";
+    };
+
+    /// @brief Widget that does something when you tap it. The function is only called once when you first tap it
+    class ButtonWidget
+    {
+    public:
+        /// @brief Create a Button widget
+        /// @param onpress the function to be called when the button is tapped
+        /// @param rect the area the button should take up on the screen
+        /// @param name the label put on the button
+        ButtonWidget(std::function<void(void)> onpress, Rect rect, std::string name) : onpress(onpress), rect(rect), name(name) {}
+        /// @brief Create a Button widget
+        /// @param onpress the function to be called when the button is tapped
+        /// @param rect the area the button should take up on the screen
+        /// @param name the label put on the button
+        ButtonWidget(void (*onpress)(), Rect rect, std::string name) : onpress(onpress), rect(rect), name(name) {}
+
+        /// @brief responds to user input
+        /// @param was_pressed if the screen is pressed
+        /// @param x x position if the screen was pressed
+        /// @param y y position if the screen was pressed
+        /// @return true if the button was pressed
+        bool update(bool was_pressed, int x, int y);
+        /// @brief draws the button to the screen
+        void draw(vex::brain::lcd &, bool first_draw, unsigned int frame_number);
+
+    private:
+        std::function<void(void)> onpress;
+        Rect rect;
+        std::string name = "";
+        bool was_pressed_last = false;
+    };
+
     /**
      * @brief Start the screen background task. Once you start this, no need to draw to the screen manually elsewhere
      * @param screen reference to the vex screen
@@ -39,6 +105,7 @@ namespace screen
      */
     void start_screen(vex::brain::lcd &screen, std::vector<Page *> pages, int first_page = 0);
 
+    /// @brief stops the screen. If you have a drive team that hates fun call this at the start of opcontrol
     void stop_screen();
 
     /// @brief  type of function needed for update
@@ -47,11 +114,17 @@ namespace screen
     /// @brief  type of function needed for draw
     using draw_func_t = std::function<void(vex::brain::lcd &screen, bool, unsigned int)>;
 
+
+    /// @brief Draws motor stats and battery stats to the screen 
     class StatsPage : public Page
     {
     public:
+        /// @brief Creates a stats page
+        /// @param motors a map of string to motor that we want to draw on this page
         StatsPage(std::map<std::string, vex::motor &> motors);
+        /// @brief @see Page#update
         void update(bool was_pressed, int x, int y) override;
+        /// @brief @see Page#draw
         void draw(vex::brain::lcd &, bool first_draw, unsigned int frame_number) override;
 
     private:
@@ -66,12 +139,19 @@ namespace screen
 
     /**
      * @brief a page that shows odometry position and rotation and a map (if an sd card with the file is on)
-    */
+     */
     class OdometryPage : public Page
     {
     public:
-        OdometryPage(OdometryBase &odom, double width, double height, bool do_trail);
+        /// @brief Create an odometry trail. Make sure odometry is initilized before now
+        /// @param odom the odometry system to monitor
+        /// @param robot_width the width (side to side) of the robot in inches. Used for visualization
+        /// @param robot_height the robot_height (front to back) of the robot in inches. Used for visualization
+        /// @param do_trail whether or not to calculate and draw the trail. Drawing and storing takes a very *slight* extra amount of processing power 
+        OdometryPage(OdometryBase &odom, double robot_width, double robot_height, bool do_trail);
+        /// @brief @see Page#update
         void update(bool was_pressed, int x, int y) override;
+        /// @brief @see Page#draw
         void draw(vex::brain::lcd &, bool first_draw, unsigned int frame_number) override;
 
     private:
@@ -79,22 +159,26 @@ namespace screen
         static constexpr char const *field_filename = "vex_field_240p.png";
 
         OdometryBase &odom;
-        double width;
-        double height;
+        double robot_width;
+        double robot_height;
         uint8_t *buf = nullptr;
         int buf_size = 0;
         pose_t path[path_len];
         int path_index = 0;
-        bool do_trail;        
+        bool do_trail;
     };
 
     /// @brief Simple page that stores no internal data. the draw and update functions use only global data rather than storing anything
     class FunctionPage : public Page
     {
     public:
+        /// @brief Creates a function page
+        /// @param update_f the function called every tick to respond to user input or do data collection
+        /// @param draw_t the function called to draw to the screen
         FunctionPage(update_func_t update_f, draw_func_t draw_t);
-
+        /// @brief @see Page#update
         void update(bool was_pressed, int x, int y) override;
+        /// @brief @see Page#draw
         void draw(vex::brain::lcd &, bool first_draw, unsigned int frame_number) override;
 
     private:
@@ -102,4 +186,40 @@ namespace screen
         draw_func_t draw_f;
     };
 
+    /// @brief PIDPage provides a way to tune a pid controller on the screen
+    class PIDPage : public Page
+    {
+    public:
+        /// @brief Create a PIDPage
+        /// @param pid the pid controller we're changing
+        /// @param name a name to recognize this pid controller if we've got multiple pid screens
+        /// @param onchange a function that is called when a tuning parameter is changed. If you need to update stuff on that change register a handler here
+        PIDPage(PID &pid, std::string name, std::function<void(void)> onchange = [](){});
+        PIDPage(PIDFF &pidff, std::string name, std::function<void(void)> onchange = [](){});
+
+        /// @brief @see Page#update
+        void update(bool was_pressed, int x, int y) override;
+        /// @brief @see Page#draw
+        void draw(vex::brain::lcd &, bool first_draw, unsigned int frame_number) override;
+
+    private:
+        /// @brief reset d
+        void zero_d_f() { cfg.d = 0; }
+        /// @brief reset i
+        void zero_i_f() { cfg.i = 0; }
+
+        PID::pid_config_t &cfg;
+        PID &pid;
+        const std::string name;
+        std::function<void(void)> onchange;
+
+        SliderWidget p_slider;
+        SliderWidget i_slider;
+        SliderWidget d_slider;
+        ButtonWidget zero_i;
+        ButtonWidget zero_d;
+
+        GraphDrawer graph;
+    };
+
 }
diff --git a/include/subsystems/tank_drive.h b/include/subsystems/tank_drive.h
index 02edee4..c2826de 100644
--- a/include/subsystems/tank_drive.h
+++ b/include/subsystems/tank_drive.h
@@ -6,8 +6,8 @@
 
 #include "vex.h"
 #include "../core/include/subsystems/odometry/odometry_tank.h"
-#include "../core/include/utils/pid.h"
-#include "../core/include/utils/feedback_base.h"
+#include "../core/include/utils/controls/pid.h"
+#include "../core/include/utils/controls/feedback_base.h"
 #include "../core/include/robot_specs.h"
 #include "../core/include/utils/pure_pursuit.h"
 #include "../core/include/utils/command_structure/auto_command.h"
@@ -31,20 +31,20 @@ class TankDrive
    */
   TankDrive(motor_group &left_motors, motor_group &right_motors, robot_specs_t &config, OdometryBase *odom = NULL);
 
-  AutoCommand *DriveToPointCmd(point_t pt, vex::directionType dir = vex::forward, double max_speed = 1.0);
-  AutoCommand *DriveToPointCmd(Feedback &fb, point_t pt, vex::directionType dir = vex::forward, double max_speed = 1.0);
+  AutoCommand *DriveToPointCmd(point_t pt, vex::directionType dir = vex::forward, double max_speed = 1.0, double end_speed = 0.0);
+  AutoCommand *DriveToPointCmd(Feedback &fb, point_t pt, vex::directionType dir = vex::forward, double max_speed = 1.0, double end_speed = 0.0);
 
-  AutoCommand *DriveForwardCmd(double dist, vex::directionType dir = vex::forward, double max_speed = 1.0);
-  AutoCommand *DriveForwardCmd(Feedback &fb, double dist, vex::directionType dir = vex::forward, double max_speed = 1.0);
+  AutoCommand *DriveForwardCmd(double dist, vex::directionType dir = vex::forward, double max_speed = 1.0, double end_speed = 0.0);
+  AutoCommand *DriveForwardCmd(Feedback &fb, double dist, vex::directionType dir = vex::forward, double max_speed = 1.0, double end_speed = 0.0);
 
-  AutoCommand *TurnToHeadingCmd(double heading, double max_speed = 1.0);
-  AutoCommand *TurnToHeadingCmd(Feedback &fb, double heading, double max_speed = 1.0);
+  AutoCommand *TurnToHeadingCmd(double heading, double max_speed = 1.0, double end_speed = 0.0);
+  AutoCommand *TurnToHeadingCmd(Feedback &fb, double heading, double max_speed = 1.0, double end_speed = 0.0);
 
-  AutoCommand *TurnDegreesCmd(double degrees, double max_speed = 1.0);
-  AutoCommand *TurnDegreesCmd(Feedback &fb, double degrees, double max_speed = 1.0);
+  AutoCommand *TurnDegreesCmd(double degrees, double max_speed = 1.0, double start_speed = 0.0);
+  AutoCommand *TurnDegreesCmd(Feedback &fb, double degrees, double max_speed = 1.0, double end_speed = 0.0);
 
-  AutoCommand *PurePursuitCmd(std::vector<point_t> path, directionType dir, double radius, double max_speed=1);
-  AutoCommand *PurePursuitCmd(Feedback &feedback, std::vector<point_t> path, directionType dir, double radius, double max_speed=1);
+  AutoCommand *PurePursuitCmd(PurePursuit::Path path, directionType dir, double max_speed=1, double end_speed=0);
+  AutoCommand *PurePursuitCmd(Feedback &feedback, PurePursuit::Path path, directionType dir, double max_speed=1, double end_speed=0);
 
   /**
    * Stops rotation of all the motors using their "brake mode"
@@ -83,9 +83,10 @@ class TankDrive
    * @param dir        the direction we want to travel forward and backward
    * @param feedback   the custom feedback controller we will use to travel. controls the rate at which we accelerate and drive.
    * @param max_speed  the maximum percentage of robot speed at which the robot will travel. 1 = full power
+   * @param end_speed    the movement profile will attempt to reach this velocity by its completion
    * @return true when we have reached our target distance
    */
-  bool drive_forward(double inches, directionType dir, Feedback &feedback, double max_speed = 1);
+  bool drive_forward(double inches, directionType dir, Feedback &feedback, double max_speed = 1, double end_speed = 0);
 
   /**
    * Autonomously drive the robot forward a certain distance
@@ -94,8 +95,9 @@ class TankDrive
    * @param inches      degrees by which we will turn relative to the robot (+) turns ccw, (-) turns cw
    * @param dir        the direction we want to travel forward and backward
    * @param max_speed   the maximum percentage of robot speed at which the robot will travel. 1 = full power
+   * @param end_speed   the movement profile will attempt to reach this velocity by its completion
    */
-  bool drive_forward(double inches, directionType dir, double max_speed = 1);
+  bool drive_forward(double inches, directionType dir, double max_speed = 1, double end_speed = 0);
 
   /**
    * Autonomously turn the robot X degrees counterclockwise (negative for clockwise), with a maximum motor speed
@@ -107,7 +109,7 @@ class TankDrive
    * @param feedback    the feedback controller we will use to travel. controls the rate at which we accelerate and drive.
    * @param max_speed   the maximum percentage of robot speed at which the robot will travel. 1 = full power
    */
-  bool turn_degrees(double degrees, Feedback &feedback, double max_speed = 1);
+  bool turn_degrees(double degrees, Feedback &feedback, double max_speed = 1, double end_speed = 0);
 
   /**
    * Autonomously turn the robot X degrees to counterclockwise (negative for clockwise), with a maximum motor speed
@@ -117,8 +119,9 @@ class TankDrive
    *
    * @param degrees     degrees by which we will turn relative to the robot (+) turns ccw, (-) turns cw
    * @param max_speed   the maximum percentage of robot speed at which the robot will travel. 1 = full power
-   */
-  bool turn_degrees(double degrees, double max_speed = 1);
+   * @param end_speed   the movement profile will attempt to reach this velocity by its completion
+   */  
+  bool turn_degrees(double degrees, double max_speed = 1, double end_speed = 0);
 
   /**
    * Use odometry to automatically drive the robot to a point on the field.
@@ -130,8 +133,9 @@ class TankDrive
    * @param dir        the direction we want to travel forward and backward
    * @param feedback   the feedback controller we will use to travel. controls the rate at which we accelerate and drive.
    * @param max_speed  the maximum percentage of robot speed at which the robot will travel. 1 = full power
+   * @param end_speed  the movement profile will attempt to reach this velocity by its completion
    */
-  bool drive_to_point(double x, double y, vex::directionType dir, Feedback &feedback, double max_speed = 1);
+  bool drive_to_point(double x, double y, vex::directionType dir, Feedback &feedback, double max_speed = 1, double end_speed = 0);
 
   /**
    * Use odometry to automatically drive the robot to a point on the field.
@@ -143,8 +147,9 @@ class TankDrive
    * @param y          the y position of the target
    * @param dir        the direction we want to travel forward and backward
    * @param max_speed  the maximum percentage of robot speed at which the robot will travel. 1 = full power
+   * @param end_speed  the movement profile will attempt to reach this velocity by its completion
    */
-  bool drive_to_point(double x, double y, vex::directionType dir, double max_speed = 1);
+  bool drive_to_point(double x, double y, vex::directionType dir, double max_speed = 1, double end_speed = 0);
 
   /**
    * Turn the robot in place to an exact heading relative to the field.
@@ -153,16 +158,18 @@ class TankDrive
    * @param heading_deg the heading to which we will turn
    * @param feedback    the feedback controller we will use to travel. controls the rate at which we accelerate and drive.
    * @param max_speed  the maximum percentage of robot speed at which the robot will travel. 1 = full power
+   * @param end_speed  the movement profile will attempt to reach this velocity by its completion
    */
-  bool turn_to_heading(double heading_deg, Feedback &feedback, double max_speed = 1);
+  bool turn_to_heading(double heading_deg, Feedback &feedback, double max_speed = 1, double end_speed = 0);
   /**
    * Turn the robot in place to an exact heading relative to the field.
    * 0 is forward. Uses the defualt turn feedback of the drive system
    *
    * @param heading_deg the heading to which we will turn
    * @param max_speed  the maximum percentage of robot speed at which the robot will travel. 1 = full power
+   * @param end_speed  the movement profile will attempt to reach this velocity by its completion
    */
-  bool turn_to_heading(double heading_deg, double max_speed = 1);
+  bool turn_to_heading(double heading_deg, double max_speed = 1, double end_speed = 0);
 
   /**
    * Reset the initialization for autonomous drive functions
@@ -186,12 +193,12 @@ class TankDrive
    * 
    * @param path The list of coordinates to follow, in order
    * @param dir Run the bot forwards or backwards
-   * @param radius How big the corner cutting should be - small values follow the path more closely
    * @param feedback The feedback controller determining speed
    * @param max_speed Limit the speed of the robot (for pid / pidff feedbacks)
+   * @param end_speed the movement profile will attempt to reach this velocity by its completion
    * @return True when the path is complete
   */
-  bool pure_pursuit(std::vector<point_t> path, directionType dir, double radius, Feedback &feedback, double max_speed=1);
+  bool pure_pursuit(PurePursuit::Path path, directionType dir, Feedback &feedback, double max_speed=1, double end_speed=0);
 
   /**
    * Drive the robot autonomously using a pure-pursuit algorithm - Input path with a set of 
@@ -202,11 +209,11 @@ class TankDrive
    * 
    * @param path The list of coordinates to follow, in order
    * @param dir Run the bot forwards or backwards
-   * @param radius How big the corner cutting should be - small values follow the path more closely
    * @param max_speed Limit the speed of the robot (for pid / pidff feedbacks)
+   * @param end_speed the movement profile will attempt to reach this velocity by its completion
    * @return True when the path is complete
   */
-  bool pure_pursuit(std::vector<point_t> path, directionType dir, double radius, double max_speed=1);
+  bool pure_pursuit(PurePursuit::Path path, directionType dir, double max_speed=1, double end_speed=0);
 
 private:
   motor_group &left_motors;  ///< left drive motors
diff --git a/include/utils/auto_chooser.h b/include/utils/auto_chooser.h
index e42f1d4..59562b6 100644
--- a/include/utils/auto_chooser.h
+++ b/include/utils/auto_chooser.h
@@ -2,57 +2,49 @@
 #include "vex.h"
 #include <string>
 #include <vector>
-
+#include "../core/include/subsystems/screen.h"
+#include "../core/include/utils/geometry.h"
 
 /**
  * Autochooser is a utility to make selecting robot autonomous programs easier
  * source: RIT VexU Wiki
- * During a season, we usually code between 4 and 6 autonomous programs. 
+ * During a season, we usually code between 4 and 6 autonomous programs.
  * Most teams will change their entire robot program as a way of choosing autonomi
- * but this may cause issues if you have an emergency patch to upload during a competition. 
+ * but this may cause issues if you have an emergency patch to upload during a competition.
  * This class was built as a way of using the robot screen to list autonomous programs, and the touchscreen to select them.
  */
-class AutoChooser
+class AutoChooser : public screen::Page
 {
-  public:
-/**
-  * Initialize the auto-chooser. This class places a choice menu on the brain screen,
-  * so the driver can choose which autonomous to run.
-  * @param brain the brain on which to draw the selection boxes
-  */
-  AutoChooser(vex::brain &brain);
-  
+public:
   /**
-   * Add an auto path to the chooser
-   * @param name The name of the path. This should be used as an human readable identifier to the auto path
-  */
-  void add(std::string name);
+   * Initialize the auto-chooser. This class places a choice menu on the brain screen,
+   * so the driver can choose which autonomous to run.
+   * @param brain the brain on which to draw the selection boxes
+   */
+  AutoChooser(std::vector<std::string> paths, size_t def = 0);
+
+  void update(bool was_pressed, int x, int y);
+  void draw(vex::brain::lcd &, bool first_draw, unsigned int frame_number);
 
   /**
    * Get the currently selected auto choice
    * @return the identifier to the auto path
-  */
-  std::string get_choice();
-
-  protected:
+   */
+  size_t get_choice();
 
+protected:
   /**
    *  entry_t is a datatype used to store information that the chooser knows about an auto selection button
-   */ 
+   */
   struct entry_t
   {
-    int x; /**< screen x position of the block*/ 
-    int y; /**< screen y position of the block*/ 
-    int width; /**< width of the block*/ 
-    int height; /**< height of the block*/ 
-    std::string name; /**< name of the auto repretsented by the block*/ 
+    Rect rect;
+    std::string name; /**< name of the auto repretsented by the block*/
   };
 
-  void render(entry_t *selected);
+  static const size_t width = 380;
+  static const size_t height = 220;
 
-  std::string choice; /**< the current choice of auto*/
+  size_t choice; /**< the current choice of auto*/
   std::vector<entry_t> list /**< a list of all possible auto choices*/;
-  vex::brain &brain; /**< the brain to show the choices on*/
-
-
 };
\ No newline at end of file
diff --git a/include/utils/command_structure/auto_command.h b/include/utils/command_structure/auto_command.h
index 066cb20..fa8528e 100644
--- a/include/utils/command_structure/auto_command.h
+++ b/include/utils/command_structure/auto_command.h
@@ -12,6 +12,25 @@
 #include <queue>
 #include <atomic>
 
+
+/**
+ * A Condition is a function that returns true or false
+ * is_even is a predicate that would return true if a number is even
+ * For our purposes, a Condition is a choice to be made at runtime
+ * drive_sys.reached_point(10, 30) is a predicate
+ * time.has_elapsed(10, vex::seconds) is a predicate
+ * extend this class for different choices you wish to make
+
+ */
+class Condition
+{
+public:
+  Condition *Or(Condition *b);
+  Condition *And(Condition *b);
+  virtual bool test() = 0;
+};
+
+
 class AutoCommand
 {
 public:
@@ -36,6 +55,10 @@ class AutoCommand
     this->timeout_seconds = t_seconds;
     return this;
   }
+  AutoCommand *withCancelCondition(Condition *true_to_end){
+    this->true_to_end = true_to_end;
+    return this;
+  }
   /**
    * How long to run until we cancel this command.
    * If the command is cancelled, on_timeout() is called to allow any cleanup from the function.
@@ -46,6 +69,7 @@ class AutoCommand
    * - something else...
    */
   double timeout_seconds = default_timeout;
+  Condition *true_to_end = nullptr;
 };
 
 /**
@@ -65,19 +89,29 @@ class FunctionCommand : public AutoCommand
   std::function<bool(void)> f;
 };
 
-/**
- * A Condition is a function that returns true or false
- * is_even is a predicate that would return true if a number is even
- * For our purposes, a Condition is a choice to be made at runtime
- * drive_sys.reached_point(10, 30) is a predicate
- * time.has_elapsed(10, vex::seconds) is a predicate
- * extend this class for different choices you wish to make
-
- */
-class Condition
+// Times tested 3
+// Test 1 -> false
+// Test 2 -> false
+// Test 3 -> true
+// Returns false until the Nth time that it is called
+// This is pretty much only good for implementing RepeatUntil
+class TimesTestedCondition : public Condition
 {
 public:
-  virtual bool test() = 0;
+  TimesTestedCondition(size_t N) : max(N) {}
+  bool test() override
+  {
+    count++;
+    if (count >= max)
+    {
+      return true;
+    }
+    return false;
+  }
+
+private:
+  size_t count = 0;
+  size_t max;
 };
 
 /// @brief FunctionCondition is a quick and dirty Condition to wrap some expression that should be evaluated at runtime
@@ -121,11 +155,15 @@ class WaitUntilCondition : public AutoCommand
   Condition *cond;
 };
 
+/// @brief InOrder runs its commands sequentially then continues.
+/// How to handle timeout in this case. Automatically set it to sum of commands timouts?
+
 /// @brief InOrder runs its commands sequentially then continues.
 /// How to handle timeout in this case. Automatically set it to sum of commands timouts?
 class InOrder : public AutoCommand
 {
 public:
+  InOrder(const InOrder &other) = default;
   InOrder(std::queue<AutoCommand *> cmds);
   InOrder(std::initializer_list<AutoCommand *> cmds);
   bool run() override;
@@ -183,3 +221,23 @@ class Async : public AutoCommand
 private:
   AutoCommand *cmd = nullptr;
 };
+
+class RepeatUntil : public AutoCommand
+{
+public:
+  /// @brief RepeatUntil that runs a fixed number of times
+  /// @param cmds the cmds to repeat
+  /// @param repeats the number of repeats to do
+  RepeatUntil(InOrder cmds, size_t repeats);
+  /// @brief RepeatUntil the condition
+  /// @param cmds the cmds to run
+  /// @param true_to_end we will repeat until true_or_end.test() returns true
+  RepeatUntil(InOrder cmds, Condition *true_to_end);
+  bool run() override;
+  void on_timeout() override;
+
+private:
+  const InOrder cmds;
+  InOrder *working_cmds;
+  Condition *cond;
+};
diff --git a/include/utils/command_structure/basic_command.h b/include/utils/command_structure/basic_command.h
new file mode 100644
index 0000000..6df7306
--- /dev/null
+++ b/include/utils/command_structure/basic_command.h
@@ -0,0 +1,118 @@
+/**
+ * @file basic_commands.h
+ * @author Ethan Kishimori GITHUB(LilacEthan)
+ * 
+ * @brief Basic Commands for Motors and Solenoids able to throw into the Command Controller
+ *  Commands Included
+ *      - BasicSpinCommand
+ *      - BasicStopCommand
+ *      - BasicSolenoidSet
+ * 
+ * @version 0.1
+ * 
+ */
+#pragma once
+
+#include "../core/include/utils/command_structure/auto_command.h"
+ 
+//Basic Motor Classes-----------------------------------------------
+
+/**
+ * AutoCommand wrapper class for BasicSpinCommand
+ * using the vex hardware functions
+ */
+class BasicSpinCommand : public AutoCommand {
+    public:
+
+     //Enumurator for the type of power setting in the motor
+     enum type {percent,voltage,veocity};
+
+     /**
+     * @brief Construct a new BasicSpinCommand
+     *      
+     * @param motor Motor to spin
+     * @param direc Direction of motor spin
+     * @param setting Power setting in volts,percentage,velocity
+     * @param power Value of desired power
+     */
+     BasicSpinCommand(vex::motor &motor, vex::directionType dir, BasicSpinCommand::type setting, double power);
+
+     /**
+     * @brief Runs the BasicSpinCommand 
+     * Overrides run from Auto Command
+     * 
+     * @return True Async running command
+     */
+     bool run() override; 
+
+    private:
+
+     vex::motor &motor;
+
+     type setting;
+
+     vex::directionType dir;
+
+     double power;
+};
+/**
+ * AutoCommand wrapper class for BasicStopCommand
+ * Using the Vex hardware functions
+ */
+class BasicStopCommand : public AutoCommand{
+    public:
+
+     /**
+      * @brief Construct a new BasicMotorStop Command 
+      * 
+      * @param motor The motor to stop
+      * @param setting The brake setting for the motor
+      */
+     BasicStopCommand(vex::motor &motor, vex::brakeType setting);
+
+     /**
+      * @brief Runs the BasicMotorStop Command
+      * Overrides run command from AutoCommand
+      * 
+      * @return True Command runs once
+      */
+     bool run() override;
+
+    private:
+
+     vex::motor &motor;
+
+     vex::brakeType setting;
+};
+
+//Basic Solenoid Commands----------------------------------
+
+/**
+ * AutoCommand wrapper class for BasicSolenoidSet
+ * Using the Vex hardware functions
+ */
+class BasicSolenoidSet : public AutoCommand{
+    public:
+
+     /**
+     * @brief Construct a new BasicSolenoidSet Command
+     * 
+     * @param solenoid Solenoid being set
+     * @param setting Setting of the solenoid in boolean (true,false)
+     */
+     BasicSolenoidSet(vex::pneumatics &solenoid, bool setting);
+
+     /**
+     * @brief Runs the BasicSolenoidSet
+     * Overrides run command from AutoCommand
+     * 
+     * @return True Command runs once
+     */
+     bool run() override;
+
+    private:
+
+     vex::pneumatics &solenoid;
+
+     bool setting;
+};
\ No newline at end of file
diff --git a/include/utils/command_structure/drive_commands.h b/include/utils/command_structure/drive_commands.h
index b7636ff..ee590fb 100644
--- a/include/utils/command_structure/drive_commands.h
+++ b/include/utils/command_structure/drive_commands.h
@@ -36,7 +36,7 @@ using namespace vex;
 class DriveForwardCommand: public AutoCommand 
 {
   public:
-    DriveForwardCommand(TankDrive &drive_sys, Feedback &feedback, double inches, directionType dir, double max_speed=1);
+    DriveForwardCommand(TankDrive &drive_sys, Feedback &feedback, double inches, directionType dir, double max_speed=1, double end_speed=0);
 
     /**
      * Run drive_forward
@@ -60,6 +60,7 @@ class DriveForwardCommand: public AutoCommand
     double inches;
     directionType dir;
     double max_speed;
+    double end_speed;
 };
 
 /**
@@ -69,7 +70,7 @@ class DriveForwardCommand: public AutoCommand
 class TurnDegreesCommand: public AutoCommand 
 {
   public:
-    TurnDegreesCommand(TankDrive &drive_sys, Feedback &feedback, double degrees, double max_speed = 1);
+    TurnDegreesCommand(TankDrive &drive_sys, Feedback &feedback, double degrees, double max_speed = 1, double end_speed = 0);
 
     /**
      * Run turn_degrees
@@ -93,6 +94,7 @@ class TurnDegreesCommand: public AutoCommand
     // parameters for turn_degrees
     double degrees;
     double max_speed;
+    double end_speed;
 };
 
 /**
@@ -102,8 +104,8 @@ class TurnDegreesCommand: public AutoCommand
 class DriveToPointCommand: public AutoCommand 
 {
   public:
-    DriveToPointCommand(TankDrive &drive_sys, Feedback &feedback, double x, double y, directionType dir, double max_speed = 1);
-    DriveToPointCommand(TankDrive &drive_sys, Feedback &feedback, point_t point, directionType dir, double max_speed=1);
+    DriveToPointCommand(TankDrive &drive_sys, Feedback &feedback, double x, double y, directionType dir, double max_speed = 1, double end_speed = 0);
+    DriveToPointCommand(TankDrive &drive_sys, Feedback &feedback, point_t point, directionType dir, double max_speed=1, double end_speed = 0);
 
     /**
      * Run drive_to_point
@@ -130,6 +132,7 @@ class DriveToPointCommand: public AutoCommand
     double y;
     directionType dir;
     double max_speed;
+    double end_speed;
     
 };
 
@@ -141,7 +144,7 @@ class DriveToPointCommand: public AutoCommand
 class TurnToHeadingCommand: public AutoCommand 
 {
   public:
-    TurnToHeadingCommand(TankDrive &drive_sys, Feedback &feedback, double heading_deg, double speed = 1);
+    TurnToHeadingCommand(TankDrive &drive_sys, Feedback &feedback, double heading_deg, double speed = 1, double end_speed = 0);
 
     /**
      * Run turn_to_heading
@@ -165,6 +168,7 @@ class TurnToHeadingCommand: public AutoCommand
     // parameters for turn_to_heading
     double heading_deg;
     double max_speed;
+    double end_speed;
 };
 
 /**
@@ -178,11 +182,10 @@ class PurePursuitCommand: public AutoCommand
    * 
    * @param path The list of coordinates to follow, in order
    * @param dir Run the bot forwards or backwards
-   * @param radius How big the corner cutting should be - small values follow the path more closely
    * @param feedback The feedback controller determining speed
    * @param max_speed Limit the speed of the robot (for pid / pidff feedbacks)
   */
-  PurePursuitCommand(TankDrive &drive_sys, Feedback &feedback, std::vector<point_t> path, directionType dir, double radius, double max_speed=1);
+  PurePursuitCommand(TankDrive &drive_sys, Feedback &feedback, PurePursuit::Path path, directionType dir, double max_speed=1, double end_speed=0);
 
   /**
    * Direct call to TankDrive::pure_pursuit
@@ -196,11 +199,11 @@ class PurePursuitCommand: public AutoCommand
 
   private:
   TankDrive &drive_sys;
-  std::vector<point_t> path;
+  PurePursuit::Path path;
   directionType dir;
-  double radius;
   Feedback &feedback;
   double max_speed;
+  double end_speed;
 
 };
 
diff --git a/include/utils/command_structure/flywheel_commands.h b/include/utils/command_structure/flywheel_commands.h
index 133c210..04bf8f5 100644
--- a/include/utils/command_structure/flywheel_commands.h
+++ b/include/utils/command_structure/flywheel_commands.h
@@ -10,7 +10,7 @@
 #include "../core/include/utils/command_structure/auto_command.h"
 
 /**
- * AutoCommand wrapper class for the spinRPM function
+ * AutoCommand wrapper class for the spin_rpm function
  * in the Flywheel class
  *
  */
@@ -34,7 +34,7 @@ class SpinRPMCommand: public AutoCommand {
     // Flywheel instance to run the function on
     Flywheel &flywheel;
 
-    // parameters for spinRPM
+    // parameters for spin_rpm
     int rpm;
 };
 
diff --git a/include/utils/controls/bang_bang.h b/include/utils/controls/bang_bang.h
new file mode 100644
index 0000000..aeba17d
--- /dev/null
+++ b/include/utils/controls/bang_bang.h
@@ -0,0 +1,50 @@
+#include "../core/include/utils/controls/feedback_base.h"
+
+class BangBang : public Feedback
+{
+
+public:
+    BangBang(double thresshold, double low, double high);
+    /**
+     * Initialize the feedback controller for a movement
+     *
+     * @param start_pt the current sensor value
+     * @param set_pt where the sensor value should be
+     * @param start_vel Movement starting velocity
+     * @param end_vel Movement ending velocity
+     */
+    void init(double start_pt, double set_pt, double start_vel [[maybe_unused]] = 0.0, double end_vel [[maybe_unused]] = 0.0) override;
+
+    /**
+     * Iterate the feedback loop once with an updated sensor value
+     *
+     * @param val value from the sensor
+     * @return feedback loop result
+     */
+    double update(double val) override;
+
+    /**
+     * @return the last saved result from the feedback controller
+     */
+    double get() override;
+
+    /**
+     * Clamp the upper and lower limits of the output. If both are 0, no limits should be applied.
+     *
+     * @param lower Upper limit
+     * @param upper Lower limit
+     */
+    void set_limits(double lower, double upper) override;
+
+    /**
+     * @return true if the feedback controller has reached it's setpoint
+     */
+    bool is_on_target() override;
+
+private:
+    double setpt;
+    double sensor_val;
+    double lower_bound, upper_bound;
+    double last_output;
+    double threshhold;
+};
diff --git a/include/utils/feedback_base.h b/include/utils/controls/feedback_base.h
similarity index 80%
rename from include/utils/feedback_base.h
rename to include/utils/controls/feedback_base.h
index 19d45a9..9b9c625 100644
--- a/include/utils/feedback_base.h
+++ b/include/utils/controls/feedback_base.h
@@ -10,20 +10,15 @@
 class Feedback
 {
 public:
-    enum FeedbackType
-    {
-        PIDType,
-        FeedforwardType,
-        OtherType,
-    };
-
     /**
      * Initialize the feedback controller for a movement
      *
      * @param start_pt the current sensor value
      * @param set_pt where the sensor value should be
+     * @param start_vel Movement starting velocity
+     * @param end_vel Movement ending velocity
      */
-    virtual void init(double start_pt, double set_pt) = 0;
+    virtual void init(double start_pt, double set_pt, double start_vel = 0.0, double end_vel = 0.0) = 0;
 
     /**
      * Iterate the feedback loop once with an updated sensor value
@@ -51,8 +46,5 @@ class Feedback
      */
     virtual bool is_on_target() = 0;
 
-    virtual Feedback::FeedbackType get_type()
-    {
-        return FeedbackType::OtherType;
-    }
+
 };
\ No newline at end of file
diff --git a/include/utils/feedforward.h b/include/utils/controls/feedforward.h
similarity index 100%
rename from include/utils/feedforward.h
rename to include/utils/controls/feedforward.h
diff --git a/include/utils/motion_controller.h b/include/utils/controls/motion_controller.h
similarity index 92%
rename from include/utils/motion_controller.h
rename to include/utils/controls/motion_controller.h
index 6683934..03bbce6 100644
--- a/include/utils/motion_controller.h
+++ b/include/utils/controls/motion_controller.h
@@ -1,8 +1,8 @@
 #pragma once
-#include "../core/include/utils/pid.h"
-#include "../core/include/utils/feedforward.h"
-#include "../core/include/utils/trapezoid_profile.h"
-#include "../core/include/utils/feedback_base.h"
+#include "../core/include/utils/controls/pid.h"
+#include "../core/include/utils/controls/feedforward.h"
+#include "../core/include/utils/controls/trapezoid_profile.h"
+#include "../core/include/utils/controls/feedback_base.h"
 #include "../core/include/subsystems/tank_drive.h"
 #include "vex.h"
 
@@ -54,7 +54,7 @@ class MotionController : public Feedback
      * @brief Initialize the motion profile for a new movement
      * This will also reset the PID and profile timers.
      */
-    void init(double start_pt, double end_pt) override;
+    void init(double start_pt, double end_pt, double start_vel, double end_vel) override;
     
     /**
      * @brief Update the motion profile with a new sensor value
@@ -117,6 +117,9 @@ class MotionController : public Feedback
     FeedForward ff;
     TrapezoidProfile profile;
 
+    double current_pos;
+    double end_pt;
+
     double lower_limit = 0, upper_limit = 0;
     double out = 0;
     motion_t cur_motion;
diff --git a/include/utils/pid.h b/include/utils/controls/pid.h
similarity index 90%
rename from include/utils/pid.h
rename to include/utils/controls/pid.h
index 4ff41e3..a2b3557 100644
--- a/include/utils/pid.h
+++ b/include/utils/controls/pid.h
@@ -2,7 +2,7 @@
 
 #include <cmath>
 #include "vex.h"
-#include "../core/include/utils/feedback_base.h"
+#include "../core/include/utils/controls/feedback_base.h"
 
 using namespace vex;
 
@@ -63,8 +63,10 @@ class PID : public Feedback
    * start_pt can be safely ignored in this feedback controller
    * @param start_pt commpletely ignored for PID. necessary to satisfy Feedback base
    * @param set_pt sets the target of the PID controller
+   * @param start_vel completely ignored for PID. necessary to satisfy Feedback base
+   * @param end_vel sets the target end velocity of the PID controller
    */
-  void init(double start_pt, double set_pt) override;
+  void init(double start_pt, double set_pt, double start_vel = 0, double end_vel = 0) override;
 
   /**
    * Update the PID loop by taking the time difference from last update,
@@ -74,6 +76,14 @@ class PID : public Feedback
    */
   double update(double sensor_val) override;
 
+  
+  /**
+   * @brief gets the sensor value that we were last updated with
+   * @return sensor_val
+  */
+  double get_sensor_val();
+
+
   /**
    * Gets the current PID out value, from when update() was last run
    * @return the Out value of the controller (voltage, RPM, whatever the PID controller is controlling)
@@ -117,7 +127,6 @@ class PID : public Feedback
    */
   void set_target(double target);
 
-  Feedback::FeedbackType get_type() override;
 
   pid_config_t &config; ///< configuration struct for this controller. see pid_config_t for information about what this contains
 
@@ -134,6 +143,7 @@ class PID : public Feedback
   double upper_limit = 0; ///< the PID controller will never set a target to go higher than this
 
   double target = 0; ///< the target position of the PID controller (lower_limit <= target <= upper_limit)
+  double target_vel = 0; ///< the target velocity of the PID controller (if != 0, controller will not wait for stop)
   double sensor_val = 0; ///< the last recorded value of the sensor we use to feed the PID controller
   double out = 0; ///< the last calculated output value. we save it here so that we don't have to recalculate if we ask for it more than once between update() calls
 
diff --git a/include/utils/pidff.h b/include/utils/controls/pidff.h
similarity index 80%
rename from include/utils/pidff.h
rename to include/utils/controls/pidff.h
index a09c6d3..f2c8219 100644
--- a/include/utils/pidff.h
+++ b/include/utils/controls/pidff.h
@@ -1,7 +1,7 @@
 #pragma once
-#include "../core/include/utils/feedback_base.h"
-#include "../core/include/utils/pid.h"
-#include "../core/include/utils/feedforward.h"
+#include "../core/include/utils/controls/feedback_base.h"
+#include "../core/include/utils/controls/pid.h"
+#include "../core/include/utils/controls/feedforward.h"
 
 class PIDFF : public Feedback
 {
@@ -14,8 +14,10 @@ class PIDFF : public Feedback
      * 
      * @param start_pt the current sensor value
      * @param set_pt where the sensor value should be
+     * @param start_vel the current rate of change of the sensor value
+     * @param end_vel the desired ending rate of change of the sensor value
      */
-    void init(double start_pt, double set_pt) override;
+    void init(double start_pt, double set_pt, double start_vel, double end_vel) override;
 
     /**
      * Set the target of the PID loop
diff --git a/include/utils/controls/take_back_half.h b/include/utils/controls/take_back_half.h
new file mode 100644
index 0000000..692660f
--- /dev/null
+++ b/include/utils/controls/take_back_half.h
@@ -0,0 +1,59 @@
+#pragma once
+#include "../core/include/utils/controls/feedback_base.h"
+
+/// @brief A velocity controller
+/// @warning If you try to use this as a position controller, it will fail.
+class TakeBackHalf : public Feedback
+{
+
+public:
+    TakeBackHalf(double TBH_gain, double first_cross_split, double on_target_threshold);
+    /**
+     * Initialize the feedback controller for a movement
+     *
+     * @param start_pt the current sensor value
+     * @param set_pt where the sensor value should be
+     * @param start_vel Movement starting velocity (IGNORED)
+     * @param end_vel Movement ending velocity (IGNORED)
+     */
+    void init(double start_pt, double set_pt, double, double);
+    /**
+     * Iterate the feedback loop once with an updated sensor value
+     *
+     * @param val value from the sensor
+     * @return feedback loop result
+     */
+    double update(double val) override;
+
+    /**
+     * @return the last saved result from the feedback controller
+     */
+    double get() override;
+
+    /**
+     * Clamp the upper and lower limits of the output. If both are 0, no limits should be applied.
+     *
+     * @param lower Upper limit
+     * @param upper Lower limit
+     */
+    void set_limits(double lower, double upper) override;
+
+    /**
+     * @return true if the feedback controller has reached it's setpoint
+     */
+    bool is_on_target() override;
+
+    double TBH_gain;             ///< tuned parameter
+    double first_cross_split; 
+private:
+    double on_target_threshhold; ///< tuned parameter
+
+    double target = 0.0;
+
+    bool first_cross = true;
+    double tbh = 0.0;
+    double prev_error = 0.0;
+
+    double output = 0.0;
+    double lower = 0.0, upper = 0.0; ///< output limits
+};
\ No newline at end of file
diff --git a/include/utils/controls/trapezoid_profile.h b/include/utils/controls/trapezoid_profile.h
new file mode 100644
index 0000000..0f2756c
--- /dev/null
+++ b/include/utils/controls/trapezoid_profile.h
@@ -0,0 +1,162 @@
+#pragma once
+
+const int MAX_TRAPEZOID_PROFILE_SEGMENTS = 4;
+
+/**
+ * motion_t is a description of 1 dimensional motion at a point in time.
+*/
+typedef struct
+{
+    double pos;   ///< 1d position at this point in time
+    double vel;   ///< 1d velocity at this point in time
+    double accel; ///< 1d acceleration at this point in time
+
+} motion_t;
+
+/**
+ * trapezoid_profile_segment_t is a description of one constant acceleration segment of a trapezoid motion profile
+ */
+typedef struct
+{
+    double pos_after; ///< 1d position after this segment concludes
+    double vel_after; ///< 1d velocity after this segment concludes
+    double accel;     ///< 1d acceleration during the segment
+    double duration;  ///< duration of the segment
+} trapezoid_profile_segment_t;
+
+/**
+ * Trapezoid Profile
+ *
+ * This is a motion profile defined by:
+ * - maximum acceleration
+ * - maximum velocity
+ * - start position and velocity
+ * - end position and velocity
+ *
+ * Using this information, a parametric function is generated, with a period of acceleration, constant
+ * velocity, and deceleration. The velocity graph usually looks like a trapezoid, giving it its name.
+ *
+ * If the maximum velocity is set high enough, this will become a S-curve profile, with only acceleration and deceleration.
+ *
+ * If the initial velocity is in the wrong direction, the profile will first come to a stop, then continue a normal
+ * trapezoid profile.
+ *
+ * If the initial velocity is higher than the maximum velocity, the profile will first try to achieve the maximum velocity.
+ *
+ * If the end velocity is not achievable, the profile will try to get as close as possible. The end velocity must
+ * be in the direction of the end point.
+ *
+ * This class is designed for use in properly modelling the motion of the robots to create a feedfoward
+ * and target for PID. Acceleration and Maximum velocity should be measured on the robot and tuned down
+ * slightly to account for battery drop.
+ *
+ * Here are the equations graphed for ease of understanding:
+ * https://www.desmos.com/calculator/rkm3ivu1yk
+ *
+ * @author Ryan McGee
+ * @date 7/12/2022
+ *
+ */
+class TrapezoidProfile
+{
+    public:
+
+    /**
+     * @brief Construct a new Trapezoid Profile object
+     *
+     * @param max_v Maximum velocity the robot can run at
+     * @param accel Maximum acceleration of the robot
+     */
+    TrapezoidProfile(double max_v, double accel);
+
+    /**
+     * @brief Run the trapezoidal profile based on the time and distance that's elapsed
+     *
+     * @param time_s Time since start of movement
+     * @param pos_s The current position
+     * @return motion_t Position, velocity and acceleration
+     */
+    motion_t calculate(double time_s, double pos_s);
+
+    /**
+     * @brief Run the trapezoidal profile based on the time that's elapsed
+     *
+     * @param time_s Time since start of movement
+     * @return motion_t Position, velocity and acceleration
+     */
+    motion_t calculate_time_based(double time_s);
+
+    /**
+     * @brief set_endpts defines a start and end position
+     *
+     * @param start the starting position of the path
+     * @param end the ending position of the path
+     */
+    void set_endpts(double start, double end);
+
+    /**
+     * @brief set start and end velocities
+     *
+     * @param start the starting velocity of the path
+     * @param end the ending velocity of the path
+     */
+    void set_vel_endpts(double start, double end);
+
+    /**
+     * @brief set_accel sets the acceleration this profile will use (the left and right legs of the trapezoid)
+     *
+     * @param accel the acceleration amount to use
+    */
+    void set_accel(double accel);
+
+    /**
+     * @brief sets the maximum velocity for the profile (the height of the top of the trapezoid)
+     *
+     * @param max_v the maximum velocity the robot can travel at
+    */
+    void set_max_v(double max_v);
+
+    /**
+     * @brief uses the kinematic equations to and specified accel and max_v to figure out how long moving along the profile would take
+     *
+     * @return the time the path will take to travel
+    */
+    double get_movement_time();
+
+    private:
+    double si, sf; ///< the initial and final position of the profile
+    double vi, vf; ///< the initial and final velocity of the profile
+    double max_v; ///< the maximum velocity to travel at for this profile
+    double accel; ///< the rate of acceleration to use for this profile.
+
+    trapezoid_profile_segment_t segments[MAX_TRAPEZOID_PROFILE_SEGMENTS];
+    int num_acceleration_phases;
+
+    bool precalculated; ///< whether or not the segment array is up to date
+
+    /**
+     * Attempt to generate the motion profile for the given parameters
+     *
+     * @return False if there was a problem with the parameters
+     */
+    bool precalculate();
+
+    /**
+     * Calculate a trapezoid segment given a target velocity that accelerates to the given velocity
+     *
+     * @param si segment initial position
+     * @param vi segment initial velocity
+     * @param v_target target velocity
+     * @return a trapezoid_profile_segment_t that represents constant acceleration to the target velocity
+     */
+    trapezoid_profile_segment_t calculate_kinetic_motion(double si, double vi, double v_target);
+
+    /**
+     * Calculate the next segment of the trapezoid motion profile
+     *
+     * @param s segment starting position
+     * @param v segment starting velocity
+     * @return the next segment of the trapezoid motion profile
+     */
+    trapezoid_profile_segment_t calculate_next_segment(double s, double v);
+};
\ No newline at end of file
diff --git a/include/utils/geometry.h b/include/utils/geometry.h
index 52b34b8..c6e18a9 100644
--- a/include/utils/geometry.h
+++ b/include/utils/geometry.h
@@ -24,7 +24,7 @@ struct point_t
      * @param other the point to add on to this
      * @return this + other (this.x + other.x, this.y + other.y)
      */
-    point_t operator+(const point_t &other)
+    point_t operator+(const point_t &other) const
     {
         point_t p{
             .x = this->x + other.x,
@@ -37,7 +37,7 @@ struct point_t
      * @param other the point_t to subtract from this
      * @return this - other (this.x - other.x, this.y - other.y)
      */
-    point_t operator-(const point_t &other)
+    point_t operator-(const point_t &other) const
     {
         point_t p{
             .x = this->x - other.x,
@@ -72,7 +72,7 @@ struct point_t
 /**
  *  Describes a single position and rotation
  */
-typedef struct
+struct pose_t
 {
     double x;   ///< x position in the world
     double y;   ///< y position in the world
@@ -83,7 +83,36 @@ typedef struct
         return point_t{.x = x, .y = y};
     }
 
-} pose_t;
+} ;
+
+struct Rect
+{
+    point_t min;
+    point_t max;
+    static Rect from_min_and_size(point_t min, point_t size){
+        return {min, min+size};
+    }
+    point_t dimensions() const
+    {
+        return max - min;
+    }
+    point_t center() const{
+        return (min + max)/2;
+    }
+    double width() const{
+        return max.x - min.x;
+    }
+    double height() const{
+        return max.y - min.y;
+    }
+    bool contains(point_t p) const
+    {
+        bool xin = p.x > min.x && p.x < max.x;
+        bool yin = p.y > min.y && p.y < max.y;
+        return xin && yin;
+    }
+
+};
 
 struct Mat2
 {
diff --git a/include/utils/graph_drawer.h b/include/utils/graph_drawer.h
index 09cce09..9273389 100644
--- a/include/utils/graph_drawer.h
+++ b/include/utils/graph_drawer.h
@@ -11,23 +11,25 @@
 class GraphDrawer
 {
 public:
+  /// @brief Creates a graph drawer with the specified number of series (each series is a separate line)
+  /// @param num_samples the number of samples to graph at a time (40 will graph the last 40 data points)
+  /// @param lower_bound the bottom of the window when displaying (if upper_bound = lower_bound, auto calculate bounds)
+  /// @param upper_bound the top of the window when displaying (if upper_bound = lower_bound, auto calculate bounds)
+  /// @param colors the colors of the series. must be of size num_series
+  /// @param num_series the number of series to graph
+  GraphDrawer(int num_samples, double lower_bound, double upper_bound, std::vector<vex::color> colors, size_t num_series = 1);
   /**
-   * Construct a GraphDrawer
-   * @brief a helper class to graph values on the brain screen
-   * @param screen a reference to Brain.screen we can save for later
-   * @param num_samples the graph works on a fixed window and will plot the last `num_samples` before the history is forgotten. Larger values give more context but may slow down if you have many graphs or an exceptionally high
-   * @param x_label the name of the x axis (currently unused)
-   * @param y_label the name of the y axis (currently unused)
-   * @param draw_border whether to draw the border around the graph. can be turned off if there are multiple graphs in the same space ie. a graph of error and output
-   * @param lower_bound the bottom of the window to graph. if lower_bound == upperbound, the graph will scale to it's datapoints
-   * @param upper_bound the top of the window to graph. if lower_bound == upperbound, the graph will scale to it's datapoints
+   * add_samples adds a point to the graph, removing one from the back
+   * @param sample an x, y coordinate of the next point to graph
    */
-  GraphDrawer(vex::brain::lcd &screen, int num_samples, std::string x_label, std::string y_label, vex::color col, bool draw_border, double lower_bound, double upper_bound);
+  void add_samples(std::vector<point_t> sample);
+
   /**
-   * add_sample adds a point to the graph, removing one from the back
-   * @param sample an x, y coordinate of the next point to graph
+   * add_samples adds a point to the graph, removing one from the back
+   * @param sample a y coordinate of the next point to graph, the x coordinate is gotten from vex::timer::system(); (time in ms)
    */
-  void add_sample(point_t sample);
+  void add_samples(std::vector<double> sample);
+
   /**
    * draws the graph to the screen in the constructor
    * @param x x position of the top left of the graphed region
@@ -35,17 +37,15 @@ class GraphDrawer
    * @param width the width of the graphed region
    * @param height the height of the graphed region
    */
-  void draw(int x, int y, int width, int height);
+  void draw(vex::brain::lcd &screen, int x, int y, int width, int height);
 
 private:
-  vex::brain::lcd &Screen;
-  std::vector<point_t> samples;
+  std::vector<std::vector<point_t>> series;
   int sample_index = 0;
-  std::string xlabel;
-  std::string ylabel;
-  vex::color col = vex::red;
+  std::vector<vex::color> cols;
   vex::color bgcol = vex::transparent;
   bool border;
   double upper;
   double lower;
+  bool auto_fit = false;
 };
diff --git a/include/utils/logger.h b/include/utils/logger.h
index 3194841..159baa6 100644
--- a/include/utils/logger.h
+++ b/include/utils/logger.h
@@ -26,7 +26,7 @@ class Logger
 
 public:
     /// @brief  maximum size for a string to be before it's written
-    const int MAX_FORMAT_LEN = 512;
+    static constexpr int MAX_FORMAT_LEN = 512;
     /// @brief  Create a logger that will save to a file
     /// @param filename the file to save to
     explicit Logger(const std::string &filename);
diff --git a/include/utils/math_util.h b/include/utils/math_util.h
index 8cfc91c..d419a6e 100644
--- a/include/utils/math_util.h
+++ b/include/utils/math_util.h
@@ -14,6 +14,13 @@
 **/
 double clamp(double value, double low, double high);
 
+/**
+ * @brief Linearly intERPolate between values
+ * @param a at t = 0, output = a
+ * @param b at t = 1, output = b
+ * @return a linear mixing of a and b according to t
+*/
+double lerp(double a, double b, double t);
 /**
 * Returns the sign of a number
 * @param x
diff --git a/include/utils/moving_average.h b/include/utils/moving_average.h
index 39bb9a0..099b5db 100644
--- a/include/utils/moving_average.h
+++ b/include/utils/moving_average.h
@@ -1,20 +1,32 @@
 #pragma once
 #include <vector>
 
+/**
+ * Interface for filters
+ * Use add_entry to supply data and get_value to retrieve the filtered value
+ */
+class Filter
+{
+public:
+  virtual void add_entry(double n) = 0;
+  virtual double get_value() const = 0;
+};
+
 /**
  * MovingAverage
  *
- * A moving average is a way of smoothing out noisy data. For many sensor readings, the noise is roughly symmetric around the actual value. 
+ * A moving average is a way of smoothing out noisy data. For many sensor readings, the noise is roughly symmetric around the actual value.
  * This means that if you collect enough samples those that are too high are cancelled out by the samples that are too low leaving the real value.
  *
- * The MovingAverage class provides a simple interface to do this smoothing from our noisy sensor values. 
+ * The MovingAverage class provides a simple interface to do this smoothing from our noisy sensor values.
  *
- * WARNING: because we need a lot of samples to get the actual value, the value given by the MovingAverage will 'lag' behind the actual value that the sensor is reading. 
- * Using a MovingAverage is thus a tradeoff between accuracy and lag time (more samples) vs. less accuracy and faster updating (less samples).  
+ * WARNING: because we need a lot of samples to get the actual value, the value given by the MovingAverage will 'lag' behind the actual value that the sensor is reading.
+ * Using a MovingAverage is thus a tradeoff between accuracy and lag time (more samples) vs. less accuracy and faster updating (less samples).
  *
  */
-class MovingAverage {
-  public:
+class MovingAverage : public Filter
+{
+public:
   /*
    * Create a moving average calculator with 0 as the default value
    *
@@ -29,33 +41,89 @@ class MovingAverage {
   MovingAverage(int buffer_size, double starting_value);
 
   /*
-  * Add a reading to the buffer
-  * Before:
-  * [ 1 1 2 2 3 3] => 2
-  *   ^
-  * After:
-  * [ 2 1 2 2 3 3] => 2.16
-  *     ^ 
-  * @param n  the sample that will be added to the moving average.
-  */
+   * Add a reading to the buffer
+   * Before:
+   * [ 1 1 2 2 3 3] => 2
+   *   ^
+   * After:
+   * [ 2 1 2 2 3 3] => 2.16
+   *     ^
+   * @param n  the sample that will be added to the moving average.
+   */
   void add_entry(double n);
 
   /**
    * Returns the average based off of all the samples collected so far
    * @return the calculated average. sum(samples)/numsamples
    */
-  double get_average();
+  double get_value() const;
 
   /**
-  * How many samples the average is made from
-  * @return the number of samples used to calculate this average
-  */ 
-  int get_size();
+   * How many samples the average is made from
+   * @return the number of samples used to calculate this average
+   */
+  int get_size() const;
+
+private:
+  int buffer_index;           // index of the next value to be overridden
+  std::vector<double> buffer; // all current data readings we've taken
+  double current_avg;         // the current value of the data
+};
+
+/**
+ * ExponentialMovingAverage
+ *
+ * An exponential moving average is a way of smoothing out noisy data. For many sensor readings, the noise is roughly symmetric around the actual value.
+ * This means that if you collect enough samples those that are too high are cancelled out by the samples that are too low leaving the real value.
+ *
+ * A simple mobing average lags significantly with time as it has to counteract old samples. An exponential moving average keeps more up to date by
+ * weighting newer readings higher than older readings so it is more up to date while also still smoothed.
+ *
+ * The ExponentialMovingAverage class provides an simple interface to do this smoothing from our noisy sensor values.
+ *
+ */
+class ExponentialMovingAverage : public Filter
+{
+public:
+  /*
+   * Create a moving average calculator with 0 as the default value
+   *
+   * @param buffer_size    The size of the buffer. The number of samples that constitute a valid reading
+   */
+  ExponentialMovingAverage(int buffer_size);
+  /*
+   * Create a moving average calculator with a specified default value
+   * @param buffer_size    The size of the buffer. The number of samples that constitute a valid reading
+   * @param starting_value The value that the average will be before any data is added
+   */
+  ExponentialMovingAverage(int buffer_size, double starting_value);
+
+  /*
+   * Add a reading to the buffer
+   * Before:
+   * [ 1 1 2 2 3 3] => 2
+   *   ^
+   * After:
+   * [ 2 1 2 2 3 3] => 2.16
+   *     ^
+   * @param n  the sample that will be added to the moving average.
+   */
+  void add_entry(double n);
 
+  /**
+   * Returns the average based off of all the samples collected so far
+   * @return the calculated average. sum(samples)/numsamples
+   */
+  double get_value();
 
-  private:
-    int buffer_index;               //index of the next value to be overridden
-    std::vector<double> buffer;     //all current data readings we've taken 
-    double current_avg;             //the current value of the data
+  /**
+   * How many samples the average is made from
+   * @return the number of samples used to calculate this average
+   */
+  int get_size();
 
+private:
+  int buffer_index;           // index of the next value to be overridden
+  std::vector<double> buffer; // all current data readings we've taken
+  double current_avg;         // the current value of the data
 };
\ No newline at end of file
diff --git a/include/utils/pure_pursuit.h b/include/utils/pure_pursuit.h
index 9d3b17c..3fd8edb 100644
--- a/include/utils/pure_pursuit.h
+++ b/include/utils/pure_pursuit.h
@@ -8,6 +8,39 @@
 using namespace vex;
 
 namespace PurePursuit {
+  /**
+   * Wrapper for a vector of points, checking if any of the points are too close for pure pursuit
+   */
+  class Path
+  {
+    public:
+      /**
+       * Create a Path
+       * @param points the points that make up the path
+       * @param radius the lookahead radius for pure pursuit
+       */
+      Path(std::vector<point_t> points, double radius);
+
+      /**
+       * Get the points associated with this Path
+       */
+      std::vector<point_t> get_points();
+
+      /**
+       * Get the radius associated with this Path
+       */
+      double get_radius();
+      
+      /**
+       * Get whether this path will behave as expected
+       */
+      bool is_valid();
+    
+    private:
+      std::vector<point_t> points;
+      double radius;
+      bool valid;
+  };
   /**
    * Represents a piece of a cubic spline with s(x) = a(x-xi)^3 + b(x-xi)^2 + c(x-xi) + d
    * The x_start and x_end shows where the equation is valid.
diff --git a/include/utils/serializer.h b/include/utils/serializer.h
index bf29138..327b653 100644
--- a/include/utils/serializer.h
+++ b/include/utils/serializer.h
@@ -4,11 +4,12 @@
 #include <string>
 #include <vector>
 #include <stdio.h>
+#include <vex.h>
 
 /// @brief character that will be used to seperate values
 const char serialization_separator = '$';
 /// @brief max file size that the system can deal with
-const std::size_t MAX_FILE_SIZE = 4096; 
+const std::size_t MAX_FILE_SIZE = 4096;
 
 /// @brief Serializes Arbitrary data to a file on the SD Card
 class Serializer
@@ -36,7 +37,11 @@ class Serializer
     /// @brief create a Serializer
     /// @param filename the file to read from. If filename does not exist we will create that file
     /// @param flush_always If true, after every write flush to a file. If false, you are responsible for calling save_to_disk
-    explicit Serializer(const std::string &filename, bool flush_always = true) : flush_always(flush_always), filename(filename), ints({}), bools({}), doubles({}), strings({}) { read_from_disk(); }
+    explicit Serializer(const std::string &filename, bool flush_always = true) : flush_always(flush_always), filename(filename), ints({}), bools({}), doubles({}), strings({})
+
+    {
+        read_from_disk();
+    }
 
     /// @brief saves current Serializer state to disk
     void save_to_disk() const;
diff --git a/include/utils/trapezoid_profile.h b/include/utils/trapezoid_profile.h
deleted file mode 100644
index 865d342..0000000
--- a/include/utils/trapezoid_profile.h
+++ /dev/null
@@ -1,87 +0,0 @@
-#pragma once
-
-/**
- * motion_t is a description of 1 dimensional motion at a point in time.
-*/
-typedef struct
-{
-    double pos;   ///< 1d position at this point in time
-    double vel;   ///< 1d velocity at this point in time
-    double accel; ///< 1d acceleration at this point in time
-
-} motion_t;
-
-/**
- * Trapezoid Profile
- * 
- * This is a motion profile defined by an acceleration, maximum velocity, start point and end point.
- * Using this information, a parametric function is generated, with a period of acceleration, constant
- * velocity, and deceleration. The velocity graph looks like a trapezoid, giving it it's name.
- * 
- * If the maximum velocity is set high enough, this will become a S-curve profile, with only acceleration and deceleration.
- * 
- * This class is designed for use in properly modelling the motion of the robots to create a feedfoward
- * and target for PID. Acceleration and Maximum velocity should be measured on the robot and tuned down
- * slightly to account for battery drop.
- * 
- * Here are the equations graphed for ease of understanding:
- * https://www.desmos.com/calculator/rkm3ivu1yk
- * 
- * @author Ryan McGee
- * @date 7/12/2022
- * 
- */
-class TrapezoidProfile
-{
-    public:
-
-    /**
-     * @brief Construct a new Trapezoid Profile object
-     * 
-     * @param max_v Maximum velocity the robot can run at
-     * @param accel Maximum acceleration of the robot
-     */
-    TrapezoidProfile(double max_v, double accel);
-
-    /**
-     * @brief Run the trapezoidal profile based on the time that's ellapsed
-     * 
-     * @param time_s Time since start of movement
-     * @return motion_t Position, velocity and acceleration
-     */
-    motion_t calculate(double time_s);
-
-    /**
-     * set_endpts defines a start and end position 
-     * @param start the starting position of the path
-     * @param end the ending position of the path
-     */
-    void set_endpts(double start, double end);
-
-    /**
-     * set_accel sets the acceleration this profile will use (the left and right legs of the trapezoid)
-     * @param accel the acceleration amount to use
-    */
-    void set_accel(double accel);
-
-    /**
-     * sets the maximum velocity for the profile
-     * (the height of the top of the trapezoid)
-     * @param max_v the maximum velocity the robot can travel at
-    */
-    void set_max_v(double max_v);
-
-    /**
-     * uses the kinematic equations to and specified accel and max_v to figure out how long moving along the profile would take
-     * @return the time the path will take to travel 
-    */
-    double get_movement_time();
-
-    private:
-    double start, end; ///< the start and ending position of the profile
-    double max_v; ///< the maximum velocity to travel at for this profile
-    double accel; ///< the rate of acceleration to use for this profile.
-    double time; ///< the current point in time along the path
-    
-
-};
\ No newline at end of file
diff --git a/src/subsystems/flywheel.cpp b/src/subsystems/flywheel.cpp
index 01a2c2a..b740c58 100644
--- a/src/subsystems/flywheel.cpp
+++ b/src/subsystems/flywheel.cpp
@@ -1,307 +1,185 @@
-/*********************************************************
-*
-*     File:     Flywheel.cpp
-*     Purpose:  Generalized flywheel class for Core.
-*     Author:   Chris Nokes, Richie Sommers
-*     
-**********************************************************
-* EDIT HISTORY
-**********************************************************
-* 09/16/2022  <CRN> Created file, added constructor, spins, RPM setting, stop.
-* 09/18/2022  <CRN> Added async functionality.
-* 09/22/2022  <CRN> Documentation improvements, fixed error if RPM is set but motor is stopped.
-* 09/23/2022  <CRN> Neatened up program, added getters and setters, fixed documentation and bang bang.
-* 09/29/2022  <CRN> Bug fixes, RPM handling. Multiplied the motor by 18.
-*********************************************************/
-
 #include "../core/include/subsystems/flywheel.h"
-#include "../core/include/utils/feedforward.h"
-#include "../core/include/utils/pid.h"
+#include "../core/include/utils/controls/feedforward.h"
+#include "../core/include/utils/controls/pid.h"
 #include "../core/include/utils/math_util.h"
+#include "../core/include/subsystems/screen.h"
+#include "../core/include/utils/graph_drawer.h"
 #include "vex.h"
 
 using namespace vex;
 
-const int FlywheelWindowSize = 20;
-
 /*********************************************************
-*         CONSTRUCTOR, GETTERS, SETTERS
-*********************************************************/
-//used when using bang bang or TBH control
-PID::pid_config_t empty_pid = PID::pid_config_t{};
-FeedForward::ff_config_t empty_ff = FeedForward::ff_config_t{};
-
-/**
-* Create the Flywheel object using PID + feedforward for control.
-*/
-Flywheel::Flywheel(motor_group &motors, PID::pid_config_t &pid_config, FeedForward::ff_config_t &ff_config, const double ratio)
-    :motors(motors), pid(pid_config), ff(ff_config), ratio(ratio), control_style(PID_Feedforward), smoothedRPM(0), RPM_avger(MovingAverage(FlywheelWindowSize)) {
-    }
-
-/**
-* Create the Flywheel object using only feedforward for control
-*/
-Flywheel::Flywheel(motor_group &motors, FeedForward::ff_config_t &ff_config, const double ratio)
-    :motors(motors), pid(empty_pid), ff(ff_config), ratio(ratio), control_style(Feedforward), smoothedRPM(0), RPM_avger(MovingAverage(FlywheelWindowSize)) {}
-
-/**
-* Create the Flywheel object using Take Back Half for control
-*/
-Flywheel::Flywheel(motor_group &motors, const double TBH_gain, const double ratio)
-    :motors(motors), pid(empty_pid), ff(empty_ff), TBH_gain(TBH_gain), ratio(ratio), control_style(Take_Back_Half), smoothedRPM(0), RPM_avger(MovingAverage(FlywheelWindowSize)) {}
-
-/**
-* Create the Flywheel object using Bang Bang for control
-*/
-Flywheel::Flywheel(motor_group &motors, const double ratio)
-    :motors(motors), pid(empty_pid), ff(empty_ff), ratio(ratio), control_style(Bang_Bang), smoothedRPM(0), RPM_avger(MovingAverage(FlywheelWindowSize)) {}
-
-/**
-* Return the current value that the RPM should be set to
-*/
-double Flywheel::getDesiredRPM() { return RPM; }
-
-/**
-* Checks if the background RPM controlling task is running
-* @return taskRunning - If the task is running
-*/
-bool Flywheel::isTaskRunning() { return taskRunning; }
-
-/**
-* Returns a POINTER TO the motors; not currently used.
-* @return motorPointer -pointer to the motors
-*/
-motor_group* Flywheel::getMotors() { return &motors; } // TODO -- Remove?
+ *         CONSTRUCTOR, GETTERS, SETTERS
+ *********************************************************/
 
-/**
-* return the current velocity of the flywheel motors, in RPM
-* @return the measured velocity of the flywheel
-*/
-double Flywheel::measureRPM() { 
-  double rawRPM = ratio * motors.velocity(velocityUnits::rpm); 
-  RPM_avger.add_entry(rawRPM);
-  smoothedRPM = RPM_avger.get_average();
-  return smoothedRPM; //TODO Change back
-}
+Flywheel::Flywheel(motor_group &motors, Feedback &feedback, FeedForward &helper, const double ratio, Filter &filt) : motors(motors),
+                                                                                                                     task_running(false), fb(feedback), ff(helper),
+                                                                                                                     ratio(ratio), avger(filt) {}
 
-double Flywheel::getRPM(){
-  return smoothedRPM;
-}
 /**
-* Returns a POINTER TO the PID; not currently used.
-* @return pidPointer -pointer to the PID
-*/
-PID* Flywheel::getPID() { return &pid; } // TODO -- Remove?
+ * Return the current value that the target_rpm should be set to
+ */
+double Flywheel::get_target() const { return target_rpm; }
 
 /**
-* returns the current OUT value of the PID - the value that the PID would set the motors to
-* @return the voltage that PID wants the motors at to achieve the target RPM
-*/
-double Flywheel::getPIDValue() { return pid.get(); }
+ * @return the motors used to run the flywheel
+ */
+motor_group &Flywheel::get_motors() const { return motors; }
 
 /**
-* returns the current OUT value of the Feedforward - the value that the Feedforward would set the motors to
-* @return the voltage that feedforward wants the motors at to achieve the target RPM
-*/
-double Flywheel::getFeedforwardValue() { 
-  double v = getDesiredRPM();
-  return ff.calculate(v, 0); 
+ * return the current velocity of the flywheel motors, in RPM
+ * @return the measured velocity of the flywheel
+ */
+double Flywheel::measure_RPM()
+{
+  double rawRPM = ratio * motors.velocity(velocityUnits::rpm);
+  avger.add_entry(rawRPM);
+  return avger.get_value();
 }
 
-/**
-* get the gain used for TBH control
-* @return the gain used in TBH control
-*/
-double Flywheel::getTBHGain(){
-  return TBH_gain;
+double Flywheel::getRPM() const
+{
+  return avger.get_value();
 }
 
 /**
-* Sets the value of the PID target
-* @param value - desired value of the PID
-*/
-void Flywheel::setPIDTarget(double value) { pid.set_target(value); }
-
-/**
-* updates the value of the PID
-* @param value - value to update the PID with
-*/
-void Flywheel::updatePID(double value) { pid.update(value); }
-
-/*********************************************************
-*         RPM SETTING THREADS
-* ALL OF THE FOLLOWING PROGRAMS HAVE THE SAME PARAMETERS AND RESULTS:
-* spin this flywheel at a given RPM, async; runs until stop(), stopThread(), or a new spinRPM() is called. 
-* @param wheelPointer - points to the current wheel object
-*********************************************************/
-
-/**
-* Runs a Feedforward variant to control rpm
-*/
-int spinRPMTask_BangBang(void* wheelPointer) {
-  Flywheel* wheel = (Flywheel*) wheelPointer; 
-  while(true) {
-    // if it below the RPM, go, otherwise don't
-    wheel->measureRPM();
-
-    if(wheel->getRPM() < wheel->getDesiredRPM()) { 
-      wheel->spin_raw(1, fwd);
-    }   
-    else { wheel->stopMotors(); }
-    vexDelay(10);
-  }
-  return 0;
-}
+ * Runs a thread that keeps track of updating flywheel RPM and controlling it accordingly
+ */
+int spinRPMTask(void *wheelPointer)
+{
+  Flywheel &wheel = *(Flywheel *)wheelPointer;
 
-/**
-* Runs a Feedforward variant to control rpm
-*/
-int spinRPMTask_Feedforward(void* wheelPointer) { 
-  Flywheel* wheel = (Flywheel*) wheelPointer;
-  // get the pid from the wheel and set its target to the RPM stored in the wheel.
-  while(true) {
-    wheel->measureRPM();
-    wheel->updatePID(wheel->getRPM());   // check the current velocity and update the PID with it.
-    double output = wheel->getFeedforwardValue();
-    wheel->spin_raw(output, fwd);   // set the motors to whatever feedforward tells them to do
-    vexDelay(1);
-  }
-  return 0; 
-}
-/**
-* Runs a PID + Feedforward variant to control rpm
-*/
-int spinRPMTask_PID_Feedforward(void* wheelPointer) {
-  Flywheel* wheel = (Flywheel*) wheelPointer;
   // get the pid from the wheel and set its target to the RPM stored in the wheel.
-  while(true) {
-    wheel->measureRPM();
-    wheel->updatePID(wheel->getRPM());   // check the current velocity and update the PID with it.
-    double output = wheel->getPIDValue() + wheel->getFeedforwardValue();
-    wheel->spin_raw(output, fwd);   // set the motors to whatever PID tells them to do
-    vexDelay(1);
-  }
-  return 0; 
-}
-
-/**
-* Runs a Take Back Half variant to control RPM
-* https://www.vexwiki.org/programming/controls_algorithms/tbh
-*/
-int spinRPMTask_TBH(void* wheelPointer) {
-  Flywheel* wheel = (Flywheel*) wheelPointer;
-
-  double tbh = 0.0;
-  double output = 0.0;
-  double previous_error = 0.0;
-
-  while (true){
-    wheel->measureRPM();
-
-    //reset if set to 0, this keeps the tbh val from screwing us up when we start up again
-    if (wheel->getDesiredRPM()==0){
-      output = 0;
-      tbh = 0;
-    }
-   
-    double error = wheel->getDesiredRPM() - wheel->getRPM();
-    output += wheel->getTBHGain() * error;
-    wheel->spin_raw(clamp(output, 0, 1), fwd);
-
-    if (sign(error)!=sign(previous_error)){
-      output = .5 * (output + tbh);
-      tbh = output;
-      previous_error = error;
+  while (true)
+  {
+    double rpm = wheel.measure_RPM();
+
+    if (wheel.target_rpm != 0)
+    {
+      double output = wheel.ff.calculate(wheel.target_rpm, 0.0, 0.0);
+      {
+        wheel.fb_mut.lock();
+        wheel.fb.update(rpm); // check the current velocity and update the PID with it.
+
+        output += wheel.fb.get();
+        wheel.fb_mut.unlock();
+      }
+
+      wheel.spin_raw(output, fwd); // set the motors to whatever feedforward tells them to do
     }
-
-    vexDelay(1);
+    vexDelay(5);
   }
-  
-   return 0; 
+  return 0;
 }
 
-// Runs a 'Moving average filter with above closed loop systems' variant, whatever that means; FUNCTION STUB
-int spinRPMTask_ClosedLoop(void* wheelPointer) { return 0; }
-
 /*********************************************************
-*         SPINNERS AND STOPPERS
-*********************************************************/
+ *         SPINNERS AND STOPPERS
+ *********************************************************/
 
-/** 
-* Spin motors using voltage; defaults forward at 12 volts
-* FOR USE BY TASKS ONLY
-* @param speed - speed (between -1 and 1) to set the motor
-* @param dir - direction that the motor moves in; defaults to forward
-*/
-void Flywheel::spin_raw(double speed, directionType dir){
+/**
+ * Spin motors using voltage; defaults forward at 12 volts
+ * FOR USE BY TASKS ONLY
+ * @param speed - speed (between -1 and 1) to set the motor
+ * @param dir - direction that the motor moves in; defaults to forward
+ */
+void Flywheel::spin_raw(double speed, directionType dir)
+{
   motors.spin(dir, speed * 12, voltageUnits::volt);
 }
 
 /**
-* Spin motors using voltage; defaults forward at 12 volts
-* FOR USE BY OPCONTROL AND AUTONOMOUS - this only applies if the RPM thread is not running
-* @param speed - speed (between -1 and 1) to set the motor
-* @param dir - direction that the motor moves in; defaults to forward
-*/
-void Flywheel::spin_manual(double speed, directionType dir){
-  if(!taskRunning) motors.spin(dir, speed * 12, voltageUnits::volt);
+ * Spin motors using voltage; defaults forward at 12 volts
+ * FOR USE BY OPCONTROL AND AUTONOMOUS - this only applies if the RPM thread is not running
+ * @param speed - speed (between -1 and 1) to set the motor
+ * @param dir - direction that the motor moves in; defaults to forward
+ */
+void Flywheel::spin_manual(double speed, directionType dir)
+{
+  if (!task_running)
+    motors.spin(dir, speed * 12, voltageUnits::volt);
 }
 
 /**
-* starts or sets the RPM thread at new value
-* what control scheme is dependent on control_style
-* @param inputRPM - set the current RPM
-*/
-void Flywheel::spinRPM(int inputRPM) {
+ * starts or sets the RPM thread at new value
+ * what control scheme is dependent on control_style
+ * @param input_rpm - set the current RPM
+ */
+void Flywheel::spin_rpm(double input_rpm)
+{
   // setting to 0 is equivelent to stopping
-  if (inputRPM==0){
+  if (input_rpm == 0.0)
+  {
     stop();
   }
   // only run if the RPM is different or it isn't already running
-  if(!taskRunning) {
-
-    int (*rpm_control_task)(void *);  // this just means a function that returns int and takes a void pointer as an argument aka a spinRPMTask function
-    // choose which version to use based on how  the flywheel was constructed
-    switch(control_style){
-      case Bang_Bang:
-        rpm_control_task = spinRPMTask_BangBang;
-        break;
-      case Take_Back_Half:
-        rpm_control_task = spinRPMTask_TBH;
-        break;
-      case Feedforward:
-        rpm_control_task = spinRPMTask_Feedforward;
-        break;
-      case PID_Feedforward:
-        rpm_control_task = spinRPMTask_PID_Feedforward;
-        break;
-    }
-
-
-    rpmTask = task(rpm_control_task, this);
-    taskRunning = true;
+  if (!task_running)
+  {
+    rpm_task = task(spinRPMTask, this);
+    task_running = true;
   }
-  RPM = inputRPM;
-  setPIDTarget(RPM);
+  // now that its running, set the target
+  set_target(input_rpm);
+}
+void Flywheel::set_target(double value)
+{
+  fb_mut.lock();
+  target_rpm = (value);
+  fb.init(getRPM(), value);
+  fb_mut.unlock();
 }
 
 /**
-* stop the RPM thread and the wheel
-*/
-void Flywheel::stop() {
-  rpmTask.stop();
-  taskRunning = false;
-  RPM = 0.0;
-  smoothedRPM = 0.0;
-  motors.stop();
+ * stop the RPM thread and the wheel
+ */
+void Flywheel::stop()
+{
+  if (task_running)
+  {
+    task_running = false;
+    rpm_task.stop();
+    target_rpm = 0.0;
+    motors.stop();
+  }
 }
 
-/**
-* stop only the motors; exclusively for BANG BANG use
-*/
-void Flywheel::stopMotors() { motors.stop(); }
+//------------------------- Screen Stuff ----------------------------
+class FlywheelPage : public screen::Page
+{
+public:
+  static const size_t window_size = 40;
+
+  FlywheelPage(const Flywheel &fw) : fw(fw), gd(GraphDrawer(window_size, 0.0, 0.0, {vex::color(255, 0, 0), vex::color(0, 255, 0), vex::color(0, 0, 255)}, 3)), avg_err(window_size) {}
+  /// @brief @see Page#update
+  void update(bool, int, int) override {}
+  /// @brief @see Page#draw
+  void draw(vex::brain::lcd &screen, bool,
+            unsigned int) override
+  {
+
+    double target = fw.get_target();
+    double actual = fw.getRPM();
+    double err = fabs(target - actual);
+
+    avg_err.add_entry(err);
+    double volts = fw.fb.get() * 12.0;
+    gd.add_samples({target, actual, volts / 12.0 * 1000.0});
+
+    gd.draw(screen, 200, 10, 220, 220);
+    screen.setPenColor(vex::white);
+    screen.printAt(50, 30, "set: %.2f", target);
+    screen.printAt(50, 60, "act: %.2f", actual);
+    screen.printAt(50, 90, "stddev: %.2f", avg_err.get_value());
+    screen.printAt(50, 150, "temp: %.2fc", fw.get_motors().temperature(vex::celsius));
+    screen.printAt(50, 180, "volt: %.2fv", volts);
+  }
 
-/**
-* Stop the motors if the task isn't running - stop manual control
-*/
-void Flywheel::stopNonTasks() { if(!taskRunning) { motors.stop(); }}
\ No newline at end of file
+private:
+  const Flywheel &fw;
+  GraphDrawer gd;
+  MovingAverage avg_err;
+};
+
+screen::Page *Flywheel::Page() const
+{
+  return new FlywheelPage(*this);
+}
\ No newline at end of file
diff --git a/src/subsystems/screen.cpp b/src/subsystems/screen.cpp
index 40e11dc..43066f3 100644
--- a/src/subsystems/screen.cpp
+++ b/src/subsystems/screen.cpp
@@ -1,5 +1,5 @@
 #include "../core/include/subsystems/screen.h"
-
+#include "../core/include/utils/math_util.h"
 namespace screen
 {
     /**
@@ -30,6 +30,13 @@ namespace screen
     void start_screen(vex::brain::lcd &screen, std::vector<Page *> pages,
                       int first_page)
     {
+        if (pages.size() == 0)
+        {
+            printf("No pages, not starting screen");
+            return;
+        }
+        first_page %= pages.size();
+
         if (running)
         {
             printf("THERE IS ALREADY A SCREEN THREAD RUNNING\n");
@@ -98,7 +105,7 @@ namespace screen
             }
 
             // Draw First Page
-            if (frame % 5 == 0)
+            if (frame % 2 == 0)
             {
                 screen_data.screen.clearScreen(vex::color::black);
                 screen_data.screen.setPenColor("#FFFFFF");
@@ -122,7 +129,7 @@ namespace screen
             screen_data.screen.render();
             frame++;
             was_pressed = pressing;
-            vexDelay(20);
+            vexDelay(5);
         }
 
         return 0;
@@ -187,11 +194,13 @@ namespace screen
         scr.drawRectangle(x, y, row_width, row_height, col);
         scr.printAt(x + 2, y + 16, false, " %2d   %2.0fC   %.7s", port, temp, name.c_str());
     }
-    void StatsPage::draw(vex::brain::lcd &scr, bool first_draw, unsigned int frame_number)
+    void StatsPage::draw(vex::brain::lcd &scr, bool first_draw [[maybe_unused]], unsigned int frame_number [[maybe_unused]])
     {
         int num = 0;
         int x = 40;
         int y = y_start + row_height;
+        scr.setPenWidth(1);
+
         scr.drawRectangle(x, y_start, row_width, row_height);
         scr.printAt(x, y_start + 16, false, " port temp  name");
         for (auto &kv : motors)
@@ -214,7 +223,7 @@ namespace screen
         scr.printAt(50, 220, "Battery: %2.1fv  %2.0fC %d%%", b.Battery.voltage(), b.Battery.temperature(vex::temperatureUnits::celsius), b.Battery.capacity());
     }
 
-    OdometryPage::OdometryPage(OdometryBase &odom, double width, double height, bool do_trail) : odom(odom), width(width), height(height), do_trail(do_trail)
+    OdometryPage::OdometryPage(OdometryBase &odom, double width, double height, bool do_trail) : odom(odom), robot_width(width), robot_height(height), do_trail(do_trail)
     {
         vex::brain b;
         if (b.SDcard.exists(field_filename))
@@ -236,13 +245,15 @@ namespace screen
         return (int)(p * 240);
     }
 
-    void OdometryPage::draw(vex::brain::lcd &scr, bool first_draw, unsigned int frame_number)
+    void OdometryPage::draw(vex::brain::lcd &scr, bool first_draw [[maybe_unused]], unsigned int frame_number [[maybe_unused]])
     {
-        if (do_trail)
+        pose_t pose = odom.get_position();
+        path[path_index] = pose;
+
+        if (do_trail && frame_number % 5 == 0)
         {
             path_index++;
             path_index %= path_len;
-            path[path_index] = odom.get_position();
         }
 
         auto to_px = [](const point_t p) -> point_t
@@ -255,7 +266,6 @@ namespace screen
             scr.drawLine((int)to_px(from).x, (int)to_px(from).y, (int)to_px(to).x, (int)to_px(to).y);
         };
 
-        pose_t pose = path[path_index];
         point_t pos = pose.get_point();
         fflush(stdout);
         scr.printAt(45, 30, "(%.2f, %.2f)", pose.x, pose.y);
@@ -279,7 +289,8 @@ namespace screen
             {
                 int j = i % path_len;
                 pose_t pose = path[j];
-                scr.setPenColor(vex::color(80, 80, 80));
+                scr.setPenWidth(2);
+                scr.setPenColor(vex::color(255, 255, 80));
                 draw_line(pose.get_point(), last_pos.get_point());
                 last_pos = pose;
             }
@@ -287,8 +298,8 @@ namespace screen
         scr.setPenColor(vex::color::white);
 
         Mat2 mat = Mat2::FromRotationDegrees(pose.rot - 90);
-        const point_t to_left = point_t{-width / 2.0, 0};
-        const point_t to_front = point_t{0.0, height / 2.0};
+        const point_t to_left = point_t{-robot_width / 2.0, 0};
+        const point_t to_front = point_t{0.0, robot_height / 2.0};
 
         const point_t fl = pos + mat * (+to_left + to_front);
         const point_t fr = pos + mat * (-to_left + to_front);
@@ -309,257 +320,131 @@ namespace screen
         (void)y;
         (void)was_pressed;
     }
-} // namespace screen
-
-/*
-void draw_battery_stats(vex::brain::lcd &screen, int x, int y, double
-voltage, double percentage)
-{
-    double low_pct = 70.0;
-    double med_pct = 85.0;
-
-    vex::color low_col = vex::color(120, 0, 0);
-    vex::color med_col = vex::color(140, 100, 0);
-    vex::color high_col = vex::black;
 
-    vex::color bg_col = vex::black;
-    vex::color border_col = vex::white;
-
-    if (percentage < low_pct)
-    {
-        bg_col = low_col;
-    }
-    else if (percentage < med_pct)
+    bool SliderWidget::update(bool was_pressed, int x, int y)
     {
-        bg_col = med_col;
+        const double margin = 10.0;
+        if (was_pressed)
+        {
+            double dx = x;
+            double dy = y;
+            if (rect.contains(point_t{dx, dy}))
+            {
+                double pct = (dx - rect.min.x - margin) / (rect.dimensions().x - 2 * margin);
+                pct = clamp(pct, 0.0, 1.0);
+                value = (low + pct * (high - low));
+            }
+            return true;
+        }
+        return false;
     }
-    else
+    void SliderWidget::draw(vex::brain::lcd &scr, bool first_draw [[maybe_unused]], unsigned int frame_number [[maybe_unused]])
     {
-        bg_col = high_col;
-    }
-
-    screen.setPenWidth(3);
-    screen.setFillColor(bg_col);
-    screen.setPenColor(border_col);
-    screen.setFont(vex::mono15);
-
-    screen.drawRectangle(x + 3, y, 200 - 3, 20);
-    screen.printAt(x + 5, y + 15, "battery: %.1fv  %d%%", voltage,
-(int)percentage);
-}
-
-void draw_mot_header(vex::brain::lcd &screen, int x, int y, int width)
-{
-    vex::color bg_col = vex::black;
-    vex::color border_col = vex::white;
-    screen.setPenWidth(3);
-    screen.setFillColor(bg_col);
-    screen.setPenColor(border_col);
-    screen.setFont(vex::mono15);
+        if (rect.height() <= 0)
+        {
+            printf("Slider: %s has no height. Cant use it.", name.c_str());
+        }
+        double xl = rect.min.x;
+        double xh = rect.max.x;
+        double xmid = (xl + xh) / 2.0;
+        double y = rect.min.y + rect.height() / 2;
+        const double margin = 5.0;
 
-    screen.drawRectangle(x + 3, y, width - 3, 20);
-    screen.printAt(x + 5, y + 15, "motor name");
-    int name_width = 110;
+        scr.setPenColor(vex::color(50, 50, 50));
+        scr.setFillColor(vex::color(50, 50, 50));
+        scr.setPenWidth(1);
 
-    screen.printAt(x + name_width + 7, y + 15, "temp");
+        scr.drawRectangle(rect.min.x, rect.min.y, rect.dimensions().x, rect.dimensions().y);
 
-    screen.drawLine(x + name_width, y, x + name_width, y + 20);
+        scr.setPenColor(vex::color(200, 200, 200));
+        scr.setPenWidth(4);
 
-    screen.drawLine(x + name_width + 50, y, x + name_width + 50, y + 20);
+        scr.drawLine(xl + margin, y, xh - margin, y);
 
-    screen.printAt(x + name_width + 55, y + 15, "port");
-}
+        double pct = (value - low) / (high - low);
+        double vx = pct * (rect.dimensions().x - (2 * margin)) + rect.min.x + margin;
+        const double handle_width = 4;
+        const double handle_height = 4;
 
-void draw_mot_stats(vex::brain::lcd &screen, int x, int y, int width, const
-char *name, vex::motor &motor, int animation_tick)
-{
-    double tempC = motor.temperature(vex::celsius);
-    bool pluggedin = motor.installed();
-    int port = motor.index() + 1;
-
-    // used for flashing
-    vex::color bg_col = vex::black;
-    vex::color hot_col = vex::color(120, 0, 0);
-    vex::color med_col = vex::color(140, 100, 0);
-    vex::color low_col = vex::black; // color(0,100,0);
-    vex::color not_plugged_in_col = vex::color(255, 0, 0);
-
-    double lowtemp = 40;
-    double hightemp = 50;
-    if (tempC < lowtemp)
-    {
-        bg_col = low_col;
-    }
-    else if (tempC >= lowtemp && tempC < hightemp)
-    {
-        bg_col = med_col;
-    }
-    else if (tempC >= hightemp)
-    {
-        bg_col = hot_col;
+        scr.drawRectangle(vx - (handle_width / 2), y - (handle_height / 2), handle_width, handle_height);
+        int text_w = scr.getStringWidth((name + "        ").c_str());
+        scr.printAt(xmid - text_w / 2, y - 15, false, "%s: %.5f", name.c_str(), value);
     }
 
-    if (!pluggedin)
+    bool ButtonWidget::update(bool was_pressed, int x, int y)
     {
-        if ((animation_tick / 8) % 2 == 0)
+        if (was_pressed && !was_pressed_last && rect.contains({(double)x, (double)y}))
         {
-            bg_col = not_plugged_in_col;
+            onpress();
+            was_pressed_last = was_pressed;
+            return true;
         }
+        was_pressed_last = was_pressed;
+        return false;
     }
 
-    vex::color border_col = vex::white;
-    screen.setPenWidth(3);
-    screen.setFillColor(bg_col);
-    screen.setPenColor(border_col);
-    screen.setFont(vex::mono15);
-
-    screen.drawRectangle(x + 3, y, width - 3, 20);
-
-    // name
-    screen.printAt(x + 7, y + 15, name);
-    int name_width = 110;
-
-    // temp
-    screen.drawLine(x + name_width, y, x + name_width, y + 20);
-    screen.printAt(x + name_width + 10, y + 15, "%dC", (int)tempC);
-
-    // PORT
-    screen.drawLine(x + name_width + 50, y, x + name_width + 50, y + 20);
-    char *warning = (char *)"!";
-    if (pluggedin)
+    void ButtonWidget::draw(vex::brain::lcd &scr, bool first_draw [[maybe_unused]], unsigned int frame_number [[maybe_unused]])
     {
-        warning = (char *)"";
+        scr.setPenColor(vex::white);
+        scr.setPenWidth(1);
+        scr.setFillColor(vex::color(50, 50, 50));
+        scr.drawRectangle(rect.min.x, rect.min.y, rect.width(), rect.height());
+        int w = scr.getStringWidth(name.c_str());
+        int h = scr.getStringHeight(name.c_str());
+        scr.printAt(rect.center().x - w / 2, rect.center().y + h / 2, name.c_str());
     }
-    screen.printAt(x + name_width + 60, y + 15, "%d%s", port, warning);
-}
 
-//
-void draw_dev_stats(vex::brain::lcd &screen, int x, int y, int width, const
-char *name, vex::device &dev, int animation_tick)
-{
-    bool pluggedin = dev.installed();
-    int port = dev.index() + 1;
+    PIDPage::PIDPage(
+        PID &pid, std::string name, std::function<void(void)> onchange)
+        : cfg(pid.config), pid(pid), name(name), onchange(onchange),
+          p_slider(cfg.p, 0.0, 0.5, Rect{{60, 20}, {210, 60}}, "P"),
+          i_slider(cfg.i, 0.0, 0.05, Rect{{60, 80}, {180, 120}}, "I"),
+          d_slider(cfg.d, 0.0, 0.05, Rect{{60, 140}, {180, 180}}, "D"),
+          zero_i([this]()
+                 { zero_i_f(); },
+                 Rect{{180, 80}, {220, 120}}, "0"),
+          zero_d([this]()
+                 { zero_d_f(); },
+                 Rect{{180, 140}, {220, 180}}, "0"),
+          graph(40, 0, 0, {vex::red, vex::green}, 2)
+    {
+    }
 
-    // used for flashing
-    vex::color bg_col = vex::black;
-    vex::color not_plugged_in_col = vex::color(255, 0, 0);
+    PIDPage::PIDPage(PIDFF &pidff, std::string name, std::function<void(void)> onchange) : PIDPage((pidff.pid), name, onchange) {}
 
-    if (!pluggedin)
+    void PIDPage::update(bool was_pressed, int x, int y)
     {
-        if ((animation_tick / 8) % 2 == 0)
+        bool updated = false;
+        updated |= p_slider.update(was_pressed, x, y);
+        updated |= i_slider.update(was_pressed, x, y);
+        updated |= d_slider.update(was_pressed, x, y);
+
+        updated |= zero_i.update(was_pressed, x, y);
+        updated |= zero_d.update(was_pressed, x, y);
+        if (updated)
         {
-            bg_col = not_plugged_in_col;
+            onchange();
         }
     }
-
-    vex::color border_col = vex::white;
-    screen.setPenWidth(3);
-    screen.setFillColor(bg_col);
-    screen.setPenColor(border_col);
-    screen.setFont(vex::mono15);
-
-    screen.drawRectangle(x + 3, y, width - 3, 20);
-
-    // name
-    screen.printAt(x + 5, y + 15, name);
-    int name_width = 110;
-
-    // temp
-    // screen.drawLine(x + name_width, y, x + name_width, y + 20);
-    // screen.printAt(x + name_width + 10, y + 15, "%dC", (int)tempC);
-
-    // PORT
-    screen.drawLine(x + name_width + 50, y, x + name_width + 50, y + 20);
-    char *warning = (char *)"!";
-    if (pluggedin)
+    void PIDPage::draw(vex::brain::lcd &scr, bool first_draw [[maybe_unused]], unsigned int frame_number [[maybe_unused]])
     {
-        warning = (char *)"";
-    }
-    screen.printAt(x + name_width + 60, y + 15, "%d%s", port, warning);
-}
+        p_slider.draw(scr, first_draw, frame_number);
+        i_slider.draw(scr, first_draw, frame_number);
+        d_slider.draw(scr, first_draw, frame_number);
+        zero_i.draw(scr, first_draw, frame_number);
+        zero_d.draw(scr, first_draw, frame_number);
 
-void draw_lr_arrows(vex::brain::lcd &screen, int bar_width, int width, int
-height)
-{
-    auto bar_col = vex::color(40, 40, 40);
-    auto arrow_col = vex::color(255, 255, 255);
-    // draw touch zones
-    screen.setFillColor(bar_col);
-    screen.setPenColor(bar_col);
-
-    screen.drawRectangle(0, 0, bar_width, height);
-    screen.drawRectangle(width - bar_width, 0, width, height);
-
-    // draw arrows
-    screen.setPenColor(arrow_col);
-    screen.drawLine(bar_width / 3, height / 2, 2 * bar_width / 3, height / 2
-- 20); screen.drawLine(bar_width / 3, height / 2, 2 * bar_width / 3, height
-/ 2 + 20);
-
-    screen.drawLine(width - bar_width / 3, height / 2, width - 2 * bar_width
-/ 3, height / 2 - 20); screen.drawLine(width - bar_width / 3, height / 2,
-width - 2 * bar_width / 3, height / 2 + 20);
-}
-
-int handle_screen_thread(vex::brain::lcd &screen, std::vector<screenFunc>
-pages, int first_page)
-{
-    unsigned int num_pages = pages.size();
-    unsigned int current_page = first_page;
+        graph.add_samples({pid.get_target(), pid.get_sensor_val()});
 
-    int width = 480;
-    int height = 240;
+        graph.draw(scr, 230, 20, 200, 200);
 
-    int bar_width = 40;
+        scr.setPenColor(vex::white);
+        scr.printAt(60, 215, false, "%s", name.c_str());
 
-    bool was_pressing = false;
-    bool first_draw = true;
-    while (true)
-    {
-        pages[current_page](screen, bar_width, 0, width - bar_width * 2,
-height, first_draw);
-
-        first_draw = false;
-        // handle presses
-        if (screen.pressing() && !was_pressing)
-        {
-
-            int x = screen.xPosition();
-            // int y = screen.yPosition();
-
-            if (x < bar_width)
-            {
-                if (current_page == 0)
-                {
-                    current_page = num_pages;
-                }
-                current_page--;
-                first_draw = true;
-            }
-
-            if (x > width - bar_width)
-            {
-                current_page++;
-                current_page %= num_pages;
-                first_draw = true;
-            }
-        }
-        draw_lr_arrows(screen, bar_width, width, height);
-        was_pressing = screen.pressing();
-        screen.render();
-        vexDelay(40);
+        scr.setPenColor(vex::red);
+        scr.printAt(240, 20, false, "%.2f", pid.get_target());
+        scr.setPenColor(vex::green);
+        scr.printAt(300, 20, false, "%.2f", pid.get_sensor_val());
     }
 
-    return 0;
-}
-
-void StartScreen(vex::brain::lcd &screen, std::vector<screenFunc> pages, int
-first_page)
-{
-    // hold onto arguments here so we don't lose them and can use then in
-the lambda down there. capture semantics are not fun static
-std::vector<screenFunc> my_pages = pages; static vex::brain::lcd my_screen =
-screen; static int my_first_page = first_page; vex::task screenTask([]() {
-return handle_screen_thread(my_screen, my_pages, my_first_page); });
-}
-*/
+} // namespace screen
diff --git a/src/subsystems/tank_drive.cpp b/src/subsystems/tank_drive.cpp
index 095cf80..d86f61f 100644
--- a/src/subsystems/tank_drive.cpp
+++ b/src/subsystems/tank_drive.cpp
@@ -1,7 +1,7 @@
 #include "../core/include/utils/geometry.h"
 #include "../core/include/subsystems/tank_drive.h"
 #include "../core/include/utils/math_util.h"
-#include "../core/include/utils/pidff.h"
+#include "../core/include/utils/controls/pidff.h"
 #include "../core/include/utils/command_structure/drive_commands.h"
 
 TankDrive::TankDrive(motor_group &left_motors, motor_group &right_motors, robot_specs_t &config, OdometryBase *odom)
@@ -11,50 +11,50 @@ TankDrive::TankDrive(motor_group &left_motors, motor_group &right_motors, robot_
   turn_default_feedback = config.turn_feedback;
 }
 
-AutoCommand *TankDrive::DriveToPointCmd(Feedback &fb, point_t pt, vex::directionType dir, double max_speed)
+AutoCommand *TankDrive::DriveToPointCmd(Feedback &fb, point_t pt, vex::directionType dir, double max_speed, double end_speed)
 {
-  return new DriveToPointCommand(*this, fb, pt, dir, max_speed);
+  return new DriveToPointCommand(*this, fb, pt, dir, max_speed, end_speed);
 }
 
-AutoCommand *TankDrive::DriveToPointCmd(point_t pt, vex::directionType dir, double max_speed)
+AutoCommand *TankDrive::DriveToPointCmd(point_t pt, vex::directionType dir, double max_speed, double end_speed)
 {
-  return new DriveToPointCommand(*this, *drive_default_feedback, pt, dir, max_speed);
+  return new DriveToPointCommand(*this, *drive_default_feedback, pt, dir, max_speed, end_speed);
 }
 
-AutoCommand *TankDrive::DriveForwardCmd(double dist, vex::directionType dir, double max_speed)
+AutoCommand *TankDrive::DriveForwardCmd(double dist, vex::directionType dir, double max_speed, double end_speed)
 {
-  return new DriveForwardCommand(*this, *drive_default_feedback, dist, dir, max_speed);
+  return new DriveForwardCommand(*this, *drive_default_feedback, dist, dir, max_speed, end_speed);
 }
 
-AutoCommand *TankDrive::DriveForwardCmd(Feedback &fb, double dist, vex::directionType dir, double max_speed)
+AutoCommand *TankDrive::DriveForwardCmd(Feedback &fb, double dist, vex::directionType dir, double max_speed, double end_speed)
 {
-  return new DriveForwardCommand(*this, fb, dist, dir, max_speed);
+  return new DriveForwardCommand(*this, fb, dist, dir, max_speed, end_speed);
 }
 
-AutoCommand *TankDrive::TurnToHeadingCmd(double heading, double max_speed)
+AutoCommand *TankDrive::TurnToHeadingCmd(double heading, double max_speed, double end_speed)
 {
-  return new TurnToHeadingCommand(*this, *turn_default_feedback, heading, max_speed);
+  return new TurnToHeadingCommand(*this, *turn_default_feedback, heading, max_speed, end_speed);
 }
-AutoCommand *TankDrive::TurnToHeadingCmd(Feedback &fb, double heading, double max_speed)
+AutoCommand *TankDrive::TurnToHeadingCmd(Feedback &fb, double heading, double max_speed, double end_speed)
 {
-  return new TurnToHeadingCommand(*this, fb, heading, max_speed);
+  return new TurnToHeadingCommand(*this, fb, heading, max_speed, end_speed);
 }
 
-AutoCommand *TankDrive::TurnDegreesCmd(double degrees, double max_speed)
+AutoCommand *TankDrive::TurnDegreesCmd(double degrees, double max_speed, double end_speed)
 {
-  return new TurnDegreesCommand(*this, *turn_default_feedback, degrees, max_speed);
+  return new TurnDegreesCommand(*this, *turn_default_feedback, degrees, max_speed, end_speed);
 }
-AutoCommand *TankDrive::TurnDegreesCmd(Feedback &fb, double degrees, double max_speed)
+AutoCommand *TankDrive::TurnDegreesCmd(Feedback &fb, double degrees, double max_speed, double end_speed)
 {
-  return new TurnDegreesCommand(*this, fb, degrees, max_speed);
+  return new TurnDegreesCommand(*this, fb, degrees, max_speed, end_speed);
 }
-AutoCommand *TankDrive::PurePursuitCmd(std::vector<point_t> path, directionType dir, double radius, double max_speed)
+AutoCommand *TankDrive::PurePursuitCmd(PurePursuit::Path path, directionType dir, double max_speed, double end_speed)
 {
-  return new PurePursuitCommand(*this, *drive_default_feedback, path, dir, radius, max_speed);
+  return new PurePursuitCommand(*this, *drive_default_feedback, path, dir, max_speed, end_speed);
 }
-AutoCommand *TankDrive::PurePursuitCmd(Feedback &feedback, std::vector<point_t> path, directionType dir, double radius, double max_speed)
+AutoCommand *TankDrive::PurePursuitCmd(Feedback &feedback, PurePursuit::Path path, directionType dir, double max_speed, double end_speed)
 {
-  return new PurePursuitCommand(*this, feedback, path, dir, radius, max_speed);
+  return new PurePursuitCommand(*this, feedback, path, dir, max_speed, end_speed);
 }
 
 /**
@@ -115,8 +115,9 @@ void TankDrive::drive_arcade(double forward_back, double left_right, int power)
  * @param dir        the direction we want to travel forward and backward
  * @param feedback   the custom feedback controller we will use to travel. controls the rate at which we accelerate and drive.
  * @param max_speed  the maximum percentage of robot speed at which the robot will travel. 1 = full power
+ * @param end_speed  the movement profile will attempt to reach this velocity by its completion
  */
-bool TankDrive::drive_forward(double inches, directionType dir, Feedback &feedback, double max_speed)
+bool TankDrive::drive_forward(double inches, directionType dir, Feedback &feedback, double max_speed, double end_speed)
 {
   static pose_t pos_setpt;
 
@@ -135,10 +136,15 @@ bool TankDrive::drive_forward(double inches, directionType dir, Feedback &feedba
 
     // forwards is positive Y axis, backwards is negative
     if (dir == directionType::rev)
+    {
+      printf("going backwards\n");
       inches = -fabs(inches);
+    }
     else
+    {
+      printf("going forwards\n");
       inches = fabs(inches);
-
+    }
     // Use vector math to get an X and Y
     Vector2D cur_pos_vec({.x = cur_pos.x, .y = cur_pos.y});
     Vector2D delta_pos_vec(deg2rad(cur_pos.rot), inches);
@@ -149,7 +155,7 @@ bool TankDrive::drive_forward(double inches, directionType dir, Feedback &feedba
   }
 
   // Call the drive_to_point with updated point values
-  return drive_to_point(pos_setpt.x, pos_setpt.y, dir, feedback, max_speed);
+  return drive_to_point(pos_setpt.x, pos_setpt.y, dir, feedback, max_speed, end_speed);
 }
 /**
  * Autonomously drive the robot forward a certain distance
@@ -158,12 +164,13 @@ bool TankDrive::drive_forward(double inches, directionType dir, Feedback &feedba
  * @param inches      degrees by which we will turn relative to the robot (+) turns ccw, (-) turns cw
  * @param dir        the direction we want to travel forward and backward
  * @param max_speed   the maximum percentage of robot speed at which the robot will travel. 1 = full power
+ * @param end_speed   the movement profile will attempt to reach this velocity by its completion
  * @return true if we have finished driving to our point
  */
-bool TankDrive::drive_forward(double inches, directionType dir, double max_speed)
+bool TankDrive::drive_forward(double inches, directionType dir, double max_speed, double end_speed)
 {
   if (drive_default_feedback != NULL)
-    return drive_forward(inches, dir, *drive_default_feedback, max_speed);
+    return drive_forward(inches, dir, *drive_default_feedback, max_speed, end_speed);
 
   printf("tank_drive.cpp: Cannot run drive_forward without a feedback controller!\n");
   fflush(stdout);
@@ -179,14 +186,15 @@ bool TankDrive::drive_forward(double inches, directionType dir, double max_speed
  * @param degrees     degrees by which we will turn relative to the robot (+) turns ccw, (-) turns cw
  * @param feedback    the feedback controller we will use to travel. controls the rate at which we accelerate and drive.
  * @param max_speed   the maximum percentage of robot speed at which the robot will travel. 1 = full power
+ * @param end_speed   the movement profile will attempt to reach this velocity by its completion
  * @return true if we have turned our target number of degrees
  */
-bool TankDrive::turn_degrees(double degrees, Feedback &feedback, double max_speed)
+bool TankDrive::turn_degrees(double degrees, Feedback &feedback, double max_speed, double end_speed)
 {
   // We can't run the auto drive function without odometry
   if (odometry == NULL)
   {
-    fprintf(stderr, "Odometry is NULL. Unable to run drive_forward()\n");
+    fprintf(stderr, "Odometry is NULL. Unable to run turn_degrees()\n");
     fflush(stderr);
     return true;
   }
@@ -200,7 +208,7 @@ bool TankDrive::turn_degrees(double degrees, Feedback &feedback, double max_spee
     target_heading = start_heading + degrees;
   }
 
-  return turn_to_heading(target_heading, feedback, max_speed);
+  return turn_to_heading(target_heading, feedback, max_speed, end_speed);
 }
 
 /**
@@ -211,12 +219,13 @@ bool TankDrive::turn_degrees(double degrees, Feedback &feedback, double max_spee
  *
  * @param degrees     degrees by which we will turn relative to the robot (+) turns ccw, (-) turns cw
  * @param max_speed   the maximum percentage of robot speed at which the robot will travel. 1 = full power
+ * @param end_speed   the movement profile will attempt to reach this velocity by its completion
  * @return true if we turned te target number of degrees
  */
-bool TankDrive::turn_degrees(double degrees, double max_speed)
+bool TankDrive::turn_degrees(double degrees, double max_speed, double end_speed)
 {
   if (turn_default_feedback != NULL)
-    return turn_degrees(degrees, *turn_default_feedback, max_speed);
+    return turn_degrees(degrees, *turn_default_feedback, max_speed, end_speed);
 
   printf("tank_drive.cpp: Cannot run turn_degrees without a feedback controller!\n");
   fflush(stdout);
@@ -233,9 +242,10 @@ bool TankDrive::turn_degrees(double degrees, double max_speed)
  * @param dir        the direction we want to travel forward and backward
  * @param feedback   the feedback controller we will use to travel. controls the rate at which we accelerate and drive.
  * @param max_speed  the maximum percentage of robot speed at which the robot will travel. 1 = full power
+ * @param end_speed  the movement profile will attempt to reach this velocity by its completion
  * @return true if we have reached our target point
  */
-bool TankDrive::drive_to_point(double x, double y, vex::directionType dir, Feedback &feedback, double max_speed)
+bool TankDrive::drive_to_point(double x, double y, vex::directionType dir, Feedback &feedback, double max_speed, double end_speed)
 {
   // We can't run the auto drive function without odometry
   if (odometry == NULL)
@@ -251,8 +261,8 @@ bool TankDrive::drive_to_point(double x, double y, vex::directionType dir, Feedb
     double initial_dist = OdometryBase::pos_diff(odometry->get_position(), {.x = x, .y = y});
 
     // Reset the control loops
-    correction_pid.init(0, 0);
-    feedback.init(-initial_dist, 0);
+    correction_pid.init(0, 0, 0, 0);
+    feedback.init(-initial_dist, 0, odometry->get_speed(), fabs(end_speed));
 
     correction_pid.set_limits(-1, 1);
     feedback.set_limits(-1, 1);
@@ -265,10 +275,11 @@ bool TankDrive::drive_to_point(double x, double y, vex::directionType dir, Feedb
   pose_t end_pos = {.x = x, .y = y};
 
   // Create a point (and vector) to get the direction
-  point_t pos_diff_pt =
-      {
-          .x = x - current_pos.x,
-          .y = y - current_pos.y};
+  point_t pos_diff_pt = 
+  {
+    .x = x - current_pos.x,
+    .y = y - current_pos.y
+  };
 
   Vector2D point_vec(pos_diff_pt);
 
@@ -342,9 +353,10 @@ bool TankDrive::drive_to_point(double x, double y, vex::directionType dir, Feedb
   // Check if the robot has reached it's destination
   if (feedback.is_on_target())
   {
-    stop();
+    if (end_speed == 0) stop();
     func_initialized = false;
-    stop();
+    printf("Func unitililized\n");
+    if (end_speed == 0) stop();
     return true;
   }
 
@@ -361,12 +373,13 @@ bool TankDrive::drive_to_point(double x, double y, vex::directionType dir, Feedb
  * @param y          the y position of the target
  * @param dir        the direction we want to travel forward and backward
  * @param max_speed  the maximum percentage of robot speed at which the robot will travel. 1 = full power
+ * @param end_speed  the movement profile will attempt to reach this velocity by its completion
  * @return true if we have reached our target point
  */
-bool TankDrive::drive_to_point(double x, double y, vex::directionType dir, double max_speed)
+bool TankDrive::drive_to_point(double x, double y, vex::directionType dir, double max_speed, double end_speed)
 {
   if (drive_default_feedback != NULL)
-    return this->drive_to_point(x, y, dir, *drive_default_feedback, max_speed);
+    return this->drive_to_point(x, y, dir, *drive_default_feedback, max_speed, end_speed);
 
   printf("tank_drive.cpp: Cannot run drive_to_point without a feedback controller!\n");
   fflush(stdout);
@@ -380,9 +393,10 @@ bool TankDrive::drive_to_point(double x, double y, vex::directionType dir, doubl
  * @param heading_deg the heading to which we will turn
  * @param feedback    the feedback controller we will use to travel. controls the rate at which we accelerate and drive.
  * @param max_speed  the maximum percentage of robot speed at which the robot will travel. 1 = full power
+ * @param end_speed  the movement profile will attempt to reach this velocity by its completion
  * @return true if we have reached our target heading
  */
-bool TankDrive::turn_to_heading(double heading_deg, Feedback &feedback, double max_speed)
+bool TankDrive::turn_to_heading(double heading_deg, Feedback &feedback, double max_speed, double end_speed)
 {
   // We can't run the auto drive function without odometry
   if (odometry == NULL)
@@ -395,7 +409,7 @@ bool TankDrive::turn_to_heading(double heading_deg, Feedback &feedback, double m
   if (!func_initialized)
   {
     double initial_delta = OdometryBase::smallest_angle(odometry->get_position().rot, heading_deg);
-    feedback.init(-initial_delta, 0);
+    feedback.init(-initial_delta, 0, odometry->get_angular_speed_deg(), end_speed);
     feedback.set_limits(-fabs(max_speed), fabs(max_speed));
 
     func_initialized = true;
@@ -425,12 +439,13 @@ bool TankDrive::turn_to_heading(double heading_deg, Feedback &feedback, double m
  *
  * @param heading_deg the heading to which we will turn
  * @param max_speed  the maximum percentage of robot speed at which the robot will travel. 1 = full power
+ * @param end_speed  the movement profile will attempt to reach this velocity by its completion
  * @return true if we have reached our target heading
  */
-bool TankDrive::turn_to_heading(double heading_deg, double max_speed)
+bool TankDrive::turn_to_heading(double heading_deg, double max_speed, double end_speed)
 {
   if (turn_default_feedback != NULL)
-    return turn_to_heading(heading_deg, *turn_default_feedback, max_speed);
+    return turn_to_heading(heading_deg, *turn_default_feedback, max_speed, end_speed);
 
   printf("tank_drive.cpp: Cannot run turn_to_heading without a feedback controller!\n");
   fflush(stdout);
@@ -450,59 +465,63 @@ double TankDrive::modify_inputs(double input, int power)
 }
 
 /**
- * Drive the robot autonomously using a pure-pursuit algorithm - Input path with a set of 
+ * Drive the robot autonomously using a pure-pursuit algorithm - Input path with a set of
  * waypoints - the robot will attempt to follow the points while cutting corners (radius)
  * to save time (compared to stop / turn / start)
- * 
+ *
  * @param path The list of coordinates to follow, in order
  * @param dir Run the bot forwards or backwards
- * @param radius How big the corner cutting should be - small values follow the path more closely
  * @param feedback The feedback controller determining speed
  * @param max_speed Limit the speed of the robot (for pid / pidff feedbacks)
  * @return True when the path is complete
-*/
-bool TankDrive::pure_pursuit(std::vector<point_t> path, directionType dir, double radius, Feedback &feedback, double max_speed)
+ */
+bool TankDrive::pure_pursuit(PurePursuit::Path path, directionType dir, Feedback &feedback, double max_speed, double end_speed)
 {
+  std::vector<point_t> points = path.get_points();
+  if (!path.is_valid()) {
+    printf("WARNING: Unexpected pure pursuit path - some segments intersect or are too close\n");
+  }
   pose_t robot_pose = odometry->get_position();
 
   // On function initialization, send the path-length estimate to the feedback controller
-  if(!func_initialized)
+  if (!func_initialized)
   {
-    if(dir != directionType::rev)
-      feedback.init(-estimate_path_length(path), 0);
+    if (dir != directionType::rev)
+      feedback.init(-estimate_path_length(points), 0, odometry->get_speed(), end_speed);
     else
-      feedback.init(estimate_path_length(path), 0);
-    
+      feedback.init(estimate_path_length(points), 0, odometry->get_speed(), end_speed);
+
     func_initialized = true;
   }
-  
-  point_t lookahead = PurePursuit::get_lookahead(path, odometry->get_position(), radius);
+
+  point_t lookahead = PurePursuit::get_lookahead(points, odometry->get_position(), path.get_radius());
   point_t localized = lookahead - robot_pose.get_point();
 
-  point_t last_point = path[path.size()-1];
+  point_t last_point = points[points.size() - 1];
   bool is_last_point = (lookahead == last_point);
-  
+
   double correction = 0;
-  double dist_remaining = PurePursuit::estimate_remaining_dist(path, robot_pose, radius);
+  double dist_remaining = PurePursuit::estimate_remaining_dist(points, robot_pose, path.get_radius());
   double angle_diff = 0;
-  
+
   // Robot is facing forwards / backwards, change the bot's angle by 180
-  if(dir != directionType::rev)
+  if (dir != directionType::rev)
     angle_diff = OdometryBase::smallest_angle(robot_pose.rot, rad2deg(atan2(localized.y, localized.x)));
   else
     angle_diff = OdometryBase::smallest_angle(robot_pose.rot + 180, rad2deg(atan2(localized.y, localized.x)));
 
-  // Correct the robot's heading until the last cut-off 
-  if(!(is_last_point && robot_pose.get_point().dist(last_point) < config.drive_correction_cutoff))
+  // Correct the robot's heading until the last cut-off
+  if (!(is_last_point && robot_pose.get_point().dist(last_point) < config.drive_correction_cutoff))
   {
     correction_pid.update(angle_diff);
     correction = correction_pid.get();
-  } else // Inside cut-off radius, ignore horizontal diffs
+  }
+  else // Inside cut-off radius, ignore horizontal diffs
   {
     dist_remaining *= cos(angle_diff * (PI / 180.0));
   }
 
-  if(dir != directionType::rev)
+  if (dir != directionType::rev)
     feedback.update(-dist_remaining);
   else
     feedback.update(dist_remaining);
@@ -514,11 +533,11 @@ bool TankDrive::pure_pursuit(std::vector<point_t> path, directionType dir, doubl
 
   left += correction;
   right -= correction;
-  
+
   drive_tank(left, right);
 
   // When the robot has reached the end point and feedback reports on target, end pure pursuit
-  if(is_last_point && feedback.is_on_target())
+  if (is_last_point && feedback.is_on_target())
   {
     func_initialized = false;
     stop();
@@ -528,19 +547,18 @@ bool TankDrive::pure_pursuit(std::vector<point_t> path, directionType dir, doubl
 }
 
 /**
- * Drive the robot autonomously using a pure-pursuit algorithm - Input path with a set of 
+ * Drive the robot autonomously using a pure-pursuit algorithm - Input path with a set of
  * waypoints - the robot will attempt to follow the points while cutting corners (radius)
  * to save time (compared to stop / turn / start)
- * 
+ *
  * Use the default drive feedback
- * 
+ *
  * @param path The list of coordinates to follow, in order
  * @param dir Run the bot forwards or backwards
- * @param radius How big the corner cutting should be - small values follow the path more closely
  * @param max_speed Limit the speed of the robot (for pid / pidff feedbacks)
  * @return True when the path is complete
-*/
-bool TankDrive::pure_pursuit(std::vector<point_t> path, directionType dir, double radius, double max_speed)
+ */
+bool TankDrive::pure_pursuit(PurePursuit::Path path, directionType dir, double max_speed, double end_speed)
 {
-  return pure_pursuit(path, dir, radius, *config.drive_feedback, max_speed);
+  return pure_pursuit(path, dir, *config.drive_feedback, max_speed, end_speed);
 }
\ No newline at end of file
diff --git a/src/utils/auto_chooser.cpp b/src/utils/auto_chooser.cpp
index 4edd072..9ef9b87 100644
--- a/src/utils/auto_chooser.cpp
+++ b/src/utils/auto_chooser.cpp
@@ -1,88 +1,72 @@
 #include "../core/include/utils/auto_chooser.h"
 
 /**
-  * Initialize the auto-chooser. This class places a choice menu on the brain screen,
-  * so the driver can choose which autonomous to run.
-  * @param brain the brain on which to draw the selection boxes
-  */
-AutoChooser::AutoChooser(vex::brain &brain) : brain(brain)
+ * Initialize the auto-chooser. This class places a choice menu on the brain screen,
+ * so the driver can choose which autonomous to run.
+ * @param brain the brain on which to draw the selection boxes
+ */
+AutoChooser::AutoChooser(std::vector<std::string> paths, size_t def) : choice(def)
 {
-  brain.Screen.pressed([](void *ptr){
-    AutoChooser &a = *(AutoChooser*)ptr;
-    int x = a.brain.Screen.xPosition();
-    int y = a.brain.Screen.yPosition();
+  const static int per_line = 3;
+  const static int num_lines = 2;
+  const static int x_padding = 20;
+  const static int y_padding = 20;
 
-    entry_t *selected = NULL;
-    
-    // Check if the touchscreen press is inside each rectangle
-    for(int i = 0; i < a.list.size(); i++)
+  const int entry_height = ((height - (y_padding * (num_lines - 1))) / num_lines);
+  const int entry_width = ((width - (x_padding * (per_line - 1))) / per_line);
+
+  list = std::vector<entry_t>(paths.size());
+  int x = 50;
+  int y = 10;
+  for (size_t i = 0; i < list.size(); i++)
+  {
+    Rect r = Rect::from_min_and_size({(double)x, (double)y}, {entry_width, entry_height});
+    list[i] = entry_t{r, paths[i]};
+    x += entry_width + x_padding;
+    if ((i + 1) % per_line == 0)
     {
-      int rect_x = a.list[i].x, rect_y = a.list[i].y;
-      int rect_w = a.list[i].width, rect_h = a.list[i].height;
-      if (x > rect_x && x < rect_x + rect_w)
-        if (y > rect_y && y < rect_y + rect_h)
-          selected = &a.list[i];
+      y += entry_height + y_padding;
+      x = 50;
     }
-
-    // Re-render all the choices on each press.
-    a.render(selected);
-    
-    if(selected == NULL)
-      a.choice = "";
-    else
-      a.choice = selected->name;
-
-  }, this);
+  }
 }
-
-#define PADDING 10
-#define WIDTH 150
-#define HEIGHT 40
-
-/**
-  * Place all the autonomous choices on the screen.
-  * If one is selected, change it's color
-  * @param selected the choice that is currently selected
-  */
-void AutoChooser::render(entry_t *selected)
+void AutoChooser::update(bool was_pressed, int x, int y)
 {
-  for(int i = 0; i < list.size(); i++)
+  size_t i = 0;
+  for (const entry_t &e : list)
   {
-    brain.Screen.setPenColor(vex::color::black);
-  
-    if(selected != NULL && selected == &list[i])
-      brain.Screen.setFillColor(vex::color::white);
-    else
-      brain.Screen.setFillColor(vex::color::orange);
-
-    brain.Screen.drawRectangle(list[i].x, list[i].y, list[i].width, list[i].height);
-    brain.Screen.printAt(list[i].x + PADDING, list[i].y + list[i].height - PADDING, list[i].name.c_str());
+    if (was_pressed && e.rect.contains({(double)x, (double)y}))
+    {
+      choice = i;
+    }
+    i++;
   }
 }
 
-/**
-  * Add a new autonomous option. There are 3 options per row.
-  */
-void AutoChooser::add(std::string name)
+void AutoChooser::draw(vex::brain::lcd &scr, [[maybe_unused]] bool first_draw, [[maybe_unused]] unsigned int frame_number)
 {
-  int x = (PADDING * ((list.size() % 3) + 1)) + ((list.size() % 3) * WIDTH);
-  int y = (PADDING * ((list.size() / 3) + 1)) + ((list.size() / 3) * HEIGHT);
-  entry_t entry = {
-    .x=x,
-    .y=y,
-    .width=WIDTH,
-    .height=HEIGHT,
-    .name=name
-  };
+  scr.setFont(vex::fontType::mono20);
+
+  for (size_t i = 0; i < list.size(); i++)
+  {
+    entry_t e = list[i];
+    scr.setFillColor(vex::blue);
 
-  list.push_back(entry);
-  render(NULL);
+    if (choice == i)
+    {
+      scr.setFillColor(vex::green);
+    }
+    scr.drawRectangle(e.rect.min.x, e.rect.min.y, e.rect.width(), e.rect.height());
+
+    int width = scr.getStringWidth(e.name.c_str());
+    scr.printAt(e.rect.center().x - width / 2, e.rect.center().y - 10, e.name.c_str());
+  }
 }
 
 /**
-  * Return the selected autonomous
-  */
-std::string AutoChooser::get_choice()
+ * Return the selected autonomous
+ */
+size_t AutoChooser::get_choice() 
 {
   return choice;
 }
\ No newline at end of file
diff --git a/src/utils/command_structure/auto_command.cpp b/src/utils/command_structure/auto_command.cpp
index d9b0461..b1869c6 100644
--- a/src/utils/command_structure/auto_command.cpp
+++ b/src/utils/command_structure/auto_command.cpp
@@ -1,5 +1,47 @@
 #include "../core/include/utils/command_structure/auto_command.h"
 
+class OrCondition : public Condition
+{
+public:
+    OrCondition(Condition *A, Condition *B) : A(A), B(B) {}
+    bool test() override
+    {
+        bool a = A->test();
+        bool b = B->test();
+        return a | b;
+    }
+
+private:
+    Condition *A;
+    Condition *B;
+};
+
+class AndCondition : public Condition
+{
+public:
+    AndCondition(Condition *A, Condition *B) : A(A), B(B) {}
+    bool test() override
+    {
+        bool a = A->test();
+        bool b = B->test();
+        return a & b;
+    }
+
+private:
+    Condition *A;
+    Condition *B;
+};
+
+Condition *Condition::Or(Condition *b)
+{
+    return new OrCondition(this, b);
+}
+
+Condition *Condition::And(Condition *b)
+{
+    return new AndCondition(this, b);
+}
+
 bool FunctionCondition::test()
 {
     return cond();
@@ -22,14 +64,17 @@ InOrder::InOrder(std::initializer_list<AutoCommand *> cmds) : cmds(cmds)
 bool InOrder::run()
 {
     // outer loop finished
-    if (cmds.size() == 0)
+    if (cmds.size() == 0 && current_command == nullptr)
     {
+        printf("INORDER finished\n");
         return true;
     }
     // retrieve and remove command at the front of the queue
     if (current_command == nullptr)
     {
+        printf("TAKING INORDER: len =  %d\n", cmds.size());
         current_command = cmds.front();
+        printf("Current command: %p\n", (void *)current_command);
         cmds.pop();
         tmr.reset();
     }
@@ -38,17 +83,23 @@ bool InOrder::run()
     bool cmd_finished = current_command->run();
     if (cmd_finished)
     {
+        printf("InOrder Cmd finished\n");
         current_command = nullptr;
-        return false; // continue omn next command
+        return false; // continue onto next command
     }
 
     double seconds = static_cast<double>(tmr.time()) / 1000.0;
 
     bool should_timeout = current_command->timeout_seconds > 0.0;
-    bool command_timed_out = seconds > current_command->timeout_seconds;
+    bool doTimeout = should_timeout && seconds > current_command->timeout_seconds;
+    if (current_command->true_to_end != nullptr)
+    {
+        doTimeout = doTimeout || current_command->true_to_end->test();
+    }
 
+    printf(".");
     // timeout
-    if (should_timeout && command_timed_out)
+    if (doTimeout)
     {
         current_command->on_timeout();
         current_command = nullptr;
@@ -84,9 +135,12 @@ static int parallel_runner(void *arg)
         }
         double t = (double)(tmr.time()) / 1000.0;
         bool timed_out = t > ri->cmd->timeout_seconds;
-        bool should_timeout = ri->cmd->timeout_seconds > 0;
-
-        if (timed_out && should_timeout)
+        bool doTimeout = timed_out && (ri->cmd->timeout_seconds > 0);
+        if (ri->cmd->true_to_end != nullptr)
+        {
+            doTimeout = doTimeout || ri->cmd->true_to_end->test();
+        }
+        if (doTimeout)
         {
             ri->cmd->on_timeout();
         }
@@ -218,8 +272,12 @@ static int async_runner(void *arg)
         }
         double t = (double)(tmr.time()) / 1000.0;
         bool timed_out = t > cmd->timeout_seconds;
-        bool should_timeout = cmd->timeout_seconds > 0;
-        if (timed_out && should_timeout)
+        bool doTimeout = timed_out && cmd->timeout_seconds > 0;
+        if (cmd->true_to_end != nullptr)
+        {
+            doTimeout = doTimeout || cmd->true_to_end->test();
+        }
+        if (doTimeout)
         {
             cmd->on_timeout();
             break;
@@ -237,3 +295,39 @@ bool Async::run()
     // lmao get memory leaked
     return true;
 }
+
+RepeatUntil::RepeatUntil(InOrder cmds, size_t times) : RepeatUntil(cmds, new TimesTestedCondition(times))
+{
+    timeout_seconds = -1.0;
+}
+
+RepeatUntil::RepeatUntil(InOrder cmds, Condition *cond) : cmds(cmds), working_cmds(new InOrder(cmds)), cond(cond)
+{
+    timeout_seconds = -1.0;
+}
+
+bool RepeatUntil::run()
+{
+    bool finished = working_cmds->run();
+    if (!finished)
+    {
+        // return if we're not done yet
+        return false;
+    }
+    // this run finished
+
+    bool res = cond->test();
+    // we should finish
+    if (res)
+    {
+        return true;
+    }
+    working_cmds = new InOrder(cmds);
+
+    return false;
+}
+
+void RepeatUntil::on_timeout()
+{
+    working_cmds->on_timeout();
+}
\ No newline at end of file
diff --git a/src/utils/command_structure/basic_command.cpp b/src/utils/command_structure/basic_command.cpp
new file mode 100644
index 0000000..a45b85f
--- /dev/null
+++ b/src/utils/command_structure/basic_command.cpp
@@ -0,0 +1,89 @@
+/**
+ * @file basic_commands.cpp
+ * @author Ethan Kishimori GITHUB(LilacEthan)
+ *
+ * @brief Basic Commands for Motors and Solenoids able to throw into the Command Controller
+ *  Commands Included
+ *      - BasicSpinCommand
+ *      - BasicStopCommand
+ *      - BasicSolenoidSet
+ *
+ * @version 0.1
+ *
+ */
+#include "../core/include/utils/command_structure/basic_command.h"
+
+// Basic Motor Commands--------------------------------------
+/**
+ * @brief a BasicMotorSpin Command
+ *
+ * @param motor Motor port to spin
+ * @param dir Direction for spining
+ * @param setting Power setting in volts,percentage,velocity
+ * @param power Value of desired power
+ */
+BasicSpinCommand::BasicSpinCommand(vex::motor &motor, vex::directionType dir, BasicSpinCommand::type setting, double power) : motor(motor), setting(setting), dir(dir), power(power) {}
+
+/**
+ * @brief Run the BasicSpinCommand
+ * Overrides run from Auto Command
+ *
+ * @return True Command runs once
+ */
+bool BasicSpinCommand::run()
+{
+   switch (setting)
+   {             // Switch Statement taking the setting Enum
+   case voltage: // Voltage Setting
+      motor.spin(dir, power, vex::volt);
+      break;
+   case percent: // Percentage Setting
+      motor.spin(dir, power, vex::percent);
+      break;
+   case veocity: // Velocity Setting
+      motor.spin(dir, power, vex::velocityUnits::rpm);
+      break;
+   }
+   return true; // Always return True to send next on CommandController
+}
+
+/**
+ * @brief Construct a BasicMotorStop Command
+ *
+ * @param motor Motor to stop
+ * @param setting Braketype setting brake,coast,hold
+ */
+BasicStopCommand::BasicStopCommand(vex::motor &motor, vex::brakeType setting) : motor(motor), setting(setting) {}
+
+/**
+ * @brief Runs the BasicMotorStop command
+ * Ovverides run command from AutoCommand
+ *
+ * @return True Command runs once
+ */
+bool BasicStopCommand::run()
+{
+   motor.stop(setting);
+   return true;
+}
+
+// Basic Solenoid Commands-----------------------------------
+/**
+ * @brief Construct a new BasicSolenoidSet Command
+ *
+ * @param solenoid Solenoid being set
+ * @param setting Setting of the solenoid in boolean (true,false)
+ */
+BasicSolenoidSet::BasicSolenoidSet(vex::pneumatics &solenoid, bool setting) : solenoid(solenoid), setting(setting) {}
+
+/**
+ * @brief Runs the BasicSolenoidSet
+ * Overrides run command from AutoCommand
+ *
+ * @return True Command runs once
+ */
+bool BasicSolenoidSet::run()
+{
+   solenoid.set(setting);
+   return true;
+}
\ No newline at end of file
diff --git a/src/utils/command_structure/command_controller.cpp b/src/utils/command_structure/command_controller.cpp
index 37bfa84..79eb29c 100644
--- a/src/utils/command_structure/command_controller.cpp
+++ b/src/utils/command_structure/command_controller.cpp
@@ -62,8 +62,8 @@ void CommandController::add_delay(int ms)
   command_queue.push(delay);
 }
 
-
-void CommandController::add_cancel_func(std::function<bool(void)> true_if_cancel){
+void CommandController::add_cancel_func(std::function<bool(void)> true_if_cancel)
+{
   should_cancel = true_if_cancel;
 }
 
@@ -80,19 +80,23 @@ void CommandController::run()
   vex::timer tmr;
   tmr.reset();
 
-  while (!command_queue.empty() )
+  while (!command_queue.empty())
   {
     // retrieve and remove command at the front of the queue
     next_cmd = command_queue.front();
     command_queue.pop();
     command_timed_out = false;
 
-    printf("Beginning Command %d : timeout = %.2f : at time = %.1f seconds\n", command_count, next_cmd->timeout_seconds, tmr.time(vex::seconds));
-    fflush(stdout);
+    // printf("Beginning Command %d : timeout = %.2f : at time = %.1f seconds\n", command_count, next_cmd->timeout_seconds, tmr.time(vex::seconds));
+    // fflush(stdout);
 
     vex::timer timeout_timer;
     timeout_timer.reset();
     bool doTimeout = next_cmd->timeout_seconds > 0.0;
+    if (next_cmd->true_to_end != nullptr)
+    {
+      doTimeout = doTimeout || next_cmd->true_to_end->test();
+    }
 
     // run the current command until it returns true or we timeout
     while (!next_cmd->run())
@@ -113,7 +117,8 @@ void CommandController::run()
         break;
       }
     }
-    if (should_cancel()){
+    if (should_cancel())
+    {
       break;
     }
 
diff --git a/src/utils/command_structure/drive_commands.cpp b/src/utils/command_structure/drive_commands.cpp
index 633fa4f..4984cf6 100644
--- a/src/utils/command_structure/drive_commands.cpp
+++ b/src/utils/command_structure/drive_commands.cpp
@@ -29,8 +29,8 @@
  * @param dir the direction to drive
  * @param max_speed 0 -> 1 percentage of the drive systems speed to drive at
 */
-DriveForwardCommand::DriveForwardCommand(TankDrive &drive_sys, Feedback &feedback, double inches, directionType dir, double max_speed):
-  drive_sys(drive_sys), feedback(feedback), inches(inches), dir(dir), max_speed(max_speed) {}
+DriveForwardCommand::DriveForwardCommand(TankDrive &drive_sys, Feedback &feedback, double inches, directionType dir, double max_speed, double end_speed):
+  drive_sys(drive_sys), feedback(feedback), inches(inches), dir(dir), max_speed(max_speed), end_speed(end_speed) {}
 
 /**
  * Run drive_forward
@@ -38,15 +38,15 @@ DriveForwardCommand::DriveForwardCommand(TankDrive &drive_sys, Feedback &feedbac
  * @returns true when execution is complete, false otherwise
  */
 bool DriveForwardCommand::run() {
-  return drive_sys.drive_forward(inches, dir, feedback, max_speed);
+  return drive_sys.drive_forward(inches, dir, feedback, max_speed, end_speed);
 }
 
 /**
  * reset the drive system if we timeout
 */
 void DriveForwardCommand::on_timeout(){
-  drive_sys.reset_auto();
   drive_sys.stop();
+  drive_sys.reset_auto();
 }
 
 
@@ -57,8 +57,8 @@ void DriveForwardCommand::on_timeout(){
  * @param degrees how many degrees to rotate
  * @param max_speed 0 -> 1 percentage of the drive systems speed to drive at
  */
-TurnDegreesCommand::TurnDegreesCommand(TankDrive &drive_sys, Feedback &feedback, double degrees, double max_speed):
-  drive_sys(drive_sys), feedback(feedback), degrees(degrees), max_speed(max_speed){}
+TurnDegreesCommand::TurnDegreesCommand(TankDrive &drive_sys, Feedback &feedback, double degrees, double max_speed, double end_speed):
+  drive_sys(drive_sys), feedback(feedback), degrees(degrees), max_speed(max_speed), end_speed(end_speed) {}
 
 /**
  * Run turn_degrees
@@ -66,14 +66,14 @@ TurnDegreesCommand::TurnDegreesCommand(TankDrive &drive_sys, Feedback &feedback,
  * @returns true when execution is complete, false otherwise
  */
 bool TurnDegreesCommand::run() {
-  return drive_sys.turn_degrees(degrees, max_speed);
+  return drive_sys.turn_degrees(degrees, max_speed, end_speed);
 }
 /**
  * reset the drive system if we timeout
 */
 void TurnDegreesCommand::on_timeout(){
-  drive_sys.reset_auto();
   drive_sys.stop();
+  drive_sys.reset_auto();
 }
 
 
@@ -86,8 +86,8 @@ void TurnDegreesCommand::on_timeout(){
  * @param dir the direction to drive
  * @param max_speed 0 -> 1 percentage of the drive systems speed to drive at
  */
-DriveToPointCommand::DriveToPointCommand(TankDrive &drive_sys, Feedback &feedback, double x, double y, directionType dir, double max_speed):
-  drive_sys(drive_sys), feedback(feedback), x(x), y(y), dir(dir), max_speed(max_speed) {}
+DriveToPointCommand::DriveToPointCommand(TankDrive &drive_sys, Feedback &feedback, double x, double y, directionType dir, double max_speed, double end_speed):
+  drive_sys(drive_sys), feedback(feedback), x(x), y(y), dir(dir), max_speed(max_speed), end_speed(end_speed) {}
 
 /**
  * Construct a DriveForward Command
@@ -97,8 +97,8 @@ DriveToPointCommand::DriveToPointCommand(TankDrive &drive_sys, Feedback &feedbac
  * @param dir the direction to drive
  * @param max_speed 0 -> 1 percentage of the drive systems speed to drive at
  */
-DriveToPointCommand::DriveToPointCommand(TankDrive &drive_sys, Feedback &feedback, point_t point, directionType dir, double max_speed):
-  drive_sys(drive_sys), feedback(feedback), x(point.x), y(point.y), dir(dir), max_speed(max_speed) {}
+DriveToPointCommand::DriveToPointCommand(TankDrive &drive_sys, Feedback &feedback, point_t point, directionType dir, double max_speed, double end_speed):
+  drive_sys(drive_sys), feedback(feedback), x(point.x), y(point.y), dir(dir), max_speed(max_speed), end_speed(end_speed) {}
 
 /**
  * Run drive_to_point
@@ -106,14 +106,14 @@ DriveToPointCommand::DriveToPointCommand(TankDrive &drive_sys, Feedback &feedbac
  * @returns true when execution is complete, false otherwise
  */
 bool DriveToPointCommand::run() {
-  return drive_sys.drive_to_point(x, y, dir, feedback, max_speed);
+  return drive_sys.drive_to_point(x, y, dir, feedback, max_speed, end_speed);
 }
 /**
  * reset the drive system if we don't hit our target
 */
 void DriveToPointCommand::on_timeout(){
-  drive_sys.reset_auto();
   drive_sys.stop();
+  drive_sys.reset_auto();
 }
 
 
@@ -124,8 +124,8 @@ void DriveToPointCommand::on_timeout(){
  * @param heading_deg the heading to turn to in degrees
  * @param max_speed 0 -> 1 percentage of the drive systems speed to drive at
  */
-TurnToHeadingCommand::TurnToHeadingCommand(TankDrive &drive_sys, Feedback &feedback, double heading_deg, double max_speed):
-  drive_sys(drive_sys), feedback(feedback), heading_deg(heading_deg), max_speed(max_speed) {}
+TurnToHeadingCommand::TurnToHeadingCommand(TankDrive &drive_sys, Feedback &feedback, double heading_deg, double max_speed, double end_speed):
+  drive_sys(drive_sys), feedback(feedback), heading_deg(heading_deg), max_speed(max_speed), end_speed(end_speed) {}
 
 /**
  * Run turn_to_heading
@@ -133,14 +133,14 @@ TurnToHeadingCommand::TurnToHeadingCommand(TankDrive &drive_sys, Feedback &feedb
  * @returns true when execution is complete, false otherwise
  */
 bool TurnToHeadingCommand::run() {
-  return drive_sys.turn_to_heading(heading_deg, feedback, max_speed);
+  return drive_sys.turn_to_heading(heading_deg, feedback, max_speed, end_speed);
 }
 /**
  * reset the drive system if we don't hit our target
 */
 void TurnToHeadingCommand::on_timeout(){
-  drive_sys.reset_auto();
   drive_sys.stop();
+  drive_sys.reset_auto();
 }
 
 /**
@@ -148,12 +148,11 @@ void TurnToHeadingCommand::on_timeout(){
  * 
  * @param path The list of coordinates to follow, in order
  * @param dir Run the bot forwards or backwards
- * @param radius How big the corner cutting should be - small values follow the path more closely
  * @param feedback The feedback controller determining speed
  * @param max_speed Limit the speed of the robot (for pid / pidff feedbacks)
 */
-PurePursuitCommand::PurePursuitCommand(TankDrive &drive_sys, Feedback &feedback, std::vector<point_t> path, directionType dir, double radius, double max_speed)
-: drive_sys(drive_sys), path(path), dir(dir), radius(radius), feedback(feedback), max_speed(max_speed)
+PurePursuitCommand::PurePursuitCommand(TankDrive &drive_sys, Feedback &feedback, PurePursuit::Path path, directionType dir, double max_speed, double end_speed)
+: drive_sys(drive_sys), path(path), dir(dir), feedback(feedback), max_speed(max_speed), end_speed(end_speed)
 {}
 
 /**
@@ -161,7 +160,7 @@ PurePursuitCommand::PurePursuitCommand(TankDrive &drive_sys, Feedback &feedback,
 */
 bool PurePursuitCommand::run()
 {
-  return drive_sys.pure_pursuit(path, dir, radius, feedback, max_speed);
+  return drive_sys.pure_pursuit(path, dir, feedback, max_speed, end_speed);
 }
 
 /**
@@ -169,8 +168,8 @@ bool PurePursuitCommand::run()
 */
 void PurePursuitCommand::on_timeout()
 {
-  drive_sys.reset_auto();
   drive_sys.stop();
+  drive_sys.reset_auto();
 }
 
 /**
diff --git a/src/utils/command_structure/flywheel_commands.cpp b/src/utils/command_structure/flywheel_commands.cpp
index a4aa4d0..bddda27 100644
--- a/src/utils/command_structure/flywheel_commands.cpp
+++ b/src/utils/command_structure/flywheel_commands.cpp
@@ -11,7 +11,7 @@ SpinRPMCommand::SpinRPMCommand(Flywheel &flywheel, int rpm):
   flywheel(flywheel), rpm(rpm) {}
 
 bool SpinRPMCommand::run() {
-  flywheel.spinRPM(rpm);
+  flywheel.spin_rpm(rpm);
   return true;
 }
 
@@ -20,7 +20,7 @@ WaitUntilUpToSpeedCommand::WaitUntilUpToSpeedCommand(Flywheel &flywheel, int thr
 
 bool WaitUntilUpToSpeedCommand::run() {
   // If we're withing the specified threshold, we're ready to fire
-  if (fabs(flywheel.getDesiredRPM() - flywheel.getRPM()) < threshold_rpm){
+  if (fabs(flywheel.get_target() - flywheel.getRPM()) < threshold_rpm){
     return true;
   }
   // else, keep waiting
@@ -42,7 +42,7 @@ FlywheelStopMotorsCommand::FlywheelStopMotorsCommand(Flywheel &flywheel):
   flywheel(flywheel) {}
 
 bool FlywheelStopMotorsCommand::run() {
-  flywheel.stopMotors();
+  flywheel.stop();
   return true;
 }
 
@@ -51,6 +51,6 @@ FlywheelStopNonTasksCommand::FlywheelStopNonTasksCommand(Flywheel &flywheel):
   flywheel(flywheel) {}
 
 bool FlywheelStopNonTasksCommand::run() {
-  flywheel.stopNonTasks();
+  flywheel.stop();
   return true;
 }
diff --git a/src/utils/controls/bang_bang.cpp b/src/utils/controls/bang_bang.cpp
new file mode 100644
index 0000000..161a951
--- /dev/null
+++ b/src/utils/controls/bang_bang.cpp
@@ -0,0 +1,43 @@
+#include "../core/include/utils/controls/bang_bang.h"
+#include <cmath>
+
+BangBang::BangBang(double threshhold, double low, double high) : setpt(low), sensor_val(low), lower_bound(low), upper_bound(high), threshhold(threshhold) {}
+
+void BangBang::init(double start_pt, double set_pt, double, double)
+{
+    sensor_val = start_pt;
+    setpt = set_pt;
+}
+
+void BangBang::set_limits(double lower, double upper)
+{
+    lower_bound = lower;
+    upper_bound = upper;
+}
+double BangBang::get()
+{
+    return last_output;
+}
+
+double BangBang::update(double val)
+{
+    sensor_val = val;
+    if (fabs(val - setpt) < threshhold)
+    {
+        last_output = 0;
+    }
+    else if (val > setpt)
+    {
+        last_output = lower_bound;
+    }
+    else
+    {
+        last_output = upper_bound;
+    }
+    return upper_bound;
+}
+
+bool BangBang::is_on_target()
+{
+    return fabs(sensor_val - setpt) < threshhold;
+}
\ No newline at end of file
diff --git a/src/utils/feedforward.cpp b/src/utils/controls/feedforward.cpp
similarity index 95%
rename from src/utils/feedforward.cpp
rename to src/utils/controls/feedforward.cpp
index 1b4ff99..ef0d242 100644
--- a/src/utils/feedforward.cpp
+++ b/src/utils/controls/feedforward.cpp
@@ -1,4 +1,4 @@
-#include "../core/include/utils/feedforward.h"
+#include "../core/include/utils/controls/feedforward.h"
 
 
 /**
@@ -49,8 +49,8 @@ FeedForward::ff_config_t tune_feedforward(vex::motor_group &motor, double pct, d
         vel_ma.add_entry(motor.velocity(vex::velocityUnits::rpm));
         accel_ma.add_entry(motor.velocity(vex::velocityUnits::rpm)/dt);
 
-        double speed = vel_ma.get_average();
-        double accel = accel_ma.get_average();
+        double speed = vel_ma.get_value();
+        double accel = accel_ma.get_value();
 
         // For kV:
         if(speed > max_speed)
diff --git a/src/utils/motion_controller.cpp b/src/utils/controls/motion_controller.cpp
similarity index 90%
rename from src/utils/motion_controller.cpp
rename to src/utils/controls/motion_controller.cpp
index a68770a..8253f35 100644
--- a/src/utils/motion_controller.cpp
+++ b/src/utils/controls/motion_controller.cpp
@@ -1,4 +1,4 @@
-#include "../core/include/utils/motion_controller.h"
+#include "../core/include/utils/controls/motion_controller.h"
 #include "../core/include/utils/math_util.h"
 #include <vector>
 
@@ -20,12 +20,17 @@ MotionController::MotionController(m_profile_cfg_t &config)
  * This will also reset the PID and profile timers.
  * @param start_pt Movement starting position
  * @param end_pt Movement ending posiiton 
+ * @param start_vel Movement starting velocity
+ * @param end_vel Movement ending velocity
  */
-void MotionController::init(double start_pt, double end_pt)
+void MotionController::init(double start_pt, double end_pt, double start_vel, double end_vel)
 {
     profile.set_endpts(start_pt, end_pt);
+    profile.set_vel_endpts(start_vel, end_vel);
     pid.reset();
     tmr.reset();
+
+    this->end_pt = end_pt;
 }
 
 /**
@@ -36,10 +41,12 @@ void MotionController::init(double start_pt, double end_pt)
 */
 double MotionController::update(double sensor_val)
 {
-    cur_motion = profile.calculate(tmr.time(timeUnits::sec));
+    cur_motion = profile.calculate(tmr.time(timeUnits::sec), sensor_val);
     pid.set_target(cur_motion.pos);
     pid.update(sensor_val);
 
+    this->current_pos = sensor_val;
+
     out = pid.get() +  ff.calculate(cur_motion.vel, cur_motion.accel, pid.get());
 
     if(lower_limit != upper_limit)
@@ -74,7 +81,7 @@ void MotionController::set_limits(double lower, double upper)
  */
 bool MotionController::is_on_target()
 {
-    return (tmr.time(timeUnits::sec) > profile.get_movement_time()) && pid.is_on_target();
+    return (tmr.time(timeUnits::sec) > profile.get_movement_time()) && pid.is_on_target() && fabs(end_pt - current_pos) < pid.config.deadband;
 }
 
 /**
@@ -142,8 +149,8 @@ FeedForward::ff_config_t MotionController::tune_feedforward(TankDrive &drive, Od
         vel_ma.add_entry(odometry.get_speed());
         accel_ma.add_entry(odometry.get_accel());
 
-        double speed = vel_ma.get_average();
-        double accel = accel_ma.get_average();
+        double speed = vel_ma.get_value();
+        double accel = accel_ma.get_value();
 
         // For kV:
         if(speed > max_speed)
diff --git a/src/utils/pid.cpp b/src/utils/controls/pid.cpp
similarity index 83%
rename from src/utils/pid.cpp
rename to src/utils/controls/pid.cpp
index ae35cd5..21a7475 100644
--- a/src/utils/pid.cpp
+++ b/src/utils/controls/pid.cpp
@@ -1,4 +1,4 @@
-#include "../core/include/utils/pid.h"
+#include "../core/include/utils/controls/pid.h"
 #include "../core/include/subsystems/odometry/odometry_base.h"
 
 /**
@@ -10,9 +10,11 @@ PID::PID(pid_config_t &config)
   pid_timer.reset();
 }
 
-void PID::init(double start_pt, double set_pt)
+void PID::init(double start_pt, double set_pt, double, double end_vel)
 {
   set_target(set_pt);
+  target_vel = end_vel;
+  sensor_val = start_pt;
   reset();
 }
 
@@ -31,12 +33,11 @@ double PID::update(double sensor_val)
 
   // Avoid a divide by zero error
   double d_term = 0;
-  if(time_delta != 0)
+  if (time_delta != 0)
     d_term = config.d * (get_error() - last_error) / time_delta;
-  else if(last_time != 0)
+  else if (last_time != 0)
     printf("(pid.cpp): Warning - running PID without a delay is just a P loop!\n");
 
-
   // P and D terms
   out = (config.p * get_error()) + d_term;
 
@@ -44,9 +45,9 @@ double PID::update(double sensor_val)
 
   // Only add to the accumulated error if the output is not saturated
   // aka "Integral Clamping" anti-windup technique
-  if ( !limits_exist || (limits_exist && (out < upper_limit && out > lower_limit)) )
+  if (!limits_exist || (limits_exist && (out < upper_limit && out > lower_limit)))
     accum_error += time_delta * get_error();
-  
+
   // I term
   out += config.i * accum_error;
 
@@ -55,11 +56,17 @@ double PID::update(double sensor_val)
 
   // Enable clamping if the limit is not 0
   if (limits_exist)
-    out = (out < lower_limit) ? lower_limit : (out > upper_limit) ? upper_limit : out;
+    out = (out < lower_limit) ? lower_limit : (out > upper_limit) ? upper_limit
+                                                                  : out;
 
   return out;
 }
 
+double PID::get_sensor_val()
+{
+  return sensor_val;
+}
+
 /**
  * Reset the PID loop by resetting time since 0 and accumulated error.
  */
@@ -88,7 +95,8 @@ double PID::get()
  */
 double PID::get_error()
 {
-  if (config.error_method==ERROR_TYPE::ANGULAR){
+  if (config.error_method == ERROR_TYPE::ANGULAR)
+  {
     return OdometryBase::smallest_angle(target, sensor_val);
   }
   return target - sensor_val;
@@ -108,7 +116,7 @@ void PID::set_target(double target)
 }
 
 /**
- * Set the limits on the PID out. The PID out will "clip" itself to be 
+ * Set the limits on the PID out. The PID out will "clip" itself to be
  * between the limits.
  */
 void PID::set_limits(double lower, double upper)
@@ -125,6 +133,7 @@ bool PID::is_on_target()
 {
   if (fabs(get_error()) < config.deadband)
   {
+    if (target_vel != 0) return true;
     if (is_checking_on_target == false)
     {
       on_target_last_time = pid_timer.value();
@@ -142,7 +151,3 @@ bool PID::is_on_target()
 
   return false;
 }
-
-Feedback::FeedbackType PID::get_type(){
-    return Feedback::FeedbackType::PIDType;
-}
\ No newline at end of file
diff --git a/src/utils/pidff.cpp b/src/utils/controls/pidff.cpp
similarity index 91%
rename from src/utils/pidff.cpp
rename to src/utils/controls/pidff.cpp
index 616caec..64439fe 100644
--- a/src/utils/pidff.cpp
+++ b/src/utils/controls/pidff.cpp
@@ -1,4 +1,4 @@
-#include "../core/include/utils/pidff.h"
+#include "../core/include/utils/controls/pidff.h"
 #include "../core/include/utils/math_util.h"
 
 PIDFF::PIDFF(PID::pid_config_t &pid_cfg, FeedForward::ff_config_t &ff_cfg):  pid(pid_cfg), ff_cfg(ff_cfg),ff(ff_cfg)  
@@ -14,9 +14,9 @@ PIDFF::PIDFF(PID::pid_config_t &pid_cfg, FeedForward::ff_config_t &ff_cfg):  pid
  * @param start_pt the current sensor value
  * @param set_pt where the sensor value should be
  */
-void PIDFF::init(double start_pt, double set_pt)
+void PIDFF::init(double start_pt, double set_pt, double start_vel, double end_vel)
 {
-    pid.init(start_pt, set_pt);
+    pid.init(start_pt, set_pt, start_vel, end_vel);
 }
 
 void PIDFF::set_target(double set_pt)
diff --git a/src/utils/controls/take_back_half.cpp b/src/utils/controls/take_back_half.cpp
new file mode 100644
index 0000000..7defe78
--- /dev/null
+++ b/src/utils/controls/take_back_half.cpp
@@ -0,0 +1,120 @@
+#include "../core/include/utils/controls/take_back_half.h"
+#include "../core/include/utils/math_util.h"
+
+TakeBackHalf::TakeBackHalf(double gain, double first_cross_split, double thresh) : TBH_gain(gain), first_cross_split(first_cross_split), on_target_threshhold(fabs(thresh))
+{
+    tbh = 0.0;
+    output = 0.0;
+    prev_error = 0.0;
+    lower = 0.0;
+    upper = 0.0;
+    first_cross = true;
+}
+
+void TakeBackHalf::init(double start_pt, double set_pt, double, double)
+{
+    if (set_pt == target)
+    {
+        // nothing to do
+        return;
+    }
+    first_cross = true;
+    tbh = output;
+    target = set_pt;
+    output = update(start_pt);
+}
+
+double TakeBackHalf::update(double val)
+{
+
+    if (target == 0.0)
+    {
+        printf("no target\n");
+        return 0.0;
+    }
+
+    double error = target - val;
+    output += TBH_gain * error;
+
+    // taking back half crossed target
+    if (sign(error) != sign(prev_error))
+    {
+        if (first_cross)
+        {
+            output = lerp(tbh, output, first_cross_split);
+            tbh = output;
+            first_cross = false;
+            printf("First cross\n");
+        }
+        else
+        {
+            // output = .5 * (output + tbh);
+            output = lerp(tbh, output, .5);
+            tbh = output;
+        }
+        prev_error = error;
+    }
+
+    if (lower != upper)
+    {
+        output = clamp(output, lower, upper);
+    }
+    return output;
+}
+
+double TakeBackHalf::get()
+{
+    return output;
+}
+
+void TakeBackHalf::set_limits(double low, double high)
+{
+
+    lower = low;
+    upper = high;
+    printf("Set limits: %f, %f\n", lower, upper);
+}
+
+bool TakeBackHalf::is_on_target()
+{
+    return fabs(prev_error) < on_target_threshhold;
+}
+
+// Runs a Take Back Half variant to control RPM
+// https://www.vexwiki.org/programming/controls_algorithms/tbh
+
+// int spinRPMTask_TBH(void *wheelPointer)
+// {
+//     // Flywheel *wheel = (Flywheel *)wheelPointer;
+
+//     double tbh = 0.0;
+//     double output = 0.0;
+//     double previous_error = 0.0;
+
+//     while (true)
+//     {
+//         wheel->measure_RPM();
+
+//         // reset if set to 0, this keeps the tbh val from screwing us up when we start up again
+//         if (wheel->get_target() == 0)
+//         {
+//             output = 0;
+//             tbh = 0;
+//         }
+
+//         double error = wheel->get_target() - wheel->getRPM();
+//         output += wheel->getTBHGain() * error;
+//         wheel->spin_raw(clamp(output, 0, 1), fwd);
+
+//         if (sign(error) != sign(previous_error))
+//         {
+//             output = .5 * (output + tbh);
+//             tbh = output;
+//             previous_error = error;
+//         }
+
+//         vexDelay(1);
+//     }
+
+//     return 0;
+// }
\ No newline at end of file
diff --git a/src/utils/graph_drawer.cpp b/src/utils/graph_drawer.cpp
index 3386620..5621d99 100644
--- a/src/utils/graph_drawer.cpp
+++ b/src/utils/graph_drawer.cpp
@@ -1,31 +1,73 @@
 #include "../core/include/utils/graph_drawer.h"
 
-/**
- * Construct a GraphDrawer
- * @brief a helper class to graph values on the brain screen
- * @param screen a reference to Brain.screen we can save for later
- * @param num_samples the graph works on a fixed window and will plot the last `num_samples` before the history is forgotten. Larger values give more context but may slow down if you have many graphs or an exceptionally high
- * @param x_label the name of the x axis (currently unused)
- * @param y_label the name of the y axis (currently unused)
- * @param draw_border whether to draw the border around the graph. can be turned off if there are multiple graphs in the same space ie. a graph of error and output
- * @param lower_bound the bottom of the window to graph. if lower_bound == upperbound, the graph will scale to it's datapoints
- * @param upper_bound the top of the window to graph. if lower_bound == upperbound, the graph will scale to it's datapoints
- */
-GraphDrawer::GraphDrawer(vex::brain::lcd &screen, int num_samples, std::string x_label, std::string y_label, vex::color col, bool draw_border, double lower_bound, double upper_bound) : Screen(screen), sample_index(0), xlabel(x_label), ylabel(y_label), col(col), border(draw_border), upper(upper_bound), lower(lower_bound)
+/// @brief Creates a graph drawer with the specified number of series (each series is a separate line)
+/// @param num_samples the number of samples to graph at a time (40 will graph the last 40 data points)
+/// @param lower_bound the bottom of the window when displaying (if upper_bound = lower_bound, auto calculate bounds)
+/// @param upper_bound the top of the window when displaying (if upper_bound = lower_bound, auto calculate bounds)
+/// @param colors the colors of the series. must be of size num_series
+/// @param num_series the number of series to graph
+GraphDrawer::GraphDrawer(int num_samples, double lower_bound, double upper_bound, std::vector<vex::color> colors, size_t num_series) : cols(colors), auto_fit(lower_bound == upper_bound)
 {
-    std::vector<point_t> temp(num_samples, point_t{.x = 0.0, .y = 0.0});
-    samples = temp;
+    if (colors.size() != num_series)
+    {
+        printf("The number of colors does not match the number of series in graph drawer\n");
+    }
+    series = std::vector<std::vector<point_t>>(num_series);
+    for (size_t i = 0; i < num_series; i++)
+    {
+        series[i] = std::vector<point_t>(num_samples, {0.0, 0.0});
+    }
+
+    if (auto_fit)
+    {
+        upper = -1000.0;
+        lower = 1000.0;
+    } else {
+        upper = upper_bound;
+        lower = lower_bound;
+    }
 }
 
 /**
- * add_sample adds a point to the graph, removing one from the back
+ * add_samples adds a point to the graph, removing one from the back
  * @param sample an x, y coordinate of the next point to graph
  */
-void GraphDrawer::add_sample(point_t sample)
+void GraphDrawer::add_samples(std::vector<point_t> new_samples)
+{
+    if (series.size() != new_samples.size())
+    {
+        printf("Mismatch between # of samples given and number of series. %s : %d\n", __FILE__, __LINE__);
+    }
+    for (size_t i = 0; i < series.size(); i++)
+    {
+        series[i][sample_index] = new_samples[i];
+        if (auto_fit)
+        {
+            upper = fmax(upper, new_samples[i].y);
+            lower = fmin(lower, new_samples[i].y);
+        }
+    }
+    sample_index++;
+    sample_index %= series[0].size();
+}
+
+void GraphDrawer::add_samples(std::vector<double> new_samples)
 {
-    samples[sample_index] = sample;
+    if (series.size() != new_samples.size())
+    {
+        printf("Mismatch between # of samples given and number of series. %s : %d\n", __FILE__, __LINE__);
+    }
+    for (size_t i = 0; i < series.size(); i++)
+    {
+        series[i][sample_index] = {(double)vex::timer::system(), new_samples[i]};
+        if (auto_fit)
+        {
+            upper = fmax(upper, new_samples[i]);
+            lower = fmin(lower, new_samples[i]);
+        }
+    }
     sample_index++;
-    sample_index %= samples.size();
+    sample_index %= series[0].size();
 }
 
 /**
@@ -35,74 +77,61 @@ void GraphDrawer::add_sample(point_t sample)
  * @param width the width of the graphed region
  * @param height the height of the graphed region
  */
-void GraphDrawer::draw(int x, int y, int width, int height)
+void GraphDrawer::draw(vex::brain::lcd &screen, int x, int y, int width, int height)
 {
-    if (samples.size() < 1)
+    if (series[0].size() < 1)
     {
         return;
     }
-
-    double current_min = samples[0].y;
-    double current_max = samples[0].y;
-    double earliest_time = samples[0].x;
-    double latest_time = samples[0].x;
-    // collect data
-    for (int i = 0; i < samples.size(); i++)
+    if (cols.size() != series.size())
     {
-        point_t p = samples[i];
-        if (p.x < earliest_time)
-        {
-            earliest_time = p.x;
-        }
-        else if (p.x > latest_time)
-        {
-            latest_time = p.x;
-        }
+        printf("The number of colors does not match the number of series in graph drawer\n");
+    }
 
-        if (p.y < current_min)
-        {
-            current_min = p.y;
-        }
-        else if (p.y > current_max)
-        {
-            current_max = p.y;
-        }
+    size_t newest_index = (sample_index-1);
+    if (sample_index<0){
+        sample_index+=series[0].size();
     }
+
+    double earliest_time = series[0][sample_index].x;
+    double latest_time = series[0][newest_index].x;
+    // collect data
     if (std::abs(latest_time - earliest_time) < 0.001)
     {
-        Screen.printAt(width / 2, height / 2, "Not enough Data");
+        screen.printAt(width / 2, height / 2, "Not enough Data");
         return;
     }
-    if (upper != lower)
-    {
-        current_min = lower;
-        current_max = upper;
-    }
 
     if (border)
     {
-        Screen.setPenWidth(1);
-        Screen.setPenColor(vex::white);
-        Screen.setFillColor(bgcol);
-        Screen.drawRectangle(x, y, width, height);
+        screen.setPenWidth(1);
+        screen.setPenColor(vex::white);
+        screen.setFillColor(bgcol);
+        screen.drawRectangle(x, y, width, height);
     }
 
     double time_range = latest_time - earliest_time;
-    double sample_range = current_max - current_min;
-    double x_s = (double)x;
-    double y_s = (double)y + (double)height;
-    Screen.setPenWidth(4);
-    Screen.setPenColor(col);
-    for (int i = sample_index; i < samples.size() + sample_index - 1; i++)
+    double sample_range = upper - lower;
+    screen.setPenWidth(2);
+
+    for (int j = 0; j < series.size(); j++)
     {
-        point_t p = samples[i % samples.size()];
-        double x_pos = x_s + ((p.x - earliest_time) / time_range) * (double)width;
-        double y_pos = y_s + ((p.y - current_min) / sample_range) * (double)(-height);
+        double x_s = (double)x;
+        double y_s = (double)y + (double)height;
+        const std::vector<point_t> &samples = series[j];
 
-        point_t p2 = samples[(i + 1) % samples.size()];
-        double x_pos2 = x_s + ((p2.x - earliest_time) / time_range) * (double)width;
-        double y_pos2 = y_s + ((p2.y - current_min) / sample_range) * (double)(-height);
+        screen.setPenColor(cols[j]);
+        for (int i = sample_index; i < samples.size() + sample_index - 1; i++)
+        {
+            point_t p = samples[i % samples.size()];
+            double x_pos = x_s + ((p.x - earliest_time) / time_range) * (double)width;
+            double y_pos = y_s + ((p.y - lower) / sample_range) * (double)(-height);
 
-        Screen.drawLine((int)x_pos, (int)y_pos, (int)x_pos2, (int)y_pos2);
+            point_t p2 = samples[(i + 1) % samples.size()];
+            double x_pos2 = x_s + ((p2.x - earliest_time) / time_range) * (double)width;
+            double y_pos2 = y_s + ((p2.y - lower) / sample_range) * (double)(-height);
+
+            screen.drawLine((int)x_pos, (int)y_pos, (int)x_pos2, (int)y_pos2);
+        }
     }
 }
diff --git a/src/utils/math_util.cpp b/src/utils/math_util.cpp
index 6d28630..58051ae 100644
--- a/src/utils/math_util.cpp
+++ b/src/utils/math_util.cpp
@@ -6,38 +6,49 @@
 #endif
 
 /**
-* Constrain the input between a minimum and a maximum value
-* 
-* @param val  the value to be restrained
-* @param low  the minimum value that will be returned
-* @param high the maximum value that will be returned
-**/
-double clamp(double val, double low, double high){
-  if (val < low){
+ * Constrain the input between a minimum and a maximum value
+ *
+ * @param val  the value to be restrained
+ * @param low  the minimum value that will be returned
+ * @param high the maximum value that will be returned
+ **/
+double clamp(double val, double low, double high)
+{
+  if (val < low)
+  {
     return low;
-  } else if (val > high){
+  }
+  else if (val > high)
+  {
     return high;
   }
   return val;
 }
+
+double lerp(double a, double b, double t)
+{
+  return a * (1.0 - t) + b * t;
+}
+
 /**
-* Returns the sign of a number
-* @param x
-* 
-* returns the sign +/-1 of x. special case at 0 it returns +1
-**/
-double sign(double x){
-  if (x<0){
+ * Returns the sign of a number
+ * @param x
+ *
+ * returns the sign +/-1 of x. special case at 0 it returns +1
+ **/
+double sign(double x)
+{
+  if (x < 0)
+  {
     return -1;
   }
   return 1;
 }
 
-
 double wrap_angle_deg(double input)
 {
   double angle = fmod(input, 360);
-  if(angle < 0)
+  if (angle < 0)
     angle += 360;
 
   return angle;
@@ -45,9 +56,9 @@ double wrap_angle_deg(double input)
 
 double wrap_angle_rad(double input)
 {
-  double angle = fmod(input, 2*PI);
-  if(angle < 0)
-    angle += 2*PI;
+  double angle = fmod(input, 2 * PI);
+  if (angle < 0)
+    angle += 2 * PI;
 
   return angle;
 }
@@ -55,27 +66,30 @@ double wrap_angle_rad(double input)
 Calculates the average of a vector of doubles
 @param values   the list of values for which the average is taken
 */
-double mean(std::vector<double> const &values){
-    double total=0;
-    for (int i=0; i<values.size(); i++){
-        total += values[i];
-    }
-    return total / (double) values.size();
+double mean(std::vector<double> const &values)
+{
+  double total = 0;
+  for (int i = 0; i < values.size(); i++)
+  {
+    total += values[i];
+  }
+  return total / (double)values.size();
 }
 
-
 /*
 Calculates the variance of  a set of numbers (needed for linear regression)
 https://en.wikipedia.org/wiki/Variance
 @param values   the values for which the covariance is taken
 @param mean     the average of values
 */
-double variance(std::vector<double> const &values, double mean) {
-    double total = 0.0;
-    for (int i=0; i<values.size(); i++){
-        total += (values[i]-mean) * (values[i]-mean);
-    }
-    return total;
+double variance(std::vector<double> const &values, double mean)
+{
+  double total = 0.0;
+  for (int i = 0; i < values.size(); i++)
+  {
+    total += (values[i] - mean) * (values[i] - mean);
+  }
+  return total;
 }
 
 /*
@@ -87,53 +101,56 @@ Calculates the covariance of a set of points (needed for linear regression)
 @param meanx    the mean value of all x coordinates in points
 @param meany    the mean value of all y coordinates in points
 */
-double covariance(std::vector<std::pair<double, double>> const &points, double meanx, double meany){
-    double covar = 0.0;
-	for (int i=0; i<points.size(); i++){
-		covar += (points[i].first - meanx) * (points[i].second - meany);
-    }
-    return covar;
+double covariance(std::vector<std::pair<double, double>> const &points, double meanx, double meany)
+{
+  double covar = 0.0;
+  for (int i = 0; i < points.size(); i++)
+  {
+    covar += (points[i].first - meanx) * (points[i].second - meany);
+  }
+  return covar;
 }
 
 /*
-* Calculates the slope and y intercept of the line of best fit for the data
-* @param points the points for the data
-* @return slope, y intercept. y = m(x)+b. std::pair<m, b>
-*/
-std::pair<double, double> calculate_linear_regression(std::vector<std::pair<double, double>> const &points){
-    //Purely for convenience and the ability to reuse mean() and variance() - can be easily rewritten to avoid allocating these if the code is repeatedly called
-    std::vector<double> xs(points.size(), 0.0);
-    std::vector<double> ys(points.size(), 0.0);
-    for (int i =0; i<points.size(); i++){
-        xs[i] = points[i].first;
-        ys[i] = points[i].second;
-    }
-
-    double meanx = mean(xs);
-    double meany = mean(ys);
-
-    double slope = covariance(points, meanx, meany) / variance(xs, meanx);
-	  double y_intercept = meany - slope * meanx;
-
-    return std::pair<double, double>(slope, y_intercept);
-}
+ * Calculates the slope and y intercept of the line of best fit for the data
+ * @param points the points for the data
+ * @return slope, y intercept. y = m(x)+b. std::pair<m, b>
+ */
+std::pair<double, double> calculate_linear_regression(std::vector<std::pair<double, double>> const &points)
+{
+  // Purely for convenience and the ability to reuse mean() and variance() - can be easily rewritten to avoid allocating these if the code is repeatedly called
+  std::vector<double> xs(points.size(), 0.0);
+  std::vector<double> ys(points.size(), 0.0);
+  for (int i = 0; i < points.size(); i++)
+  {
+    xs[i] = points[i].first;
+    ys[i] = points[i].second;
+  }
+
+  double meanx = mean(xs);
+  double meany = mean(ys);
 
+  double slope = covariance(points, meanx, meany) / variance(xs, meanx);
+  double y_intercept = meany - slope * meanx;
+
+  return std::pair<double, double>(slope, y_intercept);
+}
 
 double estimate_path_length(const std::vector<point_t> &points)
 {
   double dist = 0;
 
-  for(point_t p : points)
+  for (point_t p : points)
   {
     static point_t last_p = p;
 
     // Ignore the first point
-    if(p == last_p)
+    if (p == last_p)
       continue;
 
     dist += p.dist(last_p);
     last_p = p;
   }
-  
+
   return dist;
 }
\ No newline at end of file
diff --git a/src/utils/moving_average.cpp b/src/utils/moving_average.cpp
index 08cf344..d5419e1 100644
--- a/src/utils/moving_average.cpp
+++ b/src/utils/moving_average.cpp
@@ -1,26 +1,29 @@
 #include <vector>
 #include "../core/include/utils/moving_average.h"
+#include <cmath>
+
 /*
-* MovingAverage
-*
-* A moving average is a way of smoothing out noisy data. For many sensor readings, the noise is roughly symmetric around the actual value. 
-* This means that if you collect enough samples those that are too high are cancelled out by the samples that are too low leaving the real value.
-*
-* The MovingAverage class provides a simple interface to do this smoothing from our noisy sensor values. 
-*
-* WARNING: because we need a lot of samples to get the actual value, the value given by the MovingAverage will 'lag' behind the actual value that the sensor is reading. 
-* Using a MovingAverage is thus a tradeoff between accuracy and lag time (more samples) vs. less accuracy and faster updating (less samples).  
-*
-*/
+ * MovingAverage
+ *
+ * A moving average is a way of smoothing out noisy data. For many sensor readings, the noise is roughly symmetric around the actual value.
+ * This means that if you collect enough samples those that are too high are cancelled out by the samples that are too low leaving the real value.
+ *
+ * The MovingAverage class provides a simple interface to do this smoothing from our noisy sensor values.
+ *
+ * WARNING: because we need a lot of samples to get the actual value, the value given by the MovingAverage will 'lag' behind the actual value that the sensor is reading.
+ * Using a MovingAverage is thus a tradeoff between accuracy and lag time (more samples) vs. less accuracy and faster updating (less samples).
+ *
+ */
 
 /**
  * Create a moving average calculator with 0 as the default value
  *
  * @param buffer_size    The size of the buffer. The number of samples that constitute a valid reading
  */
-MovingAverage::MovingAverage(int buffer_size) {
-  buffer = std::vector<double>(buffer_size, 0.0); 
-  buffer_index = 0; 
+MovingAverage::MovingAverage(int buffer_size)
+{
+  buffer = std::vector<double>(buffer_size, 0.0);
+  buffer_index = 0;
   current_avg = 0;
 }
 
@@ -29,13 +32,71 @@ MovingAverage::MovingAverage(int buffer_size) {
  * @param buffer_size    The size of the buffer. The number of samples that constitute a valid reading
  * @param starting_value The value that the average will be before any data is added
  */
-MovingAverage::MovingAverage(int buffer_size, double starting_value) {
-  buffer = std::vector<double>(buffer_size, starting_value); 
-  buffer_index = 0; 
+MovingAverage::MovingAverage(int buffer_size, double starting_value)
+{
+  buffer = std::vector<double>(buffer_size, starting_value);
+  buffer_index = 0;
   current_avg = starting_value;
 }
 
+/**
+ * Add a reading to the buffer
+ * Before:
+ * [ 1 1 2 2 3 3] => 2
+ *   ^
+ * After:
+ * [ 2 1 2 2 3 3] => 2.16
+ *     ^
+ * @param n  the sample that will be added to the moving average.
+ */
+void MovingAverage::add_entry(double n)
+{
+  current_avg -= buffer[buffer_index] / (double)get_size();
+  current_avg += n / get_size();
+  buffer[buffer_index] = n;
 
+  buffer_index++;
+  buffer_index %= get_size();
+}
+
+/**
+ * How many samples the average is made from
+ * @return the number of samples used to calculate this average
+ */
+double MovingAverage::get_value() const
+{
+  return current_avg;
+}
+
+// How many samples the average is made from
+int MovingAverage::get_size() const
+{
+  return buffer.size();
+}
+
+/**
+ * Create a moving average calculator with 0 as the default value
+ *
+ * @param buffer_size    The size of the buffer. The number of samples that constitute a valid reading
+ */
+ExponentialMovingAverage::ExponentialMovingAverage(int buffer_size)
+{
+  buffer = std::vector<double>(buffer_size, 0.0);
+  buffer_index = 0;
+  current_avg = 0;
+}
+
+/**
+ * Create a moving average calculator with a specified default value
+ * @param buffer_size    The size of the buffer. The number of samples that constitute a valid reading
+ * @param starting_value The value that the average will be before any data is added
+ */
+ExponentialMovingAverage::ExponentialMovingAverage(int buffer_size, double starting_value)
+{
+  buffer = std::vector<double>(buffer_size, starting_value);
+  buffer_index = 0;
+  current_avg = starting_value;
+}
 
 /**
  * Add a reading to the buffer
@@ -44,27 +105,39 @@ MovingAverage::MovingAverage(int buffer_size, double starting_value) {
  *   ^
  * After:
  * [ 2 1 2 2 3 3] => 2.16
- *     ^ 
+ *     ^
  * @param n  the sample that will be added to the moving average.
  */
-void MovingAverage::add_entry(double n){
-  current_avg -= buffer[buffer_index]/(double)get_size();
-  current_avg += n/get_size();
+void ExponentialMovingAverage::add_entry(double n)
+{
+  int oldest_index = buffer_index;
+  double oldest_sample = buffer[oldest_index];
+  double oldest_weight = 1.0 / pow(2, (double)(buffer.size() - 1));
+
+  double second_oldest_sample = buffer[(oldest_index + 1) % buffer.size()];
+
+  current_avg -= oldest_sample * oldest_weight;
+  current_avg /= 2;
+  current_avg += second_oldest_sample / pow(2, (double)(buffer.size()));
+  current_avg += n / 2;
+
   buffer[buffer_index] = n;
 
   buffer_index++;
-  buffer_index%=get_size();
+  buffer_index %= buffer.size();
 }
 
 /**
  * How many samples the average is made from
  * @return the number of samples used to calculate this average
- */ 
-double MovingAverage::get_average(){
+ */
+double ExponentialMovingAverage::get_value()
+{
   return current_avg;
 }
 
 // How many samples the average is made from
-int MovingAverage::get_size(){
+int ExponentialMovingAverage::get_size()
+{
   return buffer.size();
 }
diff --git a/src/utils/pure_pursuit.cpp b/src/utils/pure_pursuit.cpp
index 34db5a6..91502c9 100644
--- a/src/utils/pure_pursuit.cpp
+++ b/src/utils/pure_pursuit.cpp
@@ -1,5 +1,63 @@
 #include "../core/include/utils/pure_pursuit.h"
 
+/**
+ * Create a Path
+ * @param points the points that make up the path
+ * @param radius the lookahead radius for pure pursuit
+ */
+PurePursuit::Path::Path(std::vector<point_t> points, double radius) {
+  this->points = points;
+  this->radius = radius;
+  this->valid = true;
+
+  for(int i = 0; i < points.size() - 1; i++) {
+    for(int j = i + 2; j < points.size() - 1; j++) {
+      // Iterate over points on the segments discretely and compare distances
+      double segment_i_dist = points[i].dist(points[i+1]);
+      if (segment_i_dist == 0) segment_i_dist = 0.1;
+      double segment_j_dist = points[j].dist(points[j+1]);
+      if (segment_j_dist == 0) segment_j_dist = 0.1;
+      for(double t1 = 0; t1 <= 1; t1 += radius / segment_i_dist) {
+        point_t p1;
+        p1.x = points[i].x + t1 * (points[i+1].x - points[i].x);
+        p1.y = points[i].y + t1 * (points[i+1].y - points[i].y);
+
+        for(double t2 = 0; t2 <= 1; t2 += radius / segment_j_dist) {
+          point_t p2;
+          p2.x = points[j].x + t2 * (points[j+1].x - points[j].x);
+          p2.y = points[j].y + t2 * (points[j+1].y - points[j].y);
+
+          if(p1.dist(p2) < radius) {
+            this->valid = false;
+            return;
+          }
+        }
+      }
+    }
+  }
+}
+
+/**
+ * Get the points associated with this Path
+ */
+std::vector<point_t> PurePursuit::Path::get_points() {
+  return this->points;
+}
+
+/**
+ * Get the radius associated with this Path
+ */
+double PurePursuit::Path::get_radius() {
+  return this->radius;
+}
+
+/**
+ * Get whether this path will behave as expected
+ */
+bool PurePursuit::Path::is_valid() {
+  return this->valid;
+}
+
 /**
   * Returns points of the intersections of a line segment and a circle. The line 
   * segment is defined by two points, and the circle is defined by a center and radius.
@@ -191,49 +249,6 @@ std::vector<point_t> PurePursuit::line_circle_intersections(point_t center, doub
   return new_path;
 }
 
-[[maybe_unused]] std::vector<point_t> PurePursuit::smooth_path_cubic(const std::vector<point_t> &path, double res) {
-  std::vector<point_t> new_path;
-  std::vector<spline> splines;
-
-  double delta_x[path.size() - 1];
-  double slope[path.size() - 1];
-  double ftt[path.size()];
-
-  for(int i = 0; i < path.size() - 1; i++) {
-    delta_x[i] = path[i+1].x - path[i].x;
-    slope[i] = (path[i+1].y - path[i].y) / delta_x[i];
-  }
-
-  ftt[0] = 0;
-  for(int i = 0; i < path.size() - 2; i++) {
-    ftt[i+1] = 3 * (slope[i+1] - slope[i]) / (delta_x[i+1] + delta_x[i]);
-  }
-  ftt[path.size() - 1] = 0;
-
-  for (int i = 0; i < path.size() - 1; i++)
-  {
-    splines.push_back({
-      .a = (ftt[i + 1] - ftt[i]) / (6 * delta_x[i]),
-      .b = ftt[i] / 2,
-      .c = slope[i] - delta_x[i] * (ftt[i + 1] + 2 * ftt[i]) / 6,
-      .d = path[i].y,
-        .x_start = path[i].x,
-        .x_end = path[i+1].x
-    });
-  }
-
-  for(spline spline: splines) {
-      printf("spline a: %f b: %f c: %f d %f start %f, %f end %f, %f\n", spline.a, spline.b, spline.c, spline.d, spline.x_start, spline.getY(spline.x_start), spline.x_end, spline.getY(spline.x_end));
-    double x = spline.x_start;
-    while(x >= fmin(spline.x_start, spline.x_end) && x <= fmax(spline.x_start, spline.x_end)) {
-      new_path.push_back({x, spline.getY(x)});
-      spline.x_start < spline.x_end ? x += res: x -= res;
-    }
-  }
-    new_path.push_back({splines.back().x_end, splines.back().getY(splines.back().x_end)});
-
-  return new_path;
-}
 
 /**
  * Estimates the remaining distance from the robot's position to the end,
diff --git a/src/utils/serializer.cpp b/src/utils/serializer.cpp
index 9e611f1..fd756e3 100644
--- a/src/utils/serializer.cpp
+++ b/src/utils/serializer.cpp
@@ -100,8 +100,7 @@ static void add_data(std::vector<char> &data, const std::map<std::string, value_
 
 // reads data of a certain type from a file
 template <typename value_type>
-static std::vector<char>::const_iterator read_data(const std::vector<char> &data,
-                                                   std::vector<char>::const_iterator begin,
+static std::vector<char>::const_iterator read_data(std::vector<char>::const_iterator begin,
                                                    std::map<std::string, value_type> &map)
 {
     std::vector<char>::const_iterator pos = begin;
@@ -194,19 +193,24 @@ std::string Serializer::string_or(const std::string &name, std::string otherwise
 /// @brief forms data bytes then saves to filename this was openned with
 void Serializer::save_to_disk() const
 {
+    vex::brain::sdcard sd;
+    if (!sd.isInserted())
+    {
+        printf("!! Trying to Serialize to No SD Card !!\n");
+        return;
+    }
+
     std::vector<char> data = {};
     add_data<int>(data, ints);
     add_data<bool>(data, bools);
     add_data<double>(data, doubles);
     add_data<std::string>(data, strings);
 
-    fflush(stdout);
 
-    vex::brain::sdcard sd;
     int32_t written = sd.savefile(filename.c_str(), (unsigned char *)&data[0], data.size());
     if (written != data.size())
     {
-        printf("!! Error writing to `%s`!!", filename.c_str());
+        printf("!! Error writing to `%s`!!\n", filename.c_str());
         return;
     }
 }
@@ -221,8 +225,16 @@ bool Serializer::read_from_disk()
         return false;
     }
     int size = sd.size(filename.c_str());
+    if (size == 0)
+    {
+        ints = {};
+        doubles = {};
+        bools = {};
+        return true;
+    }
 
-    if (filename == ""){
+    if (filename == "")
+    {
         printf("!! Can't write to empty filename!!\n");
         return false;
     }
@@ -239,14 +251,16 @@ bool Serializer::read_from_disk()
     int readsize = sd.loadfile(filename.c_str(), (unsigned char *)&data[0], size);
     if (size != readsize)
     {
-        printf("!! Error reading from file !!");;
+        printf("!! Error reading from file !!");
+        ;
         return false;
     }
 
-    auto bool_start = read_data<int>(data, data.cbegin(), ints);
-    auto doubles_start = read_data<bool>(data, bool_start, bools);
-    auto strings_start = read_data<double>(data, doubles_start, doubles);
-    auto file_end = read_data<std::string>(data, strings_start, strings);
+
+    auto bool_start = read_data<int>(data.cbegin(), ints);
+    auto doubles_start = read_data<bool>(bool_start, bools);
+    auto strings_start = read_data<double>(doubles_start, doubles);
+    auto file_end = read_data<std::string>(strings_start, strings);
     (void)file_end;
 
     return true;
diff --git a/src/utils/trapezoid_profile.cpp b/src/utils/trapezoid_profile.cpp
index fba334f..98eac62 100644
--- a/src/utils/trapezoid_profile.cpp
+++ b/src/utils/trapezoid_profile.cpp
@@ -1,117 +1,305 @@
-#include "../core/include/utils/trapezoid_profile.h"
+#include "../core/include/utils/controls/trapezoid_profile.h"
 #include "../core/include/utils/math_util.h"
 #include <cmath>
+#include <iostream>
 
+const double EPSILON = 0.000005;
+
+
+inline double calc_pos(double t, double a, double v, double si) {
+    return (0.5*(a)*(t)*(t))+((v)*(t))+(si);
+}
+
+inline double calc_vel(double t, double a, double vi) {
+    return ((a)*(t))+(vi);
+}
 
 TrapezoidProfile::TrapezoidProfile(double max_v, double accel)
-: start(0), end(0), max_v(max_v), accel(accel)  {}
+: si(0), sf(0), vi(0), vf(0), max_v(max_v), accel(accel), segments(), num_acceleration_phases(0), precalculated(false)  {}
 
 void TrapezoidProfile::set_max_v(double max_v)
 {
     this->max_v = max_v;
+
+    this->precalculated = false;
 }
 
 void TrapezoidProfile::set_accel(double accel)
 {
     this->accel = accel;
+
+    this->precalculated = false;
 }
 
 void TrapezoidProfile::set_endpts(double start, double end)
 {
-    this->start = start;
-    this->end = end;
+    this->si = start;
+    this->sf = end;
+
+    this->precalculated = false;
 }
 
-// Kinematic equations as macros
-#define CALC_POS(time_s,a,v,s) ((0.5*(a)*(time_s)*(time_s))+((v)*(time_s))+(s))
-#define CALC_VEL(time_s,a,v) (((a)*(time_s))+(v))
-
-/**
- * @brief Run the trapezoidal profile based on the time that's ellapsed
- * 
- * @param time_s Time since start of movement
- * @return motion_t Position, velocity and acceleration
- */
-motion_t TrapezoidProfile::calculate(double time_s)
+void TrapezoidProfile::set_vel_endpts(double start, double end)
 {
-    double delta_pos = end - start;
+    this->vi = start;
+    this->vf = end;
 
-    // redefine accel and max_v in this scope for negative calcs
-    double accel_local = this->accel;
-    double max_v_local = this->max_v;
-    if(delta_pos < 0)
-    {
-        accel_local = -this->accel;
-        max_v_local = -this->max_v;
-    }
+    this->precalculated = false;
+}
+
+motion_t TrapezoidProfile::calculate_time_based(double time_s) {
+    if (!this->precalculated) precalculate();
+
+    int segment_i = 0;
 
-    // Calculate the time spent during the acceleration / maximum velocity / deceleration stages
-    double accel_time = max_v_local / accel_local;
-    double max_vel_time = (delta_pos - (accel_local * accel_time * accel_time)) / max_v_local;
-    this->time = (2 * accel_time) + max_vel_time;
+    // position, velocity, acceleration, and time at the beginning of the segment we're in
+    double segment_s = this->si;
+    double segment_v = this->vi;
+    double segment_a = this->segments[0].accel;
+    double segment_t = 0;
 
-    // If the time during the "max velocity" state is negative, use an S profile
-    if (max_vel_time < 0)
-    {
-        accel_time = sqrt(fabs(delta_pos / accel));
-        max_vel_time = 0;
-        this->time = 2 * accel_time;
+    // skip phases based on time
+    while (segment_i < MAX_TRAPEZOID_PROFILE_SEGMENTS
+           && time_s > segment_t + this->segments[segment_i].duration) {
+        segment_t += this->segments[segment_i].duration;
+        segment_s = this->segments[segment_i].pos_after;
+        segment_v = this->segments[segment_i].vel_after;
+        segment_i++;
+        segment_a = this->segments[segment_i].accel;
     }
 
     motion_t out;
 
-    // Handle if a bad time is put in
-    if (time_s < 0)
-    {
-        out.pos = start;
-        out.vel = 0;
+    // if we are beyond the last phase, return the position/velocity at the last phase
+    if (segment_i == MAX_TRAPEZOID_PROFILE_SEGMENTS) {
         out.accel = 0;
+        out.pos = this->segments[MAX_TRAPEZOID_PROFILE_SEGMENTS - 1].pos_after;
+        out.vel = this->segments[MAX_TRAPEZOID_PROFILE_SEGMENTS - 1].vel_after;
         return out;
     }
 
-    // Handle after the setpoint is reached
-    if (time_s > 2*accel_time + max_vel_time)
-    {
-        out.pos = end;
-        out.vel = 0;
-        out.accel = 0;
-        return out;
-    }
+    // calculate based on time
+    out.accel = this->segments[segment_i].accel;
+    out.vel = calc_vel(time_s - segment_t, segment_a, segment_v);
+    out.pos = calc_pos(time_s - segment_t, segment_a, segment_v, segment_s);
+    return out;
+}
 
-    // ======== KINEMATIC EQUATIONS ========
+motion_t TrapezoidProfile::calculate(double time_s, double pos_s) {
+    if (!this->precalculated) precalculate();
 
-    // Displacement from initial acceleration
-    if(time_s < accel_time)
-    {
-        out.pos = start + CALC_POS(time_s, accel_local, 0, 0);
-        out.vel = CALC_VEL(time_s, accel_local, 0);
-        out.accel = accel_local;
-        return out;
+    // printf("%f %f\n", time_s, pos_s);
+
+    int segment_i = 0;
+
+    // position, velocity, acceleration, and time at the beginning of the segment we're in
+    double segment_s = this->si;
+    double segment_v = this->vi;
+    double segment_a = this->segments[0].accel;
+    double segment_t = 0;
+
+    // skip acceleration phases based on time
+    while (segment_i < MAX_TRAPEZOID_PROFILE_SEGMENTS
+           && segment_i < this->num_acceleration_phases
+           && time_s > segment_t + this->segments[segment_i].duration) {
+        segment_t += this->segments[segment_i].duration;
+        segment_s = this->segments[segment_i].pos_after;
+        segment_v = this->segments[segment_i].vel_after;
+        segment_i++;
+        segment_a = this->segments[segment_i].accel;
     }
 
-    double s_accel = CALC_POS(accel_time, accel_local, 0, 0);
+    // skip other segments based on distance, if we are past the time segments
+    if (segment_i >= this->num_acceleration_phases) {
+        while (segment_i < MAX_TRAPEZOID_PROFILE_SEGMENTS &&
+               ((this->si < this->sf && pos_s > this->segments[segment_i].pos_after)
+                || (this->si > this->sf && pos_s < this->segments[segment_i].pos_after))) {
+            segment_t += this->segments[segment_i].duration;
+            segment_s = this->segments[segment_i].pos_after;
+            segment_v = this->segments[segment_i].vel_after;
+            segment_i++;
+            segment_a = this->segments[segment_i].accel;
+        }
+    }
 
-    // Displacement during maximum velocity
-    if (time_s < accel_time + max_vel_time)
-    {
-        out.pos = start + CALC_POS(time_s - accel_time, 0, max_v_local, s_accel);
-        out.vel = sign(delta_pos) * max_v;
+    motion_t out;
+
+    // if we are beyond the last phase, return the position/velocity at the last phase
+    if (segment_i == MAX_TRAPEZOID_PROFILE_SEGMENTS) {
         out.accel = 0;
+        out.pos = this->segments[MAX_TRAPEZOID_PROFILE_SEGMENTS - 1].pos_after;
+        out.vel = this->segments[MAX_TRAPEZOID_PROFILE_SEGMENTS - 1].vel_after;
         return out;
     }
 
-    double s_max_vel = CALC_POS(max_vel_time, 0, max_v_local, s_accel);
+    // if we are in an acceleration phase, calculate based on time
+    if (segment_i < this->num_acceleration_phases) {
+        out.accel = segment_a;
+        out.vel = calc_vel(time_s - segment_t, segment_a, segment_v);
+        out.pos = calc_pos(time_s - segment_t, segment_a, segment_v, segment_s);
+        return out;
+    }
 
-    // Displacement during deceleration
-    out.pos = start + CALC_POS(time_s - (2*accel_time) - max_vel_time, -accel_local, 0, s_accel + s_max_vel);
-    out.vel = CALC_VEL(time_s - accel_time - max_vel_time, -accel_local, max_v_local);
-    out.accel = -accel_local;
-    return out;
+    // otherwise calculate based on distance
+    out.accel = segment_a;
+    out.pos = pos_s;
+    // Calculating the final velocity in uniformly accelerated motion:
+    // v_f^2 = v_i^2 + 2a(x_f - x_i)
+    // v_f = sqrt(v_i^2 + 2a(x_f - x_i))
+    out.vel = sqrt(segment_v*segment_v + 2*segment_a*(pos_s - segment_s));
 
+    // match the sign of the starting velocity of the segment
+    if (segment_v < 0) out.vel *= -1;
+
+    return out;
 }
 
 double TrapezoidProfile::get_movement_time()
 {
-    return time;
+    if (!this->precalculated) precalculate();
+
+    double t = 0;
+    for (auto &segment : this->segments) {
+        t += segment.duration;
+    }
+    return t;
+}
+
+bool TrapezoidProfile::precalculate() {
+    for (auto &segment : this->segments) {
+        segment.pos_after = 0;
+        segment.vel_after = 0;
+        segment.accel = 0;
+        segment.duration = 0;
+    }
+    this->num_acceleration_phases = 0;
+
+    if (this->accel < EPSILON) {
+        printf("WARNING: trapezoid motion profile acceleration was negative, or too small\n");
+        this->accel = fmin(EPSILON, fabs(this->accel));
+    }
+
+    if (this->max_v < EPSILON) {
+        printf("WARNING: trapezoid motion profile maximum velocity was negative, or too small\n");
+        this->max_v = fmin(EPSILON, fabs(this->max_v));
+    }
+
+    // make sure vf is within v_max
+    if (fabs(this->vf) > this->max_v) {
+        printf("WARNING: trapezoid motion profile target velocity is greater than maximum velocity\n");
+        if (this->vf > this->max_v) this->vf = this->max_v;
+        else this->vf = -this->max_v;
+    }
+
+    // if displacement is + but vf is -, or if displacement is - but vf is +
+    if ((this->si < this->sf && this->vf < 0) || (this->si > this->sf && this->vf > 0)) {
+        printf("WARNING: trapezoid motion profile target velocity is in the wrong direction\n");
+        this->vf = 0;
+    }
+
+    double s = this->si, v = this->vi;
+
+    for (auto & segment : this->segments) {
+        segment = calculate_next_segment(s, v);
+
+        if (fabs(segment.pos_after - this->sf) < EPSILON) return true;
+
+        // Check if xf is between x and x_next (meaning we overshot the end position)
+        if ((((this->si < this->sf) && (this->sf < segment.pos_after)) || ((segment.pos_after < this->sf) && (this->sf < this->si)))
+            && fabs(this->sf - segment.pos_after) > EPSILON) {
+            // Solve for the exact time to reach self.xf using the quadratic formula
+            // Given: x = x0 + v0 * t + 0.5 * a * t^2
+            double a_coeff = 0.5 * segment.accel;
+            if (fabs(a_coeff) < EPSILON) a_coeff = EPSILON;
+            double b_coeff = v;
+            double c_coeff = s - this->sf;
+
+            double discriminant = b_coeff * b_coeff - 4.0 * a_coeff * c_coeff;
+            if (discriminant >= 0) {
+                double t1 = (-b_coeff + sqrt(discriminant)) / (2 * a_coeff);
+                double t2 = (-b_coeff - sqrt(discriminant)) / (2 * a_coeff);
+
+                double t_corrected = fmin(t1, t2);
+                if (t_corrected < 0) {
+                    t_corrected = fmax(t1, t2);
+                }
+                segment.duration = t_corrected;
+                segment.vel_after = calc_vel(segment.duration, segment.accel, v);
+                segment.pos_after = calc_pos(segment.duration, segment.accel, v, s);
+                return true;
+            } else {
+                printf("ERROR: No real solution to reach sf.\n");
+                return false;
+            }
+        }
+
+        v = segment.vel_after;
+        s = segment.pos_after;
+    }
+
+    printf("WARNING: trapezoid motion profile did not reach end position in %d segments (the maximum)\n", MAX_TRAPEZOID_PROFILE_SEGMENTS);
+    return false;
+}
+
+trapezoid_profile_segment_t TrapezoidProfile::calculate_kinetic_motion(double si, double vi, double v_target) {
+    trapezoid_profile_segment_t m;
+
+    m.duration = fabs(v_target - vi) / this->accel;
+    m.vel_after = v_target;
+    if (vi < v_target) {
+        m.accel = this->accel;
+    } else {
+        m.accel = -this->accel;
+    }
+
+    m.pos_after = calc_pos(m.duration, m.accel, vi, si);
+    return m;
+}
+
+trapezoid_profile_segment_t TrapezoidProfile::calculate_next_segment(double s, double v) {
+    // d represents the direction of travel, + or -
+    int d = 1;
+    if (this->si > this->sf) {
+        d = -1;
+    }
+
+    // if going the wrong way, come to a stop
+    if ((d == 1 && v < -EPSILON) || (d == -1 && v > EPSILON)) {
+        this->num_acceleration_phases += 1;
+        return calculate_kinetic_motion(s, v, 0);
+    }
+
+    // if |v| > max_v, slow down
+    if (v > this->max_v || v < -this->max_v) {
+        this->num_acceleration_phases += 1;
+        return calculate_kinetic_motion(s, v, d * this->max_v);
+    }
+
+    // how much distance would it take to reach vf in one segment?
+    trapezoid_profile_segment_t beeline_vf = calculate_kinetic_motion(s, v, this->vf);
+    if ((d == 1 && beeline_vf.pos_after > this->sf - EPSILON) || (d == -1 && beeline_vf.pos_after <= this->sf + EPSILON)) {
+        // we can't make it to vf - get as close as possible
+        return beeline_vf;
+    }
+
+    // we can reach vf in one segment - choose the fastest speed so that that is still possible
+    double v_middle = d * sqrt(((v*v + this->vf*this->vf)/2.0) + this->accel*fabs(this->sf - s) + this->vf*this->vf);
+    // cap this at our max speed
+    v_middle = fmax(-this->max_v, fmin(v_middle, this->max_v));
+
+    // if we aren't at this speed yet, let's get there
+    if (fabs(v_middle - v) > EPSILON) {
+        this->num_acceleration_phases += 1;
+        return calculate_kinetic_motion(s, v, v_middle);
+    }
+
+    // we are at our max speed - hold it until we have to start slowing down
+    trapezoid_profile_segment_t out;
+    out.accel = 0;
+    double distance = d * fabs(this->sf - beeline_vf.pos_after);
+    out.pos_after = s + distance;
+    out.duration = distance / v_middle;
+    out.vel_after = v_middle;
+    return out;
 }
 

From ce579a26783f34fac0c96f1fbe4f94e28883567d Mon Sep 17 00:00:00 2001
From: Richard Sommers <44383226+cowsed@users.noreply.github.com>
Date: Wed, 27 Dec 2023 17:24:05 -0500
Subject: [PATCH 235/243] Update main.yml

add ability to run manually so we can run when we update the google doc
---
 .github/workflows/main.yml | 5 +++--
 1 file changed, 3 insertions(+), 2 deletions(-)

diff --git a/.github/workflows/main.yml b/.github/workflows/main.yml
index 9b1d5b7..c9a9bb7 100644
--- a/.github/workflows/main.yml
+++ b/.github/workflows/main.yml
@@ -4,10 +4,11 @@ name: Doxygen Action
 
 # Controls when the action will run. Triggers the workflow on push or pull request
 # events but only for the master branch
-on:
+on: 
   push:
     branches: [ main ]
-
+  workflow_dispatch:
+  
 
   
 # A workflow run is made up of one or more jobs that can run sequentially or in parallel

From d1921ad3e71e82903b00082c09c7a7bc006184ab Mon Sep 17 00:00:00 2001
From: cowsed <richie.sommers@outlook.com>
Date: Tue, 16 Jan 2024 14:54:49 -0500
Subject: [PATCH 236/243] maybe gonna break things

---
 include/subsystems/layout.h                  |  11 +
 include/subsystems/odometry/odometry_base.h  |   3 +-
 include/subsystems/odometry/odometry_tank.h  |   3 +
 include/subsystems/screen.h                  | 185 ++--
 include/subsystems/tank_drive.h              |  43 +-
 include/utils/controls/motion_controller.h   |   8 +-
 include/utils/controls/pid.h                 | 145 +--
 include/utils/controls/pidff.h               | 145 +--
 include/utils/controls/trapezoid_profile.h   | 264 +++---
 include/utils/moving_average.h               |   8 +-
 src/subsystems/custom_encoder.cpp            |  10 +-
 src/subsystems/flywheel.cpp                  |   3 +-
 src/subsystems/mecanum_drive.cpp             |   5 +-
 src/subsystems/odometry/odometry_base.cpp    |  71 +-
 src/subsystems/odometry/odometry_tank.cpp    | 258 +++---
 src/subsystems/screen.cpp                    | 872 ++++++++++---------
 src/subsystems/tank_drive.cpp                | 139 ++-
 src/utils/command_structure/auto_command.cpp |  11 +-
 src/utils/controls/feedforward.cpp           |   3 +-
 src/utils/controls/motion_controller.cpp     | 208 +++--
 src/utils/controls/pid.cpp                   |  89 +-
 src/utils/controls/pidff.cpp                 |  62 +-
 src/utils/generic_auto.cpp                   |  20 +-
 src/utils/math_util.cpp                      |   9 +-
 src/utils/moving_average.cpp                 |   2 +-
 src/utils/pure_pursuit.cpp                   |  12 +-
 src/utils/trapezoid_profile.cpp              | 516 +++++------
 27 files changed, 1714 insertions(+), 1391 deletions(-)
 create mode 100644 include/subsystems/layout.h

diff --git a/include/subsystems/layout.h b/include/subsystems/layout.h
new file mode 100644
index 0000000..1715e93
--- /dev/null
+++ b/include/subsystems/layout.h
@@ -0,0 +1,11 @@
+#include <cmath>
+#include <functional>
+
+struct SliderCfg{
+    double &val;
+    double min;
+    double max;
+};
+
+
+
diff --git a/include/subsystems/odometry/odometry_base.h b/include/subsystems/odometry/odometry_base.h
index 304a2c4..2da4202 100644
--- a/include/subsystems/odometry/odometry_base.h
+++ b/include/subsystems/odometry/odometry_base.h
@@ -3,6 +3,7 @@
 #include "vex.h"
 #include "../core/include/utils/geometry.h"
 #include "../core/include/robot_specs.h"
+#include "../core/include/utils/command_structure/auto_command.h"
 
 #ifndef PI
 #define PI 3.141592654
@@ -44,7 +45,7 @@ class OdometryBase
      * @param newpos the new position that the odometry will believe it is at
      */
     virtual void set_position(const pose_t& newpos=zero_pos);
-
+    AutoCommand *SetPositionCmd(const pose_t& newpos=zero_pos);
     /**
      * Update the current position on the field based on the sensors
      * @return the location that the robot is at after the odometry does its calculations
diff --git a/include/subsystems/odometry/odometry_tank.h b/include/subsystems/odometry/odometry_tank.h
index c2e4e1c..7e8607f 100644
--- a/include/subsystems/odometry/odometry_tank.h
+++ b/include/subsystems/odometry/odometry_tank.h
@@ -4,6 +4,8 @@
 #include "../core/include/subsystems/custom_encoder.h"
 #include "../core/include/utils/geometry.h"
 #include "../core/include/utils/vector2d.h"
+#include "../core/include/utils/moving_average.h"
+
 #include "../core/include/robot_specs.h"
 
 static int background_task(void* odom_obj);
@@ -77,5 +79,6 @@ class OdometryTank : public OdometryBase
     robot_specs_t &config;
 
     double rotation_offset = 0;
+    ExponentialMovingAverage ema = ExponentialMovingAverage(3);
     
 };
\ No newline at end of file
diff --git a/include/subsystems/screen.h b/include/subsystems/screen.h
index d5ebcea..58159b2 100644
--- a/include/subsystems/screen.h
+++ b/include/subsystems/screen.h
@@ -11,28 +11,35 @@
 
 namespace screen
 {
-    /// @brief Page describes one part of the screen slideshow
-    class Page
+    /// @brief Widget that does something when you tap it. The function is only called once when you first tap it
+    class ButtonWidget
     {
     public:
-        /**
-         * @brief collect data, respond to screen input, do fast things (runs at
-         * 50hz even if you're not focused on this Page (only drawn page gets
-         * touch updates))
-         * @param was_pressed true if the screen has been pressed
-         * @param x x position of screen press (if the screen was pressed)
-         * @param y y position of screen press (if the screen was pressed)
-         */
-        virtual void update(bool was_pressed, int x, int y);
-        /**
-         * @brief draw stored data to the screen (runs at 10 hz and only runs if
-         * this page is in front)
-         * @param first_draw true if we just switched to this page
-         * @param frame_number frame of drawing we are on (basically an animation
-         * tick)
-         */
-        virtual void draw(vex::brain::lcd &screen, bool first_draw,
-                          unsigned int frame_number);
+        /// @brief Create a Button widget
+        /// @param onpress the function to be called when the button is tapped
+        /// @param rect the area the button should take up on the screen
+        /// @param name the label put on the button
+        ButtonWidget(std::function<void(void)> onpress, Rect rect, std::string name) : onpress(onpress), rect(rect), name(name) {}
+        /// @brief Create a Button widget
+        /// @param onpress the function to be called when the button is tapped
+        /// @param rect the area the button should take up on the screen
+        /// @param name the label put on the button
+        ButtonWidget(void (*onpress)(), Rect rect, std::string name) : onpress(onpress), rect(rect), name(name) {}
+
+        /// @brief responds to user input
+        /// @param was_pressed if the screen is pressed
+        /// @param x x position if the screen was pressed
+        /// @param y y position if the screen was pressed
+        /// @return true if the button was pressed
+        bool update(bool was_pressed, int x, int y);
+        /// @brief draws the button to the screen
+        void draw(vex::brain::lcd &, bool first_draw, unsigned int frame_number);
+
+    private:
+        std::function<void(void)> onpress;
+        Rect rect;
+        std::string name = "";
+        bool was_pressed_last = false;
     };
 
     /// @brief Widget that updates a double value. Updates by reference so watch out for race conditions cuz the screen stuff lives on another thread
@@ -66,35 +73,109 @@ namespace screen
         std::string name = "";
     };
 
-    /// @brief Widget that does something when you tap it. The function is only called once when you first tap it
-    class ButtonWidget
+    struct WidgetConfig;
+
+    struct SliderConfig
+    {
+        double &val;
+        double low;
+        double high;
+    };
+    struct ButtonConfig
+    {
+        std::function<void()> onclick;
+    };
+    struct CheckboxConfig
+    {
+        std::function<void(bool)> onupdate;
+    };
+    struct LabelConfig
+    {
+        std::string label;
+    };
+
+    struct TextConfig
+    {
+        std::function<std::string()> text;
+    };
+    struct SizedWidget
+    {
+        int size;
+        WidgetConfig &widget;
+    };
+    struct WidgetConfig
+    {
+        enum Type
+        {
+            Col,
+            Row,
+            Slider,
+            Button,
+            Checkbox,
+            Label,
+            Text,
+            Graph,
+        };
+        Type type;
+        union
+        {
+            std::vector<SizedWidget> widgets;
+            SliderConfig slider;
+            ButtonConfig button;
+            CheckboxConfig checkbox;
+            LabelConfig label;
+            TextConfig text;
+            GraphDrawer *graph;
+        } config;
+    };
+
+    class Page;
+    /// @brief Page describes one part of the screen slideshow
+    class Page
     {
     public:
-        /// @brief Create a Button widget
-        /// @param onpress the function to be called when the button is tapped
-        /// @param rect the area the button should take up on the screen
-        /// @param name the label put on the button
-        ButtonWidget(std::function<void(void)> onpress, Rect rect, std::string name) : onpress(onpress), rect(rect), name(name) {}
-        /// @brief Create a Button widget
-        /// @param onpress the function to be called when the button is tapped
-        /// @param rect the area the button should take up on the screen
-        /// @param name the label put on the button
-        ButtonWidget(void (*onpress)(), Rect rect, std::string name) : onpress(onpress), rect(rect), name(name) {}
+        /**
+         * @brief collect data, respond to screen input, do fast things (runs at
+         * 50hz even if you're not focused on this Page (only drawn page gets
+         * touch updates))
+         * @param was_pressed true if the screen has been pressed
+         * @param x x position of screen press (if the screen was pressed)
+         * @param y y position of screen press (if the screen was pressed)
+         */
+        virtual void update(bool was_pressed, int x, int y);
+        /**
+         * @brief draw stored data to the screen (runs at 10 hz and only runs if
+         * this page is in front)
+         * @param first_draw true if we just switched to this page
+         * @param frame_number frame of drawing we are on (basically an animation
+         * tick)
+         */
+        virtual void draw(vex::brain::lcd &screen, bool first_draw,
+                          unsigned int frame_number);
+    };
 
-        /// @brief responds to user input
-        /// @param was_pressed if the screen is pressed
-        /// @param x x position if the screen was pressed
-        /// @param y y position if the screen was pressed
-        /// @return true if the button was pressed
-        bool update(bool was_pressed, int x, int y);
-        /// @brief draws the button to the screen
-        void draw(vex::brain::lcd &, bool first_draw, unsigned int frame_number);
+    struct ScreenRect
+    {
+        uint32_t x1;
+        uint32_t y1;
+        uint32_t x2;
+        uint32_t y2;
+    };
+    void draw_widget(WidgetConfig &widget, ScreenRect rect);
+
+    class WidgetPage : public Page
+    {
+    public:
+        WidgetPage(WidgetConfig &cfg) : base_widget(cfg) {}
+        void update(bool was_pressed, int x, int y) override;
+
+        void draw(vex::brain::lcd &, bool first_draw, unsigned int frame_number) override
+        {
+            draw_widget(base_widget, {.x1 = 20, .y1 = 0, .x2 = 440, .y2 = 240});
+        }
 
     private:
-        std::function<void(void)> onpress;
-        Rect rect;
-        std::string name = "";
-        bool was_pressed_last = false;
+        WidgetConfig &base_widget;
     };
 
     /**
@@ -105,6 +186,10 @@ namespace screen
      */
     void start_screen(vex::brain::lcd &screen, std::vector<Page *> pages, int first_page = 0);
 
+
+    void next_page();
+    void prev_page();
+
     /// @brief stops the screen. If you have a drive team that hates fun call this at the start of opcontrol
     void stop_screen();
 
@@ -114,8 +199,7 @@ namespace screen
     /// @brief  type of function needed for draw
     using draw_func_t = std::function<void(vex::brain::lcd &screen, bool, unsigned int)>;
 
-
-    /// @brief Draws motor stats and battery stats to the screen 
+    /// @brief Draws motor stats and battery stats to the screen
     class StatsPage : public Page
     {
     public:
@@ -147,7 +231,7 @@ namespace screen
         /// @param odom the odometry system to monitor
         /// @param robot_width the width (side to side) of the robot in inches. Used for visualization
         /// @param robot_height the robot_height (front to back) of the robot in inches. Used for visualization
-        /// @param do_trail whether or not to calculate and draw the trail. Drawing and storing takes a very *slight* extra amount of processing power 
+        /// @param do_trail whether or not to calculate and draw the trail. Drawing and storing takes a very *slight* extra amount of processing power
         OdometryPage(OdometryBase &odom, double robot_width, double robot_height, bool do_trail);
         /// @brief @see Page#update
         void update(bool was_pressed, int x, int y) override;
@@ -166,6 +250,7 @@ namespace screen
         pose_t path[path_len];
         int path_index = 0;
         bool do_trail;
+        GraphDrawer velocity_graph;
     };
 
     /// @brief Simple page that stores no internal data. the draw and update functions use only global data rather than storing anything
@@ -194,8 +279,10 @@ namespace screen
         /// @param pid the pid controller we're changing
         /// @param name a name to recognize this pid controller if we've got multiple pid screens
         /// @param onchange a function that is called when a tuning parameter is changed. If you need to update stuff on that change register a handler here
-        PIDPage(PID &pid, std::string name, std::function<void(void)> onchange = [](){});
-        PIDPage(PIDFF &pidff, std::string name, std::function<void(void)> onchange = [](){});
+        PIDPage(
+            PID &pid, std::string name, std::function<void(void)> onchange = []() {});
+        PIDPage(
+            PIDFF &pidff, std::string name, std::function<void(void)> onchange = []() {});
 
         /// @brief @see Page#update
         void update(bool was_pressed, int x, int y) override;
diff --git a/include/subsystems/tank_drive.h b/include/subsystems/tank_drive.h
index c2826de..2e63002 100644
--- a/include/subsystems/tank_drive.h
+++ b/include/subsystems/tank_drive.h
@@ -22,6 +22,12 @@ using namespace vex;
 class TankDrive
 {
 public:
+  enum class BrakeType
+  {
+    None, ///< just send 0 volts to the motors
+    ZeroVelocity, ///< try to bring the robot to rest. But don't try to hold position
+    Smart, ///< bring the robot to rest and once it's stopped, try to hold that position
+  };
   /**
    * Create the TankDrive object
    * @param left_motors left side drive motors
@@ -43,8 +49,8 @@ class TankDrive
   AutoCommand *TurnDegreesCmd(double degrees, double max_speed = 1.0, double start_speed = 0.0);
   AutoCommand *TurnDegreesCmd(Feedback &fb, double degrees, double max_speed = 1.0, double end_speed = 0.0);
 
-  AutoCommand *PurePursuitCmd(PurePursuit::Path path, directionType dir, double max_speed=1, double end_speed=0);
-  AutoCommand *PurePursuitCmd(Feedback &feedback, PurePursuit::Path path, directionType dir, double max_speed=1, double end_speed=0);
+  AutoCommand *PurePursuitCmd(PurePursuit::Path path, directionType dir, double max_speed = 1, double end_speed = 0);
+  AutoCommand *PurePursuitCmd(Feedback &feedback, PurePursuit::Path path, directionType dir, double max_speed = 1, double end_speed = 0);
 
   /**
    * Stops rotation of all the motors using their "brake mode"
@@ -59,9 +65,15 @@ class TankDrive
    * @param left the percent to run the left motors
    * @param right the percent to run the right motors
    * @param power modifies the input velocities left^power, right^power
-   * @param isdriver default false. if true uses motor percentage. if false uses plain percentage of maximum voltage
+   * @param bt  breaktype. What to do if the driver lets go of the sticks
    */
-  void drive_tank(double left, double right, int power=1);
+  void drive_tank(double left, double right, int power = 1, BrakeType bt = BrakeType::None);
+  /**
+   * Drive the robot raw-ly
+   * @param left the percent to run the left motors (-1, 1)
+   * @param right the percent to run the right motors (-1, 1)
+  */
+  void drive_tank_raw(double left, double right);
 
   /**
    * Drive the robot using arcade style controls. forward_back controls the linear motion,
@@ -72,8 +84,9 @@ class TankDrive
    * @param forward_back the percent to move forward or backward
    * @param left_right the percent to turn left or right
    * @param power modifies the input velocities left^power, right^power
+   * @param bt  breaktype. What to do if the driver lets go of the sticks
    */
-  void drive_arcade(double forward_back, double left_right, int power = 1);
+  void drive_arcade(double forward_back, double left_right, int power = 1, BrakeType bt = BrakeType::None);
 
   /**
    * Use odometry to drive forward a certain distance using a custom feedback controller
@@ -120,7 +133,7 @@ class TankDrive
    * @param degrees     degrees by which we will turn relative to the robot (+) turns ccw, (-) turns cw
    * @param max_speed   the maximum percentage of robot speed at which the robot will travel. 1 = full power
    * @param end_speed   the movement profile will attempt to reach this velocity by its completion
-   */  
+   */
   bool turn_degrees(double degrees, double max_speed = 1, double end_speed = 0);
 
   /**
@@ -187,33 +200,33 @@ class TankDrive
   static double modify_inputs(double input, int power = 2);
 
   /**
-   * Drive the robot autonomously using a pure-pursuit algorithm - Input path with a set of 
+   * Drive the robot autonomously using a pure-pursuit algorithm - Input path with a set of
    * waypoints - the robot will attempt to follow the points while cutting corners (radius)
    * to save time (compared to stop / turn / start)
-   * 
+   *
    * @param path The list of coordinates to follow, in order
    * @param dir Run the bot forwards or backwards
    * @param feedback The feedback controller determining speed
    * @param max_speed Limit the speed of the robot (for pid / pidff feedbacks)
    * @param end_speed the movement profile will attempt to reach this velocity by its completion
    * @return True when the path is complete
-  */
-  bool pure_pursuit(PurePursuit::Path path, directionType dir, Feedback &feedback, double max_speed=1, double end_speed=0);
+   */
+  bool pure_pursuit(PurePursuit::Path path, directionType dir, Feedback &feedback, double max_speed = 1, double end_speed = 0);
 
   /**
-   * Drive the robot autonomously using a pure-pursuit algorithm - Input path with a set of 
+   * Drive the robot autonomously using a pure-pursuit algorithm - Input path with a set of
    * waypoints - the robot will attempt to follow the points while cutting corners (radius)
    * to save time (compared to stop / turn / start)
-   * 
+   *
    * Use the default drive feedback
-   * 
+   *
    * @param path The list of coordinates to follow, in order
    * @param dir Run the bot forwards or backwards
    * @param max_speed Limit the speed of the robot (for pid / pidff feedbacks)
    * @param end_speed the movement profile will attempt to reach this velocity by its completion
    * @return True when the path is complete
-  */
-  bool pure_pursuit(PurePursuit::Path path, directionType dir, double max_speed=1, double end_speed=0);
+   */
+  bool pure_pursuit(PurePursuit::Path path, directionType dir, double max_speed = 1, double end_speed = 0);
 
 private:
   motor_group &left_motors;  ///< left drive motors
diff --git a/include/utils/controls/motion_controller.h b/include/utils/controls/motion_controller.h
index 03bbce6..86b3cde 100644
--- a/include/utils/controls/motion_controller.h
+++ b/include/utils/controls/motion_controller.h
@@ -4,6 +4,8 @@
 #include "../core/include/utils/controls/trapezoid_profile.h"
 #include "../core/include/utils/controls/feedback_base.h"
 #include "../core/include/subsystems/tank_drive.h"
+#include "../core/include/subsystems/screen.h"
+
 #include "vex.h"
 
 /**
@@ -87,7 +89,10 @@ class MotionController : public Feedback
     /**
      * @return The current postion, velocity and acceleration setpoints
     */
-    motion_t get_motion();
+    motion_t get_motion() const;
+
+
+    screen::Page *Page();
 
     /**
      * This method attempts to characterize the robot's drivetrain and automatically tune the feedforward.
@@ -125,5 +130,6 @@ class MotionController : public Feedback
     motion_t cur_motion;
      
     vex::timer tmr;
+    friend class MotionControllerPage;
 
 };
\ No newline at end of file
diff --git a/include/utils/controls/pid.h b/include/utils/controls/pid.h
index a2b3557..102bc8a 100644
--- a/include/utils/controls/pid.h
+++ b/include/utils/controls/pid.h
@@ -1,105 +1,111 @@
 #pragma once
 
-#include <cmath>
-#include "vex.h"
 #include "../core/include/utils/controls/feedback_base.h"
+#include "vex.h"
+#include <cmath>
 
 using namespace vex;
 
 /**
  * PID Class
- * 
- * Defines a standard feedback loop using the constants kP, kI, kD, deadband, and on_target_time.
- * The formula is:
- * 
+ *
+ * Defines a standard feedback loop using the constants kP, kI, kD, deadband,
+ * and on_target_time. The formula is:
+ *
  * out = kP*error + kI*integral(d Error) + kD*(dError/dt)
- * 
- * The PID object will determine it is "on target" when the error is within the deadband, for
- * a duration of on_target_time
- * 
+ *
+ * The PID object will determine it is "on target" when the error is within the
+ * deadband, for a duration of on_target_time
+ *
  * @author Ryan McGee
  * @date 4/3/2020
  */
-class PID : public Feedback
-{
+class PID : public Feedback {
 public:
   /**
-   * An enum to distinguish between a linear and angular caluclation of PID error.
+   * An enum to distinguish between a linear and angular caluclation of PID
+   * error.
    */
-  enum ERROR_TYPE{
+  enum ERROR_TYPE {
     LINEAR,
     ANGULAR // assumes degrees
   };
   /**
    * pid_config_t holds the configuration parameters for a pid controller
-   * In addtion to the constant of proportional, integral and derivative, these parameters include: 
-   * - deadband - 
+   * In addtion to the constant of proportional, integral and derivative, these
+   * parameters include:
+   * - deadband -
    * - on_target_time - for how long do we have to be at the target to stop
-   * As well, pid_config_t holds an error type which determines whether errors should be calculated as if the sensor position is a measure of distance or an angle
-  */
-  struct pid_config_t
-  {
-    double p; ///< proportional coeffecient p * error() 
-    double i; ///< integral coeffecient i * integral(error)
-    double d; ///< derivitave coeffecient d * derivative(error)
+   * As well, pid_config_t holds an error type which determines whether errors
+   * should be calculated as if the sensor position is a measure of distance or
+   * an angle
+   */
+  struct pid_config_t {
+    double p;        ///< proportional coeffecient p * error()
+    double i;        ///< integral coeffecient i * integral(error)
+    double d;        ///< derivitave coeffecient d * derivative(error)
     double deadband; ///< at what threshold are we close enough to be finished
-    double on_target_time; ///< the time in seconds that we have to be on target for to say we are officially at the target
-    ERROR_TYPE error_method; ///< Linear or angular. wheter to do error as a simple subtraction or to wrap
+    double on_target_time; ///< the time in seconds that we have to be on target
+                           ///< for to say we are officially at the target
+    ERROR_TYPE error_method; ///< Linear or angular. wheter to do error as a
+                             ///< simple subtraction or to wrap
   };
 
-  
-
   /**
    * Create the PID object
    * @param config the configuration data for this controller
    */
   PID(pid_config_t &config);
 
-
   /**
    * Inherited from Feedback for interoperability.
    * Update the setpoint and reset integral accumulation
-   * 
+   *
    * start_pt can be safely ignored in this feedback controller
-   * @param start_pt commpletely ignored for PID. necessary to satisfy Feedback base
+   * @param start_pt commpletely ignored for PID. necessary to satisfy Feedback
+   * base
    * @param set_pt sets the target of the PID controller
-   * @param start_vel completely ignored for PID. necessary to satisfy Feedback base
+   * @param start_vel completely ignored for PID. necessary to satisfy Feedback
+   * base
    * @param end_vel sets the target end velocity of the PID controller
    */
-  void init(double start_pt, double set_pt, double start_vel = 0, double end_vel = 0) override;
+  void init(double start_pt, double set_pt, double start_vel = 0,
+            double end_vel = 0) override;
 
   /**
    * Update the PID loop by taking the time difference from last update,
    * and running the PID formula with the new sensor data
-   * @param sensor_val the distance, angle, encoder position or whatever it is we are measuring
+   * @param sensor_val the distance, angle, encoder position or whatever it is
+   * we are measuring
    * @return the new output. What would be returned by PID::get()
    */
   double update(double sensor_val) override;
 
-  
   /**
    * @brief gets the sensor value that we were last updated with
    * @return sensor_val
-  */
-  double get_sensor_val();
-
+   */
+  double get_sensor_val() const;
 
   /**
    * Gets the current PID out value, from when update() was last run
-   * @return the Out value of the controller (voltage, RPM, whatever the PID controller is controlling)
+   * @return the Out value of the controller (voltage, RPM, whatever the PID
+   * controller is controlling)
    */
   double get() override;
 
   /**
-   * Set the limits on the PID out. The PID out will "clip" itself to be 
+   * Set the limits on the PID out. The PID out will "clip" itself to be
    * between the limits.
-   * @param lower the lower limit. the PID controller will never command the output go below `lower`
-   * @param upper the upper limit. the PID controller will never command the output go higher than `upper`
+   * @param lower the lower limit. the PID controller will never command the
+   * output go below `lower`
+   * @param upper the upper limit. the PID controller will never command the
+   * output go higher than `upper`
    */
   void set_limits(double lower, double upper) override;
 
   /**
-   * Checks if the PID controller is on target.  
+   * Checks if the PID controller is on target.
    * @return true if the loop is within [deadband] for [on_target_time] seconds
    */
   bool is_on_target() override;
@@ -111,7 +117,8 @@ class PID : public Feedback
 
   /**
    * Get the delta between the current sensor data and the target
-   * @return the error calculated. how it is calculated depends on error_method specified in pid_config_t
+   * @return the error calculated. how it is calculated depends on error_method
+   * specified in pid_config_t
    */
   double get_error();
 
@@ -119,7 +126,7 @@ class PID : public Feedback
    * Get the PID's target
    * @return the target the PID controller is trying to achieve
    */
-  double get_target();
+  double get_target() const;
 
   /**
    * Set the target for the PID loop, where the robot is trying to end up
@@ -127,27 +134,39 @@ class PID : public Feedback
    */
   void set_target(double target);
 
-
-  pid_config_t &config; ///< configuration struct for this controller. see pid_config_t for information about what this contains
+  pid_config_t
+      &config; ///< configuration struct for this controller. see pid_config_t
+               ///< for information about what this contains
 
 private:
+  double last_error =
+      0; ///< the error measured on the last iteration of update()
+  double accum_error =
+      0; ///< the integral of error over time since we called init()
 
-
-  double last_error = 0;  ///< the error measured on the last iteration of update()
-  double accum_error = 0; ///< the integral of error over time since we called init()
-  
   double last_time = 0; ///< the time measured the last time update() was called
-  double on_target_last_time = 0; ///< the time at which we started being on target
-  
-  double lower_limit = 0; ///< the PID controller will never set a target to go lower than this
-  double upper_limit = 0; ///< the PID controller will never set a target to go higher than this
-
-  double target = 0; ///< the target position of the PID controller (lower_limit <= target <= upper_limit)
-  double target_vel = 0; ///< the target velocity of the PID controller (if != 0, controller will not wait for stop)
-  double sensor_val = 0; ///< the last recorded value of the sensor we use to feed the PID controller
-  double out = 0; ///< the last calculated output value. we save it here so that we don't have to recalculate if we ask for it more than once between update() calls
-
-  bool is_checking_on_target = false; ///< true if the sensor reading is within target +/- deadband
-
-  timer pid_timer; ///< used for calculating integrals and derivatives in line with the real world times and checking the time we are on target 
+  double on_target_last_time =
+      0; ///< the time at which we started being on target
+
+  double lower_limit =
+      0; ///< the PID controller will never set a target to go lower than this
+  double upper_limit =
+      0; ///< the PID controller will never set a target to go higher than this
+
+  double target = 0; ///< the target position of the PID controller (lower_limit
+                     ///< <= target <= upper_limit)
+  double target_vel = 0; ///< the target velocity of the PID controller (if !=
+                         ///< 0, controller will not wait for stop)
+  double sensor_val = 0; ///< the last recorded value of the sensor we use to
+                         ///< feed the PID controller
+  double out = 0; ///< the last calculated output value. we save it here so that
+                  ///< we don't have to recalculate if we ask for it more than
+                  ///< once between update() calls
+
+  bool is_checking_on_target =
+      false; ///< true if the sensor reading is within target +/- deadband
+
+  timer pid_timer; ///< used for calculating integrals and derivatives in line
+                   ///< with the real world times and checking the time we are
+                   ///< on target
 };
diff --git a/include/utils/controls/pidff.h b/include/utils/controls/pidff.h
index f2c8219..243f81b 100644
--- a/include/utils/controls/pidff.h
+++ b/include/utils/controls/pidff.h
@@ -1,77 +1,78 @@
 #pragma once
 #include "../core/include/utils/controls/feedback_base.h"
-#include "../core/include/utils/controls/pid.h"
 #include "../core/include/utils/controls/feedforward.h"
+#include "../core/include/utils/controls/pid.h"
 
-class PIDFF : public Feedback
-{
-    public:
-
-    PIDFF(PID::pid_config_t &pid_cfg, FeedForward::ff_config_t &ff_cfg);
-
-    /**
-     * Initialize the feedback controller for a movement
-     * 
-     * @param start_pt the current sensor value
-     * @param set_pt where the sensor value should be
-     * @param start_vel the current rate of change of the sensor value
-     * @param end_vel the desired ending rate of change of the sensor value
-     */
-    void init(double start_pt, double set_pt, double start_vel, double end_vel) override;
-
-    /**
-     * Set the target of the PID loop
-     * @param set_pt Setpoint / target value
-    */
-    void set_target(double set_pt);
-
-    /**
-     * Iterate the feedback loop once with an updated sensor value.
-     * Only kS for feedfoward will be applied.
-     * 
-     * @param val value from the sensor
-     * @return feedback loop result
-     */
-    double update(double val) override;
-
-    /**
-     * Iterate the feedback loop once with an updated sensor value
-     * 
-     * @param val value from the sensor
-     * @param vel_setpt Velocity for feedforward
-     * @param a_setpt Acceleration for feedfoward
-     * @return feedback loop result
-    */
-    double update(double val, double vel_setpt, double a_setpt=0);
-
-    /**
-     * @return the last saved result from the feedback controller
-     */
-    double get() override;
-
-    /**
-     * Clamp the upper and lower limits of the output. If both are 0, no limits should be applied.
-     * 
-     * @param lower Upper limit
-     * @param upper Lower limit
-     */
-    void set_limits(double lower, double upper) override;
-
-    /** 
-     * @return true if the feedback controller has reached it's setpoint
-     */
-    bool is_on_target() override;
-
-    PID pid;
-
-
-    private:
-
-    FeedForward::ff_config_t &ff_cfg;
-
-    FeedForward ff;
-
-    double out;
-    double lower_lim, upper_lim;
-
+class PIDFF : public Feedback {
+public:
+  PIDFF(PID::pid_config_t &pid_cfg, FeedForward::ff_config_t &ff_cfg);
+
+  /**
+   * Initialize the feedback controller for a movement
+   *
+   * @param start_pt the current sensor value
+   * @param set_pt where the sensor value should be
+   * @param start_vel the current rate of change of the sensor value
+   * @param end_vel the desired ending rate of change of the sensor value
+   */
+  void init(double start_pt, double set_pt, double start_vel,
+            double end_vel) override;
+
+  /**
+   * Set the target of the PID loop
+   * @param set_pt Setpoint / target value
+   */
+  void set_target(double set_pt);
+
+  double get_target() const;
+  double get_sensor_val() const;
+  /**
+   * Iterate the feedback loop once with an updated sensor value.
+   * Only kS for feedfoward will be applied.
+   *
+   * @param val value from the sensor
+   * @return feedback loop result
+   */
+  double update(double val) override;
+
+  /**
+   * Iterate the feedback loop once with an updated sensor value
+   *
+   * @param val value from the sensor
+   * @param vel_setpt Velocity for feedforward
+   * @param a_setpt Acceleration for feedfoward
+   * @return feedback loop result
+   */
+  double update(double val, double vel_setpt, double a_setpt = 0);
+
+  /**
+   * @return the last saved result from the feedback controller
+   */
+  double get() override;
+
+  /**
+   * Clamp the upper and lower limits of the output. If both are 0, no limits
+   * should be applied.
+   *
+   * @param lower Upper limit
+   * @param upper Lower limit
+   */
+  void set_limits(double lower, double upper) override;
+
+  /**
+   * @return true if the feedback controller has reached it's setpoint
+   */
+  bool is_on_target() override;
+
+  void reset();
+
+  PID pid;
+
+private:
+  FeedForward::ff_config_t &ff_cfg;
+
+  FeedForward ff;
+
+  double out;
+  double lower_lim, upper_lim;
 };
\ No newline at end of file
diff --git a/include/utils/controls/trapezoid_profile.h b/include/utils/controls/trapezoid_profile.h
index 0f2756c..6cd9cc2 100644
--- a/include/utils/controls/trapezoid_profile.h
+++ b/include/utils/controls/trapezoid_profile.h
@@ -4,24 +4,23 @@ const int MAX_TRAPEZOID_PROFILE_SEGMENTS = 4;
 
 /**
  * motion_t is a description of 1 dimensional motion at a point in time.
-*/
-typedef struct
-{
-    double pos;   ///< 1d position at this point in time
-    double vel;   ///< 1d velocity at this point in time
-    double accel; ///< 1d acceleration at this point in time
+ */
+typedef struct {
+  double pos;   ///< 1d position at this point in time
+  double vel;   ///< 1d velocity at this point in time
+  double accel; ///< 1d acceleration at this point in time
 
 } motion_t;
 
 /**
- * trapezoid_profile_segment_t is a description of one constant acceleration segment of a trapezoid motion profile
+ * trapezoid_profile_segment_t is a description of one constant acceleration
+ * segment of a trapezoid motion profile
  */
-typedef struct
-{
-    double pos_after; ///< 1d position after this segment concludes
-    double vel_after; ///< 1d velocity after this segment concludes
-    double accel;     ///< 1d acceleration during the segment
-    double duration;  ///< duration of the segment
+typedef struct {
+  double pos_after; ///< 1d position after this segment concludes
+  double vel_after; ///< 1d velocity after this segment concludes
+  double accel;     ///< 1d acceleration during the segment
+  double duration;  ///< duration of the segment
 } trapezoid_profile_segment_t;
 
 /**
@@ -33,22 +32,26 @@ typedef struct
  * - start position and velocity
  * - end position and velocity
  *
- * Using this information, a parametric function is generated, with a period of acceleration, constant
- * velocity, and deceleration. The velocity graph usually looks like a trapezoid, giving it its name.
+ * Using this information, a parametric function is generated, with a period of
+ * acceleration, constant velocity, and deceleration. The velocity graph usually
+ * looks like a trapezoid, giving it its name.
  *
- * If the maximum velocity is set high enough, this will become a S-curve profile, with only acceleration and deceleration.
+ * If the maximum velocity is set high enough, this will become a S-curve
+ * profile, with only acceleration and deceleration.
  *
- * If the initial velocity is in the wrong direction, the profile will first come to a stop, then continue a normal
- * trapezoid profile.
+ * If the initial velocity is in the wrong direction, the profile will first
+ * come to a stop, then continue a normal trapezoid profile.
  *
- * If the initial velocity is higher than the maximum velocity, the profile will first try to achieve the maximum velocity.
+ * If the initial velocity is higher than the maximum velocity, the profile will
+ * first try to achieve the maximum velocity.
  *
- * If the end velocity is not achievable, the profile will try to get as close as possible. The end velocity must
- * be in the direction of the end point.
+ * If the end velocity is not achievable, the profile will try to get as close
+ * as possible. The end velocity must be in the direction of the end point.
  *
- * This class is designed for use in properly modelling the motion of the robots to create a feedfoward
- * and target for PID. Acceleration and Maximum velocity should be measured on the robot and tuned down
- * slightly to account for battery drop.
+ * This class is designed for use in properly modelling the motion of the robots
+ * to create a feedfoward and target for PID. Acceleration and Maximum velocity
+ * should be measured on the robot and tuned down slightly to account for
+ * battery drop.
  *
  * Here are the equations graphed for ease of understanding:
  * https://www.desmos.com/calculator/rkm3ivu1yk
@@ -57,106 +60,115 @@ typedef struct
  * @date 7/12/2022
  *
  */
-class TrapezoidProfile
-{
-    public:
-
-    /**
-     * @brief Construct a new Trapezoid Profile object
-     *
-     * @param max_v Maximum velocity the robot can run at
-     * @param accel Maximum acceleration of the robot
-     */
-    TrapezoidProfile(double max_v, double accel);
-
-    /**
-     * @brief Run the trapezoidal profile based on the time and distance that's elapsed
-     *
-     * @param time_s Time since start of movement
-     * @param pos_s The current position
-     * @return motion_t Position, velocity and acceleration
-     */
-    motion_t calculate(double time_s, double pos_s);
-
-    /**
-     * @brief Run the trapezoidal profile based on the time that's elapsed
-     *
-     * @param time_s Time since start of movement
-     * @return motion_t Position, velocity and acceleration
-     */
-    motion_t calculate_time_based(double time_s);
-
-    /**
-     * @brief set_endpts defines a start and end position
-     *
-     * @param start the starting position of the path
-     * @param end the ending position of the path
-     */
-    void set_endpts(double start, double end);
-
-    /**
-     * @brief set start and end velocities
-     *
-     * @param start the starting velocity of the path
-     * @param end the ending velocity of the path
-     */
-    void set_vel_endpts(double start, double end);
-
-    /**
-     * @brief set_accel sets the acceleration this profile will use (the left and right legs of the trapezoid)
-     *
-     * @param accel the acceleration amount to use
-    */
-    void set_accel(double accel);
-
-    /**
-     * @brief sets the maximum velocity for the profile (the height of the top of the trapezoid)
-     *
-     * @param max_v the maximum velocity the robot can travel at
-    */
-    void set_max_v(double max_v);
-
-    /**
-     * @brief uses the kinematic equations to and specified accel and max_v to figure out how long moving along the profile would take
-     *
-     * @return the time the path will take to travel
-    */
-    double get_movement_time();
-
-    private:
-    double si, sf; ///< the initial and final position of the profile
-    double vi, vf; ///< the initial and final velocity of the profile
-    double max_v; ///< the maximum velocity to travel at for this profile
-    double accel; ///< the rate of acceleration to use for this profile.
-
-    trapezoid_profile_segment_t segments[MAX_TRAPEZOID_PROFILE_SEGMENTS];
-    int num_acceleration_phases;
-
-    bool precalculated; ///< whether or not the segment array is up to date
-
-    /**
-     * Attempt to generate the motion profile for the given parameters
-     *
-     * @return False if there was a problem with the parameters
-     */
-    bool precalculate();
-
-    /**
-     * Calculate a trapezoid segment given a target velocity that accelerates to the given velocity
-     *
-     * @param si segment initial position
-     * @param vi segment initial velocity
-     * @param v_target target velocity
-     * @return a trapezoid_profile_segment_t that represents constant acceleration to the target velocity
-     */
-    trapezoid_profile_segment_t calculate_kinetic_motion(double si, double vi, double v_target);
-
-    /**
-     * Calculate the next segment of the trapezoid motion profile
-     *
-     * @param s segment starting position
-     * @param v segment starting velocity
-     * @return the next segment of the trapezoid motion profile
-     */
-    trapezoid_profile_segment_t calculate_next_segment(double s, double v);
+class TrapezoidProfile {
+public:
+  /**
+   * @brief Construct a new Trapezoid Profile object
+   *
+   * @param max_v Maximum velocity the robot can run at
+   * @param accel Maximum acceleration of the robot
+   */
+  TrapezoidProfile(double max_v, double accel);
+
+  /**
+   * @brief Run the trapezoidal profile based on the time and distance that's
+   * elapsed
+   *
+   * @param time_s Time since start of movement
+   * @param pos_s The current position
+   * @return motion_t Position, velocity and acceleration
+   */
+  motion_t calculate(double time_s, double pos_s);
+
+  /**
+   * @brief Run the trapezoidal profile based on the time that's elapsed
+   *
+   * @param time_s Time since start of movement
+   * @return motion_t Position, velocity and acceleration
+   */
+  motion_t calculate_time_based(double time_s);
+
+  /**
+   * @brief set_endpts defines a start and end position
+   *
+   * @param start the starting position of the path
+   * @param end the ending position of the path
+   */
+  void set_endpts(double start, double end);
+
+  /**
+   * @brief set start and end velocities
+   *
+   * @param start the starting velocity of the path
+   * @param end the ending velocity of the path
+   */
+  void set_vel_endpts(double start, double end);
+
+  /**
+   * @brief set_accel sets the acceleration this profile will use (the left and
+   * right legs of the trapezoid)
+   *
+   * @param accel the acceleration amount to use
+   */
+  void set_accel(double accel);
+
+  /**
+   * @brief sets the maximum velocity for the profile (the height of the top of
+   * the trapezoid)
+   *
+   * @param max_v the maximum velocity the robot can travel at
+   */
+  void set_max_v(double max_v);
+
+  /**
+   * @brief uses the kinematic equations to and specified accel and max_v to
+   * figure out how long moving along the profile would take
+   *
+   * @return the time the path will take to travel
+   */
+  double get_movement_time() const;
+
+  double get_max_v() const;
+  double get_accel() const;
+
+private:
+  double si, sf; ///< the initial and final position of the profile
+  double vi, vf; ///< the initial and final velocity of the profile
+  double max_v;  ///< the maximum velocity to travel at for this profile
+  double accel;  ///< the rate of acceleration to use for this profile.
+  double duration;
+
+  trapezoid_profile_segment_t segments[MAX_TRAPEZOID_PROFILE_SEGMENTS];
+  int num_acceleration_phases;
+
+  bool precalculated; ///< whether or not the segment array is up to date
+
+  /**
+   * Attempt to generate the motion profile for the given parameters
+   *
+   * @return False if there was a problem with the parameters
+   */
+  bool precalculate();
+
+  /**
+   * Calculate a trapezoid segment given a target velocity that accelerates to
+   * the given velocity
+   *
+   * @param si segment initial position
+   * @param vi segment initial velocity
+   * @param v_target target velocity
+   * @return a trapezoid_profile_segment_t that represents constant acceleration
+   * to the target velocity
+   */
+  trapezoid_profile_segment_t calculate_kinetic_motion(double si, double vi,
+                                                       double v_target);
+
+  /**
+   * Calculate the next segment of the trapezoid motion profile
+   *
+   * @param s segment starting position
+   * @param v segment starting velocity
+   * @return the next segment of the trapezoid motion profile
+   */
+  trapezoid_profile_segment_t calculate_next_segment(double s, double v);
 };
\ No newline at end of file
diff --git a/include/utils/moving_average.h b/include/utils/moving_average.h
index 099b5db..ed01819 100644
--- a/include/utils/moving_average.h
+++ b/include/utils/moving_average.h
@@ -50,13 +50,13 @@ class MovingAverage : public Filter
    *     ^
    * @param n  the sample that will be added to the moving average.
    */
-  void add_entry(double n);
+  void add_entry(double n) override;
 
   /**
    * Returns the average based off of all the samples collected so far
    * @return the calculated average. sum(samples)/numsamples
    */
-  double get_value() const;
+  double get_value() const override;
 
   /**
    * How many samples the average is made from
@@ -108,13 +108,13 @@ class ExponentialMovingAverage : public Filter
    *     ^
    * @param n  the sample that will be added to the moving average.
    */
-  void add_entry(double n);
+  void add_entry(double n) override;
 
   /**
    * Returns the average based off of all the samples collected so far
    * @return the calculated average. sum(samples)/numsamples
    */
-  double get_value();
+  double get_value() const override;
 
   /**
    * How many samples the average is made from
diff --git a/src/subsystems/custom_encoder.cpp b/src/subsystems/custom_encoder.cpp
index 64f3662..a8f3adc 100644
--- a/src/subsystems/custom_encoder.cpp
+++ b/src/subsystems/custom_encoder.cpp
@@ -19,16 +19,18 @@ void CustomEncoder::setPosition(double val, vex::rotationUnits units)
 
 double CustomEncoder::rotation(vex::rotationUnits units)
 {
-  if(units != vex::rotationUnits::raw)
-    return super::rotation(units) * tick_scalar;
+  if(units != vex::rotationUnits::raw) {
+    return super::rotation(units) * tick_scalar;
+}
   
   return super::rotation(units);
 }
 
 double CustomEncoder::position(vex::rotationUnits units)
 {
-  if (units != vex::rotationUnits::raw)
-    return super::position(units) * tick_scalar;
+  if (units != vex::rotationUnits::raw) {
+    return super::position(units) * tick_scalar;
+}
 
   return super::position(units);
 }
diff --git a/src/subsystems/flywheel.cpp b/src/subsystems/flywheel.cpp
index b740c58..eab2f74 100644
--- a/src/subsystems/flywheel.cpp
+++ b/src/subsystems/flywheel.cpp
@@ -95,9 +95,10 @@ void Flywheel::spin_raw(double speed, directionType dir)
  */
 void Flywheel::spin_manual(double speed, directionType dir)
 {
-  if (!task_running)
+  if (!task_running) {
     motors.spin(dir, speed * 12, voltageUnits::volt);
 }
+}
 
 /**
  * starts or sets the RPM thread at new value
diff --git a/src/subsystems/mecanum_drive.cpp b/src/subsystems/mecanum_drive.cpp
index 641fe57..793c1b9 100644
--- a/src/subsystems/mecanum_drive.cpp
+++ b/src/subsystems/mecanum_drive.cpp
@@ -127,8 +127,9 @@ bool MecanumDrive::auto_drive(double inches, double direction, double speed, boo
       drive_gyro_pid->set_target(0.0);
     }
     // reset only if lateral wheel exists
-    if(enable_wheel)
-      lateral_wheel->resetPosition();
+    if(enable_wheel) {
+      lateral_wheel->resetPosition();
+}
 
     // Finish setting up the PID loop - max speed and position target
     drive_pid->set_limits(-fabs(speed), fabs(speed));
diff --git a/src/subsystems/odometry/odometry_base.cpp b/src/subsystems/odometry/odometry_base.cpp
index 15a650a..2cd8328 100644
--- a/src/subsystems/odometry/odometry_base.cpp
+++ b/src/subsystems/odometry/odometry_base.cpp
@@ -3,34 +3,35 @@
 
 /**
  * Construct a new Odometry Base object
- * 
+ *
  * @param is_async True to run constantly in the background, false to call update() manually
  */
 OdometryBase::OdometryBase(bool is_async) : current_pos(zero_pos)
 {
-  if(is_async)
-    handle = new vex::task(background_task, (void*) this);
+  if (is_async) {
+    handle = new vex::task(background_task, (void *)this);
+}
 }
 
 /**
  * Function that runs in the background task. This function pointer is passed
- * to the vex::task constructor. 
- * 
+ * to the vex::task constructor.
+ *
  * @param ptr Pointer to OdometryBase object
  * @return Required integer return code. Unused.
  */
-int OdometryBase::background_task(void* ptr)
+int OdometryBase::background_task(void *ptr)
 {
-    OdometryBase &obj = *((OdometryBase*) ptr);
-    vexDelay(1000);
-    while(!obj.end_task)
-    {
-      obj.mut.lock();
-      obj.update();
-      obj.mut.unlock();
-    }
-
-    return 0;
+  OdometryBase &obj = *((OdometryBase *)ptr);
+  vexDelay(1000);
+  while (!obj.end_task)
+  {
+    obj.mut.lock();
+    obj.update();
+    obj.mut.unlock();
+  }
+
+  return 0;
 }
 
 /**
@@ -44,30 +45,36 @@ void OdometryBase::end_async()
 }
 
 /**
-* Gets the current position and rotation
-*/
+ * Gets the current position and rotation
+ */
 pose_t OdometryBase::get_position(void)
 {
-    mut.lock();
+  mut.lock();
 
-    // Create a new struct to pass-by-value
-    pose_t out = current_pos;
+  // Create a new struct to pass-by-value
+  pose_t out = current_pos;
 
-    mut.unlock();
+  mut.unlock();
 
-    return out;
+  return out;
 }
 
 /**
  * Sets the current position of the robot
  */
-void OdometryBase::set_position(const pose_t& newpos)
+void OdometryBase::set_position(const pose_t &newpos)
 {
-    mut.lock();
+  mut.lock();
+
+  current_pos = newpos;
+
+  mut.unlock();
+}
 
-    current_pos = newpos;
+AutoCommand *OdometryBase::SetPositionCmd(const pose_t &newpos)
+{
+  return new FunctionCommand([&](){set_position(newpos); return true;});
 
-    mut.unlock();
 }
 
 /**
@@ -80,7 +87,7 @@ double OdometryBase::pos_diff(pose_t start_pos, pose_t end_pos)
 {
   // Use the pythagorean theorem
   double retval = sqrt(pow(end_pos.x - start_pos.x, 2) + pow(end_pos.y - start_pos.y, 2));
-  
+
   return retval;
 }
 
@@ -102,12 +109,14 @@ double OdometryBase::smallest_angle(double start_deg, double end_deg)
   double retval;
   // get the difference between 0 and 360
   retval = fmod(end_deg - start_deg, 360.0);
-  if(retval < 0)
+  if (retval < 0) {
     retval += 360.0;
+}
 
   // Get the closest angle, now between -180 (turn left) and +180 (turn right)
-  if(retval > 180)
+  if (retval > 180) {
     retval -= 360;
+}
 
   return retval;
 }
@@ -117,7 +126,7 @@ double OdometryBase::get_speed()
   mut.lock();
   double retval = speed;
   mut.unlock();
-  
+
   return retval;
 }
 
diff --git a/src/subsystems/odometry/odometry_tank.cpp b/src/subsystems/odometry/odometry_tank.cpp
index 171c880..b910cff 100644
--- a/src/subsystems/odometry/odometry_tank.cpp
+++ b/src/subsystems/odometry/odometry_tank.cpp
@@ -1,47 +1,47 @@
 #include "../core/include/subsystems/odometry/odometry_tank.h"
 
 /**
-* Initialize the Odometry module, calculating position from the drive motors.
-* @param left_side The left motors 
-* @param right_side The right motors
-* @param config the specifications that supply the odometry with descriptions of the robot. See robot_specs_t for what is contained
-* @param imu The robot's inertial sensor. If not included, rotation is calculated from the encoders.
-* @param is_async If true, position will be updated in the background continuously. If false, the programmer will have to manually call update().
-*/
+ * Initialize the Odometry module, calculating position from the drive motors.
+ * @param left_side The left motors
+ * @param right_side The right motors
+ * @param config the specifications that supply the odometry with descriptions of the robot. See robot_specs_t for what is contained
+ * @param imu The robot's inertial sensor. If not included, rotation is calculated from the encoders.
+ * @param is_async If true, position will be updated in the background continuously. If false, the programmer will have to manually call update().
+ */
 OdometryTank::OdometryTank(vex::motor_group &left_side, vex::motor_group &right_side, robot_specs_t &config, vex::inertial *imu, bool is_async)
-: OdometryBase(is_async), left_side(&left_side), right_side(&right_side), left_custom_enc(NULL), right_custom_enc(NULL), left_vex_enc(NULL), right_vex_enc(NULL), imu(imu), config(config)
+    : OdometryBase(is_async), left_side(&left_side), right_side(&right_side), left_custom_enc(NULL), right_custom_enc(NULL), left_vex_enc(NULL), right_vex_enc(NULL), imu(imu), config(config)
 {
 }
 
 /**
-* Initialize the Odometry module, calculating position from the drive motors.
-* @param left_custom_enc The left custom encoder 
-* @param right_custom_enc The right custom encoder
-* @param config the specifications that supply the odometry with descriptions of the robot. See robot_specs_t for what is contained
-* @param imu The robot's inertial sensor. If not included, rotation is calculated from the encoders.
-* @param is_async If true, position will be updated in the background continuously. If false, the programmer will have to manually call update().
-*/
+ * Initialize the Odometry module, calculating position from the drive motors.
+ * @param left_custom_enc The left custom encoder
+ * @param right_custom_enc The right custom encoder
+ * @param config the specifications that supply the odometry with descriptions of the robot. See robot_specs_t for what is contained
+ * @param imu The robot's inertial sensor. If not included, rotation is calculated from the encoders.
+ * @param is_async If true, position will be updated in the background continuously. If false, the programmer will have to manually call update().
+ */
 OdometryTank::OdometryTank(CustomEncoder &left_custom_enc, CustomEncoder &right_custom_enc, robot_specs_t &config, vex::inertial *imu, bool is_async)
-: OdometryBase(is_async), left_side(NULL), right_side(NULL), left_custom_enc(&left_custom_enc), right_custom_enc(&right_custom_enc), left_vex_enc(NULL), right_vex_enc(NULL), imu(imu), config(config)
+    : OdometryBase(is_async), left_side(NULL), right_side(NULL), left_custom_enc(&left_custom_enc), right_custom_enc(&right_custom_enc), left_vex_enc(NULL), right_vex_enc(NULL), imu(imu), config(config)
 {
 }
 
 /**
-* Initialize the Odometry module, calculating position from the drive motors.
-* @param left_vex_enc The left vex encoder 
-* @param right_vex_enc The right vex encoder
-* @param config the specifications that supply the odometry with descriptions of the robot. See robot_specs_t for what is contained
-* @param imu The robot's inertial sensor. If not included, rotation is calculated from the encoders.
-* @param is_async If true, position will be updated in the background continuously. If false, the programmer will have to manually call update().
-*/
+ * Initialize the Odometry module, calculating position from the drive motors.
+ * @param left_vex_enc The left vex encoder
+ * @param right_vex_enc The right vex encoder
+ * @param config the specifications that supply the odometry with descriptions of the robot. See robot_specs_t for what is contained
+ * @param imu The robot's inertial sensor. If not included, rotation is calculated from the encoders.
+ * @param is_async If true, position will be updated in the background continuously. If false, the programmer will have to manually call update().
+ */
 OdometryTank::OdometryTank(vex::encoder &left_vex_enc, vex::encoder &right_vex_enc, robot_specs_t &config, vex::inertial *imu, bool is_async)
-: OdometryBase(is_async), left_side(NULL), right_side(NULL), left_custom_enc(NULL), right_custom_enc(NULL), left_vex_enc(&left_vex_enc), right_vex_enc(&right_vex_enc), imu(imu), config(config)
+    : OdometryBase(is_async), left_side(NULL), right_side(NULL), left_custom_enc(NULL), right_custom_enc(NULL), left_vex_enc(&left_vex_enc), right_vex_enc(&right_vex_enc), imu(imu), config(config)
 {
 }
 
 /**
  * Resets the position and rotational data to the input.
- * 
+ *
  */
 void OdometryTank::set_position(const pose_t &newpos)
 {
@@ -58,85 +58,87 @@ void OdometryTank::set_position(const pose_t &newpos)
  */
 pose_t OdometryTank::update()
 {
-    double lside_revs = 0, rside_revs = 0;
-
-    if(left_side != NULL && right_side != NULL)
-    {
-      lside_revs = left_side->position(vex::rotationUnits::rev) / config.odom_gear_ratio;
-      rside_revs = right_side->position(vex::rotationUnits::rev) / config.odom_gear_ratio;
-    }else if(left_custom_enc != NULL && right_custom_enc != NULL)
-    {
-      lside_revs = left_custom_enc->position(vex::rotationUnits::rev) / config.odom_gear_ratio;
-      rside_revs = right_custom_enc->position(vex::rotationUnits::rev) / config.odom_gear_ratio;
-    }else if(left_vex_enc != NULL && right_vex_enc != NULL)
-    {
-      lside_revs = left_vex_enc->position(vex::rotationUnits::rev) / config.odom_gear_ratio;
-      rside_revs = right_vex_enc->position(vex::rotationUnits::rev) / config.odom_gear_ratio;
-    }
-
-    double angle = 0;
-
-    // If the IMU data was passed in, use it for rotational data
-    if(imu == NULL || imu->installed() == false)
-    {
-      // Get the difference in distance driven between the two sides
-      // Uses the absolute position of the encoders, so resetting them will result in
-      // a bad angle.
-      // Get the arclength of the turning circle of the robot
-      double distance_diff = (rside_revs - lside_revs) * PI * config.odom_wheel_diam;
-
-
-      //Use the arclength formula to calculate the angle. Add 90 to make "0 degrees" to starboard
-      angle = ((180.0 / PI) * (distance_diff / config.dist_between_wheels)) + 90;
-
-      // printf("angle: %f, ", (180.0 / PI) * (distance_diff / config.dist_between_wheels));
-
-    } else
-    {
-        // Translate "0 forward and clockwise positive" to "90 forward and CCW negative"
-        angle = -imu->rotation(vex::rotationUnits::deg) + 90;
-    }
-
-    // Offset the angle, if we've done a set_position
-    angle += rotation_offset;
-
-    //Limit the angle betwen 0 and 360. 
-    //fmod (floating-point modulo) gets it between -359 and +359, so tack on another 360 if it's negative.
-    angle = fmod(angle, 360.0);
-    if(angle < 0)
-        angle += 360;
-
-    current_pos = calculate_new_pos(config, current_pos, lside_revs, rside_revs, angle);
-
-
-    static pose_t last_pos = current_pos;
-    static double last_speed = 0;
-    static double last_ang_speed = 0;
-    static timer tmr;
-    bool update_vel_accel = tmr.time(sec) > 0.1;
-
-    // This loop runs too fast. Only check at LEAST every 1/10th sec
-    if(update_vel_accel)
-    {
-      // Calculate robot velocity
-      speed = pos_diff(current_pos, last_pos) / tmr.time(sec);
-
-      // Calculate robot acceleration
-      accel = (speed - last_speed) / tmr.time(sec);
-
-      // Calculate robot angular velocity (deg/sec)
-      ang_speed_deg = smallest_angle(current_pos.rot, last_pos.rot) / tmr.time(sec);
-
-      // Calculate robot angular acceleration (deg/sec^2)
-      ang_accel_deg = (ang_speed_deg - last_ang_speed) / tmr.time(sec);
-
-      tmr.reset();
-      last_pos = current_pos;
-      last_speed = speed;
-      last_ang_speed = ang_speed_deg;
-    }
-
-    return current_pos;
+  double lside_revs = 0, rside_revs = 0;
+
+  if (left_side != NULL && right_side != NULL)
+  {
+    lside_revs = left_side->position(vex::rotationUnits::rev) / config.odom_gear_ratio;
+    rside_revs = right_side->position(vex::rotationUnits::rev) / config.odom_gear_ratio;
+  }
+  else if (left_custom_enc != NULL && right_custom_enc != NULL)
+  {
+    lside_revs = left_custom_enc->position(vex::rotationUnits::rev) / config.odom_gear_ratio;
+    rside_revs = right_custom_enc->position(vex::rotationUnits::rev) / config.odom_gear_ratio;
+  }
+  else if (left_vex_enc != NULL && right_vex_enc != NULL)
+  {
+    lside_revs = left_vex_enc->position(vex::rotationUnits::rev) / config.odom_gear_ratio;
+    rside_revs = right_vex_enc->position(vex::rotationUnits::rev) / config.odom_gear_ratio;
+  }
+
+  double angle = 0;
+
+  // If the IMU data was passed in, use it for rotational data
+  if (imu == NULL || imu->installed() == false)
+  {
+    // Get the difference in distance driven between the two sides
+    // Uses the absolute position of the encoders, so resetting them will result in
+    // a bad angle.
+    // Get the arclength of the turning circle of the robot
+    double distance_diff = (rside_revs - lside_revs) * PI * config.odom_wheel_diam;
+
+    // Use the arclength formula to calculate the angle. Add 90 to make "0 degrees" to starboard
+    angle = ((180.0 / PI) * (distance_diff / config.dist_between_wheels)) + 90;
+
+    // printf("angle: %f, ", (180.0 / PI) * (distance_diff / config.dist_between_wheels));
+  }
+  else
+  {
+    // Translate "0 forward and clockwise positive" to "90 forward and CCW negative"
+    angle = -imu->rotation(vex::rotationUnits::deg) + 90;
+  }
+
+  // Offset the angle, if we've done a set_position
+  angle += rotation_offset;
+
+  // Limit the angle betwen 0 and 360.
+  // fmod (floating-point modulo) gets it between -359 and +359, so tack on another 360 if it's negative.
+  angle = fmod(angle, 360.0);
+  if (angle < 0) {
+    angle += 360;
+}
+
+  current_pos = calculate_new_pos(config, current_pos, lside_revs, rside_revs, angle);
+
+  static pose_t last_pos = current_pos;
+  static double last_speed = 0;
+  static double last_ang_speed = 0;
+  static timer tmr;
+  bool update_vel_accel = tmr.time(sec) > 0.02;
+
+  // This loop runs too fast. Only check at LEAST every 1/10th sec
+  if (update_vel_accel)
+  {
+    // Calculate robot velocity
+    double this_speed = pos_diff(current_pos, last_pos) / tmr.time(sec);
+    ema.add_entry(this_speed);
+    speed = ema.get_value();
+    // Calculate robot acceleration
+    accel = (speed - last_speed) / tmr.time(sec);
+
+    // Calculate robot angular velocity (deg/sec)
+    ang_speed_deg = smallest_angle(current_pos.rot, last_pos.rot) / tmr.time(sec);
+
+    // Calculate robot angular acceleration (deg/sec^2)
+    ang_accel_deg = (ang_speed_deg - last_ang_speed) / tmr.time(sec);
+
+    tmr.reset();
+    last_pos = current_pos;
+    last_speed = speed;
+    last_ang_speed = ang_speed_deg;
+  }
+
+  return current_pos;
 }
 
 /**
@@ -145,36 +147,36 @@ pose_t OdometryTank::update()
  */
 pose_t OdometryTank::calculate_new_pos(robot_specs_t &config, pose_t &curr_pos, double lside_revs, double rside_revs, double angle_deg)
 {
-    pose_t new_pos;
+  pose_t new_pos;
+
+  static double stored_lside_revs = lside_revs;
+  static double stored_rside_revs = rside_revs;
 
-    static double stored_lside_revs = lside_revs;
-    static double stored_rside_revs = rside_revs;
+  // Convert the revolutions into "change in distance", and average the values for a "distance driven"
+  double lside_diff = (lside_revs - stored_lside_revs) * PI * config.odom_wheel_diam;
+  double rside_diff = (rside_revs - stored_rside_revs) * PI * config.odom_wheel_diam;
+  double dist_driven = (lside_diff + rside_diff) / 2.0;
 
-    // Convert the revolutions into "change in distance", and average the values for a "distance driven"
-    double lside_diff = (lside_revs - stored_lside_revs) * PI * config.odom_wheel_diam;
-    double rside_diff = (rside_revs - stored_rside_revs) * PI * config.odom_wheel_diam;
-    double dist_driven = (lside_diff + rside_diff) / 2.0;
+  double angle = angle_deg * PI / 180.0; // Degrees to radians
 
-    double angle = angle_deg * PI / 180.0; // Degrees to radians
+  // Create a vector from the change in distance in the current direction of the robot
+  // deg2rad((smallest_angle(curr_pos.rot, angle_deg)/2 + curr_pos.rot, dist_driven)
+  Vector2D chg_vec(angle, dist_driven);
 
-    // Create a vector from the change in distance in the current direction of the robot
-    //deg2rad((smallest_angle(curr_pos.rot, angle_deg)/2 + curr_pos.rot, dist_driven)
-    Vector2D chg_vec(angle, dist_driven);
-    
-    // Create a vector from the current position in reference to X,Y=0,0
-    point_t curr_point = {.x = curr_pos.x, .y = curr_pos.y};
-    Vector2D curr_vec(curr_point);
+  // Create a vector from the current position in reference to X,Y=0,0
+  point_t curr_point = {.x = curr_pos.x, .y = curr_pos.y};
+  Vector2D curr_vec(curr_point);
 
-    // Tack on the "difference" vector to the current vector
-    Vector2D new_vec = curr_vec + chg_vec;
+  // Tack on the "difference" vector to the current vector
+  Vector2D new_vec = curr_vec + chg_vec;
 
-    new_pos.x = new_vec.get_x();
-    new_pos.y = new_vec.get_y();
-    new_pos.rot = angle_deg;
+  new_pos.x = new_vec.get_x();
+  new_pos.y = new_vec.get_y();
+  new_pos.rot = angle_deg;
 
-    // Store the left and right encoder values to find the difference in the next iteration
-    stored_lside_revs = lside_revs;
-    stored_rside_revs = rside_revs;
+  // Store the left and right encoder values to find the difference in the next iteration
+  stored_lside_revs = lside_revs;
+  stored_rside_revs = rside_revs;
 
-    return new_pos;
+  return new_pos;
 }
\ No newline at end of file
diff --git a/src/subsystems/screen.cpp b/src/subsystems/screen.cpp
index 43066f3..6518bd0 100644
--- a/src/subsystems/screen.cpp
+++ b/src/subsystems/screen.cpp
@@ -1,450 +1,456 @@
 #include "../core/include/subsystems/screen.h"
 #include "../core/include/utils/math_util.h"
-namespace screen
-{
-    /**
-     * @brief The ScreenData class holds the data that will be passed to the
-     * screen thread
-     * you probably shouldnt have to use it
-     */
-    struct ScreenData
-    {
-        ScreenData(const std::vector<Page *> &m_pages, int m_page, vex::brain::lcd &m_screen)
-            : pages(m_pages), page(m_page), screen(m_screen) {}
-        std::vector<Page *> pages;
-        int page = 0;
-        vex::brain::lcd screen;
-    };
-
-    static vex::thread *screen_thread = nullptr;
-    static bool running = false;
-    static int screen_thread_func(void *screen_data_v);
-
-    /// @brief start_screen begins a screen. only call this once per program (a
-    /// good place is vexcodeInit)
-    /// This is a set and forget type function. You don't have to wait on it or
-    /// start it in a new thread
-    /// @param screen the brain screen
-    /// @param pages the list of pages in your UI slideshow
-    /// @param first_page the page to start on (by default 0)
-    void start_screen(vex::brain::lcd &screen, std::vector<Page *> pages,
-                      int first_page)
-    {
-        if (pages.size() == 0)
-        {
-            printf("No pages, not starting screen");
-            return;
-        }
-        first_page %= pages.size();
-
-        if (running)
-        {
-            printf("THERE IS ALREADY A SCREEN THREAD RUNNING\n");
-            return;
-        }
-        ScreenData *data = new ScreenData{pages, first_page, screen};
-
-        screen_thread = new vex::thread(screen_thread_func, static_cast<void *>(data));
+namespace screen {
+void draw_label(vex::brain::lcd &scr, std::string lbl, ScreenRect rect) {
+  uint32_t height = scr.getStringHeight(lbl.c_str());
+  scr.printAt(rect.x1 + 1, rect.y1 + height, true, "%s", lbl.c_str());
+}
+void draw_widget(vex::brain::lcd &scr, WidgetConfig &widget, ScreenRect rect) {
+  switch (widget.type) {
+  case WidgetConfig::Type::Col:
+  case WidgetConfig::Type::Row:
+  case WidgetConfig::Type::Slider:
+  case WidgetConfig::Type::Button:
+  case WidgetConfig::Type::Checkbox:
+  case WidgetConfig::Type::Graph:
+    printf("unimplemented\n");
+    break;
+  case WidgetConfig::Type::Text:
+    draw_label(scr, widget.config.text.text(), rect);
+    break;
+  case WidgetConfig::Type::Label:
+    draw_label(scr, widget.config.label.label, rect);
+    break;
+  }
+}
+
+/**
+ * @brief The ScreenData class holds the data that will be passed to the
+ * screen thread
+ * you probably shouldnt have to use it
+ */
+struct ScreenData {
+  ScreenData(const std::vector<Page *> &m_pages, int m_page,
+             vex::brain::lcd &m_screen)
+      : pages(m_pages), page(m_page), screen(m_screen) {}
+  std::vector<Page *> pages;
+  int page = 0;
+  vex::brain::lcd screen;
+};
+
+static vex::thread *screen_thread = nullptr;
+static bool running = false;
+static int screen_thread_func(void *screen_data_v);
+static ScreenData *screen_data_ptr;
+
+/// @brief start_screen begins a screen. only call this once per program (a
+/// good place is vexcodeInit)
+/// This is a set and forget type function. You don't have to wait on it or
+/// start it in a new thread
+/// @param screen the brain screen
+/// @param pages the list of pages in your UI slideshow
+/// @param first_page the page to start on (by default 0)
+void start_screen(vex::brain::lcd &screen, std::vector<Page *> pages,
+                  int first_page) {
+  if (pages.size() == 0) {
+    printf("No pages, not starting screen");
+    return;
+  }
+  first_page %= pages.size();
+
+  if (running) {
+    printf("THERE IS ALREADY A SCREEN THREAD RUNNING\n");
+    return;
+  }
+
+  ScreenData *data = new ScreenData{pages, first_page, screen};
+
+  screen_thread =
+      new vex::thread(screen_thread_func, static_cast<void *>(data));
+}
+
+void stop_screen() { running = false; }
+
+void prev_page() {
+  screen_data_ptr->page--;
+  if (screen_data_ptr->page < 0) {
+    screen_data_ptr->page += screen_data_ptr->pages.size();
+  }
+}
+void next_page() {
+  screen_data_ptr->page++;
+  screen_data_ptr->page %= screen_data_ptr->pages.size();
+}
+
+/**
+ * @brief runs the screen thread
+ * This should only be called by start_screen
+ * If you are calling this, maybe don't
+ */
+int screen_thread_func(void *screen_data_v) {
+  ScreenData &screen_data = *static_cast<ScreenData *>(screen_data_v);
+  screen_data_ptr = static_cast<ScreenData *>(screen_data_v);
+  running = true;
+  unsigned int frame = 0;
+
+  bool was_pressed = false;
+  int x_press = 0;
+  int y_press = 0;
+
+  while (running) {
+    Page *front_page = screen_data.pages[screen_data.page];
+    bool pressing = screen_data.screen.pressing();
+
+    if (pressing) {
+      pressing = true;
+      x_press = screen_data.screen.xPosition();
+      y_press = screen_data.screen.yPosition();
     }
+    bool just_pressed = pressing && !was_pressed;
 
-    void stop_screen() { running = false; }
-
-    /**
-     * @brief runs the screen thread
-     * This should only be called by start_screen
-     * If you are calling this, maybe don't
-     */
-    int screen_thread_func(void *screen_data_v)
-    {
-        ScreenData screen_data = *static_cast<ScreenData *>(screen_data_v);
-        running = true;
-        unsigned int frame = 0;
-
-        bool was_pressed = false;
-        int x_press = 0;
-        int y_press = 0;
-
-        while (running)
-        {
-            Page *front_page = screen_data.pages[screen_data.page];
-            bool pressing = screen_data.screen.pressing();
-
-            if (pressing)
-            {
-                pressing = true;
-                x_press = screen_data.screen.xPosition();
-                y_press = screen_data.screen.yPosition();
-            }
-            bool just_pressed = pressing && !was_pressed;
-
-            if (just_pressed && x_press < 40)
-            {
-                screen_data.page--;
-                if (screen_data.page < 0)
-                {
-                    screen_data.page += screen_data.pages.size();
-                }
-            }
-            if (just_pressed && x_press > 440)
-            {
-                screen_data.page++;
-                screen_data.page %= screen_data.pages.size();
-            }
-
-            // Update all pages
-            for (auto page : screen_data.pages)
-            {
-                if (page == front_page)
-                {
-                    page->update(was_pressed, x_press, y_press);
-                }
-                else
-                {
-                    page->update(false, 0, 0);
-                }
-            }
-
-            // Draw First Page
-            if (frame % 2 == 0)
-            {
-                screen_data.screen.clearScreen(vex::color::black);
-                screen_data.screen.setPenColor("#FFFFFF");
-                screen_data.screen.setFillColor("#000000");
-                front_page->draw(screen_data.screen, false, frame / 5);
-
-                // Draw side boxes
-                screen_data.screen.setPenColor("#202020");
-                screen_data.screen.setFillColor("#202020");
-                screen_data.screen.drawRectangle(0, 0, 40, 240);
-                screen_data.screen.drawRectangle(440, 0, 40, 240);
-                screen_data.screen.setPenColor("#FFFFFF");
-                // left arrow
-                screen_data.screen.drawLine(30, 100, 15, 120);
-                screen_data.screen.drawLine(30, 140, 15, 120);
-                // right arrow
-                screen_data.screen.drawLine(450, 100, 465, 120);
-                screen_data.screen.drawLine(450, 140, 465, 120);
-            }
-
-            screen_data.screen.render();
-            frame++;
-            was_pressed = pressing;
-            vexDelay(5);
-        }
-
-        return 0;
+    if (just_pressed && x_press < 40) {
+      screen_data.page--;
+      if (screen_data.page < 0) {
+        screen_data.page += screen_data.pages.size();
+      }
     }
-    /**
-     * @brief FunctionPage
-     * @param update_f drawing function
-     * @param draw_f drawing function
-     */
-    FunctionPage::FunctionPage(update_func_t update_f, draw_func_t draw_f)
-        : update_f(update_f), draw_f(draw_f)
-    {
+    if (just_pressed && x_press > 440) {
+      screen_data.page++;
+      screen_data.page %= screen_data.pages.size();
     }
 
-    /// @brief update uses the supplied update function to update this page
-    void FunctionPage::update(bool was_pressed, int x, int y)
-    {
-        update_f(was_pressed, x, y);
-    }
-    /// @brief draw uses the supplied draw function to draw to the screen
-    void FunctionPage::draw(vex::brain::lcd &screen, bool first_draw,
-                            unsigned int frame_number)
-    {
-        draw_f(screen, first_draw, frame_number);
-    }
-
-    StatsPage::StatsPage(std::map<std::string, vex::motor &> motors) : motors(motors) {}
-    void StatsPage::update(bool was_pressed, int x, int y)
-    {
-        (void)x;
-        (void)y;
-        (void)was_pressed;
-    }
-    void StatsPage::draw_motor_stats(const std::string &name, vex::motor &mot, unsigned int frame, int x, int y, vex::brain::lcd &scr)
-    {
-        const vex::color hot_col = vex::color(120, 0, 0);
-        const vex::color med_col = vex::color(140, 100, 0);
-        const vex::color ok_col = vex::black;
-        const vex::color not_plugged_in_col = vex::color(255, 0, 0);
-        bool installed = mot.installed();
-        double temp = 0;
-        int port = mot.index() + 1;
-        vex::color col = ok_col;
-        if (installed)
-        {
-            temp = mot.temperature(vex::temperatureUnits::celsius);
-        }
-
-        if (temp > 40)
-        {
-            col = med_col;
-        }
-        else if (temp > 50)
-        {
-            col = hot_col;
-        }
-        if (!installed && frame % 2 == 0)
-        {
-            col = not_plugged_in_col;
-        }
-
-        scr.drawRectangle(x, y, row_width, row_height, col);
-        scr.printAt(x + 2, y + 16, false, " %2d   %2.0fC   %.7s", port, temp, name.c_str());
-    }
-    void StatsPage::draw(vex::brain::lcd &scr, bool first_draw [[maybe_unused]], unsigned int frame_number [[maybe_unused]])
-    {
-        int num = 0;
-        int x = 40;
-        int y = y_start + row_height;
-        scr.setPenWidth(1);
-
-        scr.drawRectangle(x, y_start, row_width, row_height);
-        scr.printAt(x, y_start + 16, false, " port temp  name");
-        for (auto &kv : motors)
-        {
-            if (num > per_column)
-            {
-                scr.drawRectangle(x + row_width, y_start, row_width, row_height);
-                scr.printAt(x + row_width, y_start + 16, false, " port temp  name");
-
-                y = y_start + row_height;
-                x += row_width;
-                num = 0;
-            }
-
-            draw_motor_stats(kv.first, kv.second, frame_number, x, y, scr);
-            y += row_height;
-            num++;
-        }
-        vex::brain b;
-        scr.printAt(50, 220, "Battery: %2.1fv  %2.0fC %d%%", b.Battery.voltage(), b.Battery.temperature(vex::temperatureUnits::celsius), b.Battery.capacity());
+    // Update all pages
+    for (auto page : screen_data.pages) {
+      if (page == front_page) {
+        page->update(was_pressed, x_press, y_press);
+      } else {
+        page->update(false, 0, 0);
+      }
     }
 
-    OdometryPage::OdometryPage(OdometryBase &odom, double width, double height, bool do_trail) : odom(odom), robot_width(width), robot_height(height), do_trail(do_trail)
-    {
-        vex::brain b;
-        if (b.SDcard.exists(field_filename))
-        {
-            buf_size = b.SDcard.size(field_filename);
-            buf = (uint8_t *)malloc(buf_size);
-            b.SDcard.loadfile(field_filename, buf, buf_size);
-        }
-        pose_t pos = odom.get_position();
-        for (int i = 0; i < path_len; i++)
-        {
-            path[i] = pos;
-        }
+    // Draw First Page
+    if (frame % 2 == 0) {
+      screen_data.screen.clearScreen(vex::color::black);
+      screen_data.screen.setPenColor("#FFFFFF");
+      screen_data.screen.setFillColor("#000000");
+      front_page->draw(screen_data.screen, false, frame / 5);
+
+      // Draw side boxes
+      screen_data.screen.setPenColor("#202020");
+      screen_data.screen.setFillColor("#202020");
+      screen_data.screen.drawRectangle(0, 0, 40, 240);
+      screen_data.screen.drawRectangle(440, 0, 40, 240);
+      screen_data.screen.setPenColor("#FFFFFF");
+      // left arrow
+      screen_data.screen.drawLine(30, 100, 15, 120);
+      screen_data.screen.drawLine(30, 140, 15, 120);
+      // right arrow
+      screen_data.screen.drawLine(450, 100, 465, 120);
+      screen_data.screen.drawLine(450, 140, 465, 120);
     }
 
-    int in_to_px(double in)
-    {
-        double p = in / (6.0 * 24.0);
-        return (int)(p * 240);
-    }
-
-    void OdometryPage::draw(vex::brain::lcd &scr, bool first_draw [[maybe_unused]], unsigned int frame_number [[maybe_unused]])
-    {
-        pose_t pose = odom.get_position();
-        path[path_index] = pose;
-
-        if (do_trail && frame_number % 5 == 0)
-        {
-            path_index++;
-            path_index %= path_len;
-        }
-
-        auto to_px = [](const point_t p) -> point_t
-        {
-            return {(double)in_to_px(p.x) + 200, (double)in_to_px(-p.y) + 240};
-        };
-
-        auto draw_line = [to_px, &scr](const point_t from, const point_t to)
-        {
-            scr.drawLine((int)to_px(from).x, (int)to_px(from).y, (int)to_px(to).x, (int)to_px(to).y);
-        };
-
-        point_t pos = pose.get_point();
-        fflush(stdout);
-        scr.printAt(45, 30, "(%.2f, %.2f)", pose.x, pose.y);
-        scr.printAt(45, 50, "%.2f deg", pose.rot);
-
-        if (buf == nullptr)
-        {
-            scr.printAt(180, 110, "Field Image Not Found");
-            return;
-        }
-
-        scr.drawImageFromBuffer(buf, 200, 0, buf_size);
-
-        point_t pos_px = to_px(pos);
-        scr.drawCircle((int)pos_px.x, (int)pos_px.y, 3, vex::color::white);
-
-        if (do_trail)
-        {
-            pose_t last_pos = path[(path_index + 1) % path_len];
-            for (int i = path_index + 2; i < path_index + path_len; i++)
-            {
-                int j = i % path_len;
-                pose_t pose = path[j];
-                scr.setPenWidth(2);
-                scr.setPenColor(vex::color(255, 255, 80));
-                draw_line(pose.get_point(), last_pos.get_point());
-                last_pos = pose;
-            }
-        }
-        scr.setPenColor(vex::color::white);
-
-        Mat2 mat = Mat2::FromRotationDegrees(pose.rot - 90);
-        const point_t to_left = point_t{-robot_width / 2.0, 0};
-        const point_t to_front = point_t{0.0, robot_height / 2.0};
-
-        const point_t fl = pos + mat * (+to_left + to_front);
-        const point_t fr = pos + mat * (-to_left + to_front);
-        const point_t bl = pos + mat * (+to_left - to_front);
-        const point_t br = pos + mat * (-to_left - to_front);
-        const point_t front = pos + mat * (to_front * 2.0);
-
-        draw_line(fl, fr);
-        draw_line(fr, br);
-        draw_line(br, bl);
-        draw_line(bl, fl);
-
-        draw_line(pos, front);
-    }
-    void OdometryPage::update(bool was_pressed, int x, int y)
-    {
-        (void)x;
-        (void)y;
-        (void)was_pressed;
-    }
-
-    bool SliderWidget::update(bool was_pressed, int x, int y)
-    {
-        const double margin = 10.0;
-        if (was_pressed)
-        {
-            double dx = x;
-            double dy = y;
-            if (rect.contains(point_t{dx, dy}))
-            {
-                double pct = (dx - rect.min.x - margin) / (rect.dimensions().x - 2 * margin);
-                pct = clamp(pct, 0.0, 1.0);
-                value = (low + pct * (high - low));
-            }
-            return true;
-        }
-        return false;
-    }
-    void SliderWidget::draw(vex::brain::lcd &scr, bool first_draw [[maybe_unused]], unsigned int frame_number [[maybe_unused]])
-    {
-        if (rect.height() <= 0)
-        {
-            printf("Slider: %s has no height. Cant use it.", name.c_str());
-        }
-        double xl = rect.min.x;
-        double xh = rect.max.x;
-        double xmid = (xl + xh) / 2.0;
-        double y = rect.min.y + rect.height() / 2;
-        const double margin = 5.0;
-
-        scr.setPenColor(vex::color(50, 50, 50));
-        scr.setFillColor(vex::color(50, 50, 50));
-        scr.setPenWidth(1);
-
-        scr.drawRectangle(rect.min.x, rect.min.y, rect.dimensions().x, rect.dimensions().y);
-
-        scr.setPenColor(vex::color(200, 200, 200));
-        scr.setPenWidth(4);
-
-        scr.drawLine(xl + margin, y, xh - margin, y);
-
-        double pct = (value - low) / (high - low);
-        double vx = pct * (rect.dimensions().x - (2 * margin)) + rect.min.x + margin;
-        const double handle_width = 4;
-        const double handle_height = 4;
-
-        scr.drawRectangle(vx - (handle_width / 2), y - (handle_height / 2), handle_width, handle_height);
-        int text_w = scr.getStringWidth((name + "        ").c_str());
-        scr.printAt(xmid - text_w / 2, y - 15, false, "%s: %.5f", name.c_str(), value);
+    screen_data.screen.render();
+    frame++;
+    was_pressed = pressing;
+    vexDelay(5);
+  }
+
+  return 0;
+}
+/**
+ * @brief FunctionPage
+ * @param update_f drawing function
+ * @param draw_f drawing function
+ */
+FunctionPage::FunctionPage(update_func_t update_f, draw_func_t draw_f)
+    : update_f(update_f), draw_f(draw_f) {}
+
+/// @brief update uses the supplied update function to update this page
+void FunctionPage::update(bool was_pressed, int x, int y) {
+  update_f(was_pressed, x, y);
+}
+/// @brief draw uses the supplied draw function to draw to the screen
+void FunctionPage::draw(vex::brain::lcd &screen, bool first_draw,
+                        unsigned int frame_number) {
+  draw_f(screen, first_draw, frame_number);
+}
+
+StatsPage::StatsPage(std::map<std::string, vex::motor &> motors)
+    : motors(motors) {}
+void StatsPage::update(bool was_pressed, int x, int y) {
+  (void)x;
+  (void)y;
+  (void)was_pressed;
+}
+void StatsPage::draw_motor_stats(const std::string &name, vex::motor &mot,
+                                 unsigned int frame, int x, int y,
+                                 vex::brain::lcd &scr) {
+  const vex::color hot_col = vex::color(120, 0, 0);
+  const vex::color med_col = vex::color(140, 100, 0);
+  const vex::color ok_col = vex::black;
+  const vex::color not_plugged_in_col = vex::color(255, 0, 0);
+  bool installed = mot.installed();
+  double temp = 0;
+  int port = mot.index() + 1;
+  vex::color col = ok_col;
+  if (installed) {
+    temp = mot.temperature(vex::temperatureUnits::celsius);
+  }
+
+  if (temp > 40) {
+    col = med_col;
+  } else if (temp > 50) {
+    col = hot_col;
+  }
+  if (!installed && frame % 2 == 0) {
+    col = not_plugged_in_col;
+  }
+
+  scr.drawRectangle(x, y, row_width, row_height, col);
+  scr.printAt(x + 2, y + 16, false, " %2d   %2.0fC   %.7s", port, temp,
+              name.c_str());
+}
+void StatsPage::draw(vex::brain::lcd &scr, bool first_draw [[maybe_unused]],
+                     unsigned int frame_number [[maybe_unused]]) {
+  int num = 0;
+  int x = 40;
+  int y = y_start + row_height;
+  scr.setPenWidth(1);
+
+  scr.drawRectangle(x, y_start, row_width, row_height);
+  scr.printAt(x, y_start + 16, false, " port temp  name");
+  for (auto &kv : motors) {
+    if (num > per_column) {
+      scr.drawRectangle(x + row_width, y_start, row_width, row_height);
+      scr.printAt(x + row_width, y_start + 16, false, " port temp  name");
+
+      y = y_start + row_height;
+      x += row_width;
+      num = 0;
     }
 
-    bool ButtonWidget::update(bool was_pressed, int x, int y)
-    {
-        if (was_pressed && !was_pressed_last && rect.contains({(double)x, (double)y}))
-        {
-            onpress();
-            was_pressed_last = was_pressed;
-            return true;
-        }
-        was_pressed_last = was_pressed;
-        return false;
+    draw_motor_stats(kv.first, kv.second, frame_number, x, y, scr);
+    y += row_height;
+    num++;
+  }
+  vex::brain b;
+  scr.printAt(50, 220, "Battery: %2.1fv  %2.0fC %d%%", b.Battery.voltage(),
+              b.Battery.temperature(vex::temperatureUnits::celsius),
+              b.Battery.capacity());
+}
+
+OdometryPage::OdometryPage(OdometryBase &odom, double width, double height,
+                           bool do_trail)
+    : odom(odom), robot_width(width), robot_height(height), do_trail(do_trail),
+      velocity_graph(30, 0.0, 0.0, {vex::green}, 1) {
+  vex::brain b;
+  if (b.SDcard.exists(field_filename)) {
+    buf_size = b.SDcard.size(field_filename);
+    buf = (uint8_t *)malloc(buf_size);
+    b.SDcard.loadfile(field_filename, buf, buf_size);
+  }
+  pose_t pos = odom.get_position();
+  for (int i = 0; i < path_len; i++) {
+    path[i] = pos;
+  }
+}
+
+int in_to_px(double in) {
+  double p = in / (6.0 * 24.0);
+  return (int)(p * 240);
+}
+
+void OdometryPage::draw(vex::brain::lcd &scr, bool first_draw [[maybe_unused]],
+                        unsigned int frame_number [[maybe_unused]]) {
+  pose_t pose = odom.get_position();
+  path[path_index] = pose;
+
+  if (do_trail && frame_number % 5 == 0) {
+    path_index++;
+    path_index %= path_len;
+  }
+
+  auto to_px = [](const point_t p) -> point_t {
+    return {(double)in_to_px(p.x) + 200, (double)in_to_px(-p.y) + 240};
+  };
+
+  auto draw_line = [to_px, &scr](const point_t from, const point_t to) {
+    scr.drawLine((int)to_px(from).x, (int)to_px(from).y, (int)to_px(to).x,
+                 (int)to_px(to).y);
+  };
+
+  point_t pos = pose.get_point();
+  fflush(stdout);
+  scr.printAt(45, 30, "(%.2f, %.2f)", pose.x, pose.y);
+  scr.printAt(45, 50, "%.2f deg", pose.rot);
+
+  double speed = odom.get_speed();
+  scr.printAt(45, 80, "%.2f speed", speed);
+  velocity_graph.add_samples({speed});
+  velocity_graph.draw(scr, 30, 100, 170, 120);
+
+  if (buf == nullptr) {
+    scr.printAt(180, 110, "Field Image Not Found");
+    return;
+  }
+
+  scr.drawImageFromBuffer(buf, 200, 0, buf_size);
+
+  point_t pos_px = to_px(pos);
+  scr.drawCircle((int)pos_px.x, (int)pos_px.y, 3, vex::color::white);
+
+  if (do_trail) {
+    pose_t last_pos = path[(path_index + 1) % path_len];
+    for (int i = path_index + 2; i < path_index + path_len; i++) {
+      int j = i % path_len;
+      pose_t pose = path[j];
+      scr.setPenWidth(2);
+      scr.setPenColor(vex::color(255, 255, 80));
+      draw_line(pose.get_point(), last_pos.get_point());
+      last_pos = pose;
     }
-
-    void ButtonWidget::draw(vex::brain::lcd &scr, bool first_draw [[maybe_unused]], unsigned int frame_number [[maybe_unused]])
-    {
-        scr.setPenColor(vex::white);
-        scr.setPenWidth(1);
-        scr.setFillColor(vex::color(50, 50, 50));
-        scr.drawRectangle(rect.min.x, rect.min.y, rect.width(), rect.height());
-        int w = scr.getStringWidth(name.c_str());
-        int h = scr.getStringHeight(name.c_str());
-        scr.printAt(rect.center().x - w / 2, rect.center().y + h / 2, name.c_str());
-    }
-
-    PIDPage::PIDPage(
-        PID &pid, std::string name, std::function<void(void)> onchange)
-        : cfg(pid.config), pid(pid), name(name), onchange(onchange),
-          p_slider(cfg.p, 0.0, 0.5, Rect{{60, 20}, {210, 60}}, "P"),
-          i_slider(cfg.i, 0.0, 0.05, Rect{{60, 80}, {180, 120}}, "I"),
-          d_slider(cfg.d, 0.0, 0.05, Rect{{60, 140}, {180, 180}}, "D"),
-          zero_i([this]()
-                 { zero_i_f(); },
-                 Rect{{180, 80}, {220, 120}}, "0"),
-          zero_d([this]()
-                 { zero_d_f(); },
-                 Rect{{180, 140}, {220, 180}}, "0"),
-          graph(40, 0, 0, {vex::red, vex::green}, 2)
-    {
-    }
-
-    PIDPage::PIDPage(PIDFF &pidff, std::string name, std::function<void(void)> onchange) : PIDPage((pidff.pid), name, onchange) {}
-
-    void PIDPage::update(bool was_pressed, int x, int y)
-    {
-        bool updated = false;
-        updated |= p_slider.update(was_pressed, x, y);
-        updated |= i_slider.update(was_pressed, x, y);
-        updated |= d_slider.update(was_pressed, x, y);
-
-        updated |= zero_i.update(was_pressed, x, y);
-        updated |= zero_d.update(was_pressed, x, y);
-        if (updated)
-        {
-            onchange();
-        }
-    }
-    void PIDPage::draw(vex::brain::lcd &scr, bool first_draw [[maybe_unused]], unsigned int frame_number [[maybe_unused]])
-    {
-        p_slider.draw(scr, first_draw, frame_number);
-        i_slider.draw(scr, first_draw, frame_number);
-        d_slider.draw(scr, first_draw, frame_number);
-        zero_i.draw(scr, first_draw, frame_number);
-        zero_d.draw(scr, first_draw, frame_number);
-
-        graph.add_samples({pid.get_target(), pid.get_sensor_val()});
-
-        graph.draw(scr, 230, 20, 200, 200);
-
-        scr.setPenColor(vex::white);
-        scr.printAt(60, 215, false, "%s", name.c_str());
-
-        scr.setPenColor(vex::red);
-        scr.printAt(240, 20, false, "%.2f", pid.get_target());
-        scr.setPenColor(vex::green);
-        scr.printAt(300, 20, false, "%.2f", pid.get_sensor_val());
+  }
+  scr.setPenColor(vex::color::white);
+
+  Mat2 mat = Mat2::FromRotationDegrees(pose.rot - 90);
+  const point_t to_left = point_t{-robot_width / 2.0, 0};
+  const point_t to_front = point_t{0.0, robot_height / 2.0};
+
+  const point_t fl = pos + mat * (+to_left + to_front);
+  const point_t fr = pos + mat * (-to_left + to_front);
+  const point_t bl = pos + mat * (+to_left - to_front);
+  const point_t br = pos + mat * (-to_left - to_front);
+  const point_t front = pos + mat * (to_front * 2.0);
+
+  draw_line(fl, fr);
+  draw_line(fr, br);
+  draw_line(br, bl);
+  draw_line(bl, fl);
+
+  draw_line(pos, front);
+}
+void OdometryPage::update(bool was_pressed, int x, int y) {
+  (void)x;
+  (void)y;
+  (void)was_pressed;
+}
+
+bool SliderWidget::update(bool was_pressed, int x, int y) {
+  const double margin = 10.0;
+  if (was_pressed) {
+    double dx = x;
+    double dy = y;
+    if (rect.contains(point_t{dx, dy})) {
+      double pct =
+          (dx - rect.min.x - margin) / (rect.dimensions().x - 2 * margin);
+      pct = clamp(pct, 0.0, 1.0);
+      value = (low + pct * (high - low));
     }
+    return true;
+  }
+  return false;
+}
+void SliderWidget::draw(vex::brain::lcd &scr, bool first_draw [[maybe_unused]],
+                        unsigned int frame_number [[maybe_unused]]) {
+  if (rect.height() <= 0) {
+    printf("Slider: %s has no height. Cant use it.", name.c_str());
+  }
+  double xl = rect.min.x;
+  double xh = rect.max.x;
+  double xmid = (xl + xh) / 2.0;
+  double y = rect.min.y + rect.height() / 2;
+  const double margin = 5.0;
+
+  scr.setPenColor(vex::color(50, 50, 50));
+  scr.setFillColor(vex::color(50, 50, 50));
+  scr.setPenWidth(1);
+
+  scr.drawRectangle(rect.min.x, rect.min.y, rect.dimensions().x,
+                    rect.dimensions().y);
+
+  scr.setPenColor(vex::color(200, 200, 200));
+  scr.setPenWidth(4);
+
+  scr.drawLine(xl + margin, y, xh - margin, y);
+
+  double pct = (value - low) / (high - low);
+  double vx = pct * (rect.dimensions().x - (2 * margin)) + rect.min.x + margin;
+  const double handle_width = 4;
+  const double handle_height = 4;
+
+  scr.drawRectangle(vx - (handle_width / 2), y - (handle_height / 2),
+                    handle_width, handle_height);
+  int text_w = scr.getStringWidth((name + "        ").c_str());
+  scr.printAt(xmid - text_w / 2, y - 15, false, "%s: %.5f", name.c_str(),
+              value);
+}
+
+bool ButtonWidget::update(bool was_pressed, int x, int y) {
+  if (was_pressed && !was_pressed_last &&
+      rect.contains({(double)x, (double)y})) {
+    onpress();
+    was_pressed_last = was_pressed;
+    return true;
+  }
+  was_pressed_last = was_pressed;
+  return false;
+}
+
+void ButtonWidget::draw(vex::brain::lcd &scr, bool first_draw [[maybe_unused]],
+                        unsigned int frame_number [[maybe_unused]]) {
+  scr.setPenColor(vex::white);
+  scr.setPenWidth(1);
+  scr.setFillColor(vex::color(50, 50, 50));
+  scr.drawRectangle(rect.min.x, rect.min.y, rect.width(), rect.height());
+  int w = scr.getStringWidth(name.c_str());
+  int h = scr.getStringHeight(name.c_str());
+  scr.printAt(rect.center().x - w / 2, rect.center().y + h / 2, name.c_str());
+}
+
+PIDPage::PIDPage(PID &pid, std::string name, std::function<void(void)> onchange)
+    : cfg(pid.config), pid(pid), name(name), onchange(onchange),
+      p_slider(cfg.p, 0.0, 0.5, Rect{{60, 20}, {210, 60}}, "P"),
+      i_slider(cfg.i, 0.0, 0.05, Rect{{60, 80}, {180, 120}}, "I"),
+      d_slider(cfg.d, 0.0, 0.05, Rect{{60, 140}, {180, 180}}, "D"),
+      zero_i([this]() { zero_i_f(); }, Rect{{180, 80}, {220, 120}}, "0"),
+      zero_d([this]() { zero_d_f(); }, Rect{{180, 140}, {220, 180}}, "0"),
+      graph(40, 0, 0, {vex::red, vex::green}, 2) {}
+
+PIDPage::PIDPage(PIDFF &pidff, std::string name,
+                 std::function<void(void)> onchange)
+    : PIDPage((pidff.pid), name, onchange) {}
+
+void PIDPage::update(bool was_pressed, int x, int y) {
+  bool updated = false;
+  updated |= p_slider.update(was_pressed, x, y);
+  updated |= i_slider.update(was_pressed, x, y);
+  updated |= d_slider.update(was_pressed, x, y);
+
+  updated |= zero_i.update(was_pressed, x, y);
+  updated |= zero_d.update(was_pressed, x, y);
+  if (updated) {
+    onchange();
+  }
+}
+void PIDPage::draw(vex::brain::lcd &scr, bool first_draw [[maybe_unused]],
+                   unsigned int frame_number [[maybe_unused]]) {
+  p_slider.draw(scr, first_draw, frame_number);
+  i_slider.draw(scr, first_draw, frame_number);
+  d_slider.draw(scr, first_draw, frame_number);
+  zero_i.draw(scr, first_draw, frame_number);
+  zero_d.draw(scr, first_draw, frame_number);
+
+  graph.add_samples({pid.get_target(), pid.get_sensor_val()});
+
+  graph.draw(scr, 230, 20, 200, 200);
+
+  scr.setPenColor(vex::white);
+  scr.printAt(60, 215, false, "%s", name.c_str());
+
+  scr.setPenColor(vex::red);
+  scr.printAt(240, 20, false, "%.2f", pid.get_target());
+  scr.setPenColor(vex::green);
+  scr.printAt(300, 20, false, "%.2f", pid.get_sensor_val());
+}
 
 } // namespace screen
diff --git a/src/subsystems/tank_drive.cpp b/src/subsystems/tank_drive.cpp
index d86f61f..ee0c64e 100644
--- a/src/subsystems/tank_drive.cpp
+++ b/src/subsystems/tank_drive.cpp
@@ -74,19 +74,78 @@ void TankDrive::stop()
   right_motors.stop();
 }
 
+void TankDrive::drive_tank_raw(double left_norm, double right_norm)
+{
+  left_motors.spin(directionType::fwd, left_norm * 12, voltageUnits::volt);
+  right_motors.spin(directionType::fwd, right_norm * 12, voltageUnits::volt);
+}
 /**
  * Drive the robot using differential style controls. left_motors controls the left motors,
  * right_motors controls the right motors.
  *
  * left_motors and right_motors are in "percent": -1.0 -> 1.0
  */
-void TankDrive::drive_tank(double left, double right, int power)
+bool captured_position = false;
+bool was_breaking = false;
+void TankDrive::drive_tank(double left, double right, int power, BrakeType bt)
 {
+
   left = modify_inputs(left, power);
   right = modify_inputs(right, power);
+  double brake_threshold = 0.05;
+  bool should_brake = (bt != BrakeType::None) && fabs(left) < brake_threshold && fabs(right) < brake_threshold;
+
+  if (!should_brake)
+  {
+    drive_tank_raw(left, right);
+    was_breaking = false;
+    return;
+  }
+  if (should_brake && !was_breaking)
+  {
+    captured_position = false;
+  }
+  static PID::pid_config_t zero_vel_cfg = {.p = 0.005, .d = 0.0005};
+  static PID zero_vel_pid = PID(zero_vel_cfg);
 
-  left_motors.spin(directionType::fwd, left * 12, voltageUnits::volt);
-  right_motors.spin(directionType::fwd, right * 12, voltageUnits::volt);
+  if (bt == BrakeType::ZeroVelocity)
+  {
+    zero_vel_pid.set_target(0);
+    double vel = left_motors.velocity(vex::velocityUnits::pct) + right_motors.velocity(vex::velocityUnits::pct);
+    double outp = zero_vel_pid.update(vel);
+    left_motors.spin(directionType::fwd, outp, voltageUnits::volt);
+    right_motors.spin(directionType::fwd, outp, voltageUnits::volt);
+  }
+  else if (bt == BrakeType::Smart)
+  {
+    static pose_t target_pose = {.x = 0.0, .y = 0.0, .rot = 0.0};
+
+    zero_vel_pid.set_target(0);
+    double vel = odometry->get_speed();
+    if (fabs(vel) <= 0.01 && !captured_position)
+    {
+      target_pose = odometry->get_position();
+      captured_position = true;
+    }
+    else if (captured_position)
+    {
+      double dist_to_target = odometry->pos_diff(target_pose, odometry->get_position());
+      if (dist_to_target < 12.0)
+      {
+        drive_to_point(target_pose.x, target_pose.y, vex::fwd);
+      } else {
+        target_pose = odometry->get_position();
+        reset_auto();
+      }
+    }
+    else
+    {
+      double outp = zero_vel_pid.update(vel);
+      left_motors.spin(directionType::fwd, outp, voltageUnits::volt);
+      right_motors.spin(directionType::fwd, outp, voltageUnits::volt);
+    }
+  }
+  was_breaking = should_brake;
 }
 
 /**
@@ -95,7 +154,7 @@ void TankDrive::drive_tank(double left, double right, int power)
  *
  * left_motors and right_motors are in "percent": -1.0 -> 1.0
  */
-void TankDrive::drive_arcade(double forward_back, double left_right, int power)
+void TankDrive::drive_arcade(double forward_back, double left_right, int power, BrakeType bt)
 {
   forward_back = modify_inputs(forward_back, power);
   left_right = modify_inputs(left_right, power);
@@ -103,8 +162,7 @@ void TankDrive::drive_arcade(double forward_back, double left_right, int power)
   double left = forward_back + left_right;
   double right = forward_back - left_right;
 
-  left_motors.spin(directionType::fwd, left * 12, voltageUnits::volt);
-  right_motors.spin(directionType::fwd, right * 12, voltageUnits::volt);
+  drive_tank(left, right, 1, bt);
 }
 
 /**
@@ -169,8 +227,9 @@ bool TankDrive::drive_forward(double inches, directionType dir, Feedback &feedba
  */
 bool TankDrive::drive_forward(double inches, directionType dir, double max_speed, double end_speed)
 {
-  if (drive_default_feedback != NULL)
+  if (drive_default_feedback != NULL) {
     return drive_forward(inches, dir, *drive_default_feedback, max_speed, end_speed);
+}
 
   printf("tank_drive.cpp: Cannot run drive_forward without a feedback controller!\n");
   fflush(stdout);
@@ -224,8 +283,9 @@ bool TankDrive::turn_degrees(double degrees, Feedback &feedback, double max_spee
  */
 bool TankDrive::turn_degrees(double degrees, double max_speed, double end_speed)
 {
-  if (turn_default_feedback != NULL)
+  if (turn_default_feedback != NULL) {
     return turn_degrees(degrees, *turn_default_feedback, max_speed, end_speed);
+}
 
   printf("tank_drive.cpp: Cannot run turn_degrees without a feedback controller!\n");
   fflush(stdout);
@@ -275,11 +335,10 @@ bool TankDrive::drive_to_point(double x, double y, vex::directionType dir, Feedb
   pose_t end_pos = {.x = x, .y = y};
 
   // Create a point (and vector) to get the direction
-  point_t pos_diff_pt = 
-  {
-    .x = x - current_pos.x,
-    .y = y - current_pos.y
-  };
+  point_t pos_diff_pt =
+      {
+          .x = x - current_pos.x,
+          .y = y - current_pos.y};
 
   Vector2D point_vec(pos_diff_pt);
 
@@ -295,16 +354,19 @@ bool TankDrive::drive_to_point(double x, double y, vex::directionType dir, Feedb
   double angle = fmod(current_pos.rot - angle_to_point, 360.0);
 
   // Normalize the angle between 0 and 360
-  if (angle > 360)
+  if (angle > 360) {
     angle -= 360;
-  if (angle < 0)
+}
+  if (angle < 0) {
     angle += 360;
+}
 
   // If the angle is behind the robot, report negative.
-  if (dir == directionType::fwd && angle > 90 && angle < 270)
+  if (dir == directionType::fwd && angle > 90 && angle < 270) {
     sign = -1;
-  else if (dir == directionType::rev && (angle < 90 || angle > 270))
+  } else if (dir == directionType::rev && (angle < 90 || angle > 270)) {
     sign = -1;
+}
 
   if (fabs(dist_left) < config.drive_correction_cutoff)
   {
@@ -319,10 +381,11 @@ bool TankDrive::drive_to_point(double x, double y, vex::directionType dir, Feedb
   double delta_heading = 0;
 
   // Going backwards "flips" the robot's current heading
-  if (dir == directionType::fwd)
+  if (dir == directionType::fwd) {
     delta_heading = OdometryBase::smallest_angle(current_pos.rot, heading);
-  else
+  } else {
     delta_heading = OdometryBase::smallest_angle(current_pos.rot - 180, heading);
+}
 
   // Update the PID controllers with new information
   correction_pid.update(delta_heading);
@@ -330,15 +393,17 @@ bool TankDrive::drive_to_point(double x, double y, vex::directionType dir, Feedb
 
   // Disable correction when we're close enough to the point
   double correction = 0;
-  if (is_pure_pursuit || fabs(dist_left) > config.drive_correction_cutoff)
+  if (is_pure_pursuit || fabs(dist_left) > config.drive_correction_cutoff) {
     correction = correction_pid.get();
+}
 
   // Reverse the drive_pid output if we're going backwards
   double drive_pid_rval;
-  if (dir == directionType::rev)
+  if (dir == directionType::rev) {
     drive_pid_rval = feedback.get() * -1;
-  else
+  } else {
     drive_pid_rval = feedback.get();
+}
 
   // Combine the two pid outputs
   double lside = drive_pid_rval + correction;
@@ -353,10 +418,10 @@ bool TankDrive::drive_to_point(double x, double y, vex::directionType dir, Feedb
   // Check if the robot has reached it's destination
   if (feedback.is_on_target())
   {
-    if (end_speed == 0) stop();
+    if (end_speed == 0) {
+      stop();
+}
     func_initialized = false;
-    printf("Func unitililized\n");
-    if (end_speed == 0) stop();
     return true;
   }
 
@@ -378,8 +443,9 @@ bool TankDrive::drive_to_point(double x, double y, vex::directionType dir, Feedb
  */
 bool TankDrive::drive_to_point(double x, double y, vex::directionType dir, double max_speed, double end_speed)
 {
-  if (drive_default_feedback != NULL)
+  if (drive_default_feedback != NULL) {
     return this->drive_to_point(x, y, dir, *drive_default_feedback, max_speed, end_speed);
+}
 
   printf("tank_drive.cpp: Cannot run drive_to_point without a feedback controller!\n");
   fflush(stdout);
@@ -444,8 +510,9 @@ bool TankDrive::turn_to_heading(double heading_deg, Feedback &feedback, double m
  */
 bool TankDrive::turn_to_heading(double heading_deg, double max_speed, double end_speed)
 {
-  if (turn_default_feedback != NULL)
+  if (turn_default_feedback != NULL) {
     return turn_to_heading(heading_deg, *turn_default_feedback, max_speed, end_speed);
+}
 
   printf("tank_drive.cpp: Cannot run turn_to_heading without a feedback controller!\n");
   fflush(stdout);
@@ -478,7 +545,8 @@ double TankDrive::modify_inputs(double input, int power)
 bool TankDrive::pure_pursuit(PurePursuit::Path path, directionType dir, Feedback &feedback, double max_speed, double end_speed)
 {
   std::vector<point_t> points = path.get_points();
-  if (!path.is_valid()) {
+  if (!path.is_valid())
+  {
     printf("WARNING: Unexpected pure pursuit path - some segments intersect or are too close\n");
   }
   pose_t robot_pose = odometry->get_position();
@@ -486,10 +554,11 @@ bool TankDrive::pure_pursuit(PurePursuit::Path path, directionType dir, Feedback
   // On function initialization, send the path-length estimate to the feedback controller
   if (!func_initialized)
   {
-    if (dir != directionType::rev)
+    if (dir != directionType::rev) {
       feedback.init(-estimate_path_length(points), 0, odometry->get_speed(), end_speed);
-    else
+    } else {
       feedback.init(estimate_path_length(points), 0, odometry->get_speed(), end_speed);
+}
 
     func_initialized = true;
   }
@@ -505,10 +574,11 @@ bool TankDrive::pure_pursuit(PurePursuit::Path path, directionType dir, Feedback
   double angle_diff = 0;
 
   // Robot is facing forwards / backwards, change the bot's angle by 180
-  if (dir != directionType::rev)
+  if (dir != directionType::rev) {
     angle_diff = OdometryBase::smallest_angle(robot_pose.rot, rad2deg(atan2(localized.y, localized.x)));
-  else
+  } else {
     angle_diff = OdometryBase::smallest_angle(robot_pose.rot + 180, rad2deg(atan2(localized.y, localized.x)));
+}
 
   // Correct the robot's heading until the last cut-off
   if (!(is_last_point && robot_pose.get_point().dist(last_point) < config.drive_correction_cutoff))
@@ -521,10 +591,11 @@ bool TankDrive::pure_pursuit(PurePursuit::Path path, directionType dir, Feedback
     dist_remaining *= cos(angle_diff * (PI / 180.0));
   }
 
-  if (dir != directionType::rev)
+  if (dir != directionType::rev) {
     feedback.update(-dist_remaining);
-  else
+  } else {
     feedback.update(dist_remaining);
+}
 
   max_speed = fabs(max_speed);
 
diff --git a/src/utils/command_structure/auto_command.cpp b/src/utils/command_structure/auto_command.cpp
index b1869c6..86c8ac9 100644
--- a/src/utils/command_structure/auto_command.cpp
+++ b/src/utils/command_structure/auto_command.cpp
@@ -49,7 +49,7 @@ bool FunctionCondition::test()
 IfTimePassed::IfTimePassed(double time_s) : time_s(time_s), tmr() {}
 bool IfTimePassed::test()
 {
-    return (static_cast<double>(tmr.time()) / 1000.0) > time_s;
+    return tmr.value() > time_s;
 }
 
 InOrder::InOrder(std::queue<AutoCommand *> cmds) : cmds(cmds)
@@ -66,7 +66,6 @@ bool InOrder::run()
     // outer loop finished
     if (cmds.size() == 0 && current_command == nullptr)
     {
-        printf("INORDER finished\n");
         return true;
     }
     // retrieve and remove command at the front of the queue
@@ -74,7 +73,6 @@ bool InOrder::run()
     {
         printf("TAKING INORDER: len =  %d\n", cmds.size());
         current_command = cmds.front();
-        printf("Current command: %p\n", (void *)current_command);
         cmds.pop();
         tmr.reset();
     }
@@ -88,7 +86,7 @@ bool InOrder::run()
         return false; // continue onto next command
     }
 
-    double seconds = static_cast<double>(tmr.time()) / 1000.0;
+    double seconds = tmr.value();
 
     bool should_timeout = current_command->timeout_seconds > 0.0;
     bool doTimeout = should_timeout && seconds > current_command->timeout_seconds;
@@ -97,10 +95,10 @@ bool InOrder::run()
         doTimeout = doTimeout || current_command->true_to_end->test();
     }
 
-    printf(".");
     // timeout
     if (doTimeout)
     {
+        printf("InOrder timed out\n");
         current_command->on_timeout();
         current_command = nullptr;
         return false;
@@ -306,6 +304,8 @@ RepeatUntil::RepeatUntil(InOrder cmds, Condition *cond) : cmds(cmds), working_cm
     timeout_seconds = -1.0;
 }
 
+
+
 bool RepeatUntil::run()
 {
     bool finished = working_cmds->run();
@@ -324,6 +324,7 @@ bool RepeatUntil::run()
     }
     working_cmds = new InOrder(cmds);
 
+
     return false;
 }
 
diff --git a/src/utils/controls/feedforward.cpp b/src/utils/controls/feedforward.cpp
index ef0d242..ba68dc2 100644
--- a/src/utils/controls/feedforward.cpp
+++ b/src/utils/controls/feedforward.cpp
@@ -53,8 +53,9 @@ FeedForward::ff_config_t tune_feedforward(vex::motor_group &motor, double pct, d
         double accel = accel_ma.get_value();
 
         // For kV:
-        if(speed > max_speed)
+        if(speed > max_speed) {
             max_speed = speed;
+}
 
         // For kA:
         // Filter out the acceleration dampening due to motor inductance
diff --git a/src/utils/controls/motion_controller.cpp b/src/utils/controls/motion_controller.cpp
index 8253f35..eba94cc 100644
--- a/src/utils/controls/motion_controller.cpp
+++ b/src/utils/controls/motion_controller.cpp
@@ -1,30 +1,31 @@
 #include "../core/include/utils/controls/motion_controller.h"
+#include "../core/include/subsystems/screen.h"
 #include "../core/include/utils/math_util.h"
 #include <vector>
 
 /**
-* @brief Construct a new Motion Controller object
-* 
-* @param config The definition of how the robot is able to move
-*    max_v Maximum velocity the movement is capable of
-*    accel Acceleration / deceleration of the movement
-*    pid_cfg Definitions of kP, kI, and kD
-*    ff_cfg Definitions of kS, kV, and kA
-*/
+ * @brief Construct a new Motion Controller object
+ *
+ * @param config The definition of how the robot is able to move
+ * max_v Maximum velocity the movement is capable of
+ * accel Acceleration / deceleration of the movement
+ * pid_cfg Definitions of kP, kI, and kD
+ * ff_cfg Definitions of kS, kV, and kA
+ */
 MotionController::MotionController(m_profile_cfg_t &config)
-: config(config), pid(config.pid_cfg), ff(config.ff_cfg), profile(config.max_v, config.accel)
-{}
+    : config(config), pid(config.pid_cfg), ff(config.ff_cfg),
+      profile(config.max_v, config.accel) {}
 
 /**
  * @brief Initialize the motion profile for a new movement
  * This will also reset the PID and profile timers.
  * @param start_pt Movement starting position
- * @param end_pt Movement ending posiiton 
+ * @param end_pt Movement ending posiiton
  * @param start_vel Movement starting velocity
  * @param end_vel Movement ending velocity
  */
-void MotionController::init(double start_pt, double end_pt, double start_vel, double end_vel)
-{
+void MotionController::init(double start_pt, double end_pt, double start_vel,
+                            double end_vel) {
     profile.set_endpts(start_pt, end_pt);
     profile.set_vel_endpts(start_vel, end_vel);
     pid.reset();
@@ -34,93 +35,89 @@ void MotionController::init(double start_pt, double end_pt, double start_vel, do
 }
 
 /**
-* @brief Update the motion profile with a new sensor value
-* 
-* @param sensor_val Value from the sensor
-* @return the motor input generated from the motion profile 
-*/
-double MotionController::update(double sensor_val)
-{
+ * @brief Update the motion profile with a new sensor value
+ *
+ * @param sensor_val Value from the sensor
+ * @return the motor input generated from the motion profile
+ */
+double MotionController::update(double sensor_val) {
     cur_motion = profile.calculate(tmr.time(timeUnits::sec), sensor_val);
     pid.set_target(cur_motion.pos);
     pid.update(sensor_val);
 
     this->current_pos = sensor_val;
 
-    out = pid.get() +  ff.calculate(cur_motion.vel, cur_motion.accel, pid.get());
+    out = pid.get() + ff.calculate(cur_motion.vel, cur_motion.accel, pid.get());
 
-    if(lower_limit != upper_limit)
+    if (lower_limit != upper_limit) {
         out = clamp(out, lower_limit, upper_limit);
-    
+    }
+
     return out;
 }
 
 /**
  * @return the last saved result from the feedback controller
  */
-double MotionController::get()
-{
-    return out;
-}
+double MotionController::get() { return out; }
 
 /**
- * Clamp the upper and lower limits of the output. If both are 0, no limits should be applied.
- * 
+ * Clamp the upper and lower limits of the output. If both are 0, no limits
+ * should be applied.
+ *
  * @param lower Upper limit
  * @param upper Lower limit
  */
-void MotionController::set_limits(double lower, double upper)
-{
+void MotionController::set_limits(double lower, double upper) {
     lower_limit = lower;
     upper_limit = upper;
 }
 
-/** 
+/**
  * @return Whether or not the movement has finished, and the PID
  * confirms it is on target
  */
-bool MotionController::is_on_target()
-{
-    return (tmr.time(timeUnits::sec) > profile.get_movement_time()) && pid.is_on_target() && fabs(end_pt - current_pos) < pid.config.deadband;
+bool MotionController::is_on_target() {
+    return (tmr.time(timeUnits::sec) > profile.get_movement_time()) &&
+           pid.is_on_target() &&
+           fabs(end_pt - current_pos) < pid.config.deadband;
 }
 
 /**
  * @return The current postion, velocity and acceleration setpoints
-*/
-motion_t MotionController::get_motion()
-{
-    return cur_motion;
-}
+ */
+motion_t MotionController::get_motion() const { return cur_motion; }
 
 /**
- * This method attempts to characterize the robot's drivetrain and automatically tune the feedforward.
- * It does this by first calculating the kS (voltage to overcome static friction) by slowly increasing
- * the voltage until it moves.
- * 
- * Next is kV (voltage to sustain a certain velocity), where the robot will record it's steady-state velocity
- * at 'pct' speed.
- * 
- * Finally, kA (voltage needed to accelerate by a certain rate), where the robot will record the entire movement's
- * velocity and acceleration, record a plot of [X=(pct-kV*V-kS), Y=(Acceleration)] along the movement,
- * and since kA*Accel = pct-kV*V-kS, the reciprocal of the linear regression is the kA value.
- * 
+ * This method attempts to characterize the robot's drivetrain and automatically
+ * tune the feedforward. It does this by first calculating the kS (voltage to
+ * overcome static friction) by slowly increasing the voltage until it moves.
+ *
+ * Next is kV (voltage to sustain a certain velocity), where the robot will
+ * record it's steady-state velocity at 'pct' speed.
+ *
+ * Finally, kA (voltage needed to accelerate by a certain rate), where the robot
+ * will record the entire movement's velocity and acceleration, record a plot of
+ * [X=(pct-kV*V-kS), Y=(Acceleration)] along the movement, and since kA*Accel =
+ * pct-kV*V-kS, the reciprocal of the linear regression is the kA value.
+ *
  * @param drive The tankdrive to operate on
  * @param odometry The robot's odometry subsystem
  * @param pct Maximum velocity in percent (0->1.0)
  * @param duration Amount of time the robot should be moving for the test
  * @return A tuned feedforward object
  */
-FeedForward::ff_config_t MotionController::tune_feedforward(TankDrive &drive, OdometryTank &odometry, double pct, double duration)
-{
+FeedForward::ff_config_t
+MotionController::tune_feedforward(TankDrive &drive, OdometryTank &odometry,
+                                   double pct, double duration) {
     FeedForward::ff_config_t out = {};
-    
+
     pose_t start_pos = odometry.get_position();
 
     // ========== kS Tuning =========
     // Start at 0 and slowly increase the power until the robot starts moving
     double power = 0;
-    while(odometry.pos_diff(start_pos, odometry.get_position()) < 0.05)
-    {
+    while (odometry.pos_diff(start_pos, odometry.get_position()) < 0.05) {
         drive.drive_tank(power, power, 1);
         power += 0.001;
         vexDelay(100);
@@ -128,22 +125,24 @@ FeedForward::ff_config_t MotionController::tune_feedforward(TankDrive &drive, Od
     out.kS = power;
     drive.stop();
 
-
     // ========== kV / kA Tuning =========
 
-    std::vector<std::pair<double, double>> vel_data_points; // time, velocity
+    std::vector<std::pair<double, double>> vel_data_points;   // time, velocity
     std::vector<std::pair<double, double>> accel_data_points; // time, accel
 
     double max_speed = 0;
+    double max_accel = 0;
     timer tmr;
     double time;
 
     MovingAverage vel_ma(3);
     MovingAverage accel_ma(3);
 
-    // Move the robot forward at a fixed percentage for X seconds while taking velocity and accel measurements
-    do
-    {
+    // Move the robot forward at a fixed percentage for X seconds while taking
+    // velocity and accel measurements
+
+    drive.drive_tank(pct, pct, 1);
+    do {
         time = tmr.time(sec);
 
         vel_ma.add_entry(odometry.get_speed());
@@ -151,41 +150,100 @@ FeedForward::ff_config_t MotionController::tune_feedforward(TankDrive &drive, Od
 
         double speed = vel_ma.get_value();
         double accel = accel_ma.get_value();
-
         // For kV:
-        if(speed > max_speed)
+        if (speed > max_speed) {
             max_speed = speed;
+        }
+        if (accel > max_accel) {
+            max_accel = accel;
+        }
 
         // For kA:
         // Filter out the acceleration dampening due to motor inductance
-        if(time > 0.25)
-        {
+        if (time > 0.25) {
             vel_data_points.push_back(std::pair<double, double>(time, speed));
             accel_data_points.push_back(std::pair<double, double>(time, accel));
         }
 
-        // Theoretical polling rate = 100hz (it won't be that much, cause, y'know, vex.)
-        vexDelay(10); 
-    } while(time < duration);
+        // Theoretical polling rate = 100hz (it won't be that much, cause,
+        // y'know, vex.)
+        vexDelay(10);
+    } while (time < duration);
 
     drive.stop();
 
     // Calculate kV (volts/12 per unit per second)
     out.kV = (pct - out.kS) / max_speed;
 
+    printf("Max speed achieved: %.4f\n", max_speed);
+    printf("Max accel achieved: %.4f\n", max_accel);
+
     // Calculate kA (volts/12 per unit per second^2)
     std::vector<std::pair<double, double>> accel_per_pct;
-    for (int i = 0; i < vel_data_points.size(); i++)
-    {
+    for (int i = 0; i < vel_data_points.size(); i++) {
         accel_per_pct.push_back(std::pair<double, double>(
-            pct - out.kS - (vel_data_points[i].second * out.kV),   // Acceleration-causing percent (X variable)
-            accel_data_points[i].second                            // Measured acceleration (Y variable)
-        ));
+            pct - out.kS -
+                (vel_data_points[i].second *
+                 out.kV), // Acceleration-causing percent (X variable)
+            accel_data_points[i].second // Measured acceleration (Y variable)
+            ));
     }
-    
+
     // kA is the reciprocal of the slope of the linear regression
     double regres_slope = calculate_linear_regression(accel_per_pct).first;
-    out.kA = 1.0 / regres_slope; 
+    out.kA = 1.0 / regres_slope;
 
     return out;
+}
+
+class MotionControllerPage : public screen::Page {
+  public:
+    MotionControllerPage(const MotionController &mc) : mc(mc) {}
+
+    void update(bool was_pressed, int x, int y) override {}
+    void draw(vex::brain::lcd &screen, bool first_draw,
+              unsigned int frame_number) {
+        const motion_t mot = mc.get_motion();
+
+        // Text - top right
+        screen.printAt(240, 20, "pos: %.2fin", mot.pos);
+        screen.printAt(240, 40, "vel: %.2fin", mot.vel);
+        screen.printAt(240, 60, "acc: %.2fin", mot.accel);
+        screen.printAt(240, 80, "%.2fs of %.2fs", mc.tmr.value(),
+                       mc.profile.get_movement_time());
+
+        // Trapezoid - bottom right
+        const int32_t trap_width = 200;
+        const int32_t trap_height = 98;
+        const double seconds = mc.tmr.value();
+        const double full_time = mc.profile.get_movement_time();
+        const double x_pct = seconds / full_time;
+        const double y_pct = mot.vel / mc.profile.get_max_v();
+        const int32_t x_pos = (int32_t)(x_pct * trap_width) + 240;
+        const int32_t y_pos = (int32_t)(-y_pct * trap_height) + 100;
+        const int32_t max_vel_y = 120;
+        const int32_t end_acc_x = 260;
+        const int32_t start_dec_x = 420;
+
+        // trapezoid
+        screen.setPenColor(vex::red);
+        // accelerating
+        screen.drawLine(240, 200, end_acc_x, max_vel_y);
+        // staying
+        screen.drawLine(end_acc_x, max_vel_y, start_dec_x, max_vel_y);
+        // decellerating
+        screen.drawLine(440, 200, start_dec_x, max_vel_y);
+
+        // dot where we are
+        screen.setFillColor(vex::red);
+        screen.setPenColor(vex::white);
+        screen.drawCircle(x_pos, y_pos, 3);
+    }
+
+  private:
+    const MotionController &mc;
+};
+
+screen::Page *MotionController::Page() {
+    return new MotionControllerPage(*this);
 }
\ No newline at end of file
diff --git a/src/utils/controls/pid.cpp b/src/utils/controls/pid.cpp
index 21a7475..2c46495 100644
--- a/src/utils/controls/pid.cpp
+++ b/src/utils/controls/pid.cpp
@@ -4,14 +4,9 @@
 /**
  * Create the PID object
  */
-PID::PID(pid_config_t &config)
-    : config(config)
-{
-  pid_timer.reset();
-}
+PID::PID(pid_config_t &config) : config(config) { pid_timer.reset(); }
 
-void PID::init(double start_pt, double set_pt, double, double end_vel)
-{
+void PID::init(double start_pt, double set_pt, double, double end_vel) {
   set_target(set_pt);
   target_vel = end_vel;
   sensor_val = start_pt;
@@ -21,11 +16,11 @@ void PID::init(double start_pt, double set_pt, double, double end_vel)
 /**
  * Update the PID loop by taking the time difference from last update,
  * and running the PID formula with the new sensor data
- * @param sensor_val the distance, angle, encoder position or whatever it is we are measuring
+ * @param sensor_val the distance, angle, encoder position or whatever it is we
+ * are measuring
  * @return the new output. What would be returned by PID::get()
  */
-double PID::update(double sensor_val)
-{
+double PID::update(double sensor_val) {
 
   this->sensor_val = sensor_val;
 
@@ -33,10 +28,12 @@ double PID::update(double sensor_val)
 
   // Avoid a divide by zero error
   double d_term = 0;
-  if (time_delta != 0)
+  if (time_delta != 0) {
     d_term = config.d * (get_error() - last_error) / time_delta;
-  else if (last_time != 0)
-    printf("(pid.cpp): Warning - running PID without a delay is just a P loop!\n");
+  } else if (last_time != 0) {
+    printf(
+        "(pid.cpp): Warning - running PID without a delay is just a P loop!\n");
+}
 
   // P and D terms
   out = (config.p * get_error()) + d_term;
@@ -45,8 +42,10 @@ double PID::update(double sensor_val)
 
   // Only add to the accumulated error if the output is not saturated
   // aka "Integral Clamping" anti-windup technique
-  if (!limits_exist || (limits_exist && (out < upper_limit && out > lower_limit)))
+  if (!limits_exist ||
+      (limits_exist && (out < upper_limit && out > lower_limit))) {
     accum_error += time_delta * get_error();
+}
 
   // I term
   out += config.i * accum_error;
@@ -55,23 +54,21 @@ double PID::update(double sensor_val)
   last_error = get_error();
 
   // Enable clamping if the limit is not 0
-  if (limits_exist)
-    out = (out < lower_limit) ? lower_limit : (out > upper_limit) ? upper_limit
-                                                                  : out;
+  if (limits_exist) {
+    out = (out < lower_limit)   ? lower_limit
+          : (out > upper_limit) ? upper_limit
+                                : out;
+}
 
   return out;
 }
 
-double PID::get_sensor_val()
-{
-  return sensor_val;
-}
+double PID::get_sensor_val() const { return sensor_val; }
 
 /**
  * Reset the PID loop by resetting time since 0 and accumulated error.
  */
-void PID::reset()
-{
+void PID::reset() {
   pid_timer.reset();
 
   last_error = 0;
@@ -85,42 +82,30 @@ void PID::reset()
 /**
  * Gets the current PID out value, from when update() was last run
  */
-double PID::get()
-{
-  return out;
-}
+double PID::get() { return out; }
 
 /**
  * Get the delta between the current sensor data and the target
  */
-double PID::get_error()
-{
-  if (config.error_method == ERROR_TYPE::ANGULAR)
-  {
+double PID::get_error() {
+  if (config.error_method == ERROR_TYPE::ANGULAR) {
     return OdometryBase::smallest_angle(target, sensor_val);
   }
   return target - sensor_val;
 }
 
-double PID::get_target()
-{
-  return target;
-}
+double PID::get_target() const { return target; }
 
 /**
  * Set the target for the PID loop, where the robot is trying to end up
  */
-void PID::set_target(double target)
-{
-  this->target = target;
-}
+void PID::set_target(double target) { this->target = target; }
 
 /**
  * Set the limits on the PID out. The PID out will "clip" itself to be
  * between the limits.
  */
-void PID::set_limits(double lower, double upper)
-{
+void PID::set_limits(double lower, double upper) {
   lower_limit = lower;
   upper_limit = upper;
 }
@@ -129,23 +114,19 @@ void PID::set_limits(double lower, double upper)
  * Returns true if the loop is within [deadband] for [on_target_time]
  * seconds
  */
-bool PID::is_on_target()
-{
-  if (fabs(get_error()) < config.deadband)
-  {
-    if (target_vel != 0) return true;
-    if (is_checking_on_target == false)
-    {
+bool PID::is_on_target() {
+  if (fabs(get_error()) < config.deadband) {
+    if (target_vel != 0) {
+      return true;
+}
+    if (is_checking_on_target == false) {
       on_target_last_time = pid_timer.value();
       is_checking_on_target = true;
-    }
-    else if (pid_timer.value() - on_target_last_time > config.on_target_time)
-    {
+    } else if (pid_timer.value() - on_target_last_time >
+               config.on_target_time) {
       return true;
     }
-  }
-  else
-  {
+  } else {
     is_checking_on_target = false;
   }
 
diff --git a/src/utils/controls/pidff.cpp b/src/utils/controls/pidff.cpp
index 64439fe..240e7a8 100644
--- a/src/utils/controls/pidff.cpp
+++ b/src/utils/controls/pidff.cpp
@@ -1,8 +1,8 @@
 #include "../core/include/utils/controls/pidff.h"
 #include "../core/include/utils/math_util.h"
 
-PIDFF::PIDFF(PID::pid_config_t &pid_cfg, FeedForward::ff_config_t &ff_cfg):  pid(pid_cfg), ff_cfg(ff_cfg),ff(ff_cfg)  
-{
+PIDFF::PIDFF(PID::pid_config_t &pid_cfg, FeedForward::ff_config_t &ff_cfg)
+    : pid(pid_cfg), ff_cfg(ff_cfg), ff(ff_cfg) {
     out = 0;
     lower_lim = 0;
     upper_lim = 0;
@@ -10,82 +10,78 @@ PIDFF::PIDFF(PID::pid_config_t &pid_cfg, FeedForward::ff_config_t &ff_cfg):  pid
 
 /**
  * Initialize the feedback controller for a movement
- * 
+ *
  * @param start_pt the current sensor value
  * @param set_pt where the sensor value should be
  */
-void PIDFF::init(double start_pt, double set_pt, double start_vel, double end_vel)
-{
+void PIDFF::init(double start_pt, double set_pt, double start_vel,
+                 double end_vel) {
     pid.init(start_pt, set_pt, start_vel, end_vel);
 }
 
-void PIDFF::set_target(double set_pt)
-{
-    pid.set_target(set_pt);
-}
+void PIDFF::set_target(double set_pt) { pid.set_target(set_pt); }
 
 /**
  * Iterate the feedback loop once with an updated sensor value.
  * Only kS for feedfoward will be applied.
- * 
+ *
  * @param val value from the sensor
  * @return feedback loop result
  */
-double PIDFF::update(double val)
-{
+double PIDFF::update(double val) {
     double pid_out = pid.update(val);
-    double ff_out = ff_cfg.kS * sign(pid_out);
+    double ff_out = ff_cfg.kG + (ff_cfg.kS * sign(pid_out));
     out = pid_out + ff_out;
-    if (lower_lim != upper_lim)
+    if (lower_lim != upper_lim) {
         out = clamp(out, lower_lim, upper_lim);
+}
 
     return out;
 }
 
+double PIDFF::get_sensor_val() const { return pid.get_sensor_val(); }
+double PIDFF::get_target() const { return pid.get_target(); }
+
 /**
  * Iterate the feedback loop once with an updated sensor value
- * 
+ *
  * @param val value from the sensor
  * @param vel_setpt Velocity for feedforward
  * @param a_setpt Acceleration for feedfoward
  * @return feedback loop result
-*/
-double PIDFF::update(double val, double vel_setpt, double a_setpt)
-{
+ */
+double PIDFF::update(double val, double vel_setpt, double a_setpt) {
 
     double pid_out = pid.update(val);
     double ff_out = ff.calculate(vel_setpt, a_setpt);
     out = pid_out + ff_out;
-    if (lower_lim != upper_lim)
+    if (lower_lim != upper_lim) {
         out = clamp(out, lower_lim, upper_lim);
-    
+}
+
     return out;
 }
 
 /**
  * @return the last saved result from the feedback controller
  */
-double PIDFF::get()
-{
-    return out;
-}
+double PIDFF::get() { return out; }
 
 /**
- * Clamp the upper and lower limits of the output. If both are 0, no limits should be applied.
- * 
+ * Clamp the upper and lower limits of the output. If both are 0, no limits
+ * should be applied.
+ *
  * @param lower Upper limit
  * @param upper Lower limit
  */
-void PIDFF::set_limits(double lower, double upper)
-{
+void PIDFF::set_limits(double lower, double upper) {
     upper_lim = upper;
     lower_lim = lower;
 }
 
-/** 
+/**
  * @return true if the feedback controller has reached it's setpoint
  */
-bool PIDFF::is_on_target()
-{
-    return pid.is_on_target();
-}
\ No newline at end of file
+bool PIDFF::is_on_target() { return pid.is_on_target(); }
+
+void PIDFF::reset() { pid.reset(); }
\ No newline at end of file
diff --git a/src/utils/generic_auto.cpp b/src/utils/generic_auto.cpp
index 5147af5..1ac9dcd 100644
--- a/src/utils/generic_auto.cpp
+++ b/src/utils/generic_auto.cpp
@@ -15,16 +15,19 @@
 */
 bool GenericAuto::run(bool blocking)
 {
-  if(state_list.empty())
-    return true;
+  if(state_list.empty()) {
+    return true;
+}
 
   do
   {
-    if( state_list.front()() )
-      state_list.pop();
+    if( state_list.front()() ) {
+      state_list.pop();
+}
 
-    if(blocking)
-      vexDelay(20);
+    if(blocking) {
+      vexDelay(20);
+}
 
   } while(blocking && !state_list.empty());
 
@@ -42,8 +45,9 @@ void GenericAuto::add_async(state_ptr async_state)
 {
   state_ptr fn = [&async_state](){
     vex::task t([](void* fn_ptr){
-      while(! (*(state_ptr*)fn_ptr)() )
-       vexDelay(20);
+      while(! (*(state_ptr*)fn_ptr)() ) {
+       vexDelay(20);
+}
 
       return 0;
     }, &async_state);
diff --git a/src/utils/math_util.cpp b/src/utils/math_util.cpp
index 58051ae..6f8e0d6 100644
--- a/src/utils/math_util.cpp
+++ b/src/utils/math_util.cpp
@@ -48,8 +48,9 @@ double sign(double x)
 double wrap_angle_deg(double input)
 {
   double angle = fmod(input, 360);
-  if (angle < 0)
+  if (angle < 0) {
     angle += 360;
+}
 
   return angle;
 }
@@ -57,8 +58,9 @@ double wrap_angle_deg(double input)
 double wrap_angle_rad(double input)
 {
   double angle = fmod(input, 2 * PI);
-  if (angle < 0)
+  if (angle < 0) {
     angle += 2 * PI;
+}
 
   return angle;
 }
@@ -145,8 +147,9 @@ double estimate_path_length(const std::vector<point_t> &points)
     static point_t last_p = p;
 
     // Ignore the first point
-    if (p == last_p)
+    if (p == last_p) {
       continue;
+}
 
     dist += p.dist(last_p);
     last_p = p;
diff --git a/src/utils/moving_average.cpp b/src/utils/moving_average.cpp
index d5419e1..1073776 100644
--- a/src/utils/moving_average.cpp
+++ b/src/utils/moving_average.cpp
@@ -131,7 +131,7 @@ void ExponentialMovingAverage::add_entry(double n)
  * How many samples the average is made from
  * @return the number of samples used to calculate this average
  */
-double ExponentialMovingAverage::get_value()
+double ExponentialMovingAverage::get_value() const
 {
   return current_avg;
 }
diff --git a/src/utils/pure_pursuit.cpp b/src/utils/pure_pursuit.cpp
index 91502c9..ffdd36b 100644
--- a/src/utils/pure_pursuit.cpp
+++ b/src/utils/pure_pursuit.cpp
@@ -14,9 +14,11 @@ PurePursuit::Path::Path(std::vector<point_t> points, double radius) {
     for(int j = i + 2; j < points.size() - 1; j++) {
       // Iterate over points on the segments discretely and compare distances
       double segment_i_dist = points[i].dist(points[i+1]);
-      if (segment_i_dist == 0) segment_i_dist = 0.1;
+      if (segment_i_dist == 0) { segment_i_dist = 0.1;
+}
       double segment_j_dist = points[j].dist(points[j+1]);
-      if (segment_j_dist == 0) segment_j_dist = 0.1;
+      if (segment_j_dist == 0) { segment_j_dist = 0.1;
+}
       for(double t1 = 0; t1 <= 1; t1 += radius / segment_i_dist) {
         point_t p1;
         p1.x = points[i].x + t1 * (points[i+1].x - points[i].x);
@@ -132,8 +134,9 @@ std::vector<point_t> PurePursuit::line_circle_intersections(point_t center, doub
     //This prioritizes the closest intersection to the end of the path
     for(point_t intersection: intersections)
     {
-      if(intersection.dist(end) < target.dist(end))
+      if(intersection.dist(end) < target.dist(end)) {
         target = intersection;
+}
     }
   }
 
@@ -264,8 +267,9 @@ double PurePursuit::estimate_remaining_dist(const std::vector<point_t> &path, po
 {
   point_t lookahead_pt = get_lookahead(path, robot_pose, radius);
   
-  if (lookahead_pt == path[path.size() - 1])
+  if (lookahead_pt == path[path.size() - 1]) {
     return robot_pose.get_point().dist(lookahead_pt);
+}
 
   double dist = 0;
 
diff --git a/src/utils/trapezoid_profile.cpp b/src/utils/trapezoid_profile.cpp
index 98eac62..98014ba 100644
--- a/src/utils/trapezoid_profile.cpp
+++ b/src/utils/trapezoid_profile.cpp
@@ -5,301 +5,331 @@
 
 const double EPSILON = 0.000005;
 
-
 inline double calc_pos(double t, double a, double v, double si) {
-    return (0.5*(a)*(t)*(t))+((v)*(t))+(si);
+  return (0.5 * (a) * (t) * (t)) + ((v) * (t)) + (si);
 }
 
 inline double calc_vel(double t, double a, double vi) {
-    return ((a)*(t))+(vi);
+  return ((a) * (t)) + (vi);
 }
 
 TrapezoidProfile::TrapezoidProfile(double max_v, double accel)
-: si(0), sf(0), vi(0), vf(0), max_v(max_v), accel(accel), segments(), num_acceleration_phases(0), precalculated(false)  {}
+    : si(0), sf(0), vi(0), vf(0), max_v(max_v), accel(accel), segments(),
+      num_acceleration_phases(0), precalculated(false) {}
 
-void TrapezoidProfile::set_max_v(double max_v)
-{
-    this->max_v = max_v;
+void TrapezoidProfile::set_max_v(double max_v) {
+  this->max_v = max_v;
 
-    this->precalculated = false;
+  this->precalculated = false;
 }
 
-void TrapezoidProfile::set_accel(double accel)
-{
-    this->accel = accel;
+void TrapezoidProfile::set_accel(double accel) {
+  this->accel = accel;
 
-    this->precalculated = false;
+  this->precalculated = false;
 }
 
-void TrapezoidProfile::set_endpts(double start, double end)
-{
-    this->si = start;
-    this->sf = end;
+void TrapezoidProfile::set_endpts(double start, double end) {
+  this->si = start;
+  this->sf = end;
 
-    this->precalculated = false;
+  this->precalculated = false;
 }
 
-void TrapezoidProfile::set_vel_endpts(double start, double end)
-{
-    this->vi = start;
-    this->vf = end;
+void TrapezoidProfile::set_vel_endpts(double start, double end) {
+  this->vi = start;
+  this->vf = end;
 
-    this->precalculated = false;
+  this->precalculated = false;
 }
 
 motion_t TrapezoidProfile::calculate_time_based(double time_s) {
-    if (!this->precalculated) precalculate();
-
-    int segment_i = 0;
-
-    // position, velocity, acceleration, and time at the beginning of the segment we're in
-    double segment_s = this->si;
-    double segment_v = this->vi;
-    double segment_a = this->segments[0].accel;
-    double segment_t = 0;
-
-    // skip phases based on time
-    while (segment_i < MAX_TRAPEZOID_PROFILE_SEGMENTS
-           && time_s > segment_t + this->segments[segment_i].duration) {
-        segment_t += this->segments[segment_i].duration;
-        segment_s = this->segments[segment_i].pos_after;
-        segment_v = this->segments[segment_i].vel_after;
-        segment_i++;
-        segment_a = this->segments[segment_i].accel;
-    }
-
-    motion_t out;
-
-    // if we are beyond the last phase, return the position/velocity at the last phase
-    if (segment_i == MAX_TRAPEZOID_PROFILE_SEGMENTS) {
-        out.accel = 0;
-        out.pos = this->segments[MAX_TRAPEZOID_PROFILE_SEGMENTS - 1].pos_after;
-        out.vel = this->segments[MAX_TRAPEZOID_PROFILE_SEGMENTS - 1].vel_after;
-        return out;
-    }
+  if (!this->precalculated) {
+    precalculate();
+}
 
-    // calculate based on time
-    out.accel = this->segments[segment_i].accel;
-    out.vel = calc_vel(time_s - segment_t, segment_a, segment_v);
-    out.pos = calc_pos(time_s - segment_t, segment_a, segment_v, segment_s);
+  int segment_i = 0;
+
+  // position, velocity, acceleration, and time at the beginning of the segment
+  // we're in
+  double segment_s = this->si;
+  double segment_v = this->vi;
+  double segment_a = this->segments[0].accel;
+  double segment_t = 0;
+
+  // skip phases based on time
+  while (segment_i < MAX_TRAPEZOID_PROFILE_SEGMENTS &&
+         time_s > segment_t + this->segments[segment_i].duration) {
+    segment_t += this->segments[segment_i].duration;
+    segment_s = this->segments[segment_i].pos_after;
+    segment_v = this->segments[segment_i].vel_after;
+    segment_i++;
+    segment_a = this->segments[segment_i].accel;
+  }
+
+  motion_t out;
+
+  // if we are beyond the last phase, return the position/velocity at the last
+  // phase
+  if (segment_i == MAX_TRAPEZOID_PROFILE_SEGMENTS) {
+    out.accel = 0;
+    out.pos = this->segments[MAX_TRAPEZOID_PROFILE_SEGMENTS - 1].pos_after;
+    out.vel = this->segments[MAX_TRAPEZOID_PROFILE_SEGMENTS - 1].vel_after;
     return out;
+  }
+
+  // calculate based on time
+  out.accel = this->segments[segment_i].accel;
+  out.vel = calc_vel(time_s - segment_t, segment_a, segment_v);
+  out.pos = calc_pos(time_s - segment_t, segment_a, segment_v, segment_s);
+  return out;
 }
 
 motion_t TrapezoidProfile::calculate(double time_s, double pos_s) {
-    if (!this->precalculated) precalculate();
-
-    // printf("%f %f\n", time_s, pos_s);
-
-    int segment_i = 0;
-
-    // position, velocity, acceleration, and time at the beginning of the segment we're in
-    double segment_s = this->si;
-    double segment_v = this->vi;
-    double segment_a = this->segments[0].accel;
-    double segment_t = 0;
-
-    // skip acceleration phases based on time
-    while (segment_i < MAX_TRAPEZOID_PROFILE_SEGMENTS
-           && segment_i < this->num_acceleration_phases
-           && time_s > segment_t + this->segments[segment_i].duration) {
-        segment_t += this->segments[segment_i].duration;
-        segment_s = this->segments[segment_i].pos_after;
-        segment_v = this->segments[segment_i].vel_after;
-        segment_i++;
-        segment_a = this->segments[segment_i].accel;
-    }
+  if (!this->precalculated) {
+    precalculate();
+}
 
-    // skip other segments based on distance, if we are past the time segments
-    if (segment_i >= this->num_acceleration_phases) {
-        while (segment_i < MAX_TRAPEZOID_PROFILE_SEGMENTS &&
-               ((this->si < this->sf && pos_s > this->segments[segment_i].pos_after)
-                || (this->si > this->sf && pos_s < this->segments[segment_i].pos_after))) {
-            segment_t += this->segments[segment_i].duration;
-            segment_s = this->segments[segment_i].pos_after;
-            segment_v = this->segments[segment_i].vel_after;
-            segment_i++;
-            segment_a = this->segments[segment_i].accel;
-        }
+  // printf("%f %f\n", time_s, pos_s);
+
+  int segment_i = 0;
+
+  // position, velocity, acceleration, and time at the beginning of the segment
+  // we're in
+  double segment_s = this->si;
+  double segment_v = this->vi;
+  double segment_a = this->segments[0].accel;
+  double segment_t = 0;
+
+  // skip acceleration phases based on time
+  while (segment_i < MAX_TRAPEZOID_PROFILE_SEGMENTS &&
+         segment_i < this->num_acceleration_phases &&
+         time_s > segment_t + this->segments[segment_i].duration) {
+    segment_t += this->segments[segment_i].duration;
+    segment_s = this->segments[segment_i].pos_after;
+    segment_v = this->segments[segment_i].vel_after;
+    segment_i++;
+    segment_a = this->segments[segment_i].accel;
+  }
+
+  // skip other segments based on distance, if we are past the time segments
+  if (segment_i >= this->num_acceleration_phases) {
+    while (
+        segment_i < MAX_TRAPEZOID_PROFILE_SEGMENTS &&
+        ((this->si < this->sf && pos_s > this->segments[segment_i].pos_after) ||
+         (this->si > this->sf &&
+          pos_s < this->segments[segment_i].pos_after))) {
+      segment_t += this->segments[segment_i].duration;
+      segment_s = this->segments[segment_i].pos_after;
+      segment_v = this->segments[segment_i].vel_after;
+      segment_i++;
+      segment_a = this->segments[segment_i].accel;
     }
+  }
 
-    motion_t out;
+  motion_t out;
 
-    // if we are beyond the last phase, return the position/velocity at the last phase
-    if (segment_i == MAX_TRAPEZOID_PROFILE_SEGMENTS) {
-        out.accel = 0;
-        out.pos = this->segments[MAX_TRAPEZOID_PROFILE_SEGMENTS - 1].pos_after;
-        out.vel = this->segments[MAX_TRAPEZOID_PROFILE_SEGMENTS - 1].vel_after;
-        return out;
-    }
-
-    // if we are in an acceleration phase, calculate based on time
-    if (segment_i < this->num_acceleration_phases) {
-        out.accel = segment_a;
-        out.vel = calc_vel(time_s - segment_t, segment_a, segment_v);
-        out.pos = calc_pos(time_s - segment_t, segment_a, segment_v, segment_s);
-        return out;
-    }
+  // if we are beyond the last phase, return the position/velocity at the last
+  // phase
+  if (segment_i == MAX_TRAPEZOID_PROFILE_SEGMENTS) {
+    out.accel = 0;
+    out.pos = this->segments[MAX_TRAPEZOID_PROFILE_SEGMENTS - 1].pos_after;
+    out.vel = this->segments[MAX_TRAPEZOID_PROFILE_SEGMENTS - 1].vel_after;
+    return out;
+  }
 
-    // otherwise calculate based on distance
+  // if we are in an acceleration phase, calculate based on time
+  if (segment_i < this->num_acceleration_phases) {
     out.accel = segment_a;
-    out.pos = pos_s;
-    // Calculating the final velocity in uniformly accelerated motion:
-    // v_f^2 = v_i^2 + 2a(x_f - x_i)
-    // v_f = sqrt(v_i^2 + 2a(x_f - x_i))
-    out.vel = sqrt(segment_v*segment_v + 2*segment_a*(pos_s - segment_s));
-
-    // match the sign of the starting velocity of the segment
-    if (segment_v < 0) out.vel *= -1;
-
+    out.vel = calc_vel(time_s - segment_t, segment_a, segment_v);
+    out.pos = calc_pos(time_s - segment_t, segment_a, segment_v, segment_s);
     return out;
+  }
+
+  // otherwise calculate based on distance
+  out.accel = segment_a;
+  out.pos = pos_s;
+  // Calculating the final velocity in uniformly accelerated motion:
+  // v_f^2 = v_i^2 + 2a(x_f - x_i)
+  // v_f = sqrt(v_i^2 + 2a(x_f - x_i))
+  out.vel = sqrt(segment_v * segment_v + 2 * segment_a * (pos_s - segment_s));
+
+  // match the sign of the starting velocity of the segment
+  if (segment_v < 0) {
+    out.vel *= -1;
 }
 
-double TrapezoidProfile::get_movement_time()
-{
-    if (!this->precalculated) precalculate();
-
-    double t = 0;
-    for (auto &segment : this->segments) {
-        t += segment.duration;
-    }
-    return t;
+  return out;
 }
 
-bool TrapezoidProfile::precalculate() {
-    for (auto &segment : this->segments) {
-        segment.pos_after = 0;
-        segment.vel_after = 0;
-        segment.accel = 0;
-        segment.duration = 0;
-    }
-    this->num_acceleration_phases = 0;
+double TrapezoidProfile::get_movement_time() const { return duration; }
 
-    if (this->accel < EPSILON) {
-        printf("WARNING: trapezoid motion profile acceleration was negative, or too small\n");
-        this->accel = fmin(EPSILON, fabs(this->accel));
-    }
+bool TrapezoidProfile::precalculate() {
+  for (auto &segment : this->segments) {
+    segment.pos_after = 0;
+    segment.vel_after = 0;
+    segment.accel = 0;
+    segment.duration = 0;
+  }
+  this->num_acceleration_phases = 0;
+
+  if (this->accel < EPSILON) {
+    printf("WARNING: trapezoid motion profile acceleration was negative, or "
+           "too small\n");
+    this->accel = fmin(EPSILON, fabs(this->accel));
+  }
+
+  if (this->max_v < EPSILON) {
+    printf("WARNING: trapezoid motion profile maximum velocity was negative, "
+           "or too small\n");
+    this->max_v = fmin(EPSILON, fabs(this->max_v));
+  }
+
+  // make sure vf is within v_max
+  if (fabs(this->vf) > this->max_v) {
+    printf("WARNING: trapezoid motion profile target velocity is greater than "
+           "maximum velocity\n");
+    if (this->vf > this->max_v) {
+      this->vf = this->max_v;
+    } else {
+      this->vf = -this->max_v;
+}
+  }
 
-    if (this->max_v < EPSILON) {
-        printf("WARNING: trapezoid motion profile maximum velocity was negative, or too small\n");
-        this->max_v = fmin(EPSILON, fabs(this->max_v));
-    }
+  // if displacement is + but vf is -, or if displacement is - but vf is +
+  if ((this->si < this->sf && this->vf < 0) ||
+      (this->si > this->sf && this->vf > 0)) {
+    printf("WARNING: trapezoid motion profile target velocity is in the wrong "
+           "direction\n");
+    this->vf = 0;
+  }
 
-    // make sure vf is within v_max
-    if (fabs(this->vf) > this->max_v) {
-        printf("WARNING: trapezoid motion profile target velocity is greater than maximum velocity\n");
-        if (this->vf > this->max_v) this->vf = this->max_v;
-        else this->vf = -this->max_v;
-    }
+  double s = this->si, v = this->vi;
 
-    // if displacement is + but vf is -, or if displacement is - but vf is +
-    if ((this->si < this->sf && this->vf < 0) || (this->si > this->sf && this->vf > 0)) {
-        printf("WARNING: trapezoid motion profile target velocity is in the wrong direction\n");
-        this->vf = 0;
-    }
+  double total_time = 0;
 
-    double s = this->si, v = this->vi;
-
-    for (auto & segment : this->segments) {
-        segment = calculate_next_segment(s, v);
-
-        if (fabs(segment.pos_after - this->sf) < EPSILON) return true;
-
-        // Check if xf is between x and x_next (meaning we overshot the end position)
-        if ((((this->si < this->sf) && (this->sf < segment.pos_after)) || ((segment.pos_after < this->sf) && (this->sf < this->si)))
-            && fabs(this->sf - segment.pos_after) > EPSILON) {
-            // Solve for the exact time to reach self.xf using the quadratic formula
-            // Given: x = x0 + v0 * t + 0.5 * a * t^2
-            double a_coeff = 0.5 * segment.accel;
-            if (fabs(a_coeff) < EPSILON) a_coeff = EPSILON;
-            double b_coeff = v;
-            double c_coeff = s - this->sf;
-
-            double discriminant = b_coeff * b_coeff - 4.0 * a_coeff * c_coeff;
-            if (discriminant >= 0) {
-                double t1 = (-b_coeff + sqrt(discriminant)) / (2 * a_coeff);
-                double t2 = (-b_coeff - sqrt(discriminant)) / (2 * a_coeff);
-
-                double t_corrected = fmin(t1, t2);
-                if (t_corrected < 0) {
-                    t_corrected = fmax(t1, t2);
-                }
-                segment.duration = t_corrected;
-                segment.vel_after = calc_vel(segment.duration, segment.accel, v);
-                segment.pos_after = calc_pos(segment.duration, segment.accel, v, s);
-                return true;
-            } else {
-                printf("ERROR: No real solution to reach sf.\n");
-                return false;
-            }
-        }
-
-        v = segment.vel_after;
-        s = segment.pos_after;
-    }
+  for (auto &segment : this->segments) {
+    segment = calculate_next_segment(s, v);
+    total_time += segment.duration;
 
-    printf("WARNING: trapezoid motion profile did not reach end position in %d segments (the maximum)\n", MAX_TRAPEZOID_PROFILE_SEGMENTS);
-    return false;
+    if (fabs(segment.pos_after - this->sf) < EPSILON) {
+      return true;
 }
 
-trapezoid_profile_segment_t TrapezoidProfile::calculate_kinetic_motion(double si, double vi, double v_target) {
-    trapezoid_profile_segment_t m;
-
-    m.duration = fabs(v_target - vi) / this->accel;
-    m.vel_after = v_target;
-    if (vi < v_target) {
-        m.accel = this->accel;
-    } else {
-        m.accel = -this->accel;
-    }
-
-    m.pos_after = calc_pos(m.duration, m.accel, vi, si);
-    return m;
+    // Check if xf is between x and x_next (meaning we overshot the end
+    // position)
+    if ((((this->si < this->sf) && (this->sf < segment.pos_after)) ||
+         ((segment.pos_after < this->sf) && (this->sf < this->si))) &&
+        fabs(this->sf - segment.pos_after) > EPSILON) {
+      // Solve for the exact time to reach self.xf using the quadratic formula
+      // Given: x = x0 + v0 * t + 0.5 * a * t^2
+      double a_coeff = 0.5 * segment.accel;
+      if (fabs(a_coeff) < EPSILON) {
+        a_coeff = EPSILON;
 }
+      double b_coeff = v;
+      double c_coeff = s - this->sf;
 
-trapezoid_profile_segment_t TrapezoidProfile::calculate_next_segment(double s, double v) {
-    // d represents the direction of travel, + or -
-    int d = 1;
-    if (this->si > this->sf) {
-        d = -1;
-    }
-
-    // if going the wrong way, come to a stop
-    if ((d == 1 && v < -EPSILON) || (d == -1 && v > EPSILON)) {
-        this->num_acceleration_phases += 1;
-        return calculate_kinetic_motion(s, v, 0);
-    }
+      double discriminant = b_coeff * b_coeff - 4.0 * a_coeff * c_coeff;
+      if (discriminant >= 0) {
+        double t1 = (-b_coeff + sqrt(discriminant)) / (2 * a_coeff);
+        double t2 = (-b_coeff - sqrt(discriminant)) / (2 * a_coeff);
 
-    // if |v| > max_v, slow down
-    if (v > this->max_v || v < -this->max_v) {
-        this->num_acceleration_phases += 1;
-        return calculate_kinetic_motion(s, v, d * this->max_v);
+        double t_corrected = fmin(t1, t2);
+        if (t_corrected < 0) {
+          t_corrected = fmax(t1, t2);
+        }
+        segment.duration = t_corrected;
+        segment.vel_after = calc_vel(segment.duration, segment.accel, v);
+        segment.pos_after = calc_pos(segment.duration, segment.accel, v, s);
+        return true;
+      } else {
+        printf("ERROR: No real solution to reach sf.\n");
+        return false;
+      }
     }
 
-    // how much distance would it take to reach vf in one segment?
-    trapezoid_profile_segment_t beeline_vf = calculate_kinetic_motion(s, v, this->vf);
-    if ((d == 1 && beeline_vf.pos_after > this->sf - EPSILON) || (d == -1 && beeline_vf.pos_after <= this->sf + EPSILON)) {
-        // we can't make it to vf - get as close as possible
-        return beeline_vf;
-    }
+    v = segment.vel_after;
+    s = segment.pos_after;
+    duration = total_time;
+  }
 
-    // we can reach vf in one segment - choose the fastest speed so that that is still possible
-    double v_middle = d * sqrt(((v*v + this->vf*this->vf)/2.0) + this->accel*fabs(this->sf - s) + this->vf*this->vf);
-    // cap this at our max speed
-    v_middle = fmax(-this->max_v, fmin(v_middle, this->max_v));
+  printf("WARNING: trapezoid motion profile did not reach end position in %d "
+         "segments (the maximum)\n",
+         MAX_TRAPEZOID_PROFILE_SEGMENTS);
+  return false;
+}
 
-    // if we aren't at this speed yet, let's get there
-    if (fabs(v_middle - v) > EPSILON) {
-        this->num_acceleration_phases += 1;
-        return calculate_kinetic_motion(s, v, v_middle);
-    }
+trapezoid_profile_segment_t
+TrapezoidProfile::calculate_kinetic_motion(double si, double vi,
+                                           double v_target) {
+  trapezoid_profile_segment_t m;
+
+  m.duration = fabs(v_target - vi) / this->accel;
+  m.vel_after = v_target;
+  if (vi < v_target) {
+    m.accel = this->accel;
+  } else {
+    m.accel = -this->accel;
+  }
+
+  m.pos_after = calc_pos(m.duration, m.accel, vi, si);
+  return m;
+}
 
-    // we are at our max speed - hold it until we have to start slowing down
-    trapezoid_profile_segment_t out;
-    out.accel = 0;
-    double distance = d * fabs(this->sf - beeline_vf.pos_after);
-    out.pos_after = s + distance;
-    out.duration = distance / v_middle;
-    out.vel_after = v_middle;
-    return out;
+trapezoid_profile_segment_t TrapezoidProfile::calculate_next_segment(double s,
+                                                                     double v) {
+  // d represents the direction of travel, + or -
+  int d = 1;
+  if (this->si > this->sf) {
+    d = -1;
+  }
+
+  // if going the wrong way, come to a stop
+  if ((d == 1 && v < -EPSILON) || (d == -1 && v > EPSILON)) {
+    this->num_acceleration_phases += 1;
+    return calculate_kinetic_motion(s, v, 0);
+  }
+
+  // if |v| > max_v, slow down
+  if (v > this->max_v || v < -this->max_v) {
+    this->num_acceleration_phases += 1;
+    return calculate_kinetic_motion(s, v, d * this->max_v);
+  }
+
+  // how much distance would it take to reach vf in one segment?
+  trapezoid_profile_segment_t beeline_vf =
+      calculate_kinetic_motion(s, v, this->vf);
+  if ((d == 1 && beeline_vf.pos_after > this->sf - EPSILON) ||
+      (d == -1 && beeline_vf.pos_after <= this->sf + EPSILON)) {
+    // we can't make it to vf - get as close as possible
+    return beeline_vf;
+  }
+
+  // we can reach vf in one segment - choose the fastest speed so that that is
+  // still possible
+  double v_middle =
+      d * sqrt(((v * v + this->vf * this->vf) / 2.0) +
+               this->accel * fabs(this->sf - s) + this->vf * this->vf);
+  // cap this at our max speed
+  v_middle = fmax(-this->max_v, fmin(v_middle, this->max_v));
+
+  // if we aren't at this speed yet, let's get there
+  if (fabs(v_middle - v) > EPSILON) {
+    this->num_acceleration_phases += 1;
+    return calculate_kinetic_motion(s, v, v_middle);
+  }
+
+  // we are at our max speed - hold it until we have to start slowing down
+  trapezoid_profile_segment_t out;
+  out.accel = 0;
+  double distance = d * fabs(this->sf - beeline_vf.pos_after);
+  out.pos_after = s + distance;
+  out.duration = distance / v_middle;
+  out.vel_after = v_middle;
+  return out;
 }
 
+double TrapezoidProfile::get_max_v() const { return max_v; };
+
+double TrapezoidProfile::get_accel() const { return accel; }
\ No newline at end of file

From ab439a4f6232a93cf059420b109e23e521314566 Mon Sep 17 00:00:00 2001
From: Ryan McGee <ramtech51@comcast.net>
Date: Tue, 16 Jan 2024 22:03:16 -0500
Subject: [PATCH 237/243] git subrepo commit (merge) core

subrepo:
  subdir:   "core"
  merged:   "e2cb990"
upstream:
  origin:   "git@github.com:RIT-VEX-U/Core.git"
  branch:   "main"
  commit:   "d1921ad"
git-subrepo:
  version:  "0.4.6"
  origin:   "???"
  commit:   "???"
---
 src/subsystems/odometry/odometry_base.cpp    | 2 +-
 src/subsystems/tank_drive.cpp                | 2 +-
 src/utils/command_structure/auto_command.cpp | 4 ++--
 src/utils/controls/pidff.cpp                 | 2 +-
 4 files changed, 5 insertions(+), 5 deletions(-)

diff --git a/src/subsystems/odometry/odometry_base.cpp b/src/subsystems/odometry/odometry_base.cpp
index 2cd8328..15981ae 100644
--- a/src/subsystems/odometry/odometry_base.cpp
+++ b/src/subsystems/odometry/odometry_base.cpp
@@ -10,7 +10,7 @@ OdometryBase::OdometryBase(bool is_async) : current_pos(zero_pos)
 {
   if (is_async) {
     handle = new vex::task(background_task, (void *)this);
-}
+  }
 }
 
 /**
diff --git a/src/subsystems/tank_drive.cpp b/src/subsystems/tank_drive.cpp
index ee0c64e..3c33872 100644
--- a/src/subsystems/tank_drive.cpp
+++ b/src/subsystems/tank_drive.cpp
@@ -420,7 +420,7 @@ bool TankDrive::drive_to_point(double x, double y, vex::directionType dir, Feedb
   {
     if (end_speed == 0) {
       stop();
-}
+    }
     func_initialized = false;
     return true;
   }
diff --git a/src/utils/command_structure/auto_command.cpp b/src/utils/command_structure/auto_command.cpp
index 86c8ac9..5bce832 100644
--- a/src/utils/command_structure/auto_command.cpp
+++ b/src/utils/command_structure/auto_command.cpp
@@ -296,12 +296,12 @@ bool Async::run()
 
 RepeatUntil::RepeatUntil(InOrder cmds, size_t times) : RepeatUntil(cmds, new TimesTestedCondition(times))
 {
-    timeout_seconds = -1.0;
+    timeout_seconds = 999999;
 }
 
 RepeatUntil::RepeatUntil(InOrder cmds, Condition *cond) : cmds(cmds), working_cmds(new InOrder(cmds)), cond(cond)
 {
-    timeout_seconds = -1.0;
+    timeout_seconds = 999999;
 }
 
 
diff --git a/src/utils/controls/pidff.cpp b/src/utils/controls/pidff.cpp
index 240e7a8..f8f38c7 100644
--- a/src/utils/controls/pidff.cpp
+++ b/src/utils/controls/pidff.cpp
@@ -84,4 +84,4 @@ void PIDFF::set_limits(double lower, double upper) {
  */
 bool PIDFF::is_on_target() { return pid.is_on_target(); }
 
-void PIDFF::reset() { pid.reset(); }
\ No newline at end of file
+void PIDFF::reset() { pid.reset(); }

From a860b526f20bffeb694928799e36c568b03b6423 Mon Sep 17 00:00:00 2001
From: Richard Sommers <44383226+cowsed@users.noreply.github.com>
Date: Sat, 20 Jan 2024 10:05:09 -0500
Subject: [PATCH 238/243] Update Doxyfile to generate diagrams

---
 Doxyfile | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/Doxyfile b/Doxyfile
index 3807b19..3401099 100644
--- a/Doxyfile
+++ b/Doxyfile
@@ -2428,7 +2428,7 @@ HIDE_UNDOC_RELATIONS   = YES
 # set to NO
 # The default value is: NO.
 
-HAVE_DOT               = NO
+HAVE_DOT               = YES
 
 # The DOT_NUM_THREADS specifies the number of dot invocations doxygen is allowed
 # to run in parallel. When set to 0 doxygen will base this on the number of

From e2dff6d35e232c60e232af7c166ab3ee56aedc6b Mon Sep 17 00:00:00 2001
From: Richard Sommers <44383226+cowsed@users.noreply.github.com>
Date: Sat, 20 Jan 2024 10:09:15 -0500
Subject: [PATCH 239/243] Update Doxyfile

put generated diagrams on website
---
 Doxyfile | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/Doxyfile b/Doxyfile
index 3401099..60b26a6 100644
--- a/Doxyfile
+++ b/Doxyfile
@@ -499,7 +499,7 @@ NUM_PROC_THREADS       = 1
 # normally produced when WARNINGS is set to YES.
 # The default value is: NO.
 
-EXTRACT_ALL            = NO
+EXTRACT_ALL            = YES
 
 # If the EXTRACT_PRIVATE tag is set to YES, all private members of a class will
 # be included in the documentation.

From 77882f67e3df90de8c7b8afcca2c1541946b926c Mon Sep 17 00:00:00 2001
From: Ryan McGee <ramtech51@comcast.net>
Date: Fri, 23 Feb 2024 10:07:03 -0500
Subject: [PATCH 240/243] Rolled back Motion Profiles, post WV

---
 include/utils/controls/bang_bang.h            |   2 +-
 include/utils/controls/feedback_base.h        |   2 +-
 include/utils/controls/motion_controller.h    |  13 +-
 include/utils/controls/pid.h                  |  14 +-
 include/utils/controls/pidff.h                |   3 +-
 include/utils/controls/take_back_half.h       |   2 +-
 include/utils/controls/trapezoid_profile.h    | 229 +++-----
 include/utils/state_machine.h                 | 206 ++++++++
 src/subsystems/tank_drive.cpp                 |  10 +-
 src/utils/command_structure/auto_command.cpp  | 487 ++++++++----------
 .../command_structure/command_controller.cpp  |   2 +-
 src/utils/controls/bang_bang.cpp              |   2 +-
 src/utils/controls/motion_controller.cpp      | 219 +++-----
 src/utils/controls/pid.cpp                    |  30 +-
 src/utils/controls/pidff.cpp                  |   5 +-
 src/utils/controls/take_back_half.cpp         |   2 +-
 src/utils/controls/trapezoid_profile.cpp      | 117 +++++
 src/utils/math_util.cpp                       |   2 +-
 src/utils/trapezoid_profile.cpp               | 335 ------------
 19 files changed, 734 insertions(+), 948 deletions(-)
 create mode 100644 include/utils/state_machine.h
 create mode 100644 src/utils/controls/trapezoid_profile.cpp
 delete mode 100644 src/utils/trapezoid_profile.cpp

diff --git a/include/utils/controls/bang_bang.h b/include/utils/controls/bang_bang.h
index aeba17d..8fbc180 100644
--- a/include/utils/controls/bang_bang.h
+++ b/include/utils/controls/bang_bang.h
@@ -13,7 +13,7 @@ class BangBang : public Feedback
      * @param start_vel Movement starting velocity
      * @param end_vel Movement ending velocity
      */
-    void init(double start_pt, double set_pt, double start_vel [[maybe_unused]] = 0.0, double end_vel [[maybe_unused]] = 0.0) override;
+    void init(double start_pt, double set_pt) override;
 
     /**
      * Iterate the feedback loop once with an updated sensor value
diff --git a/include/utils/controls/feedback_base.h b/include/utils/controls/feedback_base.h
index 9b9c625..528af20 100644
--- a/include/utils/controls/feedback_base.h
+++ b/include/utils/controls/feedback_base.h
@@ -18,7 +18,7 @@ class Feedback
      * @param start_vel Movement starting velocity
      * @param end_vel Movement ending velocity
      */
-    virtual void init(double start_pt, double set_pt, double start_vel = 0.0, double end_vel = 0.0) = 0;
+    virtual void init(double start_pt, double set_pt) = 0;
 
     /**
      * Iterate the feedback loop once with an updated sensor value
diff --git a/include/utils/controls/motion_controller.h b/include/utils/controls/motion_controller.h
index 86b3cde..11c07de 100644
--- a/include/utils/controls/motion_controller.h
+++ b/include/utils/controls/motion_controller.h
@@ -4,8 +4,6 @@
 #include "../core/include/utils/controls/trapezoid_profile.h"
 #include "../core/include/utils/controls/feedback_base.h"
 #include "../core/include/subsystems/tank_drive.h"
-#include "../core/include/subsystems/screen.h"
-
 #include "vex.h"
 
 /**
@@ -56,7 +54,7 @@ class MotionController : public Feedback
      * @brief Initialize the motion profile for a new movement
      * This will also reset the PID and profile timers.
      */
-    void init(double start_pt, double end_pt, double start_vel, double end_vel) override;
+    void init(double start_pt, double end_pt) override;
     
     /**
      * @brief Update the motion profile with a new sensor value
@@ -89,10 +87,7 @@ class MotionController : public Feedback
     /**
      * @return The current postion, velocity and acceleration setpoints
     */
-    motion_t get_motion() const;
-
-
-    screen::Page *Page();
+    motion_t get_motion();
 
     /**
      * This method attempts to characterize the robot's drivetrain and automatically tune the feedforward.
@@ -122,14 +117,10 @@ class MotionController : public Feedback
     FeedForward ff;
     TrapezoidProfile profile;
 
-    double current_pos;
-    double end_pt;
-
     double lower_limit = 0, upper_limit = 0;
     double out = 0;
     motion_t cur_motion;
      
     vex::timer tmr;
-    friend class MotionControllerPage;
 
 };
\ No newline at end of file
diff --git a/include/utils/controls/pid.h b/include/utils/controls/pid.h
index 102bc8a..0b5d4b0 100644
--- a/include/utils/controls/pid.h
+++ b/include/utils/controls/pid.h
@@ -69,8 +69,7 @@ class PID : public Feedback {
    * base
    * @param end_vel sets the target end velocity of the PID controller
    */
-  void init(double start_pt, double set_pt, double start_vel = 0,
-            double end_vel = 0) override;
+  void init(double start_pt, double set_pt) override;
 
   /**
    * Update the PID loop by taking the time difference from last update,
@@ -81,6 +80,17 @@ class PID : public Feedback {
    */
   double update(double sensor_val) override;
 
+  /**
+   * Update the PID loop by taking the time difference from last update,
+   * and running the PID formula with the new sensor data
+   * @param sensor_val the distance, angle, encoder position or whatever it is we
+   * are measuring
+   * @param v_setpt Expected velocity setpoint, to subtract from the D term (for 
+   * velocity control)
+   * @return the new output. What would be returned by PID::get()
+   */
+  double update(double sensor_val, double v_setpt);
+
   /**
    * @brief gets the sensor value that we were last updated with
    * @return sensor_val
diff --git a/include/utils/controls/pidff.h b/include/utils/controls/pidff.h
index 243f81b..bda22f2 100644
--- a/include/utils/controls/pidff.h
+++ b/include/utils/controls/pidff.h
@@ -15,8 +15,7 @@ class PIDFF : public Feedback {
    * @param start_vel the current rate of change of the sensor value
    * @param end_vel the desired ending rate of change of the sensor value
    */
-  void init(double start_pt, double set_pt, double start_vel,
-            double end_vel) override;
+  void init(double start_pt, double set_pt) override;
 
   /**
    * Set the target of the PID loop
diff --git a/include/utils/controls/take_back_half.h b/include/utils/controls/take_back_half.h
index 692660f..68adb6a 100644
--- a/include/utils/controls/take_back_half.h
+++ b/include/utils/controls/take_back_half.h
@@ -16,7 +16,7 @@ class TakeBackHalf : public Feedback
      * @param start_vel Movement starting velocity (IGNORED)
      * @param end_vel Movement ending velocity (IGNORED)
      */
-    void init(double start_pt, double set_pt, double, double);
+    void init(double start_pt, double set_pt);
     /**
      * Iterate the feedback loop once with an updated sensor value
      *
diff --git a/include/utils/controls/trapezoid_profile.h b/include/utils/controls/trapezoid_profile.h
index 6cd9cc2..865d342 100644
--- a/include/utils/controls/trapezoid_profile.h
+++ b/include/utils/controls/trapezoid_profile.h
@@ -1,174 +1,87 @@
 #pragma once
 
-const int MAX_TRAPEZOID_PROFILE_SEGMENTS = 4;
-
 /**
  * motion_t is a description of 1 dimensional motion at a point in time.
- */
-typedef struct {
-  double pos;   ///< 1d position at this point in time
-  double vel;   ///< 1d velocity at this point in time
-  double accel; ///< 1d acceleration at this point in time
+*/
+typedef struct
+{
+    double pos;   ///< 1d position at this point in time
+    double vel;   ///< 1d velocity at this point in time
+    double accel; ///< 1d acceleration at this point in time
 
 } motion_t;
 
-/**
- * trapezoid_profile_segment_t is a description of one constant acceleration
- * segment of a trapezoid motion profile
- */
-typedef struct {
-  double pos_after; ///< 1d position after this segment concludes
-  double vel_after; ///< 1d velocity after this segment concludes
-  double accel;     ///< 1d acceleration during the segment
-  double duration;  ///< duration of the segment
-} trapezoid_profile_segment_t;
-
 /**
  * Trapezoid Profile
- *
- * This is a motion profile defined by:
- * - maximum acceleration
- * - maximum velocity
- * - start position and velocity
- * - end position and velocity
- *
- * Using this information, a parametric function is generated, with a period of
- * acceleration, constant velocity, and deceleration. The velocity graph usually
- * looks like a trapezoid, giving it its name.
- *
- * If the maximum velocity is set high enough, this will become a S-curve
- * profile, with only acceleration and deceleration.
- *
- * If the initial velocity is in the wrong direction, the profile will first
- * come to a stop, then continue a normal trapezoid profile.
- *
- * If the initial velocity is higher than the maximum velocity, the profile will
- * first try to achieve the maximum velocity.
- *
- * If the end velocity is not achievable, the profile will try to get as close
- * as possible. The end velocity must be in the direction of the end point.
- *
- * This class is designed for use in properly modelling the motion of the robots
- * to create a feedfoward and target for PID. Acceleration and Maximum velocity
- * should be measured on the robot and tuned down slightly to account for
- * battery drop.
- *
+ * 
+ * This is a motion profile defined by an acceleration, maximum velocity, start point and end point.
+ * Using this information, a parametric function is generated, with a period of acceleration, constant
+ * velocity, and deceleration. The velocity graph looks like a trapezoid, giving it it's name.
+ * 
+ * If the maximum velocity is set high enough, this will become a S-curve profile, with only acceleration and deceleration.
+ * 
+ * This class is designed for use in properly modelling the motion of the robots to create a feedfoward
+ * and target for PID. Acceleration and Maximum velocity should be measured on the robot and tuned down
+ * slightly to account for battery drop.
+ * 
  * Here are the equations graphed for ease of understanding:
  * https://www.desmos.com/calculator/rkm3ivu1yk
- *
+ * 
  * @author Ryan McGee
  * @date 7/12/2022
- *
+ * 
  */
-class TrapezoidProfile {
-public:
-  /**
-   * @brief Construct a new Trapezoid Profile object
-   *
-   * @param max_v Maximum velocity the robot can run at
-   * @param accel Maximum acceleration of the robot
-   */
-  TrapezoidProfile(double max_v, double accel);
-
-  /**
-   * @brief Run the trapezoidal profile based on the time and distance that's
-   * elapsed
-   *
-   * @param time_s Time since start of movement
-   * @param pos_s The current position
-   * @return motion_t Position, velocity and acceleration
-   */
-  motion_t calculate(double time_s, double pos_s);
-
-  /**
-   * @brief Run the trapezoidal profile based on the time that's elapsed
-   *
-   * @param time_s Time since start of movement
-   * @return motion_t Position, velocity and acceleration
-   */
-  motion_t calculate_time_based(double time_s);
-
-  /**
-   * @brief set_endpts defines a start and end position
-   *
-   * @param start the starting position of the path
-   * @param end the ending position of the path
-   */
-  void set_endpts(double start, double end);
-
-  /**
-   * @brief set start and end velocities
-   *
-   * @param start the starting velocity of the path
-   * @param end the ending velocity of the path
-   */
-  void set_vel_endpts(double start, double end);
-
-  /**
-   * @brief set_accel sets the acceleration this profile will use (the left and
-   * right legs of the trapezoid)
-   *
-   * @param accel the acceleration amount to use
-   */
-  void set_accel(double accel);
-
-  /**
-   * @brief sets the maximum velocity for the profile (the height of the top of
-   * the trapezoid)
-   *
-   * @param max_v the maximum velocity the robot can travel at
-   */
-  void set_max_v(double max_v);
-
-  /**
-   * @brief uses the kinematic equations to and specified accel and max_v to
-   * figure out how long moving along the profile would take
-   *
-   * @return the time the path will take to travel
-   */
-  double get_movement_time() const;
-
-  double get_max_v() const;
-  double get_accel() const;
-
-private:
-  double si, sf; ///< the initial and final position of the profile
-  double vi, vf; ///< the initial and final velocity of the profile
-  double max_v;  ///< the maximum velocity to travel at for this profile
-  double accel;  ///< the rate of acceleration to use for this profile.
-  double duration;
-
-  trapezoid_profile_segment_t segments[MAX_TRAPEZOID_PROFILE_SEGMENTS];
-  int num_acceleration_phases;
-
-  bool precalculated; ///< whether or not the segment array is up to date
-
-  /**
-   * Attempt to generate the motion profile for the given parameters
-   *
-   * @return False if there was a problem with the parameters
-   */
-  bool precalculate();
-
-  /**
-   * Calculate a trapezoid segment given a target velocity that accelerates to
-   * the given velocity
-   *
-   * @param si segment initial position
-   * @param vi segment initial velocity
-   * @param v_target target velocity
-   * @return a trapezoid_profile_segment_t that represents constant acceleration
-   * to the target velocity
-   */
-  trapezoid_profile_segment_t calculate_kinetic_motion(double si, double vi,
-                                                       double v_target);
+class TrapezoidProfile
+{
+    public:
+
+    /**
+     * @brief Construct a new Trapezoid Profile object
+     * 
+     * @param max_v Maximum velocity the robot can run at
+     * @param accel Maximum acceleration of the robot
+     */
+    TrapezoidProfile(double max_v, double accel);
+
+    /**
+     * @brief Run the trapezoidal profile based on the time that's ellapsed
+     * 
+     * @param time_s Time since start of movement
+     * @return motion_t Position, velocity and acceleration
+     */
+    motion_t calculate(double time_s);
+
+    /**
+     * set_endpts defines a start and end position 
+     * @param start the starting position of the path
+     * @param end the ending position of the path
+     */
+    void set_endpts(double start, double end);
+
+    /**
+     * set_accel sets the acceleration this profile will use (the left and right legs of the trapezoid)
+     * @param accel the acceleration amount to use
+    */
+    void set_accel(double accel);
+
+    /**
+     * sets the maximum velocity for the profile
+     * (the height of the top of the trapezoid)
+     * @param max_v the maximum velocity the robot can travel at
+    */
+    void set_max_v(double max_v);
+
+    /**
+     * uses the kinematic equations to and specified accel and max_v to figure out how long moving along the profile would take
+     * @return the time the path will take to travel 
+    */
+    double get_movement_time();
+
+    private:
+    double start, end; ///< the start and ending position of the profile
+    double max_v; ///< the maximum velocity to travel at for this profile
+    double accel; ///< the rate of acceleration to use for this profile.
+    double time; ///< the current point in time along the path
+    
 
-  /**
-   * Calculate the next segment of the trapezoid motion profile
-   *
-   * @param s segment starting position
-   * @param v segment starting velocity
-   * @return the next segment of the trapezoid motion profile
-   */
-  trapezoid_profile_segment_t calculate_next_segment(double s, double v);
 };
\ No newline at end of file
diff --git a/include/utils/state_machine.h b/include/utils/state_machine.h
new file mode 100644
index 0000000..f821180
--- /dev/null
+++ b/include/utils/state_machine.h
@@ -0,0 +1,206 @@
+#pragma once
+#include <string>
+#include <type_traits>
+#include <utility>
+
+/**
+ * @brief State Machine :))))))
+ * A fun fun way of controlling stateful subsystems - used in the 2023-2024 Over
+ * Under game for our overly complex intake-cata subsystem (see there for an
+ * example)
+ * The statemachine runs in a background thread and a user thread can interact
+ * with it through current_state and send_message.
+ *
+ * Designwise:
+ * the System class should hold onto any motors, feedback controllers, etc that
+ * are persistent in the system States themselves should hold any data that
+ * *only* that state needs. For example if a state should be exitted after a
+ * certain amount of time, it should hold a timer rather than the System holding
+ * that timer. (see Junder from 2024 for an example of this design)
+ *
+ * @tparam System The system that this is the base class of `class Thing :
+ * public StateMachine<Thing>
+ * @tparam IDType The ID enum that recognizes states. Hint hint, use an `enum
+ * class`
+ * @tparam Message the message enum that a state or an outside can send and that
+ * states respond to
+ * @tparam delay_ms the delay to wait between each state processing to allow
+ * other threads to work
+ * @tparam do_log true if you want print statements describing incoming messages
+ * and current states. If true, it is expected that IDType and Message have a
+ * function called to_string that takes them as its only parameter and returns a
+ * std::string
+ */
+template <typename System, typename IDType, typename Message, int32_t delay_ms,
+          bool do_log = false>
+class StateMachine {
+    static_assert(std::is_enum<Message>::value,
+                  "Message should be an enum (it's easier that way)");
+    static_assert(std::is_enum<IDType>::value,
+                  "IDType should be an enum (it's easier that way)");
+
+  public:
+    /**
+     * @brief MaybeMessage
+     * a message of Message type or nothing
+     * MaybeMessage m = {}; // empty
+     * MaybeMessage m = Message::EnumField1
+     */
+    class MaybeMessage {
+      public:
+        /**
+         * @brief Empty message - when theres no message
+         */
+        MaybeMessage() : exists(false) {}
+        /**
+         * @brief Create a maybemessage with a message
+         * @param msg the message to hold on to
+         */
+        MaybeMessage(Message msg) : exists(true), thing(msg) {}
+        /**
+         * @brief check if the message is here
+         * @return true if there is a message
+         */
+        bool has_message() { return exists; }
+        /**
+         * @brief Get the message stored. The return value is invalid unless
+         * has_message returned true
+         * @return The message if it exists. Undefined otherwise
+         */
+        Message message() { return thing; }
+
+      private:
+        bool exists;
+        Message thing;
+    };
+    /**
+     * Abstract class that all states for this machine must inherit from
+     * States MUST override respond() and id() in order to function correctly
+     * (the compiler won't have it any other way)
+     */
+    struct State {
+        // run once when we enter the state
+        virtual void entry(System &) {}
+        // run continously while in the state
+        virtual MaybeMessage work(System &) { return {}; }
+        // run once when we exit the state
+        virtual void exit(System &) {}
+        // respond to a message when one comes in
+        virtual State *respond(System &s, Message m) = 0;
+        // Identify
+        virtual IDType id() const = 0;
+
+        // virtual destructor cuz c++
+        virtual ~State() {}
+    };
+
+    // Data that gets passed to the runner thread. Don't worry too much about
+    // this
+    using thread_data = std::pair<State *, StateMachine *>;
+
+    /**
+     * @brief Construct a state machine and immediatly start running it
+     * @param initial the state that the machine will begin in
+     */
+    StateMachine(State *initial)
+        : runner(thread_runner, new thread_data{initial, this}) {}
+
+    /**
+     * @brief retrieve the current state of the state machine. This is safe to
+     * call from external threads
+     * @return the current state
+     */
+    IDType current_state() const {
+        mut.lock();
+        auto t = cur_type;
+        mut.unlock();
+        return t;
+    }
+    /**
+     * @brief send a message to the state machine from outside
+     * @param msg the message to send
+     * This is safe to call from external threads
+     */
+    void send_message(Message msg) {
+        mut.lock();
+        incoming_msg = msg;
+        mut.unlock();
+    }
+
+  private:
+    vex::task runner;
+    mutable vex::mutex mut;
+    MaybeMessage incoming_msg;
+    IDType cur_type;
+
+    /**
+     * @brief the thread that does the running of the state machine.
+     * @param vptr the thread_data that we get passed to begin. cast it back
+     * @return return value of thread (the thread never ends so this doesn't
+     * really matter)
+     */
+    static int thread_runner(void *vptr) {
+        thread_data *ptr = static_cast<thread_data *>(vptr);
+        State *cur_state = ptr->first;
+
+        StateMachine &sys = *ptr->second;
+        System &derived = *static_cast<System *>(&sys);
+
+        cur_state->entry(derived);
+
+        sys.cur_type = cur_state->id();
+
+        auto respond_to_message = [&](Message msg) {
+            if (do_log) {
+                printf("responding to msg: %s\n", to_string(msg).c_str());
+                fflush(stdout);
+            }
+
+            State *next_state = cur_state->respond(derived, msg);
+
+            if (cur_state != next_state) {
+                // switched states
+                sys.mut.lock();
+
+                cur_state->exit(derived);
+                next_state->entry(derived);
+
+                delete cur_state;
+
+                cur_state = next_state;
+                sys.cur_type = cur_state->id();
+
+                sys.mut.unlock();
+            }
+        };
+
+        while (true) {
+            if (do_log) {
+                std::string str = to_string(cur_state->id());
+                std::string str2 = to_string(sys.cur_type);
+
+                printf("state: %s %s\n", str.c_str(), str2.c_str());
+            }
+
+            // Internal Message passed
+            MaybeMessage internal_msg = cur_state->work(derived);
+
+            if (internal_msg.has_message()) {
+                respond_to_message(internal_msg.message());
+            }
+
+            // External Message passed
+            sys.mut.lock();
+            MaybeMessage incoming = sys.incoming_msg;
+            sys.incoming_msg = {};
+            sys.mut.unlock();
+
+            if (incoming.has_message()) {
+                respond_to_message(incoming.message());
+            }
+
+            vexDelay(delay_ms);
+        }
+        return 0;
+    }
+};
diff --git a/src/subsystems/tank_drive.cpp b/src/subsystems/tank_drive.cpp
index 3c33872..b665687 100644
--- a/src/subsystems/tank_drive.cpp
+++ b/src/subsystems/tank_drive.cpp
@@ -321,8 +321,8 @@ bool TankDrive::drive_to_point(double x, double y, vex::directionType dir, Feedb
     double initial_dist = OdometryBase::pos_diff(odometry->get_position(), {.x = x, .y = y});
 
     // Reset the control loops
-    correction_pid.init(0, 0, 0, 0);
-    feedback.init(-initial_dist, 0, odometry->get_speed(), fabs(end_speed));
+    correction_pid.init(0, 0);
+    feedback.init(-initial_dist, 0);
 
     correction_pid.set_limits(-1, 1);
     feedback.set_limits(-1, 1);
@@ -475,7 +475,7 @@ bool TankDrive::turn_to_heading(double heading_deg, Feedback &feedback, double m
   if (!func_initialized)
   {
     double initial_delta = OdometryBase::smallest_angle(odometry->get_position().rot, heading_deg);
-    feedback.init(-initial_delta, 0, odometry->get_angular_speed_deg(), end_speed);
+    feedback.init(-initial_delta, 0);
     feedback.set_limits(-fabs(max_speed), fabs(max_speed));
 
     func_initialized = true;
@@ -555,9 +555,9 @@ bool TankDrive::pure_pursuit(PurePursuit::Path path, directionType dir, Feedback
   if (!func_initialized)
   {
     if (dir != directionType::rev) {
-      feedback.init(-estimate_path_length(points), 0, odometry->get_speed(), end_speed);
+      feedback.init(-estimate_path_length(points), 0);
     } else {
-      feedback.init(estimate_path_length(points), 0, odometry->get_speed(), end_speed);
+      feedback.init(estimate_path_length(points), 0);
 }
 
     func_initialized = true;
diff --git a/src/utils/command_structure/auto_command.cpp b/src/utils/command_structure/auto_command.cpp
index 5bce832..c6cdbbd 100644
--- a/src/utils/command_structure/auto_command.cpp
+++ b/src/utils/command_structure/auto_command.cpp
@@ -1,334 +1,271 @@
 #include "../core/include/utils/command_structure/auto_command.h"
 
-class OrCondition : public Condition
-{
+class OrCondition : public Condition {
 public:
-    OrCondition(Condition *A, Condition *B) : A(A), B(B) {}
-    bool test() override
-    {
-        bool a = A->test();
-        bool b = B->test();
-        return a | b;
-    }
+  OrCondition(Condition *A, Condition *B) : A(A), B(B) {}
+  bool test() override {
+    bool a = A->test();
+    bool b = B->test();
+    return a | b;
+  }
 
 private:
-    Condition *A;
-    Condition *B;
+  Condition *A;
+  Condition *B;
 };
 
-class AndCondition : public Condition
-{
+class AndCondition : public Condition {
 public:
-    AndCondition(Condition *A, Condition *B) : A(A), B(B) {}
-    bool test() override
-    {
-        bool a = A->test();
-        bool b = B->test();
-        return a & b;
-    }
+  AndCondition(Condition *A, Condition *B) : A(A), B(B) {}
+  bool test() override {
+    bool a = A->test();
+    bool b = B->test();
+    return a & b;
+  }
 
 private:
-    Condition *A;
-    Condition *B;
+  Condition *A;
+  Condition *B;
 };
 
-Condition *Condition::Or(Condition *b)
-{
-    return new OrCondition(this, b);
-}
+Condition *Condition::Or(Condition *b) { return new OrCondition(this, b); }
 
-Condition *Condition::And(Condition *b)
-{
-    return new AndCondition(this, b);
-}
+Condition *Condition::And(Condition *b) { return new AndCondition(this, b); }
 
-bool FunctionCondition::test()
-{
-    return cond();
-}
+bool FunctionCondition::test() { return cond(); }
 IfTimePassed::IfTimePassed(double time_s) : time_s(time_s), tmr() {}
-bool IfTimePassed::test()
-{
-    return tmr.value() > time_s;
-}
+bool IfTimePassed::test() { return tmr.value() > time_s; }
 
-InOrder::InOrder(std::queue<AutoCommand *> cmds) : cmds(cmds)
-{
-    timeout_seconds = -1.0; // never timeout unless with_timeout is explicitly called
+InOrder::InOrder(std::queue<AutoCommand *> cmds) : cmds(cmds) {
+  timeout_seconds =
+      -1.0; // never timeout unless with_timeout is explicitly called
 }
-InOrder::InOrder(std::initializer_list<AutoCommand *> cmds) : cmds(cmds)
-{
-    timeout_seconds = -1.0;
+InOrder::InOrder(std::initializer_list<AutoCommand *> cmds) : cmds(cmds) {
+  timeout_seconds = -1.0;
 }
 
-bool InOrder::run()
-{
-    // outer loop finished
-    if (cmds.size() == 0 && current_command == nullptr)
-    {
-        return true;
-    }
-    // retrieve and remove command at the front of the queue
-    if (current_command == nullptr)
-    {
-        printf("TAKING INORDER: len =  %d\n", cmds.size());
-        current_command = cmds.front();
-        cmds.pop();
-        tmr.reset();
-    }
-
-    // run command
-    bool cmd_finished = current_command->run();
-    if (cmd_finished)
-    {
-        printf("InOrder Cmd finished\n");
-        current_command = nullptr;
-        return false; // continue onto next command
-    }
-
-    double seconds = tmr.value();
-
-    bool should_timeout = current_command->timeout_seconds > 0.0;
-    bool doTimeout = should_timeout && seconds > current_command->timeout_seconds;
-    if (current_command->true_to_end != nullptr)
-    {
-        doTimeout = doTimeout || current_command->true_to_end->test();
-    }
-
-    // timeout
-    if (doTimeout)
-    {
-        printf("InOrder timed out\n");
-        current_command->on_timeout();
-        current_command = nullptr;
-        return false;
-    }
+bool InOrder::run() {
+  // outer loop finished
+  if (cmds.size() == 0 && current_command == nullptr) {
+    return true;
+  }
+  // retrieve and remove command at the front of the queue
+  if (current_command == nullptr) {
+    printf("TAKING INORDER: len =  %d\n", cmds.size());
+    current_command = cmds.front();
+    cmds.pop();
+    tmr.reset();
+  }
+
+  // run command
+  bool cmd_finished = current_command->run();
+  if (cmd_finished) {
+    printf("InOrder Cmd finished\n");
+    current_command = nullptr;
+    return false; // continue onto next command
+  }
+
+  double seconds = tmr.value();
+
+  bool should_timeout = current_command->timeout_seconds > 0.0;
+  bool doTimeout = should_timeout && seconds > current_command->timeout_seconds;
+  if (current_command->true_to_end != nullptr) {
+    doTimeout = doTimeout || current_command->true_to_end->test();
+  }
+
+  // timeout
+  if (doTimeout) {
+    printf("InOrder timed out\n");
+    current_command->on_timeout();
+    current_command = nullptr;
     return false;
+  }
+  return false;
 }
 
-void InOrder::on_timeout()
-{
-    if (current_command != nullptr)
-    {
-        current_command->on_timeout();
-    }
+void InOrder::on_timeout() {
+  if (current_command != nullptr) {
+    current_command->on_timeout();
+  }
 }
 
-struct parallel_runner_info
-{
-    int index;
-    std::vector<vex::task *> *runners;
-    AutoCommand *cmd;
+struct parallel_runner_info {
+  int index;
+  std::vector<vex::task *> *runners;
+  AutoCommand *cmd;
 };
-static int parallel_runner(void *arg)
-{
-    parallel_runner_info *ri = (parallel_runner_info *)arg;
-    vex::timer tmr;
-    while (1)
-    {
-        bool finished = ri->cmd->run();
-        if (finished)
-        {
-            break;
-        }
-        double t = (double)(tmr.time()) / 1000.0;
-        bool timed_out = t > ri->cmd->timeout_seconds;
-        bool doTimeout = timed_out && (ri->cmd->timeout_seconds > 0);
-        if (ri->cmd->true_to_end != nullptr)
-        {
-            doTimeout = doTimeout || ri->cmd->true_to_end->test();
-        }
-        if (doTimeout)
-        {
-            ri->cmd->on_timeout();
-        }
-        vexDelay(20);
+static int parallel_runner(void *arg) {
+  parallel_runner_info *ri = (parallel_runner_info *)arg;
+  vex::timer tmr;
+  while (1) {
+    bool finished = ri->cmd->run();
+    if (finished) {
+      break;
     }
-
-    if ((*ri->runners)[ri->index] != nullptr)
-    {
-        delete (*ri->runners)[ri->index];
-        (*ri->runners)[ri->index] = nullptr;
+    double t = (double)(tmr.time()) / 1000.0;
+    bool timed_out = t > ri->cmd->timeout_seconds;
+    bool doTimeout = timed_out && (ri->cmd->timeout_seconds > 0);
+    if (ri->cmd->true_to_end != nullptr) {
+      doTimeout = doTimeout || ri->cmd->true_to_end->test();
+    }
+    if (doTimeout) {
+      ri->cmd->on_timeout();
     }
-    return 0;
+    vexDelay(20);
+  }
+
+  if ((*ri->runners)[ri->index] != nullptr) {
+    delete (*ri->runners)[ri->index];
+    (*ri->runners)[ri->index] = nullptr;
+  }
+  return 0;
 }
 
 // wait for all to finish
-Parallel::Parallel(std::initializer_list<AutoCommand *> cmds) : cmds(cmds), runners(0) {}
-
-bool Parallel::run()
-{
-    if (runners.size() == 0)
-    {
-        // not initialized yet
-        for (int i = 0; i < cmds.size(); i++)
-        {
-            parallel_runner_info *ri = new parallel_runner_info{
-                .index = i,
-                .runners = &runners,
-                .cmd = cmds[i],
-            };
-            runners.push_back(new vex::task(parallel_runner, ri));
-        }
+Parallel::Parallel(std::initializer_list<AutoCommand *> cmds)
+    : cmds(cmds), runners(0) {}
+
+bool Parallel::run() {
+  if (runners.size() == 0) {
+    // not initialized yet
+    for (int i = 0; i < cmds.size(); i++) {
+      parallel_runner_info *ri = new parallel_runner_info{
+          .index = i,
+          .runners = &runners,
+          .cmd = cmds[i],
+      };
+      runners.push_back(new vex::task(parallel_runner, ri));
     }
+  }
 
-    bool all_finished = true;
+  bool all_finished = true;
 
-    for (int i = 0; i < cmds.size(); i++)
-    {
-        if (runners[i] != nullptr)
-        {
-            all_finished = false;
-        }
+  for (int i = 0; i < cmds.size(); i++) {
+    if (runners[i] != nullptr) {
+      all_finished = false;
     }
-    return all_finished;
+  }
+  return all_finished;
 }
-void Parallel::on_timeout()
-{
-    for (int i = 0; i < runners.size(); i++)
-    {
-
-        if (runners[i] != nullptr)
-        {
-            runners[i]->stop();
-            if (cmds[i] != nullptr)
-            {
-                cmds[i]->on_timeout();
-            }
-            delete runners[i];
-            runners[i] = nullptr;
-            if (cmds[i] != nullptr)
-            {
-                delete cmds[i];
-                cmds[i] = nullptr;
-            }
-        }
+void Parallel::on_timeout() {
+  for (int i = 0; i < runners.size(); i++) {
+
+    if (runners[i] != nullptr) {
+      runners[i]->stop();
+      if (cmds[i] != nullptr) {
+        cmds[i]->on_timeout();
+      }
+      delete runners[i];
+      runners[i] = nullptr;
+      if (cmds[i] != nullptr) {
+        delete cmds[i];
+        cmds[i] = nullptr;
+      }
     }
+  }
+  runners.clear();
 }
 
-Branch::Branch(Condition *cond, AutoCommand *false_choice, AutoCommand *true_choice) : false_choice(false_choice), true_choice(true_choice), cond(cond), choice(false), chosen(false), tmr() {}
+Branch::Branch(Condition *cond, AutoCommand *false_choice,
+               AutoCommand *true_choice)
+    : false_choice(false_choice), true_choice(true_choice), cond(cond),
+      choice(false), chosen(false), tmr() {}
 
-Branch::~Branch()
-{
-    delete false_choice;
-    delete true_choice;
+Branch::~Branch() {
+  delete false_choice;
+  delete true_choice;
 };
-bool Branch::run()
-{
-    if (!chosen)
-    {
-        choice = cond->test();
-        chosen = true;
+bool Branch::run() {
+  if (!chosen) {
+    choice = cond->test();
+    chosen = true;
+  }
+
+  double seconds = static_cast<double>(tmr.time()) / 1000.0;
+  if (choice == false) {
+    if (seconds > false_choice->timeout_seconds &&
+        false_choice->timeout_seconds != -1) {
+      false_choice->on_timeout();
     }
-
-    double seconds = static_cast<double>(tmr.time()) / 1000.0;
-    if (choice == false)
-    {
-        if (seconds > false_choice->timeout_seconds && false_choice->timeout_seconds != -1)
-        {
-            false_choice->on_timeout();
-        }
-        return false_choice->run();
-    }
-    else
-    {
-        if (seconds > true_choice->timeout_seconds && true_choice->timeout_seconds != -1)
-        {
-            true_choice->on_timeout();
-        }
-        return true_choice->run();
+    return false_choice->run();
+  } else {
+    if (seconds > true_choice->timeout_seconds &&
+        true_choice->timeout_seconds != -1) {
+      true_choice->on_timeout();
     }
+    return true_choice->run();
+  }
+}
+void Branch::on_timeout() {
+  if (!chosen) {
+    // dont need to do anything
+    return;
+  }
+
+  if (choice == false) {
+    false_choice->on_timeout();
+  } else {
+    true_choice->on_timeout();
+  }
 }
-void Branch::on_timeout()
-{
-    if (!chosen)
-    {
-        // dont need to do anything
-        return;
-    }
 
-    if (choice == false)
-    {
-        false_choice->on_timeout();
+static int async_runner(void *arg) {
+  AutoCommand *cmd = (AutoCommand *)arg;
+  vex::timer tmr;
+  while (1) {
+    bool finished = cmd->run();
+    if (finished) {
+      break;
     }
-    else
-    {
-        true_choice->on_timeout();
+    double t = (double)(tmr.time()) / 1000.0;
+    bool timed_out = t > cmd->timeout_seconds;
+    bool doTimeout = timed_out && cmd->timeout_seconds > 0;
+    if (cmd->true_to_end != nullptr) {
+      doTimeout = doTimeout || cmd->true_to_end->test();
     }
-}
-
-static int async_runner(void *arg)
-{
-    AutoCommand *cmd = (AutoCommand *)arg;
-    vex::timer tmr;
-    while (1)
-    {
-        bool finished = cmd->run();
-        if (finished)
-        {
-            break;
-        }
-        double t = (double)(tmr.time()) / 1000.0;
-        bool timed_out = t > cmd->timeout_seconds;
-        bool doTimeout = timed_out && cmd->timeout_seconds > 0;
-        if (cmd->true_to_end != nullptr)
-        {
-            doTimeout = doTimeout || cmd->true_to_end->test();
-        }
-        if (doTimeout)
-        {
-            cmd->on_timeout();
-            break;
-        }
-        vexDelay(20);
+    if (doTimeout) {
+      cmd->on_timeout();
+      break;
     }
-    delete cmd;
+    vexDelay(20);
+  }
+  delete cmd;
 
-    return 0;
+  return 0;
 }
-bool Async::run()
-{
-    vex::task *t = new vex::task(async_runner, (void *)cmd);
-    (void)t;
-    // lmao get memory leaked
-    return true;
+bool Async::run() {
+  vex::task *t = new vex::task(async_runner, (void *)cmd);
+  (void)t;
+  // lmao get memory leaked
+  return true;
 }
 
-RepeatUntil::RepeatUntil(InOrder cmds, size_t times) : RepeatUntil(cmds, new TimesTestedCondition(times))
-{
-    timeout_seconds = 999999;
+RepeatUntil::RepeatUntil(InOrder cmds, size_t times)
+    : RepeatUntil(cmds, new TimesTestedCondition(times)) {
+  timeout_seconds = 999999;
 }
 
-RepeatUntil::RepeatUntil(InOrder cmds, Condition *cond) : cmds(cmds), working_cmds(new InOrder(cmds)), cond(cond)
-{
-    timeout_seconds = 999999;
+RepeatUntil::RepeatUntil(InOrder cmds, Condition *cond)
+    : cmds(cmds), working_cmds(new InOrder(cmds)), cond(cond) {
+  timeout_seconds = 999999;
 }
 
+bool RepeatUntil::run() {
+  bool finished = working_cmds->run();
+  if (!finished) {
+    // return if we're not done yet
+    return false;
+  }
+  // this run finished
 
+  bool res = cond->test();
+  // we should finish
+  if (res) {
+    return true;
+  }
+  working_cmds = new InOrder(cmds);
 
-bool RepeatUntil::run()
-{
-    bool finished = working_cmds->run();
-    if (!finished)
-    {
-        // return if we're not done yet
-        return false;
-    }
-    // this run finished
-
-    bool res = cond->test();
-    // we should finish
-    if (res)
-    {
-        return true;
-    }
-    working_cmds = new InOrder(cmds);
-
-
-    return false;
+  return false;
 }
 
-void RepeatUntil::on_timeout()
-{
-    working_cmds->on_timeout();
-}
\ No newline at end of file
+void RepeatUntil::on_timeout() { working_cmds->on_timeout(); }
\ No newline at end of file
diff --git a/src/utils/command_structure/command_controller.cpp b/src/utils/command_structure/command_controller.cpp
index 79eb29c..efae140 100644
--- a/src/utils/command_structure/command_controller.cpp
+++ b/src/utils/command_structure/command_controller.cpp
@@ -101,7 +101,7 @@ void CommandController::run()
     // run the current command until it returns true or we timeout
     while (!next_cmd->run())
     {
-      vexDelay(20);
+      vexDelay(5);
 
       if (!doTimeout)
       {
diff --git a/src/utils/controls/bang_bang.cpp b/src/utils/controls/bang_bang.cpp
index 161a951..fcc1c70 100644
--- a/src/utils/controls/bang_bang.cpp
+++ b/src/utils/controls/bang_bang.cpp
@@ -3,7 +3,7 @@
 
 BangBang::BangBang(double threshhold, double low, double high) : setpt(low), sensor_val(low), lower_bound(low), upper_bound(high), threshhold(threshhold) {}
 
-void BangBang::init(double start_pt, double set_pt, double, double)
+void BangBang::init(double start_pt, double set_pt)
 {
     sensor_val = start_pt;
     setpt = set_pt;
diff --git a/src/utils/controls/motion_controller.cpp b/src/utils/controls/motion_controller.cpp
index eba94cc..3ba4715 100644
--- a/src/utils/controls/motion_controller.cpp
+++ b/src/utils/controls/motion_controller.cpp
@@ -1,123 +1,119 @@
 #include "../core/include/utils/controls/motion_controller.h"
-#include "../core/include/subsystems/screen.h"
 #include "../core/include/utils/math_util.h"
 #include <vector>
 
 /**
- * @brief Construct a new Motion Controller object
- *
- * @param config The definition of how the robot is able to move
- * max_v Maximum velocity the movement is capable of
- * accel Acceleration / deceleration of the movement
- * pid_cfg Definitions of kP, kI, and kD
- * ff_cfg Definitions of kS, kV, and kA
- */
+* @brief Construct a new Motion Controller object
+* 
+* @param config The definition of how the robot is able to move
+*    max_v Maximum velocity the movement is capable of
+*    accel Acceleration / deceleration of the movement
+*    pid_cfg Definitions of kP, kI, and kD
+*    ff_cfg Definitions of kS, kV, and kA
+*/
 MotionController::MotionController(m_profile_cfg_t &config)
-    : config(config), pid(config.pid_cfg), ff(config.ff_cfg),
-      profile(config.max_v, config.accel) {}
+: config(config), pid(config.pid_cfg), ff(config.ff_cfg), profile(config.max_v, config.accel)
+{}
 
 /**
  * @brief Initialize the motion profile for a new movement
  * This will also reset the PID and profile timers.
  * @param start_pt Movement starting position
- * @param end_pt Movement ending posiiton
- * @param start_vel Movement starting velocity
- * @param end_vel Movement ending velocity
+ * @param end_pt Movement ending posiiton 
  */
-void MotionController::init(double start_pt, double end_pt, double start_vel,
-                            double end_vel) {
+void MotionController::init(double start_pt, double end_pt)
+{
     profile.set_endpts(start_pt, end_pt);
-    profile.set_vel_endpts(start_vel, end_vel);
     pid.reset();
     tmr.reset();
-
-    this->end_pt = end_pt;
 }
 
 /**
- * @brief Update the motion profile with a new sensor value
- *
- * @param sensor_val Value from the sensor
- * @return the motor input generated from the motion profile
- */
-double MotionController::update(double sensor_val) {
-    cur_motion = profile.calculate(tmr.time(timeUnits::sec), sensor_val);
+* @brief Update the motion profile with a new sensor value
+* 
+* @param sensor_val Value from the sensor
+* @return the motor input generated from the motion profile 
+*/
+double MotionController::update(double sensor_val)
+{
+    cur_motion = profile.calculate(tmr.time(timeUnits::sec));
     pid.set_target(cur_motion.pos);
-    pid.update(sensor_val);
+    pid.update(sensor_val, cur_motion.vel);
 
-    this->current_pos = sensor_val;
+    out = pid.get() +  ff.calculate(cur_motion.vel, cur_motion.accel, pid.get());
 
-    out = pid.get() + ff.calculate(cur_motion.vel, cur_motion.accel, pid.get());
-
-    if (lower_limit != upper_limit) {
+    if(lower_limit != upper_limit)
         out = clamp(out, lower_limit, upper_limit);
-    }
-
+    
     return out;
 }
 
 /**
  * @return the last saved result from the feedback controller
  */
-double MotionController::get() { return out; }
+double MotionController::get()
+{
+    return out;
+}
 
 /**
- * Clamp the upper and lower limits of the output. If both are 0, no limits
- * should be applied.
- *
+ * Clamp the upper and lower limits of the output. If both are 0, no limits should be applied.
+ * 
  * @param lower Upper limit
  * @param upper Lower limit
  */
-void MotionController::set_limits(double lower, double upper) {
+void MotionController::set_limits(double lower, double upper)
+{
     lower_limit = lower;
     upper_limit = upper;
 }
 
-/**
+/** 
  * @return Whether or not the movement has finished, and the PID
  * confirms it is on target
  */
-bool MotionController::is_on_target() {
-    return (tmr.time(timeUnits::sec) > profile.get_movement_time()) &&
-           pid.is_on_target() &&
-           fabs(end_pt - current_pos) < pid.config.deadband;
+bool MotionController::is_on_target()
+{
+    return (tmr.time(timeUnits::sec) > profile.get_movement_time()) && pid.is_on_target();
 }
 
 /**
  * @return The current postion, velocity and acceleration setpoints
- */
-motion_t MotionController::get_motion() const { return cur_motion; }
+*/
+motion_t MotionController::get_motion()
+{
+    return cur_motion;
+}
 
 /**
- * This method attempts to characterize the robot's drivetrain and automatically
- * tune the feedforward. It does this by first calculating the kS (voltage to
- * overcome static friction) by slowly increasing the voltage until it moves.
- *
- * Next is kV (voltage to sustain a certain velocity), where the robot will
- * record it's steady-state velocity at 'pct' speed.
- *
- * Finally, kA (voltage needed to accelerate by a certain rate), where the robot
- * will record the entire movement's velocity and acceleration, record a plot of
- * [X=(pct-kV*V-kS), Y=(Acceleration)] along the movement, and since kA*Accel =
- * pct-kV*V-kS, the reciprocal of the linear regression is the kA value.
- *
+ * This method attempts to characterize the robot's drivetrain and automatically tune the feedforward.
+ * It does this by first calculating the kS (voltage to overcome static friction) by slowly increasing
+ * the voltage until it moves.
+ * 
+ * Next is kV (voltage to sustain a certain velocity), where the robot will record it's steady-state velocity
+ * at 'pct' speed.
+ * 
+ * Finally, kA (voltage needed to accelerate by a certain rate), where the robot will record the entire movement's
+ * velocity and acceleration, record a plot of [X=(pct-kV*V-kS), Y=(Acceleration)] along the movement,
+ * and since kA*Accel = pct-kV*V-kS, the reciprocal of the linear regression is the kA value.
+ * 
  * @param drive The tankdrive to operate on
  * @param odometry The robot's odometry subsystem
  * @param pct Maximum velocity in percent (0->1.0)
  * @param duration Amount of time the robot should be moving for the test
  * @return A tuned feedforward object
  */
-FeedForward::ff_config_t
-MotionController::tune_feedforward(TankDrive &drive, OdometryTank &odometry,
-                                   double pct, double duration) {
+FeedForward::ff_config_t MotionController::tune_feedforward(TankDrive &drive, OdometryTank &odometry, double pct, double duration)
+{
     FeedForward::ff_config_t out = {};
-
+    
     pose_t start_pos = odometry.get_position();
 
     // ========== kS Tuning =========
     // Start at 0 and slowly increase the power until the robot starts moving
     double power = 0;
-    while (odometry.pos_diff(start_pos, odometry.get_position()) < 0.05) {
+    while(odometry.pos_diff(start_pos, odometry.get_position()) < 0.05)
+    {
         drive.drive_tank(power, power, 1);
         power += 0.001;
         vexDelay(100);
@@ -125,24 +121,22 @@ MotionController::tune_feedforward(TankDrive &drive, OdometryTank &odometry,
     out.kS = power;
     drive.stop();
 
+
     // ========== kV / kA Tuning =========
 
-    std::vector<std::pair<double, double>> vel_data_points;   // time, velocity
+    std::vector<std::pair<double, double>> vel_data_points; // time, velocity
     std::vector<std::pair<double, double>> accel_data_points; // time, accel
 
     double max_speed = 0;
-    double max_accel = 0;
     timer tmr;
     double time;
 
     MovingAverage vel_ma(3);
     MovingAverage accel_ma(3);
 
-    // Move the robot forward at a fixed percentage for X seconds while taking
-    // velocity and accel measurements
-
-    drive.drive_tank(pct, pct, 1);
-    do {
+    // Move the robot forward at a fixed percentage for X seconds while taking velocity and accel measurements
+    do
+    {
         time = tmr.time(sec);
 
         vel_ma.add_entry(odometry.get_speed());
@@ -150,100 +144,41 @@ MotionController::tune_feedforward(TankDrive &drive, OdometryTank &odometry,
 
         double speed = vel_ma.get_value();
         double accel = accel_ma.get_value();
+
         // For kV:
-        if (speed > max_speed) {
+        if(speed > max_speed)
             max_speed = speed;
-        }
-        if (accel > max_accel) {
-            max_accel = accel;
-        }
 
         // For kA:
         // Filter out the acceleration dampening due to motor inductance
-        if (time > 0.25) {
+        if(time > 0.25)
+        {
             vel_data_points.push_back(std::pair<double, double>(time, speed));
             accel_data_points.push_back(std::pair<double, double>(time, accel));
         }
 
-        // Theoretical polling rate = 100hz (it won't be that much, cause,
-        // y'know, vex.)
-        vexDelay(10);
-    } while (time < duration);
+        // Theoretical polling rate = 100hz (it won't be that much, cause, y'know, vex.)
+        vexDelay(10); 
+    } while(time < duration);
 
     drive.stop();
 
     // Calculate kV (volts/12 per unit per second)
     out.kV = (pct - out.kS) / max_speed;
 
-    printf("Max speed achieved: %.4f\n", max_speed);
-    printf("Max accel achieved: %.4f\n", max_accel);
-
     // Calculate kA (volts/12 per unit per second^2)
     std::vector<std::pair<double, double>> accel_per_pct;
-    for (int i = 0; i < vel_data_points.size(); i++) {
+    for (int i = 0; i < vel_data_points.size(); i++)
+    {
         accel_per_pct.push_back(std::pair<double, double>(
-            pct - out.kS -
-                (vel_data_points[i].second *
-                 out.kV), // Acceleration-causing percent (X variable)
-            accel_data_points[i].second // Measured acceleration (Y variable)
-            ));
+            pct - out.kS - (vel_data_points[i].second * out.kV),   // Acceleration-causing percent (X variable)
+            accel_data_points[i].second                            // Measured acceleration (Y variable)
+        ));
     }
-
+    
     // kA is the reciprocal of the slope of the linear regression
     double regres_slope = calculate_linear_regression(accel_per_pct).first;
-    out.kA = 1.0 / regres_slope;
+    out.kA = 1.0 / regres_slope; 
 
     return out;
-}
-
-class MotionControllerPage : public screen::Page {
-  public:
-    MotionControllerPage(const MotionController &mc) : mc(mc) {}
-
-    void update(bool was_pressed, int x, int y) override {}
-    void draw(vex::brain::lcd &screen, bool first_draw,
-              unsigned int frame_number) {
-        const motion_t mot = mc.get_motion();
-
-        // Text - top right
-        screen.printAt(240, 20, "pos: %.2fin", mot.pos);
-        screen.printAt(240, 40, "vel: %.2fin", mot.vel);
-        screen.printAt(240, 60, "acc: %.2fin", mot.accel);
-        screen.printAt(240, 80, "%.2fs of %.2fs", mc.tmr.value(),
-                       mc.profile.get_movement_time());
-
-        // Trapezoid - bottom right
-        const int32_t trap_width = 200;
-        const int32_t trap_height = 98;
-        const double seconds = mc.tmr.value();
-        const double full_time = mc.profile.get_movement_time();
-        const double x_pct = seconds / full_time;
-        const double y_pct = mot.vel / mc.profile.get_max_v();
-        const int32_t x_pos = (int32_t)(x_pct * trap_width) + 240;
-        const int32_t y_pos = (int32_t)(-y_pct * trap_height) + 100;
-        const int32_t max_vel_y = 120;
-        const int32_t end_acc_x = 260;
-        const int32_t start_dec_x = 420;
-
-        // trapezoid
-        screen.setPenColor(vex::red);
-        // accelerating
-        screen.drawLine(240, 200, end_acc_x, max_vel_y);
-        // staying
-        screen.drawLine(end_acc_x, max_vel_y, start_dec_x, max_vel_y);
-        // decellerating
-        screen.drawLine(440, 200, start_dec_x, max_vel_y);
-
-        // dot where we are
-        screen.setFillColor(vex::red);
-        screen.setPenColor(vex::white);
-        screen.drawCircle(x_pos, y_pos, 3);
-    }
-
-  private:
-    const MotionController &mc;
-};
-
-screen::Page *MotionController::Page() {
-    return new MotionControllerPage(*this);
 }
\ No newline at end of file
diff --git a/src/utils/controls/pid.cpp b/src/utils/controls/pid.cpp
index 2c46495..88696b6 100644
--- a/src/utils/controls/pid.cpp
+++ b/src/utils/controls/pid.cpp
@@ -6,9 +6,9 @@
  */
 PID::PID(pid_config_t &config) : config(config) { pid_timer.reset(); }
 
-void PID::init(double start_pt, double set_pt, double, double end_vel) {
+void PID::init(double start_pt, double set_pt) {
   set_target(set_pt);
-  target_vel = end_vel;
+  target_vel = 0; // TODO change back when trapezoid profiles are fixed
   sensor_val = start_pt;
   reset();
 }
@@ -20,17 +20,31 @@ void PID::init(double start_pt, double set_pt, double, double end_vel) {
  * are measuring
  * @return the new output. What would be returned by PID::get()
  */
-double PID::update(double sensor_val) {
+double PID::update(double sensor_val)
+{
+  return update(sensor_val, 0);
+}
+
+/**
+ * Update the PID loop by taking the time difference from last update,
+ * and running the PID formula with the new sensor data
+ * @param sensor_val the distance, angle, encoder position or whatever it is we
+ * are measuring
+ * @param v_setpt Expected velocity setpoint, to subtract from the D term (for 
+ * velocity control)
+ * @return the new output. What would be returned by PID::get()
+ */
+double PID::update(double sensor_val, double v_setpt) {
 
   this->sensor_val = sensor_val;
 
-  double time_delta = pid_timer.value() - last_time;
+  double time_delta = (pid_timer.systemHighResolution() / 1000000.0) - last_time;
 
   // Avoid a divide by zero error
   double d_term = 0;
-  if (time_delta != 0) {
-    d_term = config.d * (get_error() - last_error) / time_delta;
-  } else if (last_time != 0) {
+  if (time_delta != 0.0) {
+    d_term = config.d * (((get_error() - last_error) / time_delta) - v_setpt);
+  } else if (last_time != 0.0) {
     printf(
         "(pid.cpp): Warning - running PID without a delay is just a P loop!\n");
 }
@@ -50,7 +64,7 @@ double PID::update(double sensor_val) {
   // I term
   out += config.i * accum_error;
 
-  last_time = pid_timer.value();
+  last_time = pid_timer.systemHighResolution() / 1000000.0;
   last_error = get_error();
 
   // Enable clamping if the limit is not 0
diff --git a/src/utils/controls/pidff.cpp b/src/utils/controls/pidff.cpp
index f8f38c7..b98e356 100644
--- a/src/utils/controls/pidff.cpp
+++ b/src/utils/controls/pidff.cpp
@@ -14,9 +14,8 @@ PIDFF::PIDFF(PID::pid_config_t &pid_cfg, FeedForward::ff_config_t &ff_cfg)
  * @param start_pt the current sensor value
  * @param set_pt where the sensor value should be
  */
-void PIDFF::init(double start_pt, double set_pt, double start_vel,
-                 double end_vel) {
-    pid.init(start_pt, set_pt, start_vel, end_vel);
+void PIDFF::init(double start_pt, double set_pt) {
+    pid.init(start_pt, set_pt);
 }
 
 void PIDFF::set_target(double set_pt) { pid.set_target(set_pt); }
diff --git a/src/utils/controls/take_back_half.cpp b/src/utils/controls/take_back_half.cpp
index 7defe78..72418df 100644
--- a/src/utils/controls/take_back_half.cpp
+++ b/src/utils/controls/take_back_half.cpp
@@ -11,7 +11,7 @@ TakeBackHalf::TakeBackHalf(double gain, double first_cross_split, double thresh)
     first_cross = true;
 }
 
-void TakeBackHalf::init(double start_pt, double set_pt, double, double)
+void TakeBackHalf::init(double start_pt, double set_pt)
 {
     if (set_pt == target)
     {
diff --git a/src/utils/controls/trapezoid_profile.cpp b/src/utils/controls/trapezoid_profile.cpp
new file mode 100644
index 0000000..c2fbfc7
--- /dev/null
+++ b/src/utils/controls/trapezoid_profile.cpp
@@ -0,0 +1,117 @@
+#include "../core/include/utils/controls/trapezoid_profile.h"
+#include "../core/include/utils/math_util.h"
+#include <cmath>
+
+
+TrapezoidProfile::TrapezoidProfile(double max_v, double accel)
+: start(0), end(0), max_v(max_v), accel(accel)  {}
+
+void TrapezoidProfile::set_max_v(double max_v)
+{
+    this->max_v = max_v;
+}
+
+void TrapezoidProfile::set_accel(double accel)
+{
+    this->accel = accel;
+}
+
+void TrapezoidProfile::set_endpts(double start, double end)
+{
+    this->start = start;
+    this->end = end;
+}
+
+// Kinematic equations as macros
+#define CALC_POS(time_s,a,v,s) ((0.5*(a)*(time_s)*(time_s))+((v)*(time_s))+(s))
+#define CALC_VEL(time_s,a,v) (((a)*(time_s))+(v))
+
+/**
+ * @brief Run the trapezoidal profile based on the time that's ellapsed
+ * 
+ * @param time_s Time since start of movement
+ * @return motion_t Position, velocity and acceleration
+ */
+motion_t TrapezoidProfile::calculate(double time_s)
+{
+    double delta_pos = end - start;
+
+    // redefine accel and max_v in this scope for negative calcs
+    double accel_local = this->accel;
+    double max_v_local = this->max_v;
+    if(delta_pos < 0)
+    {
+        accel_local = -this->accel;
+        max_v_local = -this->max_v;
+    }
+
+    // Calculate the time spent during the acceleration / maximum velocity / deceleration stages
+    double accel_time = max_v_local / accel_local;
+    double max_vel_time = (delta_pos - (accel_local * accel_time * accel_time)) / max_v_local;
+    this->time = (2 * accel_time) + max_vel_time;
+
+    // If the time during the "max velocity" state is negative, use an S profile
+    if (max_vel_time < 0)
+    {
+        accel_time = sqrt(fabs(delta_pos / accel));
+        max_vel_time = 0;
+        this->time = 2 * accel_time;
+    }
+
+    motion_t out;
+
+    // Handle if a bad time is put in
+    if (time_s < 0)
+    {
+        out.pos = start;
+        out.vel = 0;
+        out.accel = 0;
+        return out;
+    }
+
+    // Handle after the setpoint is reached
+    if (time_s > 2*accel_time + max_vel_time)
+    {
+        out.pos = end;
+        out.vel = 0;
+        out.accel = 0;
+        return out;
+    }
+
+    // ======== KINEMATIC EQUATIONS ========
+
+    // Displacement from initial acceleration
+    if(time_s < accel_time)
+    {
+        out.pos = start + CALC_POS(time_s, accel_local, 0, 0);
+        out.vel = CALC_VEL(time_s, accel_local, 0);
+        out.accel = accel_local;
+        return out;
+    }
+
+    double s_accel = CALC_POS(accel_time, accel_local, 0, 0);
+
+    // Displacement during maximum velocity
+    if (time_s < accel_time + max_vel_time)
+    {
+        out.pos = start + CALC_POS(time_s - accel_time, 0, max_v_local, s_accel);
+        out.vel = sign(delta_pos) * max_v;
+        out.accel = 0;
+        return out;
+    }
+
+    double s_max_vel = CALC_POS(max_vel_time, 0, max_v_local, s_accel);
+
+    // Displacement during deceleration
+    out.pos = start + CALC_POS(time_s - (2*accel_time) - max_vel_time, -accel_local, 0, s_accel + s_max_vel);
+    out.vel = CALC_VEL(time_s - accel_time - max_vel_time, -accel_local, max_v_local);
+    out.accel = -accel_local;
+    return out;
+
+}
+
+double TrapezoidProfile::get_movement_time()
+{
+    return time;
+}
+
diff --git a/src/utils/math_util.cpp b/src/utils/math_util.cpp
index 6f8e0d6..ba4f394 100644
--- a/src/utils/math_util.cpp
+++ b/src/utils/math_util.cpp
@@ -91,7 +91,7 @@ double variance(std::vector<double> const &values, double mean)
   {
     total += (values[i] - mean) * (values[i] - mean);
   }
-  return total;
+  return total / (values.size() - 1);
 }
 
 /*
diff --git a/src/utils/trapezoid_profile.cpp b/src/utils/trapezoid_profile.cpp
deleted file mode 100644
index 98014ba..0000000
--- a/src/utils/trapezoid_profile.cpp
+++ /dev/null
@@ -1,335 +0,0 @@
-#include "../core/include/utils/controls/trapezoid_profile.h"
-#include "../core/include/utils/math_util.h"
-#include <cmath>
-#include <iostream>
-
-const double EPSILON = 0.000005;
-
-inline double calc_pos(double t, double a, double v, double si) {
-  return (0.5 * (a) * (t) * (t)) + ((v) * (t)) + (si);
-}
-
-inline double calc_vel(double t, double a, double vi) {
-  return ((a) * (t)) + (vi);
-}
-
-TrapezoidProfile::TrapezoidProfile(double max_v, double accel)
-    : si(0), sf(0), vi(0), vf(0), max_v(max_v), accel(accel), segments(),
-      num_acceleration_phases(0), precalculated(false) {}
-
-void TrapezoidProfile::set_max_v(double max_v) {
-  this->max_v = max_v;
-
-  this->precalculated = false;
-}
-
-void TrapezoidProfile::set_accel(double accel) {
-  this->accel = accel;
-
-  this->precalculated = false;
-}
-
-void TrapezoidProfile::set_endpts(double start, double end) {
-  this->si = start;
-  this->sf = end;
-
-  this->precalculated = false;
-}
-
-void TrapezoidProfile::set_vel_endpts(double start, double end) {
-  this->vi = start;
-  this->vf = end;
-
-  this->precalculated = false;
-}
-
-motion_t TrapezoidProfile::calculate_time_based(double time_s) {
-  if (!this->precalculated) {
-    precalculate();
-}
-
-  int segment_i = 0;
-
-  // position, velocity, acceleration, and time at the beginning of the segment
-  // we're in
-  double segment_s = this->si;
-  double segment_v = this->vi;
-  double segment_a = this->segments[0].accel;
-  double segment_t = 0;
-
-  // skip phases based on time
-  while (segment_i < MAX_TRAPEZOID_PROFILE_SEGMENTS &&
-         time_s > segment_t + this->segments[segment_i].duration) {
-    segment_t += this->segments[segment_i].duration;
-    segment_s = this->segments[segment_i].pos_after;
-    segment_v = this->segments[segment_i].vel_after;
-    segment_i++;
-    segment_a = this->segments[segment_i].accel;
-  }
-
-  motion_t out;
-
-  // if we are beyond the last phase, return the position/velocity at the last
-  // phase
-  if (segment_i == MAX_TRAPEZOID_PROFILE_SEGMENTS) {
-    out.accel = 0;
-    out.pos = this->segments[MAX_TRAPEZOID_PROFILE_SEGMENTS - 1].pos_after;
-    out.vel = this->segments[MAX_TRAPEZOID_PROFILE_SEGMENTS - 1].vel_after;
-    return out;
-  }
-
-  // calculate based on time
-  out.accel = this->segments[segment_i].accel;
-  out.vel = calc_vel(time_s - segment_t, segment_a, segment_v);
-  out.pos = calc_pos(time_s - segment_t, segment_a, segment_v, segment_s);
-  return out;
-}
-
-motion_t TrapezoidProfile::calculate(double time_s, double pos_s) {
-  if (!this->precalculated) {
-    precalculate();
-}
-
-  // printf("%f %f\n", time_s, pos_s);
-
-  int segment_i = 0;
-
-  // position, velocity, acceleration, and time at the beginning of the segment
-  // we're in
-  double segment_s = this->si;
-  double segment_v = this->vi;
-  double segment_a = this->segments[0].accel;
-  double segment_t = 0;
-
-  // skip acceleration phases based on time
-  while (segment_i < MAX_TRAPEZOID_PROFILE_SEGMENTS &&
-         segment_i < this->num_acceleration_phases &&
-         time_s > segment_t + this->segments[segment_i].duration) {
-    segment_t += this->segments[segment_i].duration;
-    segment_s = this->segments[segment_i].pos_after;
-    segment_v = this->segments[segment_i].vel_after;
-    segment_i++;
-    segment_a = this->segments[segment_i].accel;
-  }
-
-  // skip other segments based on distance, if we are past the time segments
-  if (segment_i >= this->num_acceleration_phases) {
-    while (
-        segment_i < MAX_TRAPEZOID_PROFILE_SEGMENTS &&
-        ((this->si < this->sf && pos_s > this->segments[segment_i].pos_after) ||
-         (this->si > this->sf &&
-          pos_s < this->segments[segment_i].pos_after))) {
-      segment_t += this->segments[segment_i].duration;
-      segment_s = this->segments[segment_i].pos_after;
-      segment_v = this->segments[segment_i].vel_after;
-      segment_i++;
-      segment_a = this->segments[segment_i].accel;
-    }
-  }
-
-  motion_t out;
-
-  // if we are beyond the last phase, return the position/velocity at the last
-  // phase
-  if (segment_i == MAX_TRAPEZOID_PROFILE_SEGMENTS) {
-    out.accel = 0;
-    out.pos = this->segments[MAX_TRAPEZOID_PROFILE_SEGMENTS - 1].pos_after;
-    out.vel = this->segments[MAX_TRAPEZOID_PROFILE_SEGMENTS - 1].vel_after;
-    return out;
-  }
-
-  // if we are in an acceleration phase, calculate based on time
-  if (segment_i < this->num_acceleration_phases) {
-    out.accel = segment_a;
-    out.vel = calc_vel(time_s - segment_t, segment_a, segment_v);
-    out.pos = calc_pos(time_s - segment_t, segment_a, segment_v, segment_s);
-    return out;
-  }
-
-  // otherwise calculate based on distance
-  out.accel = segment_a;
-  out.pos = pos_s;
-  // Calculating the final velocity in uniformly accelerated motion:
-  // v_f^2 = v_i^2 + 2a(x_f - x_i)
-  // v_f = sqrt(v_i^2 + 2a(x_f - x_i))
-  out.vel = sqrt(segment_v * segment_v + 2 * segment_a * (pos_s - segment_s));
-
-  // match the sign of the starting velocity of the segment
-  if (segment_v < 0) {
-    out.vel *= -1;
-}
-
-  return out;
-}
-
-double TrapezoidProfile::get_movement_time() const { return duration; }
-
-bool TrapezoidProfile::precalculate() {
-  for (auto &segment : this->segments) {
-    segment.pos_after = 0;
-    segment.vel_after = 0;
-    segment.accel = 0;
-    segment.duration = 0;
-  }
-  this->num_acceleration_phases = 0;
-
-  if (this->accel < EPSILON) {
-    printf("WARNING: trapezoid motion profile acceleration was negative, or "
-           "too small\n");
-    this->accel = fmin(EPSILON, fabs(this->accel));
-  }
-
-  if (this->max_v < EPSILON) {
-    printf("WARNING: trapezoid motion profile maximum velocity was negative, "
-           "or too small\n");
-    this->max_v = fmin(EPSILON, fabs(this->max_v));
-  }
-
-  // make sure vf is within v_max
-  if (fabs(this->vf) > this->max_v) {
-    printf("WARNING: trapezoid motion profile target velocity is greater than "
-           "maximum velocity\n");
-    if (this->vf > this->max_v) {
-      this->vf = this->max_v;
-    } else {
-      this->vf = -this->max_v;
-}
-  }
-
-  // if displacement is + but vf is -, or if displacement is - but vf is +
-  if ((this->si < this->sf && this->vf < 0) ||
-      (this->si > this->sf && this->vf > 0)) {
-    printf("WARNING: trapezoid motion profile target velocity is in the wrong "
-           "direction\n");
-    this->vf = 0;
-  }
-
-  double s = this->si, v = this->vi;
-
-  double total_time = 0;
-
-  for (auto &segment : this->segments) {
-    segment = calculate_next_segment(s, v);
-    total_time += segment.duration;
-
-    if (fabs(segment.pos_after - this->sf) < EPSILON) {
-      return true;
-}
-
-    // Check if xf is between x and x_next (meaning we overshot the end
-    // position)
-    if ((((this->si < this->sf) && (this->sf < segment.pos_after)) ||
-         ((segment.pos_after < this->sf) && (this->sf < this->si))) &&
-        fabs(this->sf - segment.pos_after) > EPSILON) {
-      // Solve for the exact time to reach self.xf using the quadratic formula
-      // Given: x = x0 + v0 * t + 0.5 * a * t^2
-      double a_coeff = 0.5 * segment.accel;
-      if (fabs(a_coeff) < EPSILON) {
-        a_coeff = EPSILON;
-}
-      double b_coeff = v;
-      double c_coeff = s - this->sf;
-
-      double discriminant = b_coeff * b_coeff - 4.0 * a_coeff * c_coeff;
-      if (discriminant >= 0) {
-        double t1 = (-b_coeff + sqrt(discriminant)) / (2 * a_coeff);
-        double t2 = (-b_coeff - sqrt(discriminant)) / (2 * a_coeff);
-
-        double t_corrected = fmin(t1, t2);
-        if (t_corrected < 0) {
-          t_corrected = fmax(t1, t2);
-        }
-        segment.duration = t_corrected;
-        segment.vel_after = calc_vel(segment.duration, segment.accel, v);
-        segment.pos_after = calc_pos(segment.duration, segment.accel, v, s);
-        return true;
-      } else {
-        printf("ERROR: No real solution to reach sf.\n");
-        return false;
-      }
-    }
-
-    v = segment.vel_after;
-    s = segment.pos_after;
-    duration = total_time;
-  }
-
-  printf("WARNING: trapezoid motion profile did not reach end position in %d "
-         "segments (the maximum)\n",
-         MAX_TRAPEZOID_PROFILE_SEGMENTS);
-  return false;
-}
-
-trapezoid_profile_segment_t
-TrapezoidProfile::calculate_kinetic_motion(double si, double vi,
-                                           double v_target) {
-  trapezoid_profile_segment_t m;
-
-  m.duration = fabs(v_target - vi) / this->accel;
-  m.vel_after = v_target;
-  if (vi < v_target) {
-    m.accel = this->accel;
-  } else {
-    m.accel = -this->accel;
-  }
-
-  m.pos_after = calc_pos(m.duration, m.accel, vi, si);
-  return m;
-}
-
-trapezoid_profile_segment_t TrapezoidProfile::calculate_next_segment(double s,
-                                                                     double v) {
-  // d represents the direction of travel, + or -
-  int d = 1;
-  if (this->si > this->sf) {
-    d = -1;
-  }
-
-  // if going the wrong way, come to a stop
-  if ((d == 1 && v < -EPSILON) || (d == -1 && v > EPSILON)) {
-    this->num_acceleration_phases += 1;
-    return calculate_kinetic_motion(s, v, 0);
-  }
-
-  // if |v| > max_v, slow down
-  if (v > this->max_v || v < -this->max_v) {
-    this->num_acceleration_phases += 1;
-    return calculate_kinetic_motion(s, v, d * this->max_v);
-  }
-
-  // how much distance would it take to reach vf in one segment?
-  trapezoid_profile_segment_t beeline_vf =
-      calculate_kinetic_motion(s, v, this->vf);
-  if ((d == 1 && beeline_vf.pos_after > this->sf - EPSILON) ||
-      (d == -1 && beeline_vf.pos_after <= this->sf + EPSILON)) {
-    // we can't make it to vf - get as close as possible
-    return beeline_vf;
-  }
-
-  // we can reach vf in one segment - choose the fastest speed so that that is
-  // still possible
-  double v_middle =
-      d * sqrt(((v * v + this->vf * this->vf) / 2.0) +
-               this->accel * fabs(this->sf - s) + this->vf * this->vf);
-  // cap this at our max speed
-  v_middle = fmax(-this->max_v, fmin(v_middle, this->max_v));
-
-  // if we aren't at this speed yet, let's get there
-  if (fabs(v_middle - v) > EPSILON) {
-    this->num_acceleration_phases += 1;
-    return calculate_kinetic_motion(s, v, v_middle);
-  }
-
-  // we are at our max speed - hold it until we have to start slowing down
-  trapezoid_profile_segment_t out;
-  out.accel = 0;
-  double distance = d * fabs(this->sf - beeline_vf.pos_after);
-  out.pos_after = s + distance;
-  out.duration = distance / v_middle;
-  out.vel_after = v_middle;
-  return out;
-}
-
-double TrapezoidProfile::get_max_v() const { return max_v; };
-
-double TrapezoidProfile::get_accel() const { return accel; }
\ No newline at end of file

From aade2e8117930b220f6edc08992bb80aaf312835 Mon Sep 17 00:00:00 2001
From: Ryan McGee <ramtech51@comcast.net>
Date: Sun, 25 Feb 2024 13:51:35 -0500
Subject: [PATCH 241/243] Formatted to LLVM & 120 char limit

---
 include/robot_specs.h                         |  24 +-
 include/subsystems/custom_encoder.h           |  14 +-
 include/subsystems/flywheel.h                 |  45 +-
 include/subsystems/layout.h                   |  11 +-
 include/subsystems/lift.h                     | 291 ++++-----
 include/subsystems/mecanum_drive.h            | 114 ++--
 include/subsystems/odometry/odometry_3wheel.h | 128 ++--
 include/subsystems/odometry/odometry_base.h   | 257 ++++----
 include/subsystems/odometry/odometry_tank.h   | 123 ++--
 include/subsystems/screen.h                   | 599 +++++++++---------
 include/subsystems/tank_drive.h               |  65 +-
 include/utils/auto_chooser.h                  |  13 +-
 .../utils/command_structure/auto_command.h    |  80 +--
 .../utils/command_structure/basic_command.h   | 166 +++--
 .../command_structure/command_controller.h    |  20 +-
 .../utils/command_structure/delay_command.h   |  40 +-
 .../utils/command_structure/drive_commands.h  | 344 +++++-----
 .../command_structure/flywheel_commands.h     | 150 ++---
 include/utils/controls/bang_bang.h            |  77 ++-
 include/utils/controls/feedback_base.h        |  67 +-
 include/utils/controls/feedforward.h          | 115 ++--
 include/utils/controls/motion_controller.h    | 191 +++---
 include/utils/controls/pid.h                  |  55 +-
 include/utils/controls/take_back_half.h       |  94 +--
 include/utils/controls/trapezoid_profile.h    | 117 ++--
 include/utils/generic_auto.h                  |  54 +-
 include/utils/geometry.h                      | 179 ++----
 include/utils/graph_drawer.h                  |  19 +-
 include/utils/logger.h                        | 100 ++-
 include/utils/math_util.h                     |  30 +-
 include/utils/moving_average.h                |  29 +-
 include/utils/pure_pursuit.h                  | 212 +++----
 include/utils/serializer.h                    | 159 ++---
 include/utils/state_machine.h                 | 296 +++++----
 include/utils/vector2d.h                      | 156 +++--
 src/subsystems/custom_encoder.cpp             |  39 +-
 src/subsystems/flywheel.cpp                   |  71 +--
 src/subsystems/mecanum_drive.cpp              | 188 +++---
 src/subsystems/odometry/odometry_3wheel.cpp   | 381 ++++++-----
 src/subsystems/odometry/odometry_base.cpp     |  56 +-
 src/subsystems/odometry/odometry_tank.cpp     |  75 +--
 src/subsystems/screen.cpp                     |  65 +-
 src/subsystems/tank_drive.cpp                 | 214 +++----
 src/utils/auto_chooser.cpp                    |  33 +-
 src/utils/command_structure/auto_command.cpp  |  28 +-
 src/utils/command_structure/basic_command.cpp |  46 +-
 .../command_structure/command_controller.cpp  |  61 +-
 .../command_structure/drive_commands.cpp      |  99 ++-
 .../command_structure/flywheel_commands.cpp   |  23 +-
 src/utils/controls/bang_bang.cpp              |  53 +-
 src/utils/controls/feedforward.cpp            | 131 ++--
 src/utils/controls/motion_controller.cpp      | 234 ++++---
 src/utils/controls/pid.cpp                    |  28 +-
 src/utils/controls/pidff.cpp                  |  45 +-
 src/utils/controls/take_back_half.cpp         | 116 ++--
 src/utils/controls/trapezoid_profile.cpp      | 171 +++--
 src/utils/generic_auto.cpp                    |  79 ++-
 src/utils/graph_drawer.cpp                    | 181 +++---
 src/utils/logger.cpp                          | 121 ++--
 src/utils/math_util.cpp                       |  66 +-
 src/utils/moving_average.cpp                  |  50 +-
 src/utils/pure_pursuit.cpp                    | 211 +++---
 src/utils/serializer.cpp                      | 370 +++++------
 src/utils/vector2d.cpp                        |  94 +--
 64 files changed, 3544 insertions(+), 4219 deletions(-)

diff --git a/include/robot_specs.h b/include/robot_specs.h
index 9a5fa0c..d853783 100644
--- a/include/robot_specs.h
+++ b/include/robot_specs.h
@@ -1,25 +1,27 @@
 #pragma once
-#include "../core/include/utils/controls/pid.h"
 #include "../core/include/utils/controls/feedback_base.h"
+#include "../core/include/utils/controls/pid.h"
 
 /**
  * Main robot characterization struct.
- * This will be passed to all the major subsystems 
+ * This will be passed to all the major subsystems
  * that require info about the robot.
  * All distance measurements are in inches.
  */
-typedef struct
-{  
-  double robot_radius; ///< if you were to draw a circle with this radius, the robot would be entirely contained within it
+typedef struct {
+  double
+      robot_radius; ///< if you were to draw a circle with this radius, the robot would be entirely contained within it
 
-  double odom_wheel_diam; ///< the diameter of the wheels used for 
-  double odom_gear_ratio; ///< the ratio of the odometry wheel to the encoder reading odometry data
-  double dist_between_wheels; ///< the distance between centers of the central drive wheels 
+  double odom_wheel_diam;     ///< the diameter of the wheels used for
+  double odom_gear_ratio;     ///< the ratio of the odometry wheel to the encoder reading odometry data
+  double dist_between_wheels; ///< the distance between centers of the central drive wheels
 
-  double drive_correction_cutoff; ///< the distance at which to stop trying to turn towards the target. If we are less than this value, we can continue driving forward to minimize our distance but will not try to spin around to point directly at the target
+  double drive_correction_cutoff; ///< the distance at which to stop trying to turn towards the target. If we are less
+                                  ///< than this value, we can continue driving forward to minimize our distance but
+                                  ///< will not try to spin around to point directly at the target
 
-  Feedback *drive_feedback; ///< the default feedback for autonomous driving
-  Feedback *turn_feedback; ///< the defualt feedback for autonomous turning
+  Feedback *drive_feedback;         ///< the default feedback for autonomous driving
+  Feedback *turn_feedback;          ///< the defualt feedback for autonomous turning
   PID::pid_config_t correction_pid; ///< the pid controller to keep the robot driving in as straight a line as possible
 
 } robot_specs_t;
\ No newline at end of file
diff --git a/include/subsystems/custom_encoder.h b/include/subsystems/custom_encoder.h
index 2b87b86..b9d3e96 100644
--- a/include/subsystems/custom_encoder.h
+++ b/include/subsystems/custom_encoder.h
@@ -5,30 +5,29 @@
  * A wrapper class for the vex encoder that allows the use of 3rd party
  * encoders with different tick-per-revolution values.
  */
-class CustomEncoder : public vex::encoder
-{
+class CustomEncoder : public vex::encoder {
   typedef vex::encoder super;
 
-  public:
+public:
   /**
    * Construct an encoder with a custom number of ticks
    * @param port the triport port on the brain the encoder is plugged into
    * @param ticks_per_rev the number of ticks the encoder will report for one revolution
-  */
+   */
   CustomEncoder(vex::triport::port &port, double ticks_per_rev);
 
   /**
    * sets the stored rotation of the encoder. Any further movements will be from this value
    * @param val the numerical value of the angle we are setting to
    * @param units the unit of val
-  */
+   */
   void setRotation(double val, vex::rotationUnits units);
 
   /**
    * sets the stored position of the encoder. Any further movements will be from this value
    * @param val the numerical value of the position we are setting to
    * @param units the unit of val
-  */
+   */
   void setPosition(double val, vex::rotationUnits units);
 
   /**
@@ -52,7 +51,6 @@ class CustomEncoder : public vex::encoder
    */
   double velocity(vex::velocityUnits units);
 
-
-  private:
+private:
   double tick_scalar;
 };
\ No newline at end of file
diff --git a/include/subsystems/flywheel.h b/include/subsystems/flywheel.h
index c8c42b3..2837d7a 100644
--- a/include/subsystems/flywheel.h
+++ b/include/subsystems/flywheel.h
@@ -1,22 +1,21 @@
 #pragma once
 
-#include "../core/include/utils/controls/feedforward.h"
-#include "vex.h"
 #include "../core/include/robot_specs.h"
-#include "../core/include/utils/controls/pid.h"
-#include "../core/include/utils/command_structure/auto_command.h"
 #include "../core/include/subsystems/screen.h"
+#include "../core/include/utils/command_structure/auto_command.h"
+#include "../core/include/utils/controls/feedforward.h"
+#include "../core/include/utils/controls/pid.h"
+#include "vex.h"
 #include <atomic>
 
 /**
  * a Flywheel class that handles all control of a high inertia spinning disk
- * It gives multiple options for what control system to use in order to control wheel velocity and functions alerting the user when the flywheel is up to speed.
- * Flywheel is a set and forget class.
- * Once you create it you can call spin_rpm or stop on it at any time and it will take all necessary steps to accomplish this
+ * It gives multiple options for what control system to use in order to control wheel velocity and functions alerting
+ * the user when the flywheel is up to speed. Flywheel is a set and forget class. Once you create it you can call
+ * spin_rpm or stop on it at any time and it will take all necessary steps to accomplish this
  *
  */
-class Flywheel
-{
+class Flywheel {
 
 public:
   // CONSTRUCTORS, GETTERS, AND SETTERS
@@ -70,10 +69,7 @@ class Flywheel
    * @brief check if the feedback controller thinks the flywheel is on target
    * @return true if on target
    */
-  bool is_on_target()
-  {
-    return fb.is_on_target();
-  }
+  bool is_on_target() { return fb.is_on_target(); }
 
   /**
    *  @brief Creates a page displaying info about the flywheel
@@ -85,23 +81,22 @@ class Flywheel
    * @brief Creates a new auto command to spin the flywheel at the desired velocity
    * @param rpm the rpm to spin at
    * @return an auto command to add to a command controller
-  */
-  AutoCommand *SpinRpmCmd(int rpm)
-  {
+   */
+  AutoCommand *SpinRpmCmd(int rpm) {
 
-    return new FunctionCommand([this, rpm]()
-                               {spin_rpm(rpm); return true; });
+    return new FunctionCommand([this, rpm]() {
+      spin_rpm(rpm);
+      return true;
+    });
   }
 
   /**
-   * @brief Creates a new auto command that will hold until the flywheel has its target as defined by its feedback controller
+   * @brief Creates a new auto command that will hold until the flywheel has its target as defined by its feedback
+   * controller
    * @return an auto command to add to a command controller
    */
-  AutoCommand *WaitUntilUpToSpeedCmd()
-  {
-    return new WaitUntilCondition(
-        new FunctionCondition([this]()
-                              { return is_on_target(); }));
+  AutoCommand *WaitUntilUpToSpeedCmd() {
+    return new WaitUntilCondition(new FunctionCondition([this]() { return is_on_target(); }));
   }
 
 private:
@@ -116,7 +111,7 @@ class Flywheel
   double ratio;                   ///< ratio between motor and flywheel. For accurate RPM calcualation
   std::atomic<double> target_rpm; ///< Desired RPM of the flywheel.
   task rpm_task;                  ///< task that handles spinning the wheel at a given target_rpm
-  Filter &avger;            ///< Moving average to smooth out noise from
+  Filter &avger;                  ///< Moving average to smooth out noise from
 
   // Functions for internal use only
   /**
diff --git a/include/subsystems/layout.h b/include/subsystems/layout.h
index 1715e93..61531f2 100644
--- a/include/subsystems/layout.h
+++ b/include/subsystems/layout.h
@@ -1,11 +1,8 @@
 #include <cmath>
 #include <functional>
 
-struct SliderCfg{
-    double &val;
-    double min;
-    double max;
+struct SliderCfg {
+  double &val;
+  double min;
+  double max;
 };
-
-
-
diff --git a/include/subsystems/lift.h b/include/subsystems/lift.h
index 2b45fa7..8512f47 100644
--- a/include/subsystems/lift.h
+++ b/include/subsystems/lift.h
@@ -1,10 +1,10 @@
 #pragma once
 
-#include "vex.h"
 #include "../core/include/utils/controls/pid.h"
+#include "vex.h"
+#include <atomic>
 #include <iostream>
 #include <map>
-#include <atomic>
 #include <vector>
 
 using namespace vex;
@@ -17,19 +17,15 @@ using namespace std;
  *
  * @author Ryan McGee
  */
-template <typename T>
-class Lift
-{
-  public:
-
+template <typename T> class Lift {
+public:
   /**
    * lift_cfg_t holds the physical parameter specifications of a lify system.
    * includes:
    * - maximum speeds for the system
-   * - softstops to stop the lift from hitting the hard stops too hard 
+   * - softstops to stop the lift from hitting the hard stops too hard
    */
-  struct lift_cfg_t
-  {
+  struct lift_cfg_t {
     double up_speed, down_speed;
     double softstop_up, softstop_down;
 
@@ -37,73 +33,71 @@ class Lift
   };
 
   /**
-    * Construct the Lift object and begin the background task that controls the lift.
-    *
-    * Usage example:
-    * /code{.cpp}
-    * enum Positions {UP, MID, DOWN};
-    * map<Positions, double> setpt_map { 
-    *      {DOWN, 0.0}, 
-    *      {MID, 0.5},
-    *      {UP, 1.0}
-    *  };
-    * Lift<Positions> my_lift(motors, lift_cfg, setpt_map);
-    * /endcode
-    *
-    * @param lift_motors 
-    *   A set of motors, all set that positive rotation correlates with the lift going up
-    * @param lift_cfg
-    *   Lift characterization information; PID tunings and movement speeds
-    * @param setpoint_map
-    *   A map of enum type T, in which each enum entry corresponds to a different lift height
-    */
-  Lift(motor_group &lift_motors, lift_cfg_t &lift_cfg, map<T, double> &setpoint_map, limit *homing_switch=NULL)
-  : lift_motors(lift_motors), cfg(lift_cfg), lift_pid(cfg.lift_pid_cfg), setpoint_map(setpoint_map), homing_switch(homing_switch)
-  {
+   * Construct the Lift object and begin the background task that controls the lift.
+   *
+   * Usage example:
+   * /code{.cpp}
+   * enum Positions {UP, MID, DOWN};
+   * map<Positions, double> setpt_map {
+   *      {DOWN, 0.0},
+   *      {MID, 0.5},
+   *      {UP, 1.0}
+   *  };
+   * Lift<Positions> my_lift(motors, lift_cfg, setpt_map);
+   * /endcode
+   *
+   * @param lift_motors
+   *   A set of motors, all set that positive rotation correlates with the lift going up
+   * @param lift_cfg
+   *   Lift characterization information; PID tunings and movement speeds
+   * @param setpoint_map
+   *   A map of enum type T, in which each enum entry corresponds to a different lift height
+   */
+  Lift(motor_group &lift_motors, lift_cfg_t &lift_cfg, map<T, double> &setpoint_map, limit *homing_switch = NULL)
+      : lift_motors(lift_motors), cfg(lift_cfg), lift_pid(cfg.lift_pid_cfg), setpoint_map(setpoint_map),
+        homing_switch(homing_switch) {
 
     is_async = true;
     setpoint = 0;
-    
+
     // Create a background task that is constantly updating the lift PID, if requested.
     // Set once, and forget.
-    task t([](void* ptr){
-      Lift &lift = *((Lift*) ptr);
-
-      while(true)
-      {
-        if(lift.get_async())
-          lift.hold();
+    task t(
+        [](void *ptr) {
+          Lift &lift = *((Lift *)ptr);
 
-        vexDelay(50);
-      }
+          while (true) {
+            if (lift.get_async())
+              lift.hold();
 
-      return 0;
-    }, this);
+            vexDelay(50);
+          }
 
+          return 0;
+        },
+        this);
   }
 
   /**
-    *  Control the lift with an "up" button and a "down" button.
-    *  Use PID to hold the lift when letting go.
-    *  @param up_ctrl
-    *    Button controlling the "UP" motion
-    *  @param down_ctrl
-    *    Button controlling the "DOWN" motion
-    */
-  void control_continuous(bool up_ctrl, bool down_ctrl)
-  {
+   *  Control the lift with an "up" button and a "down" button.
+   *  Use PID to hold the lift when letting go.
+   *  @param up_ctrl
+   *    Button controlling the "UP" motion
+   *  @param down_ctrl
+   *    Button controlling the "DOWN" motion
+   */
+  void control_continuous(bool up_ctrl, bool down_ctrl) {
     static timer tmr;
-    
+
     double cur_pos = 0;
 
     // Check if there's a hook for a custom sensor. If not, use the motors.
-    if(get_sensor == NULL)
+    if (get_sensor == NULL)
       cur_pos = lift_motors.position(rev);
     else
       cur_pos = get_sensor();
 
-    if(up_ctrl && cur_pos < cfg.softstop_up)
-    {
+    if (up_ctrl && cur_pos < cfg.softstop_up) {
       lift_motors.spin(directionType::fwd, cfg.up_speed, volt);
       setpoint = cur_pos + .3;
 
@@ -111,71 +105,65 @@ class Lift
 
       // Disable the PID while going UP.
       is_async = false;
-    } else if(down_ctrl && cur_pos > cfg.softstop_down)
-    {
+    } else if (down_ctrl && cur_pos > cfg.softstop_down) {
       // Lower the lift slowly, at a rate defined by down_speed
-      if(setpoint > cfg.softstop_down)
+      if (setpoint > cfg.softstop_down)
         setpoint = setpoint - (tmr.time(sec) * cfg.down_speed);
       // std::cout << "DEBUG OUT: DOWN " << setpoint << ", " << tmr.time(sec) << ", " << cfg.down_speed << "\n";
       is_async = true;
-    } else
-    {
+    } else {
       // Hold the lift at the last setpoint
       is_async = true;
     }
 
-    tmr.reset();  
+    tmr.reset();
   }
 
   /**
    * Control the lift with manual controls (no holding voltage)
-   * 
+   *
    * @param up_btn Raise the lift when true
    * @param down_btn Lower the lift when true
    * @param volt_up Motor voltage when raising the lift
    * @param volt_down Motor voltage when lowering the lift
    */
-  void control_manual(bool up_btn, bool down_btn, int volt_up, int volt_down)
-  {
+  void control_manual(bool up_btn, bool down_btn, int volt_up, int volt_down) {
     static bool down_hold = false;
     static bool init = true;
 
     // Allow for setting position while still calling this function
-    if(init || up_btn || down_btn)
-    {
+    if (init || up_btn || down_btn) {
       init = false;
       is_async = false;
     }
 
     double rev = lift_motors.position(rotationUnits::rev);
 
-    if(rev < cfg.softstop_down && down_btn)
+    if (rev < cfg.softstop_down && down_btn)
       down_hold = true;
-    else if( !down_btn )
+    else if (!down_btn)
       down_hold = false;
 
-    if(up_btn && rev < cfg.softstop_up)
+    if (up_btn && rev < cfg.softstop_up)
       lift_motors.spin(directionType::fwd, volt_up, voltageUnits::volt);
-    else if(down_btn && rev > cfg.softstop_down && !down_hold)
+    else if (down_btn && rev > cfg.softstop_down && !down_hold)
       lift_motors.spin(directionType::rev, volt_down, voltageUnits::volt);
     else
       lift_motors.spin(directionType::fwd, 0, voltageUnits::volt);
-  
   }
 
   /**
-    * Control the lift in "steps". When the "up" button is pressed, the lift will go to the next
-    * position as defined by pos_list. Order matters! 
-    *
-    * @param up_step
-    *   A button that increments the position of the lift.
-    * @param down_step
-    *   A button that decrements the position of the lift.
-    * @param pos_list
-    *   A list of positions for the lift to go through. The higher the index, the higher the lift should be (generally).
-    */
-  void control_setpoints(bool up_step, bool down_step, vector<T> pos_list)
-  {
+   * Control the lift in "steps". When the "up" button is pressed, the lift will go to the next
+   * position as defined by pos_list. Order matters!
+   *
+   * @param up_step
+   *   A button that increments the position of the lift.
+   * @param down_step
+   *   A button that decrements the position of the lift.
+   * @param pos_list
+   *   A list of positions for the lift to go through. The higher the index, the higher the lift should be (generally).
+   */
+  void control_setpoints(bool up_step, bool down_step, vector<T> pos_list) {
     // Make sure inputs are only processed on the rising edge of the button
     static bool up_last = up_step, down_last = down_step;
 
@@ -188,31 +176,29 @@ class Lift
     static int cur_index = 0;
 
     // Avoid an index overflow. Shouldn't happen unless the user changes pos_list between calls.
-    if(cur_index >= pos_list.size())
+    if (cur_index >= pos_list.size())
       cur_index = pos_list.size() - 1;
 
     // Increment or decrement the index of the list, bringing it up or down.
-    if(up_rising && cur_index < (pos_list.size() - 1))
+    if (up_rising && cur_index < (pos_list.size() - 1))
       cur_index++;
-    else if(down_rising && cur_index > 0)
+    else if (down_rising && cur_index > 0)
       cur_index--;
 
     // Set the lift to hold the position in the background with the PID loop
     set_position(pos_list[cur_index]);
-    is_async = true;  
-
+    is_async = true;
   }
 
   /**
-    * Enable the background task, and send the lift to a position, specified by the
-    * setpoint map from the constructor.
-    * 
-    * @param pos
-    *   A lift position enum type
-    * @return True if the pid has reached the setpoint
-    */
-  bool set_position(T pos)
-  {
+   * Enable the background task, and send the lift to a position, specified by the
+   * setpoint map from the constructor.
+   *
+   * @param pos
+   *   A lift position enum type
+   * @return True if the pid has reached the setpoint
+   */
+  bool set_position(T pos) {
     this->setpoint = setpoint_map[pos];
     is_async = true;
 
@@ -220,35 +206,30 @@ class Lift
   }
 
   /**
-    * Manually set a setpoint value for the lift PID to go to.
-    * @param val
-    *   Lift setpoint, in motor revolutions or sensor units defined by get_sensor. Cannot be outside the softstops.
-    * @return True if the pid has reached the setpoint
-    */
-  bool set_setpoint(double val)
-  {
+   * Manually set a setpoint value for the lift PID to go to.
+   * @param val
+   *   Lift setpoint, in motor revolutions or sensor units defined by get_sensor. Cannot be outside the softstops.
+   * @return True if the pid has reached the setpoint
+   */
+  bool set_setpoint(double val) {
     this->setpoint = val;
     return (lift_pid.get_target() == this->setpoint) && lift_pid.is_on_target();
   }
-  
+
   /**
-    * @return The current setpoint for the lift
-    */
-  double get_setpoint()
-  {
-    return this->setpoint;
-  }
+   * @return The current setpoint for the lift
+   */
+  double get_setpoint() { return this->setpoint; }
 
   /**
-    * Target the class's setpoint.
-    * Calculate the PID output and set the lift motors accordingly.
-    */
-  void hold()
-  {
+   * Target the class's setpoint.
+   * Calculate the PID output and set the lift motors accordingly.
+   */
+  void hold() {
     lift_pid.set_target(setpoint);
     // std::cout << "DEBUG OUT: SETPOINT " << setpoint << "\n";
 
-    if(get_sensor != NULL)
+    if (get_sensor != NULL)
       lift_pid.update(get_sensor());
     else
       lift_pid.update(lift_motors.position(rev));
@@ -259,16 +240,14 @@ class Lift
   }
 
   /**
-   * A blocking function that automatically homes the lift based on a sensor or hard stop, 
+   * A blocking function that automatically homes the lift based on a sensor or hard stop,
    * and sets the position to 0. A watchdog times out after 3 seconds, to avoid damage.
    */
-  void home()
-  {
+  void home() {
     static timer tmr;
     tmr.reset();
-    
-    while(tmr.time(sec) < 3)
-    {
+
+    while (tmr.time(sec) < 3) {
       lift_motors.spin(directionType::rev, 6, volt);
 
       if (homing_switch == NULL && lift_motors.current(currentUnits::amp) > 1.5)
@@ -277,45 +256,35 @@ class Lift
         break;
     }
 
-    if(reset_sensor != NULL)
+    if (reset_sensor != NULL)
       reset_sensor();
-    
+
     lift_motors.resetPosition();
     lift_motors.stop();
-
   }
 
   /**
-    * @return whether or not the background thread is running the lift
-    */
-  bool get_async()
-  {
-    return is_async;
-  }
+   * @return whether or not the background thread is running the lift
+   */
+  bool get_async() { return is_async; }
 
   /**
-    * Enables or disables the background task. Note that running the control functions, or set_position functions
-    * will immediately re-enable the task for autonomous use.
-    * @param val Whether or not the background thread should run the lift
-    */
-  void set_async(bool val)
-  {
-    this->is_async = val;
-  }
+   * Enables or disables the background task. Note that running the control functions, or set_position functions
+   * will immediately re-enable the task for autonomous use.
+   * @param val Whether or not the background thread should run the lift
+   */
+  void set_async(bool val) { this->is_async = val; }
 
   /**
-    * Creates a custom hook for any other type of sensor to be used on the lift. Example:
-    * /code{.cpp}
-    * my_lift.set_sensor_function( [](){return my_sensor.position();} );
-    * /endcode
-    *
-    * @param fn_ptr
-    *   Pointer to custom sensor function
-    */
-  void set_sensor_function(double (*fn_ptr) (void))
-  {
-    this->get_sensor = fn_ptr;
-  }
+   * Creates a custom hook for any other type of sensor to be used on the lift. Example:
+   * /code{.cpp}
+   * my_lift.set_sensor_function( [](){return my_sensor.position();} );
+   * /endcode
+   *
+   * @param fn_ptr
+   *   Pointer to custom sensor function
+   */
+  void set_sensor_function(double (*fn_ptr)(void)) { this->get_sensor = fn_ptr; }
 
   /**
    *  Creates a custom hook to reset the sensor used in set_sensor_function(). Example:
@@ -323,24 +292,18 @@ class Lift
    * my_lift.set_sensor_reset( my_sensor.resetPosition );
    * /endcode
    */
-  void set_sensor_reset(void (*fn_ptr) (void))
-  {
-    this->reset_sensor = fn_ptr;
-  }
-
-  private:
+  void set_sensor_reset(void (*fn_ptr)(void)) { this->reset_sensor = fn_ptr; }
 
+private:
   motor_group &lift_motors;
   lift_cfg_t &cfg;
   PID lift_pid;
   map<T, double> &setpoint_map;
   limit *homing_switch;
-  
+
   atomic<double> setpoint;
   atomic<bool> is_async;
 
   double (*get_sensor)(void) = NULL;
   void (*reset_sensor)(void) = NULL;
-  
-
 };
\ No newline at end of file
diff --git a/include/subsystems/mecanum_drive.h b/include/subsystems/mecanum_drive.h
index 97f3cdb..b120d66 100644
--- a/include/subsystems/mecanum_drive.h
+++ b/include/subsystems/mecanum_drive.h
@@ -1,26 +1,23 @@
 #pragma once
 
-#include "vex.h"
 #include "../core/include/utils/controls/pid.h"
+#include "vex.h"
 
 #ifndef PI
 #define PI 3.141592654
 #endif
 
 /**
-  * A class representing the Mecanum drivetrain.
-  * Contains 4 motors, a possible IMU (intertial), and a possible undriven perpendicular wheel.
-  */
-class MecanumDrive
-{
-
-  public:
+ * A class representing the Mecanum drivetrain.
+ * Contains 4 motors, a possible IMU (intertial), and a possible undriven perpendicular wheel.
+ */
+class MecanumDrive {
 
+public:
   /**
-    * Configure the Mecanum drive PID tunings and robot configurations
-    */
-  struct mecanumdrive_config_t
-  {
+   * Configure the Mecanum drive PID tunings and robot configurations
+   */
+  struct mecanumdrive_config_t {
     // PID configurations for autonomous driving
     PID::pid_config_t drive_pid_conf;
     PID::pid_config_t drive_gyro_pid_conf;
@@ -34,65 +31,63 @@ class MecanumDrive
 
     // Width between the center of the left and right wheels
     double wheelbase_width;
-
   };
 
   /**
-  * Create the Mecanum drivetrain object
-  */
-  MecanumDrive(vex::motor &left_front, vex::motor &right_front, vex::motor &left_rear, vex::motor &right_rear, 
-               vex::rotation *lateral_wheel=NULL, vex::inertial *imu=NULL, mecanumdrive_config_t *config=NULL);
+   * Create the Mecanum drivetrain object
+   */
+  MecanumDrive(vex::motor &left_front, vex::motor &right_front, vex::motor &left_rear, vex::motor &right_rear,
+               vex::rotation *lateral_wheel = NULL, vex::inertial *imu = NULL, mecanumdrive_config_t *config = NULL);
 
   /**
-  * Drive the robot using vectors. This handles all the math required for mecanum control.
-  *
-  * @param direction_deg  the direction to drive the robot, in degrees. 0 is forward,
-  *                       180 is back, clockwise is positive, counterclockwise is negative.
-  * @param magnitude      How fast the robot should drive, in percent: 0.0->1.0
-  * @param rotation       How fast the robot should rotate, in percent: -1.0->+1.0
-  */
+   * Drive the robot using vectors. This handles all the math required for mecanum control.
+   *
+   * @param direction_deg  the direction to drive the robot, in degrees. 0 is forward,
+   *                       180 is back, clockwise is positive, counterclockwise is negative.
+   * @param magnitude      How fast the robot should drive, in percent: 0.0->1.0
+   * @param rotation       How fast the robot should rotate, in percent: -1.0->+1.0
+   */
   void drive_raw(double direction_deg, double magnitude, double rotation);
 
   /**
-  * Drive the robot with a mecanum-style / arcade drive. Inputs are in percent (-100.0 -> 100.0) straight from the controller.
-  * Controls are mixed, so the robot can drive forward / strafe / rotate all at the same time. 
-  *
-  * @param left_y left joystick, Y axis (forward / backwards)
-  * @param left_x left joystick, X axis (strafe left / right)
-  * @param right_x right joystick, X axis (rotation left / right)
-  * @param power =2 how much of a "curve" there should be on drive controls; better for low speed maneuvers.
-  *                Leave blank for a default curve of 2 (higher means more fidelity)
-  */
-  void drive(double left_y, double left_x, double right_x, int power=2);
+   * Drive the robot with a mecanum-style / arcade drive. Inputs are in percent (-100.0 -> 100.0) straight from the
+   * controller. Controls are mixed, so the robot can drive forward / strafe / rotate all at the same time.
+   *
+   * @param left_y left joystick, Y axis (forward / backwards)
+   * @param left_x left joystick, X axis (strafe left / right)
+   * @param right_x right joystick, X axis (rotation left / right)
+   * @param power =2 how much of a "curve" there should be on drive controls; better for low speed maneuvers.
+   *                Leave blank for a default curve of 2 (higher means more fidelity)
+   */
+  void drive(double left_y, double left_x, double right_x, int power = 2);
 
   /**
-  * Drive the robot in a straight line automatically.
-  * If the inertial was declared in the constructor, use it to correct while driving.
-  * If the lateral wheel was declared in the constructor, use it for more accurate positioning while strafing.
-  *
-  * @param inches   How far the robot should drive, in inches
-  * @param direction    What direction the robot should travel in, in degrees.
-  *                     0 is forward, +/-180 is reverse, clockwise is positive.
-  * @param speed    The maximum speed the robot should travel, in percent: -1.0->+1.0
-  * @param gyro_correction =true   Whether or not to use the gyro to help correct while driving.
-  *                               Will always be false if no gyro was declared in the constructor.
-  */
-  bool auto_drive(double inches, double direction, double speed, bool gyro_correction=true);
+   * Drive the robot in a straight line automatically.
+   * If the inertial was declared in the constructor, use it to correct while driving.
+   * If the lateral wheel was declared in the constructor, use it for more accurate positioning while strafing.
+   *
+   * @param inches   How far the robot should drive, in inches
+   * @param direction    What direction the robot should travel in, in degrees.
+   *                     0 is forward, +/-180 is reverse, clockwise is positive.
+   * @param speed    The maximum speed the robot should travel, in percent: -1.0->+1.0
+   * @param gyro_correction =true   Whether or not to use the gyro to help correct while driving.
+   *                               Will always be false if no gyro was declared in the constructor.
+   */
+  bool auto_drive(double inches, double direction, double speed, bool gyro_correction = true);
 
   /**
-  * Autonomously turn the robot X degrees over it's center point. Uses a closed loop
-  * for control.
-  * @param degrees How many degrees to rotate the robot. Clockwise postive.
-  * @param speed What percentage to run the motors at: 0.0 -> 1.0
-  * @param ignore_imu =false Whether or not to use the Inertial for determining angle.
-  *        Will instead use circumference formula + robot's wheelbase + encoders to determine.
-  * 
-  * @return whether or not the robot has finished the maneuver
-  */
-  bool auto_turn(double degrees, double speed, bool ignore_imu=false);
-
-  private:
-
+   * Autonomously turn the robot X degrees over it's center point. Uses a closed loop
+   * for control.
+   * @param degrees How many degrees to rotate the robot. Clockwise postive.
+   * @param speed What percentage to run the motors at: 0.0 -> 1.0
+   * @param ignore_imu =false Whether or not to use the Inertial for determining angle.
+   *        Will instead use circumference formula + robot's wheelbase + encoders to determine.
+   *
+   * @return whether or not the robot has finished the maneuver
+   */
+  bool auto_turn(double degrees, double speed, bool ignore_imu = false);
+
+private:
   vex::motor &left_front, &right_front, &left_rear, &right_rear;
 
   mecanumdrive_config_t *config;
@@ -104,5 +99,4 @@ class MecanumDrive
   PID *turn_pid = NULL;
 
   bool init = true;
-
 };
\ No newline at end of file
diff --git a/include/subsystems/odometry/odometry_3wheel.h b/include/subsystems/odometry/odometry_3wheel.h
index 15ce85d..bef1f85 100644
--- a/include/subsystems/odometry/odometry_3wheel.h
+++ b/include/subsystems/odometry/odometry_3wheel.h
@@ -1,14 +1,14 @@
 #pragma once
+#include "../core/include/subsystems/custom_encoder.h"
 #include "../core/include/subsystems/odometry/odometry_base.h"
 #include "../core/include/subsystems/tank_drive.h"
-#include "../core/include/subsystems/custom_encoder.h"
 
 /**
  * Odometry3Wheel
- * 
+ *
  * This class handles the code for a standard 3-pod odometry setup, where there are 3 "pods" made up of undriven
  * (dead) wheels connected to encoders in the following configuration:
- * 
+ *
  *  +Y   ---------------
  *  ^    |             |
  *  |    |             |
@@ -18,80 +18,76 @@
  *  |    ---------------
  *  |
  *  +-------------------> + X
- * 
+ *
  * Where O is the center of rotation. The robot will monitor the changes in rotation of these wheels and calculate
  * the robot's X, Y and rotation on the field.
- * 
+ *
  * This is a "set and forget" class, meaning once the object is created, the robot will immediately begin
  * tracking it's movement in the background.
- * 
+ *
  * @author Ryan McGee
  * @date Oct 31 2022
- * 
+ *
  */
-class Odometry3Wheel : public OdometryBase
-{
-    public:
-
-    /**
-     * odometry3wheel_cfg_t holds all the specifications for how to calculate position with 3 encoders
-     * See the core wiki for what exactly each of these parameters measures
-     */
-    typedef struct
-    {
-        double wheelbase_dist; /**< distance from the center of the left wheel to the center of the right wheel*/
-        double off_axis_center_dist; /**< distance from the center of the robot to the center off axis wheel*/
-        double wheel_diam; /**< the diameter of the tracking wheel*/
-        
-    } odometry3wheel_cfg_t;
-    
-    /**
-     * Construct a new Odometry 3 Wheel object
-     * 
-     * @param lside_fwd left-side encoder reference
-     * @param rside_fwd right-side encoder reference
-     * @param off_axis off-axis (perpendicular) encoder reference
-     * @param cfg robot odometry configuration
-     * @param is_async true to constantly run in the background
-     */
-    Odometry3Wheel(CustomEncoder &lside_fwd, CustomEncoder &rside_fwd, CustomEncoder &off_axis, odometry3wheel_cfg_t &cfg, bool is_async=true);
-
-    /**
-     * Update the current position of the robot once, using the current state of
-     * the encoders and the previous known location
-     * 
-     * @return the robot's updated position
-     */
-    pose_t update() override;
+class Odometry3Wheel : public OdometryBase {
+public:
+  /**
+   * odometry3wheel_cfg_t holds all the specifications for how to calculate position with 3 encoders
+   * See the core wiki for what exactly each of these parameters measures
+   */
+  typedef struct {
+    double wheelbase_dist;       /**< distance from the center of the left wheel to the center of the right wheel*/
+    double off_axis_center_dist; /**< distance from the center of the robot to the center off axis wheel*/
+    double wheel_diam;           /**< the diameter of the tracking wheel*/
 
-    /**
-     * A guided tuning process to automatically find tuning parameters.
-     * This method is blocking, and returns when tuning has finished. Follow
-     * the instructions on the controller to complete the tuning process
-     * 
-     * @param con Controller reference, for screen and button control
-     * @param drive Drivetrain reference for robot control
-     */
-    void tune(vex::controller &con, TankDrive &drive);
+  } odometry3wheel_cfg_t;
 
-    private:
+  /**
+   * Construct a new Odometry 3 Wheel object
+   *
+   * @param lside_fwd left-side encoder reference
+   * @param rside_fwd right-side encoder reference
+   * @param off_axis off-axis (perpendicular) encoder reference
+   * @param cfg robot odometry configuration
+   * @param is_async true to constantly run in the background
+   */
+  Odometry3Wheel(CustomEncoder &lside_fwd, CustomEncoder &rside_fwd, CustomEncoder &off_axis, odometry3wheel_cfg_t &cfg,
+                 bool is_async = true);
 
-    /**
-     * Calculation method for the robot's new position using the change in encoders, the old position, and the robot's configuration.
-     * This uses a series of arclength formulae for finding distance driven and change in angle.
-     * Then vector math is used to combine it with the robot's old position data
-     * 
-     * @param lside_delta_deg Left encoder change in rotation, in degrees
-     * @param rside_delta_deg Right encoder change in rotation, in degrees
-     * @param offax_delta_deg Off-axis (perpendicular) encoder change in rotation, in degrees
-     * @param old_pos Robot's old position, for integration
-     * @param cfg Data on robot's configuration (wheel diameter, wheelbase, off-axis distance from center)
-     * @return The robot's new position (x, y, rot) 
-     */
-    static pose_t calculate_new_pos(double lside_delta_deg, double rside_delta_deg, double offax_delta_deg, pose_t old_pos, odometry3wheel_cfg_t cfg);
+  /**
+   * Update the current position of the robot once, using the current state of
+   * the encoders and the previous known location
+   *
+   * @return the robot's updated position
+   */
+  pose_t update() override;
 
-    CustomEncoder &lside_fwd, &rside_fwd, &off_axis;
-    odometry3wheel_cfg_t &cfg;
+  /**
+   * A guided tuning process to automatically find tuning parameters.
+   * This method is blocking, and returns when tuning has finished. Follow
+   * the instructions on the controller to complete the tuning process
+   *
+   * @param con Controller reference, for screen and button control
+   * @param drive Drivetrain reference for robot control
+   */
+  void tune(vex::controller &con, TankDrive &drive);
 
+private:
+  /**
+   * Calculation method for the robot's new position using the change in encoders, the old position, and the robot's
+   * configuration. This uses a series of arclength formulae for finding distance driven and change in angle. Then
+   * vector math is used to combine it with the robot's old position data
+   *
+   * @param lside_delta_deg Left encoder change in rotation, in degrees
+   * @param rside_delta_deg Right encoder change in rotation, in degrees
+   * @param offax_delta_deg Off-axis (perpendicular) encoder change in rotation, in degrees
+   * @param old_pos Robot's old position, for integration
+   * @param cfg Data on robot's configuration (wheel diameter, wheelbase, off-axis distance from center)
+   * @return The robot's new position (x, y, rot)
+   */
+  static pose_t calculate_new_pos(double lside_delta_deg, double rside_delta_deg, double offax_delta_deg,
+                                  pose_t old_pos, odometry3wheel_cfg_t cfg);
 
+  CustomEncoder &lside_fwd, &rside_fwd, &off_axis;
+  odometry3wheel_cfg_t &cfg;
 };
\ No newline at end of file
diff --git a/include/subsystems/odometry/odometry_base.h b/include/subsystems/odometry/odometry_base.h
index 2da4202..05293f4 100644
--- a/include/subsystems/odometry/odometry_base.h
+++ b/include/subsystems/odometry/odometry_base.h
@@ -1,149 +1,146 @@
 #pragma once
 
-#include "vex.h"
-#include "../core/include/utils/geometry.h"
 #include "../core/include/robot_specs.h"
 #include "../core/include/utils/command_structure/auto_command.h"
+#include "../core/include/utils/geometry.h"
+#include "vex.h"
 
 #ifndef PI
 #define PI 3.141592654
 #endif
 
-
-
 /**
  * OdometryBase
- * 
+ *
  * This base class contains all the shared code between different implementations of odometry.
- * It handles the asynchronous management, position input/output and basic math functions, and 
- * holds positional types specific to field orientation. 
- * 
- * All future odometry implementations should extend this file and redefine update() function. 
- * 
+ * It handles the asynchronous management, position input/output and basic math functions, and
+ * holds positional types specific to field orientation.
+ *
+ * All future odometry implementations should extend this file and redefine update() function.
+ *
  * @author Ryan McGee
  * @date Aug 11 2021
  */
-class OdometryBase
-{
+class OdometryBase {
 public:
-
-    /**
-     * Construct a new Odometry Base object
-     * 
-     * @param is_async True to run constantly in the background, false to call update() manually
-     */
-    OdometryBase(bool is_async);
-
-    /**
-    * Gets the current position and rotation
-    * @return the position that the odometry believes the robot is at
-    */
-    pose_t get_position(void);
-
-    /**
-     * Sets the current position of the robot
-     * @param newpos the new position that the odometry will believe it is at
-     */
-    virtual void set_position(const pose_t& newpos=zero_pos);
-    AutoCommand *SetPositionCmd(const pose_t& newpos=zero_pos);
-    /**
-     * Update the current position on the field based on the sensors
-     * @return the location that the robot is at after the odometry does its calculations
-     */
-    virtual pose_t update() = 0;
-
-    /**
-     * Function that runs in the background task. This function pointer is passed
-     * to the vex::task constructor. 
-     * 
-     * @param ptr Pointer to OdometryBase object
-     * @return Required integer return code. Unused.
-     */
-    static int background_task(void* ptr);
-
-    /**
-     * End the background task. Cannot be restarted.
-     * If the user wants to end the thread but keep the data up to date,
-     * they must run the update() function manually from then on.
-     */
-    void end_async();
-
-    /**
-     * Get the distance between two points
-     * @param start_pos distance from this point
-     * @param end_pos to this point
-     * @return the euclidean distance between start_pos and end_pos
-     */
-    static double pos_diff(pose_t start_pos, pose_t end_pos);
-
-    /**
-     * Get the change in rotation between two points
-     * @param pos1 position with initial rotation
-     * @param pos2 position with final rotation
-     * @return change in rotation between pos1 and pos2
-     */
-    static double rot_diff(pose_t pos1, pose_t pos2);
-
-    /**
-     * Get the smallest difference in angle between a start heading and end heading.
-     * Returns the difference between -180 degrees and +180 degrees, representing the robot
-     * turning left or right, respectively.
-     * @param start_deg intitial angle (degrees)
-     * @param end_deg final angle (degrees)
-     * @return the smallest angle from the initial to the final angle. This takes into account the wrapping of rotations around 360 degrees 
-     */
-    static double smallest_angle(double start_deg, double end_deg);
-
-    /// @brief end_task is true if we instruct the odometry thread to shut down
-    bool end_task = false;
-
-    /**
-     * Get the current speed
-     * @return the speed at which the robot is moving and grooving (inch/s)
-     */
-    double get_speed();
-
-    /**
-     * Get the current acceleration
-     * @return the acceleration rate of the robot (inch/s^2)
-     */
-    double get_accel();
-
-    /**
-     * Get the current angular speed in degrees
-     * @return the angular velocity at which we are turning (deg/s) 
-     */
-    double get_angular_speed_deg();
-
-    /**
-     * Get the current angular acceleration in degrees
-     * @return the angular acceleration at which we are turning (deg/s^2)
-     */
-    double get_angular_accel_deg();
-
-    /**
-     * Zeroed position. X=0, Y=0, Rotation= 90 degrees
-     */
-    inline static constexpr pose_t zero_pos = {.x=0.0L, .y=0.0L, .rot=90.0L};
+  /**
+   * Construct a new Odometry Base object
+   *
+   * @param is_async True to run constantly in the background, false to call update() manually
+   */
+  OdometryBase(bool is_async);
+
+  /**
+   * Gets the current position and rotation
+   * @return the position that the odometry believes the robot is at
+   */
+  pose_t get_position(void);
+
+  /**
+   * Sets the current position of the robot
+   * @param newpos the new position that the odometry will believe it is at
+   */
+  virtual void set_position(const pose_t &newpos = zero_pos);
+  AutoCommand *SetPositionCmd(const pose_t &newpos = zero_pos);
+  /**
+   * Update the current position on the field based on the sensors
+   * @return the location that the robot is at after the odometry does its calculations
+   */
+  virtual pose_t update() = 0;
+
+  /**
+   * Function that runs in the background task. This function pointer is passed
+   * to the vex::task constructor.
+   *
+   * @param ptr Pointer to OdometryBase object
+   * @return Required integer return code. Unused.
+   */
+  static int background_task(void *ptr);
+
+  /**
+   * End the background task. Cannot be restarted.
+   * If the user wants to end the thread but keep the data up to date,
+   * they must run the update() function manually from then on.
+   */
+  void end_async();
+
+  /**
+   * Get the distance between two points
+   * @param start_pos distance from this point
+   * @param end_pos to this point
+   * @return the euclidean distance between start_pos and end_pos
+   */
+  static double pos_diff(pose_t start_pos, pose_t end_pos);
+
+  /**
+   * Get the change in rotation between two points
+   * @param pos1 position with initial rotation
+   * @param pos2 position with final rotation
+   * @return change in rotation between pos1 and pos2
+   */
+  static double rot_diff(pose_t pos1, pose_t pos2);
+
+  /**
+   * Get the smallest difference in angle between a start heading and end heading.
+   * Returns the difference between -180 degrees and +180 degrees, representing the robot
+   * turning left or right, respectively.
+   * @param start_deg intitial angle (degrees)
+   * @param end_deg final angle (degrees)
+   * @return the smallest angle from the initial to the final angle. This takes into account the wrapping of rotations
+   * around 360 degrees
+   */
+  static double smallest_angle(double start_deg, double end_deg);
+
+  /// @brief end_task is true if we instruct the odometry thread to shut down
+  bool end_task = false;
+
+  /**
+   * Get the current speed
+   * @return the speed at which the robot is moving and grooving (inch/s)
+   */
+  double get_speed();
+
+  /**
+   * Get the current acceleration
+   * @return the acceleration rate of the robot (inch/s^2)
+   */
+  double get_accel();
+
+  /**
+   * Get the current angular speed in degrees
+   * @return the angular velocity at which we are turning (deg/s)
+   */
+  double get_angular_speed_deg();
+
+  /**
+   * Get the current angular acceleration in degrees
+   * @return the angular acceleration at which we are turning (deg/s^2)
+   */
+  double get_angular_accel_deg();
+
+  /**
+   * Zeroed position. X=0, Y=0, Rotation= 90 degrees
+   */
+  inline static constexpr pose_t zero_pos = {.x = 0.0L, .y = 0.0L, .rot = 90.0L};
 
 protected:
-    /**
-     * handle to the vex task that is running the odometry code
-    */
-    vex::task *handle;
-
-    /**
-     * Mutex to control multithreading
-     */
-    vex::mutex mut;
-
-    /**
-     * Current position of the robot in terms of x,y,rotation
-     */
-    pose_t current_pos;
-
-    double speed; /**< the speed at which we are travelling (inch/s)*/
-    double accel; /**< the rate at which we are accelerating (inch/s^2)*/
-    double ang_speed_deg; /**< the speed at which we are turning (deg/s)*/
-    double ang_accel_deg; /**< the rate at which we are accelerating our turn (deg/s^2)*/
+  /**
+   * handle to the vex task that is running the odometry code
+   */
+  vex::task *handle;
+
+  /**
+   * Mutex to control multithreading
+   */
+  vex::mutex mut;
+
+  /**
+   * Current position of the robot in terms of x,y,rotation
+   */
+  pose_t current_pos;
+
+  double speed;         /**< the speed at which we are travelling (inch/s)*/
+  double accel;         /**< the rate at which we are accelerating (inch/s^2)*/
+  double ang_speed_deg; /**< the speed at which we are turning (deg/s)*/
+  double ang_accel_deg; /**< the rate at which we are accelerating our turn (deg/s^2)*/
 };
\ No newline at end of file
diff --git a/include/subsystems/odometry/odometry_tank.h b/include/subsystems/odometry/odometry_tank.h
index 7e8607f..186ea85 100644
--- a/include/subsystems/odometry/odometry_tank.h
+++ b/include/subsystems/odometry/odometry_tank.h
@@ -1,84 +1,89 @@
 #pragma once
 
-#include "../core/include/subsystems/odometry/odometry_base.h"
 #include "../core/include/subsystems/custom_encoder.h"
+#include "../core/include/subsystems/odometry/odometry_base.h"
 #include "../core/include/utils/geometry.h"
-#include "../core/include/utils/vector2d.h"
 #include "../core/include/utils/moving_average.h"
+#include "../core/include/utils/vector2d.h"
 
 #include "../core/include/robot_specs.h"
 
-static int background_task(void* odom_obj);
-
+static int background_task(void *odom_obj);
 
 /**
  * OdometryTank defines an odometry system for a tank drivetrain
  * This requires encoders in the same orientation as the drive wheels
- * Odometry is a "start and forget" subsystem, which means once it's created and configured, 
+ * Odometry is a "start and forget" subsystem, which means once it's created and configured,
  * it will constantly run in the background and track the robot's X, Y and rotation coordinates.
-*/
-class OdometryTank : public OdometryBase
-{
+ */
+class OdometryTank : public OdometryBase {
 public:
-    /**
-    * Initialize the Odometry module, calculating position from the drive motors.
-    * @param left_side The left motors 
-    * @param right_side The right motors
-    * @param config the specifications that supply the odometry with descriptions of the robot. See robot_specs_t for what is contained
-    * @param imu The robot's inertial sensor. If not included, rotation is calculated from the encoders.
-    * @param is_async If true, position will be updated in the background continuously. If false, the programmer will have to manually call update().
-    */
-    OdometryTank(vex::motor_group &left_side, vex::motor_group &right_side, robot_specs_t &config, vex::inertial *imu=NULL, bool is_async=true);
-
-    /**
-    * Initialize the Odometry module, calculating position from the drive motors.
-    * @param left_custom_enc The left custom encoder 
-    * @param right_custom_enc The right custom encoder
-    * @param config the specifications that supply the odometry with descriptions of the robot. See robot_specs_t for what is contained
-    * @param imu The robot's inertial sensor. If not included, rotation is calculated from the encoders.
-    * @param is_async If true, position will be updated in the background continuously. If false, the programmer will have to manually call update().
-    */
+  /**
+   * Initialize the Odometry module, calculating position from the drive motors.
+   * @param left_side The left motors
+   * @param right_side The right motors
+   * @param config the specifications that supply the odometry with descriptions of the robot. See robot_specs_t for
+   * what is contained
+   * @param imu The robot's inertial sensor. If not included, rotation is calculated from the encoders.
+   * @param is_async If true, position will be updated in the background continuously. If false, the programmer will
+   * have to manually call update().
+   */
+  OdometryTank(vex::motor_group &left_side, vex::motor_group &right_side, robot_specs_t &config,
+               vex::inertial *imu = NULL, bool is_async = true);
 
-    OdometryTank(CustomEncoder &left_custom_enc, CustomEncoder &right_custom_enc, robot_specs_t &config, vex::inertial *imu=NULL, bool is_async=true);
+  /**
+   * Initialize the Odometry module, calculating position from the drive motors.
+   * @param left_custom_enc The left custom encoder
+   * @param right_custom_enc The right custom encoder
+   * @param config the specifications that supply the odometry with descriptions of the robot. See robot_specs_t for
+   * what is contained
+   * @param imu The robot's inertial sensor. If not included, rotation is calculated from the encoders.
+   * @param is_async If true, position will be updated in the background continuously. If false, the programmer will
+   * have to manually call update().
+   */
 
-    /**
-    * Initialize the Odometry module, calculating position from the drive motors.
-    * @param left_vex_enc The left vex encoder 
-    * @param right_vex_enc The right vex encoder
-    * @param config the specifications that supply the odometry with descriptions of the robot. See robot_specs_t for what is contained
-    * @param imu The robot's inertial sensor. If not included, rotation is calculated from the encoders.
-    * @param is_async If true, position will be updated in the background continuously. If false, the programmer will have to manually call update().
-    */
+  OdometryTank(CustomEncoder &left_custom_enc, CustomEncoder &right_custom_enc, robot_specs_t &config,
+               vex::inertial *imu = NULL, bool is_async = true);
 
-    OdometryTank(vex::encoder &left_vex_enc, vex::encoder &right_vex_enc, robot_specs_t &config, vex::inertial *imu=NULL, bool is_async=true);
+  /**
+   * Initialize the Odometry module, calculating position from the drive motors.
+   * @param left_vex_enc The left vex encoder
+   * @param right_vex_enc The right vex encoder
+   * @param config the specifications that supply the odometry with descriptions of the robot. See robot_specs_t for
+   * what is contained
+   * @param imu The robot's inertial sensor. If not included, rotation is calculated from the encoders.
+   * @param is_async If true, position will be updated in the background continuously. If false, the programmer will
+   * have to manually call update().
+   */
 
-    /**
-     * Update the current position on the field based on the sensors
-     * @return the position that odometry has calculated itself to be at
-     */
-    pose_t update() override;
+  OdometryTank(vex::encoder &left_vex_enc, vex::encoder &right_vex_enc, robot_specs_t &config,
+               vex::inertial *imu = NULL, bool is_async = true);
 
-    /**
-     * set_position tells the odometry to place itself at a position
-     * @param newpos the position the odometry will take
-    */
-    void set_position(const pose_t &newpos=zero_pos) override;
+  /**
+   * Update the current position on the field based on the sensors
+   * @return the position that odometry has calculated itself to be at
+   */
+  pose_t update() override;
 
-    
+  /**
+   * set_position tells the odometry to place itself at a position
+   * @param newpos the position the odometry will take
+   */
+  void set_position(const pose_t &newpos = zero_pos) override;
 
 private:
-    /**
-     * Get information from the input hardware and an existing position, and calculate a new current position
-     */
-    static pose_t calculate_new_pos(robot_specs_t &config, pose_t &stored_info, double lside_diff, double rside_diff, double angle_deg);
+  /**
+   * Get information from the input hardware and an existing position, and calculate a new current position
+   */
+  static pose_t calculate_new_pos(robot_specs_t &config, pose_t &stored_info, double lside_diff, double rside_diff,
+                                  double angle_deg);
 
-    vex::motor_group *left_side, *right_side;
-    CustomEncoder *left_custom_enc, *right_custom_enc;
-    vex::encoder *left_vex_enc, *right_vex_enc;
-    vex::inertial *imu;
-    robot_specs_t &config;
+  vex::motor_group *left_side, *right_side;
+  CustomEncoder *left_custom_enc, *right_custom_enc;
+  vex::encoder *left_vex_enc, *right_vex_enc;
+  vex::inertial *imu;
+  robot_specs_t &config;
 
-    double rotation_offset = 0;
-    ExponentialMovingAverage ema = ExponentialMovingAverage(3);
-    
+  double rotation_offset = 0;
+  ExponentialMovingAverage ema = ExponentialMovingAverage(3);
 };
\ No newline at end of file
diff --git a/include/subsystems/screen.h b/include/subsystems/screen.h
index 58159b2..2c2d27e 100644
--- a/include/subsystems/screen.h
+++ b/include/subsystems/screen.h
@@ -1,312 +1,297 @@
 #pragma once
-#include "vex.h"
-#include <vector>
-#include <functional>
-#include <map>
-#include <cassert>
 #include "../core/include/subsystems/odometry/odometry_base.h"
-#include "../core/include/utils/graph_drawer.h"
 #include "../core/include/utils/controls/pid.h"
 #include "../core/include/utils/controls/pidff.h"
+#include "../core/include/utils/graph_drawer.h"
+#include "vex.h"
+#include <cassert>
+#include <functional>
+#include <map>
+#include <vector>
 
-namespace screen
-{
-    /// @brief Widget that does something when you tap it. The function is only called once when you first tap it
-    class ButtonWidget
-    {
-    public:
-        /// @brief Create a Button widget
-        /// @param onpress the function to be called when the button is tapped
-        /// @param rect the area the button should take up on the screen
-        /// @param name the label put on the button
-        ButtonWidget(std::function<void(void)> onpress, Rect rect, std::string name) : onpress(onpress), rect(rect), name(name) {}
-        /// @brief Create a Button widget
-        /// @param onpress the function to be called when the button is tapped
-        /// @param rect the area the button should take up on the screen
-        /// @param name the label put on the button
-        ButtonWidget(void (*onpress)(), Rect rect, std::string name) : onpress(onpress), rect(rect), name(name) {}
-
-        /// @brief responds to user input
-        /// @param was_pressed if the screen is pressed
-        /// @param x x position if the screen was pressed
-        /// @param y y position if the screen was pressed
-        /// @return true if the button was pressed
-        bool update(bool was_pressed, int x, int y);
-        /// @brief draws the button to the screen
-        void draw(vex::brain::lcd &, bool first_draw, unsigned int frame_number);
-
-    private:
-        std::function<void(void)> onpress;
-        Rect rect;
-        std::string name = "";
-        bool was_pressed_last = false;
-    };
-
-    /// @brief Widget that updates a double value. Updates by reference so watch out for race conditions cuz the screen stuff lives on another thread
-    class SliderWidget
-    {
-    public:
-        /// @brief Creates a slider widget
-        /// @param val reference to the value to modify
-        /// @param low minimum value to go to
-        /// @param high maximum value to go to
-        /// @param rect rect to draw it
-        /// @param name name of the value
-        SliderWidget(double &val, double low, double high, Rect rect, std::string name) : value(val), low(low), high(high), rect(rect), name(name) {}
-
-        /// @brief responds to user input
-        /// @param was_pressed if the screen is pressed
-        /// @param x x position if the screen was pressed
-        /// @param y y position if the screen was pressed
-        /// @return true if the value updated
-        bool update(bool was_pressed, int x, int y);
-        /// @brief @ref Page::draws the slide to the screen
-        void draw(vex::brain::lcd &, bool first_draw, unsigned int frame_number);
-
-    private:
-        double &value;
-
-        double low;
-        double high;
-
-        Rect rect;
-        std::string name = "";
-    };
-
-    struct WidgetConfig;
-
-    struct SliderConfig
-    {
-        double &val;
-        double low;
-        double high;
-    };
-    struct ButtonConfig
-    {
-        std::function<void()> onclick;
-    };
-    struct CheckboxConfig
-    {
-        std::function<void(bool)> onupdate;
-    };
-    struct LabelConfig
-    {
-        std::string label;
-    };
-
-    struct TextConfig
-    {
-        std::function<std::string()> text;
-    };
-    struct SizedWidget
-    {
-        int size;
-        WidgetConfig &widget;
-    };
-    struct WidgetConfig
-    {
-        enum Type
-        {
-            Col,
-            Row,
-            Slider,
-            Button,
-            Checkbox,
-            Label,
-            Text,
-            Graph,
-        };
-        Type type;
-        union
-        {
-            std::vector<SizedWidget> widgets;
-            SliderConfig slider;
-            ButtonConfig button;
-            CheckboxConfig checkbox;
-            LabelConfig label;
-            TextConfig text;
-            GraphDrawer *graph;
-        } config;
-    };
-
-    class Page;
-    /// @brief Page describes one part of the screen slideshow
-    class Page
-    {
-    public:
-        /**
-         * @brief collect data, respond to screen input, do fast things (runs at
-         * 50hz even if you're not focused on this Page (only drawn page gets
-         * touch updates))
-         * @param was_pressed true if the screen has been pressed
-         * @param x x position of screen press (if the screen was pressed)
-         * @param y y position of screen press (if the screen was pressed)
-         */
-        virtual void update(bool was_pressed, int x, int y);
-        /**
-         * @brief draw stored data to the screen (runs at 10 hz and only runs if
-         * this page is in front)
-         * @param first_draw true if we just switched to this page
-         * @param frame_number frame of drawing we are on (basically an animation
-         * tick)
-         */
-        virtual void draw(vex::brain::lcd &screen, bool first_draw,
-                          unsigned int frame_number);
-    };
-
-    struct ScreenRect
-    {
-        uint32_t x1;
-        uint32_t y1;
-        uint32_t x2;
-        uint32_t y2;
-    };
-    void draw_widget(WidgetConfig &widget, ScreenRect rect);
-
-    class WidgetPage : public Page
-    {
-    public:
-        WidgetPage(WidgetConfig &cfg) : base_widget(cfg) {}
-        void update(bool was_pressed, int x, int y) override;
-
-        void draw(vex::brain::lcd &, bool first_draw, unsigned int frame_number) override
-        {
-            draw_widget(base_widget, {.x1 = 20, .y1 = 0, .x2 = 440, .y2 = 240});
-        }
-
-    private:
-        WidgetConfig &base_widget;
-    };
-
-    /**
-     * @brief Start the screen background task. Once you start this, no need to draw to the screen manually elsewhere
-     * @param screen reference to the vex screen
-     * @param pages drawing pages
-     * @param first_page optional, which page to start the program at. by default 0
-     */
-    void start_screen(vex::brain::lcd &screen, std::vector<Page *> pages, int first_page = 0);
-
-
-    void next_page();
-    void prev_page();
-
-    /// @brief stops the screen. If you have a drive team that hates fun call this at the start of opcontrol
-    void stop_screen();
-
-    /// @brief  type of function needed for update
-    using update_func_t = std::function<void(bool, int, int)>;
-
-    /// @brief  type of function needed for draw
-    using draw_func_t = std::function<void(vex::brain::lcd &screen, bool, unsigned int)>;
-
-    /// @brief Draws motor stats and battery stats to the screen
-    class StatsPage : public Page
-    {
-    public:
-        /// @brief Creates a stats page
-        /// @param motors a map of string to motor that we want to draw on this page
-        StatsPage(std::map<std::string, vex::motor &> motors);
-        /// @brief @see Page#update
-        void update(bool was_pressed, int x, int y) override;
-        /// @brief @see Page#draw
-        void draw(vex::brain::lcd &, bool first_draw, unsigned int frame_number) override;
-
-    private:
-        void draw_motor_stats(const std::string &name, vex::motor &mot, unsigned int frame, int x, int y, vex::brain::lcd &scr);
-
-        std::map<std::string, vex::motor &> motors;
-        static const int y_start = 0;
-        static const int per_column = 4;
-        static const int row_height = 20;
-        static const int row_width = 200;
-    };
-
-    /**
-     * @brief a page that shows odometry position and rotation and a map (if an sd card with the file is on)
-     */
-    class OdometryPage : public Page
-    {
-    public:
-        /// @brief Create an odometry trail. Make sure odometry is initilized before now
-        /// @param odom the odometry system to monitor
-        /// @param robot_width the width (side to side) of the robot in inches. Used for visualization
-        /// @param robot_height the robot_height (front to back) of the robot in inches. Used for visualization
-        /// @param do_trail whether or not to calculate and draw the trail. Drawing and storing takes a very *slight* extra amount of processing power
-        OdometryPage(OdometryBase &odom, double robot_width, double robot_height, bool do_trail);
-        /// @brief @see Page#update
-        void update(bool was_pressed, int x, int y) override;
-        /// @brief @see Page#draw
-        void draw(vex::brain::lcd &, bool first_draw, unsigned int frame_number) override;
-
-    private:
-        static const int path_len = 40;
-        static constexpr char const *field_filename = "vex_field_240p.png";
-
-        OdometryBase &odom;
-        double robot_width;
-        double robot_height;
-        uint8_t *buf = nullptr;
-        int buf_size = 0;
-        pose_t path[path_len];
-        int path_index = 0;
-        bool do_trail;
-        GraphDrawer velocity_graph;
-    };
-
-    /// @brief Simple page that stores no internal data. the draw and update functions use only global data rather than storing anything
-    class FunctionPage : public Page
-    {
-    public:
-        /// @brief Creates a function page
-        /// @param update_f the function called every tick to respond to user input or do data collection
-        /// @param draw_t the function called to draw to the screen
-        FunctionPage(update_func_t update_f, draw_func_t draw_t);
-        /// @brief @see Page#update
-        void update(bool was_pressed, int x, int y) override;
-        /// @brief @see Page#draw
-        void draw(vex::brain::lcd &, bool first_draw, unsigned int frame_number) override;
-
-    private:
-        update_func_t update_f;
-        draw_func_t draw_f;
-    };
-
-    /// @brief PIDPage provides a way to tune a pid controller on the screen
-    class PIDPage : public Page
-    {
-    public:
-        /// @brief Create a PIDPage
-        /// @param pid the pid controller we're changing
-        /// @param name a name to recognize this pid controller if we've got multiple pid screens
-        /// @param onchange a function that is called when a tuning parameter is changed. If you need to update stuff on that change register a handler here
-        PIDPage(
-            PID &pid, std::string name, std::function<void(void)> onchange = []() {});
-        PIDPage(
-            PIDFF &pidff, std::string name, std::function<void(void)> onchange = []() {});
-
-        /// @brief @see Page#update
-        void update(bool was_pressed, int x, int y) override;
-        /// @brief @see Page#draw
-        void draw(vex::brain::lcd &, bool first_draw, unsigned int frame_number) override;
-
-    private:
-        /// @brief reset d
-        void zero_d_f() { cfg.d = 0; }
-        /// @brief reset i
-        void zero_i_f() { cfg.i = 0; }
-
-        PID::pid_config_t &cfg;
-        PID &pid;
-        const std::string name;
-        std::function<void(void)> onchange;
-
-        SliderWidget p_slider;
-        SliderWidget i_slider;
-        SliderWidget d_slider;
-        ButtonWidget zero_i;
-        ButtonWidget zero_d;
-
-        GraphDrawer graph;
-    };
-
-}
+namespace screen {
+/// @brief Widget that does something when you tap it. The function is only called once when you first tap it
+class ButtonWidget {
+public:
+  /// @brief Create a Button widget
+  /// @param onpress the function to be called when the button is tapped
+  /// @param rect the area the button should take up on the screen
+  /// @param name the label put on the button
+  ButtonWidget(std::function<void(void)> onpress, Rect rect, std::string name)
+      : onpress(onpress), rect(rect), name(name) {}
+  /// @brief Create a Button widget
+  /// @param onpress the function to be called when the button is tapped
+  /// @param rect the area the button should take up on the screen
+  /// @param name the label put on the button
+  ButtonWidget(void (*onpress)(), Rect rect, std::string name) : onpress(onpress), rect(rect), name(name) {}
+
+  /// @brief responds to user input
+  /// @param was_pressed if the screen is pressed
+  /// @param x x position if the screen was pressed
+  /// @param y y position if the screen was pressed
+  /// @return true if the button was pressed
+  bool update(bool was_pressed, int x, int y);
+  /// @brief draws the button to the screen
+  void draw(vex::brain::lcd &, bool first_draw, unsigned int frame_number);
+
+private:
+  std::function<void(void)> onpress;
+  Rect rect;
+  std::string name = "";
+  bool was_pressed_last = false;
+};
+
+/// @brief Widget that updates a double value. Updates by reference so watch out for race conditions cuz the screen
+/// stuff lives on another thread
+class SliderWidget {
+public:
+  /// @brief Creates a slider widget
+  /// @param val reference to the value to modify
+  /// @param low minimum value to go to
+  /// @param high maximum value to go to
+  /// @param rect rect to draw it
+  /// @param name name of the value
+  SliderWidget(double &val, double low, double high, Rect rect, std::string name)
+      : value(val), low(low), high(high), rect(rect), name(name) {}
+
+  /// @brief responds to user input
+  /// @param was_pressed if the screen is pressed
+  /// @param x x position if the screen was pressed
+  /// @param y y position if the screen was pressed
+  /// @return true if the value updated
+  bool update(bool was_pressed, int x, int y);
+  /// @brief @ref Page::draws the slide to the screen
+  void draw(vex::brain::lcd &, bool first_draw, unsigned int frame_number);
+
+private:
+  double &value;
+
+  double low;
+  double high;
+
+  Rect rect;
+  std::string name = "";
+};
+
+struct WidgetConfig;
+
+struct SliderConfig {
+  double &val;
+  double low;
+  double high;
+};
+struct ButtonConfig {
+  std::function<void()> onclick;
+};
+struct CheckboxConfig {
+  std::function<void(bool)> onupdate;
+};
+struct LabelConfig {
+  std::string label;
+};
+
+struct TextConfig {
+  std::function<std::string()> text;
+};
+struct SizedWidget {
+  int size;
+  WidgetConfig &widget;
+};
+struct WidgetConfig {
+  enum Type {
+    Col,
+    Row,
+    Slider,
+    Button,
+    Checkbox,
+    Label,
+    Text,
+    Graph,
+  };
+  Type type;
+  union {
+    std::vector<SizedWidget> widgets;
+    SliderConfig slider;
+    ButtonConfig button;
+    CheckboxConfig checkbox;
+    LabelConfig label;
+    TextConfig text;
+    GraphDrawer *graph;
+  } config;
+};
+
+class Page;
+/// @brief Page describes one part of the screen slideshow
+class Page {
+public:
+  /**
+   * @brief collect data, respond to screen input, do fast things (runs at
+   * 50hz even if you're not focused on this Page (only drawn page gets
+   * touch updates))
+   * @param was_pressed true if the screen has been pressed
+   * @param x x position of screen press (if the screen was pressed)
+   * @param y y position of screen press (if the screen was pressed)
+   */
+  virtual void update(bool was_pressed, int x, int y);
+  /**
+   * @brief draw stored data to the screen (runs at 10 hz and only runs if
+   * this page is in front)
+   * @param first_draw true if we just switched to this page
+   * @param frame_number frame of drawing we are on (basically an animation
+   * tick)
+   */
+  virtual void draw(vex::brain::lcd &screen, bool first_draw, unsigned int frame_number);
+};
+
+struct ScreenRect {
+  uint32_t x1;
+  uint32_t y1;
+  uint32_t x2;
+  uint32_t y2;
+};
+void draw_widget(WidgetConfig &widget, ScreenRect rect);
+
+class WidgetPage : public Page {
+public:
+  WidgetPage(WidgetConfig &cfg) : base_widget(cfg) {}
+  void update(bool was_pressed, int x, int y) override;
+
+  void draw(vex::brain::lcd &, bool first_draw, unsigned int frame_number) override {
+    draw_widget(base_widget, {.x1 = 20, .y1 = 0, .x2 = 440, .y2 = 240});
+  }
+
+private:
+  WidgetConfig &base_widget;
+};
+
+/**
+ * @brief Start the screen background task. Once you start this, no need to draw to the screen manually elsewhere
+ * @param screen reference to the vex screen
+ * @param pages drawing pages
+ * @param first_page optional, which page to start the program at. by default 0
+ */
+void start_screen(vex::brain::lcd &screen, std::vector<Page *> pages, int first_page = 0);
+
+void next_page();
+void prev_page();
+
+/// @brief stops the screen. If you have a drive team that hates fun call this at the start of opcontrol
+void stop_screen();
+
+/// @brief  type of function needed for update
+using update_func_t = std::function<void(bool, int, int)>;
+
+/// @brief  type of function needed for draw
+using draw_func_t = std::function<void(vex::brain::lcd &screen, bool, unsigned int)>;
+
+/// @brief Draws motor stats and battery stats to the screen
+class StatsPage : public Page {
+public:
+  /// @brief Creates a stats page
+  /// @param motors a map of string to motor that we want to draw on this page
+  StatsPage(std::map<std::string, vex::motor &> motors);
+  /// @brief @see Page#update
+  void update(bool was_pressed, int x, int y) override;
+  /// @brief @see Page#draw
+  void draw(vex::brain::lcd &, bool first_draw, unsigned int frame_number) override;
+
+private:
+  void draw_motor_stats(const std::string &name, vex::motor &mot, unsigned int frame, int x, int y,
+                        vex::brain::lcd &scr);
+
+  std::map<std::string, vex::motor &> motors;
+  static const int y_start = 0;
+  static const int per_column = 4;
+  static const int row_height = 20;
+  static const int row_width = 200;
+};
+
+/**
+ * @brief a page that shows odometry position and rotation and a map (if an sd card with the file is on)
+ */
+class OdometryPage : public Page {
+public:
+  /// @brief Create an odometry trail. Make sure odometry is initilized before now
+  /// @param odom the odometry system to monitor
+  /// @param robot_width the width (side to side) of the robot in inches. Used for visualization
+  /// @param robot_height the robot_height (front to back) of the robot in inches. Used for visualization
+  /// @param do_trail whether or not to calculate and draw the trail. Drawing and storing takes a very *slight* extra
+  /// amount of processing power
+  OdometryPage(OdometryBase &odom, double robot_width, double robot_height, bool do_trail);
+  /// @brief @see Page#update
+  void update(bool was_pressed, int x, int y) override;
+  /// @brief @see Page#draw
+  void draw(vex::brain::lcd &, bool first_draw, unsigned int frame_number) override;
+
+private:
+  static const int path_len = 40;
+  static constexpr char const *field_filename = "vex_field_240p.png";
+
+  OdometryBase &odom;
+  double robot_width;
+  double robot_height;
+  uint8_t *buf = nullptr;
+  int buf_size = 0;
+  pose_t path[path_len];
+  int path_index = 0;
+  bool do_trail;
+  GraphDrawer velocity_graph;
+};
+
+/// @brief Simple page that stores no internal data. the draw and update functions use only global data rather than
+/// storing anything
+class FunctionPage : public Page {
+public:
+  /// @brief Creates a function page
+  /// @param update_f the function called every tick to respond to user input or do data collection
+  /// @param draw_t the function called to draw to the screen
+  FunctionPage(update_func_t update_f, draw_func_t draw_t);
+  /// @brief @see Page#update
+  void update(bool was_pressed, int x, int y) override;
+  /// @brief @see Page#draw
+  void draw(vex::brain::lcd &, bool first_draw, unsigned int frame_number) override;
+
+private:
+  update_func_t update_f;
+  draw_func_t draw_f;
+};
+
+/// @brief PIDPage provides a way to tune a pid controller on the screen
+class PIDPage : public Page {
+public:
+  /// @brief Create a PIDPage
+  /// @param pid the pid controller we're changing
+  /// @param name a name to recognize this pid controller if we've got multiple pid screens
+  /// @param onchange a function that is called when a tuning parameter is changed. If you need to update stuff on that
+  /// change register a handler here
+  PIDPage(
+      PID &pid, std::string name, std::function<void(void)> onchange = []() {});
+  PIDPage(
+      PIDFF &pidff, std::string name, std::function<void(void)> onchange = []() {});
+
+  /// @brief @see Page#update
+  void update(bool was_pressed, int x, int y) override;
+  /// @brief @see Page#draw
+  void draw(vex::brain::lcd &, bool first_draw, unsigned int frame_number) override;
+
+private:
+  /// @brief reset d
+  void zero_d_f() { cfg.d = 0; }
+  /// @brief reset i
+  void zero_i_f() { cfg.i = 0; }
+
+  PID::pid_config_t &cfg;
+  PID &pid;
+  const std::string name;
+  std::function<void(void)> onchange;
+
+  SliderWidget p_slider;
+  SliderWidget i_slider;
+  SliderWidget d_slider;
+  ButtonWidget zero_i;
+  ButtonWidget zero_d;
+
+  GraphDrawer graph;
+};
+
+} // namespace screen
diff --git a/include/subsystems/tank_drive.h b/include/subsystems/tank_drive.h
index 2e63002..0147da5 100644
--- a/include/subsystems/tank_drive.h
+++ b/include/subsystems/tank_drive.h
@@ -4,44 +4,48 @@
 #define PI 3.141592654
 #endif
 
-#include "vex.h"
+#include "../core/include/robot_specs.h"
 #include "../core/include/subsystems/odometry/odometry_tank.h"
-#include "../core/include/utils/controls/pid.h"
+#include "../core/include/utils/command_structure/auto_command.h"
 #include "../core/include/utils/controls/feedback_base.h"
-#include "../core/include/robot_specs.h"
+#include "../core/include/utils/controls/pid.h"
 #include "../core/include/utils/pure_pursuit.h"
-#include "../core/include/utils/command_structure/auto_command.h"
+#include "vex.h"
 #include <vector>
 
 using namespace vex;
 
 /**
  * TankDrive is a class to run a tank drive system.
- * A tank drive system, sometimes called differential drive, has a motor (or group of synchronized motors) on the left and right side
+ * A tank drive system, sometimes called differential drive, has a motor (or group of synchronized motors) on the left
+ * and right side
  */
-class TankDrive
-{
+class TankDrive {
 public:
-  enum class BrakeType
-  {
-    None, ///< just send 0 volts to the motors
+  enum class BrakeType {
+    None,         ///< just send 0 volts to the motors
     ZeroVelocity, ///< try to bring the robot to rest. But don't try to hold position
-    Smart, ///< bring the robot to rest and once it's stopped, try to hold that position
+    Smart,        ///< bring the robot to rest and once it's stopped, try to hold that position
   };
   /**
    * Create the TankDrive object
    * @param left_motors left side drive motors
    * @param right_motors right side drive motors
-   * @param config the configuration specification defining physical dimensions about the robot. See robot_specs_t for more info
+   * @param config the configuration specification defining physical dimensions about the robot. See robot_specs_t for
+   * more info
    * @param odom an odometry system to track position and rotation. this is necessary to execute autonomous paths
    */
   TankDrive(motor_group &left_motors, motor_group &right_motors, robot_specs_t &config, OdometryBase *odom = NULL);
 
-  AutoCommand *DriveToPointCmd(point_t pt, vex::directionType dir = vex::forward, double max_speed = 1.0, double end_speed = 0.0);
-  AutoCommand *DriveToPointCmd(Feedback &fb, point_t pt, vex::directionType dir = vex::forward, double max_speed = 1.0, double end_speed = 0.0);
+  AutoCommand *DriveToPointCmd(point_t pt, vex::directionType dir = vex::forward, double max_speed = 1.0,
+                               double end_speed = 0.0);
+  AutoCommand *DriveToPointCmd(Feedback &fb, point_t pt, vex::directionType dir = vex::forward, double max_speed = 1.0,
+                               double end_speed = 0.0);
 
-  AutoCommand *DriveForwardCmd(double dist, vex::directionType dir = vex::forward, double max_speed = 1.0, double end_speed = 0.0);
-  AutoCommand *DriveForwardCmd(Feedback &fb, double dist, vex::directionType dir = vex::forward, double max_speed = 1.0, double end_speed = 0.0);
+  AutoCommand *DriveForwardCmd(double dist, vex::directionType dir = vex::forward, double max_speed = 1.0,
+                               double end_speed = 0.0);
+  AutoCommand *DriveForwardCmd(Feedback &fb, double dist, vex::directionType dir = vex::forward, double max_speed = 1.0,
+                               double end_speed = 0.0);
 
   AutoCommand *TurnToHeadingCmd(double heading, double max_speed = 1.0, double end_speed = 0.0);
   AutoCommand *TurnToHeadingCmd(Feedback &fb, double heading, double max_speed = 1.0, double end_speed = 0.0);
@@ -50,7 +54,8 @@ class TankDrive
   AutoCommand *TurnDegreesCmd(Feedback &fb, double degrees, double max_speed = 1.0, double end_speed = 0.0);
 
   AutoCommand *PurePursuitCmd(PurePursuit::Path path, directionType dir, double max_speed = 1, double end_speed = 0);
-  AutoCommand *PurePursuitCmd(Feedback &feedback, PurePursuit::Path path, directionType dir, double max_speed = 1, double end_speed = 0);
+  AutoCommand *PurePursuitCmd(Feedback &feedback, PurePursuit::Path path, directionType dir, double max_speed = 1,
+                              double end_speed = 0);
 
   /**
    * Stops rotation of all the motors using their "brake mode"
@@ -72,7 +77,7 @@ class TankDrive
    * Drive the robot raw-ly
    * @param left the percent to run the left motors (-1, 1)
    * @param right the percent to run the right motors (-1, 1)
-  */
+   */
   void drive_tank_raw(double left, double right);
 
   /**
@@ -94,7 +99,8 @@ class TankDrive
    * Returns whether or not the robot has reached it's destination.
    * @param inches     the distance to drive forward
    * @param dir        the direction we want to travel forward and backward
-   * @param feedback   the custom feedback controller we will use to travel. controls the rate at which we accelerate and drive.
+   * @param feedback   the custom feedback controller we will use to travel. controls the rate at which we accelerate
+   * and drive.
    * @param max_speed  the maximum percentage of robot speed at which the robot will travel. 1 = full power
    * @param end_speed    the movement profile will attempt to reach this velocity by its completion
    * @return true when we have reached our target distance
@@ -119,7 +125,8 @@ class TankDrive
    * Uses PID + Feedforward for it's control.
    *
    * @param degrees     degrees by which we will turn relative to the robot (+) turns ccw, (-) turns cw
-   * @param feedback    the feedback controller we will use to travel. controls the rate at which we accelerate and drive.
+   * @param feedback    the feedback controller we will use to travel. controls the rate at which we accelerate and
+   * drive.
    * @param max_speed   the maximum percentage of robot speed at which the robot will travel. 1 = full power
    */
   bool turn_degrees(double degrees, Feedback &feedback, double max_speed = 1, double end_speed = 0);
@@ -144,11 +151,13 @@ class TankDrive
    * @param x          the x position of the target
    * @param y          the y position of the target
    * @param dir        the direction we want to travel forward and backward
-   * @param feedback   the feedback controller we will use to travel. controls the rate at which we accelerate and drive.
+   * @param feedback   the feedback controller we will use to travel. controls the rate at which we accelerate and
+   * drive.
    * @param max_speed  the maximum percentage of robot speed at which the robot will travel. 1 = full power
    * @param end_speed  the movement profile will attempt to reach this velocity by its completion
    */
-  bool drive_to_point(double x, double y, vex::directionType dir, Feedback &feedback, double max_speed = 1, double end_speed = 0);
+  bool drive_to_point(double x, double y, vex::directionType dir, Feedback &feedback, double max_speed = 1,
+                      double end_speed = 0);
 
   /**
    * Use odometry to automatically drive the robot to a point on the field.
@@ -169,7 +178,8 @@ class TankDrive
    * 0 is forward.
    *
    * @param heading_deg the heading to which we will turn
-   * @param feedback    the feedback controller we will use to travel. controls the rate at which we accelerate and drive.
+   * @param feedback    the feedback controller we will use to travel. controls the rate at which we accelerate and
+   * drive.
    * @param max_speed  the maximum percentage of robot speed at which the robot will travel. 1 = full power
    * @param end_speed  the movement profile will attempt to reach this velocity by its completion
    */
@@ -211,7 +221,8 @@ class TankDrive
    * @param end_speed the movement profile will attempt to reach this velocity by its completion
    * @return True when the path is complete
    */
-  bool pure_pursuit(PurePursuit::Path path, directionType dir, Feedback &feedback, double max_speed = 1, double end_speed = 0);
+  bool pure_pursuit(PurePursuit::Path path, directionType dir, Feedback &feedback, double max_speed = 1,
+                    double end_speed = 0);
 
   /**
    * Drive the robot autonomously using a pure-pursuit algorithm - Input path with a set of
@@ -238,8 +249,10 @@ class TankDrive
 
   OdometryBase *odometry; ///< odometry system to track position and rotation. necessary for autonomous driving
 
-  robot_specs_t &config; ///< configuration holding physical dimensions of the robot. see robot_specs_t for more information
+  robot_specs_t
+      &config; ///< configuration holding physical dimensions of the robot. see robot_specs_t for more information
 
-  bool func_initialized = false; ///< used to control initialization of autonomous driving. (you only wan't to set the target once, not every iteration that you're driving)
+  bool func_initialized = false; ///< used to control initialization of autonomous driving. (you only wan't to set the
+                                 ///< target once, not every iteration that you're driving)
   bool is_pure_pursuit = false;  ///< true if we are driving with a pure pursuit system
 };
diff --git a/include/utils/auto_chooser.h b/include/utils/auto_chooser.h
index 59562b6..248227c 100644
--- a/include/utils/auto_chooser.h
+++ b/include/utils/auto_chooser.h
@@ -1,9 +1,9 @@
 #pragma once
+#include "../core/include/subsystems/screen.h"
+#include "../core/include/utils/geometry.h"
 #include "vex.h"
 #include <string>
 #include <vector>
-#include "../core/include/subsystems/screen.h"
-#include "../core/include/utils/geometry.h"
 
 /**
  * Autochooser is a utility to make selecting robot autonomous programs easier
@@ -11,10 +11,10 @@
  * During a season, we usually code between 4 and 6 autonomous programs.
  * Most teams will change their entire robot program as a way of choosing autonomi
  * but this may cause issues if you have an emergency patch to upload during a competition.
- * This class was built as a way of using the robot screen to list autonomous programs, and the touchscreen to select them.
+ * This class was built as a way of using the robot screen to list autonomous programs, and the touchscreen to select
+ * them.
  */
-class AutoChooser : public screen::Page
-{
+class AutoChooser : public screen::Page {
 public:
   /**
    * Initialize the auto-chooser. This class places a choice menu on the brain screen,
@@ -36,8 +36,7 @@ class AutoChooser : public screen::Page
   /**
    *  entry_t is a datatype used to store information that the chooser knows about an auto selection button
    */
-  struct entry_t
-  {
+  struct entry_t {
     Rect rect;
     std::string name; /**< name of the auto repretsented by the block*/
   };
diff --git a/include/utils/command_structure/auto_command.h b/include/utils/command_structure/auto_command.h
index fa8528e..c7832cf 100644
--- a/include/utils/command_structure/auto_command.h
+++ b/include/utils/command_structure/auto_command.h
@@ -7,11 +7,10 @@
 #pragma once
 
 #include "vex.h"
+#include <atomic>
 #include <functional>
-#include <vector>
 #include <queue>
-#include <atomic>
-
+#include <vector>
 
 /**
  * A Condition is a function that returns true or false
@@ -22,17 +21,14 @@
  * extend this class for different choices you wish to make
 
  */
-class Condition
-{
+class Condition {
 public:
   Condition *Or(Condition *b);
   Condition *And(Condition *b);
   virtual bool test() = 0;
 };
 
-
-class AutoCommand
-{
+class AutoCommand {
 public:
   static constexpr double default_timeout = 10.0;
   /**
@@ -45,17 +41,15 @@ class AutoCommand
    * What to do if we timeout instead of finishing. timeout is specified by the timeout seconds in the constructor
    */
   virtual void on_timeout() {}
-  AutoCommand *withTimeout(double t_seconds)
-  {
-    if (this->timeout_seconds < 0)
-    {
+  AutoCommand *withTimeout(double t_seconds) {
+    if (this->timeout_seconds < 0) {
       // should never be timed out
       return this;
     }
     this->timeout_seconds = t_seconds;
     return this;
   }
-  AutoCommand *withCancelCondition(Condition *true_to_end){
+  AutoCommand *withCancelCondition(Condition *true_to_end) {
     this->true_to_end = true_to_end;
     return this;
   }
@@ -76,14 +70,10 @@ class AutoCommand
  * FunctionCommand is fun and good way to do simple things
  * Printing, launching nukes, and other quick and dirty one time things
  */
-class FunctionCommand : public AutoCommand
-{
+class FunctionCommand : public AutoCommand {
 public:
   FunctionCommand(std::function<bool(void)> f) : f(f) {}
-  bool run()
-  {
-    return f();
-  }
+  bool run() { return f(); }
 
 private:
   std::function<bool(void)> f;
@@ -95,15 +85,12 @@ class FunctionCommand : public AutoCommand
 // Test 3 -> true
 // Returns false until the Nth time that it is called
 // This is pretty much only good for implementing RepeatUntil
-class TimesTestedCondition : public Condition
-{
+class TimesTestedCondition : public Condition {
 public:
   TimesTestedCondition(size_t N) : max(N) {}
-  bool test() override
-  {
+  bool test() override {
     count++;
-    if (count >= max)
-    {
+    if (count >= max) {
       return true;
     }
     return false;
@@ -115,13 +102,11 @@ class TimesTestedCondition : public Condition
 };
 
 /// @brief FunctionCondition is a quick and dirty Condition to wrap some expression that should be evaluated at runtime
-class FunctionCondition : public Condition
-{
+class FunctionCondition : public Condition {
 public:
   FunctionCondition(
-      std::function<bool()> cond, std::function<void(void)> timeout = []() {}) : cond(cond), timeout(timeout)
-  {
-  }
+      std::function<bool()> cond, std::function<void(void)> timeout = []() {})
+      : cond(cond), timeout(timeout) {}
   bool test() override;
 
 private:
@@ -129,9 +114,9 @@ class FunctionCondition : public Condition
   std::function<void(void)> timeout;
 };
 
-/// @brief IfTimePassed tests based on time since the command controller was constructed. Returns true if elapsed time > time_s
-class IfTimePassed : public Condition
-{
+/// @brief IfTimePassed tests based on time since the command controller was constructed. Returns true if elapsed time >
+/// time_s
+class IfTimePassed : public Condition {
 public:
   IfTimePassed(double time_s);
   bool test() override;
@@ -142,14 +127,10 @@ class IfTimePassed : public Condition
 };
 
 /// @brief Waits until the condition is true
-class WaitUntilCondition : public AutoCommand
-{
+class WaitUntilCondition : public AutoCommand {
 public:
   WaitUntilCondition(Condition *cond) : cond(cond) {}
-  bool run() override
-  {
-    return cond->test();
-  }
+  bool run() override { return cond->test(); }
 
 private:
   Condition *cond;
@@ -160,8 +141,7 @@ class WaitUntilCondition : public AutoCommand
 
 /// @brief InOrder runs its commands sequentially then continues.
 /// How to handle timeout in this case. Automatically set it to sum of commands timouts?
-class InOrder : public AutoCommand
-{
+class InOrder : public AutoCommand {
 public:
   InOrder(const InOrder &other) = default;
   InOrder(std::queue<AutoCommand *> cmds);
@@ -177,8 +157,7 @@ class InOrder : public AutoCommand
 
 /// @brief  Parallel runs multiple commands in parallel and waits for all to finish before continuing.
 /// if none finish before this command's timeout, it will call on_timeout on all children continue
-class Parallel : public AutoCommand
-{
+class Parallel : public AutoCommand {
 public:
   Parallel(std::initializer_list<AutoCommand *> cmds);
   bool run() override;
@@ -189,11 +168,10 @@ class Parallel : public AutoCommand
   std::vector<vex::task *> runners;
 };
 
-/// @brief Branch chooses from multiple options at runtime. the function decider returns an index into the choices vector
-/// If you wish to make no choice and skip this section, return NO_CHOICE;
-/// any choice that is out of bounds set to NO_CHOICE
-class Branch : public AutoCommand
-{
+/// @brief Branch chooses from multiple options at runtime. the function decider returns an index into the choices
+/// vector If you wish to make no choice and skip this section, return NO_CHOICE; any choice that is out of bounds set
+/// to NO_CHOICE
+class Branch : public AutoCommand {
 public:
   Branch(Condition *cond, AutoCommand *false_choice, AutoCommand *true_choice);
   ~Branch();
@@ -212,8 +190,7 @@ class Branch : public AutoCommand
 /// @brief Async runs a command asynchronously
 /// will simply let it go and never look back
 /// THIS HAS A VERY NICHE USE CASE. THINK ABOUT IF YOU REALLY NEED IT
-class Async : public AutoCommand
-{
+class Async : public AutoCommand {
 public:
   Async(AutoCommand *cmd) : cmd(cmd) {}
   bool run() override;
@@ -222,8 +199,7 @@ class Async : public AutoCommand
   AutoCommand *cmd = nullptr;
 };
 
-class RepeatUntil : public AutoCommand
-{
+class RepeatUntil : public AutoCommand {
 public:
   /// @brief RepeatUntil that runs a fixed number of times
   /// @param cmds the cmds to repeat
diff --git a/include/utils/command_structure/basic_command.h b/include/utils/command_structure/basic_command.h
index 6df7306..44a8bf8 100644
--- a/include/utils/command_structure/basic_command.h
+++ b/include/utils/command_structure/basic_command.h
@@ -1,118 +1,112 @@
 /**
  * @file basic_commands.h
  * @author Ethan Kishimori GITHUB(LilacEthan)
- * 
+ *
  * @brief Basic Commands for Motors and Solenoids able to throw into the Command Controller
  *  Commands Included
  *      - BasicSpinCommand
  *      - BasicStopCommand
  *      - BasicSolenoidSet
- * 
+ *
  * @version 0.1
- * 
+ *
  */
 #pragma once
 
 #include "../core/include/utils/command_structure/auto_command.h"
- 
-//Basic Motor Classes-----------------------------------------------
+
+// Basic Motor Classes-----------------------------------------------
 
 /**
  * AutoCommand wrapper class for BasicSpinCommand
  * using the vex hardware functions
  */
 class BasicSpinCommand : public AutoCommand {
-    public:
-
-     //Enumurator for the type of power setting in the motor
-     enum type {percent,voltage,veocity};
-
-     /**
-     * @brief Construct a new BasicSpinCommand
-     *      
-     * @param motor Motor to spin
-     * @param direc Direction of motor spin
-     * @param setting Power setting in volts,percentage,velocity
-     * @param power Value of desired power
-     */
-     BasicSpinCommand(vex::motor &motor, vex::directionType dir, BasicSpinCommand::type setting, double power);
-
-     /**
-     * @brief Runs the BasicSpinCommand 
-     * Overrides run from Auto Command
-     * 
-     * @return True Async running command
-     */
-     bool run() override; 
-
-    private:
-
-     vex::motor &motor;
-
-     type setting;
-
-     vex::directionType dir;
-
-     double power;
+public:
+  // Enumurator for the type of power setting in the motor
+  enum type { percent, voltage, veocity };
+
+  /**
+   * @brief Construct a new BasicSpinCommand
+   *
+   * @param motor Motor to spin
+   * @param direc Direction of motor spin
+   * @param setting Power setting in volts,percentage,velocity
+   * @param power Value of desired power
+   */
+  BasicSpinCommand(vex::motor &motor, vex::directionType dir, BasicSpinCommand::type setting, double power);
+
+  /**
+   * @brief Runs the BasicSpinCommand
+   * Overrides run from Auto Command
+   *
+   * @return True Async running command
+   */
+  bool run() override;
+
+private:
+  vex::motor &motor;
+
+  type setting;
+
+  vex::directionType dir;
+
+  double power;
 };
 /**
  * AutoCommand wrapper class for BasicStopCommand
  * Using the Vex hardware functions
  */
-class BasicStopCommand : public AutoCommand{
-    public:
-
-     /**
-      * @brief Construct a new BasicMotorStop Command 
-      * 
-      * @param motor The motor to stop
-      * @param setting The brake setting for the motor
-      */
-     BasicStopCommand(vex::motor &motor, vex::brakeType setting);
-
-     /**
-      * @brief Runs the BasicMotorStop Command
-      * Overrides run command from AutoCommand
-      * 
-      * @return True Command runs once
-      */
-     bool run() override;
-
-    private:
-
-     vex::motor &motor;
-
-     vex::brakeType setting;
+class BasicStopCommand : public AutoCommand {
+public:
+  /**
+   * @brief Construct a new BasicMotorStop Command
+   *
+   * @param motor The motor to stop
+   * @param setting The brake setting for the motor
+   */
+  BasicStopCommand(vex::motor &motor, vex::brakeType setting);
+
+  /**
+   * @brief Runs the BasicMotorStop Command
+   * Overrides run command from AutoCommand
+   *
+   * @return True Command runs once
+   */
+  bool run() override;
+
+private:
+  vex::motor &motor;
+
+  vex::brakeType setting;
 };
 
-//Basic Solenoid Commands----------------------------------
+// Basic Solenoid Commands----------------------------------
 
 /**
  * AutoCommand wrapper class for BasicSolenoidSet
  * Using the Vex hardware functions
  */
-class BasicSolenoidSet : public AutoCommand{
-    public:
-
-     /**
-     * @brief Construct a new BasicSolenoidSet Command
-     * 
-     * @param solenoid Solenoid being set
-     * @param setting Setting of the solenoid in boolean (true,false)
-     */
-     BasicSolenoidSet(vex::pneumatics &solenoid, bool setting);
-
-     /**
-     * @brief Runs the BasicSolenoidSet
-     * Overrides run command from AutoCommand
-     * 
-     * @return True Command runs once
-     */
-     bool run() override;
-
-    private:
-
-     vex::pneumatics &solenoid;
-
-     bool setting;
+class BasicSolenoidSet : public AutoCommand {
+public:
+  /**
+   * @brief Construct a new BasicSolenoidSet Command
+   *
+   * @param solenoid Solenoid being set
+   * @param setting Setting of the solenoid in boolean (true,false)
+   */
+  BasicSolenoidSet(vex::pneumatics &solenoid, bool setting);
+
+  /**
+   * @brief Runs the BasicSolenoidSet
+   * Overrides run command from AutoCommand
+   *
+   * @return True Command runs once
+   */
+  bool run() override;
+
+private:
+  vex::pneumatics &solenoid;
+
+  bool setting;
 };
\ No newline at end of file
diff --git a/include/utils/command_structure/command_controller.h b/include/utils/command_structure/command_controller.h
index 4f8cf14..f44d409 100644
--- a/include/utils/command_structure/command_controller.h
+++ b/include/utils/command_structure/command_controller.h
@@ -8,12 +8,11 @@
  */
 
 #pragma once
-#include <vector>
-#include <queue>
 #include "../core/include/utils/command_structure/auto_command.h"
+#include <queue>
+#include <vector>
 
-class CommandController
-{
+class CommandController {
 public:
   /// @brief Create an empty CommandController. Add Command with CommandController::add()
   [[deprecated("Use list constructor instead.")]] CommandController() : command_queue({}) {}
@@ -24,9 +23,12 @@ class CommandController
   /**
    * Adds a command to the queue
    * @param cmd the AutoCommand we want to add to our list
-   * @param timeout_seconds the number of seconds we will let the command run for. If it exceeds this, we cancel it and run on_timeout. if it is <= 0 no time out will be applied
+   * @param timeout_seconds the number of seconds we will let the command run for. If it exceeds this, we cancel it and
+   * run on_timeout. if it is <= 0 no time out will be applied
    */
-  [[deprecated("Use list constructor instead. If you need to make a decision before adding new commands, use Branch (https://github.com/RIT-VEX-U/Core/wiki/3-%7C-Utilites#commandcontroller)")]] void add(std::vector<AutoCommand *> cmds);
+  [[deprecated("Use list constructor instead. If you need to make a decision before adding new commands, use Branch "
+               "(https://github.com/RIT-VEX-U/Core/wiki/3-%7C-Utilites#commandcontroller)")]] void
+  add(std::vector<AutoCommand *> cmds);
   void add(AutoCommand *cmd, double timeout_seconds = 10.0);
 
   /**
@@ -39,7 +41,8 @@ class CommandController
    * @param cmds the AutoCommands we want to add to our list
    * @param timeout_sec timeout in seconds to apply to all commands if they are still the default
    */
-  [[deprecated("Use list constructor instead. If you need to make a decision before adding new commands, use Branch (https://github.com/RIT-VEX-U/Core/wiki/3-%7C-Utilites#commandcontroller)")]] void
+  [[deprecated("Use list constructor instead. If you need to make a decision before adding new commands, use Branch "
+               "(https://github.com/RIT-VEX-U/Core/wiki/3-%7C-Utilites#commandcontroller)")]] void
   add(std::vector<AutoCommand *> cmds, double timeout_sec);
   /**
    * Adds a command that will delay progression
@@ -69,6 +72,5 @@ class CommandController
 private:
   std::queue<AutoCommand *> command_queue;
   bool command_timed_out = false;
-  std::function<bool()> should_cancel = []()
-  { return false; };
+  std::function<bool()> should_cancel = []() { return false; };
 };
\ No newline at end of file
diff --git a/include/utils/command_structure/delay_command.h b/include/utils/command_structure/delay_command.h
index c82b9bd..fe824c2 100644
--- a/include/utils/command_structure/delay_command.h
+++ b/include/utils/command_structure/delay_command.h
@@ -9,25 +9,25 @@
 
 #include "../core/include/utils/command_structure/auto_command.h"
 
-class DelayCommand: public AutoCommand {
-  public:
-    /**
-     * Construct a delay command
-     * @param ms the number of milliseconds to delay for
-    */
-    DelayCommand(int ms): ms(ms) {}
-    
-    /**
-     * Delays for the amount of milliseconds stored in the command
-     * Overrides run from AutoCommand
-     * @returns true when complete
-     */
-    bool run() override {
-      vexDelay(ms);
-      return true;
-    }
+class DelayCommand : public AutoCommand {
+public:
+  /**
+   * Construct a delay command
+   * @param ms the number of milliseconds to delay for
+   */
+  DelayCommand(int ms) : ms(ms) {}
 
-  private:
-    // amount of milliseconds to wait
-    int ms;
+  /**
+   * Delays for the amount of milliseconds stored in the command
+   * Overrides run from AutoCommand
+   * @returns true when complete
+   */
+  bool run() override {
+    vexDelay(ms);
+    return true;
+  }
+
+private:
+  // amount of milliseconds to wait
+  int ms;
 };
\ No newline at end of file
diff --git a/include/utils/command_structure/drive_commands.h b/include/utils/command_structure/drive_commands.h
index ee590fb..74c0dbc 100644
--- a/include/utils/command_structure/drive_commands.h
+++ b/include/utils/command_structure/drive_commands.h
@@ -2,7 +2,7 @@
  * File: drive_commands.h
  * Desc:
  *    Holds all the AutoCommand subclasses that wrap (currently) TankDrive functions
- *    
+ *
  *    Currently includes:
  *      - drive_forward
  *      - turn_degrees
@@ -18,243 +18,235 @@
 
 #pragma once
 
-#include "vex.h"
-#include "../core/include/utils/geometry.h"
-#include "../core/include/utils/command_structure/auto_command.h"
 #include "../core/include/subsystems/tank_drive.h"
+#include "../core/include/utils/command_structure/auto_command.h"
+#include "../core/include/utils/geometry.h"
+#include "vex.h"
 
 using namespace vex;
 
-
 // ==== DRIVING ====
 
 /**
- * AutoCommand wrapper class for the drive_forward function in the 
+ * AutoCommand wrapper class for the drive_forward function in the
  * TankDrive class
  *
  */
-class DriveForwardCommand: public AutoCommand 
-{
-  public:
-    DriveForwardCommand(TankDrive &drive_sys, Feedback &feedback, double inches, directionType dir, double max_speed=1, double end_speed=0);
-
-    /**
-     * Run drive_forward
-     * Overrides run from AutoCommand
-     * @returns true when execution is complete, false otherwise
-     */
-    bool run() override;
-    /**
-     * Cleans up drive system if we time out before finishing
-    */
-    void on_timeout() override;
-
-  private:
-    // drive system to run the function on
-    TankDrive &drive_sys;
-
-    // feedback controller to use
-    Feedback &feedback;
-
-    // parameters for drive_forward
-    double inches;
-    directionType dir;
-    double max_speed;
-    double end_speed;
+class DriveForwardCommand : public AutoCommand {
+public:
+  DriveForwardCommand(TankDrive &drive_sys, Feedback &feedback, double inches, directionType dir, double max_speed = 1,
+                      double end_speed = 0);
+
+  /**
+   * Run drive_forward
+   * Overrides run from AutoCommand
+   * @returns true when execution is complete, false otherwise
+   */
+  bool run() override;
+  /**
+   * Cleans up drive system if we time out before finishing
+   */
+  void on_timeout() override;
+
+private:
+  // drive system to run the function on
+  TankDrive &drive_sys;
+
+  // feedback controller to use
+  Feedback &feedback;
+
+  // parameters for drive_forward
+  double inches;
+  directionType dir;
+  double max_speed;
+  double end_speed;
 };
 
 /**
- * AutoCommand wrapper class for the turn_degrees function in the 
+ * AutoCommand wrapper class for the turn_degrees function in the
  * TankDrive class
  */
-class TurnDegreesCommand: public AutoCommand 
-{
-  public:
-    TurnDegreesCommand(TankDrive &drive_sys, Feedback &feedback, double degrees, double max_speed = 1, double end_speed = 0);
-
-    /**
-     * Run turn_degrees
-     * Overrides run from AutoCommand
-     * @returns true when execution is complete, false otherwise
-     */
-    bool run() override;
-    /**
-     * Cleans up drive system if we time out before finishing
-    */
-    void on_timeout() override;
-
-
-  private:
-    // drive system to run the function on
-    TankDrive &drive_sys;
-    
-    // feedback controller to use
-    Feedback &feedback;
-
-    // parameters for turn_degrees
-    double degrees;
-    double max_speed;
-    double end_speed;
+class TurnDegreesCommand : public AutoCommand {
+public:
+  TurnDegreesCommand(TankDrive &drive_sys, Feedback &feedback, double degrees, double max_speed = 1,
+                     double end_speed = 0);
+
+  /**
+   * Run turn_degrees
+   * Overrides run from AutoCommand
+   * @returns true when execution is complete, false otherwise
+   */
+  bool run() override;
+  /**
+   * Cleans up drive system if we time out before finishing
+   */
+  void on_timeout() override;
+
+private:
+  // drive system to run the function on
+  TankDrive &drive_sys;
+
+  // feedback controller to use
+  Feedback &feedback;
+
+  // parameters for turn_degrees
+  double degrees;
+  double max_speed;
+  double end_speed;
 };
 
 /**
  * AutoCommand wrapper class for the drive_to_point function in the
  * TankDrive class
  */
-class DriveToPointCommand: public AutoCommand 
-{
-  public:
-    DriveToPointCommand(TankDrive &drive_sys, Feedback &feedback, double x, double y, directionType dir, double max_speed = 1, double end_speed = 0);
-    DriveToPointCommand(TankDrive &drive_sys, Feedback &feedback, point_t point, directionType dir, double max_speed=1, double end_speed = 0);
-
-    /**
-     * Run drive_to_point
-     * Overrides run from AutoCommand
-     * @returns true when execution is complete, false otherwise
-     */
-    bool run() override;
-
-  private:
-    // drive system to run the function on
-    TankDrive &drive_sys;
-    
-    /**
-     * Cleans up drive system if we time out before finishing
-    */
-    void on_timeout() override;
-
-
-    // feedback controller to use
-    Feedback &feedback;
-
-    // parameters for drive_to_point
-    double x;
-    double y;
-    directionType dir;
-    double max_speed;
-    double end_speed;
-    
+class DriveToPointCommand : public AutoCommand {
+public:
+  DriveToPointCommand(TankDrive &drive_sys, Feedback &feedback, double x, double y, directionType dir,
+                      double max_speed = 1, double end_speed = 0);
+  DriveToPointCommand(TankDrive &drive_sys, Feedback &feedback, point_t point, directionType dir, double max_speed = 1,
+                      double end_speed = 0);
+
+  /**
+   * Run drive_to_point
+   * Overrides run from AutoCommand
+   * @returns true when execution is complete, false otherwise
+   */
+  bool run() override;
+
+private:
+  // drive system to run the function on
+  TankDrive &drive_sys;
+
+  /**
+   * Cleans up drive system if we time out before finishing
+   */
+  void on_timeout() override;
+
+  // feedback controller to use
+  Feedback &feedback;
+
+  // parameters for drive_to_point
+  double x;
+  double y;
+  directionType dir;
+  double max_speed;
+  double end_speed;
 };
 
 /**
- * AutoCommand wrapper class for the turn_to_heading() function in the 
+ * AutoCommand wrapper class for the turn_to_heading() function in the
  * TankDrive class
  *
  */
-class TurnToHeadingCommand: public AutoCommand 
-{
-  public:
-    TurnToHeadingCommand(TankDrive &drive_sys, Feedback &feedback, double heading_deg, double speed = 1, double end_speed = 0);
-
-    /**
-     * Run turn_to_heading
-     * Overrides run from AutoCommand
-     * @returns true when execution is complete, false otherwise
-     */
-    bool run() override;
-    /**
-     * Cleans up drive system if we time out before finishing
-    */
-    void on_timeout() override;
-
-
-  private:
-    // drive system to run the function on
-    TankDrive &drive_sys;
-
-    // feedback controller to use
-    Feedback &feedback;
-
-    // parameters for turn_to_heading
-    double heading_deg;
-    double max_speed;
-    double end_speed;
+class TurnToHeadingCommand : public AutoCommand {
+public:
+  TurnToHeadingCommand(TankDrive &drive_sys, Feedback &feedback, double heading_deg, double speed = 1,
+                       double end_speed = 0);
+
+  /**
+   * Run turn_to_heading
+   * Overrides run from AutoCommand
+   * @returns true when execution is complete, false otherwise
+   */
+  bool run() override;
+  /**
+   * Cleans up drive system if we time out before finishing
+   */
+  void on_timeout() override;
+
+private:
+  // drive system to run the function on
+  TankDrive &drive_sys;
+
+  // feedback controller to use
+  Feedback &feedback;
+
+  // parameters for turn_to_heading
+  double heading_deg;
+  double max_speed;
+  double end_speed;
 };
 
 /**
  * Autocommand wrapper class for pure pursuit function in the TankDrive class
-*/
-class PurePursuitCommand: public AutoCommand
-{
-  public:
+ */
+class PurePursuitCommand : public AutoCommand {
+public:
   /**
    * Construct a Pure Pursuit AutoCommand
-   * 
+   *
    * @param path The list of coordinates to follow, in order
    * @param dir Run the bot forwards or backwards
    * @param feedback The feedback controller determining speed
    * @param max_speed Limit the speed of the robot (for pid / pidff feedbacks)
-  */
-  PurePursuitCommand(TankDrive &drive_sys, Feedback &feedback, PurePursuit::Path path, directionType dir, double max_speed=1, double end_speed=0);
+   */
+  PurePursuitCommand(TankDrive &drive_sys, Feedback &feedback, PurePursuit::Path path, directionType dir,
+                     double max_speed = 1, double end_speed = 0);
 
   /**
    * Direct call to TankDrive::pure_pursuit
-  */
+   */
   bool run() override;
 
   /**
    * Reset the drive system when it times out
-  */
+   */
   void on_timeout() override;
 
-  private:
+private:
   TankDrive &drive_sys;
   PurePursuit::Path path;
   directionType dir;
   Feedback &feedback;
   double max_speed;
   double end_speed;
-
 };
 
 /**
- * AutoCommand wrapper class for the stop() function in the 
+ * AutoCommand wrapper class for the stop() function in the
  * TankDrive class
  */
-class DriveStopCommand: public AutoCommand 
-{
-  public:
-    DriveStopCommand(TankDrive &drive_sys);
-
-    /**
-     * Stop the drive system
-     * Overrides run from AutoCommand
-     * @returns true when execution is complete, false otherwise
-     */
-    bool run() override;
-    void on_timeout() override;
-
-  private:
-    // drive system to run the function on
-    TankDrive &drive_sys;
-};
+class DriveStopCommand : public AutoCommand {
+public:
+  DriveStopCommand(TankDrive &drive_sys);
+
+  /**
+   * Stop the drive system
+   * Overrides run from AutoCommand
+   * @returns true when execution is complete, false otherwise
+   */
+  bool run() override;
+  void on_timeout() override;
 
+private:
+  // drive system to run the function on
+  TankDrive &drive_sys;
+};
 
 // ==== ODOMETRY ====
 
 /**
- * AutoCommand wrapper class for the set_position function in the 
+ * AutoCommand wrapper class for the set_position function in the
  * Odometry class
  */
-class OdomSetPosition: public AutoCommand 
-{
-  public:
-    /**
-     * constructs a new OdomSetPosition command
-     * @param odom the odometry system we are setting
-     * @param newpos the position we are telling the odometry to take. defaults to (0, 0), angle = 90
-    */
-    OdomSetPosition(OdometryBase &odom, const pose_t &newpos=OdometryBase::zero_pos);
-
-    /**
-     * Run set_position
-     * Overrides run from AutoCommand
-     * @returns true when execution is complete, false otherwise
-     */
-    bool run() override;
-
-  private:
-    // drive system with an odometry config
-    OdometryBase &odom;
-    pose_t newpos;
+class OdomSetPosition : public AutoCommand {
+public:
+  /**
+   * constructs a new OdomSetPosition command
+   * @param odom the odometry system we are setting
+   * @param newpos the position we are telling the odometry to take. defaults to (0, 0), angle = 90
+   */
+  OdomSetPosition(OdometryBase &odom, const pose_t &newpos = OdometryBase::zero_pos);
+
+  /**
+   * Run set_position
+   * Overrides run from AutoCommand
+   * @returns true when execution is complete, false otherwise
+   */
+  bool run() override;
+
+private:
+  // drive system with an odometry config
+  OdometryBase &odom;
+  pose_t newpos;
 };
diff --git a/include/utils/command_structure/flywheel_commands.h b/include/utils/command_structure/flywheel_commands.h
index 04bf8f5..dc3490c 100644
--- a/include/utils/command_structure/flywheel_commands.h
+++ b/include/utils/command_structure/flywheel_commands.h
@@ -14,56 +14,56 @@
  * in the Flywheel class
  *
  */
-class SpinRPMCommand: public AutoCommand {
-  public:
+class SpinRPMCommand : public AutoCommand {
+public:
   /**
    * Construct a SpinRPM Command
    * @param flywheel the flywheel sys to command
    * @param rpm the rpm that we should spin at
-  */
+   */
   SpinRPMCommand(Flywheel &flywheel, int rpm);
 
-    /**
-     * Run spin_manual
-     * Overrides run from AutoCommand
-     * @returns true when execution is complete, false otherwise
-     */
-    bool run() override;
-
-  private:
-    // Flywheel instance to run the function on
-    Flywheel &flywheel;
-
-    // parameters for spin_rpm
-    int rpm;
+  /**
+   * Run spin_manual
+   * Overrides run from AutoCommand
+   * @returns true when execution is complete, false otherwise
+   */
+  bool run() override;
+
+private:
+  // Flywheel instance to run the function on
+  Flywheel &flywheel;
+
+  // parameters for spin_rpm
+  int rpm;
 };
 
 /**
  * AutoCommand that listens to the Flywheel and waits until it is at its target speed +/- the specified threshold
  *
  */
-class WaitUntilUpToSpeedCommand: public AutoCommand {
-  public:
-    /** 
-     * Creat a WaitUntilUpToSpeedCommand
-     * @param flywheel the flywheel system we are commanding
-     * @param threshold_rpm the threshold over and under the flywheel target RPM that we define to be acceptable
-    */
-    WaitUntilUpToSpeedCommand(Flywheel &flywheel, int threshold_rpm);
-
-    /**
-     * Run spin_manual
-     * Overrides run from AutoCommand
-     * @returns true when execution is complete, false otherwise
-     */
-    bool run() override;
-
-  private:
-    // Flywheel instance to run the function on
-    Flywheel &flywheel;
-
-    // if the actual speed is equal to the desired speed +/- this value, we are ready to fire
-    int threshold_rpm;
+class WaitUntilUpToSpeedCommand : public AutoCommand {
+public:
+  /**
+   * Creat a WaitUntilUpToSpeedCommand
+   * @param flywheel the flywheel system we are commanding
+   * @param threshold_rpm the threshold over and under the flywheel target RPM that we define to be acceptable
+   */
+  WaitUntilUpToSpeedCommand(Flywheel &flywheel, int threshold_rpm);
+
+  /**
+   * Run spin_manual
+   * Overrides run from AutoCommand
+   * @returns true when execution is complete, false otherwise
+   */
+  bool run() override;
+
+private:
+  // Flywheel instance to run the function on
+  Flywheel &flywheel;
+
+  // if the actual speed is equal to the desired speed +/- this value, we are ready to fire
+  int threshold_rpm;
 };
 
 /**
@@ -71,24 +71,24 @@ class WaitUntilUpToSpeedCommand: public AutoCommand {
  * in the Flywheel class
  *
  */
-class FlywheelStopCommand: public AutoCommand {
-  public:
+class FlywheelStopCommand : public AutoCommand {
+public:
   /**
    * Construct a FlywheelStopCommand
    * @param flywheel the flywheel system we are commanding
-  */
+   */
   FlywheelStopCommand(Flywheel &flywheel);
 
-    /**
-     * Run stop
-     * Overrides run from AutoCommand
-     * @returns true when execution is complete, false otherwise
-     */
-    bool run() override;
-
-  private:
-    // Flywheel instance to run the function on
-    Flywheel &flywheel;
+  /**
+   * Run stop
+   * Overrides run from AutoCommand
+   * @returns true when execution is complete, false otherwise
+   */
+  bool run() override;
+
+private:
+  // Flywheel instance to run the function on
+  Flywheel &flywheel;
 };
 
 /**
@@ -96,24 +96,24 @@ class FlywheelStopCommand: public AutoCommand {
  * in the Flywheel class
  *
  */
-class FlywheelStopMotorsCommand: public AutoCommand {
-  public:
+class FlywheelStopMotorsCommand : public AutoCommand {
+public:
   /**
    * Construct a FlywheeStopMotors Command
    * @param flywheel the flywheel system we are commanding
-  */
+   */
   FlywheelStopMotorsCommand(Flywheel &flywheel);
 
-    /**
-     * Run stop
-     * Overrides run from AutoCommand
-     * @returns true when execution is complete, false otherwise
-     */
-    bool run() override;
-
-  private:
-    // Flywheel instance to run the function on
-    Flywheel &flywheel;
+  /**
+   * Run stop
+   * Overrides run from AutoCommand
+   * @returns true when execution is complete, false otherwise
+   */
+  bool run() override;
+
+private:
+  // Flywheel instance to run the function on
+  Flywheel &flywheel;
 };
 
 /**
@@ -121,17 +121,17 @@ class FlywheelStopMotorsCommand: public AutoCommand {
  * in the Flywheel class
  *
  */
-class FlywheelStopNonTasksCommand: public AutoCommand {
+class FlywheelStopNonTasksCommand : public AutoCommand {
   FlywheelStopNonTasksCommand(Flywheel &flywheel);
 
-    /**
-     * Run stop
-     * Overrides run from AutoCommand
-     * @returns true when execution is complete, false otherwise
-     */
-    bool run() override;
-
-  private:
-    // Flywheel instance to run the function on
-    Flywheel &flywheel;
+  /**
+   * Run stop
+   * Overrides run from AutoCommand
+   * @returns true when execution is complete, false otherwise
+   */
+  bool run() override;
+
+private:
+  // Flywheel instance to run the function on
+  Flywheel &flywheel;
 };
diff --git a/include/utils/controls/bang_bang.h b/include/utils/controls/bang_bang.h
index 8fbc180..4146ca1 100644
--- a/include/utils/controls/bang_bang.h
+++ b/include/utils/controls/bang_bang.h
@@ -1,50 +1,49 @@
 #include "../core/include/utils/controls/feedback_base.h"
 
-class BangBang : public Feedback
-{
+class BangBang : public Feedback {
 
 public:
-    BangBang(double thresshold, double low, double high);
-    /**
-     * Initialize the feedback controller for a movement
-     *
-     * @param start_pt the current sensor value
-     * @param set_pt where the sensor value should be
-     * @param start_vel Movement starting velocity
-     * @param end_vel Movement ending velocity
-     */
-    void init(double start_pt, double set_pt) override;
+  BangBang(double thresshold, double low, double high);
+  /**
+   * Initialize the feedback controller for a movement
+   *
+   * @param start_pt the current sensor value
+   * @param set_pt where the sensor value should be
+   * @param start_vel Movement starting velocity
+   * @param end_vel Movement ending velocity
+   */
+  void init(double start_pt, double set_pt) override;
 
-    /**
-     * Iterate the feedback loop once with an updated sensor value
-     *
-     * @param val value from the sensor
-     * @return feedback loop result
-     */
-    double update(double val) override;
+  /**
+   * Iterate the feedback loop once with an updated sensor value
+   *
+   * @param val value from the sensor
+   * @return feedback loop result
+   */
+  double update(double val) override;
 
-    /**
-     * @return the last saved result from the feedback controller
-     */
-    double get() override;
+  /**
+   * @return the last saved result from the feedback controller
+   */
+  double get() override;
 
-    /**
-     * Clamp the upper and lower limits of the output. If both are 0, no limits should be applied.
-     *
-     * @param lower Upper limit
-     * @param upper Lower limit
-     */
-    void set_limits(double lower, double upper) override;
+  /**
+   * Clamp the upper and lower limits of the output. If both are 0, no limits should be applied.
+   *
+   * @param lower Upper limit
+   * @param upper Lower limit
+   */
+  void set_limits(double lower, double upper) override;
 
-    /**
-     * @return true if the feedback controller has reached it's setpoint
-     */
-    bool is_on_target() override;
+  /**
+   * @return true if the feedback controller has reached it's setpoint
+   */
+  bool is_on_target() override;
 
 private:
-    double setpt;
-    double sensor_val;
-    double lower_bound, upper_bound;
-    double last_output;
-    double threshhold;
+  double setpt;
+  double sensor_val;
+  double lower_bound, upper_bound;
+  double last_output;
+  double threshhold;
 };
diff --git a/include/utils/controls/feedback_base.h b/include/utils/controls/feedback_base.h
index 528af20..08d0dc5 100644
--- a/include/utils/controls/feedback_base.h
+++ b/include/utils/controls/feedback_base.h
@@ -7,44 +7,41 @@
  * @date 9/25/2022
  *
  */
-class Feedback
-{
+class Feedback {
 public:
-    /**
-     * Initialize the feedback controller for a movement
-     *
-     * @param start_pt the current sensor value
-     * @param set_pt where the sensor value should be
-     * @param start_vel Movement starting velocity
-     * @param end_vel Movement ending velocity
-     */
-    virtual void init(double start_pt, double set_pt) = 0;
+  /**
+   * Initialize the feedback controller for a movement
+   *
+   * @param start_pt the current sensor value
+   * @param set_pt where the sensor value should be
+   * @param start_vel Movement starting velocity
+   * @param end_vel Movement ending velocity
+   */
+  virtual void init(double start_pt, double set_pt) = 0;
 
-    /**
-     * Iterate the feedback loop once with an updated sensor value
-     *
-     * @param val value from the sensor
-     * @return feedback loop result
-     */
-    virtual double update(double val) = 0;
+  /**
+   * Iterate the feedback loop once with an updated sensor value
+   *
+   * @param val value from the sensor
+   * @return feedback loop result
+   */
+  virtual double update(double val) = 0;
 
-    /**
-     * @return the last saved result from the feedback controller
-     */
-    virtual double get() = 0;
-
-    /**
-     * Clamp the upper and lower limits of the output. If both are 0, no limits should be applied.
-     *
-     * @param lower Upper limit
-     * @param upper Lower limit
-     */
-    virtual void set_limits(double lower, double upper) = 0;
-
-    /**
-     * @return true if the feedback controller has reached it's setpoint
-     */
-    virtual bool is_on_target() = 0;
+  /**
+   * @return the last saved result from the feedback controller
+   */
+  virtual double get() = 0;
 
+  /**
+   * Clamp the upper and lower limits of the output. If both are 0, no limits should be applied.
+   *
+   * @param lower Upper limit
+   * @param upper Lower limit
+   */
+  virtual void set_limits(double lower, double upper) = 0;
 
+  /**
+   * @return true if the feedback controller has reached it's setpoint
+   */
+  virtual bool is_on_target() = 0;
 };
\ No newline at end of file
diff --git a/include/utils/controls/feedforward.h b/include/utils/controls/feedforward.h
index c6700e7..f10b359 100644
--- a/include/utils/controls/feedforward.h
+++ b/include/utils/controls/feedforward.h
@@ -1,90 +1,85 @@
 #pragma once
 
-#include <math.h>
-#include <vector>
 #include "../core/include/utils/math_util.h"
 #include "../core/include/utils/moving_average.h"
 #include "vex.h"
+#include <math.h>
+#include <vector>
 
 /**
  * FeedForward
- * 
+ *
  * Stores the feedfoward constants, and allows for quick computation.
  * Feedfoward should be used in systems that require smooth precise movements
  * and have high inertia, such as drivetrains and lifts.
- * 
+ *
  * This is best used alongside a PID loop, with the form:
  * output = pid.get() + feedforward.calculate(v, a);
- * 
- * In this case, the feedforward does the majority of the heavy lifting, and the 
+ *
+ * In this case, the feedforward does the majority of the heavy lifting, and the
  * pid loop only corrects for inconsistencies
- * 
+ *
  * For information about tuning feedforward, I reccommend looking at this post:
  * https://www.chiefdelphi.com/t/paper-frc-drivetrain-characterization/160915
  * (yes I know it's for FRC but trust me, it's useful)
- * 
+ *
  * @author Ryan McGee
  * @date 6/13/2022
  */
-class FeedForward
-{
-    public:
+class FeedForward {
+public:
+  /**
+   * ff_config_t holds the parameters to make the theoretical model of a real world system
+   * equation is of the form
+   * kS if the system is not stopped, 0 otherwise
+   * + kV * desired velocity
+   * + kA * desired acceleration
+   * + kG
+   */
+  typedef struct {
+    double kS; /**< Coefficient to overcome static friction: the point at which the motor *starts* to move.*/
+    double kV; /**< Veclocity coefficient: the power required to keep the mechanism in motion. Multiplied by the
+                  requested velocity.*/
+    double kA; /**< kA - Acceleration coefficient: the power required to change the mechanism's speed. Multiplied by the
+                  requested acceleration.*/
+    double kG; /**< kG - Gravity coefficient: only needed for lifts. The power required to overcome gravity and stay at
+                  steady state.*/
+  } ff_config_t;
 
-    /**
-     * ff_config_t holds the parameters to make the theoretical model of a real world system
-     * equation is of the form
-     * kS if the system is not stopped, 0 otherwise
-     * + kV * desired velocity
-     * + kA * desired acceleration
-     * + kG
-     */
-    typedef struct
-    {
-        double kS; /**< Coefficient to overcome static friction: the point at which the motor *starts* to move.*/
-        double kV; /**< Veclocity coefficient: the power required to keep the mechanism in motion. Multiplied by the requested velocity.*/
-        double kA; /**< kA - Acceleration coefficient: the power required to change the mechanism's speed. Multiplied by the requested acceleration.*/
-        double kG; /**< kG - Gravity coefficient: only needed for lifts. The power required to overcome gravity and stay at steady state.*/
-    } ff_config_t;
+  /**
+   * Creates a FeedForward object.
+   * @param cfg Configuration Struct for tuning
+   */
+  FeedForward(ff_config_t &cfg) : cfg(cfg) {}
 
-    
-    /**
-     * Creates a FeedForward object.
-     * @param cfg Configuration Struct for tuning
-    */
-    FeedForward(ff_config_t &cfg) : cfg(cfg) {}
+  /**
+   * @brief Perform the feedforward calculation
+   *
+   * This calculation is the equation:
+   * F = kG + kS*sgn(v) + kV*v + kA*a
+   *
+   * @param v Requested velocity of system
+   * @param a Requested acceleration of system
+   * @return A feedforward that should closely represent the system if tuned correctly
+   */
+  double calculate(double v, double a, double pid_ref = 0.0) {
+    double ks_sign = 0;
+    if (v != 0)
+      ks_sign = sign(v);
+    else if (pid_ref != 0)
+      ks_sign = sign(pid_ref);
 
-    /**
-     * @brief Perform the feedforward calculation
-     * 
-     * This calculation is the equation:
-     * F = kG + kS*sgn(v) + kV*v + kA*a
-     * 
-     * @param v Requested velocity of system
-     * @param a Requested acceleration of system
-     * @return A feedforward that should closely represent the system if tuned correctly
-     */
-    double calculate(double v, double a, double pid_ref=0.0)
-    {
-        double ks_sign = 0;
-        if(v != 0)
-            ks_sign = sign(v);
-        else if(pid_ref != 0)
-            ks_sign = sign(pid_ref);
-        
-        return (cfg.kS * ks_sign) + (cfg.kV * v) + (cfg.kA * a) + cfg.kG;
-    }
-
-    private:
-
-    ff_config_t &cfg;
+    return (cfg.kS * ks_sign) + (cfg.kV * v) + (cfg.kA * a) + cfg.kG;
+  }
 
+private:
+  ff_config_t &cfg;
 };
 
-
 /**
-* tune_feedforward takes a group of motors and finds the feedforward conifg parameters automagically.
-*  @param motor the motor group to use 
-*  @param pct Maximum velocity in percent (0->1.0)
+ * tune_feedforward takes a group of motors and finds the feedforward conifg parameters automagically.
+ *  @param motor the motor group to use
+ *  @param pct Maximum velocity in percent (0->1.0)
  * @param duration Amount of time the motors spin for the test
  * @return A tuned feedforward object
  */
diff --git a/include/utils/controls/motion_controller.h b/include/utils/controls/motion_controller.h
index 11c07de..8f2b70f 100644
--- a/include/utils/controls/motion_controller.h
+++ b/include/utils/controls/motion_controller.h
@@ -1,126 +1,123 @@
 #pragma once
-#include "../core/include/utils/controls/pid.h"
+#include "../core/include/subsystems/tank_drive.h"
+#include "../core/include/utils/controls/feedback_base.h"
 #include "../core/include/utils/controls/feedforward.h"
+#include "../core/include/utils/controls/pid.h"
 #include "../core/include/utils/controls/trapezoid_profile.h"
-#include "../core/include/utils/controls/feedback_base.h"
-#include "../core/include/subsystems/tank_drive.h"
 #include "vex.h"
 
 /**
  * Motion Controller class
- * 
+ *
  * This class defines a top-level motion profile, which can act as an intermediate between
  * a subsystem class and the motors themselves
  *
- * This takes the constants kS, kV, kA, kP, kI, kD, max_v and acceleration and wraps around 
+ * This takes the constants kS, kV, kA, kP, kI, kD, max_v and acceleration and wraps around
  * a feedforward, PID and trapezoid profile. It does so with the following formula:
- * 
+ *
  * out = feedfoward.calculate(motion_profile.get(time_s)) + pid.get(motion_profile.get(time_s))
- * 
+ *
  * For PID and Feedforward specific formulae, see pid.h, feedforward.h, and trapezoid_profile.h
- * 
+ *
  * @author Ryan McGee
  * @date 7/13/2022
  */
-class MotionController : public Feedback
-{
-    public:
-
-    /**
-     * m_profile_config holds all data the motion controller uses to plan paths
-     * When motion pofile is given a target to drive to, max_v and accel are used to make the trapezoid profile instructing the controller how to drive
-     * pid_cfg, ff_cfg are used to find the motor outputs necessary to execute this path
-     */
-    typedef struct
-    {
-        double max_v; ///< the maximum velocity the robot can drive
-        double accel; ///< the most acceleration the robot can do
-        PID::pid_config_t pid_cfg; ///< configuration parameters for the internal PID controller 
-        FeedForward::ff_config_t ff_cfg; ///< configuration parameters for the internal 
-    } m_profile_cfg_t;
+class MotionController : public Feedback {
+public:
+  /**
+   * m_profile_config holds all data the motion controller uses to plan paths
+   * When motion pofile is given a target to drive to, max_v and accel are used to make the trapezoid profile
+   * instructing the controller how to drive pid_cfg, ff_cfg are used to find the motor outputs necessary to execute
+   * this path
+   */
+  typedef struct {
+    double max_v;                    ///< the maximum velocity the robot can drive
+    double accel;                    ///< the most acceleration the robot can do
+    PID::pid_config_t pid_cfg;       ///< configuration parameters for the internal PID controller
+    FeedForward::ff_config_t ff_cfg; ///< configuration parameters for the internal
+  } m_profile_cfg_t;
 
-    /**
-     * @brief Construct a new Motion Controller object
-     * 
-     * @param config The definition of how the robot is able to move
-     *    max_v Maximum velocity the movement is capable of
-     *    accel Acceleration / deceleration of the movement
-     *    pid_cfg Definitions of kP, kI, and kD
-     *    ff_cfg Definitions of kS, kV, and kA
-     */
-    MotionController(m_profile_cfg_t &config);
+  /**
+   * @brief Construct a new Motion Controller object
+   *
+   * @param config The definition of how the robot is able to move
+   *    max_v Maximum velocity the movement is capable of
+   *    accel Acceleration / deceleration of the movement
+   *    pid_cfg Definitions of kP, kI, and kD
+   *    ff_cfg Definitions of kS, kV, and kA
+   */
+  MotionController(m_profile_cfg_t &config);
 
-    /**
-     * @brief Initialize the motion profile for a new movement
-     * This will also reset the PID and profile timers.
-     */
-    void init(double start_pt, double end_pt) override;
-    
-    /**
-     * @brief Update the motion profile with a new sensor value
-     * 
-     * @param sensor_val Value from the sensor
-     * @return the motor input generated from the motion profile 
-     */
-    double update(double sensor_val) override;
+  /**
+   * @brief Initialize the motion profile for a new movement
+   * This will also reset the PID and profile timers.
+   */
+  void init(double start_pt, double end_pt) override;
 
-    /**
-     * @return the last saved result from the feedback controller
-     */
-    double get() override;
+  /**
+   * @brief Update the motion profile with a new sensor value
+   *
+   * @param sensor_val Value from the sensor
+   * @return the motor input generated from the motion profile
+   */
+  double update(double sensor_val) override;
 
-    /**
-     * Clamp the upper and lower limits of the output. If both are 0, no limits should be applied.
-     * if limits are applied, the controller will not target any value below lower or above upper
-     * 
-     * @param lower upper limit
-     * @param upper lower limiet
-     */
-    void set_limits(double lower, double upper) override;
+  /**
+   * @return the last saved result from the feedback controller
+   */
+  double get() override;
 
-    /** 
-     * @return Whether or not the movement has finished, and the PID
-     * confirms it is on target
-     */
-    bool is_on_target() override;
+  /**
+   * Clamp the upper and lower limits of the output. If both are 0, no limits should be applied.
+   * if limits are applied, the controller will not target any value below lower or above upper
+   *
+   * @param lower upper limit
+   * @param upper lower limiet
+   */
+  void set_limits(double lower, double upper) override;
 
-    /**
-     * @return The current postion, velocity and acceleration setpoints
-    */
-    motion_t get_motion();
+  /**
+   * @return Whether or not the movement has finished, and the PID
+   * confirms it is on target
+   */
+  bool is_on_target() override;
 
-    /**
-     * This method attempts to characterize the robot's drivetrain and automatically tune the feedforward.
-     * It does this by first calculating the kS (voltage to overcome static friction) by slowly increasing
-     * the voltage until it moves.
-     * 
-     * Next is kV (voltage to sustain a certain velocity), where the robot will record it's steady-state velocity
-     * at 'pct' speed.
-     * 
-     * Finally, kA (voltage needed to accelerate by a certain rate), where the robot will record the entire movement's
-     * velocity and acceleration, record a plot of [X=(pct-kV*V-kS), Y=(Acceleration)] along the movement,
-     * and since kA*Accel = pct-kV*V-kS, the reciprocal of the linear regression is the kA value.
-     * 
-     * @param drive The tankdrive to operate on
-     * @param odometry The robot's odometry subsystem
-     * @param pct Maximum velocity in percent (0->1.0)
-     * @param duration Amount of time the robot should be moving for the test
-     * @return A tuned feedforward object
-     */
-    static FeedForward::ff_config_t tune_feedforward(TankDrive &drive, OdometryTank &odometry, double pct=0.6, double duration=2);
+  /**
+   * @return The current postion, velocity and acceleration setpoints
+   */
+  motion_t get_motion();
 
-    private: 
+  /**
+   * This method attempts to characterize the robot's drivetrain and automatically tune the feedforward.
+   * It does this by first calculating the kS (voltage to overcome static friction) by slowly increasing
+   * the voltage until it moves.
+   *
+   * Next is kV (voltage to sustain a certain velocity), where the robot will record it's steady-state velocity
+   * at 'pct' speed.
+   *
+   * Finally, kA (voltage needed to accelerate by a certain rate), where the robot will record the entire movement's
+   * velocity and acceleration, record a plot of [X=(pct-kV*V-kS), Y=(Acceleration)] along the movement,
+   * and since kA*Accel = pct-kV*V-kS, the reciprocal of the linear regression is the kA value.
+   *
+   * @param drive The tankdrive to operate on
+   * @param odometry The robot's odometry subsystem
+   * @param pct Maximum velocity in percent (0->1.0)
+   * @param duration Amount of time the robot should be moving for the test
+   * @return A tuned feedforward object
+   */
+  static FeedForward::ff_config_t tune_feedforward(TankDrive &drive, OdometryTank &odometry, double pct = 0.6,
+                                                   double duration = 2);
 
-    m_profile_cfg_t config;
+private:
+  m_profile_cfg_t config;
 
-    PID pid;
-    FeedForward ff;
-    TrapezoidProfile profile;
+  PID pid;
+  FeedForward ff;
+  TrapezoidProfile profile;
 
-    double lower_limit = 0, upper_limit = 0;
-    double out = 0;
-    motion_t cur_motion;
-     
-    vex::timer tmr;
+  double lower_limit = 0, upper_limit = 0;
+  double out = 0;
+  motion_t cur_motion;
 
+  vex::timer tmr;
 };
\ No newline at end of file
diff --git a/include/utils/controls/pid.h b/include/utils/controls/pid.h
index 0b5d4b0..7c04d74 100644
--- a/include/utils/controls/pid.h
+++ b/include/utils/controls/pid.h
@@ -41,12 +41,12 @@ class PID : public Feedback {
    * an angle
    */
   struct pid_config_t {
-    double p;        ///< proportional coeffecient p * error()
-    double i;        ///< integral coeffecient i * integral(error)
-    double d;        ///< derivitave coeffecient d * derivative(error)
-    double deadband; ///< at what threshold are we close enough to be finished
-    double on_target_time; ///< the time in seconds that we have to be on target
-                           ///< for to say we are officially at the target
+    double p;                ///< proportional coeffecient p * error()
+    double i;                ///< integral coeffecient i * integral(error)
+    double d;                ///< derivitave coeffecient d * derivative(error)
+    double deadband;         ///< at what threshold are we close enough to be finished
+    double on_target_time;   ///< the time in seconds that we have to be on target
+                             ///< for to say we are officially at the target
     ERROR_TYPE error_method; ///< Linear or angular. wheter to do error as a
                              ///< simple subtraction or to wrap
   };
@@ -85,7 +85,7 @@ class PID : public Feedback {
    * and running the PID formula with the new sensor data
    * @param sensor_val the distance, angle, encoder position or whatever it is we
    * are measuring
-   * @param v_setpt Expected velocity setpoint, to subtract from the D term (for 
+   * @param v_setpt Expected velocity setpoint, to subtract from the D term (for
    * velocity control)
    * @return the new output. What would be returned by PID::get()
    */
@@ -144,37 +144,30 @@ class PID : public Feedback {
    */
   void set_target(double target);
 
-  pid_config_t
-      &config; ///< configuration struct for this controller. see pid_config_t
-               ///< for information about what this contains
+  pid_config_t &config; ///< configuration struct for this controller. see pid_config_t
+                        ///< for information about what this contains
 
 private:
-  double last_error =
-      0; ///< the error measured on the last iteration of update()
-  double accum_error =
-      0; ///< the integral of error over time since we called init()
-
-  double last_time = 0; ///< the time measured the last time update() was called
-  double on_target_last_time =
-      0; ///< the time at which we started being on target
-
-  double lower_limit =
-      0; ///< the PID controller will never set a target to go lower than this
-  double upper_limit =
-      0; ///< the PID controller will never set a target to go higher than this
-
-  double target = 0; ///< the target position of the PID controller (lower_limit
-                     ///< <= target <= upper_limit)
+  double last_error = 0;  ///< the error measured on the last iteration of update()
+  double accum_error = 0; ///< the integral of error over time since we called init()
+
+  double last_time = 0;           ///< the time measured the last time update() was called
+  double on_target_last_time = 0; ///< the time at which we started being on target
+
+  double lower_limit = 0; ///< the PID controller will never set a target to go lower than this
+  double upper_limit = 0; ///< the PID controller will never set a target to go higher than this
+
+  double target = 0;     ///< the target position of the PID controller (lower_limit
+                         ///< <= target <= upper_limit)
   double target_vel = 0; ///< the target velocity of the PID controller (if !=
                          ///< 0, controller will not wait for stop)
   double sensor_val = 0; ///< the last recorded value of the sensor we use to
                          ///< feed the PID controller
-  double out = 0; ///< the last calculated output value. we save it here so that
-                  ///< we don't have to recalculate if we ask for it more than
-                  ///< once between update() calls
+  double out = 0;        ///< the last calculated output value. we save it here so that
+                         ///< we don't have to recalculate if we ask for it more than
+                         ///< once between update() calls
 
-  bool is_checking_on_target =
-      false; ///< true if the sensor reading is within target +/- deadband
+  bool is_checking_on_target = false; ///< true if the sensor reading is within target +/- deadband
 
   timer pid_timer; ///< used for calculating integrals and derivatives in line
                    ///< with the real world times and checking the time we are
diff --git a/include/utils/controls/take_back_half.h b/include/utils/controls/take_back_half.h
index 68adb6a..e25e979 100644
--- a/include/utils/controls/take_back_half.h
+++ b/include/utils/controls/take_back_half.h
@@ -3,57 +3,57 @@
 
 /// @brief A velocity controller
 /// @warning If you try to use this as a position controller, it will fail.
-class TakeBackHalf : public Feedback
-{
+class TakeBackHalf : public Feedback {
 
 public:
-    TakeBackHalf(double TBH_gain, double first_cross_split, double on_target_threshold);
-    /**
-     * Initialize the feedback controller for a movement
-     *
-     * @param start_pt the current sensor value
-     * @param set_pt where the sensor value should be
-     * @param start_vel Movement starting velocity (IGNORED)
-     * @param end_vel Movement ending velocity (IGNORED)
-     */
-    void init(double start_pt, double set_pt);
-    /**
-     * Iterate the feedback loop once with an updated sensor value
-     *
-     * @param val value from the sensor
-     * @return feedback loop result
-     */
-    double update(double val) override;
-
-    /**
-     * @return the last saved result from the feedback controller
-     */
-    double get() override;
-
-    /**
-     * Clamp the upper and lower limits of the output. If both are 0, no limits should be applied.
-     *
-     * @param lower Upper limit
-     * @param upper Lower limit
-     */
-    void set_limits(double lower, double upper) override;
-
-    /**
-     * @return true if the feedback controller has reached it's setpoint
-     */
-    bool is_on_target() override;
-
-    double TBH_gain;             ///< tuned parameter
-    double first_cross_split; 
+  TakeBackHalf(double TBH_gain, double first_cross_split, double on_target_threshold);
+  /**
+   * Initialize the feedback controller for a movement
+   *
+   * @param start_pt the current sensor value
+   * @param set_pt where the sensor value should be
+   * @param start_vel Movement starting velocity (IGNORED)
+   * @param end_vel Movement ending velocity (IGNORED)
+   */
+  void init(double start_pt, double set_pt);
+  /**
+   * Iterate the feedback loop once with an updated sensor value
+   *
+   * @param val value from the sensor
+   * @return feedback loop result
+   */
+  double update(double val) override;
+
+  /**
+   * @return the last saved result from the feedback controller
+   */
+  double get() override;
+
+  /**
+   * Clamp the upper and lower limits of the output. If both are 0, no limits should be applied.
+   *
+   * @param lower Upper limit
+   * @param upper Lower limit
+   */
+  void set_limits(double lower, double upper) override;
+
+  /**
+   * @return true if the feedback controller has reached it's setpoint
+   */
+  bool is_on_target() override;
+
+  double TBH_gain; ///< tuned parameter
+  double first_cross_split;
+
 private:
-    double on_target_threshhold; ///< tuned parameter
+  double on_target_threshhold; ///< tuned parameter
 
-    double target = 0.0;
+  double target = 0.0;
 
-    bool first_cross = true;
-    double tbh = 0.0;
-    double prev_error = 0.0;
+  bool first_cross = true;
+  double tbh = 0.0;
+  double prev_error = 0.0;
 
-    double output = 0.0;
-    double lower = 0.0, upper = 0.0; ///< output limits
+  double output = 0.0;
+  double lower = 0.0, upper = 0.0; ///< output limits
 };
\ No newline at end of file
diff --git a/include/utils/controls/trapezoid_profile.h b/include/utils/controls/trapezoid_profile.h
index 865d342..8446ce2 100644
--- a/include/utils/controls/trapezoid_profile.h
+++ b/include/utils/controls/trapezoid_profile.h
@@ -2,86 +2,83 @@
 
 /**
  * motion_t is a description of 1 dimensional motion at a point in time.
-*/
-typedef struct
-{
-    double pos;   ///< 1d position at this point in time
-    double vel;   ///< 1d velocity at this point in time
-    double accel; ///< 1d acceleration at this point in time
+ */
+typedef struct {
+  double pos;   ///< 1d position at this point in time
+  double vel;   ///< 1d velocity at this point in time
+  double accel; ///< 1d acceleration at this point in time
 
 } motion_t;
 
 /**
  * Trapezoid Profile
- * 
+ *
  * This is a motion profile defined by an acceleration, maximum velocity, start point and end point.
  * Using this information, a parametric function is generated, with a period of acceleration, constant
  * velocity, and deceleration. The velocity graph looks like a trapezoid, giving it it's name.
- * 
- * If the maximum velocity is set high enough, this will become a S-curve profile, with only acceleration and deceleration.
- * 
+ *
+ * If the maximum velocity is set high enough, this will become a S-curve profile, with only acceleration and
+ * deceleration.
+ *
  * This class is designed for use in properly modelling the motion of the robots to create a feedfoward
  * and target for PID. Acceleration and Maximum velocity should be measured on the robot and tuned down
  * slightly to account for battery drop.
- * 
+ *
  * Here are the equations graphed for ease of understanding:
  * https://www.desmos.com/calculator/rkm3ivu1yk
- * 
+ *
  * @author Ryan McGee
  * @date 7/12/2022
- * 
+ *
  */
-class TrapezoidProfile
-{
-    public:
-
-    /**
-     * @brief Construct a new Trapezoid Profile object
-     * 
-     * @param max_v Maximum velocity the robot can run at
-     * @param accel Maximum acceleration of the robot
-     */
-    TrapezoidProfile(double max_v, double accel);
-
-    /**
-     * @brief Run the trapezoidal profile based on the time that's ellapsed
-     * 
-     * @param time_s Time since start of movement
-     * @return motion_t Position, velocity and acceleration
-     */
-    motion_t calculate(double time_s);
+class TrapezoidProfile {
+public:
+  /**
+   * @brief Construct a new Trapezoid Profile object
+   *
+   * @param max_v Maximum velocity the robot can run at
+   * @param accel Maximum acceleration of the robot
+   */
+  TrapezoidProfile(double max_v, double accel);
 
-    /**
-     * set_endpts defines a start and end position 
-     * @param start the starting position of the path
-     * @param end the ending position of the path
-     */
-    void set_endpts(double start, double end);
+  /**
+   * @brief Run the trapezoidal profile based on the time that's ellapsed
+   *
+   * @param time_s Time since start of movement
+   * @return motion_t Position, velocity and acceleration
+   */
+  motion_t calculate(double time_s);
 
-    /**
-     * set_accel sets the acceleration this profile will use (the left and right legs of the trapezoid)
-     * @param accel the acceleration amount to use
-    */
-    void set_accel(double accel);
+  /**
+   * set_endpts defines a start and end position
+   * @param start the starting position of the path
+   * @param end the ending position of the path
+   */
+  void set_endpts(double start, double end);
 
-    /**
-     * sets the maximum velocity for the profile
-     * (the height of the top of the trapezoid)
-     * @param max_v the maximum velocity the robot can travel at
-    */
-    void set_max_v(double max_v);
+  /**
+   * set_accel sets the acceleration this profile will use (the left and right legs of the trapezoid)
+   * @param accel the acceleration amount to use
+   */
+  void set_accel(double accel);
 
-    /**
-     * uses the kinematic equations to and specified accel and max_v to figure out how long moving along the profile would take
-     * @return the time the path will take to travel 
-    */
-    double get_movement_time();
+  /**
+   * sets the maximum velocity for the profile
+   * (the height of the top of the trapezoid)
+   * @param max_v the maximum velocity the robot can travel at
+   */
+  void set_max_v(double max_v);
 
-    private:
-    double start, end; ///< the start and ending position of the profile
-    double max_v; ///< the maximum velocity to travel at for this profile
-    double accel; ///< the rate of acceleration to use for this profile.
-    double time; ///< the current point in time along the path
-    
+  /**
+   * uses the kinematic equations to and specified accel and max_v to figure out how long moving along the profile would
+   * take
+   * @return the time the path will take to travel
+   */
+  double get_movement_time();
 
+private:
+  double start, end; ///< the start and ending position of the profile
+  double max_v;      ///< the maximum velocity to travel at for this profile
+  double accel;      ///< the rate of acceleration to use for this profile.
+  double time;       ///< the current point in time along the path
 };
\ No newline at end of file
diff --git a/include/utils/generic_auto.h b/include/utils/generic_auto.h
index f03fd76..d59edd6 100644
--- a/include/utils/generic_auto.h
+++ b/include/utils/generic_auto.h
@@ -1,59 +1,51 @@
 #pragma once
 
-#include <queue>
-#include <map>
 #include "vex.h"
 #include <functional>
+#include <map>
+#include <queue>
 
 typedef std::function<bool(void)> state_ptr;
 
 /**
  * GenericAuto provides a pleasant interface for organizing an auto path
  * steps of the path can be added with add() and when ready, calling run() will begin executing the path
-*/
-class GenericAuto
-{
-  public:
-
+ */
+class GenericAuto {
+public:
   /**
-  * The method that runs the autonomous. If 'blocking' is true, then
-  * this method will run through every state until it finished.
-  *
-  * If blocking is false, then assuming every state is also non-blocking,
-  * the method will run through the current state in the list and return
-  * immediately.
-  *
-  * @param blocking
-  *     Whether or not to block the thread until all states have run
-  * @returns
-  *     true after all states have finished.
-  */
-  [[deprecated("Use CommandController instead.")]] 
-  bool run(bool blocking);
+   * The method that runs the autonomous. If 'blocking' is true, then
+   * this method will run through every state until it finished.
+   *
+   * If blocking is false, then assuming every state is also non-blocking,
+   * the method will run through the current state in the list and return
+   * immediately.
+   *
+   * @param blocking
+   *     Whether or not to block the thread until all states have run
+   * @returns
+   *     true after all states have finished.
+   */
+  [[deprecated("Use CommandController instead.")]] bool run(bool blocking);
 
   /**
    * Add a new state to the autonomous via function point of type "bool (ptr*)()"
    * @param new_state the function to run
    */
-  [[deprecated("Use CommandController instead.")]] 
-  void add(state_ptr new_state);
+  [[deprecated("Use CommandController instead.")]] void add(state_ptr new_state);
 
   /**
    * Add a new state to the autonomous via function point of type "bool (ptr*)()" that will run asynchronously
    * @param async_state the function to run
    */
-  [[deprecated("Use CommandController instead.")]] 
-  void add_async(state_ptr async_state);
+  [[deprecated("Use CommandController instead.")]] void add_async(state_ptr async_state);
 
   /**
    * add_delay adds a period where the auto system will simply wait for the specified time
    * @param ms how long to wait in milliseconds
-  */
-  [[deprecated("Use CommandController instead.")]] 
-  void add_delay(int ms);
-
-  private:
+   */
+  [[deprecated("Use CommandController instead.")]] void add_delay(int ms);
 
+private:
   std::queue<state_ptr> state_list;
-
 };
diff --git a/include/utils/geometry.h b/include/utils/geometry.h
index c6e18a9..b273626 100644
--- a/include/utils/geometry.h
+++ b/include/utils/geometry.h
@@ -4,132 +4,87 @@
 /**
  * Data structure representing an X,Y coordinate
  */
-struct point_t
-{
-    double x; ///< the x position in space
-    double y; ///< the y position in space
+struct point_t {
+  double x; ///< the x position in space
+  double y; ///< the y position in space
 
-    /**
-     * dist calculates the euclidian distance between this point and another point using the pythagorean theorem
-     * @param other the point to measure the distance from
-     * @return the euclidian distance between this and other
-     */
-    double dist(const point_t other) const
-    {
-        return std::sqrt(std::pow(this->x - other.x, 2) + pow(this->y - other.y, 2));
-    }
+  /**
+   * dist calculates the euclidian distance between this point and another point using the pythagorean theorem
+   * @param other the point to measure the distance from
+   * @return the euclidian distance between this and other
+   */
+  double dist(const point_t other) const {
+    return std::sqrt(std::pow(this->x - other.x, 2) + pow(this->y - other.y, 2));
+  }
 
-    /**
-     * Vector2D addition operation on points
-     * @param other the point to add on to this
-     * @return this + other (this.x + other.x, this.y + other.y)
-     */
-    point_t operator+(const point_t &other) const
-    {
-        point_t p{
-            .x = this->x + other.x,
-            .y = this->y + other.y};
-        return p;
-    }
+  /**
+   * Vector2D addition operation on points
+   * @param other the point to add on to this
+   * @return this + other (this.x + other.x, this.y + other.y)
+   */
+  point_t operator+(const point_t &other) const {
+    point_t p{.x = this->x + other.x, .y = this->y + other.y};
+    return p;
+  }
 
-    /**
-     * Vector2D subtraction operation on points
-     * @param other the point_t to subtract from this
-     * @return this - other (this.x - other.x, this.y - other.y)
-     */
-    point_t operator-(const point_t &other) const
-    {
-        point_t p{
-            .x = this->x - other.x,
-            .y = this->y - other.y};
-        return p;
-    }
+  /**
+   * Vector2D subtraction operation on points
+   * @param other the point_t to subtract from this
+   * @return this - other (this.x - other.x, this.y - other.y)
+   */
+  point_t operator-(const point_t &other) const {
+    point_t p{.x = this->x - other.x, .y = this->y - other.y};
+    return p;
+  }
 
-    point_t operator*(double s) const
-    {
-        return {x * s, y * s};
-    }
-    point_t operator/(double s) const
-    {
-        return {x / s, y / s};
-    }
+  point_t operator*(double s) const { return {x * s, y * s}; }
+  point_t operator/(double s) const { return {x / s, y / s}; }
 
-    point_t operator-() const
-    {
-        return {-x, -y};
-    }
-    point_t operator+() const
-    {
-        return {x, y};
-    }
+  point_t operator-() const { return {-x, -y}; }
+  point_t operator+() const { return {x, y}; }
 
-    bool operator==(const point_t &rhs)
-    {
-        return x == rhs.x && y == rhs.y;
-    }
+  bool operator==(const point_t &rhs) { return x == rhs.x && y == rhs.y; }
 };
 
 /**
  *  Describes a single position and rotation
  */
-struct pose_t
-{
-    double x;   ///< x position in the world
-    double y;   ///< y position in the world
-    double rot; ///< rotation in the world
+struct pose_t {
+  double x;   ///< x position in the world
+  double y;   ///< y position in the world
+  double rot; ///< rotation in the world
 
-    point_t get_point()
-    {
-        return point_t{.x = x, .y = y};
-    }
-
-} ;
-
-struct Rect
-{
-    point_t min;
-    point_t max;
-    static Rect from_min_and_size(point_t min, point_t size){
-        return {min, min+size};
-    }
-    point_t dimensions() const
-    {
-        return max - min;
-    }
-    point_t center() const{
-        return (min + max)/2;
-    }
-    double width() const{
-        return max.x - min.x;
-    }
-    double height() const{
-        return max.y - min.y;
-    }
-    bool contains(point_t p) const
-    {
-        bool xin = p.x > min.x && p.x < max.x;
-        bool yin = p.y > min.y && p.y < max.y;
-        return xin && yin;
-    }
+  point_t get_point() { return point_t{.x = x, .y = y}; }
+};
 
+struct Rect {
+  point_t min;
+  point_t max;
+  static Rect from_min_and_size(point_t min, point_t size) { return {min, min + size}; }
+  point_t dimensions() const { return max - min; }
+  point_t center() const { return (min + max) / 2; }
+  double width() const { return max.x - min.x; }
+  double height() const { return max.y - min.y; }
+  bool contains(point_t p) const {
+    bool xin = p.x > min.x && p.x < max.x;
+    bool yin = p.y > min.y && p.y < max.y;
+    return xin && yin;
+  }
 };
 
-struct Mat2
-{
-    double X11, X12;
-    double X21, X22;
-    point_t operator*(const point_t p) const
-    {
-        double outx = p.x * X11 + p.y * X12;
-        double outy = p.x * X21 + p.y * X22;
-        return {outx, outy};
-    }
+struct Mat2 {
+  double X11, X12;
+  double X21, X22;
+  point_t operator*(const point_t p) const {
+    double outx = p.x * X11 + p.y * X12;
+    double outy = p.x * X21 + p.y * X22;
+    return {outx, outy};
+  }
 
-    static Mat2 FromRotationDegrees(double degrees)
-    {
-        double rad = degrees * (M_PI / 180.0);
-        double c = cos(rad);
-        double s = sin(rad);
-        return {c, -s, s, c};
-    }
+  static Mat2 FromRotationDegrees(double degrees) {
+    double rad = degrees * (M_PI / 180.0);
+    double c = cos(rad);
+    double s = sin(rad);
+    return {c, -s, s, c};
+  }
 };
\ No newline at end of file
diff --git a/include/utils/graph_drawer.h b/include/utils/graph_drawer.h
index 9273389..c637f09 100644
--- a/include/utils/graph_drawer.h
+++ b/include/utils/graph_drawer.h
@@ -1,15 +1,14 @@
 #pragma once
 
-#include <string>
-#include <stdio.h>
-#include <vector>
-#include <cmath>
-#include "vex.h"
 #include "../core/include/utils/geometry.h"
 #include "../core/include/utils/vector2d.h"
+#include "vex.h"
+#include <cmath>
+#include <stdio.h>
+#include <string>
+#include <vector>
 
-class GraphDrawer
-{
+class GraphDrawer {
 public:
   /// @brief Creates a graph drawer with the specified number of series (each series is a separate line)
   /// @param num_samples the number of samples to graph at a time (40 will graph the last 40 data points)
@@ -17,7 +16,8 @@ class GraphDrawer
   /// @param upper_bound the top of the window when displaying (if upper_bound = lower_bound, auto calculate bounds)
   /// @param colors the colors of the series. must be of size num_series
   /// @param num_series the number of series to graph
-  GraphDrawer(int num_samples, double lower_bound, double upper_bound, std::vector<vex::color> colors, size_t num_series = 1);
+  GraphDrawer(int num_samples, double lower_bound, double upper_bound, std::vector<vex::color> colors,
+              size_t num_series = 1);
   /**
    * add_samples adds a point to the graph, removing one from the back
    * @param sample an x, y coordinate of the next point to graph
@@ -26,7 +26,8 @@ class GraphDrawer
 
   /**
    * add_samples adds a point to the graph, removing one from the back
-   * @param sample a y coordinate of the next point to graph, the x coordinate is gotten from vex::timer::system(); (time in ms)
+   * @param sample a y coordinate of the next point to graph, the x coordinate is gotten from vex::timer::system();
+   * (time in ms)
    */
   void add_samples(std::vector<double> sample);
 
diff --git a/include/utils/logger.h b/include/utils/logger.h
index 159baa6..696ea2a 100644
--- a/include/utils/logger.h
+++ b/include/utils/logger.h
@@ -1,68 +1,58 @@
 #pragma once
 
+#include "vex.h"
 #include <cstdarg>
 #include <cstdio>
 #include <string>
-#include "vex.h"
 
 /// @brief possible values for log filtering
-enum LogLevel
-{
-    DEBUG,
-    NOTICE,
-    WARNING,
-    ERROR,
-    CRITICAL,
-    TIME
-};
+enum LogLevel { DEBUG, NOTICE, WARNING, ERROR, CRITICAL, TIME };
 
 /// @brief Class to simplify writing to files
-class Logger
-{
+class Logger {
 private:
-    const std::string filename;
-    vex::brain::sdcard sd;
-    void write_level(LogLevel l);
+  const std::string filename;
+  vex::brain::sdcard sd;
+  void write_level(LogLevel l);
 
 public:
-    /// @brief  maximum size for a string to be before it's written
-    static constexpr int MAX_FORMAT_LEN = 512;
-    /// @brief  Create a logger that will save to a file
-    /// @param filename the file to save to
-    explicit Logger(const std::string &filename);
-
-    /// @brief copying not allowed
-    Logger(const Logger &l) = delete;
-    /// @brief copying not allowed
-    Logger &operator=(const Logger &l) = delete;
-
-
-    /// @brief Write a string to the log
-    /// @param s the string to write
-    void Log(const std::string &s);
-
-    /// @brief Write a string to the log with a loglevel
-    /// @param level the level to write. DEBUG, NOTICE, WARNING, ERROR, CRITICAL, TIME
-    /// @param s the string to write
-    void Log(LogLevel level, const std::string &s);
-
-    /// @brief Write a string and newline to the log
-    /// @param s the string to write
-    void Logln(const std::string &s);
-
-    /// @brief Write a string and a newline to the log with a loglevel
-    /// @param level the level to write. DEBUG, NOTICE, WARNING, ERROR, CRITICAL, TIME
-    /// @param s the string to write
-    void Logln(LogLevel level, const std::string &s);
-
-    /// @brief Write a formatted string to the log
-    /// @param fmt the format string (like printf)
-    /// @param ... the args
-    void Logf(const char *fmt, ...);
-
-    /// @brief Write a formatted string to the log with a loglevel
-    /// @param level the level to write. DEBUG, NOTICE, WARNING, ERROR, CRITICAL, TIME
-    /// @param fmt the format string (like printf)
-    /// @param ... the args
-    void Logf(LogLevel level, const char *fmt, ...);
+  /// @brief  maximum size for a string to be before it's written
+  static constexpr int MAX_FORMAT_LEN = 512;
+  /// @brief  Create a logger that will save to a file
+  /// @param filename the file to save to
+  explicit Logger(const std::string &filename);
+
+  /// @brief copying not allowed
+  Logger(const Logger &l) = delete;
+  /// @brief copying not allowed
+  Logger &operator=(const Logger &l) = delete;
+
+  /// @brief Write a string to the log
+  /// @param s the string to write
+  void Log(const std::string &s);
+
+  /// @brief Write a string to the log with a loglevel
+  /// @param level the level to write. DEBUG, NOTICE, WARNING, ERROR, CRITICAL, TIME
+  /// @param s the string to write
+  void Log(LogLevel level, const std::string &s);
+
+  /// @brief Write a string and newline to the log
+  /// @param s the string to write
+  void Logln(const std::string &s);
+
+  /// @brief Write a string and a newline to the log with a loglevel
+  /// @param level the level to write. DEBUG, NOTICE, WARNING, ERROR, CRITICAL, TIME
+  /// @param s the string to write
+  void Logln(LogLevel level, const std::string &s);
+
+  /// @brief Write a formatted string to the log
+  /// @param fmt the format string (like printf)
+  /// @param ... the args
+  void Logf(const char *fmt, ...);
+
+  /// @brief Write a formatted string to the log with a loglevel
+  /// @param level the level to write. DEBUG, NOTICE, WARNING, ERROR, CRITICAL, TIME
+  /// @param fmt the format string (like printf)
+  /// @param ... the args
+  void Logf(LogLevel level, const char *fmt, ...);
 };
diff --git a/include/utils/math_util.h b/include/utils/math_util.h
index d419a6e..d101742 100644
--- a/include/utils/math_util.h
+++ b/include/utils/math_util.h
@@ -1,17 +1,16 @@
 #pragma once
-#include <vector>
+#include "../core/include/utils/geometry.h"
 #include "math.h"
 #include "vex.h"
-#include "../core/include/utils/geometry.h"
-
+#include <vector>
 
 /**
-* Constrain the input between a minimum and a maximum value
-* 
-* @param val  the value to be restrained
-* @param low  the minimum value that will be returned
-* @param high the maximum value that will be returned
-**/
+ * Constrain the input between a minimum and a maximum value
+ *
+ * @param val  the value to be restrained
+ * @param low  the minimum value that will be returned
+ * @param high the maximum value that will be returned
+ **/
 double clamp(double value, double low, double high);
 
 /**
@@ -19,14 +18,14 @@ double clamp(double value, double low, double high);
  * @param a at t = 0, output = a
  * @param b at t = 1, output = b
  * @return a linear mixing of a and b according to t
-*/
+ */
 double lerp(double a, double b, double t);
 /**
-* Returns the sign of a number
-* @param x
-* 
-* returns the sign +/-1 of x. 0 if x is 0
-**/
+ * Returns the sign of a number
+ * @param x
+ *
+ * returns the sign +/-1 of x. 0 if x is 0
+ **/
 double sign(double x);
 
 double wrap_angle_deg(double input);
@@ -40,7 +39,6 @@ Calculates the variance of  a set of numbers (needed for linear regression)
 */
 double variance(std::vector<double> const &values, double mean);
 
-
 /*
 Calculates the average of a vector of doubles
 @param values   the list of values for which the average is taken
diff --git a/include/utils/moving_average.h b/include/utils/moving_average.h
index ed01819..389c7b1 100644
--- a/include/utils/moving_average.h
+++ b/include/utils/moving_average.h
@@ -5,8 +5,7 @@
  * Interface for filters
  * Use add_entry to supply data and get_value to retrieve the filtered value
  */
-class Filter
-{
+class Filter {
 public:
   virtual void add_entry(double n) = 0;
   virtual double get_value() const = 0;
@@ -15,17 +14,18 @@ class Filter
 /**
  * MovingAverage
  *
- * A moving average is a way of smoothing out noisy data. For many sensor readings, the noise is roughly symmetric around the actual value.
- * This means that if you collect enough samples those that are too high are cancelled out by the samples that are too low leaving the real value.
+ * A moving average is a way of smoothing out noisy data. For many sensor readings, the noise is roughly symmetric
+ * around the actual value. This means that if you collect enough samples those that are too high are cancelled out by
+ * the samples that are too low leaving the real value.
  *
  * The MovingAverage class provides a simple interface to do this smoothing from our noisy sensor values.
  *
- * WARNING: because we need a lot of samples to get the actual value, the value given by the MovingAverage will 'lag' behind the actual value that the sensor is reading.
- * Using a MovingAverage is thus a tradeoff between accuracy and lag time (more samples) vs. less accuracy and faster updating (less samples).
+ * WARNING: because we need a lot of samples to get the actual value, the value given by the MovingAverage will 'lag'
+ * behind the actual value that the sensor is reading. Using a MovingAverage is thus a tradeoff between accuracy and lag
+ * time (more samples) vs. less accuracy and faster updating (less samples).
  *
  */
-class MovingAverage : public Filter
-{
+class MovingAverage : public Filter {
 public:
   /*
    * Create a moving average calculator with 0 as the default value
@@ -73,17 +73,18 @@ class MovingAverage : public Filter
 /**
  * ExponentialMovingAverage
  *
- * An exponential moving average is a way of smoothing out noisy data. For many sensor readings, the noise is roughly symmetric around the actual value.
- * This means that if you collect enough samples those that are too high are cancelled out by the samples that are too low leaving the real value.
+ * An exponential moving average is a way of smoothing out noisy data. For many sensor readings, the noise is roughly
+ * symmetric around the actual value. This means that if you collect enough samples those that are too high are
+ * cancelled out by the samples that are too low leaving the real value.
  *
- * A simple mobing average lags significantly with time as it has to counteract old samples. An exponential moving average keeps more up to date by
- * weighting newer readings higher than older readings so it is more up to date while also still smoothed.
+ * A simple mobing average lags significantly with time as it has to counteract old samples. An exponential moving
+ * average keeps more up to date by weighting newer readings higher than older readings so it is more up to date while
+ * also still smoothed.
  *
  * The ExponentialMovingAverage class provides an simple interface to do this smoothing from our noisy sensor values.
  *
  */
-class ExponentialMovingAverage : public Filter
-{
+class ExponentialMovingAverage : public Filter {
 public:
   /*
    * Create a moving average calculator with 0 as the default value
diff --git a/include/utils/pure_pursuit.h b/include/utils/pure_pursuit.h
index 3fd8edb..2e27271 100644
--- a/include/utils/pure_pursuit.h
+++ b/include/utils/pure_pursuit.h
@@ -1,128 +1,120 @@
 #pragma once
 
-#include <vector>
 #include "../core/include/utils/geometry.h"
 #include "../core/include/utils/vector2d.h"
 #include "vex.h"
+#include <vector>
 
 using namespace vex;
 
 namespace PurePursuit {
+/**
+ * Wrapper for a vector of points, checking if any of the points are too close for pure pursuit
+ */
+class Path {
+public:
   /**
-   * Wrapper for a vector of points, checking if any of the points are too close for pure pursuit
-   */
-  class Path
-  {
-    public:
-      /**
-       * Create a Path
-       * @param points the points that make up the path
-       * @param radius the lookahead radius for pure pursuit
-       */
-      Path(std::vector<point_t> points, double radius);
-
-      /**
-       * Get the points associated with this Path
-       */
-      std::vector<point_t> get_points();
-
-      /**
-       * Get the radius associated with this Path
-       */
-      double get_radius();
-      
-      /**
-       * Get whether this path will behave as expected
-       */
-      bool is_valid();
-    
-    private:
-      std::vector<point_t> points;
-      double radius;
-      bool valid;
-  };
-  /**
-   * Represents a piece of a cubic spline with s(x) = a(x-xi)^3 + b(x-xi)^2 + c(x-xi) + d
-   * The x_start and x_end shows where the equation is valid.
+   * Create a Path
+   * @param points the points that make up the path
+   * @param radius the lookahead radius for pure pursuit
    */
-  struct spline
-  {
-    double a, b, c, d, x_start, x_end; 
-
-    double getY(double x) {
-      return a * pow((x - x_start), 3) + b * pow((x - x_start), 2) + c * (x - x_start) + d;
-    }
-  };
-  /**
-   * a position along the hermite path
-   * contains a position and orientation information that the robot would be at at this point
-   */
-  struct hermite_point
-  {
-    double x;
-    double y;
-    double dir;
-    double mag;
-
-    point_t getPoint() const {
-      return {x, y};
-    }
-
-    Vector2D getTangent() const {
-      return Vector2D(dir, mag);
-    }
-  };
+  Path(std::vector<point_t> points, double radius);
 
   /**
-    * Returns points of the intersections of a line segment and a circle. The line 
-    * segment is defined by two points, and the circle is defined by a center and radius.
-    */
-  extern std::vector<point_t> line_circle_intersections(point_t center, double r, point_t point1, point_t point2);
-  /**
-    * Selects a look ahead from all the intersections in the path.
-    */
-  extern point_t get_lookahead(const std::vector<point_t> &path, pose_t robot_loc, double radius);
-
-  /**
-    * Injects points in a path without changing the curvature with a certain spacing.
-    */
-  extern std::vector<point_t> inject_path(const std::vector<point_t> &path, double spacing);
-
-  /**
-  * Returns a smoothed path maintaining the start and end of the path.
-  *
-  * Weight data is how much weight to update the data (alpha)
-  * Weight smooth is how much weight to smooth the coordinates (beta)
-  * Tolerance is how much change per iteration is necessary to continue iterating.
-  *
-  * Honestly have no idea if/how this works.
-  * https://medium.com/@jaems33/understanding-robot-motion-path-smoothing-5970c8363bc4
-  */
-
-  extern std::vector<point_t> smooth_path(const std::vector<point_t> &path, double weight_data, double weight_smooth, double tolerance);
-
-  extern std::vector<point_t> smooth_path_cubic(const std::vector<point_t> &path, double res);
+   * Get the points associated with this Path
+   */
+  std::vector<point_t> get_points();
 
   /**
-   * Interpolates a smooth path given a list of waypoints using hermite splines.
-   * For more information: https://www.youtube.com/watch?v=hG0p4XgePSA.
-   *
-   * @param path The path of hermite points to interpolate.
-   * @param steps The number of points interpolated between points.
-   * @return The smoothed path.
+   * Get the radius associated with this Path
    */
-  extern std::vector<point_t> smooth_path_hermite(const std::vector<hermite_point> &path, double step);
+  double get_radius();
 
   /**
-   * Estimates the remaining distance from the robot's position to the end,
-   * by "searching" for the robot along the path and running a "connect the dots"
-   * distance algoritm
-   * 
-   * @param path The pure pursuit path the robot is following
-   * @param robot_pose The robot's current position
-   * @param radius Pure pursuit "radius", used to search for the robot along the path
-   * @return A rough estimate of the remaining distance
-  */
-  extern double estimate_remaining_dist(const std::vector<point_t> &path, pose_t robot_pose, double radius);
-
-}
\ No newline at end of file
+   * Get whether this path will behave as expected
+   */
+  bool is_valid();
+
+private:
+  std::vector<point_t> points;
+  double radius;
+  bool valid;
+};
+/**
+ * Represents a piece of a cubic spline with s(x) = a(x-xi)^3 + b(x-xi)^2 + c(x-xi) + d
+ * The x_start and x_end shows where the equation is valid.
+ */
+struct spline {
+  double a, b, c, d, x_start, x_end;
+
+  double getY(double x) { return a * pow((x - x_start), 3) + b * pow((x - x_start), 2) + c * (x - x_start) + d; }
+};
+/**
+ * a position along the hermite path
+ * contains a position and orientation information that the robot would be at at this point
+ */
+struct hermite_point {
+  double x;
+  double y;
+  double dir;
+  double mag;
+
+  point_t getPoint() const { return {x, y}; }
+
+  Vector2D getTangent() const { return Vector2D(dir, mag); }
+};
+
+/**
+ * Returns points of the intersections of a line segment and a circle. The line
+ * segment is defined by two points, and the circle is defined by a center and radius.
+ */
+extern std::vector<point_t> line_circle_intersections(point_t center, double r, point_t point1, point_t point2);
+/**
+ * Selects a look ahead from all the intersections in the path.
+ */
+extern point_t get_lookahead(const std::vector<point_t> &path, pose_t robot_loc, double radius);
+
+/**
+ * Injects points in a path without changing the curvature with a certain spacing.
+ */
+extern std::vector<point_t> inject_path(const std::vector<point_t> &path, double spacing);
+
+/**
+ * Returns a smoothed path maintaining the start and end of the path.
+ *
+ * Weight data is how much weight to update the data (alpha)
+ * Weight smooth is how much weight to smooth the coordinates (beta)
+ * Tolerance is how much change per iteration is necessary to continue iterating.
+ *
+ * Honestly have no idea if/how this works.
+ * https://medium.com/@jaems33/understanding-robot-motion-path-smoothing-5970c8363bc4
+ */
+
+extern std::vector<point_t> smooth_path(const std::vector<point_t> &path, double weight_data, double weight_smooth,
+                                        double tolerance);
+
+extern std::vector<point_t> smooth_path_cubic(const std::vector<point_t> &path, double res);
+
+/**
+ * Interpolates a smooth path given a list of waypoints using hermite splines.
+ * For more information: https://www.youtube.com/watch?v=hG0p4XgePSA.
+ *
+ * @param path The path of hermite points to interpolate.
+ * @param steps The number of points interpolated between points.
+ * @return The smoothed path.
+ */
+extern std::vector<point_t> smooth_path_hermite(const std::vector<hermite_point> &path, double step);
+
+/**
+ * Estimates the remaining distance from the robot's position to the end,
+ * by "searching" for the robot along the path and running a "connect the dots"
+ * distance algoritm
+ *
+ * @param path The pure pursuit path the robot is following
+ * @param robot_pose The robot's current position
+ * @param radius Pure pursuit "radius", used to search for the robot along the path
+ * @return A rough estimate of the remaining distance
+ */
+extern double estimate_remaining_dist(const std::vector<point_t> &path, pose_t robot_pose, double radius);
+
+} // namespace PurePursuit
\ No newline at end of file
diff --git a/include/utils/serializer.h b/include/utils/serializer.h
index 327b653..edf80b1 100644
--- a/include/utils/serializer.h
+++ b/include/utils/serializer.h
@@ -1,9 +1,9 @@
 #pragma once
 #include <algorithm>
 #include <map>
+#include <stdio.h>
 #include <string>
 #include <vector>
-#include <stdio.h>
 #include <vex.h>
 
 /// @brief character that will be used to seperate values
@@ -12,86 +12,87 @@ const char serialization_separator = '$';
 const std::size_t MAX_FILE_SIZE = 4096;
 
 /// @brief Serializes Arbitrary data to a file on the SD Card
-class Serializer
-{
+class Serializer {
 private:
-    bool flush_always;
-    std::string filename;
-    std::map<std::string, int> ints;
-    std::map<std::string, bool> bools;
-    std::map<std::string, double> doubles;
-    std::map<std::string, std::string> strings;
+  bool flush_always;
+  std::string filename;
+  std::map<std::string, int> ints;
+  std::map<std::string, bool> bools;
+  std::map<std::string, double> doubles;
+  std::map<std::string, std::string> strings;
 
-    /// @brief loads Serializer state from disk
-    bool read_from_disk();
+  /// @brief loads Serializer state from disk
+  bool read_from_disk();
 
 public:
-    /// @brief Save and close upon destruction (bc of vex, this doesnt always get called when the program ends. To be sure, call save_to_disk)
-    ~Serializer()
-    {
-        save_to_disk();
-        printf("Saving %s\n", filename.c_str());
-        fflush(stdout);
-    }
-
-    /// @brief create a Serializer
-    /// @param filename the file to read from. If filename does not exist we will create that file
-    /// @param flush_always If true, after every write flush to a file. If false, you are responsible for calling save_to_disk
-    explicit Serializer(const std::string &filename, bool flush_always = true) : flush_always(flush_always), filename(filename), ints({}), bools({}), doubles({}), strings({})
-
-    {
-        read_from_disk();
-    }
-
-    /// @brief saves current Serializer state to disk
-    void save_to_disk() const;
-
-    /// Setters - not saved until save_to_disk is called
-
-    /// @brief sets an integer by the name of name to i. If flush_always == true, this will save to the sd card
-    /// @param name name of integer
-    /// @param i value of integer
-    void set_int(const std::string &name, int i);
-
-    /// @brief sets a bool by the name of name to b. If flush_always == true, this will save to the sd card
-    /// @param name name of bool
-    /// @param b value of bool
-    void set_bool(const std::string &name, bool b);
-
-    /// @brief sets a double by the name of name to d. If flush_always == true, this will save to the sd card
-    /// @param name name of double
-    /// @param d value of double
-    void set_double(const std::string &name, double d);
-
-    /// @brief sets a string by the name of name to s. If flush_always == true, this will save to the sd card
-    /// @param name name of string
-    /// @param i value of string
-    void set_string(const std::string &name, std::string str);
-
-    /// Getters
-    /// Return value if it exists in the serializer
-
-    /// @brief gets a value stored in the serializer. If not found, sets the value to otherwise
-    /// @param name name of value
-    /// @param otherwise value if the name is not specified
-    /// @return the value if found or otherwise
-    int int_or(const std::string &name, int otherwise);
-
-    /// @brief gets a value stored in the serializer. If not, sets the value to otherwise
-    /// @param name name of value
-    /// @param otherwise value if the name is not specified
-    /// @return the value if found or otherwise
-    bool bool_or(const std::string &name, bool otherwise);
-
-    /// @brief gets a value stored in the serializer. If not, sets the value to otherwise
-    /// @param name name of value
-    /// @param otherwise value if the name is not specified
-    /// @return the value if found or otherwise
-    double double_or(const std::string &name, double otherwise);
-
-    /// @brief gets a value stored in the serializer. If not, sets the value to otherwise
-    /// @param name name of value
-    /// @param otherwise value if the name is not specified
-    /// @return the value if found or otherwise
-    std::string string_or(const std::string &name, std::string otherwise);
+  /// @brief Save and close upon destruction (bc of vex, this doesnt always get called when the program ends. To be
+  /// sure, call save_to_disk)
+  ~Serializer() {
+    save_to_disk();
+    printf("Saving %s\n", filename.c_str());
+    fflush(stdout);
+  }
+
+  /// @brief create a Serializer
+  /// @param filename the file to read from. If filename does not exist we will create that file
+  /// @param flush_always If true, after every write flush to a file. If false, you are responsible for calling
+  /// save_to_disk
+  explicit Serializer(const std::string &filename, bool flush_always = true)
+      : flush_always(flush_always), filename(filename), ints({}), bools({}), doubles({}), strings({})
+
+  {
+    read_from_disk();
+  }
+
+  /// @brief saves current Serializer state to disk
+  void save_to_disk() const;
+
+  /// Setters - not saved until save_to_disk is called
+
+  /// @brief sets an integer by the name of name to i. If flush_always == true, this will save to the sd card
+  /// @param name name of integer
+  /// @param i value of integer
+  void set_int(const std::string &name, int i);
+
+  /// @brief sets a bool by the name of name to b. If flush_always == true, this will save to the sd card
+  /// @param name name of bool
+  /// @param b value of bool
+  void set_bool(const std::string &name, bool b);
+
+  /// @brief sets a double by the name of name to d. If flush_always == true, this will save to the sd card
+  /// @param name name of double
+  /// @param d value of double
+  void set_double(const std::string &name, double d);
+
+  /// @brief sets a string by the name of name to s. If flush_always == true, this will save to the sd card
+  /// @param name name of string
+  /// @param i value of string
+  void set_string(const std::string &name, std::string str);
+
+  /// Getters
+  /// Return value if it exists in the serializer
+
+  /// @brief gets a value stored in the serializer. If not found, sets the value to otherwise
+  /// @param name name of value
+  /// @param otherwise value if the name is not specified
+  /// @return the value if found or otherwise
+  int int_or(const std::string &name, int otherwise);
+
+  /// @brief gets a value stored in the serializer. If not, sets the value to otherwise
+  /// @param name name of value
+  /// @param otherwise value if the name is not specified
+  /// @return the value if found or otherwise
+  bool bool_or(const std::string &name, bool otherwise);
+
+  /// @brief gets a value stored in the serializer. If not, sets the value to otherwise
+  /// @param name name of value
+  /// @param otherwise value if the name is not specified
+  /// @return the value if found or otherwise
+  double double_or(const std::string &name, double otherwise);
+
+  /// @brief gets a value stored in the serializer. If not, sets the value to otherwise
+  /// @param name name of value
+  /// @param otherwise value if the name is not specified
+  /// @return the value if found or otherwise
+  std::string string_or(const std::string &name, std::string otherwise);
 };
diff --git a/include/utils/state_machine.h b/include/utils/state_machine.h
index f821180..8671fe0 100644
--- a/include/utils/state_machine.h
+++ b/include/utils/state_machine.h
@@ -31,176 +31,172 @@
  * function called to_string that takes them as its only parameter and returns a
  * std::string
  */
-template <typename System, typename IDType, typename Message, int32_t delay_ms,
-          bool do_log = false>
+template <typename System, typename IDType, typename Message, int32_t delay_ms, bool do_log = false>
 class StateMachine {
-    static_assert(std::is_enum<Message>::value,
-                  "Message should be an enum (it's easier that way)");
-    static_assert(std::is_enum<IDType>::value,
-                  "IDType should be an enum (it's easier that way)");
-
+  static_assert(std::is_enum<Message>::value, "Message should be an enum (it's easier that way)");
+  static_assert(std::is_enum<IDType>::value, "IDType should be an enum (it's easier that way)");
+
+public:
+  /**
+   * @brief MaybeMessage
+   * a message of Message type or nothing
+   * MaybeMessage m = {}; // empty
+   * MaybeMessage m = Message::EnumField1
+   */
+  class MaybeMessage {
   public:
     /**
-     * @brief MaybeMessage
-     * a message of Message type or nothing
-     * MaybeMessage m = {}; // empty
-     * MaybeMessage m = Message::EnumField1
-     */
-    class MaybeMessage {
-      public:
-        /**
-         * @brief Empty message - when theres no message
-         */
-        MaybeMessage() : exists(false) {}
-        /**
-         * @brief Create a maybemessage with a message
-         * @param msg the message to hold on to
-         */
-        MaybeMessage(Message msg) : exists(true), thing(msg) {}
-        /**
-         * @brief check if the message is here
-         * @return true if there is a message
-         */
-        bool has_message() { return exists; }
-        /**
-         * @brief Get the message stored. The return value is invalid unless
-         * has_message returned true
-         * @return The message if it exists. Undefined otherwise
-         */
-        Message message() { return thing; }
-
-      private:
-        bool exists;
-        Message thing;
-    };
-    /**
-     * Abstract class that all states for this machine must inherit from
-     * States MUST override respond() and id() in order to function correctly
-     * (the compiler won't have it any other way)
+     * @brief Empty message - when theres no message
      */
-    struct State {
-        // run once when we enter the state
-        virtual void entry(System &) {}
-        // run continously while in the state
-        virtual MaybeMessage work(System &) { return {}; }
-        // run once when we exit the state
-        virtual void exit(System &) {}
-        // respond to a message when one comes in
-        virtual State *respond(System &s, Message m) = 0;
-        // Identify
-        virtual IDType id() const = 0;
-
-        // virtual destructor cuz c++
-        virtual ~State() {}
-    };
-
-    // Data that gets passed to the runner thread. Don't worry too much about
-    // this
-    using thread_data = std::pair<State *, StateMachine *>;
-
+    MaybeMessage() : exists(false) {}
     /**
-     * @brief Construct a state machine and immediatly start running it
-     * @param initial the state that the machine will begin in
+     * @brief Create a maybemessage with a message
+     * @param msg the message to hold on to
      */
-    StateMachine(State *initial)
-        : runner(thread_runner, new thread_data{initial, this}) {}
-
+    MaybeMessage(Message msg) : exists(true), thing(msg) {}
     /**
-     * @brief retrieve the current state of the state machine. This is safe to
-     * call from external threads
-     * @return the current state
+     * @brief check if the message is here
+     * @return true if there is a message
      */
-    IDType current_state() const {
-        mut.lock();
-        auto t = cur_type;
-        mut.unlock();
-        return t;
-    }
+    bool has_message() { return exists; }
     /**
-     * @brief send a message to the state machine from outside
-     * @param msg the message to send
-     * This is safe to call from external threads
+     * @brief Get the message stored. The return value is invalid unless
+     * has_message returned true
+     * @return The message if it exists. Undefined otherwise
      */
-    void send_message(Message msg) {
-        mut.lock();
-        incoming_msg = msg;
-        mut.unlock();
-    }
+    Message message() { return thing; }
 
   private:
-    vex::task runner;
-    mutable vex::mutex mut;
-    MaybeMessage incoming_msg;
-    IDType cur_type;
-
-    /**
-     * @brief the thread that does the running of the state machine.
-     * @param vptr the thread_data that we get passed to begin. cast it back
-     * @return return value of thread (the thread never ends so this doesn't
-     * really matter)
-     */
-    static int thread_runner(void *vptr) {
-        thread_data *ptr = static_cast<thread_data *>(vptr);
-        State *cur_state = ptr->first;
-
-        StateMachine &sys = *ptr->second;
-        System &derived = *static_cast<System *>(&sys);
-
-        cur_state->entry(derived);
-
+    bool exists;
+    Message thing;
+  };
+  /**
+   * Abstract class that all states for this machine must inherit from
+   * States MUST override respond() and id() in order to function correctly
+   * (the compiler won't have it any other way)
+   */
+  struct State {
+    // run once when we enter the state
+    virtual void entry(System &) {}
+    // run continously while in the state
+    virtual MaybeMessage work(System &) { return {}; }
+    // run once when we exit the state
+    virtual void exit(System &) {}
+    // respond to a message when one comes in
+    virtual State *respond(System &s, Message m) = 0;
+    // Identify
+    virtual IDType id() const = 0;
+
+    // virtual destructor cuz c++
+    virtual ~State() {}
+  };
+
+  // Data that gets passed to the runner thread. Don't worry too much about
+  // this
+  using thread_data = std::pair<State *, StateMachine *>;
+
+  /**
+   * @brief Construct a state machine and immediatly start running it
+   * @param initial the state that the machine will begin in
+   */
+  StateMachine(State *initial) : runner(thread_runner, new thread_data{initial, this}) {}
+
+  /**
+   * @brief retrieve the current state of the state machine. This is safe to
+   * call from external threads
+   * @return the current state
+   */
+  IDType current_state() const {
+    mut.lock();
+    auto t = cur_type;
+    mut.unlock();
+    return t;
+  }
+  /**
+   * @brief send a message to the state machine from outside
+   * @param msg the message to send
+   * This is safe to call from external threads
+   */
+  void send_message(Message msg) {
+    mut.lock();
+    incoming_msg = msg;
+    mut.unlock();
+  }
+
+private:
+  vex::task runner;
+  mutable vex::mutex mut;
+  MaybeMessage incoming_msg;
+  IDType cur_type;
+
+  /**
+   * @brief the thread that does the running of the state machine.
+   * @param vptr the thread_data that we get passed to begin. cast it back
+   * @return return value of thread (the thread never ends so this doesn't
+   * really matter)
+   */
+  static int thread_runner(void *vptr) {
+    thread_data *ptr = static_cast<thread_data *>(vptr);
+    State *cur_state = ptr->first;
+
+    StateMachine &sys = *ptr->second;
+    System &derived = *static_cast<System *>(&sys);
+
+    cur_state->entry(derived);
+
+    sys.cur_type = cur_state->id();
+
+    auto respond_to_message = [&](Message msg) {
+      if (do_log) {
+        printf("responding to msg: %s\n", to_string(msg).c_str());
+        fflush(stdout);
+      }
+
+      State *next_state = cur_state->respond(derived, msg);
+
+      if (cur_state != next_state) {
+        // switched states
+        sys.mut.lock();
+
+        cur_state->exit(derived);
+        next_state->entry(derived);
+
+        delete cur_state;
+
+        cur_state = next_state;
         sys.cur_type = cur_state->id();
 
-        auto respond_to_message = [&](Message msg) {
-            if (do_log) {
-                printf("responding to msg: %s\n", to_string(msg).c_str());
-                fflush(stdout);
-            }
-
-            State *next_state = cur_state->respond(derived, msg);
-
-            if (cur_state != next_state) {
-                // switched states
-                sys.mut.lock();
-
-                cur_state->exit(derived);
-                next_state->entry(derived);
-
-                delete cur_state;
-
-                cur_state = next_state;
-                sys.cur_type = cur_state->id();
-
-                sys.mut.unlock();
-            }
-        };
+        sys.mut.unlock();
+      }
+    };
 
-        while (true) {
-            if (do_log) {
-                std::string str = to_string(cur_state->id());
-                std::string str2 = to_string(sys.cur_type);
+    while (true) {
+      if (do_log) {
+        std::string str = to_string(cur_state->id());
+        std::string str2 = to_string(sys.cur_type);
 
-                printf("state: %s %s\n", str.c_str(), str2.c_str());
-            }
+        printf("state: %s %s\n", str.c_str(), str2.c_str());
+      }
 
-            // Internal Message passed
-            MaybeMessage internal_msg = cur_state->work(derived);
+      // Internal Message passed
+      MaybeMessage internal_msg = cur_state->work(derived);
 
-            if (internal_msg.has_message()) {
-                respond_to_message(internal_msg.message());
-            }
+      if (internal_msg.has_message()) {
+        respond_to_message(internal_msg.message());
+      }
 
-            // External Message passed
-            sys.mut.lock();
-            MaybeMessage incoming = sys.incoming_msg;
-            sys.incoming_msg = {};
-            sys.mut.unlock();
+      // External Message passed
+      sys.mut.lock();
+      MaybeMessage incoming = sys.incoming_msg;
+      sys.incoming_msg = {};
+      sys.mut.unlock();
 
-            if (incoming.has_message()) {
-                respond_to_message(incoming.message());
-            }
+      if (incoming.has_message()) {
+        respond_to_message(incoming.message());
+      }
 
-            vexDelay(delay_ms);
-        }
-        return 0;
+      vexDelay(delay_ms);
     }
+    return 0;
+  }
 };
diff --git a/include/utils/vector2d.h b/include/utils/vector2d.h
index c39f50f..6c555cc 100644
--- a/include/utils/vector2d.h
+++ b/include/utils/vector2d.h
@@ -1,96 +1,92 @@
 #pragma once
 
-
-#include <cmath>
 #include "../core/include/utils/geometry.h"
+#include <cmath>
 
 #ifndef PI
 #define PI 3.141592654
 #endif
 /**
  * Vector2D is an x,y pair
- * Used to represent 2D locations on the field. 
+ * Used to represent 2D locations on the field.
  * It can also be treated as a direction and magnitude
-*/
-class Vector2D
-{
+ */
+class Vector2D {
 public:
-    /**
-     * Construct a vector object.
-     * 
-     * @param dir Direction, in radians. 'foward' is 0, clockwise positive when viewed from the top.
-     * @param mag Magnitude.
-     */ 
-    Vector2D(double dir, double mag);
-    
-    /**
-     * Construct a vector object from a cartesian point.
-     * 
-     * @param p point_t.x , point_t.y
-     */
-    Vector2D(point_t p);
-
-    /**
-     * Get the direction of the vector, in radians.
-     * '0' is forward, clockwise positive when viewed from the top.
-     * 
-     * Use r2d() to convert.
-     * @return the direction of the vetctor in radians
-     */
-    double get_dir() const;
-
-    /**
-     * @return the magnitude of the vector
-     */
-    double get_mag() const;
-
-    /**
-     * @return the X component of the vector; positive to the right.
-     */
-    double get_x() const;
-
-    /**
-     * @return the Y component of the vector, positive forward.
-     */
-    double get_y() const;
-
-    /**
-     * Changes the magnitude of the vector to 1
-     * @return the normalized vector
-    */
-    Vector2D normalize();
-
-    /**
-    * Returns a point from the vector
-    * @return the point represented by the vector
-    */
-    point_t point();
-
-/**
- * Scales a Vector2D by a scalar with the * operator
- * @param x the value to scale the vector by
- * @return the this Vector2D scaled by x
-*/
-    Vector2D operator*(const double &x);
-    /**
-     * Add the components of two vectors together
-     * Vector2D + Vector2D = (this.x + other.x, this.y + other.y)
-     * @param other the vector to add to this
-     * @return the sum of the vectors
-    */
-    Vector2D operator+(const Vector2D &other);
-    /**
-     * Subtract the components of two vectors together
-     * Vector2D - Vector2D = (this.x - other.x, this.y - other.y)
-     * @param other the vector to subtract from this
-     * @return the difference of the vectors
-    */
-    Vector2D operator-(const Vector2D &other);
+  /**
+   * Construct a vector object.
+   *
+   * @param dir Direction, in radians. 'foward' is 0, clockwise positive when viewed from the top.
+   * @param mag Magnitude.
+   */
+  Vector2D(double dir, double mag);
+
+  /**
+   * Construct a vector object from a cartesian point.
+   *
+   * @param p point_t.x , point_t.y
+   */
+  Vector2D(point_t p);
+
+  /**
+   * Get the direction of the vector, in radians.
+   * '0' is forward, clockwise positive when viewed from the top.
+   *
+   * Use r2d() to convert.
+   * @return the direction of the vetctor in radians
+   */
+  double get_dir() const;
+
+  /**
+   * @return the magnitude of the vector
+   */
+  double get_mag() const;
+
+  /**
+   * @return the X component of the vector; positive to the right.
+   */
+  double get_x() const;
+
+  /**
+   * @return the Y component of the vector, positive forward.
+   */
+  double get_y() const;
+
+  /**
+   * Changes the magnitude of the vector to 1
+   * @return the normalized vector
+   */
+  Vector2D normalize();
+
+  /**
+   * Returns a point from the vector
+   * @return the point represented by the vector
+   */
+  point_t point();
+
+  /**
+   * Scales a Vector2D by a scalar with the * operator
+   * @param x the value to scale the vector by
+   * @return the this Vector2D scaled by x
+   */
+  Vector2D operator*(const double &x);
+  /**
+   * Add the components of two vectors together
+   * Vector2D + Vector2D = (this.x + other.x, this.y + other.y)
+   * @param other the vector to add to this
+   * @return the sum of the vectors
+   */
+  Vector2D operator+(const Vector2D &other);
+  /**
+   * Subtract the components of two vectors together
+   * Vector2D - Vector2D = (this.x - other.x, this.y - other.y)
+   * @param other the vector to subtract from this
+   * @return the difference of the vectors
+   */
+  Vector2D operator-(const Vector2D &other);
 
 private:
-
-    double dir, mag;
-
+  double dir, mag;
 };
 
 /**
diff --git a/src/subsystems/custom_encoder.cpp b/src/subsystems/custom_encoder.cpp
index a8f3adc..b9614f8 100644
--- a/src/subsystems/custom_encoder.cpp
+++ b/src/subsystems/custom_encoder.cpp
@@ -1,41 +1,28 @@
-#include "../core/include/subsystems/custom_encoder.h"   
+#include "../core/include/subsystems/custom_encoder.h"
 
-CustomEncoder::CustomEncoder(vex::triport::port &port, double ticks_per_rev)
-: super(port)
-{
+CustomEncoder::CustomEncoder(vex::triport::port &port, double ticks_per_rev) : super(port) {
   // bc it's a quadrature encoder, ticks per rev has to be multiplied by 4
   tick_scalar = 360 / (ticks_per_rev * 4);
 }
 
-void CustomEncoder::setRotation(double val, vex::rotationUnits units)
-{
-  super::setRotation(val / tick_scalar, units);
-}
+void CustomEncoder::setRotation(double val, vex::rotationUnits units) { super::setRotation(val / tick_scalar, units); }
 
-void CustomEncoder::setPosition(double val, vex::rotationUnits units)
-{
-  super::setPosition(val / tick_scalar, units);
-}
+void CustomEncoder::setPosition(double val, vex::rotationUnits units) { super::setPosition(val / tick_scalar, units); }
+
+double CustomEncoder::rotation(vex::rotationUnits units) {
+  if (units != vex::rotationUnits::raw) {
+    return super::rotation(units) * tick_scalar;
+  }
 
-double CustomEncoder::rotation(vex::rotationUnits units)
-{
-  if(units != vex::rotationUnits::raw) {
-    return super::rotation(units) * tick_scalar;
-}
-  
   return super::rotation(units);
 }
 
-double CustomEncoder::position(vex::rotationUnits units)
-{
+double CustomEncoder::position(vex::rotationUnits units) {
   if (units != vex::rotationUnits::raw) {
-    return super::position(units) * tick_scalar;
-}
+    return super::position(units) * tick_scalar;
+  }
 
   return super::position(units);
 }
 
-double CustomEncoder::velocity(vex::velocityUnits units)
-{
-    return super::velocity(units) * tick_scalar;
-}
+double CustomEncoder::velocity(vex::velocityUnits units) { return super::velocity(units) * tick_scalar; }
diff --git a/src/subsystems/flywheel.cpp b/src/subsystems/flywheel.cpp
index eab2f74..4e57acc 100644
--- a/src/subsystems/flywheel.cpp
+++ b/src/subsystems/flywheel.cpp
@@ -1,9 +1,9 @@
 #include "../core/include/subsystems/flywheel.h"
+#include "../core/include/subsystems/screen.h"
 #include "../core/include/utils/controls/feedforward.h"
 #include "../core/include/utils/controls/pid.h"
-#include "../core/include/utils/math_util.h"
-#include "../core/include/subsystems/screen.h"
 #include "../core/include/utils/graph_drawer.h"
+#include "../core/include/utils/math_util.h"
 #include "vex.h"
 
 using namespace vex;
@@ -12,9 +12,8 @@ using namespace vex;
  *         CONSTRUCTOR, GETTERS, SETTERS
  *********************************************************/
 
-Flywheel::Flywheel(motor_group &motors, Feedback &feedback, FeedForward &helper, const double ratio, Filter &filt) : motors(motors),
-                                                                                                                     task_running(false), fb(feedback), ff(helper),
-                                                                                                                     ratio(ratio), avger(filt) {}
+Flywheel::Flywheel(motor_group &motors, Feedback &feedback, FeedForward &helper, const double ratio, Filter &filt)
+    : motors(motors), task_running(false), fb(feedback), ff(helper), ratio(ratio), avger(filt) {}
 
 /**
  * Return the current value that the target_rpm should be set to
@@ -30,32 +29,25 @@ motor_group &Flywheel::get_motors() const { return motors; }
  * return the current velocity of the flywheel motors, in RPM
  * @return the measured velocity of the flywheel
  */
-double Flywheel::measure_RPM()
-{
+double Flywheel::measure_RPM() {
   double rawRPM = ratio * motors.velocity(velocityUnits::rpm);
   avger.add_entry(rawRPM);
   return avger.get_value();
 }
 
-double Flywheel::getRPM() const
-{
-  return avger.get_value();
-}
+double Flywheel::getRPM() const { return avger.get_value(); }
 
 /**
  * Runs a thread that keeps track of updating flywheel RPM and controlling it accordingly
  */
-int spinRPMTask(void *wheelPointer)
-{
+int spinRPMTask(void *wheelPointer) {
   Flywheel &wheel = *(Flywheel *)wheelPointer;
 
   // get the pid from the wheel and set its target to the RPM stored in the wheel.
-  while (true)
-  {
+  while (true) {
     double rpm = wheel.measure_RPM();
 
-    if (wheel.target_rpm != 0)
-    {
+    if (wheel.target_rpm != 0) {
       double output = wheel.ff.calculate(wheel.target_rpm, 0.0, 0.0);
       {
         wheel.fb_mut.lock();
@@ -82,10 +74,7 @@ int spinRPMTask(void *wheelPointer)
  * @param speed - speed (between -1 and 1) to set the motor
  * @param dir - direction that the motor moves in; defaults to forward
  */
-void Flywheel::spin_raw(double speed, directionType dir)
-{
-  motors.spin(dir, speed * 12, voltageUnits::volt);
-}
+void Flywheel::spin_raw(double speed, directionType dir) { motors.spin(dir, speed * 12, voltageUnits::volt); }
 
 /**
  * Spin motors using voltage; defaults forward at 12 volts
@@ -93,11 +82,10 @@ void Flywheel::spin_raw(double speed, directionType dir)
  * @param speed - speed (between -1 and 1) to set the motor
  * @param dir - direction that the motor moves in; defaults to forward
  */
-void Flywheel::spin_manual(double speed, directionType dir)
-{
+void Flywheel::spin_manual(double speed, directionType dir) {
   if (!task_running) {
     motors.spin(dir, speed * 12, voltageUnits::volt);
-}
+  }
 }
 
 /**
@@ -105,24 +93,20 @@ void Flywheel::spin_manual(double speed, directionType dir)
  * what control scheme is dependent on control_style
  * @param input_rpm - set the current RPM
  */
-void Flywheel::spin_rpm(double input_rpm)
-{
+void Flywheel::spin_rpm(double input_rpm) {
   // setting to 0 is equivelent to stopping
-  if (input_rpm == 0.0)
-  {
+  if (input_rpm == 0.0) {
     stop();
   }
   // only run if the RPM is different or it isn't already running
-  if (!task_running)
-  {
+  if (!task_running) {
     rpm_task = task(spinRPMTask, this);
     task_running = true;
   }
   // now that its running, set the target
   set_target(input_rpm);
 }
-void Flywheel::set_target(double value)
-{
+void Flywheel::set_target(double value) {
   fb_mut.lock();
   target_rpm = (value);
   fb.init(getRPM(), value);
@@ -132,10 +116,8 @@ void Flywheel::set_target(double value)
 /**
  * stop the RPM thread and the wheel
  */
-void Flywheel::stop()
-{
-  if (task_running)
-  {
+void Flywheel::stop() {
+  if (task_running) {
     task_running = false;
     rpm_task.stop();
     target_rpm = 0.0;
@@ -144,18 +126,18 @@ void Flywheel::stop()
 }
 
 //------------------------- Screen Stuff ----------------------------
-class FlywheelPage : public screen::Page
-{
+class FlywheelPage : public screen::Page {
 public:
   static const size_t window_size = 40;
 
-  FlywheelPage(const Flywheel &fw) : fw(fw), gd(GraphDrawer(window_size, 0.0, 0.0, {vex::color(255, 0, 0), vex::color(0, 255, 0), vex::color(0, 0, 255)}, 3)), avg_err(window_size) {}
+  FlywheelPage(const Flywheel &fw)
+      : fw(fw), gd(GraphDrawer(window_size, 0.0, 0.0,
+                               {vex::color(255, 0, 0), vex::color(0, 255, 0), vex::color(0, 0, 255)}, 3)),
+        avg_err(window_size) {}
   /// @brief @see Page#update
   void update(bool, int, int) override {}
   /// @brief @see Page#draw
-  void draw(vex::brain::lcd &screen, bool,
-            unsigned int) override
-  {
+  void draw(vex::brain::lcd &screen, bool, unsigned int) override {
 
     double target = fw.get_target();
     double actual = fw.getRPM();
@@ -180,7 +162,4 @@ class FlywheelPage : public screen::Page
   MovingAverage avg_err;
 };
 
-screen::Page *Flywheel::Page() const
-{
-  return new FlywheelPage(*this);
-}
\ No newline at end of file
+screen::Page *Flywheel::Page() const { return new FlywheelPage(*this); }
\ No newline at end of file
diff --git a/src/subsystems/mecanum_drive.cpp b/src/subsystems/mecanum_drive.cpp
index 793c1b9..53b7519 100644
--- a/src/subsystems/mecanum_drive.cpp
+++ b/src/subsystems/mecanum_drive.cpp
@@ -1,47 +1,45 @@
 #include "../core/include/subsystems/mecanum_drive.h"
-#include "../core/include/utils/vector2d.h"
 #include "../core/include/utils/math_util.h"
+#include "../core/include/utils/vector2d.h"
 
 /**
-* Create the Mecanum drivetrain object
-*/
-MecanumDrive::MecanumDrive(vex::motor &left_front, vex::motor &right_front, vex::motor &left_rear, vex::motor &right_rear, 
-                           vex::rotation *lateral_wheel, vex::inertial *imu, mecanumdrive_config_t *config)
-: left_front(left_front), right_front(right_front), left_rear(left_rear), right_rear(right_rear), // MOTOR CONFIG
-  config(config), // CONFIG ...uh... config
-  lateral_wheel(lateral_wheel), // NON-DRIVEN WHEEL CONFIG
-  imu(imu) //IMU CONFIG
+ * Create the Mecanum drivetrain object
+ */
+MecanumDrive::MecanumDrive(vex::motor &left_front, vex::motor &right_front, vex::motor &left_rear,
+                           vex::motor &right_rear, vex::rotation *lateral_wheel, vex::inertial *imu,
+                           mecanumdrive_config_t *config)
+    : left_front(left_front), right_front(right_front), left_rear(left_rear), right_rear(right_rear), // MOTOR CONFIG
+      config(config),               // CONFIG ...uh... config
+      lateral_wheel(lateral_wheel), // NON-DRIVEN WHEEL CONFIG
+      imu(imu)                      // IMU CONFIG
 {
 
   // If the configuration exists, then allocate memory for the drive and turn pids
-  if(config != NULL)
-  {
+  if (config != NULL) {
     drive_pid = new PID(config->drive_pid_conf);
     drive_gyro_pid = new PID(config->drive_gyro_pid_conf);
     turn_pid = new PID(config->turn_pid_conf);
   }
-
 }
 
 /**
-  * Drive the robot using vectors. This handles all the math required for mecanum control.
-  *
-  * @param direction_deg  the direction to drive the robot, in degrees. 0 is forward,
-  *                       180 is back, clockwise is positive, counterclockwise is negative.
-  * @param magnitude      How fast the robot should drive, in percent: 0.0->1.0
-  * @param rotation       How fast the robot should rotate, in percent: -1.0->+1.0
-  */
-void MecanumDrive::drive_raw(double direction_deg, double magnitude, double rotation)
-{
+ * Drive the robot using vectors. This handles all the math required for mecanum control.
+ *
+ * @param direction_deg  the direction to drive the robot, in degrees. 0 is forward,
+ *                       180 is back, clockwise is positive, counterclockwise is negative.
+ * @param magnitude      How fast the robot should drive, in percent: 0.0->1.0
+ * @param rotation       How fast the robot should rotate, in percent: -1.0->+1.0
+ */
+void MecanumDrive::drive_raw(double direction_deg, double magnitude, double rotation) {
   double direction = deg2rad(direction_deg);
-  
+
   // ALGORITHM - "rotate" the vector by 45 degrees and apply each corner to a wheel
   // .. Oh, and mix rotation too
   double lf = (magnitude * cos(direction - (PI / 4.0))) + rotation;
   double rf = (magnitude * cos(direction + (PI / 4.0))) - rotation;
   double lr = (magnitude * cos(direction + (PI / 4.0))) + rotation;
   double rr = (magnitude * cos(direction - (PI / 4.0))) - rotation;
-  
+
   // Limit the output between -1.0 and +1.0
   lf = clamp(lf, -1.0, 1.0);
   rf = clamp(rf, -1.0, 1.0);
@@ -56,8 +54,8 @@ void MecanumDrive::drive_raw(double direction_deg, double magnitude, double rota
 }
 
 /**
- * Drive the robot with a mecanum-style / arcade drive. Inputs are in percent (-100.0 -> 100.0) straight from the controller.
- * Controls are mixed, so the robot can drive forward / strafe / rotate all at the same time. 
+ * Drive the robot with a mecanum-style / arcade drive. Inputs are in percent (-100.0 -> 100.0) straight from the
+ * controller. Controls are mixed, so the robot can drive forward / strafe / rotate all at the same time.
  *
  * @param left_y left joystick, Y axis (forward / backwards)
  * @param left_x left joystick, X axis (strafe left / right)
@@ -65,40 +63,37 @@ void MecanumDrive::drive_raw(double direction_deg, double magnitude, double rota
  * @param power = 2 how much of a "curve" there should be on drive controls; better for low speed maneuvers.
  *                Leave blank for a default curve of 2 (higher means more fidelity)
  */
-void MecanumDrive::drive(double left_y, double left_x, double right_x, int power)
-{
+void MecanumDrive::drive(double left_y, double left_x, double right_x, int power) {
   // LATERAL CONTROLS - convert cartesion to a vector
   double magnitude = sqrt(pow(left_y / 100.0, 2) + pow(left_x / 100.0, 2));
   magnitude = pow(magnitude, power);
-  
+
   double direction = atan2(left_x / 100.0, left_y / 100.0);
 
   // ROTATIONAL CONTROLS - just the right x joystick
   double rotation = right_x / 100.0;
 
-  //  
+  //
   rotation = sign(rotation) * fabs(pow(rotation, power));
-  
-  return this->drive_raw(rad2deg(direction), magnitude, rotation);  
+
+  return this->drive_raw(rad2deg(direction), magnitude, rotation);
 }
 
 /**
-  * Drive the robot in a straight line automatically.
-  * If the inertial was declared in the constructor, use it to correct while driving.
-  * If the lateral wheel was declared in the constructor, use it for more accurate positioning while strafing.
-  *
-  * @param inches   How far the robot should drive, in inches
-  * @param direction    What direction the robot should travel in, in degrees.
-  *                     0 is forward, +/-180 is reverse, clockwise is positive.
-  * @param speed    The maximum speed the robot should travel, in percent: -1.0->+1.0
-  * @param gyro_correction = true   Whether or not to use the gyro to help correct while driving.
-  *                               Will always be false if no gyro was declared in the constructor.
-  * @return Whether or not the maneuver is complete.
-  */
-bool MecanumDrive::auto_drive(double inches, double direction, double speed, bool gyro_correction)
-{
-  if(config == NULL || drive_pid == NULL)
-  {
+ * Drive the robot in a straight line automatically.
+ * If the inertial was declared in the constructor, use it to correct while driving.
+ * If the lateral wheel was declared in the constructor, use it for more accurate positioning while strafing.
+ *
+ * @param inches   How far the robot should drive, in inches
+ * @param direction    What direction the robot should travel in, in degrees.
+ *                     0 is forward, +/-180 is reverse, clockwise is positive.
+ * @param speed    The maximum speed the robot should travel, in percent: -1.0->+1.0
+ * @param gyro_correction = true   Whether or not to use the gyro to help correct while driving.
+ *                               Will always be false if no gyro was declared in the constructor.
+ * @return Whether or not the maneuver is complete.
+ */
+bool MecanumDrive::auto_drive(double inches, double direction, double speed, bool gyro_correction) {
+  if (config == NULL || drive_pid == NULL) {
     fprintf(stderr, "Failed to run MecanumDrive::auto_drive - Missing mecanumdrive_config_t in constructor\n");
     return true; // avoid an infinte loop within auto
   }
@@ -106,10 +101,8 @@ bool MecanumDrive::auto_drive(double inches, double direction, double speed, boo
   bool enable_gyro = gyro_correction && (imu != NULL);
   bool enable_wheel = (lateral_wheel != NULL);
 
-
   // INITIALIZE - only run ONCE "per drive" on startup
-  if(init == true)
-  {
+  if (init == true) {
 
     // Reset all driven encoders, and PID
     left_front.resetPosition();
@@ -120,16 +113,15 @@ bool MecanumDrive::auto_drive(double inches, double direction, double speed, boo
     drive_pid->reset();
 
     // Reset only if gyro exists
-    if(enable_gyro)
-    {
+    if (enable_gyro) {
       imu->resetRotation();
       drive_gyro_pid->reset();
       drive_gyro_pid->set_target(0.0);
     }
     // reset only if lateral wheel exists
-    if(enable_wheel) {
-      lateral_wheel->resetPosition();
-}
+    if (enable_wheel) {
+      lateral_wheel->resetPosition();
+    }
 
     // Finish setting up the PID loop - max speed and position target
     drive_pid->set_limits(-fabs(speed), fabs(speed));
@@ -147,44 +139,34 @@ bool MecanumDrive::auto_drive(double inches, double direction, double speed, boo
 
   // IF in quadrant 1 or 3, use left front and right rear wheels as "drive" movement
   // ELSE in quadrant 2 or 4, use left rear and right front wheels as "drive" movement
-  // Some wheels are NOT being averaged at any given time since the general mecanum algorithm makes them go slower than our robot speed
-  // somewhat of a nasty hack, but wheel slippage should make up for it, and multivariable calc is hard.
-  if( (direction > 0 && direction <= 90) || (direction < -90 && direction > -180))
-  {
-    drive_avg = fabs(left_front.position(rotationUnits::rev) * config->drive_wheel_diam * PI)
-              + fabs(right_rear.position(rotationUnits::rev) * config->drive_wheel_diam * PI)
-              / 2.0;
-  } else
-  {
-    drive_avg = fabs(left_rear.position(rotationUnits::rev) * config->drive_wheel_diam * PI)
-              + fabs(right_front.position(rotationUnits::rev) * config->drive_wheel_diam * PI)
-              / 2.0;
+  // Some wheels are NOT being averaged at any given time since the general mecanum algorithm makes them go slower than
+  // our robot speed somewhat of a nasty hack, but wheel slippage should make up for it, and multivariable calc is hard.
+  if ((direction > 0 && direction <= 90) || (direction < -90 && direction > -180)) {
+    drive_avg = fabs(left_front.position(rotationUnits::rev) * config->drive_wheel_diam * PI) +
+                fabs(right_rear.position(rotationUnits::rev) * config->drive_wheel_diam * PI) / 2.0;
+  } else {
+    drive_avg = fabs(left_rear.position(rotationUnits::rev) * config->drive_wheel_diam * PI) +
+                fabs(right_front.position(rotationUnits::rev) * config->drive_wheel_diam * PI) / 2.0;
   }
 
   // Only use the encoder wheel if it exists.
   // Without the wheel should be usable, but with it will be muuuuch more accurate.
-  if(enable_wheel)
-  {
+  if (enable_wheel) {
     // Distance driven = Magnitude = sqrt(x^2 + y^2)
     // Since drive_avg is already a polar magnitude, turn it into "Y" with cos(theta)
-    dist_avg = sqrt(
-      pow(lateral_wheel->position(rotationUnits::rev) * config->lateral_wheel_diam * PI, 2)
-      + pow(drive_avg * cos(direction * (PI / 180.0)), 2)
-    );
-  }else
-  {
+    dist_avg = sqrt(pow(lateral_wheel->position(rotationUnits::rev) * config->lateral_wheel_diam * PI, 2) +
+                    pow(drive_avg * cos(direction * (PI / 180.0)), 2));
+  } else {
     dist_avg = drive_avg;
   }
 
   // ...double check to avoid an infinite loop
   dist_avg = fabs(dist_avg);
 
-
   // ROTATION CORRECTION
   double rot = 0;
 
-  if(enable_gyro)
-  {
+  if (enable_gyro) {
     drive_gyro_pid->update(imu->rotation());
     rot = drive_gyro_pid->get();
   }
@@ -195,8 +177,7 @@ bool MecanumDrive::auto_drive(double inches, double direction, double speed, boo
   this->drive_raw(direction, drive_pid->get(), rot);
 
   // Stop and return true whenever the robot has completed it's drive.
-  if(drive_pid->is_on_target())
-  {
+  if (drive_pid->is_on_target()) {
     drive_raw(0, 0, 0);
     init = true;
     return true;
@@ -207,20 +188,18 @@ bool MecanumDrive::auto_drive(double inches, double direction, double speed, boo
 }
 
 /**
-* Autonomously turn the robot X degrees over it's center point. Uses a closed loop
-* for control.
-* @param degrees How many degrees to rotate the robot. Clockwise postive.
-* @param speed What percentage to run the motors at: 0.0 -> 1.0
-* @param ignore_imu = false Whether or not to use the Inertial for determining angle.
-*        Will instead use circumference formula + robot's wheelbase + encoders to determine.
-* 
-* @return whether or not the robot has finished the maneuver
-*/
-bool MecanumDrive::auto_turn(double degrees, double speed, bool ignore_imu)
-{
+ * Autonomously turn the robot X degrees over it's center point. Uses a closed loop
+ * for control.
+ * @param degrees How many degrees to rotate the robot. Clockwise postive.
+ * @param speed What percentage to run the motors at: 0.0 -> 1.0
+ * @param ignore_imu = false Whether or not to use the Inertial for determining angle.
+ *        Will instead use circumference formula + robot's wheelbase + encoders to determine.
+ *
+ * @return whether or not the robot has finished the maneuver
+ */
+bool MecanumDrive::auto_turn(double degrees, double speed, bool ignore_imu) {
   // Make sure the configurations exist before continuing
-  if(config == NULL || turn_pid == NULL)
-  {
+  if (config == NULL || turn_pid == NULL) {
     fprintf(stderr, "Failed to run MecanumDrive::auto_turn - Missing mecanumdrive_config_t in constructor\n");
     return true;
   }
@@ -229,16 +208,13 @@ bool MecanumDrive::auto_turn(double degrees, double speed, bool ignore_imu)
   ignore_imu = ignore_imu || (this->imu == NULL);
 
   // INITIALIZE - clear encoders / imu / pid loops
-  if(init == true)
-  {
-    if(ignore_imu)
-    {
+  if (init == true) {
+    if (ignore_imu) {
       this->left_front.resetPosition();
       this->right_front.resetPosition();
       this->left_rear.resetPosition();
       this->right_rear.resetPosition();
-    }else
-    {
+    } else {
       this->imu->resetRotation();
     }
 
@@ -253,15 +229,14 @@ bool MecanumDrive::auto_turn(double degrees, double speed, bool ignore_imu)
 
   double current_angle = 0.0;
 
-  if(ignore_imu)
-  {
-    double avg = (left_front.position(rotationUnits::rev) + left_rear.position(rotationUnits::rev) 
-                - right_front.position(rotationUnits::rev) - right_rear.position(rotationUnits::rev)) / 4.0;
+  if (ignore_imu) {
+    double avg = (left_front.position(rotationUnits::rev) + left_rear.position(rotationUnits::rev) -
+                  right_front.position(rotationUnits::rev) - right_rear.position(rotationUnits::rev)) /
+                 4.0;
 
     // Current arclength = (avg * wheel_diam * PI) = (theta * (wheelbase / 2.0)). then convert to degrees
     current_angle = (360.0 * avg * config->drive_wheel_diam) / config->wheelbase_width;
-  } else
-  {
+  } else {
     current_angle = imu->rotation();
   }
 
@@ -269,8 +244,7 @@ bool MecanumDrive::auto_turn(double degrees, double speed, bool ignore_imu)
   this->drive_raw(0, 0, turn_pid->get());
 
   // We have reached the target.
-  if(this->turn_pid->is_on_target())
-  {
+  if (this->turn_pid->is_on_target()) {
     this->drive_raw(0, 0, 0);
     init = true;
     return true;
diff --git a/src/subsystems/odometry/odometry_3wheel.cpp b/src/subsystems/odometry/odometry_3wheel.cpp
index 4715559..e7cbf20 100644
--- a/src/subsystems/odometry/odometry_3wheel.cpp
+++ b/src/subsystems/odometry/odometry_3wheel.cpp
@@ -1,218 +1,217 @@
 #include "../core/include/subsystems/odometry/odometry_3wheel.h"
-#include "../core/include/utils/vector2d.h"
 #include "../core/include/utils/math_util.h"
+#include "../core/include/utils/vector2d.h"
 
-Odometry3Wheel::Odometry3Wheel(CustomEncoder &lside_fwd, CustomEncoder &rside_fwd, CustomEncoder &off_axis, odometry3wheel_cfg_t &cfg, bool is_async) 
-: OdometryBase(is_async), lside_fwd(lside_fwd), rside_fwd(rside_fwd), off_axis(off_axis), cfg(cfg)
-{}
+Odometry3Wheel::Odometry3Wheel(CustomEncoder &lside_fwd, CustomEncoder &rside_fwd, CustomEncoder &off_axis,
+                               odometry3wheel_cfg_t &cfg, bool is_async)
+    : OdometryBase(is_async), lside_fwd(lside_fwd), rside_fwd(rside_fwd), off_axis(off_axis), cfg(cfg) {}
 
 /**
  * Update the current position of the robot once, using the current state of
  * the encoders and the previous known location
- * 
+ *
  * @return the robot's updated position
  */
-pose_t Odometry3Wheel::update()
-{
-    static double lside_old=0, rside_old=0, offax_old=0;
-
-    double lside = lside_fwd.position(deg);
-    double rside = rside_fwd.position(deg);
-    double offax = off_axis.position(deg);
-
-    double lside_delta = lside - lside_old;
-    double rside_delta = rside - rside_old;
-    double offax_delta = offax - offax_old;
-
-    lside_old = lside;
-    rside_old = rside;
-    offax_old = offax;
-
-    pose_t updated_pos = calculate_new_pos(lside_delta, rside_delta, offax_delta, current_pos, cfg);
-
-    static pose_t last_pos = updated_pos;
-    static double last_speed = 0;
-    static double last_ang_speed = 0;
-    static timer tmr;
-
-    double speed_local = 0;
-    double accel_local = 0;
-    double ang_speed_local = 0;
-    double ang_accel_local = 0;
-    bool update_vel_accel = tmr.time(sec) > 0.1;
-
-    // This loop runs too fast. Only check at LEAST every 1/10th sec
-    if(update_vel_accel)
-    {
-      // Calculate robot velocity
-      speed_local = pos_diff(updated_pos, last_pos) / tmr.time(sec);
-
-      // Calculate robot acceleration
-      accel_local = (speed_local - last_speed) / tmr.time(sec);
-
-      // Calculate robot angular velocity (deg/sec)
-      ang_speed_local = smallest_angle(updated_pos.rot, last_pos.rot) / tmr.time(sec);
-
-      // Calculate robot angular acceleration (deg/sec^2)
-      ang_accel_local = (ang_speed_local - last_ang_speed) / tmr.time(sec);
-
-      tmr.reset();
-      last_pos = updated_pos;
-      last_speed = speed_local;
-      last_ang_speed = ang_speed_local;
-    }
-
-    this->current_pos = updated_pos;
-    if(update_vel_accel)
-    {
-        this->speed = speed_local;
-        this->accel = accel_local;
-        this->ang_speed_deg = ang_speed_local;
-        this->ang_accel_deg = ang_accel_local;
-    }
-
-    return current_pos;
+pose_t Odometry3Wheel::update() {
+  static double lside_old = 0, rside_old = 0, offax_old = 0;
+
+  double lside = lside_fwd.position(deg);
+  double rside = rside_fwd.position(deg);
+  double offax = off_axis.position(deg);
+
+  double lside_delta = lside - lside_old;
+  double rside_delta = rside - rside_old;
+  double offax_delta = offax - offax_old;
+
+  lside_old = lside;
+  rside_old = rside;
+  offax_old = offax;
+
+  pose_t updated_pos = calculate_new_pos(lside_delta, rside_delta, offax_delta, current_pos, cfg);
+
+  static pose_t last_pos = updated_pos;
+  static double last_speed = 0;
+  static double last_ang_speed = 0;
+  static timer tmr;
+
+  double speed_local = 0;
+  double accel_local = 0;
+  double ang_speed_local = 0;
+  double ang_accel_local = 0;
+  bool update_vel_accel = tmr.time(sec) > 0.1;
+
+  // This loop runs too fast. Only check at LEAST every 1/10th sec
+  if (update_vel_accel) {
+    // Calculate robot velocity
+    speed_local = pos_diff(updated_pos, last_pos) / tmr.time(sec);
+
+    // Calculate robot acceleration
+    accel_local = (speed_local - last_speed) / tmr.time(sec);
+
+    // Calculate robot angular velocity (deg/sec)
+    ang_speed_local = smallest_angle(updated_pos.rot, last_pos.rot) / tmr.time(sec);
+
+    // Calculate robot angular acceleration (deg/sec^2)
+    ang_accel_local = (ang_speed_local - last_ang_speed) / tmr.time(sec);
+
+    tmr.reset();
+    last_pos = updated_pos;
+    last_speed = speed_local;
+    last_ang_speed = ang_speed_local;
+  }
+
+  this->current_pos = updated_pos;
+  if (update_vel_accel) {
+    this->speed = speed_local;
+    this->accel = accel_local;
+    this->ang_speed_deg = ang_speed_local;
+    this->ang_accel_deg = ang_accel_local;
+  }
+
+  return current_pos;
 }
 
 /**
- * Calculation method for the robot's new position using the change in encoders, the old position, and the robot's configuration.
- * This uses a series of arclength formulae for finding distance driven and change in angle.
- * Then vector math is used to combine it with the robot's old position data
- * 
+ * Calculation method for the robot's new position using the change in encoders, the old position, and the robot's
+ * configuration. This uses a series of arclength formulae for finding distance driven and change in angle. Then vector
+ * math is used to combine it with the robot's old position data
+ *
  * @param lside_delta_deg Left encoder change in rotation, in degrees
  * @param rside_delta_deg Right encoder change in rotation, in degrees
  * @param offax_delta_deg Off-axis (perpendicular) encoder change in rotation, in degrees
  * @param old_pos Robot's old position, for integration
  * @param cfg Data on robot's configuration (wheel diameter, wheelbase, off-axis distance from center)
- * @return The robot's new position (x, y, rot) 
+ * @return The robot's new position (x, y, rot)
  */
-pose_t Odometry3Wheel::calculate_new_pos(double lside_delta_deg, double rside_delta_deg, double offax_delta_deg, pose_t old_pos, odometry3wheel_cfg_t cfg)
-{
-    pose_t retval = {};
-
-    // Arclength formula for encoder degrees -> single wheel distance driven
-    double lside_dist = (cfg.wheel_diam / 2.0) * deg2rad(lside_delta_deg);
-    double rside_dist = (cfg.wheel_diam / 2.0) * deg2rad(rside_delta_deg);
-    double offax_dist = (cfg.wheel_diam / 2.0) * deg2rad(offax_delta_deg);
-    
-    // Inverse arclength formula for arc distance driven -> robot angle
-    double delta_angle_rad = (rside_dist - lside_dist) / cfg.wheelbase_dist;
-    double delta_angle_deg = rad2deg(delta_angle_rad);
-
-    // Distance along the robot's local Y axis (forward/backward)
-    double dist_local_y = (lside_dist + rside_dist) / 2.0;
-
-    // Distance along the robot's local X axis (right/left)
-    double dist_local_x = offax_dist - (delta_angle_rad * cfg.off_axis_center_dist);
-
-    // Change in displacement as a vector, on the local coordinate system (+y = robot fwd)
-    Vector2D local_displacement({.x=dist_local_x, .y=dist_local_y});
-
-    // Rotate the local displacement to match the old robot's rotation
-    double dir_delta_from_trans_rad = local_displacement.get_dir() - (PI/2.0);
-    double global_dir_rad = wrap_angle_rad(dir_delta_from_trans_rad + deg2rad(old_pos.rot));
-    Vector2D global_displacement(global_dir_rad, local_displacement.get_mag());
-
-    // Tack on the position change to the old position
-    Vector2D old_pos_vec({.x=old_pos.x, .y=old_pos.y});
-    Vector2D new_pos_vec = old_pos_vec + global_displacement;
-
-    retval.x = new_pos_vec.get_x();
-    retval.y = new_pos_vec.get_y();
-    retval.rot = wrap_angle_deg(old_pos.rot + delta_angle_deg);
-    
-    return retval;
+pose_t Odometry3Wheel::calculate_new_pos(double lside_delta_deg, double rside_delta_deg, double offax_delta_deg,
+                                         pose_t old_pos, odometry3wheel_cfg_t cfg) {
+  pose_t retval = {};
+
+  // Arclength formula for encoder degrees -> single wheel distance driven
+  double lside_dist = (cfg.wheel_diam / 2.0) * deg2rad(lside_delta_deg);
+  double rside_dist = (cfg.wheel_diam / 2.0) * deg2rad(rside_delta_deg);
+  double offax_dist = (cfg.wheel_diam / 2.0) * deg2rad(offax_delta_deg);
+
+  // Inverse arclength formula for arc distance driven -> robot angle
+  double delta_angle_rad = (rside_dist - lside_dist) / cfg.wheelbase_dist;
+  double delta_angle_deg = rad2deg(delta_angle_rad);
+
+  // Distance along the robot's local Y axis (forward/backward)
+  double dist_local_y = (lside_dist + rside_dist) / 2.0;
+
+  // Distance along the robot's local X axis (right/left)
+  double dist_local_x = offax_dist - (delta_angle_rad * cfg.off_axis_center_dist);
+
+  // Change in displacement as a vector, on the local coordinate system (+y = robot fwd)
+  Vector2D local_displacement({.x = dist_local_x, .y = dist_local_y});
+
+  // Rotate the local displacement to match the old robot's rotation
+  double dir_delta_from_trans_rad = local_displacement.get_dir() - (PI / 2.0);
+  double global_dir_rad = wrap_angle_rad(dir_delta_from_trans_rad + deg2rad(old_pos.rot));
+  Vector2D global_displacement(global_dir_rad, local_displacement.get_mag());
+
+  // Tack on the position change to the old position
+  Vector2D old_pos_vec({.x = old_pos.x, .y = old_pos.y});
+  Vector2D new_pos_vec = old_pos_vec + global_displacement;
+
+  retval.x = new_pos_vec.get_x();
+  retval.y = new_pos_vec.get_y();
+  retval.rot = wrap_angle_deg(old_pos.rot + delta_angle_deg);
+
+  return retval;
 }
 
 /**
  * A guided tuning process to automatically find tuning parameters.
  * This method is blocking, and returns when tuning has finished. Follow
  * the instructions on the controller to complete the tuning process
- * 
+ *
  * It is assumed the gear ratio and encoder PPR have been set correctly
- * 
+ *
  */
-void Odometry3Wheel::tune(vex::controller &con, TankDrive &drive)
-{
-
-    // TODO check if all the messages fit on the controller screen
-    // STEP 1: Align robot and reset odometry
-    con.Screen.clearScreen();
-    con.Screen.setCursor(1,1);
-    con.Screen.print("Wheel Diameter Test");
-    con.Screen.newLine();
-    con.Screen.print("Align robot with ref");
-    con.Screen.newLine();
-    con.Screen.newLine();
-    con.Screen.print("Press A to continue");
-    while(!con.ButtonA.pressing()) { vexDelay(20); }
-
-    double old_lval = lside_fwd.position(deg);
-    double old_rval = rside_fwd.position(deg);
-
-    // Step 2: Drive robot a known distance
-    con.Screen.clearLine(2);
-    con.Screen.setCursor(2,1);
-    con.Screen.print("Drive or Push robot");
-    con.Screen.newLine();
-    con.Screen.print("10 feet (5 tiles)");
-    con.Screen.newLine();
-    con.Screen.print("Press A to continue");
-    while(!con.ButtonA.pressing())
-    {
-        drive.drive_arcade(con.Axis3.position() / 100.0, con.Axis1.position() / 100.0);
-        vexDelay(20);
-    }
-
-    // Wheel diameter is ratio of expected distance / measured distance
-    double avg_deg = ((lside_fwd.position(deg) - old_lval) + (rside_fwd.position(deg) - old_rval)) / 2.0;
-    double measured_dist = 0.5 * deg2rad(avg_deg); // Simulate diam=1", radius=1/2"
-    double found_diam = 120.0 / measured_dist; 
-
-    // Step 3: Reset alignment for turning test
-    con.Screen.clearScreen();
-    con.Screen.setCursor(1,1);
-    con.Screen.print("Wheelbase Test");
-    con.Screen.newLine();
-    con.Screen.print("Align robot with ref");
-    con.Screen.newLine();
-    con.Screen.newLine();
-    con.Screen.print("Press A to continue");
-    while(!con.ButtonA.pressing()) { vexDelay(20); }
-    con.Screen.clearScreen();
-    
-    old_lval = lside_fwd.position(deg);
-    old_rval = rside_fwd.position(deg);
-    double old_offax = off_axis.position(deg);
-
-    con.Screen.setCursor(2,1);
-    con.Screen.clearLine();
-    con.Screen.print("Turn robot 10");
-    con.Screen.newLine();
-    con.Screen.print("times in place");
-    con.Screen.newLine();
-    con.Screen.print("Press A to continue");
-    while(!con.ButtonA.pressing())
-    {
-        drive.drive_arcade(0, con.Axis1.position() / 100.0);
-        vexDelay(20);
-    }
-
-    double lside_dist = deg2rad(lside_fwd.position(deg) - old_lval) * (found_diam / 2.0);
-    double rside_dist = deg2rad(rside_fwd.position(deg) - old_rval) * (found_diam / 2.0);
-    double offax_dist = deg2rad(off_axis.position(deg) - old_offax) * (found_diam / 2.0);
-
-    double expected_angle = 10 * (2*PI);
-    double found_wheelbase = fabs(rside_dist - lside_dist) / expected_angle;
-    double found_offax_center_dist = offax_dist / expected_angle;
-
-    con.Screen.clearScreen();
-    con.Screen.setCursor(1,1);
-    con.Screen.print("Diam: %f", found_diam);
-    con.Screen.newLine();
-    con.Screen.print("whlbase: %f", found_wheelbase);
-    con.Screen.newLine();
-    con.Screen.print("offax: %f", found_offax_center_dist);
-
-    printf("Tuning completed.\n  Wheel Diameter: %f\n  Wheelbase: %f\n  Off Axis Distance: %f\n", found_diam, found_wheelbase, found_offax_center_dist);
+void Odometry3Wheel::tune(vex::controller &con, TankDrive &drive) {
+
+  // TODO check if all the messages fit on the controller screen
+  // STEP 1: Align robot and reset odometry
+  con.Screen.clearScreen();
+  con.Screen.setCursor(1, 1);
+  con.Screen.print("Wheel Diameter Test");
+  con.Screen.newLine();
+  con.Screen.print("Align robot with ref");
+  con.Screen.newLine();
+  con.Screen.newLine();
+  con.Screen.print("Press A to continue");
+  while (!con.ButtonA.pressing()) {
+    vexDelay(20);
+  }
+
+  double old_lval = lside_fwd.position(deg);
+  double old_rval = rside_fwd.position(deg);
+
+  // Step 2: Drive robot a known distance
+  con.Screen.clearLine(2);
+  con.Screen.setCursor(2, 1);
+  con.Screen.print("Drive or Push robot");
+  con.Screen.newLine();
+  con.Screen.print("10 feet (5 tiles)");
+  con.Screen.newLine();
+  con.Screen.print("Press A to continue");
+  while (!con.ButtonA.pressing()) {
+    drive.drive_arcade(con.Axis3.position() / 100.0, con.Axis1.position() / 100.0);
+    vexDelay(20);
+  }
+
+  // Wheel diameter is ratio of expected distance / measured distance
+  double avg_deg = ((lside_fwd.position(deg) - old_lval) + (rside_fwd.position(deg) - old_rval)) / 2.0;
+  double measured_dist = 0.5 * deg2rad(avg_deg); // Simulate diam=1", radius=1/2"
+  double found_diam = 120.0 / measured_dist;
+
+  // Step 3: Reset alignment for turning test
+  con.Screen.clearScreen();
+  con.Screen.setCursor(1, 1);
+  con.Screen.print("Wheelbase Test");
+  con.Screen.newLine();
+  con.Screen.print("Align robot with ref");
+  con.Screen.newLine();
+  con.Screen.newLine();
+  con.Screen.print("Press A to continue");
+  while (!con.ButtonA.pressing()) {
+    vexDelay(20);
+  }
+  con.Screen.clearScreen();
+
+  old_lval = lside_fwd.position(deg);
+  old_rval = rside_fwd.position(deg);
+  double old_offax = off_axis.position(deg);
+
+  con.Screen.setCursor(2, 1);
+  con.Screen.clearLine();
+  con.Screen.print("Turn robot 10");
+  con.Screen.newLine();
+  con.Screen.print("times in place");
+  con.Screen.newLine();
+  con.Screen.print("Press A to continue");
+  while (!con.ButtonA.pressing()) {
+    drive.drive_arcade(0, con.Axis1.position() / 100.0);
+    vexDelay(20);
+  }
+
+  double lside_dist = deg2rad(lside_fwd.position(deg) - old_lval) * (found_diam / 2.0);
+  double rside_dist = deg2rad(rside_fwd.position(deg) - old_rval) * (found_diam / 2.0);
+  double offax_dist = deg2rad(off_axis.position(deg) - old_offax) * (found_diam / 2.0);
+
+  double expected_angle = 10 * (2 * PI);
+  double found_wheelbase = fabs(rside_dist - lside_dist) / expected_angle;
+  double found_offax_center_dist = offax_dist / expected_angle;
+
+  con.Screen.clearScreen();
+  con.Screen.setCursor(1, 1);
+  con.Screen.print("Diam: %f", found_diam);
+  con.Screen.newLine();
+  con.Screen.print("whlbase: %f", found_wheelbase);
+  con.Screen.newLine();
+  con.Screen.print("offax: %f", found_offax_center_dist);
+
+  printf("Tuning completed.\n  Wheel Diameter: %f\n  Wheelbase: %f\n  Off Axis Distance: %f\n", found_diam,
+         found_wheelbase, found_offax_center_dist);
 }
\ No newline at end of file
diff --git a/src/subsystems/odometry/odometry_base.cpp b/src/subsystems/odometry/odometry_base.cpp
index 15981ae..9b4d7eb 100644
--- a/src/subsystems/odometry/odometry_base.cpp
+++ b/src/subsystems/odometry/odometry_base.cpp
@@ -6,8 +6,7 @@
  *
  * @param is_async True to run constantly in the background, false to call update() manually
  */
-OdometryBase::OdometryBase(bool is_async) : current_pos(zero_pos)
-{
+OdometryBase::OdometryBase(bool is_async) : current_pos(zero_pos) {
   if (is_async) {
     handle = new vex::task(background_task, (void *)this);
   }
@@ -20,12 +19,10 @@ OdometryBase::OdometryBase(bool is_async) : current_pos(zero_pos)
  * @param ptr Pointer to OdometryBase object
  * @return Required integer return code. Unused.
  */
-int OdometryBase::background_task(void *ptr)
-{
+int OdometryBase::background_task(void *ptr) {
   OdometryBase &obj = *((OdometryBase *)ptr);
   vexDelay(1000);
-  while (!obj.end_task)
-  {
+  while (!obj.end_task) {
     obj.mut.lock();
     obj.update();
     obj.mut.unlock();
@@ -39,16 +36,12 @@ int OdometryBase::background_task(void *ptr)
  * If the user wants to end the thread but keep the data up to date,
  * they must run the update() function manually from then on.
  */
-void OdometryBase::end_async()
-{
-  this->end_task = true;
-}
+void OdometryBase::end_async() { this->end_task = true; }
 
 /**
  * Gets the current position and rotation
  */
-pose_t OdometryBase::get_position(void)
-{
+pose_t OdometryBase::get_position(void) {
   mut.lock();
 
   // Create a new struct to pass-by-value
@@ -62,8 +55,7 @@ pose_t OdometryBase::get_position(void)
 /**
  * Sets the current position of the robot
  */
-void OdometryBase::set_position(const pose_t &newpos)
-{
+void OdometryBase::set_position(const pose_t &newpos) {
   mut.lock();
 
   current_pos = newpos;
@@ -71,10 +63,11 @@ void OdometryBase::set_position(const pose_t &newpos)
   mut.unlock();
 }
 
-AutoCommand *OdometryBase::SetPositionCmd(const pose_t &newpos)
-{
-  return new FunctionCommand([&](){set_position(newpos); return true;});
-
+AutoCommand *OdometryBase::SetPositionCmd(const pose_t &newpos) {
+  return new FunctionCommand([&]() {
+    set_position(newpos);
+    return true;
+  });
 }
 
 /**
@@ -83,8 +76,7 @@ AutoCommand *OdometryBase::SetPositionCmd(const pose_t &newpos)
  * @param end_pos to this point
  * @return the euclidean distance between start_pos and end_pos
  */
-double OdometryBase::pos_diff(pose_t start_pos, pose_t end_pos)
-{
+double OdometryBase::pos_diff(pose_t start_pos, pose_t end_pos) {
   // Use the pythagorean theorem
   double retval = sqrt(pow(end_pos.x - start_pos.x, 2) + pow(end_pos.y - start_pos.y, 2));
 
@@ -94,35 +86,30 @@ double OdometryBase::pos_diff(pose_t start_pos, pose_t end_pos)
 /**
  * Get the change in rotation between two points
  */
-double OdometryBase::rot_diff(pose_t pos1, pose_t pos2)
-{
-  return pos1.rot - pos2.rot;
-}
+double OdometryBase::rot_diff(pose_t pos1, pose_t pos2) { return pos1.rot - pos2.rot; }
 
 /**
  * Get the smallest difference in angle between a start heading and end heading.
  * Returns the difference between -180 degrees and +180 degrees, representing the robot
  * turning left or right, respectively.
  */
-double OdometryBase::smallest_angle(double start_deg, double end_deg)
-{
+double OdometryBase::smallest_angle(double start_deg, double end_deg) {
   double retval;
   // get the difference between 0 and 360
   retval = fmod(end_deg - start_deg, 360.0);
   if (retval < 0) {
     retval += 360.0;
-}
+  }
 
   // Get the closest angle, now between -180 (turn left) and +180 (turn right)
   if (retval > 180) {
     retval -= 360;
-}
+  }
 
   return retval;
 }
 
-double OdometryBase::get_speed()
-{
+double OdometryBase::get_speed() {
   mut.lock();
   double retval = speed;
   mut.unlock();
@@ -130,8 +117,7 @@ double OdometryBase::get_speed()
   return retval;
 }
 
-double OdometryBase::get_accel()
-{
+double OdometryBase::get_accel() {
   mut.lock();
   double retval = accel;
   mut.unlock();
@@ -139,8 +125,7 @@ double OdometryBase::get_accel()
   return retval;
 }
 
-double OdometryBase::get_angular_speed_deg()
-{
+double OdometryBase::get_angular_speed_deg() {
   mut.lock();
   double retval = ang_speed_deg;
   mut.unlock();
@@ -148,8 +133,7 @@ double OdometryBase::get_angular_speed_deg()
   return retval;
 }
 
-double OdometryBase::get_angular_accel_deg()
-{
+double OdometryBase::get_angular_accel_deg() {
   mut.lock();
   double retval = ang_accel_deg;
   mut.unlock();
diff --git a/src/subsystems/odometry/odometry_tank.cpp b/src/subsystems/odometry/odometry_tank.cpp
index b910cff..b0a397d 100644
--- a/src/subsystems/odometry/odometry_tank.cpp
+++ b/src/subsystems/odometry/odometry_tank.cpp
@@ -4,47 +4,52 @@
  * Initialize the Odometry module, calculating position from the drive motors.
  * @param left_side The left motors
  * @param right_side The right motors
- * @param config the specifications that supply the odometry with descriptions of the robot. See robot_specs_t for what is contained
+ * @param config the specifications that supply the odometry with descriptions of the robot. See robot_specs_t for what
+ * is contained
  * @param imu The robot's inertial sensor. If not included, rotation is calculated from the encoders.
- * @param is_async If true, position will be updated in the background continuously. If false, the programmer will have to manually call update().
+ * @param is_async If true, position will be updated in the background continuously. If false, the programmer will have
+ * to manually call update().
  */
-OdometryTank::OdometryTank(vex::motor_group &left_side, vex::motor_group &right_side, robot_specs_t &config, vex::inertial *imu, bool is_async)
-    : OdometryBase(is_async), left_side(&left_side), right_side(&right_side), left_custom_enc(NULL), right_custom_enc(NULL), left_vex_enc(NULL), right_vex_enc(NULL), imu(imu), config(config)
-{
-}
+OdometryTank::OdometryTank(vex::motor_group &left_side, vex::motor_group &right_side, robot_specs_t &config,
+                           vex::inertial *imu, bool is_async)
+    : OdometryBase(is_async), left_side(&left_side), right_side(&right_side), left_custom_enc(NULL),
+      right_custom_enc(NULL), left_vex_enc(NULL), right_vex_enc(NULL), imu(imu), config(config) {}
 
 /**
  * Initialize the Odometry module, calculating position from the drive motors.
  * @param left_custom_enc The left custom encoder
  * @param right_custom_enc The right custom encoder
- * @param config the specifications that supply the odometry with descriptions of the robot. See robot_specs_t for what is contained
+ * @param config the specifications that supply the odometry with descriptions of the robot. See robot_specs_t for what
+ * is contained
  * @param imu The robot's inertial sensor. If not included, rotation is calculated from the encoders.
- * @param is_async If true, position will be updated in the background continuously. If false, the programmer will have to manually call update().
+ * @param is_async If true, position will be updated in the background continuously. If false, the programmer will have
+ * to manually call update().
  */
-OdometryTank::OdometryTank(CustomEncoder &left_custom_enc, CustomEncoder &right_custom_enc, robot_specs_t &config, vex::inertial *imu, bool is_async)
-    : OdometryBase(is_async), left_side(NULL), right_side(NULL), left_custom_enc(&left_custom_enc), right_custom_enc(&right_custom_enc), left_vex_enc(NULL), right_vex_enc(NULL), imu(imu), config(config)
-{
-}
+OdometryTank::OdometryTank(CustomEncoder &left_custom_enc, CustomEncoder &right_custom_enc, robot_specs_t &config,
+                           vex::inertial *imu, bool is_async)
+    : OdometryBase(is_async), left_side(NULL), right_side(NULL), left_custom_enc(&left_custom_enc),
+      right_custom_enc(&right_custom_enc), left_vex_enc(NULL), right_vex_enc(NULL), imu(imu), config(config) {}
 
 /**
  * Initialize the Odometry module, calculating position from the drive motors.
  * @param left_vex_enc The left vex encoder
  * @param right_vex_enc The right vex encoder
- * @param config the specifications that supply the odometry with descriptions of the robot. See robot_specs_t for what is contained
+ * @param config the specifications that supply the odometry with descriptions of the robot. See robot_specs_t for what
+ * is contained
  * @param imu The robot's inertial sensor. If not included, rotation is calculated from the encoders.
- * @param is_async If true, position will be updated in the background continuously. If false, the programmer will have to manually call update().
+ * @param is_async If true, position will be updated in the background continuously. If false, the programmer will have
+ * to manually call update().
  */
-OdometryTank::OdometryTank(vex::encoder &left_vex_enc, vex::encoder &right_vex_enc, robot_specs_t &config, vex::inertial *imu, bool is_async)
-    : OdometryBase(is_async), left_side(NULL), right_side(NULL), left_custom_enc(NULL), right_custom_enc(NULL), left_vex_enc(&left_vex_enc), right_vex_enc(&right_vex_enc), imu(imu), config(config)
-{
-}
+OdometryTank::OdometryTank(vex::encoder &left_vex_enc, vex::encoder &right_vex_enc, robot_specs_t &config,
+                           vex::inertial *imu, bool is_async)
+    : OdometryBase(is_async), left_side(NULL), right_side(NULL), left_custom_enc(NULL), right_custom_enc(NULL),
+      left_vex_enc(&left_vex_enc), right_vex_enc(&right_vex_enc), imu(imu), config(config) {}
 
 /**
  * Resets the position and rotational data to the input.
  *
  */
-void OdometryTank::set_position(const pose_t &newpos)
-{
+void OdometryTank::set_position(const pose_t &newpos) {
   mut.lock();
   rotation_offset = newpos.rot - (current_pos.rot - rotation_offset);
   mut.unlock();
@@ -56,22 +61,16 @@ void OdometryTank::set_position(const pose_t &newpos)
  * Update, store and return the current position of the robot. Only use if not initializing
  * with a separate thread.
  */
-pose_t OdometryTank::update()
-{
+pose_t OdometryTank::update() {
   double lside_revs = 0, rside_revs = 0;
 
-  if (left_side != NULL && right_side != NULL)
-  {
+  if (left_side != NULL && right_side != NULL) {
     lside_revs = left_side->position(vex::rotationUnits::rev) / config.odom_gear_ratio;
     rside_revs = right_side->position(vex::rotationUnits::rev) / config.odom_gear_ratio;
-  }
-  else if (left_custom_enc != NULL && right_custom_enc != NULL)
-  {
+  } else if (left_custom_enc != NULL && right_custom_enc != NULL) {
     lside_revs = left_custom_enc->position(vex::rotationUnits::rev) / config.odom_gear_ratio;
     rside_revs = right_custom_enc->position(vex::rotationUnits::rev) / config.odom_gear_ratio;
-  }
-  else if (left_vex_enc != NULL && right_vex_enc != NULL)
-  {
+  } else if (left_vex_enc != NULL && right_vex_enc != NULL) {
     lside_revs = left_vex_enc->position(vex::rotationUnits::rev) / config.odom_gear_ratio;
     rside_revs = right_vex_enc->position(vex::rotationUnits::rev) / config.odom_gear_ratio;
   }
@@ -79,8 +78,7 @@ pose_t OdometryTank::update()
   double angle = 0;
 
   // If the IMU data was passed in, use it for rotational data
-  if (imu == NULL || imu->installed() == false)
-  {
+  if (imu == NULL || imu->installed() == false) {
     // Get the difference in distance driven between the two sides
     // Uses the absolute position of the encoders, so resetting them will result in
     // a bad angle.
@@ -91,9 +89,7 @@ pose_t OdometryTank::update()
     angle = ((180.0 / PI) * (distance_diff / config.dist_between_wheels)) + 90;
 
     // printf("angle: %f, ", (180.0 / PI) * (distance_diff / config.dist_between_wheels));
-  }
-  else
-  {
+  } else {
     // Translate "0 forward and clockwise positive" to "90 forward and CCW negative"
     angle = -imu->rotation(vex::rotationUnits::deg) + 90;
   }
@@ -106,7 +102,7 @@ pose_t OdometryTank::update()
   angle = fmod(angle, 360.0);
   if (angle < 0) {
     angle += 360;
-}
+  }
 
   current_pos = calculate_new_pos(config, current_pos, lside_revs, rside_revs, angle);
 
@@ -117,8 +113,7 @@ pose_t OdometryTank::update()
   bool update_vel_accel = tmr.time(sec) > 0.02;
 
   // This loop runs too fast. Only check at LEAST every 1/10th sec
-  if (update_vel_accel)
-  {
+  if (update_vel_accel) {
     // Calculate robot velocity
     double this_speed = pos_diff(current_pos, last_pos) / tmr.time(sec);
     ema.add_entry(this_speed);
@@ -145,8 +140,8 @@ pose_t OdometryTank::update()
  * Using information about the robot's mechanical structure and sensors, calculate a new position
  * of the robot, relative to when this method was previously ran.
  */
-pose_t OdometryTank::calculate_new_pos(robot_specs_t &config, pose_t &curr_pos, double lside_revs, double rside_revs, double angle_deg)
-{
+pose_t OdometryTank::calculate_new_pos(robot_specs_t &config, pose_t &curr_pos, double lside_revs, double rside_revs,
+                                       double angle_deg) {
   pose_t new_pos;
 
   static double stored_lside_revs = lside_revs;
diff --git a/src/subsystems/screen.cpp b/src/subsystems/screen.cpp
index 6518bd0..71b13d4 100644
--- a/src/subsystems/screen.cpp
+++ b/src/subsystems/screen.cpp
@@ -30,8 +30,7 @@ void draw_widget(vex::brain::lcd &scr, WidgetConfig &widget, ScreenRect rect) {
  * you probably shouldnt have to use it
  */
 struct ScreenData {
-  ScreenData(const std::vector<Page *> &m_pages, int m_page,
-             vex::brain::lcd &m_screen)
+  ScreenData(const std::vector<Page *> &m_pages, int m_page, vex::brain::lcd &m_screen)
       : pages(m_pages), page(m_page), screen(m_screen) {}
   std::vector<Page *> pages;
   int page = 0;
@@ -50,8 +49,7 @@ static ScreenData *screen_data_ptr;
 /// @param screen the brain screen
 /// @param pages the list of pages in your UI slideshow
 /// @param first_page the page to start on (by default 0)
-void start_screen(vex::brain::lcd &screen, std::vector<Page *> pages,
-                  int first_page) {
+void start_screen(vex::brain::lcd &screen, std::vector<Page *> pages, int first_page) {
   if (pages.size() == 0) {
     printf("No pages, not starting screen");
     return;
@@ -65,8 +63,7 @@ void start_screen(vex::brain::lcd &screen, std::vector<Page *> pages,
 
   ScreenData *data = new ScreenData{pages, first_page, screen};
 
-  screen_thread =
-      new vex::thread(screen_thread_func, static_cast<void *>(data));
+  screen_thread = new vex::thread(screen_thread_func, static_cast<void *>(data));
 }
 
 void stop_screen() { running = false; }
@@ -162,28 +159,22 @@ int screen_thread_func(void *screen_data_v) {
  * @param update_f drawing function
  * @param draw_f drawing function
  */
-FunctionPage::FunctionPage(update_func_t update_f, draw_func_t draw_f)
-    : update_f(update_f), draw_f(draw_f) {}
+FunctionPage::FunctionPage(update_func_t update_f, draw_func_t draw_f) : update_f(update_f), draw_f(draw_f) {}
 
 /// @brief update uses the supplied update function to update this page
-void FunctionPage::update(bool was_pressed, int x, int y) {
-  update_f(was_pressed, x, y);
-}
+void FunctionPage::update(bool was_pressed, int x, int y) { update_f(was_pressed, x, y); }
 /// @brief draw uses the supplied draw function to draw to the screen
-void FunctionPage::draw(vex::brain::lcd &screen, bool first_draw,
-                        unsigned int frame_number) {
+void FunctionPage::draw(vex::brain::lcd &screen, bool first_draw, unsigned int frame_number) {
   draw_f(screen, first_draw, frame_number);
 }
 
-StatsPage::StatsPage(std::map<std::string, vex::motor &> motors)
-    : motors(motors) {}
+StatsPage::StatsPage(std::map<std::string, vex::motor &> motors) : motors(motors) {}
 void StatsPage::update(bool was_pressed, int x, int y) {
   (void)x;
   (void)y;
   (void)was_pressed;
 }
-void StatsPage::draw_motor_stats(const std::string &name, vex::motor &mot,
-                                 unsigned int frame, int x, int y,
+void StatsPage::draw_motor_stats(const std::string &name, vex::motor &mot, unsigned int frame, int x, int y,
                                  vex::brain::lcd &scr) {
   const vex::color hot_col = vex::color(120, 0, 0);
   const vex::color med_col = vex::color(140, 100, 0);
@@ -207,8 +198,7 @@ void StatsPage::draw_motor_stats(const std::string &name, vex::motor &mot,
   }
 
   scr.drawRectangle(x, y, row_width, row_height, col);
-  scr.printAt(x + 2, y + 16, false, " %2d   %2.0fC   %.7s", port, temp,
-              name.c_str());
+  scr.printAt(x + 2, y + 16, false, " %2d   %2.0fC   %.7s", port, temp, name.c_str());
 }
 void StatsPage::draw(vex::brain::lcd &scr, bool first_draw [[maybe_unused]],
                      unsigned int frame_number [[maybe_unused]]) {
@@ -235,12 +225,10 @@ void StatsPage::draw(vex::brain::lcd &scr, bool first_draw [[maybe_unused]],
   }
   vex::brain b;
   scr.printAt(50, 220, "Battery: %2.1fv  %2.0fC %d%%", b.Battery.voltage(),
-              b.Battery.temperature(vex::temperatureUnits::celsius),
-              b.Battery.capacity());
+              b.Battery.temperature(vex::temperatureUnits::celsius), b.Battery.capacity());
 }
 
-OdometryPage::OdometryPage(OdometryBase &odom, double width, double height,
-                           bool do_trail)
+OdometryPage::OdometryPage(OdometryBase &odom, double width, double height, bool do_trail)
     : odom(odom), robot_width(width), robot_height(height), do_trail(do_trail),
       velocity_graph(30, 0.0, 0.0, {vex::green}, 1) {
   vex::brain b;
@@ -270,13 +258,10 @@ void OdometryPage::draw(vex::brain::lcd &scr, bool first_draw [[maybe_unused]],
     path_index %= path_len;
   }
 
-  auto to_px = [](const point_t p) -> point_t {
-    return {(double)in_to_px(p.x) + 200, (double)in_to_px(-p.y) + 240};
-  };
+  auto to_px = [](const point_t p) -> point_t { return {(double)in_to_px(p.x) + 200, (double)in_to_px(-p.y) + 240}; };
 
   auto draw_line = [to_px, &scr](const point_t from, const point_t to) {
-    scr.drawLine((int)to_px(from).x, (int)to_px(from).y, (int)to_px(to).x,
-                 (int)to_px(to).y);
+    scr.drawLine((int)to_px(from).x, (int)to_px(from).y, (int)to_px(to).x, (int)to_px(to).y);
   };
 
   point_t pos = pose.get_point();
@@ -341,8 +326,7 @@ bool SliderWidget::update(bool was_pressed, int x, int y) {
     double dx = x;
     double dy = y;
     if (rect.contains(point_t{dx, dy})) {
-      double pct =
-          (dx - rect.min.x - margin) / (rect.dimensions().x - 2 * margin);
+      double pct = (dx - rect.min.x - margin) / (rect.dimensions().x - 2 * margin);
       pct = clamp(pct, 0.0, 1.0);
       value = (low + pct * (high - low));
     }
@@ -365,8 +349,7 @@ void SliderWidget::draw(vex::brain::lcd &scr, bool first_draw [[maybe_unused]],
   scr.setFillColor(vex::color(50, 50, 50));
   scr.setPenWidth(1);
 
-  scr.drawRectangle(rect.min.x, rect.min.y, rect.dimensions().x,
-                    rect.dimensions().y);
+  scr.drawRectangle(rect.min.x, rect.min.y, rect.dimensions().x, rect.dimensions().y);
 
   scr.setPenColor(vex::color(200, 200, 200));
   scr.setPenWidth(4);
@@ -378,16 +361,13 @@ void SliderWidget::draw(vex::brain::lcd &scr, bool first_draw [[maybe_unused]],
   const double handle_width = 4;
   const double handle_height = 4;
 
-  scr.drawRectangle(vx - (handle_width / 2), y - (handle_height / 2),
-                    handle_width, handle_height);
+  scr.drawRectangle(vx - (handle_width / 2), y - (handle_height / 2), handle_width, handle_height);
   int text_w = scr.getStringWidth((name + "        ").c_str());
-  scr.printAt(xmid - text_w / 2, y - 15, false, "%s: %.5f", name.c_str(),
-              value);
+  scr.printAt(xmid - text_w / 2, y - 15, false, "%s: %.5f", name.c_str(), value);
 }
 
 bool ButtonWidget::update(bool was_pressed, int x, int y) {
-  if (was_pressed && !was_pressed_last &&
-      rect.contains({(double)x, (double)y})) {
+  if (was_pressed && !was_pressed_last && rect.contains({(double)x, (double)y})) {
     onpress();
     was_pressed_last = was_pressed;
     return true;
@@ -413,11 +393,9 @@ PIDPage::PIDPage(PID &pid, std::string name, std::function<void(void)> onchange)
       i_slider(cfg.i, 0.0, 0.05, Rect{{60, 80}, {180, 120}}, "I"),
       d_slider(cfg.d, 0.0, 0.05, Rect{{60, 140}, {180, 180}}, "D"),
       zero_i([this]() { zero_i_f(); }, Rect{{180, 80}, {220, 120}}, "0"),
-      zero_d([this]() { zero_d_f(); }, Rect{{180, 140}, {220, 180}}, "0"),
-      graph(40, 0, 0, {vex::red, vex::green}, 2) {}
+      zero_d([this]() { zero_d_f(); }, Rect{{180, 140}, {220, 180}}, "0"), graph(40, 0, 0, {vex::red, vex::green}, 2) {}
 
-PIDPage::PIDPage(PIDFF &pidff, std::string name,
-                 std::function<void(void)> onchange)
+PIDPage::PIDPage(PIDFF &pidff, std::string name, std::function<void(void)> onchange)
     : PIDPage((pidff.pid), name, onchange) {}
 
 void PIDPage::update(bool was_pressed, int x, int y) {
@@ -432,8 +410,7 @@ void PIDPage::update(bool was_pressed, int x, int y) {
     onchange();
   }
 }
-void PIDPage::draw(vex::brain::lcd &scr, bool first_draw [[maybe_unused]],
-                   unsigned int frame_number [[maybe_unused]]) {
+void PIDPage::draw(vex::brain::lcd &scr, bool first_draw [[maybe_unused]], unsigned int frame_number [[maybe_unused]]) {
   p_slider.draw(scr, first_draw, frame_number);
   i_slider.draw(scr, first_draw, frame_number);
   d_slider.draw(scr, first_draw, frame_number);
diff --git a/src/subsystems/tank_drive.cpp b/src/subsystems/tank_drive.cpp
index b665687..2843656 100644
--- a/src/subsystems/tank_drive.cpp
+++ b/src/subsystems/tank_drive.cpp
@@ -1,81 +1,69 @@
-#include "../core/include/utils/geometry.h"
 #include "../core/include/subsystems/tank_drive.h"
-#include "../core/include/utils/math_util.h"
-#include "../core/include/utils/controls/pidff.h"
 #include "../core/include/utils/command_structure/drive_commands.h"
+#include "../core/include/utils/controls/pidff.h"
+#include "../core/include/utils/geometry.h"
+#include "../core/include/utils/math_util.h"
 
 TankDrive::TankDrive(motor_group &left_motors, motor_group &right_motors, robot_specs_t &config, OdometryBase *odom)
-    : left_motors(left_motors), right_motors(right_motors), correction_pid(config.correction_pid), odometry(odom), config(config)
-{
+    : left_motors(left_motors), right_motors(right_motors), correction_pid(config.correction_pid), odometry(odom),
+      config(config) {
   drive_default_feedback = config.drive_feedback;
   turn_default_feedback = config.turn_feedback;
 }
 
-AutoCommand *TankDrive::DriveToPointCmd(Feedback &fb, point_t pt, vex::directionType dir, double max_speed, double end_speed)
-{
+AutoCommand *TankDrive::DriveToPointCmd(Feedback &fb, point_t pt, vex::directionType dir, double max_speed,
+                                        double end_speed) {
   return new DriveToPointCommand(*this, fb, pt, dir, max_speed, end_speed);
 }
 
-AutoCommand *TankDrive::DriveToPointCmd(point_t pt, vex::directionType dir, double max_speed, double end_speed)
-{
+AutoCommand *TankDrive::DriveToPointCmd(point_t pt, vex::directionType dir, double max_speed, double end_speed) {
   return new DriveToPointCommand(*this, *drive_default_feedback, pt, dir, max_speed, end_speed);
 }
 
-AutoCommand *TankDrive::DriveForwardCmd(double dist, vex::directionType dir, double max_speed, double end_speed)
-{
+AutoCommand *TankDrive::DriveForwardCmd(double dist, vex::directionType dir, double max_speed, double end_speed) {
   return new DriveForwardCommand(*this, *drive_default_feedback, dist, dir, max_speed, end_speed);
 }
 
-AutoCommand *TankDrive::DriveForwardCmd(Feedback &fb, double dist, vex::directionType dir, double max_speed, double end_speed)
-{
+AutoCommand *TankDrive::DriveForwardCmd(Feedback &fb, double dist, vex::directionType dir, double max_speed,
+                                        double end_speed) {
   return new DriveForwardCommand(*this, fb, dist, dir, max_speed, end_speed);
 }
 
-AutoCommand *TankDrive::TurnToHeadingCmd(double heading, double max_speed, double end_speed)
-{
+AutoCommand *TankDrive::TurnToHeadingCmd(double heading, double max_speed, double end_speed) {
   return new TurnToHeadingCommand(*this, *turn_default_feedback, heading, max_speed, end_speed);
 }
-AutoCommand *TankDrive::TurnToHeadingCmd(Feedback &fb, double heading, double max_speed, double end_speed)
-{
+AutoCommand *TankDrive::TurnToHeadingCmd(Feedback &fb, double heading, double max_speed, double end_speed) {
   return new TurnToHeadingCommand(*this, fb, heading, max_speed, end_speed);
 }
 
-AutoCommand *TankDrive::TurnDegreesCmd(double degrees, double max_speed, double end_speed)
-{
+AutoCommand *TankDrive::TurnDegreesCmd(double degrees, double max_speed, double end_speed) {
   return new TurnDegreesCommand(*this, *turn_default_feedback, degrees, max_speed, end_speed);
 }
-AutoCommand *TankDrive::TurnDegreesCmd(Feedback &fb, double degrees, double max_speed, double end_speed)
-{
+AutoCommand *TankDrive::TurnDegreesCmd(Feedback &fb, double degrees, double max_speed, double end_speed) {
   return new TurnDegreesCommand(*this, fb, degrees, max_speed, end_speed);
 }
-AutoCommand *TankDrive::PurePursuitCmd(PurePursuit::Path path, directionType dir, double max_speed, double end_speed)
-{
+AutoCommand *TankDrive::PurePursuitCmd(PurePursuit::Path path, directionType dir, double max_speed, double end_speed) {
   return new PurePursuitCommand(*this, *drive_default_feedback, path, dir, max_speed, end_speed);
 }
-AutoCommand *TankDrive::PurePursuitCmd(Feedback &feedback, PurePursuit::Path path, directionType dir, double max_speed, double end_speed)
-{
+AutoCommand *TankDrive::PurePursuitCmd(Feedback &feedback, PurePursuit::Path path, directionType dir, double max_speed,
+                                       double end_speed) {
   return new PurePursuitCommand(*this, feedback, path, dir, max_speed, end_speed);
 }
 
 /**
  * Reset the initialization for autonomous drive functions
  */
-void TankDrive::reset_auto()
-{
-  func_initialized = false;
-}
+void TankDrive::reset_auto() { func_initialized = false; }
 
 /**
  * Stops rotation of all the motors using their "brake mode"
  */
-void TankDrive::stop()
-{
+void TankDrive::stop() {
   left_motors.stop();
   right_motors.stop();
 }
 
-void TankDrive::drive_tank_raw(double left_norm, double right_norm)
-{
+void TankDrive::drive_tank_raw(double left_norm, double right_norm) {
   left_motors.spin(directionType::fwd, left_norm * 12, voltageUnits::volt);
   right_motors.spin(directionType::fwd, right_norm * 12, voltageUnits::volt);
 }
@@ -87,59 +75,47 @@ void TankDrive::drive_tank_raw(double left_norm, double right_norm)
  */
 bool captured_position = false;
 bool was_breaking = false;
-void TankDrive::drive_tank(double left, double right, int power, BrakeType bt)
-{
+void TankDrive::drive_tank(double left, double right, int power, BrakeType bt) {
 
   left = modify_inputs(left, power);
   right = modify_inputs(right, power);
   double brake_threshold = 0.05;
   bool should_brake = (bt != BrakeType::None) && fabs(left) < brake_threshold && fabs(right) < brake_threshold;
 
-  if (!should_brake)
-  {
+  if (!should_brake) {
     drive_tank_raw(left, right);
     was_breaking = false;
     return;
   }
-  if (should_brake && !was_breaking)
-  {
+  if (should_brake && !was_breaking) {
     captured_position = false;
   }
   static PID::pid_config_t zero_vel_cfg = {.p = 0.005, .d = 0.0005};
   static PID zero_vel_pid = PID(zero_vel_cfg);
 
-  if (bt == BrakeType::ZeroVelocity)
-  {
+  if (bt == BrakeType::ZeroVelocity) {
     zero_vel_pid.set_target(0);
     double vel = left_motors.velocity(vex::velocityUnits::pct) + right_motors.velocity(vex::velocityUnits::pct);
     double outp = zero_vel_pid.update(vel);
     left_motors.spin(directionType::fwd, outp, voltageUnits::volt);
     right_motors.spin(directionType::fwd, outp, voltageUnits::volt);
-  }
-  else if (bt == BrakeType::Smart)
-  {
+  } else if (bt == BrakeType::Smart) {
     static pose_t target_pose = {.x = 0.0, .y = 0.0, .rot = 0.0};
 
     zero_vel_pid.set_target(0);
     double vel = odometry->get_speed();
-    if (fabs(vel) <= 0.01 && !captured_position)
-    {
+    if (fabs(vel) <= 0.01 && !captured_position) {
       target_pose = odometry->get_position();
       captured_position = true;
-    }
-    else if (captured_position)
-    {
+    } else if (captured_position) {
       double dist_to_target = odometry->pos_diff(target_pose, odometry->get_position());
-      if (dist_to_target < 12.0)
-      {
+      if (dist_to_target < 12.0) {
         drive_to_point(target_pose.x, target_pose.y, vex::fwd);
       } else {
         target_pose = odometry->get_position();
         reset_auto();
       }
-    }
-    else
-    {
+    } else {
       double outp = zero_vel_pid.update(vel);
       left_motors.spin(directionType::fwd, outp, voltageUnits::volt);
       right_motors.spin(directionType::fwd, outp, voltageUnits::volt);
@@ -154,8 +130,7 @@ void TankDrive::drive_tank(double left, double right, int power, BrakeType bt)
  *
  * left_motors and right_motors are in "percent": -1.0 -> 1.0
  */
-void TankDrive::drive_arcade(double forward_back, double left_right, int power, BrakeType bt)
-{
+void TankDrive::drive_arcade(double forward_back, double left_right, int power, BrakeType bt) {
   forward_back = modify_inputs(forward_back, power);
   left_right = modify_inputs(left_right, power);
 
@@ -171,35 +146,31 @@ void TankDrive::drive_arcade(double forward_back, double left_right, int power,
  * Returns whether or not the robot has reached it's destination.
  * @param inches     the distance to drive forward
  * @param dir        the direction we want to travel forward and backward
- * @param feedback   the custom feedback controller we will use to travel. controls the rate at which we accelerate and drive.
+ * @param feedback   the custom feedback controller we will use to travel. controls the rate at which we accelerate and
+ * drive.
  * @param max_speed  the maximum percentage of robot speed at which the robot will travel. 1 = full power
  * @param end_speed  the movement profile will attempt to reach this velocity by its completion
  */
-bool TankDrive::drive_forward(double inches, directionType dir, Feedback &feedback, double max_speed, double end_speed)
-{
+bool TankDrive::drive_forward(double inches, directionType dir, Feedback &feedback, double max_speed,
+                              double end_speed) {
   static pose_t pos_setpt;
 
   // We can't run the auto drive function without odometry
-  if (odometry == NULL)
-  {
+  if (odometry == NULL) {
     fprintf(stderr, "Odometry is NULL. Unable to run drive_forward()\n");
     fflush(stderr);
     return true;
   }
 
   // Generate a point X inches forward of the current position, on first startup
-  if (!func_initialized)
-  {
+  if (!func_initialized) {
     pose_t cur_pos = odometry->get_position();
 
     // forwards is positive Y axis, backwards is negative
-    if (dir == directionType::rev)
-    {
+    if (dir == directionType::rev) {
       printf("going backwards\n");
       inches = -fabs(inches);
-    }
-    else
-    {
+    } else {
       printf("going forwards\n");
       inches = fabs(inches);
     }
@@ -225,11 +196,10 @@ bool TankDrive::drive_forward(double inches, directionType dir, Feedback &feedba
  * @param end_speed   the movement profile will attempt to reach this velocity by its completion
  * @return true if we have finished driving to our point
  */
-bool TankDrive::drive_forward(double inches, directionType dir, double max_speed, double end_speed)
-{
+bool TankDrive::drive_forward(double inches, directionType dir, double max_speed, double end_speed) {
   if (drive_default_feedback != NULL) {
     return drive_forward(inches, dir, *drive_default_feedback, max_speed, end_speed);
-}
+  }
 
   printf("tank_drive.cpp: Cannot run drive_forward without a feedback controller!\n");
   fflush(stdout);
@@ -248,11 +218,9 @@ bool TankDrive::drive_forward(double inches, directionType dir, double max_speed
  * @param end_speed   the movement profile will attempt to reach this velocity by its completion
  * @return true if we have turned our target number of degrees
  */
-bool TankDrive::turn_degrees(double degrees, Feedback &feedback, double max_speed, double end_speed)
-{
+bool TankDrive::turn_degrees(double degrees, Feedback &feedback, double max_speed, double end_speed) {
   // We can't run the auto drive function without odometry
-  if (odometry == NULL)
-  {
+  if (odometry == NULL) {
     fprintf(stderr, "Odometry is NULL. Unable to run turn_degrees()\n");
     fflush(stderr);
     return true;
@@ -261,8 +229,7 @@ bool TankDrive::turn_degrees(double degrees, Feedback &feedback, double max_spee
   static double target_heading = 0;
 
   // On the first run of the funciton, reset the gyro position and PID
-  if (!func_initialized)
-  {
+  if (!func_initialized) {
     double start_heading = odometry->get_position().rot;
     target_heading = start_heading + degrees;
   }
@@ -281,11 +248,10 @@ bool TankDrive::turn_degrees(double degrees, Feedback &feedback, double max_spee
  * @param end_speed   the movement profile will attempt to reach this velocity by its completion
  * @return true if we turned te target number of degrees
  */
-bool TankDrive::turn_degrees(double degrees, double max_speed, double end_speed)
-{
+bool TankDrive::turn_degrees(double degrees, double max_speed, double end_speed) {
   if (turn_default_feedback != NULL) {
     return turn_degrees(degrees, *turn_default_feedback, max_speed, end_speed);
-}
+  }
 
   printf("tank_drive.cpp: Cannot run turn_degrees without a feedback controller!\n");
   fflush(stdout);
@@ -305,18 +271,16 @@ bool TankDrive::turn_degrees(double degrees, double max_speed, double end_speed)
  * @param end_speed  the movement profile will attempt to reach this velocity by its completion
  * @return true if we have reached our target point
  */
-bool TankDrive::drive_to_point(double x, double y, vex::directionType dir, Feedback &feedback, double max_speed, double end_speed)
-{
+bool TankDrive::drive_to_point(double x, double y, vex::directionType dir, Feedback &feedback, double max_speed,
+                               double end_speed) {
   // We can't run the auto drive function without odometry
-  if (odometry == NULL)
-  {
+  if (odometry == NULL) {
     fprintf(stderr, "Odometry is NULL. Unable to run drive_forward()\n");
     fflush(stderr);
     return true;
   }
 
-  if (!func_initialized)
-  {
+  if (!func_initialized) {
 
     double initial_dist = OdometryBase::pos_diff(odometry->get_position(), {.x = x, .y = y});
 
@@ -335,10 +299,7 @@ bool TankDrive::drive_to_point(double x, double y, vex::directionType dir, Feedb
   pose_t end_pos = {.x = x, .y = y};
 
   // Create a point (and vector) to get the direction
-  point_t pos_diff_pt =
-      {
-          .x = x - current_pos.x,
-          .y = y - current_pos.y};
+  point_t pos_diff_pt = {.x = x - current_pos.x, .y = y - current_pos.y};
 
   Vector2D point_vec(pos_diff_pt);
 
@@ -356,20 +317,19 @@ bool TankDrive::drive_to_point(double x, double y, vex::directionType dir, Feedb
   // Normalize the angle between 0 and 360
   if (angle > 360) {
     angle -= 360;
-}
+  }
   if (angle < 0) {
     angle += 360;
-}
+  }
 
   // If the angle is behind the robot, report negative.
   if (dir == directionType::fwd && angle > 90 && angle < 270) {
     sign = -1;
   } else if (dir == directionType::rev && (angle < 90 || angle > 270)) {
     sign = -1;
-}
+  }
 
-  if (fabs(dist_left) < config.drive_correction_cutoff)
-  {
+  if (fabs(dist_left) < config.drive_correction_cutoff) {
     // When inside the robot's cutoff radius, report the distance to the point along the robot's forward axis,
     // so we always "reach" the point without having to do a lateral translation
     dist_left *= fabs(cos(angle * PI / 180.0));
@@ -385,7 +345,7 @@ bool TankDrive::drive_to_point(double x, double y, vex::directionType dir, Feedb
     delta_heading = OdometryBase::smallest_angle(current_pos.rot, heading);
   } else {
     delta_heading = OdometryBase::smallest_angle(current_pos.rot - 180, heading);
-}
+  }
 
   // Update the PID controllers with new information
   correction_pid.update(delta_heading);
@@ -395,7 +355,7 @@ bool TankDrive::drive_to_point(double x, double y, vex::directionType dir, Feedb
   double correction = 0;
   if (is_pure_pursuit || fabs(dist_left) > config.drive_correction_cutoff) {
     correction = correction_pid.get();
-}
+  }
 
   // Reverse the drive_pid output if we're going backwards
   double drive_pid_rval;
@@ -403,7 +363,7 @@ bool TankDrive::drive_to_point(double x, double y, vex::directionType dir, Feedb
     drive_pid_rval = feedback.get() * -1;
   } else {
     drive_pid_rval = feedback.get();
-}
+  }
 
   // Combine the two pid outputs
   double lside = drive_pid_rval + correction;
@@ -416,8 +376,7 @@ bool TankDrive::drive_to_point(double x, double y, vex::directionType dir, Feedb
   drive_tank(lside, rside);
 
   // Check if the robot has reached it's destination
-  if (feedback.is_on_target())
-  {
+  if (feedback.is_on_target()) {
     if (end_speed == 0) {
       stop();
     }
@@ -441,11 +400,10 @@ bool TankDrive::drive_to_point(double x, double y, vex::directionType dir, Feedb
  * @param end_speed  the movement profile will attempt to reach this velocity by its completion
  * @return true if we have reached our target point
  */
-bool TankDrive::drive_to_point(double x, double y, vex::directionType dir, double max_speed, double end_speed)
-{
+bool TankDrive::drive_to_point(double x, double y, vex::directionType dir, double max_speed, double end_speed) {
   if (drive_default_feedback != NULL) {
     return this->drive_to_point(x, y, dir, *drive_default_feedback, max_speed, end_speed);
-}
+  }
 
   printf("tank_drive.cpp: Cannot run drive_to_point without a feedback controller!\n");
   fflush(stdout);
@@ -462,18 +420,15 @@ bool TankDrive::drive_to_point(double x, double y, vex::directionType dir, doubl
  * @param end_speed  the movement profile will attempt to reach this velocity by its completion
  * @return true if we have reached our target heading
  */
-bool TankDrive::turn_to_heading(double heading_deg, Feedback &feedback, double max_speed, double end_speed)
-{
+bool TankDrive::turn_to_heading(double heading_deg, Feedback &feedback, double max_speed, double end_speed) {
   // We can't run the auto drive function without odometry
-  if (odometry == NULL)
-  {
+  if (odometry == NULL) {
     fprintf(stderr, "Odometry is NULL. Unable to run drive_forward()\n");
     fflush(stderr);
     return true;
   }
 
-  if (!func_initialized)
-  {
+  if (!func_initialized) {
     double initial_delta = OdometryBase::smallest_angle(odometry->get_position().rot, heading_deg);
     feedback.init(-initial_delta, 0);
     feedback.set_limits(-fabs(max_speed), fabs(max_speed));
@@ -490,8 +445,7 @@ bool TankDrive::turn_to_heading(double heading_deg, Feedback &feedback, double m
   drive_tank(-feedback.get(), feedback.get());
 
   // When the robot has reached it's angle, return true.
-  if (feedback.is_on_target())
-  {
+  if (feedback.is_on_target()) {
     func_initialized = false;
     stop();
     return true;
@@ -508,11 +462,10 @@ bool TankDrive::turn_to_heading(double heading_deg, Feedback &feedback, double m
  * @param end_speed  the movement profile will attempt to reach this velocity by its completion
  * @return true if we have reached our target heading
  */
-bool TankDrive::turn_to_heading(double heading_deg, double max_speed, double end_speed)
-{
+bool TankDrive::turn_to_heading(double heading_deg, double max_speed, double end_speed) {
   if (turn_default_feedback != NULL) {
     return turn_to_heading(heading_deg, *turn_default_feedback, max_speed, end_speed);
-}
+  }
 
   printf("tank_drive.cpp: Cannot run turn_to_heading without a feedback controller!\n");
   fflush(stdout);
@@ -526,10 +479,7 @@ bool TankDrive::turn_to_heading(double heading_deg, double max_speed, double end
  * @param power the power to raise the signal to
  * @return input^power accounting for any sign issues that would arise with this naive solution
  */
-double TankDrive::modify_inputs(double input, int power)
-{
-  return sign(input) * pow(std::abs(input), power);
-}
+double TankDrive::modify_inputs(double input, int power) { return sign(input) * pow(std::abs(input), power); }
 
 /**
  * Drive the robot autonomously using a pure-pursuit algorithm - Input path with a set of
@@ -542,23 +492,21 @@ double TankDrive::modify_inputs(double input, int power)
  * @param max_speed Limit the speed of the robot (for pid / pidff feedbacks)
  * @return True when the path is complete
  */
-bool TankDrive::pure_pursuit(PurePursuit::Path path, directionType dir, Feedback &feedback, double max_speed, double end_speed)
-{
+bool TankDrive::pure_pursuit(PurePursuit::Path path, directionType dir, Feedback &feedback, double max_speed,
+                             double end_speed) {
   std::vector<point_t> points = path.get_points();
-  if (!path.is_valid())
-  {
+  if (!path.is_valid()) {
     printf("WARNING: Unexpected pure pursuit path - some segments intersect or are too close\n");
   }
   pose_t robot_pose = odometry->get_position();
 
   // On function initialization, send the path-length estimate to the feedback controller
-  if (!func_initialized)
-  {
+  if (!func_initialized) {
     if (dir != directionType::rev) {
       feedback.init(-estimate_path_length(points), 0);
     } else {
       feedback.init(estimate_path_length(points), 0);
-}
+    }
 
     func_initialized = true;
   }
@@ -578,15 +526,13 @@ bool TankDrive::pure_pursuit(PurePursuit::Path path, directionType dir, Feedback
     angle_diff = OdometryBase::smallest_angle(robot_pose.rot, rad2deg(atan2(localized.y, localized.x)));
   } else {
     angle_diff = OdometryBase::smallest_angle(robot_pose.rot + 180, rad2deg(atan2(localized.y, localized.x)));
-}
+  }
 
   // Correct the robot's heading until the last cut-off
-  if (!(is_last_point && robot_pose.get_point().dist(last_point) < config.drive_correction_cutoff))
-  {
+  if (!(is_last_point && robot_pose.get_point().dist(last_point) < config.drive_correction_cutoff)) {
     correction_pid.update(angle_diff);
     correction = correction_pid.get();
-  }
-  else // Inside cut-off radius, ignore horizontal diffs
+  } else // Inside cut-off radius, ignore horizontal diffs
   {
     dist_remaining *= cos(angle_diff * (PI / 180.0));
   }
@@ -595,7 +541,7 @@ bool TankDrive::pure_pursuit(PurePursuit::Path path, directionType dir, Feedback
     feedback.update(-dist_remaining);
   } else {
     feedback.update(dist_remaining);
-}
+  }
 
   max_speed = fabs(max_speed);
 
@@ -608,8 +554,7 @@ bool TankDrive::pure_pursuit(PurePursuit::Path path, directionType dir, Feedback
   drive_tank(left, right);
 
   // When the robot has reached the end point and feedback reports on target, end pure pursuit
-  if (is_last_point && feedback.is_on_target())
-  {
+  if (is_last_point && feedback.is_on_target()) {
     func_initialized = false;
     stop();
     return true;
@@ -629,7 +574,6 @@ bool TankDrive::pure_pursuit(PurePursuit::Path path, directionType dir, Feedback
  * @param max_speed Limit the speed of the robot (for pid / pidff feedbacks)
  * @return True when the path is complete
  */
-bool TankDrive::pure_pursuit(PurePursuit::Path path, directionType dir, double max_speed, double end_speed)
-{
+bool TankDrive::pure_pursuit(PurePursuit::Path path, directionType dir, double max_speed, double end_speed) {
   return pure_pursuit(path, dir, *config.drive_feedback, max_speed, end_speed);
 }
\ No newline at end of file
diff --git a/src/utils/auto_chooser.cpp b/src/utils/auto_chooser.cpp
index 9ef9b87..2d3418e 100644
--- a/src/utils/auto_chooser.cpp
+++ b/src/utils/auto_chooser.cpp
@@ -5,8 +5,7 @@
  * so the driver can choose which autonomous to run.
  * @param brain the brain on which to draw the selection boxes
  */
-AutoChooser::AutoChooser(std::vector<std::string> paths, size_t def) : choice(def)
-{
+AutoChooser::AutoChooser(std::vector<std::string> paths, size_t def) : choice(def) {
   const static int per_line = 3;
   const static int num_lines = 2;
   const static int x_padding = 20;
@@ -18,42 +17,35 @@ AutoChooser::AutoChooser(std::vector<std::string> paths, size_t def) : choice(de
   list = std::vector<entry_t>(paths.size());
   int x = 50;
   int y = 10;
-  for (size_t i = 0; i < list.size(); i++)
-  {
+  for (size_t i = 0; i < list.size(); i++) {
     Rect r = Rect::from_min_and_size({(double)x, (double)y}, {entry_width, entry_height});
     list[i] = entry_t{r, paths[i]};
     x += entry_width + x_padding;
-    if ((i + 1) % per_line == 0)
-    {
+    if ((i + 1) % per_line == 0) {
       y += entry_height + y_padding;
       x = 50;
     }
   }
 }
-void AutoChooser::update(bool was_pressed, int x, int y)
-{
+void AutoChooser::update(bool was_pressed, int x, int y) {
   size_t i = 0;
-  for (const entry_t &e : list)
-  {
-    if (was_pressed && e.rect.contains({(double)x, (double)y}))
-    {
+  for (const entry_t &e : list) {
+    if (was_pressed && e.rect.contains({(double)x, (double)y})) {
       choice = i;
     }
     i++;
   }
 }
 
-void AutoChooser::draw(vex::brain::lcd &scr, [[maybe_unused]] bool first_draw, [[maybe_unused]] unsigned int frame_number)
-{
+void AutoChooser::draw(vex::brain::lcd &scr, [[maybe_unused]] bool first_draw,
+                       [[maybe_unused]] unsigned int frame_number) {
   scr.setFont(vex::fontType::mono20);
 
-  for (size_t i = 0; i < list.size(); i++)
-  {
+  for (size_t i = 0; i < list.size(); i++) {
     entry_t e = list[i];
     scr.setFillColor(vex::blue);
 
-    if (choice == i)
-    {
+    if (choice == i) {
       scr.setFillColor(vex::green);
     }
     scr.drawRectangle(e.rect.min.x, e.rect.min.y, e.rect.width(), e.rect.height());
@@ -66,7 +58,4 @@ void AutoChooser::draw(vex::brain::lcd &scr, [[maybe_unused]] bool first_draw, [
 /**
  * Return the selected autonomous
  */
-size_t AutoChooser::get_choice() 
-{
-  return choice;
-}
\ No newline at end of file
+size_t AutoChooser::get_choice() { return choice; }
\ No newline at end of file
diff --git a/src/utils/command_structure/auto_command.cpp b/src/utils/command_structure/auto_command.cpp
index c6cdbbd..c8ae87f 100644
--- a/src/utils/command_structure/auto_command.cpp
+++ b/src/utils/command_structure/auto_command.cpp
@@ -37,12 +37,9 @@ IfTimePassed::IfTimePassed(double time_s) : time_s(time_s), tmr() {}
 bool IfTimePassed::test() { return tmr.value() > time_s; }
 
 InOrder::InOrder(std::queue<AutoCommand *> cmds) : cmds(cmds) {
-  timeout_seconds =
-      -1.0; // never timeout unless with_timeout is explicitly called
-}
-InOrder::InOrder(std::initializer_list<AutoCommand *> cmds) : cmds(cmds) {
-  timeout_seconds = -1.0;
+  timeout_seconds = -1.0; // never timeout unless with_timeout is explicitly called
 }
+InOrder::InOrder(std::initializer_list<AutoCommand *> cmds) : cmds(cmds) { timeout_seconds = -1.0; }
 
 bool InOrder::run() {
   // outer loop finished
@@ -122,8 +119,7 @@ static int parallel_runner(void *arg) {
 }
 
 // wait for all to finish
-Parallel::Parallel(std::initializer_list<AutoCommand *> cmds)
-    : cmds(cmds), runners(0) {}
+Parallel::Parallel(std::initializer_list<AutoCommand *> cmds) : cmds(cmds), runners(0) {}
 
 bool Parallel::run() {
   if (runners.size() == 0) {
@@ -166,10 +162,8 @@ void Parallel::on_timeout() {
   runners.clear();
 }
 
-Branch::Branch(Condition *cond, AutoCommand *false_choice,
-               AutoCommand *true_choice)
-    : false_choice(false_choice), true_choice(true_choice), cond(cond),
-      choice(false), chosen(false), tmr() {}
+Branch::Branch(Condition *cond, AutoCommand *false_choice, AutoCommand *true_choice)
+    : false_choice(false_choice), true_choice(true_choice), cond(cond), choice(false), chosen(false), tmr() {}
 
 Branch::~Branch() {
   delete false_choice;
@@ -183,14 +177,12 @@ bool Branch::run() {
 
   double seconds = static_cast<double>(tmr.time()) / 1000.0;
   if (choice == false) {
-    if (seconds > false_choice->timeout_seconds &&
-        false_choice->timeout_seconds != -1) {
+    if (seconds > false_choice->timeout_seconds && false_choice->timeout_seconds != -1) {
       false_choice->on_timeout();
     }
     return false_choice->run();
   } else {
-    if (seconds > true_choice->timeout_seconds &&
-        true_choice->timeout_seconds != -1) {
+    if (seconds > true_choice->timeout_seconds && true_choice->timeout_seconds != -1) {
       true_choice->on_timeout();
     }
     return true_choice->run();
@@ -240,13 +232,11 @@ bool Async::run() {
   return true;
 }
 
-RepeatUntil::RepeatUntil(InOrder cmds, size_t times)
-    : RepeatUntil(cmds, new TimesTestedCondition(times)) {
+RepeatUntil::RepeatUntil(InOrder cmds, size_t times) : RepeatUntil(cmds, new TimesTestedCondition(times)) {
   timeout_seconds = 999999;
 }
 
-RepeatUntil::RepeatUntil(InOrder cmds, Condition *cond)
-    : cmds(cmds), working_cmds(new InOrder(cmds)), cond(cond) {
+RepeatUntil::RepeatUntil(InOrder cmds, Condition *cond) : cmds(cmds), working_cmds(new InOrder(cmds)), cond(cond) {
   timeout_seconds = 999999;
 }
 
diff --git a/src/utils/command_structure/basic_command.cpp b/src/utils/command_structure/basic_command.cpp
index a45b85f..9102f30 100644
--- a/src/utils/command_structure/basic_command.cpp
+++ b/src/utils/command_structure/basic_command.cpp
@@ -22,7 +22,9 @@
  * @param setting Power setting in volts,percentage,velocity
  * @param power Value of desired power
  */
-BasicSpinCommand::BasicSpinCommand(vex::motor &motor, vex::directionType dir, BasicSpinCommand::type setting, double power) : motor(motor), setting(setting), dir(dir), power(power) {}
+BasicSpinCommand::BasicSpinCommand(vex::motor &motor, vex::directionType dir, BasicSpinCommand::type setting,
+                                   double power)
+    : motor(motor), setting(setting), dir(dir), power(power) {}
 
 /**
  * @brief Run the BasicSpinCommand
@@ -30,21 +32,19 @@ BasicSpinCommand::BasicSpinCommand(vex::motor &motor, vex::directionType dir, Ba
  *
  * @return True Command runs once
  */
-bool BasicSpinCommand::run()
-{
-   switch (setting)
-   {             // Switch Statement taking the setting Enum
-   case voltage: // Voltage Setting
-      motor.spin(dir, power, vex::volt);
-      break;
-   case percent: // Percentage Setting
-      motor.spin(dir, power, vex::percent);
-      break;
-   case veocity: // Velocity Setting
-      motor.spin(dir, power, vex::velocityUnits::rpm);
-      break;
-   }
-   return true; // Always return True to send next on CommandController
+bool BasicSpinCommand::run() {
+  switch (setting) { // Switch Statement taking the setting Enum
+  case voltage:      // Voltage Setting
+    motor.spin(dir, power, vex::volt);
+    break;
+  case percent: // Percentage Setting
+    motor.spin(dir, power, vex::percent);
+    break;
+  case veocity: // Velocity Setting
+    motor.spin(dir, power, vex::velocityUnits::rpm);
+    break;
+  }
+  return true; // Always return True to send next on CommandController
 }
 
 /**
@@ -61,10 +61,9 @@ BasicStopCommand::BasicStopCommand(vex::motor &motor, vex::brakeType setting) :
  *
  * @return True Command runs once
  */
-bool BasicStopCommand::run()
-{
-   motor.stop(setting);
-   return true;
+bool BasicStopCommand::run() {
+  motor.stop(setting);
+  return true;
 }
 
 // Basic Solenoid Commands-----------------------------------
@@ -82,8 +81,7 @@ BasicSolenoidSet::BasicSolenoidSet(vex::pneumatics &solenoid, bool setting) : so
  *
  * @return True Command runs once
  */
-bool BasicSolenoidSet::run()
-{
-   solenoid.set(setting);
-   return true;
+bool BasicSolenoidSet::run() {
+  solenoid.set(setting);
+  return true;
 }
\ No newline at end of file
diff --git a/src/utils/command_structure/command_controller.cpp b/src/utils/command_structure/command_controller.cpp
index efae140..9104beb 100644
--- a/src/utils/command_structure/command_controller.cpp
+++ b/src/utils/command_structure/command_controller.cpp
@@ -6,17 +6,17 @@
  *    a queue and get executed and removed from the queue
  *    in FIFO order.
  */
-#include <stdio.h>
 #include "../core/include/utils/command_structure/command_controller.h"
 #include "../core/include/utils/command_structure/delay_command.h"
+#include <stdio.h>
 
 /**
  * Adds a command to the queue
  * @param cmd the AutoCommand we want to add to our list
- * @param timeout_seconds the number of seconds we will let the command run for. If it exceeds this, we cancel it and run on_timeout
+ * @param timeout_seconds the number of seconds we will let the command run for. If it exceeds this, we cancel it and
+ * run on_timeout
  */
-void CommandController::add(AutoCommand *cmd, double timeout_seconds)
-{
+void CommandController::add(AutoCommand *cmd, double timeout_seconds) {
   cmd->timeout_seconds = timeout_seconds;
   command_queue.push(cmd);
 }
@@ -25,10 +25,8 @@ void CommandController::add(AutoCommand *cmd, double timeout_seconds)
  * Add multiple commands to the queue. No timeout here.
  * @param cmds the AutoCommands we want to add to our list
  */
-void CommandController::add(std::vector<AutoCommand *> cmds)
-{
-  for (AutoCommand *cmd : cmds)
-  {
+void CommandController::add(std::vector<AutoCommand *> cmds) {
+  for (AutoCommand *cmd : cmds) {
     command_queue.push(cmd);
   }
 }
@@ -38,12 +36,9 @@ void CommandController::add(std::vector<AutoCommand *> cmds)
  * @param cmds the AutoCommands we want to add to our list
  * @param timeout timeout in seconds to apply to all commands if they are still the default
  */
-void CommandController::add(std::vector<AutoCommand *> cmds, double timeout_sec)
-{
-  for (AutoCommand *cmd : cmds)
-  {
-    if (cmd->timeout_seconds == AutoCommand::default_timeout)
-    {
+void CommandController::add(std::vector<AutoCommand *> cmds, double timeout_sec) {
+  for (AutoCommand *cmd : cmds) {
+    if (cmd->timeout_seconds == AutoCommand::default_timeout) {
       cmd->timeout_seconds = timeout_sec;
     }
     command_queue.push(cmd);
@@ -56,23 +51,18 @@ void CommandController::add(std::vector<AutoCommand *> cmds, double timeout_sec)
  * @param ms - number of milliseconds to wait
  *    before continuing execution of autonomous
  */
-void CommandController::add_delay(int ms)
-{
+void CommandController::add_delay(int ms) {
   AutoCommand *delay = new DelayCommand(ms);
   command_queue.push(delay);
 }
 
-void CommandController::add_cancel_func(std::function<bool(void)> true_if_cancel)
-{
-  should_cancel = true_if_cancel;
-}
+void CommandController::add_cancel_func(std::function<bool(void)> true_if_cancel) { should_cancel = true_if_cancel; }
 
 /**
  * Begin execution of the queue
  * Execute and remove commands in FIFO order
  */
-void CommandController::run()
-{
+void CommandController::run() {
   AutoCommand *next_cmd;
   printf("Running Auto. Commands 1 to %d\n", command_queue.size());
   fflush(stdout);
@@ -80,45 +70,39 @@ void CommandController::run()
   vex::timer tmr;
   tmr.reset();
 
-  while (!command_queue.empty())
-  {
+  while (!command_queue.empty()) {
     // retrieve and remove command at the front of the queue
     next_cmd = command_queue.front();
     command_queue.pop();
     command_timed_out = false;
 
-    // printf("Beginning Command %d : timeout = %.2f : at time = %.1f seconds\n", command_count, next_cmd->timeout_seconds, tmr.time(vex::seconds));
-    // fflush(stdout);
+    // printf("Beginning Command %d : timeout = %.2f : at time = %.1f seconds\n", command_count,
+    // next_cmd->timeout_seconds, tmr.time(vex::seconds)); fflush(stdout);
 
     vex::timer timeout_timer;
     timeout_timer.reset();
     bool doTimeout = next_cmd->timeout_seconds > 0.0;
-    if (next_cmd->true_to_end != nullptr)
-    {
+    if (next_cmd->true_to_end != nullptr) {
       doTimeout = doTimeout || next_cmd->true_to_end->test();
     }
 
     // run the current command until it returns true or we timeout
-    while (!next_cmd->run())
-    {
+    while (!next_cmd->run()) {
       vexDelay(5);
 
-      if (!doTimeout)
-      {
+      if (!doTimeout) {
         continue;
       }
 
       // If we do want to check for timeout, check and end the command if we should
       double cmd_elapsed_sec = ((double)timeout_timer.time()) / 1000.0;
-      if (cmd_elapsed_sec > next_cmd->timeout_seconds || should_cancel())
-      {
+      if (cmd_elapsed_sec > next_cmd->timeout_seconds || should_cancel()) {
         next_cmd->on_timeout();
         command_timed_out = true;
         break;
       }
     }
-    if (should_cancel())
-    {
+    if (should_cancel()) {
       break;
     }
 
@@ -129,7 +113,4 @@ void CommandController::run()
   printf("Finished commands in %f seconds\n", tmr.time(vex::sec));
 }
 
-bool CommandController::last_command_timed_out()
-{
-  return command_timed_out;
-}
\ No newline at end of file
+bool CommandController::last_command_timed_out() { return command_timed_out; }
\ No newline at end of file
diff --git a/src/utils/command_structure/drive_commands.cpp b/src/utils/command_structure/drive_commands.cpp
index 4984cf6..c017513 100644
--- a/src/utils/command_structure/drive_commands.cpp
+++ b/src/utils/command_structure/drive_commands.cpp
@@ -2,7 +2,7 @@
  * File: drive_commands.h
  * Desc:
  *    Holds all the AutoCommand subclasses that wrap (currently) TankDrive functions
- *    
+ *
  *    Currently includes:
  *      - drive_forward
  *      - turn_degrees
@@ -18,7 +18,6 @@
 
 #include "../core/include/utils/command_structure/drive_commands.h"
 
-
 // ==== DRIVING ====
 
 /**
@@ -28,28 +27,26 @@
  * @param inches how far forward to drive
  * @param dir the direction to drive
  * @param max_speed 0 -> 1 percentage of the drive systems speed to drive at
-*/
-DriveForwardCommand::DriveForwardCommand(TankDrive &drive_sys, Feedback &feedback, double inches, directionType dir, double max_speed, double end_speed):
-  drive_sys(drive_sys), feedback(feedback), inches(inches), dir(dir), max_speed(max_speed), end_speed(end_speed) {}
+ */
+DriveForwardCommand::DriveForwardCommand(TankDrive &drive_sys, Feedback &feedback, double inches, directionType dir,
+                                         double max_speed, double end_speed)
+    : drive_sys(drive_sys), feedback(feedback), inches(inches), dir(dir), max_speed(max_speed), end_speed(end_speed) {}
 
 /**
  * Run drive_forward
  * Overrides run from AutoCommand
  * @returns true when execution is complete, false otherwise
  */
-bool DriveForwardCommand::run() {
-  return drive_sys.drive_forward(inches, dir, feedback, max_speed, end_speed);
-}
+bool DriveForwardCommand::run() { return drive_sys.drive_forward(inches, dir, feedback, max_speed, end_speed); }
 
 /**
  * reset the drive system if we timeout
-*/
-void DriveForwardCommand::on_timeout(){
+ */
+void DriveForwardCommand::on_timeout() {
   drive_sys.stop();
   drive_sys.reset_auto();
 }
 
-
 /**
  * Construct a TurnDegreesCommand Command
  * @param drive_sys the drive system we are commanding
@@ -57,26 +54,24 @@ void DriveForwardCommand::on_timeout(){
  * @param degrees how many degrees to rotate
  * @param max_speed 0 -> 1 percentage of the drive systems speed to drive at
  */
-TurnDegreesCommand::TurnDegreesCommand(TankDrive &drive_sys, Feedback &feedback, double degrees, double max_speed, double end_speed):
-  drive_sys(drive_sys), feedback(feedback), degrees(degrees), max_speed(max_speed), end_speed(end_speed) {}
+TurnDegreesCommand::TurnDegreesCommand(TankDrive &drive_sys, Feedback &feedback, double degrees, double max_speed,
+                                       double end_speed)
+    : drive_sys(drive_sys), feedback(feedback), degrees(degrees), max_speed(max_speed), end_speed(end_speed) {}
 
 /**
  * Run turn_degrees
  * Overrides run from AutoCommand
  * @returns true when execution is complete, false otherwise
  */
-bool TurnDegreesCommand::run() {
-  return drive_sys.turn_degrees(degrees, max_speed, end_speed);
-}
+bool TurnDegreesCommand::run() { return drive_sys.turn_degrees(degrees, max_speed, end_speed); }
 /**
  * reset the drive system if we timeout
-*/
-void TurnDegreesCommand::on_timeout(){
+ */
+void TurnDegreesCommand::on_timeout() {
   drive_sys.stop();
   drive_sys.reset_auto();
 }
 
-
 /**
  * Construct a DriveForward Command
  * @param drive_sys the drive system we are commanding
@@ -86,8 +81,9 @@ void TurnDegreesCommand::on_timeout(){
  * @param dir the direction to drive
  * @param max_speed 0 -> 1 percentage of the drive systems speed to drive at
  */
-DriveToPointCommand::DriveToPointCommand(TankDrive &drive_sys, Feedback &feedback, double x, double y, directionType dir, double max_speed, double end_speed):
-  drive_sys(drive_sys), feedback(feedback), x(x), y(y), dir(dir), max_speed(max_speed), end_speed(end_speed) {}
+DriveToPointCommand::DriveToPointCommand(TankDrive &drive_sys, Feedback &feedback, double x, double y,
+                                         directionType dir, double max_speed, double end_speed)
+    : drive_sys(drive_sys), feedback(feedback), x(x), y(y), dir(dir), max_speed(max_speed), end_speed(end_speed) {}
 
 /**
  * Construct a DriveForward Command
@@ -97,26 +93,25 @@ DriveToPointCommand::DriveToPointCommand(TankDrive &drive_sys, Feedback &feedbac
  * @param dir the direction to drive
  * @param max_speed 0 -> 1 percentage of the drive systems speed to drive at
  */
-DriveToPointCommand::DriveToPointCommand(TankDrive &drive_sys, Feedback &feedback, point_t point, directionType dir, double max_speed, double end_speed):
-  drive_sys(drive_sys), feedback(feedback), x(point.x), y(point.y), dir(dir), max_speed(max_speed), end_speed(end_speed) {}
+DriveToPointCommand::DriveToPointCommand(TankDrive &drive_sys, Feedback &feedback, point_t point, directionType dir,
+                                         double max_speed, double end_speed)
+    : drive_sys(drive_sys), feedback(feedback), x(point.x), y(point.y), dir(dir), max_speed(max_speed),
+      end_speed(end_speed) {}
 
 /**
  * Run drive_to_point
  * Overrides run from AutoCommand
  * @returns true when execution is complete, false otherwise
  */
-bool DriveToPointCommand::run() {
-  return drive_sys.drive_to_point(x, y, dir, feedback, max_speed, end_speed);
-}
+bool DriveToPointCommand::run() { return drive_sys.drive_to_point(x, y, dir, feedback, max_speed, end_speed); }
 /**
  * reset the drive system if we don't hit our target
-*/
-void DriveToPointCommand::on_timeout(){
+ */
+void DriveToPointCommand::on_timeout() {
   drive_sys.stop();
   drive_sys.reset_auto();
 }
 
-
 /**
  * Construct a TurnToHeadingCommand Command
  * @param drive_sys the drive system we are commanding
@@ -124,50 +119,45 @@ void DriveToPointCommand::on_timeout(){
  * @param heading_deg the heading to turn to in degrees
  * @param max_speed 0 -> 1 percentage of the drive systems speed to drive at
  */
-TurnToHeadingCommand::TurnToHeadingCommand(TankDrive &drive_sys, Feedback &feedback, double heading_deg, double max_speed, double end_speed):
-  drive_sys(drive_sys), feedback(feedback), heading_deg(heading_deg), max_speed(max_speed), end_speed(end_speed) {}
+TurnToHeadingCommand::TurnToHeadingCommand(TankDrive &drive_sys, Feedback &feedback, double heading_deg,
+                                           double max_speed, double end_speed)
+    : drive_sys(drive_sys), feedback(feedback), heading_deg(heading_deg), max_speed(max_speed), end_speed(end_speed) {}
 
 /**
  * Run turn_to_heading
  * Overrides run from AutoCommand
  * @returns true when execution is complete, false otherwise
  */
-bool TurnToHeadingCommand::run() {
-  return drive_sys.turn_to_heading(heading_deg, feedback, max_speed, end_speed);
-}
+bool TurnToHeadingCommand::run() { return drive_sys.turn_to_heading(heading_deg, feedback, max_speed, end_speed); }
 /**
  * reset the drive system if we don't hit our target
-*/
-void TurnToHeadingCommand::on_timeout(){
+ */
+void TurnToHeadingCommand::on_timeout() {
   drive_sys.stop();
   drive_sys.reset_auto();
 }
 
 /**
  * Construct a Pure Pursuit AutoCommand
- * 
+ *
  * @param path The list of coordinates to follow, in order
  * @param dir Run the bot forwards or backwards
  * @param feedback The feedback controller determining speed
  * @param max_speed Limit the speed of the robot (for pid / pidff feedbacks)
-*/
-PurePursuitCommand::PurePursuitCommand(TankDrive &drive_sys, Feedback &feedback, PurePursuit::Path path, directionType dir, double max_speed, double end_speed)
-: drive_sys(drive_sys), path(path), dir(dir), feedback(feedback), max_speed(max_speed), end_speed(end_speed)
-{}
+ */
+PurePursuitCommand::PurePursuitCommand(TankDrive &drive_sys, Feedback &feedback, PurePursuit::Path path,
+                                       directionType dir, double max_speed, double end_speed)
+    : drive_sys(drive_sys), path(path), dir(dir), feedback(feedback), max_speed(max_speed), end_speed(end_speed) {}
 
 /**
  * Direct call to TankDrive::pure_pursuit
-*/
-bool PurePursuitCommand::run()
-{
-  return drive_sys.pure_pursuit(path, dir, feedback, max_speed, end_speed);
-}
+ */
+bool PurePursuitCommand::run() { return drive_sys.pure_pursuit(path, dir, feedback, max_speed, end_speed); }
 
 /**
  * Reset the drive system when it times out
-*/
-void PurePursuitCommand::on_timeout()
-{
+ */
+void PurePursuitCommand::on_timeout() {
   drive_sys.stop();
   drive_sys.reset_auto();
 }
@@ -176,13 +166,9 @@ void PurePursuitCommand::on_timeout()
  * Construct a DriveStop Command
  * @param drive_sys the drive system we are commanding
  */
-DriveStopCommand::DriveStopCommand(TankDrive &drive_sys):
-  drive_sys(drive_sys) {}
+DriveStopCommand::DriveStopCommand(TankDrive &drive_sys) : drive_sys(drive_sys) {}
 
-void DriveStopCommand::on_timeout()
-{
-  drive_sys.reset_auto();
-}
+void DriveStopCommand::on_timeout() { drive_sys.reset_auto(); }
 
 /**
  * Stop the drive train
@@ -194,14 +180,13 @@ bool DriveStopCommand::run() {
   return true;
 }
 
-
 // ==== ODOMETRY ====
 /**
  * Construct an Odometry set pos
  * @param odom the odometry system we are setting
  * @param newpos the now position to set the odometry to
  */
-OdomSetPosition::OdomSetPosition(OdometryBase &odom, const pose_t &newpos): odom(odom), newpos(newpos){}
+OdomSetPosition::OdomSetPosition(OdometryBase &odom, const pose_t &newpos) : odom(odom), newpos(newpos) {}
 
 bool OdomSetPosition::run() {
   odom.set_position(newpos);
diff --git a/src/utils/command_structure/flywheel_commands.cpp b/src/utils/command_structure/flywheel_commands.cpp
index bddda27..4307abc 100644
--- a/src/utils/command_structure/flywheel_commands.cpp
+++ b/src/utils/command_structure/flywheel_commands.cpp
@@ -6,49 +6,40 @@
 
 #include "../core/include/utils/command_structure/flywheel_commands.h"
 
-
-SpinRPMCommand::SpinRPMCommand(Flywheel &flywheel, int rpm):
-  flywheel(flywheel), rpm(rpm) {}
+SpinRPMCommand::SpinRPMCommand(Flywheel &flywheel, int rpm) : flywheel(flywheel), rpm(rpm) {}
 
 bool SpinRPMCommand::run() {
   flywheel.spin_rpm(rpm);
   return true;
 }
 
-WaitUntilUpToSpeedCommand::WaitUntilUpToSpeedCommand(Flywheel &flywheel, int threshold_rpm):
-  flywheel(flywheel), threshold_rpm(threshold_rpm) {}
+WaitUntilUpToSpeedCommand::WaitUntilUpToSpeedCommand(Flywheel &flywheel, int threshold_rpm)
+    : flywheel(flywheel), threshold_rpm(threshold_rpm) {}
 
 bool WaitUntilUpToSpeedCommand::run() {
   // If we're withing the specified threshold, we're ready to fire
-  if (fabs(flywheel.get_target() - flywheel.getRPM()) < threshold_rpm){
+  if (fabs(flywheel.get_target() - flywheel.getRPM()) < threshold_rpm) {
     return true;
   }
   // else, keep waiting
   return false;
 }
 
-
-
-FlywheelStopCommand::FlywheelStopCommand(Flywheel &flywheel):
-  flywheel(flywheel) {}
+FlywheelStopCommand::FlywheelStopCommand(Flywheel &flywheel) : flywheel(flywheel) {}
 
 bool FlywheelStopCommand::run() {
   flywheel.stop();
   return true;
 }
 
-
-FlywheelStopMotorsCommand::FlywheelStopMotorsCommand(Flywheel &flywheel):
-  flywheel(flywheel) {}
+FlywheelStopMotorsCommand::FlywheelStopMotorsCommand(Flywheel &flywheel) : flywheel(flywheel) {}
 
 bool FlywheelStopMotorsCommand::run() {
   flywheel.stop();
   return true;
 }
 
-
-FlywheelStopNonTasksCommand::FlywheelStopNonTasksCommand(Flywheel &flywheel):
-  flywheel(flywheel) {}
+FlywheelStopNonTasksCommand::FlywheelStopNonTasksCommand(Flywheel &flywheel) : flywheel(flywheel) {}
 
 bool FlywheelStopNonTasksCommand::run() {
   flywheel.stop();
diff --git a/src/utils/controls/bang_bang.cpp b/src/utils/controls/bang_bang.cpp
index fcc1c70..a885081 100644
--- a/src/utils/controls/bang_bang.cpp
+++ b/src/utils/controls/bang_bang.cpp
@@ -1,43 +1,30 @@
 #include "../core/include/utils/controls/bang_bang.h"
 #include <cmath>
 
-BangBang::BangBang(double threshhold, double low, double high) : setpt(low), sensor_val(low), lower_bound(low), upper_bound(high), threshhold(threshhold) {}
+BangBang::BangBang(double threshhold, double low, double high)
+    : setpt(low), sensor_val(low), lower_bound(low), upper_bound(high), threshhold(threshhold) {}
 
-void BangBang::init(double start_pt, double set_pt)
-{
-    sensor_val = start_pt;
-    setpt = set_pt;
+void BangBang::init(double start_pt, double set_pt) {
+  sensor_val = start_pt;
+  setpt = set_pt;
 }
 
-void BangBang::set_limits(double lower, double upper)
-{
-    lower_bound = lower;
-    upper_bound = upper;
-}
-double BangBang::get()
-{
-    return last_output;
+void BangBang::set_limits(double lower, double upper) {
+  lower_bound = lower;
+  upper_bound = upper;
 }
+double BangBang::get() { return last_output; }
 
-double BangBang::update(double val)
-{
-    sensor_val = val;
-    if (fabs(val - setpt) < threshhold)
-    {
-        last_output = 0;
-    }
-    else if (val > setpt)
-    {
-        last_output = lower_bound;
-    }
-    else
-    {
-        last_output = upper_bound;
-    }
-    return upper_bound;
+double BangBang::update(double val) {
+  sensor_val = val;
+  if (fabs(val - setpt) < threshhold) {
+    last_output = 0;
+  } else if (val > setpt) {
+    last_output = lower_bound;
+  } else {
+    last_output = upper_bound;
+  }
+  return upper_bound;
 }
 
-bool BangBang::is_on_target()
-{
-    return fabs(sensor_val - setpt) < threshhold;
-}
\ No newline at end of file
+bool BangBang::is_on_target() { return fabs(sensor_val - setpt) < threshhold; }
\ No newline at end of file
diff --git a/src/utils/controls/feedforward.cpp b/src/utils/controls/feedforward.cpp
index ba68dc2..9540c4f 100644
--- a/src/utils/controls/feedforward.cpp
+++ b/src/utils/controls/feedforward.cpp
@@ -1,92 +1,85 @@
 #include "../core/include/utils/controls/feedforward.h"
 
-
 /**
-* tune_feedforward takes a group of motors and finds the feedforward conifg parameters automagically.
-*  @param motor the motor group to use 
-*  @param pct Maximum velocity in percent (0->1.0)
+ * tune_feedforward takes a group of motors and finds the feedforward conifg parameters automagically.
+ *  @param motor the motor group to use
+ *  @param pct Maximum velocity in percent (0->1.0)
  * @param duration Amount of time the motors spin for the test
  * @return A tuned feedforward object
  */
-FeedForward::ff_config_t tune_feedforward(vex::motor_group &motor, double pct, double duration)
-{
-    FeedForward::ff_config_t out = {};
-    
-    double start_pos = motor.position(vex::rotationUnits::rev);
-
-    // ========== kS Tuning =========
-    // Start at 0 and slowly increase the power until the robot starts moving
-    double power = 0;
-    while(fabs(motor.position(vex::rotationUnits::rev) - start_pos) < 0.05)
-    {
-        motor.spin(vex::directionType::fwd, power, vex::voltageUnits::volt);
-        power += 0.001;
-        vexDelay(100);
-    }
-    out.kS = power;
-    motor.stop();
+FeedForward::ff_config_t tune_feedforward(vex::motor_group &motor, double pct, double duration) {
+  FeedForward::ff_config_t out = {};
 
+  double start_pos = motor.position(vex::rotationUnits::rev);
 
-    // ========== kV / kA Tuning =========
+  // ========== kS Tuning =========
+  // Start at 0 and slowly increase the power until the robot starts moving
+  double power = 0;
+  while (fabs(motor.position(vex::rotationUnits::rev) - start_pos) < 0.05) {
+    motor.spin(vex::directionType::fwd, power, vex::voltageUnits::volt);
+    power += 0.001;
+    vexDelay(100);
+  }
+  out.kS = power;
+  motor.stop();
 
-    std::vector<std::pair<double, double>> vel_data_points; // time, velocity
-    std::vector<std::pair<double, double>> accel_data_points; // time, accel
+  // ========== kV / kA Tuning =========
 
-    double max_speed = 0;
-    vex::timer tmr;
-    double time = 0;
+  std::vector<std::pair<double, double>> vel_data_points;   // time, velocity
+  std::vector<std::pair<double, double>> accel_data_points; // time, accel
 
-    MovingAverage vel_ma(3);
-    MovingAverage accel_ma(3);
+  double max_speed = 0;
+  vex::timer tmr;
+  double time = 0;
 
-    // Move the robot forward at a fixed percentage for X seconds while taking velocity and accel measurements
-    do
-    {
-        double last_time = time;
-        time = tmr.time(vex::sec);
-        double dt = time - last_time;
+  MovingAverage vel_ma(3);
+  MovingAverage accel_ma(3);
 
-        vel_ma.add_entry(motor.velocity(vex::velocityUnits::rpm));
-        accel_ma.add_entry(motor.velocity(vex::velocityUnits::rpm)/dt);
+  // Move the robot forward at a fixed percentage for X seconds while taking velocity and accel measurements
+  do {
+    double last_time = time;
+    time = tmr.time(vex::sec);
+    double dt = time - last_time;
 
-        double speed = vel_ma.get_value();
-        double accel = accel_ma.get_value();
+    vel_ma.add_entry(motor.velocity(vex::velocityUnits::rpm));
+    accel_ma.add_entry(motor.velocity(vex::velocityUnits::rpm) / dt);
 
-        // For kV:
-        if(speed > max_speed) {
-            max_speed = speed;
-}
+    double speed = vel_ma.get_value();
+    double accel = accel_ma.get_value();
 
-        // For kA:
-        // Filter out the acceleration dampening due to motor inductance
-        if(time > 0.25)
-        {
-            vel_data_points.push_back(std::pair<double, double>(time, speed));
-            accel_data_points.push_back(std::pair<double, double>(time, accel));
-        }
+    // For kV:
+    if (speed > max_speed) {
+      max_speed = speed;
+    }
 
-        // Theoretical polling rate = 100hz (it won't be that much, cause, y'know, vex.)
-        vexDelay(10); 
-    } while(time < duration);
+    // For kA:
+    // Filter out the acceleration dampening due to motor inductance
+    if (time > 0.25) {
+      vel_data_points.push_back(std::pair<double, double>(time, speed));
+      accel_data_points.push_back(std::pair<double, double>(time, accel));
+    }
 
-    motor.stop();
+    // Theoretical polling rate = 100hz (it won't be that much, cause, y'know, vex.)
+    vexDelay(10);
+  } while (time < duration);
 
-    // Calculate kV (volts/12 per unit per second)
-    out.kV = (pct - out.kS) / max_speed;
+  motor.stop();
 
-    // Calculate kA (volts/12 per unit per second^2)
-    std::vector<std::pair<double, double>> accel_per_pct;
-    for (int i = 0; i < vel_data_points.size(); i++)
-    {
-        accel_per_pct.push_back(std::pair<double, double>(
-            pct - out.kS - (vel_data_points[i].second * out.kV),   // Acceleration-causing percent (X variable)
-            accel_data_points[i].second                            // Measured acceleration (Y variable)
+  // Calculate kV (volts/12 per unit per second)
+  out.kV = (pct - out.kS) / max_speed;
+
+  // Calculate kA (volts/12 per unit per second^2)
+  std::vector<std::pair<double, double>> accel_per_pct;
+  for (int i = 0; i < vel_data_points.size(); i++) {
+    accel_per_pct.push_back(std::pair<double, double>(
+        pct - out.kS - (vel_data_points[i].second * out.kV), // Acceleration-causing percent (X variable)
+        accel_data_points[i].second                          // Measured acceleration (Y variable)
         ));
-    }
-    
-    // kA is the reciprocal of the slope of the linear regression
-    double regres_slope = calculate_linear_regression(accel_per_pct).first;
-    out.kA = 1.0 / regres_slope; 
+  }
+
+  // kA is the reciprocal of the slope of the linear regression
+  double regres_slope = calculate_linear_regression(accel_per_pct).first;
+  out.kA = 1.0 / regres_slope;
 
-    return out;
+  return out;
 }
\ No newline at end of file
diff --git a/src/utils/controls/motion_controller.cpp b/src/utils/controls/motion_controller.cpp
index 3ba4715..fbbe3c4 100644
--- a/src/utils/controls/motion_controller.cpp
+++ b/src/utils/controls/motion_controller.cpp
@@ -3,182 +3,166 @@
 #include <vector>
 
 /**
-* @brief Construct a new Motion Controller object
-* 
-* @param config The definition of how the robot is able to move
-*    max_v Maximum velocity the movement is capable of
-*    accel Acceleration / deceleration of the movement
-*    pid_cfg Definitions of kP, kI, and kD
-*    ff_cfg Definitions of kS, kV, and kA
-*/
+ * @brief Construct a new Motion Controller object
+ *
+ * @param config The definition of how the robot is able to move
+ *    max_v Maximum velocity the movement is capable of
+ *    accel Acceleration / deceleration of the movement
+ *    pid_cfg Definitions of kP, kI, and kD
+ *    ff_cfg Definitions of kS, kV, and kA
+ */
 MotionController::MotionController(m_profile_cfg_t &config)
-: config(config), pid(config.pid_cfg), ff(config.ff_cfg), profile(config.max_v, config.accel)
-{}
+    : config(config), pid(config.pid_cfg), ff(config.ff_cfg), profile(config.max_v, config.accel) {}
 
 /**
  * @brief Initialize the motion profile for a new movement
  * This will also reset the PID and profile timers.
  * @param start_pt Movement starting position
- * @param end_pt Movement ending posiiton 
+ * @param end_pt Movement ending posiiton
  */
-void MotionController::init(double start_pt, double end_pt)
-{
-    profile.set_endpts(start_pt, end_pt);
-    pid.reset();
-    tmr.reset();
+void MotionController::init(double start_pt, double end_pt) {
+  profile.set_endpts(start_pt, end_pt);
+  pid.reset();
+  tmr.reset();
 }
 
 /**
-* @brief Update the motion profile with a new sensor value
-* 
-* @param sensor_val Value from the sensor
-* @return the motor input generated from the motion profile 
-*/
-double MotionController::update(double sensor_val)
-{
-    cur_motion = profile.calculate(tmr.time(timeUnits::sec));
-    pid.set_target(cur_motion.pos);
-    pid.update(sensor_val, cur_motion.vel);
-
-    out = pid.get() +  ff.calculate(cur_motion.vel, cur_motion.accel, pid.get());
-
-    if(lower_limit != upper_limit)
-        out = clamp(out, lower_limit, upper_limit);
-    
-    return out;
+ * @brief Update the motion profile with a new sensor value
+ *
+ * @param sensor_val Value from the sensor
+ * @return the motor input generated from the motion profile
+ */
+double MotionController::update(double sensor_val) {
+  cur_motion = profile.calculate(tmr.time(timeUnits::sec));
+  pid.set_target(cur_motion.pos);
+  pid.update(sensor_val, cur_motion.vel);
+
+  out = pid.get() + ff.calculate(cur_motion.vel, cur_motion.accel, pid.get());
+
+  if (lower_limit != upper_limit)
+    out = clamp(out, lower_limit, upper_limit);
+
+  return out;
 }
 
 /**
  * @return the last saved result from the feedback controller
  */
-double MotionController::get()
-{
-    return out;
-}
+double MotionController::get() { return out; }
 
 /**
  * Clamp the upper and lower limits of the output. If both are 0, no limits should be applied.
- * 
+ *
  * @param lower Upper limit
  * @param upper Lower limit
  */
-void MotionController::set_limits(double lower, double upper)
-{
-    lower_limit = lower;
-    upper_limit = upper;
+void MotionController::set_limits(double lower, double upper) {
+  lower_limit = lower;
+  upper_limit = upper;
 }
 
-/** 
+/**
  * @return Whether or not the movement has finished, and the PID
  * confirms it is on target
  */
-bool MotionController::is_on_target()
-{
-    return (tmr.time(timeUnits::sec) > profile.get_movement_time()) && pid.is_on_target();
+bool MotionController::is_on_target() {
+  return (tmr.time(timeUnits::sec) > profile.get_movement_time()) && pid.is_on_target();
 }
 
 /**
  * @return The current postion, velocity and acceleration setpoints
-*/
-motion_t MotionController::get_motion()
-{
-    return cur_motion;
-}
+ */
+motion_t MotionController::get_motion() { return cur_motion; }
 
 /**
  * This method attempts to characterize the robot's drivetrain and automatically tune the feedforward.
  * It does this by first calculating the kS (voltage to overcome static friction) by slowly increasing
  * the voltage until it moves.
- * 
+ *
  * Next is kV (voltage to sustain a certain velocity), where the robot will record it's steady-state velocity
  * at 'pct' speed.
- * 
+ *
  * Finally, kA (voltage needed to accelerate by a certain rate), where the robot will record the entire movement's
  * velocity and acceleration, record a plot of [X=(pct-kV*V-kS), Y=(Acceleration)] along the movement,
  * and since kA*Accel = pct-kV*V-kS, the reciprocal of the linear regression is the kA value.
- * 
+ *
  * @param drive The tankdrive to operate on
  * @param odometry The robot's odometry subsystem
  * @param pct Maximum velocity in percent (0->1.0)
  * @param duration Amount of time the robot should be moving for the test
  * @return A tuned feedforward object
  */
-FeedForward::ff_config_t MotionController::tune_feedforward(TankDrive &drive, OdometryTank &odometry, double pct, double duration)
-{
-    FeedForward::ff_config_t out = {};
-    
-    pose_t start_pos = odometry.get_position();
-
-    // ========== kS Tuning =========
-    // Start at 0 and slowly increase the power until the robot starts moving
-    double power = 0;
-    while(odometry.pos_diff(start_pos, odometry.get_position()) < 0.05)
-    {
-        drive.drive_tank(power, power, 1);
-        power += 0.001;
-        vexDelay(100);
+FeedForward::ff_config_t MotionController::tune_feedforward(TankDrive &drive, OdometryTank &odometry, double pct,
+                                                            double duration) {
+  FeedForward::ff_config_t out = {};
+
+  pose_t start_pos = odometry.get_position();
+
+  // ========== kS Tuning =========
+  // Start at 0 and slowly increase the power until the robot starts moving
+  double power = 0;
+  while (odometry.pos_diff(start_pos, odometry.get_position()) < 0.05) {
+    drive.drive_tank(power, power, 1);
+    power += 0.001;
+    vexDelay(100);
+  }
+  out.kS = power;
+  drive.stop();
+
+  // ========== kV / kA Tuning =========
+
+  std::vector<std::pair<double, double>> vel_data_points;   // time, velocity
+  std::vector<std::pair<double, double>> accel_data_points; // time, accel
+
+  double max_speed = 0;
+  timer tmr;
+  double time;
+
+  MovingAverage vel_ma(3);
+  MovingAverage accel_ma(3);
+
+  // Move the robot forward at a fixed percentage for X seconds while taking velocity and accel measurements
+  do {
+    time = tmr.time(sec);
+
+    vel_ma.add_entry(odometry.get_speed());
+    accel_ma.add_entry(odometry.get_accel());
+
+    double speed = vel_ma.get_value();
+    double accel = accel_ma.get_value();
+
+    // For kV:
+    if (speed > max_speed)
+      max_speed = speed;
+
+    // For kA:
+    // Filter out the acceleration dampening due to motor inductance
+    if (time > 0.25) {
+      vel_data_points.push_back(std::pair<double, double>(time, speed));
+      accel_data_points.push_back(std::pair<double, double>(time, accel));
     }
-    out.kS = power;
-    drive.stop();
-
-
-    // ========== kV / kA Tuning =========
 
-    std::vector<std::pair<double, double>> vel_data_points; // time, velocity
-    std::vector<std::pair<double, double>> accel_data_points; // time, accel
+    // Theoretical polling rate = 100hz (it won't be that much, cause, y'know, vex.)
+    vexDelay(10);
+  } while (time < duration);
 
-    double max_speed = 0;
-    timer tmr;
-    double time;
+  drive.stop();
 
-    MovingAverage vel_ma(3);
-    MovingAverage accel_ma(3);
+  // Calculate kV (volts/12 per unit per second)
+  out.kV = (pct - out.kS) / max_speed;
 
-    // Move the robot forward at a fixed percentage for X seconds while taking velocity and accel measurements
-    do
-    {
-        time = tmr.time(sec);
-
-        vel_ma.add_entry(odometry.get_speed());
-        accel_ma.add_entry(odometry.get_accel());
-
-        double speed = vel_ma.get_value();
-        double accel = accel_ma.get_value();
-
-        // For kV:
-        if(speed > max_speed)
-            max_speed = speed;
-
-        // For kA:
-        // Filter out the acceleration dampening due to motor inductance
-        if(time > 0.25)
-        {
-            vel_data_points.push_back(std::pair<double, double>(time, speed));
-            accel_data_points.push_back(std::pair<double, double>(time, accel));
-        }
-
-        // Theoretical polling rate = 100hz (it won't be that much, cause, y'know, vex.)
-        vexDelay(10); 
-    } while(time < duration);
-
-    drive.stop();
-
-    // Calculate kV (volts/12 per unit per second)
-    out.kV = (pct - out.kS) / max_speed;
-
-    // Calculate kA (volts/12 per unit per second^2)
-    std::vector<std::pair<double, double>> accel_per_pct;
-    for (int i = 0; i < vel_data_points.size(); i++)
-    {
-        accel_per_pct.push_back(std::pair<double, double>(
-            pct - out.kS - (vel_data_points[i].second * out.kV),   // Acceleration-causing percent (X variable)
-            accel_data_points[i].second                            // Measured acceleration (Y variable)
+  // Calculate kA (volts/12 per unit per second^2)
+  std::vector<std::pair<double, double>> accel_per_pct;
+  for (int i = 0; i < vel_data_points.size(); i++) {
+    accel_per_pct.push_back(std::pair<double, double>(
+        pct - out.kS - (vel_data_points[i].second * out.kV), // Acceleration-causing percent (X variable)
+        accel_data_points[i].second                          // Measured acceleration (Y variable)
         ));
-    }
-    
-    // kA is the reciprocal of the slope of the linear regression
-    double regres_slope = calculate_linear_regression(accel_per_pct).first;
-    out.kA = 1.0 / regres_slope; 
+  }
+
+  // kA is the reciprocal of the slope of the linear regression
+  double regres_slope = calculate_linear_regression(accel_per_pct).first;
+  out.kA = 1.0 / regres_slope;
 
-    return out;
+  return out;
 }
\ No newline at end of file
diff --git a/src/utils/controls/pid.cpp b/src/utils/controls/pid.cpp
index 88696b6..1d0d43f 100644
--- a/src/utils/controls/pid.cpp
+++ b/src/utils/controls/pid.cpp
@@ -20,17 +20,14 @@ void PID::init(double start_pt, double set_pt) {
  * are measuring
  * @return the new output. What would be returned by PID::get()
  */
-double PID::update(double sensor_val)
-{
-  return update(sensor_val, 0);
-}
+double PID::update(double sensor_val) { return update(sensor_val, 0); }
 
 /**
  * Update the PID loop by taking the time difference from last update,
  * and running the PID formula with the new sensor data
  * @param sensor_val the distance, angle, encoder position or whatever it is we
  * are measuring
- * @param v_setpt Expected velocity setpoint, to subtract from the D term (for 
+ * @param v_setpt Expected velocity setpoint, to subtract from the D term (for
  * velocity control)
  * @return the new output. What would be returned by PID::get()
  */
@@ -45,9 +42,8 @@ double PID::update(double sensor_val, double v_setpt) {
   if (time_delta != 0.0) {
     d_term = config.d * (((get_error() - last_error) / time_delta) - v_setpt);
   } else if (last_time != 0.0) {
-    printf(
-        "(pid.cpp): Warning - running PID without a delay is just a P loop!\n");
-}
+    printf("(pid.cpp): Warning - running PID without a delay is just a P loop!\n");
+  }
 
   // P and D terms
   out = (config.p * get_error()) + d_term;
@@ -56,10 +52,9 @@ double PID::update(double sensor_val, double v_setpt) {
 
   // Only add to the accumulated error if the output is not saturated
   // aka "Integral Clamping" anti-windup technique
-  if (!limits_exist ||
-      (limits_exist && (out < upper_limit && out > lower_limit))) {
+  if (!limits_exist || (limits_exist && (out < upper_limit && out > lower_limit))) {
     accum_error += time_delta * get_error();
-}
+  }
 
   // I term
   out += config.i * accum_error;
@@ -69,10 +64,8 @@ double PID::update(double sensor_val, double v_setpt) {
 
   // Enable clamping if the limit is not 0
   if (limits_exist) {
-    out = (out < lower_limit)   ? lower_limit
-          : (out > upper_limit) ? upper_limit
-                                : out;
-}
+    out = (out < lower_limit) ? lower_limit : (out > upper_limit) ? upper_limit : out;
+  }
 
   return out;
 }
@@ -132,12 +125,11 @@ bool PID::is_on_target() {
   if (fabs(get_error()) < config.deadband) {
     if (target_vel != 0) {
       return true;
-}
+    }
     if (is_checking_on_target == false) {
       on_target_last_time = pid_timer.value();
       is_checking_on_target = true;
-    } else if (pid_timer.value() - on_target_last_time >
-               config.on_target_time) {
+    } else if (pid_timer.value() - on_target_last_time > config.on_target_time) {
       return true;
     }
   } else {
diff --git a/src/utils/controls/pidff.cpp b/src/utils/controls/pidff.cpp
index b98e356..ab03039 100644
--- a/src/utils/controls/pidff.cpp
+++ b/src/utils/controls/pidff.cpp
@@ -1,11 +1,10 @@
 #include "../core/include/utils/controls/pidff.h"
 #include "../core/include/utils/math_util.h"
 
-PIDFF::PIDFF(PID::pid_config_t &pid_cfg, FeedForward::ff_config_t &ff_cfg)
-    : pid(pid_cfg), ff_cfg(ff_cfg), ff(ff_cfg) {
-    out = 0;
-    lower_lim = 0;
-    upper_lim = 0;
+PIDFF::PIDFF(PID::pid_config_t &pid_cfg, FeedForward::ff_config_t &ff_cfg) : pid(pid_cfg), ff_cfg(ff_cfg), ff(ff_cfg) {
+  out = 0;
+  lower_lim = 0;
+  upper_lim = 0;
 }
 
 /**
@@ -14,9 +13,7 @@ PIDFF::PIDFF(PID::pid_config_t &pid_cfg, FeedForward::ff_config_t &ff_cfg)
  * @param start_pt the current sensor value
  * @param set_pt where the sensor value should be
  */
-void PIDFF::init(double start_pt, double set_pt) {
-    pid.init(start_pt, set_pt);
-}
+void PIDFF::init(double start_pt, double set_pt) { pid.init(start_pt, set_pt); }
 
 void PIDFF::set_target(double set_pt) { pid.set_target(set_pt); }
 
@@ -28,14 +25,14 @@ void PIDFF::set_target(double set_pt) { pid.set_target(set_pt); }
  * @return feedback loop result
  */
 double PIDFF::update(double val) {
-    double pid_out = pid.update(val);
-    double ff_out = ff_cfg.kG + (ff_cfg.kS * sign(pid_out));
-    out = pid_out + ff_out;
-    if (lower_lim != upper_lim) {
-        out = clamp(out, lower_lim, upper_lim);
-}
+  double pid_out = pid.update(val);
+  double ff_out = ff_cfg.kG + (ff_cfg.kS * sign(pid_out));
+  out = pid_out + ff_out;
+  if (lower_lim != upper_lim) {
+    out = clamp(out, lower_lim, upper_lim);
+  }
 
-    return out;
+  return out;
 }
 
 double PIDFF::get_sensor_val() const { return pid.get_sensor_val(); }
@@ -51,14 +48,14 @@ double PIDFF::get_target() const { return pid.get_target(); }
  */
 double PIDFF::update(double val, double vel_setpt, double a_setpt) {
 
-    double pid_out = pid.update(val);
-    double ff_out = ff.calculate(vel_setpt, a_setpt);
-    out = pid_out + ff_out;
-    if (lower_lim != upper_lim) {
-        out = clamp(out, lower_lim, upper_lim);
-}
+  double pid_out = pid.update(val);
+  double ff_out = ff.calculate(vel_setpt, a_setpt);
+  out = pid_out + ff_out;
+  if (lower_lim != upper_lim) {
+    out = clamp(out, lower_lim, upper_lim);
+  }
 
-    return out;
+  return out;
 }
 
 /**
@@ -74,8 +71,8 @@ double PIDFF::get() { return out; }
  * @param upper Lower limit
  */
 void PIDFF::set_limits(double lower, double upper) {
-    upper_lim = upper;
-    lower_lim = lower;
+  upper_lim = upper;
+  lower_lim = lower;
 }
 
 /**
diff --git a/src/utils/controls/take_back_half.cpp b/src/utils/controls/take_back_half.cpp
index 72418df..2f8b2f8 100644
--- a/src/utils/controls/take_back_half.cpp
+++ b/src/utils/controls/take_back_half.cpp
@@ -1,84 +1,68 @@
 #include "../core/include/utils/controls/take_back_half.h"
 #include "../core/include/utils/math_util.h"
 
-TakeBackHalf::TakeBackHalf(double gain, double first_cross_split, double thresh) : TBH_gain(gain), first_cross_split(first_cross_split), on_target_threshhold(fabs(thresh))
-{
-    tbh = 0.0;
-    output = 0.0;
-    prev_error = 0.0;
-    lower = 0.0;
-    upper = 0.0;
-    first_cross = true;
+TakeBackHalf::TakeBackHalf(double gain, double first_cross_split, double thresh)
+    : TBH_gain(gain), first_cross_split(first_cross_split), on_target_threshhold(fabs(thresh)) {
+  tbh = 0.0;
+  output = 0.0;
+  prev_error = 0.0;
+  lower = 0.0;
+  upper = 0.0;
+  first_cross = true;
 }
 
-void TakeBackHalf::init(double start_pt, double set_pt)
-{
-    if (set_pt == target)
-    {
-        // nothing to do
-        return;
-    }
-    first_cross = true;
-    tbh = output;
-    target = set_pt;
-    output = update(start_pt);
+void TakeBackHalf::init(double start_pt, double set_pt) {
+  if (set_pt == target) {
+    // nothing to do
+    return;
+  }
+  first_cross = true;
+  tbh = output;
+  target = set_pt;
+  output = update(start_pt);
 }
 
-double TakeBackHalf::update(double val)
-{
-
-    if (target == 0.0)
-    {
-        printf("no target\n");
-        return 0.0;
-    }
-
-    double error = target - val;
-    output += TBH_gain * error;
-
-    // taking back half crossed target
-    if (sign(error) != sign(prev_error))
-    {
-        if (first_cross)
-        {
-            output = lerp(tbh, output, first_cross_split);
-            tbh = output;
-            first_cross = false;
-            printf("First cross\n");
-        }
-        else
-        {
-            // output = .5 * (output + tbh);
-            output = lerp(tbh, output, .5);
-            tbh = output;
-        }
-        prev_error = error;
+double TakeBackHalf::update(double val) {
+
+  if (target == 0.0) {
+    printf("no target\n");
+    return 0.0;
+  }
+
+  double error = target - val;
+  output += TBH_gain * error;
+
+  // taking back half crossed target
+  if (sign(error) != sign(prev_error)) {
+    if (first_cross) {
+      output = lerp(tbh, output, first_cross_split);
+      tbh = output;
+      first_cross = false;
+      printf("First cross\n");
+    } else {
+      // output = .5 * (output + tbh);
+      output = lerp(tbh, output, .5);
+      tbh = output;
     }
+    prev_error = error;
+  }
 
-    if (lower != upper)
-    {
-        output = clamp(output, lower, upper);
-    }
-    return output;
+  if (lower != upper) {
+    output = clamp(output, lower, upper);
+  }
+  return output;
 }
 
-double TakeBackHalf::get()
-{
-    return output;
-}
+double TakeBackHalf::get() { return output; }
 
-void TakeBackHalf::set_limits(double low, double high)
-{
+void TakeBackHalf::set_limits(double low, double high) {
 
-    lower = low;
-    upper = high;
-    printf("Set limits: %f, %f\n", lower, upper);
+  lower = low;
+  upper = high;
+  printf("Set limits: %f, %f\n", lower, upper);
 }
 
-bool TakeBackHalf::is_on_target()
-{
-    return fabs(prev_error) < on_target_threshhold;
-}
+bool TakeBackHalf::is_on_target() { return fabs(prev_error) < on_target_threshhold; }
 
 // Runs a Take Back Half variant to control RPM
 // https://www.vexwiki.org/programming/controls_algorithms/tbh
diff --git a/src/utils/controls/trapezoid_profile.cpp b/src/utils/controls/trapezoid_profile.cpp
index c2fbfc7..58c3ea1 100644
--- a/src/utils/controls/trapezoid_profile.cpp
+++ b/src/utils/controls/trapezoid_profile.cpp
@@ -2,116 +2,95 @@
 #include "../core/include/utils/math_util.h"
 #include <cmath>
 
+TrapezoidProfile::TrapezoidProfile(double max_v, double accel) : start(0), end(0), max_v(max_v), accel(accel) {}
 
-TrapezoidProfile::TrapezoidProfile(double max_v, double accel)
-: start(0), end(0), max_v(max_v), accel(accel)  {}
+void TrapezoidProfile::set_max_v(double max_v) { this->max_v = max_v; }
 
-void TrapezoidProfile::set_max_v(double max_v)
-{
-    this->max_v = max_v;
-}
-
-void TrapezoidProfile::set_accel(double accel)
-{
-    this->accel = accel;
-}
+void TrapezoidProfile::set_accel(double accel) { this->accel = accel; }
 
-void TrapezoidProfile::set_endpts(double start, double end)
-{
-    this->start = start;
-    this->end = end;
+void TrapezoidProfile::set_endpts(double start, double end) {
+  this->start = start;
+  this->end = end;
 }
 
 // Kinematic equations as macros
-#define CALC_POS(time_s,a,v,s) ((0.5*(a)*(time_s)*(time_s))+((v)*(time_s))+(s))
-#define CALC_VEL(time_s,a,v) (((a)*(time_s))+(v))
+#define CALC_POS(time_s, a, v, s) ((0.5 * (a) * (time_s) * (time_s)) + ((v) * (time_s)) + (s))
+#define CALC_VEL(time_s, a, v) (((a) * (time_s)) + (v))
 
 /**
  * @brief Run the trapezoidal profile based on the time that's ellapsed
- * 
+ *
  * @param time_s Time since start of movement
  * @return motion_t Position, velocity and acceleration
  */
-motion_t TrapezoidProfile::calculate(double time_s)
-{
-    double delta_pos = end - start;
-
-    // redefine accel and max_v in this scope for negative calcs
-    double accel_local = this->accel;
-    double max_v_local = this->max_v;
-    if(delta_pos < 0)
-    {
-        accel_local = -this->accel;
-        max_v_local = -this->max_v;
-    }
-
-    // Calculate the time spent during the acceleration / maximum velocity / deceleration stages
-    double accel_time = max_v_local / accel_local;
-    double max_vel_time = (delta_pos - (accel_local * accel_time * accel_time)) / max_v_local;
-    this->time = (2 * accel_time) + max_vel_time;
-
-    // If the time during the "max velocity" state is negative, use an S profile
-    if (max_vel_time < 0)
-    {
-        accel_time = sqrt(fabs(delta_pos / accel));
-        max_vel_time = 0;
-        this->time = 2 * accel_time;
-    }
-
-    motion_t out;
-
-    // Handle if a bad time is put in
-    if (time_s < 0)
-    {
-        out.pos = start;
-        out.vel = 0;
-        out.accel = 0;
-        return out;
-    }
-
-    // Handle after the setpoint is reached
-    if (time_s > 2*accel_time + max_vel_time)
-    {
-        out.pos = end;
-        out.vel = 0;
-        out.accel = 0;
-        return out;
-    }
-
-    // ======== KINEMATIC EQUATIONS ========
-
-    // Displacement from initial acceleration
-    if(time_s < accel_time)
-    {
-        out.pos = start + CALC_POS(time_s, accel_local, 0, 0);
-        out.vel = CALC_VEL(time_s, accel_local, 0);
-        out.accel = accel_local;
-        return out;
-    }
-
-    double s_accel = CALC_POS(accel_time, accel_local, 0, 0);
-
-    // Displacement during maximum velocity
-    if (time_s < accel_time + max_vel_time)
-    {
-        out.pos = start + CALC_POS(time_s - accel_time, 0, max_v_local, s_accel);
-        out.vel = sign(delta_pos) * max_v;
-        out.accel = 0;
-        return out;
-    }
-
-    double s_max_vel = CALC_POS(max_vel_time, 0, max_v_local, s_accel);
-
-    // Displacement during deceleration
-    out.pos = start + CALC_POS(time_s - (2*accel_time) - max_vel_time, -accel_local, 0, s_accel + s_max_vel);
-    out.vel = CALC_VEL(time_s - accel_time - max_vel_time, -accel_local, max_v_local);
-    out.accel = -accel_local;
+motion_t TrapezoidProfile::calculate(double time_s) {
+  double delta_pos = end - start;
+
+  // redefine accel and max_v in this scope for negative calcs
+  double accel_local = this->accel;
+  double max_v_local = this->max_v;
+  if (delta_pos < 0) {
+    accel_local = -this->accel;
+    max_v_local = -this->max_v;
+  }
+
+  // Calculate the time spent during the acceleration / maximum velocity / deceleration stages
+  double accel_time = max_v_local / accel_local;
+  double max_vel_time = (delta_pos - (accel_local * accel_time * accel_time)) / max_v_local;
+  this->time = (2 * accel_time) + max_vel_time;
+
+  // If the time during the "max velocity" state is negative, use an S profile
+  if (max_vel_time < 0) {
+    accel_time = sqrt(fabs(delta_pos / accel));
+    max_vel_time = 0;
+    this->time = 2 * accel_time;
+  }
+
+  motion_t out;
+
+  // Handle if a bad time is put in
+  if (time_s < 0) {
+    out.pos = start;
+    out.vel = 0;
+    out.accel = 0;
     return out;
+  }
 
-}
+  // Handle after the setpoint is reached
+  if (time_s > 2 * accel_time + max_vel_time) {
+    out.pos = end;
+    out.vel = 0;
+    out.accel = 0;
+    return out;
+  }
+
+  // ======== KINEMATIC EQUATIONS ========
+
+  // Displacement from initial acceleration
+  if (time_s < accel_time) {
+    out.pos = start + CALC_POS(time_s, accel_local, 0, 0);
+    out.vel = CALC_VEL(time_s, accel_local, 0);
+    out.accel = accel_local;
+    return out;
+  }
+
+  double s_accel = CALC_POS(accel_time, accel_local, 0, 0);
+
+  // Displacement during maximum velocity
+  if (time_s < accel_time + max_vel_time) {
+    out.pos = start + CALC_POS(time_s - accel_time, 0, max_v_local, s_accel);
+    out.vel = sign(delta_pos) * max_v;
+    out.accel = 0;
+    return out;
+  }
+
+  double s_max_vel = CALC_POS(max_vel_time, 0, max_v_local, s_accel);
 
-double TrapezoidProfile::get_movement_time()
-{
-    return time;
+  // Displacement during deceleration
+  out.pos = start + CALC_POS(time_s - (2 * accel_time) - max_vel_time, -accel_local, 0, s_accel + s_max_vel);
+  out.vel = CALC_VEL(time_s - accel_time - max_vel_time, -accel_local, max_v_local);
+  out.accel = -accel_local;
+  return out;
 }
 
+double TrapezoidProfile::get_movement_time() { return time; }
diff --git a/src/utils/generic_auto.cpp b/src/utils/generic_auto.cpp
index 1ac9dcd..c6984a3 100644
--- a/src/utils/generic_auto.cpp
+++ b/src/utils/generic_auto.cpp
@@ -1,65 +1,60 @@
 #include "../core/include/utils/generic_auto.h"
 
 /**
-* The method that runs the autonomous. If 'blocking' is true, then
-* this method will run through every state until it finished.
-*
-* If blocking is false, then assuming every state is also non-blocking,
-* the method will run through the current state in the list and return
-* immediately.
-*
-* @param blocking
-*     Whether or not to block the thread until all states have run
-* @returns
-*     true after all states have finished.
-*/
-bool GenericAuto::run(bool blocking)
-{
-  if(state_list.empty()) {
-    return true;
-}
+ * The method that runs the autonomous. If 'blocking' is true, then
+ * this method will run through every state until it finished.
+ *
+ * If blocking is false, then assuming every state is also non-blocking,
+ * the method will run through the current state in the list and return
+ * immediately.
+ *
+ * @param blocking
+ *     Whether or not to block the thread until all states have run
+ * @returns
+ *     true after all states have finished.
+ */
+bool GenericAuto::run(bool blocking) {
+  if (state_list.empty()) {
+    return true;
+  }
 
-  do
-  {
-    if( state_list.front()() ) {
-      state_list.pop();
-}
+  do {
+    if (state_list.front()()) {
+      state_list.pop();
+    }
 
-    if(blocking) {
-      vexDelay(20);
-}
+    if (blocking) {
+      vexDelay(20);
+    }
 
-  } while(blocking && !state_list.empty());
+  } while (blocking && !state_list.empty());
 
   // If the method is blocking, return true because it's finished
   // If non-blocking, return false because the list isn't empty yet
   return blocking;
 }
 
-void GenericAuto::add(state_ptr new_state)
-{
-  state_list.push(new_state);
-}
+void GenericAuto::add(state_ptr new_state) { state_list.push(new_state); }
 
-void GenericAuto::add_async(state_ptr async_state)
-{
-  state_ptr fn = [&async_state](){
-    vex::task t([](void* fn_ptr){
-      while(! (*(state_ptr*)fn_ptr)() ) {
-       vexDelay(20);
-}
+void GenericAuto::add_async(state_ptr async_state) {
+  state_ptr fn = [&async_state]() {
+    vex::task t(
+        [](void *fn_ptr) {
+          while (!(*(state_ptr *)fn_ptr)()) {
+            vexDelay(20);
+          }
 
-      return 0;
-    }, &async_state);
+          return 0;
+        },
+        &async_state);
     return true;
   };
 
   state_list.push(fn);
 }
 
-void GenericAuto::add_delay(int ms)
-{
-  add([ms](){
+void GenericAuto::add_delay(int ms) {
+  add([ms]() {
     vexDelay(ms);
     return true;
   });
diff --git a/src/utils/graph_drawer.cpp b/src/utils/graph_drawer.cpp
index 5621d99..57f830f 100644
--- a/src/utils/graph_drawer.cpp
+++ b/src/utils/graph_drawer.cpp
@@ -6,68 +6,58 @@
 /// @param upper_bound the top of the window when displaying (if upper_bound = lower_bound, auto calculate bounds)
 /// @param colors the colors of the series. must be of size num_series
 /// @param num_series the number of series to graph
-GraphDrawer::GraphDrawer(int num_samples, double lower_bound, double upper_bound, std::vector<vex::color> colors, size_t num_series) : cols(colors), auto_fit(lower_bound == upper_bound)
-{
-    if (colors.size() != num_series)
-    {
-        printf("The number of colors does not match the number of series in graph drawer\n");
-    }
-    series = std::vector<std::vector<point_t>>(num_series);
-    for (size_t i = 0; i < num_series; i++)
-    {
-        series[i] = std::vector<point_t>(num_samples, {0.0, 0.0});
-    }
+GraphDrawer::GraphDrawer(int num_samples, double lower_bound, double upper_bound, std::vector<vex::color> colors,
+                         size_t num_series)
+    : cols(colors), auto_fit(lower_bound == upper_bound) {
+  if (colors.size() != num_series) {
+    printf("The number of colors does not match the number of series in graph drawer\n");
+  }
+  series = std::vector<std::vector<point_t>>(num_series);
+  for (size_t i = 0; i < num_series; i++) {
+    series[i] = std::vector<point_t>(num_samples, {0.0, 0.0});
+  }
 
-    if (auto_fit)
-    {
-        upper = -1000.0;
-        lower = 1000.0;
-    } else {
-        upper = upper_bound;
-        lower = lower_bound;
-    }
+  if (auto_fit) {
+    upper = -1000.0;
+    lower = 1000.0;
+  } else {
+    upper = upper_bound;
+    lower = lower_bound;
+  }
 }
 
 /**
  * add_samples adds a point to the graph, removing one from the back
  * @param sample an x, y coordinate of the next point to graph
  */
-void GraphDrawer::add_samples(std::vector<point_t> new_samples)
-{
-    if (series.size() != new_samples.size())
-    {
-        printf("Mismatch between # of samples given and number of series. %s : %d\n", __FILE__, __LINE__);
+void GraphDrawer::add_samples(std::vector<point_t> new_samples) {
+  if (series.size() != new_samples.size()) {
+    printf("Mismatch between # of samples given and number of series. %s : %d\n", __FILE__, __LINE__);
+  }
+  for (size_t i = 0; i < series.size(); i++) {
+    series[i][sample_index] = new_samples[i];
+    if (auto_fit) {
+      upper = fmax(upper, new_samples[i].y);
+      lower = fmin(lower, new_samples[i].y);
     }
-    for (size_t i = 0; i < series.size(); i++)
-    {
-        series[i][sample_index] = new_samples[i];
-        if (auto_fit)
-        {
-            upper = fmax(upper, new_samples[i].y);
-            lower = fmin(lower, new_samples[i].y);
-        }
-    }
-    sample_index++;
-    sample_index %= series[0].size();
+  }
+  sample_index++;
+  sample_index %= series[0].size();
 }
 
-void GraphDrawer::add_samples(std::vector<double> new_samples)
-{
-    if (series.size() != new_samples.size())
-    {
-        printf("Mismatch between # of samples given and number of series. %s : %d\n", __FILE__, __LINE__);
-    }
-    for (size_t i = 0; i < series.size(); i++)
-    {
-        series[i][sample_index] = {(double)vex::timer::system(), new_samples[i]};
-        if (auto_fit)
-        {
-            upper = fmax(upper, new_samples[i]);
-            lower = fmin(lower, new_samples[i]);
-        }
+void GraphDrawer::add_samples(std::vector<double> new_samples) {
+  if (series.size() != new_samples.size()) {
+    printf("Mismatch between # of samples given and number of series. %s : %d\n", __FILE__, __LINE__);
+  }
+  for (size_t i = 0; i < series.size(); i++) {
+    series[i][sample_index] = {(double)vex::timer::system(), new_samples[i]};
+    if (auto_fit) {
+      upper = fmax(upper, new_samples[i]);
+      lower = fmin(lower, new_samples[i]);
     }
-    sample_index++;
-    sample_index %= series[0].size();
+  }
+  sample_index++;
+  sample_index %= series[0].size();
 }
 
 /**
@@ -77,61 +67,54 @@ void GraphDrawer::add_samples(std::vector<double> new_samples)
  * @param width the width of the graphed region
  * @param height the height of the graphed region
  */
-void GraphDrawer::draw(vex::brain::lcd &screen, int x, int y, int width, int height)
-{
-    if (series[0].size() < 1)
-    {
-        return;
-    }
-    if (cols.size() != series.size())
-    {
-        printf("The number of colors does not match the number of series in graph drawer\n");
-    }
+void GraphDrawer::draw(vex::brain::lcd &screen, int x, int y, int width, int height) {
+  if (series[0].size() < 1) {
+    return;
+  }
+  if (cols.size() != series.size()) {
+    printf("The number of colors does not match the number of series in graph drawer\n");
+  }
 
-    size_t newest_index = (sample_index-1);
-    if (sample_index<0){
-        sample_index+=series[0].size();
-    }
+  size_t newest_index = (sample_index - 1);
+  if (sample_index < 0) {
+    sample_index += series[0].size();
+  }
 
-    double earliest_time = series[0][sample_index].x;
-    double latest_time = series[0][newest_index].x;
-    // collect data
-    if (std::abs(latest_time - earliest_time) < 0.001)
-    {
-        screen.printAt(width / 2, height / 2, "Not enough Data");
-        return;
-    }
+  double earliest_time = series[0][sample_index].x;
+  double latest_time = series[0][newest_index].x;
+  // collect data
+  if (std::abs(latest_time - earliest_time) < 0.001) {
+    screen.printAt(width / 2, height / 2, "Not enough Data");
+    return;
+  }
 
-    if (border)
-    {
-        screen.setPenWidth(1);
-        screen.setPenColor(vex::white);
-        screen.setFillColor(bgcol);
-        screen.drawRectangle(x, y, width, height);
-    }
+  if (border) {
+    screen.setPenWidth(1);
+    screen.setPenColor(vex::white);
+    screen.setFillColor(bgcol);
+    screen.drawRectangle(x, y, width, height);
+  }
 
-    double time_range = latest_time - earliest_time;
-    double sample_range = upper - lower;
-    screen.setPenWidth(2);
+  double time_range = latest_time - earliest_time;
+  double sample_range = upper - lower;
+  screen.setPenWidth(2);
 
-    for (int j = 0; j < series.size(); j++)
-    {
-        double x_s = (double)x;
-        double y_s = (double)y + (double)height;
-        const std::vector<point_t> &samples = series[j];
+  for (int j = 0; j < series.size(); j++) {
+    double x_s = (double)x;
+    double y_s = (double)y + (double)height;
+    const std::vector<point_t> &samples = series[j];
 
-        screen.setPenColor(cols[j]);
-        for (int i = sample_index; i < samples.size() + sample_index - 1; i++)
-        {
-            point_t p = samples[i % samples.size()];
-            double x_pos = x_s + ((p.x - earliest_time) / time_range) * (double)width;
-            double y_pos = y_s + ((p.y - lower) / sample_range) * (double)(-height);
+    screen.setPenColor(cols[j]);
+    for (int i = sample_index; i < samples.size() + sample_index - 1; i++) {
+      point_t p = samples[i % samples.size()];
+      double x_pos = x_s + ((p.x - earliest_time) / time_range) * (double)width;
+      double y_pos = y_s + ((p.y - lower) / sample_range) * (double)(-height);
 
-            point_t p2 = samples[(i + 1) % samples.size()];
-            double x_pos2 = x_s + ((p2.x - earliest_time) / time_range) * (double)width;
-            double y_pos2 = y_s + ((p2.y - lower) / sample_range) * (double)(-height);
+      point_t p2 = samples[(i + 1) % samples.size()];
+      double x_pos2 = x_s + ((p2.x - earliest_time) / time_range) * (double)width;
+      double y_pos2 = y_s + ((p2.y - lower) / sample_range) * (double)(-height);
 
-            screen.drawLine((int)x_pos, (int)y_pos, (int)x_pos2, (int)y_pos2);
-        }
+      screen.drawLine((int)x_pos, (int)y_pos, (int)x_pos2, (int)y_pos2);
     }
+  }
 }
diff --git a/src/utils/logger.cpp b/src/utils/logger.cpp
index 65ff58d..5e35b90 100644
--- a/src/utils/logger.cpp
+++ b/src/utils/logger.cpp
@@ -1,84 +1,71 @@
 #include "../core/include/utils/logger.h"
 #include <stdarg.h>
 
-void Logger::write_level(LogLevel l)
-{
-    unsigned char *debug = (unsigned char *)"DEBUG: ";
-    unsigned char *notice = (unsigned char *)"NOTICE: ";
-    unsigned char *warning = (unsigned char *)"WARNING: ";
-    unsigned char *error = (unsigned char *)"ERROR: ";
-    unsigned char *critical = (unsigned char *)"CRITICAL: ";
-    switch (l)
-    {
-    case DEBUG:
-        sd.appendfile(filename.c_str(), debug, 7);
-        break;
-    case NOTICE:
-        sd.appendfile(filename.c_str(), notice, 8);
-        break;
-    case WARNING:
-        sd.appendfile(filename.c_str(), warning, 9);
-        break;
-    case ERROR:
-        sd.appendfile(filename.c_str(), error, 7);
-        break;
-    case CRITICAL:
-        sd.appendfile(filename.c_str(), critical, 10);
-        break;
-    case TIME:
-        int32_t msec = vexSystemTimeGet();
-        Logf("%d: ", msec);
-        break;
-    };
+void Logger::write_level(LogLevel l) {
+  unsigned char *debug = (unsigned char *)"DEBUG: ";
+  unsigned char *notice = (unsigned char *)"NOTICE: ";
+  unsigned char *warning = (unsigned char *)"WARNING: ";
+  unsigned char *error = (unsigned char *)"ERROR: ";
+  unsigned char *critical = (unsigned char *)"CRITICAL: ";
+  switch (l) {
+  case DEBUG:
+    sd.appendfile(filename.c_str(), debug, 7);
+    break;
+  case NOTICE:
+    sd.appendfile(filename.c_str(), notice, 8);
+    break;
+  case WARNING:
+    sd.appendfile(filename.c_str(), warning, 9);
+    break;
+  case ERROR:
+    sd.appendfile(filename.c_str(), error, 7);
+    break;
+  case CRITICAL:
+    sd.appendfile(filename.c_str(), critical, 10);
+    break;
+  case TIME:
+    int32_t msec = vexSystemTimeGet();
+    Logf("%d: ", msec);
+    break;
+  };
 }
 
-Logger::Logger(const std::string &filename) : filename(filename) {
-    sd.savefile(filename.c_str(), NULL, 0);
-}
+Logger::Logger(const std::string &filename) : filename(filename) { sd.savefile(filename.c_str(), NULL, 0); }
 
-void Logger::Log(const std::string &s)
-{
-    sd.appendfile(filename.c_str(), (unsigned char *)s.c_str(), s.size());
-}
-void Logger::Log(LogLevel level, const std::string &s)
-{
-    write_level(level);
-    sd.appendfile(filename.c_str(), (unsigned char *)s.c_str(), s.size());
+void Logger::Log(const std::string &s) { sd.appendfile(filename.c_str(), (unsigned char *)s.c_str(), s.size()); }
+void Logger::Log(LogLevel level, const std::string &s) {
+  write_level(level);
+  sd.appendfile(filename.c_str(), (unsigned char *)s.c_str(), s.size());
 }
 
-void Logger::Logln(const std::string &s)
-{
-    sd.appendfile(filename.c_str(), (unsigned char *)s.c_str(), s.size());
-    unsigned char newline = '\n';
-    sd.appendfile(filename.c_str(), &newline, 1);
+void Logger::Logln(const std::string &s) {
+  sd.appendfile(filename.c_str(), (unsigned char *)s.c_str(), s.size());
+  unsigned char newline = '\n';
+  sd.appendfile(filename.c_str(), &newline, 1);
 }
-void Logger::Logln(LogLevel level, const std::string &s)
-{
-    write_level(level);
-    Logln(s);
+void Logger::Logln(LogLevel level, const std::string &s) {
+  write_level(level);
+  Logln(s);
 }
 
-void Logger::Logf(const char *fmt, ...)
-{
-    char buf[MAX_FORMAT_LEN];
-    va_list args;
-    va_start(args, fmt);
-
-    int32_t written = vex_vsnprintf(buf, MAX_FORMAT_LEN, fmt, args);
+void Logger::Logf(const char *fmt, ...) {
+  char buf[MAX_FORMAT_LEN];
+  va_list args;
+  va_start(args, fmt);
 
-    va_end(args);
-    sd.appendfile(filename.c_str(), (unsigned char *)buf, written);
+  int32_t written = vex_vsnprintf(buf, MAX_FORMAT_LEN, fmt, args);
 
+  va_end(args);
+  sd.appendfile(filename.c_str(), (unsigned char *)buf, written);
 }
-void Logger::Logf(LogLevel level, const char *fmt, ...)
-{
-    char buf[MAX_FORMAT_LEN];
+void Logger::Logf(LogLevel level, const char *fmt, ...) {
+  char buf[MAX_FORMAT_LEN];
 
-    write_level(level);
-    va_list args;
-    va_start(args, fmt);
-    int32_t written = vex_vsnprintf(buf, MAX_FORMAT_LEN, fmt, args);
-    va_end(args);
+  write_level(level);
+  va_list args;
+  va_start(args, fmt);
+  int32_t written = vex_vsnprintf(buf, MAX_FORMAT_LEN, fmt, args);
+  va_end(args);
 
-    sd.appendfile(filename.c_str(), (unsigned char *)buf, written);
+  sd.appendfile(filename.c_str(), (unsigned char *)buf, written);
 }
diff --git a/src/utils/math_util.cpp b/src/utils/math_util.cpp
index ba4f394..03954a4 100644
--- a/src/utils/math_util.cpp
+++ b/src/utils/math_util.cpp
@@ -12,23 +12,16 @@
  * @param low  the minimum value that will be returned
  * @param high the maximum value that will be returned
  **/
-double clamp(double val, double low, double high)
-{
-  if (val < low)
-  {
+double clamp(double val, double low, double high) {
+  if (val < low) {
     return low;
-  }
-  else if (val > high)
-  {
+  } else if (val > high) {
     return high;
   }
   return val;
 }
 
-double lerp(double a, double b, double t)
-{
-  return a * (1.0 - t) + b * t;
-}
+double lerp(double a, double b, double t) { return a * (1.0 - t) + b * t; }
 
 /**
  * Returns the sign of a number
@@ -36,31 +29,27 @@ double lerp(double a, double b, double t)
  *
  * returns the sign +/-1 of x. special case at 0 it returns +1
  **/
-double sign(double x)
-{
-  if (x < 0)
-  {
+double sign(double x) {
+  if (x < 0) {
     return -1;
   }
   return 1;
 }
 
-double wrap_angle_deg(double input)
-{
+double wrap_angle_deg(double input) {
   double angle = fmod(input, 360);
   if (angle < 0) {
     angle += 360;
-}
+  }
 
   return angle;
 }
 
-double wrap_angle_rad(double input)
-{
+double wrap_angle_rad(double input) {
   double angle = fmod(input, 2 * PI);
   if (angle < 0) {
     angle += 2 * PI;
-}
+  }
 
   return angle;
 }
@@ -68,11 +57,9 @@ double wrap_angle_rad(double input)
 Calculates the average of a vector of doubles
 @param values   the list of values for which the average is taken
 */
-double mean(std::vector<double> const &values)
-{
+double mean(std::vector<double> const &values) {
   double total = 0;
-  for (int i = 0; i < values.size(); i++)
-  {
+  for (int i = 0; i < values.size(); i++) {
     total += values[i];
   }
   return total / (double)values.size();
@@ -84,11 +71,9 @@ Calculates the variance of  a set of numbers (needed for linear regression)
 @param values   the values for which the covariance is taken
 @param mean     the average of values
 */
-double variance(std::vector<double> const &values, double mean)
-{
+double variance(std::vector<double> const &values, double mean) {
   double total = 0.0;
-  for (int i = 0; i < values.size(); i++)
-  {
+  for (int i = 0; i < values.size(); i++) {
     total += (values[i] - mean) * (values[i] - mean);
   }
   return total / (values.size() - 1);
@@ -103,11 +88,9 @@ Calculates the covariance of a set of points (needed for linear regression)
 @param meanx    the mean value of all x coordinates in points
 @param meany    the mean value of all y coordinates in points
 */
-double covariance(std::vector<std::pair<double, double>> const &points, double meanx, double meany)
-{
+double covariance(std::vector<std::pair<double, double>> const &points, double meanx, double meany) {
   double covar = 0.0;
-  for (int i = 0; i < points.size(); i++)
-  {
+  for (int i = 0; i < points.size(); i++) {
     covar += (points[i].first - meanx) * (points[i].second - meany);
   }
   return covar;
@@ -118,13 +101,12 @@ double covariance(std::vector<std::pair<double, double>> const &points, double m
  * @param points the points for the data
  * @return slope, y intercept. y = m(x)+b. std::pair<m, b>
  */
-std::pair<double, double> calculate_linear_regression(std::vector<std::pair<double, double>> const &points)
-{
-  // Purely for convenience and the ability to reuse mean() and variance() - can be easily rewritten to avoid allocating these if the code is repeatedly called
+std::pair<double, double> calculate_linear_regression(std::vector<std::pair<double, double>> const &points) {
+  // Purely for convenience and the ability to reuse mean() and variance() - can be easily rewritten to avoid allocating
+  // these if the code is repeatedly called
   std::vector<double> xs(points.size(), 0.0);
   std::vector<double> ys(points.size(), 0.0);
-  for (int i = 0; i < points.size(); i++)
-  {
+  for (int i = 0; i < points.size(); i++) {
     xs[i] = points[i].first;
     ys[i] = points[i].second;
   }
@@ -138,18 +120,16 @@ std::pair<double, double> calculate_linear_regression(std::vector<std::pair<doub
   return std::pair<double, double>(slope, y_intercept);
 }
 
-double estimate_path_length(const std::vector<point_t> &points)
-{
+double estimate_path_length(const std::vector<point_t> &points) {
   double dist = 0;
 
-  for (point_t p : points)
-  {
+  for (point_t p : points) {
     static point_t last_p = p;
 
     // Ignore the first point
     if (p == last_p) {
       continue;
-}
+    }
 
     dist += p.dist(last_p);
     last_p = p;
diff --git a/src/utils/moving_average.cpp b/src/utils/moving_average.cpp
index 1073776..14803a6 100644
--- a/src/utils/moving_average.cpp
+++ b/src/utils/moving_average.cpp
@@ -1,17 +1,19 @@
-#include <vector>
 #include "../core/include/utils/moving_average.h"
 #include <cmath>
+#include <vector>
 
 /*
  * MovingAverage
  *
- * A moving average is a way of smoothing out noisy data. For many sensor readings, the noise is roughly symmetric around the actual value.
- * This means that if you collect enough samples those that are too high are cancelled out by the samples that are too low leaving the real value.
+ * A moving average is a way of smoothing out noisy data. For many sensor readings, the noise is roughly symmetric
+ * around the actual value. This means that if you collect enough samples those that are too high are cancelled out by
+ * the samples that are too low leaving the real value.
  *
  * The MovingAverage class provides a simple interface to do this smoothing from our noisy sensor values.
  *
- * WARNING: because we need a lot of samples to get the actual value, the value given by the MovingAverage will 'lag' behind the actual value that the sensor is reading.
- * Using a MovingAverage is thus a tradeoff between accuracy and lag time (more samples) vs. less accuracy and faster updating (less samples).
+ * WARNING: because we need a lot of samples to get the actual value, the value given by the MovingAverage will 'lag'
+ * behind the actual value that the sensor is reading. Using a MovingAverage is thus a tradeoff between accuracy and lag
+ * time (more samples) vs. less accuracy and faster updating (less samples).
  *
  */
 
@@ -20,8 +22,7 @@
  *
  * @param buffer_size    The size of the buffer. The number of samples that constitute a valid reading
  */
-MovingAverage::MovingAverage(int buffer_size)
-{
+MovingAverage::MovingAverage(int buffer_size) {
   buffer = std::vector<double>(buffer_size, 0.0);
   buffer_index = 0;
   current_avg = 0;
@@ -32,8 +33,7 @@ MovingAverage::MovingAverage(int buffer_size)
  * @param buffer_size    The size of the buffer. The number of samples that constitute a valid reading
  * @param starting_value The value that the average will be before any data is added
  */
-MovingAverage::MovingAverage(int buffer_size, double starting_value)
-{
+MovingAverage::MovingAverage(int buffer_size, double starting_value) {
   buffer = std::vector<double>(buffer_size, starting_value);
   buffer_index = 0;
   current_avg = starting_value;
@@ -49,8 +49,7 @@ MovingAverage::MovingAverage(int buffer_size, double starting_value)
  *     ^
  * @param n  the sample that will be added to the moving average.
  */
-void MovingAverage::add_entry(double n)
-{
+void MovingAverage::add_entry(double n) {
   current_avg -= buffer[buffer_index] / (double)get_size();
   current_avg += n / get_size();
   buffer[buffer_index] = n;
@@ -63,24 +62,17 @@ void MovingAverage::add_entry(double n)
  * How many samples the average is made from
  * @return the number of samples used to calculate this average
  */
-double MovingAverage::get_value() const
-{
-  return current_avg;
-}
+double MovingAverage::get_value() const { return current_avg; }
 
 // How many samples the average is made from
-int MovingAverage::get_size() const
-{
-  return buffer.size();
-}
+int MovingAverage::get_size() const { return buffer.size(); }
 
 /**
  * Create a moving average calculator with 0 as the default value
  *
  * @param buffer_size    The size of the buffer. The number of samples that constitute a valid reading
  */
-ExponentialMovingAverage::ExponentialMovingAverage(int buffer_size)
-{
+ExponentialMovingAverage::ExponentialMovingAverage(int buffer_size) {
   buffer = std::vector<double>(buffer_size, 0.0);
   buffer_index = 0;
   current_avg = 0;
@@ -91,8 +83,7 @@ ExponentialMovingAverage::ExponentialMovingAverage(int buffer_size)
  * @param buffer_size    The size of the buffer. The number of samples that constitute a valid reading
  * @param starting_value The value that the average will be before any data is added
  */
-ExponentialMovingAverage::ExponentialMovingAverage(int buffer_size, double starting_value)
-{
+ExponentialMovingAverage::ExponentialMovingAverage(int buffer_size, double starting_value) {
   buffer = std::vector<double>(buffer_size, starting_value);
   buffer_index = 0;
   current_avg = starting_value;
@@ -108,8 +99,7 @@ ExponentialMovingAverage::ExponentialMovingAverage(int buffer_size, double start
  *     ^
  * @param n  the sample that will be added to the moving average.
  */
-void ExponentialMovingAverage::add_entry(double n)
-{
+void ExponentialMovingAverage::add_entry(double n) {
   int oldest_index = buffer_index;
   double oldest_sample = buffer[oldest_index];
   double oldest_weight = 1.0 / pow(2, (double)(buffer.size() - 1));
@@ -131,13 +121,7 @@ void ExponentialMovingAverage::add_entry(double n)
  * How many samples the average is made from
  * @return the number of samples used to calculate this average
  */
-double ExponentialMovingAverage::get_value() const
-{
-  return current_avg;
-}
+double ExponentialMovingAverage::get_value() const { return current_avg; }
 
 // How many samples the average is made from
-int ExponentialMovingAverage::get_size()
-{
-  return buffer.size();
-}
+int ExponentialMovingAverage::get_size() { return buffer.size(); }
diff --git a/src/utils/pure_pursuit.cpp b/src/utils/pure_pursuit.cpp
index ffdd36b..b33e4e1 100644
--- a/src/utils/pure_pursuit.cpp
+++ b/src/utils/pure_pursuit.cpp
@@ -10,26 +10,28 @@ PurePursuit::Path::Path(std::vector<point_t> points, double radius) {
   this->radius = radius;
   this->valid = true;
 
-  for(int i = 0; i < points.size() - 1; i++) {
-    for(int j = i + 2; j < points.size() - 1; j++) {
+  for (int i = 0; i < points.size() - 1; i++) {
+    for (int j = i + 2; j < points.size() - 1; j++) {
       // Iterate over points on the segments discretely and compare distances
-      double segment_i_dist = points[i].dist(points[i+1]);
-      if (segment_i_dist == 0) { segment_i_dist = 0.1;
-}
-      double segment_j_dist = points[j].dist(points[j+1]);
-      if (segment_j_dist == 0) { segment_j_dist = 0.1;
-}
-      for(double t1 = 0; t1 <= 1; t1 += radius / segment_i_dist) {
+      double segment_i_dist = points[i].dist(points[i + 1]);
+      if (segment_i_dist == 0) {
+        segment_i_dist = 0.1;
+      }
+      double segment_j_dist = points[j].dist(points[j + 1]);
+      if (segment_j_dist == 0) {
+        segment_j_dist = 0.1;
+      }
+      for (double t1 = 0; t1 <= 1; t1 += radius / segment_i_dist) {
         point_t p1;
-        p1.x = points[i].x + t1 * (points[i+1].x - points[i].x);
-        p1.y = points[i].y + t1 * (points[i+1].y - points[i].y);
+        p1.x = points[i].x + t1 * (points[i + 1].x - points[i].x);
+        p1.y = points[i].y + t1 * (points[i + 1].y - points[i].y);
 
-        for(double t2 = 0; t2 <= 1; t2 += radius / segment_j_dist) {
+        for (double t2 = 0; t2 <= 1; t2 += radius / segment_j_dist) {
           point_t p2;
-          p2.x = points[j].x + t2 * (points[j+1].x - points[j].x);
-          p2.y = points[j].y + t2 * (points[j+1].y - points[j].y);
+          p2.x = points[j].x + t2 * (points[j + 1].x - points[j].x);
+          p2.y = points[j].y + t2 * (points[j + 1].y - points[j].y);
 
-          if(p1.dist(p2) < radius) {
+          if (p1.dist(p2) < radius) {
             this->valid = false;
             return;
           }
@@ -42,67 +44,59 @@ PurePursuit::Path::Path(std::vector<point_t> points, double radius) {
 /**
  * Get the points associated with this Path
  */
-std::vector<point_t> PurePursuit::Path::get_points() {
-  return this->points;
-}
+std::vector<point_t> PurePursuit::Path::get_points() { return this->points; }
 
 /**
  * Get the radius associated with this Path
  */
-double PurePursuit::Path::get_radius() {
-  return this->radius;
-}
+double PurePursuit::Path::get_radius() { return this->radius; }
 
 /**
  * Get whether this path will behave as expected
  */
-bool PurePursuit::Path::is_valid() {
-  return this->valid;
-}
+bool PurePursuit::Path::is_valid() { return this->valid; }
 
 /**
-  * Returns points of the intersections of a line segment and a circle. The line 
-  * segment is defined by two points, and the circle is defined by a center and radius.
-  */
-std::vector<point_t> PurePursuit::line_circle_intersections(point_t center, double r, point_t point1, point_t point2)
-{
+ * Returns points of the intersections of a line segment and a circle. The line
+ * segment is defined by two points, and the circle is defined by a center and radius.
+ */
+std::vector<point_t> PurePursuit::line_circle_intersections(point_t center, double r, point_t point1, point_t point2) {
   std::vector<point_t> intersections = {};
 
-  //Do future calculations relative to the circle's center
+  // Do future calculations relative to the circle's center
   point1.y -= center.y;
   point1.x -= center.x;
   point2.y -= center.y;
   point2.x -= center.x;
 
   double x1, x2, y1, y2;
-  //Handling an infinite slope using mx+b and x^2 + y^2 = r^2
-  if(point1.x - point2.x == 0)
-  {
+  // Handling an infinite slope using mx+b and x^2 + y^2 = r^2
+  if (point1.x - point2.x == 0) {
     x1 = point1.x;
     y1 = sqrt(pow(r, 2) - pow(x1, 2));
     x2 = point1.x;
     y2 = -sqrt(pow(r, 2) - pow(x2, 2));
   }
-  //Non-infinite slope using mx+b and x^2 + y^2 = r^2
-  else
-  {
+  // Non-infinite slope using mx+b and x^2 + y^2 = r^2
+  else {
     double m = (point1.y - point2.y) / (point1.x - point2.x);
     double b = point1.y - (m * point1.x);
 
-    x1 = ((-m * b) + sqrt(pow(r, 2) + (pow(m, 2) * pow(r, 2)) - pow(b, 2))) / (1 + pow(m,2));
+    x1 = ((-m * b) + sqrt(pow(r, 2) + (pow(m, 2) * pow(r, 2)) - pow(b, 2))) / (1 + pow(m, 2));
     y1 = m * x1 + b;
-    x2 = ((-m * b) - sqrt(pow(r, 2) + (pow(m, 2) * pow(r, 2)) - pow(b, 2))) / (1 + pow(m,2));
+    x2 = ((-m * b) - sqrt(pow(r, 2) + (pow(m, 2) * pow(r, 2)) - pow(b, 2))) / (1 + pow(m, 2));
     y2 = m * x2 + b;
   }
 
-  //The equations used define an infinitely long line, so we check if the detected intersection falls on the line segment.
-  if(x1 >= fmin(point1.x, point2.x) && x1 <= fmax(point1.x, point2.x) && y1 >= fmin(point1.y, point2.y) && y1 <= fmax(point1.y, point2.y))
-  {
+  // The equations used define an infinitely long line, so we check if the detected intersection falls on the line
+  // segment.
+  if (x1 >= fmin(point1.x, point2.x) && x1 <= fmax(point1.x, point2.x) && y1 >= fmin(point1.y, point2.y) &&
+      y1 <= fmax(point1.y, point2.y)) {
     intersections.push_back(point_t{.x = x1 + center.x, .y = y1 + center.y});
   }
 
-  if(x2 >= fmin(point1.x, point2.x) && x2 <= fmax(point1.x, point2.x) && y2 >= fmin(point1.y, point2.y) && y2 <= fmax(point1.y, point2.y))
-  {
+  if (x2 >= fmin(point1.x, point2.x) && x2 <= fmax(point1.x, point2.x) && y2 >= fmin(point1.y, point2.y) &&
+      y2 <= fmax(point1.y, point2.y)) {
     intersections.push_back(point_t{.x = x2 + center.x, .y = y2 + center.y});
   }
 
@@ -112,31 +106,26 @@ std::vector<point_t> PurePursuit::line_circle_intersections(point_t center, doub
 /**
  * Selects a look ahead from all the intersections in the path.
  */
-[[maybe_unused]] point_t PurePursuit::get_lookahead(const std::vector<point_t> &path, pose_t robot_loc, double radius)
-{ 
-  //Default: the end of the path
+[[maybe_unused]] point_t PurePursuit::get_lookahead(const std::vector<point_t> &path, pose_t robot_loc, double radius) {
+  // Default: the end of the path
   point_t target = path.back();
 
-
-  if(target.dist(robot_loc.get_point()) <= radius)
-  {
+  if (target.dist(robot_loc.get_point()) <= radius) {
     return target;
   }
-  
-  //Check each line segment of the path for potential targets
-  for(int i = 0; i < path.size() - 1; i++)
-  {
+
+  // Check each line segment of the path for potential targets
+  for (int i = 0; i < path.size() - 1; i++) {
     point_t start = path[i];
-    point_t end = path[i+1];
+    point_t end = path[i + 1];
 
     std::vector<point_t> intersections = line_circle_intersections(robot_loc.get_point(), radius, start, end);
-    //Choose the intersection that is closest to the end of the line segment
-    //This prioritizes the closest intersection to the end of the path
-    for(point_t intersection: intersections)
-    {
-      if(intersection.dist(end) < target.dist(end)) {
+    // Choose the intersection that is closest to the end of the line segment
+    // This prioritizes the closest intersection to the end of the path
+    for (point_t intersection : intersections) {
+      if (intersection.dist(end) < target.dist(end)) {
         target = intersection;
-}
+      }
     }
   }
 
@@ -146,32 +135,29 @@ std::vector<point_t> PurePursuit::line_circle_intersections(point_t center, doub
 /**
  Injects points in a path without changing the curvature with a certain spacing.
 */
-[[maybe_unused]] std::vector<point_t> PurePursuit::inject_path(const std::vector<point_t> &path, double spacing)
-{
+[[maybe_unused]] std::vector<point_t> PurePursuit::inject_path(const std::vector<point_t> &path, double spacing) {
   std::vector<point_t> new_path;
 
-  //Injecting points for each line segment
-  for(int i = 0; i < path.size() - 1; i++)
-  {
+  // Injecting points for each line segment
+  for (int i = 0; i < path.size() - 1; i++) {
     point_t start = path[i];
-    point_t end = path[i+1];
+    point_t end = path[i + 1];
 
     point_t diff = end - start;
     Vector2D vector = Vector2D(diff);
-    
+
     int num_points = ceil(vector.get_mag() / spacing);
 
-    //This is the vector between each point
+    // This is the vector between each point
     vector = vector.normalize() * spacing;
 
-    for(int j = 0; j < num_points; j++)
-    {
-      //We take the start point and add additional vectors
+    for (int j = 0; j < num_points; j++) {
+      // We take the start point and add additional vectors
       point_t path_point = (Vector2D(start) + vector * j).point();
       new_path.push_back(path_point);
     }
   }
-  //Adds the last point
+  // Adds the last point
   new_path.push_back(path.back());
   return new_path;
 }
@@ -185,28 +171,26 @@ std::vector<point_t> PurePursuit::line_circle_intersections(point_t center, doub
  *
  * Honestly have no idea if/how this works.
  * https://medium.com/@jaems33/understanding-robot-motion-path-smoothing-5970c8363bc4
-*/
-[[maybe_unused]] std::vector<point_t> PurePursuit::smooth_path(const std::vector<point_t> &path, double weight_data, double weight_smooth, double tolerance)
-{
+ */
+[[maybe_unused]] std::vector<point_t> PurePursuit::smooth_path(const std::vector<point_t> &path, double weight_data,
+                                                               double weight_smooth, double tolerance) {
   std::vector<point_t> new_path = path;
   double change = tolerance;
-  while(change >= tolerance)
-  {
+  while (change >= tolerance) {
     change = 0;
-    for(int i = 1; i < path.size() - 1; i++)
-    {
-        point_t x_i = path[i];
-        point_t y_i = new_path[i];
-        point_t y_prev = new_path[i-1];
-        point_t y_next = new_path[i+1];
-        
-        point_t y_i_saved = y_i;
-        
-        y_i.x += weight_data * (x_i.x - y_i.x) + weight_smooth * (y_next.x + y_prev.x - (2 * y_i.x));
-        y_i.y += weight_data * (x_i.y - y_i.y) + weight_smooth * (y_next.y + y_prev.y - (2 * y_i.y));
-        new_path[i] = y_i;
-        
-        change += y_i.dist(y_i_saved);
+    for (int i = 1; i < path.size() - 1; i++) {
+      point_t x_i = path[i];
+      point_t y_i = new_path[i];
+      point_t y_prev = new_path[i - 1];
+      point_t y_next = new_path[i + 1];
+
+      point_t y_i_saved = y_i;
+
+      y_i.x += weight_data * (x_i.x - y_i.x) + weight_smooth * (y_next.x + y_prev.x - (2 * y_i.x));
+      y_i.y += weight_data * (x_i.y - y_i.y) + weight_smooth * (y_next.y + y_prev.y - (2 * y_i.y));
+      new_path[i] = y_i;
+
+      change += y_i.dist(y_i_saved);
     }
   }
   return new_path;
@@ -220,78 +204,73 @@ std::vector<point_t> PurePursuit::line_circle_intersections(point_t center, doub
  * @param steps The number of points interpolated between points.
  * @return The smoothed path.
  */
-[[maybe_unused]] std::vector<point_t> PurePursuit::smooth_path_hermite(const std::vector<hermite_point> &path, double steps) {
+[[maybe_unused]] std::vector<point_t> PurePursuit::smooth_path_hermite(const std::vector<hermite_point> &path,
+                                                                       double steps) {
   std::vector<point_t> new_path;
-  for(int i = 0; i < path.size() - 1; i++) {
-    for(int t = 0; t < steps; t++) {
+  for (int i = 0; i < path.size() - 1; i++) {
+    for (int t = 0; t < steps; t++) {
       // Storing the start and end points and slopes at those points as Vector2Ds.
       point_t tmp = path[i].getPoint();
       Vector2D p1 = Vector2D(tmp);
-      tmp = path[i+1].getPoint();
+      tmp = path[i + 1].getPoint();
       Vector2D p2 = Vector2D(tmp);
       Vector2D t1 = path[i].getTangent();
-      Vector2D t2 = path[i+1].getTangent();
-
+      Vector2D t2 = path[i + 1].getTangent();
 
       // Scale s from 0.0 to 1.0
       double s = (double)t / (double)steps;
 
       // Hermite Blending functions
-      double h1 = 2 * pow(s, 3) - 3 * pow(s, 2) + 1;    
+      double h1 = 2 * pow(s, 3) - 3 * pow(s, 2) + 1;
       double h2 = -2 * pow(s, 3) + 3 * pow(s, 2);
       double h3 = pow(s, 3) - 2 * pow(s, 2) + s;
       double h4 = pow(s, 3) - pow(s, 2);
 
       // Calculate the point
-      Vector2D p = p1 * h1 + p2 * h2 + t1 * h3 + t2 * h4; 
+      Vector2D p = p1 * h1 + p2 * h2 + t1 * h3 + t2 * h4;
       new_path.push_back(p.point());
     }
   }
-  //Adding last point
+  // Adding last point
   new_path.push_back(path.back().getPoint());
   return new_path;
 }
 
-
 /**
  * Estimates the remaining distance from the robot's position to the end,
  * by "searching" for the robot along the path and running a "connect the dots"
  * distance algoritm
- * 
+ *
  * @param path The pure pursuit path the robot is following
  * @param robot_pose The robot's current position
  * @param radius Pure pursuit "radius", used to search for the robot along the path
  * @return A rough estimate of the remaining distance
-*/
-double PurePursuit::estimate_remaining_dist(const std::vector<point_t> &path, pose_t robot_pose, double radius)
-{
+ */
+double PurePursuit::estimate_remaining_dist(const std::vector<point_t> &path, pose_t robot_pose, double radius) {
   point_t lookahead_pt = get_lookahead(path, robot_pose, radius);
-  
+
   if (lookahead_pt == path[path.size() - 1]) {
     return robot_pose.get_point().dist(lookahead_pt);
-}
+  }
 
   double dist = 0;
 
   // Run through the path backwards, adding distances
-  for(int i = path.size()-1; i >= 0; i--)
-  {
+  for (int i = path.size() - 1; i >= 0; i--) {
     // Test if the robot is between the two points
-    auto pts = line_circle_intersections(robot_pose.get_point(), radius, path[i-1], path[i]);
-    
+    auto pts = line_circle_intersections(robot_pose.get_point(), radius, path[i - 1], path[i]);
+
     // There is an intersection? Robot is between the points so add the distance
     // from the bot to the next point and end.
-    if(!pts.empty())
-    {
+    if (!pts.empty()) {
       dist += robot_pose.get_point().dist(path[i]);
       return dist;
     }
-    
+
     // No intersections? Add the distance between the two points and move backwards
     // in the path until we find the robot, or run out of points.
-    dist += path[i-1].dist(path[i]);      
+    dist += path[i - 1].dist(path[i]);
   }
 
   return dist;
 }
-
diff --git a/src/utils/serializer.cpp b/src/utils/serializer.cpp
index fd756e3..c0b60da 100644
--- a/src/utils/serializer.cpp
+++ b/src/utils/serializer.cpp
@@ -9,55 +9,44 @@
 
 /// @brief Convert type to bytes. Overload this for non integer types
 /// @param value value to convert
-template <typename T>
-std::vector<char> to_bytes(T value)
-{
-    // copy bytes of data into vector
-    std::vector<char> value_bytes(sizeof(T));
-    std::copy(static_cast<const char *>(static_cast<const void *>(&value)),
-              static_cast<const char *>(static_cast<const void *>(&value)) + sizeof(value),
-              value_bytes.begin());
-    return value_bytes;
+template <typename T> std::vector<char> to_bytes(T value) {
+  // copy bytes of data into vector
+  std::vector<char> value_bytes(sizeof(T));
+  std::copy(static_cast<const char *>(static_cast<const void *>(&value)),
+            static_cast<const char *>(static_cast<const void *>(&value)) + sizeof(value), value_bytes.begin());
+  return value_bytes;
 }
 
-template <>
-std::vector<char> to_bytes<std::string>(std::string str)
-{
-    std::vector<char> value_bytes(str.size() + 1);
-    std::copy(str.begin(), str.end(), value_bytes.begin());
-    value_bytes[str.size()] = 0x0;
-    return value_bytes;
+template <> std::vector<char> to_bytes<std::string>(std::string str) {
+  std::vector<char> value_bytes(str.size() + 1);
+  std::copy(str.begin(), str.end(), value_bytes.begin());
+  value_bytes[str.size()] = 0x0;
+  return value_bytes;
 }
 
 /// @brief Convert bytes to a type
 /// @param gets data from arbitrary bytes. Overload this for non integer types
-template <typename T>
-T from_bytes(std::vector<char>::const_iterator &position)
-{
-    T value;
-    std::copy(position, position + sizeof(T), static_cast<char *>(static_cast<void *>(&value)));
-    position = position + sizeof(T);
-    return value;
+template <typename T> T from_bytes(std::vector<char>::const_iterator &position) {
+  T value;
+  std::copy(position, position + sizeof(T), static_cast<char *>(static_cast<void *>(&value)));
+  position = position + sizeof(T);
+  return value;
 }
 
-template <>
-std::string from_bytes(std::vector<char>::const_iterator &position)
-{
-    auto pos = position;
-    while (*pos != 0x0)
-    {
-        ++pos;
-    }
-    std::string s(position, pos);
-    position = pos + 1;
-    return s;
+template <> std::string from_bytes(std::vector<char>::const_iterator &position) {
+  auto pos = position;
+  while (*pos != 0x0) {
+    ++pos;
+  }
+  std::string s(position, pos);
+  position = pos + 1;
+  return s;
 }
 
 /// @brief Replaces funny characters in names so they don't mess with serialization specifiers
-std::string sanitize_name(std::string s)
-{
-    std::replace(s.begin(), s.end(), serialization_separator, '-');
-    return s;
+std::string sanitize_name(std::string s) {
+  std::replace(s.begin(), s.end(), serialization_separator, '-');
+  return s;
 }
 
 // Protocol
@@ -82,186 +71,155 @@ std::string sanitize_name(std::string s)
 /// @param data the bytes to add to
 /// @param map the values and names we are talking about
 template <typename value_type>
-static void add_data(std::vector<char> &data, const std::map<std::string, value_type> &map)
-{
-    for (const auto &pair : map)
-    {
-        const std::string &name = pair.first;
-        const value_type value = pair.second;
+static void add_data(std::vector<char> &data, const std::map<std::string, value_type> &map) {
+  for (const auto &pair : map) {
+    const std::string &name = pair.first;
+    const value_type value = pair.second;
 
-        data.insert(data.end(), name.cbegin(), name.cend());
-        data.insert(data.end(), 0x0);
+    data.insert(data.end(), name.cbegin(), name.cend());
+    data.insert(data.end(), 0x0);
 
-        auto bytes = to_bytes<value_type>(value);
-        data.insert(data.end(), bytes.cbegin(), bytes.cend());
-    }
-    data.push_back(serialization_separator);
+    auto bytes = to_bytes<value_type>(value);
+    data.insert(data.end(), bytes.cbegin(), bytes.cend());
+  }
+  data.push_back(serialization_separator);
 }
 
 // reads data of a certain type from a file
 template <typename value_type>
 static std::vector<char>::const_iterator read_data(std::vector<char>::const_iterator begin,
-                                                   std::map<std::string, value_type> &map)
-{
-    std::vector<char>::const_iterator pos = begin;
-
-    while (*pos != serialization_separator)
-    {
-        auto name_start = pos;
-        // read name
-        std::string name = from_bytes<std::string>(name_start);
-        pos += name.size() + 1;
-        // read value
-        value_type value = from_bytes<value_type>(pos);
-        printf("Read Name: %s\n", name.c_str());
-        map.insert({name, value});
-    }
-
-    return pos + 1;
-}
-
-void Serializer::set_int(const std::string &name, int i)
-{
-    ints[sanitize_name(name)] = i;
-    if (flush_always)
-    {
-        save_to_disk();
-    }
-}
-void Serializer::set_bool(const std::string &name, bool b)
-{
-    bools[sanitize_name(name)] = b;
-    if (flush_always)
-    {
-        save_to_disk();
-    }
-}
-void Serializer::set_double(const std::string &name, double d)
-{
-    doubles[sanitize_name(name)] = d;
-    if (flush_always)
-    {
-        save_to_disk();
-    }
-}
-void Serializer::set_string(const std::string &name, std::string str)
-{
-    strings[sanitize_name(name)] = str;
-    if (flush_always)
-    {
-        save_to_disk();
-    }
-}
-
-int Serializer::int_or(const std::string &name, int otherwise)
-{
-    if (ints.count(name))
-    {
-        return ints.at(name);
-    }
-    set_int(name, otherwise);
-    return otherwise;
-}
-bool Serializer::bool_or(const std::string &name, bool otherwise)
-{
-    if (bools.count(name))
-    {
-        return bools.at(name);
-    }
-    set_bool(name, otherwise);
-    return otherwise;
-}
-double Serializer::double_or(const std::string &name, double otherwise)
-{
-    if (doubles.count(name))
-    {
-        return doubles.at(name);
-    }
-    set_double(name, otherwise);
-    return otherwise;
-}
-std::string Serializer::string_or(const std::string &name, std::string otherwise)
-{
-    if (strings.count(name))
-    {
-        return strings.at(name);
-    }
-    set_string(name, otherwise);
-    return otherwise;
+                                                   std::map<std::string, value_type> &map) {
+  std::vector<char>::const_iterator pos = begin;
+
+  while (*pos != serialization_separator) {
+    auto name_start = pos;
+    // read name
+    std::string name = from_bytes<std::string>(name_start);
+    pos += name.size() + 1;
+    // read value
+    value_type value = from_bytes<value_type>(pos);
+    printf("Read Name: %s\n", name.c_str());
+    map.insert({name, value});
+  }
+
+  return pos + 1;
+}
+
+void Serializer::set_int(const std::string &name, int i) {
+  ints[sanitize_name(name)] = i;
+  if (flush_always) {
+    save_to_disk();
+  }
+}
+void Serializer::set_bool(const std::string &name, bool b) {
+  bools[sanitize_name(name)] = b;
+  if (flush_always) {
+    save_to_disk();
+  }
+}
+void Serializer::set_double(const std::string &name, double d) {
+  doubles[sanitize_name(name)] = d;
+  if (flush_always) {
+    save_to_disk();
+  }
+}
+void Serializer::set_string(const std::string &name, std::string str) {
+  strings[sanitize_name(name)] = str;
+  if (flush_always) {
+    save_to_disk();
+  }
+}
+
+int Serializer::int_or(const std::string &name, int otherwise) {
+  if (ints.count(name)) {
+    return ints.at(name);
+  }
+  set_int(name, otherwise);
+  return otherwise;
+}
+bool Serializer::bool_or(const std::string &name, bool otherwise) {
+  if (bools.count(name)) {
+    return bools.at(name);
+  }
+  set_bool(name, otherwise);
+  return otherwise;
+}
+double Serializer::double_or(const std::string &name, double otherwise) {
+  if (doubles.count(name)) {
+    return doubles.at(name);
+  }
+  set_double(name, otherwise);
+  return otherwise;
+}
+std::string Serializer::string_or(const std::string &name, std::string otherwise) {
+  if (strings.count(name)) {
+    return strings.at(name);
+  }
+  set_string(name, otherwise);
+  return otherwise;
 }
 
 /// @brief forms data bytes then saves to filename this was openned with
-void Serializer::save_to_disk() const
-{
-    vex::brain::sdcard sd;
-    if (!sd.isInserted())
-    {
-        printf("!! Trying to Serialize to No SD Card !!\n");
-        return;
-    }
-
-    std::vector<char> data = {};
-    add_data<int>(data, ints);
-    add_data<bool>(data, bools);
-    add_data<double>(data, doubles);
-    add_data<std::string>(data, strings);
-
-
-    int32_t written = sd.savefile(filename.c_str(), (unsigned char *)&data[0], data.size());
-    if (written != data.size())
-    {
-        printf("!! Error writing to `%s`!!\n", filename.c_str());
-        return;
-    }
+void Serializer::save_to_disk() const {
+  vex::brain::sdcard sd;
+  if (!sd.isInserted()) {
+    printf("!! Trying to Serialize to No SD Card !!\n");
+    return;
+  }
+
+  std::vector<char> data = {};
+  add_data<int>(data, ints);
+  add_data<bool>(data, bools);
+  add_data<double>(data, doubles);
+  add_data<std::string>(data, strings);
+
+  int32_t written = sd.savefile(filename.c_str(), (unsigned char *)&data[0], data.size());
+  if (written != data.size()) {
+    printf("!! Error writing to `%s`!!\n", filename.c_str());
+    return;
+  }
 }
 
 /// @brief reads types from file data
-bool Serializer::read_from_disk()
-{
-    vex::brain::sdcard sd;
-    if (!sd.isInserted())
-    {
-        printf("!! Trying to Serialize to No SD Card !!\n");
-        return false;
-    }
-    int size = sd.size(filename.c_str());
-    if (size == 0)
-    {
-        ints = {};
-        doubles = {};
-        bools = {};
-        return true;
-    }
-
-    if (filename == "")
-    {
-        printf("!! Can't write to empty filename!!\n");
-        return false;
-    }
-
-    if (!sd.exists(filename.c_str()))
-    {
-        printf("!!f Trying to Serialize to a file that doesnt exist: Creating %s !!\n", filename.c_str());
-        save_to_disk();
-        return false;
-    }
-
-    std::vector<char> data(size);
-
-    int readsize = sd.loadfile(filename.c_str(), (unsigned char *)&data[0], size);
-    if (size != readsize)
-    {
-        printf("!! Error reading from file !!");
-        ;
-        return false;
-    }
-
-
-    auto bool_start = read_data<int>(data.cbegin(), ints);
-    auto doubles_start = read_data<bool>(bool_start, bools);
-    auto strings_start = read_data<double>(doubles_start, doubles);
-    auto file_end = read_data<std::string>(strings_start, strings);
-    (void)file_end;
-
+bool Serializer::read_from_disk() {
+  vex::brain::sdcard sd;
+  if (!sd.isInserted()) {
+    printf("!! Trying to Serialize to No SD Card !!\n");
+    return false;
+  }
+  int size = sd.size(filename.c_str());
+  if (size == 0) {
+    ints = {};
+    doubles = {};
+    bools = {};
     return true;
+  }
+
+  if (filename == "") {
+    printf("!! Can't write to empty filename!!\n");
+    return false;
+  }
+
+  if (!sd.exists(filename.c_str())) {
+    printf("!!f Trying to Serialize to a file that doesnt exist: Creating %s !!\n", filename.c_str());
+    save_to_disk();
+    return false;
+  }
+
+  std::vector<char> data(size);
+
+  int readsize = sd.loadfile(filename.c_str(), (unsigned char *)&data[0], size);
+  if (size != readsize) {
+    printf("!! Error reading from file !!");
+    ;
+    return false;
+  }
+
+  auto bool_start = read_data<int>(data.cbegin(), ints);
+  auto doubles_start = read_data<bool>(bool_start, bools);
+  auto strings_start = read_data<double>(doubles_start, doubles);
+  auto file_end = read_data<std::string>(strings_start, strings);
+  (void)file_end;
+
+  return true;
 }
diff --git a/src/utils/vector2d.cpp b/src/utils/vector2d.cpp
index 8399b5f..e16822e 100644
--- a/src/utils/vector2d.cpp
+++ b/src/utils/vector2d.cpp
@@ -2,34 +2,29 @@
 
 /**
  * Construct a vector object.
- * 
+ *
  * @param dir Direction, in radians. 'foward' is 0, clockwise positive when viewed from the top.
  * @param mag Magnitude.
  */
-Vector2D::Vector2D(double dir, double mag)
-: dir(dir), mag(mag)
-{
-
-}
+Vector2D::Vector2D(double dir, double mag) : dir(dir), mag(mag) {}
 
 /**
  * Construct a vector object from a cartesian point.
- * 
+ *
  * @param p point_t.x , point_t.y
  */
-Vector2D::Vector2D(point_t p)
-{
-    this->dir = atan2(p.y, p.x);
-    this->mag = sqrt( (p.x*p.x) + (p.y*p.y) );
+Vector2D::Vector2D(point_t p) {
+  this->dir = atan2(p.y, p.x);
+  this->mag = sqrt((p.x * p.x) + (p.y * p.y));
 }
 
 /**
  * Get the direction of the vector, in radians.
  * '0' is forward, clockwise positive when viewed from the top.
- * 
+ *
  * Use r2d() to convert.
  */
-double Vector2D::get_dir() const { return dir;}
+double Vector2D::get_dir() const { return dir; }
 
 /**
  * Get the magnitude of the vector
@@ -39,38 +34,24 @@ double Vector2D::get_mag() const { return mag; }
 /**
  * Get the X component of the vector; positive to the right.
  */
-double Vector2D::get_x() const
-{
-return mag * cos(dir);
-}
+double Vector2D::get_x() const { return mag * cos(dir); }
 
 /**
  * Get the Y component of the vector, positive forward.
  */
-double Vector2D::get_y() const
-{
-return mag * sin(dir);
-}
+double Vector2D::get_y() const { return mag * sin(dir); }
 
 /**
  * Changes the magnetude of the vector to 1
-*/
-Vector2D Vector2D::normalize()
-{
-  return Vector2D(this->dir, 1);
-}
+ */
+Vector2D Vector2D::normalize() { return Vector2D(this->dir, 1); }
 
 /**
  * Convert a direction and magnitude representation to an x, y representation
- * @return the x, y representation of the vector 
-*/
-point_t Vector2D::point()
-{
-  point_t p = 
-  {
-    .x = this->mag * cos(this->dir),
-    .y = this->mag * sin(this->dir)
-  };
+ * @return the x, y representation of the vector
+ */
+point_t Vector2D::point() {
+  point_t p = {.x = this->mag * cos(this->dir), .y = this->mag * sin(this->dir)};
   return p;
 }
 
@@ -79,17 +60,12 @@ point_t Vector2D::point()
  * Vector2D + Vector2D = (this.x + other.x, this.y + other.y)
  * @param other the vector to add to this
  * @return the sum of the vectors
-*/
+ */
 
-Vector2D Vector2D::operator+(const Vector2D &other)
-{
-    point_t p = 
-    {
-        .x = this->get_x() + other.get_x(),
-        .y = this->get_y() + other.get_y()
-    };
+Vector2D Vector2D::operator+(const Vector2D &other) {
+  point_t p = {.x = this->get_x() + other.get_x(), .y = this->get_y() + other.get_y()};
 
-    return Vector2D( p );
+  return Vector2D(p);
 }
 
 /**
@@ -97,39 +73,25 @@ Vector2D Vector2D::operator+(const Vector2D &other)
  * Vector2D - Vector2D = (this.x - other.x, this.y - other.y)
  * @param other the vector to subtract from this
  * @return the difference of the vectors
-*/
-Vector2D Vector2D::operator-(const Vector2D &other)
-{
-    point_t p = 
-    {
-        .x = this->get_x() - other.get_x(),
-        .y = this->get_y() - other.get_y()
-    };
-    return Vector2D( p );
+ */
+Vector2D Vector2D::operator-(const Vector2D &other) {
+  point_t p = {.x = this->get_x() - other.get_x(), .y = this->get_y() - other.get_y()};
+  return Vector2D(p);
 }
 
 /**
  * Scales a Vector2D by a scalar with the * operator
  * @param x the value to scale the vector by
  * @return the this Vector2D scaled by x
-*/
-Vector2D Vector2D::operator*(const double &x)
-{
-  return Vector2D(this->dir, this->mag * x);
-}
+ */
+Vector2D Vector2D::operator*(const double &x) { return Vector2D(this->dir, this->mag * x); }
 
 /**
  * General function for converting degrees to radians
  */
-double deg2rad(double deg)
-{
-    return deg * (PI / 180.0);
-}
+double deg2rad(double deg) { return deg * (PI / 180.0); }
 
 /**
  * General function for converting radians to degrees
  */
-double rad2deg(double rad)
-{
-    return rad * (180.0 / PI);
-}
+double rad2deg(double rad) { return rad * (180.0 / PI); }

From 13ff178fe6985ba3a676703b8315b25fd8aee60a Mon Sep 17 00:00:00 2001
From: cowsed <richie.sommers@outlook.com>
Date: Sun, 25 Feb 2024 14:07:11 -0500
Subject: [PATCH 242/243] mergeeeeeeee

---
 Doxyfile                                      |    4 +-
 include/robot_specs.h                         |   24 +-
 include/subsystems/custom_encoder.h           |   14 +-
 include/subsystems/flywheel.h                 |   45 +-
 include/subsystems/fun/pl_mpeg.h              | 3993 +++++++++++++++++
 include/subsystems/fun/video.h                |   17 +
 include/subsystems/layout.h                   |   11 +-
 include/subsystems/lift.h                     |  291 +-
 include/subsystems/mecanum_drive.h            |  114 +-
 include/subsystems/odometry/odometry_3wheel.h |  128 +-
 include/subsystems/odometry/odometry_base.h   |  257 +-
 include/subsystems/odometry/odometry_tank.h   |  123 +-
 include/subsystems/screen.h                   |  600 ++-
 include/subsystems/tank_drive.h               |  185 +-
 include/utils/auto_chooser.h                  |   13 +-
 .../utils/command_structure/auto_command.h    |   80 +-
 .../utils/command_structure/basic_command.h   |  166 +-
 .../command_structure/command_controller.h    |   50 +-
 .../utils/command_structure/delay_command.h   |   40 +-
 .../utils/command_structure/drive_commands.h  |  344 +-
 .../command_structure/flywheel_commands.h     |  150 +-
 include/utils/controls/bang_bang.h            |   78 +-
 include/utils/controls/feedback_base.h        |   67 +-
 include/utils/controls/feedforward.h          |  115 +-
 include/utils/controls/motion_controller.h    |  230 +-
 include/utils/controls/pid.h                  |   56 +-
 include/utils/controls/pidff.h                |    3 +-
 include/utils/controls/take_back_half.h       |   94 +-
 include/utils/controls/trapezoid_profile.h    |    3 +-
 include/utils/generic_auto.h                  |   54 +-
 include/utils/geometry.h                      |  179 +-
 include/utils/graph_drawer.h                  |   19 +-
 include/utils/logger.h                        |  100 +-
 include/utils/math_util.h                     |   30 +-
 include/utils/moving_average.h                |   29 +-
 include/utils/pure_pursuit.h                  |  212 +-
 include/utils/serializer.h                    |  159 +-
 include/utils/state_machine.h                 |  202 +
 include/utils/vector2d.h                      |  156 +-
 src/subsystems/custom_encoder.cpp             |   39 +-
 src/subsystems/flywheel.cpp                   |   71 +-
 src/subsystems/fun/video.cpp                  |  124 +
 src/subsystems/mecanum_drive.cpp              |  188 +-
 src/subsystems/odometry/odometry_3wheel.cpp   |  381 +-
 src/subsystems/odometry/odometry_base.cpp     |   56 +-
 src/subsystems/odometry/odometry_tank.cpp     |   75 +-
 src/subsystems/screen.cpp                     |   69 +-
 src/subsystems/tank_drive.cpp                 |  418 +-
 src/utils/auto_chooser.cpp                    |   33 +-
 src/utils/command_structure/auto_command.cpp  |  489 +-
 src/utils/command_structure/basic_command.cpp |   46 +-
 .../command_structure/command_controller.cpp  |   73 +-
 .../command_structure/drive_commands.cpp      |   99 +-
 .../command_structure/flywheel_commands.cpp   |   23 +-
 src/utils/controls/bang_bang.cpp              |   53 +-
 src/utils/controls/feedforward.cpp            |  131 +-
 src/utils/controls/motion_controller.cpp      |  300 +-
 src/utils/controls/pid.cpp                    |   21 +-
 src/utils/controls/pidff.cpp                  |   48 +-
 src/utils/controls/take_back_half.cpp         |  116 +-
 src/utils/generic_auto.cpp                    |   79 +-
 src/utils/graph_drawer.cpp                    |  181 +-
 src/utils/logger.cpp                          |  121 +-
 src/utils/math_util.cpp                       |   66 +-
 src/utils/moving_average.cpp                  |   50 +-
 src/utils/pure_pursuit.cpp                    |  211 +-
 src/utils/serializer.cpp                      |  370 +-
 src/utils/trapezoid_profile.cpp               |   54 +-
 src/utils/vector2d.cpp                        |   94 +-
 69 files changed, 8156 insertions(+), 4358 deletions(-)
 create mode 100644 include/subsystems/fun/pl_mpeg.h
 create mode 100644 include/subsystems/fun/video.h
 create mode 100644 include/utils/state_machine.h
 create mode 100644 src/subsystems/fun/video.cpp

diff --git a/Doxyfile b/Doxyfile
index 60b26a6..3807b19 100644
--- a/Doxyfile
+++ b/Doxyfile
@@ -499,7 +499,7 @@ NUM_PROC_THREADS       = 1
 # normally produced when WARNINGS is set to YES.
 # The default value is: NO.
 
-EXTRACT_ALL            = YES
+EXTRACT_ALL            = NO
 
 # If the EXTRACT_PRIVATE tag is set to YES, all private members of a class will
 # be included in the documentation.
@@ -2428,7 +2428,7 @@ HIDE_UNDOC_RELATIONS   = YES
 # set to NO
 # The default value is: NO.
 
-HAVE_DOT               = YES
+HAVE_DOT               = NO
 
 # The DOT_NUM_THREADS specifies the number of dot invocations doxygen is allowed
 # to run in parallel. When set to 0 doxygen will base this on the number of
diff --git a/include/robot_specs.h b/include/robot_specs.h
index 9a5fa0c..d853783 100644
--- a/include/robot_specs.h
+++ b/include/robot_specs.h
@@ -1,25 +1,27 @@
 #pragma once
-#include "../core/include/utils/controls/pid.h"
 #include "../core/include/utils/controls/feedback_base.h"
+#include "../core/include/utils/controls/pid.h"
 
 /**
  * Main robot characterization struct.
- * This will be passed to all the major subsystems 
+ * This will be passed to all the major subsystems
  * that require info about the robot.
  * All distance measurements are in inches.
  */
-typedef struct
-{  
-  double robot_radius; ///< if you were to draw a circle with this radius, the robot would be entirely contained within it
+typedef struct {
+  double
+      robot_radius; ///< if you were to draw a circle with this radius, the robot would be entirely contained within it
 
-  double odom_wheel_diam; ///< the diameter of the wheels used for 
-  double odom_gear_ratio; ///< the ratio of the odometry wheel to the encoder reading odometry data
-  double dist_between_wheels; ///< the distance between centers of the central drive wheels 
+  double odom_wheel_diam;     ///< the diameter of the wheels used for
+  double odom_gear_ratio;     ///< the ratio of the odometry wheel to the encoder reading odometry data
+  double dist_between_wheels; ///< the distance between centers of the central drive wheels
 
-  double drive_correction_cutoff; ///< the distance at which to stop trying to turn towards the target. If we are less than this value, we can continue driving forward to minimize our distance but will not try to spin around to point directly at the target
+  double drive_correction_cutoff; ///< the distance at which to stop trying to turn towards the target. If we are less
+                                  ///< than this value, we can continue driving forward to minimize our distance but
+                                  ///< will not try to spin around to point directly at the target
 
-  Feedback *drive_feedback; ///< the default feedback for autonomous driving
-  Feedback *turn_feedback; ///< the defualt feedback for autonomous turning
+  Feedback *drive_feedback;         ///< the default feedback for autonomous driving
+  Feedback *turn_feedback;          ///< the defualt feedback for autonomous turning
   PID::pid_config_t correction_pid; ///< the pid controller to keep the robot driving in as straight a line as possible
 
 } robot_specs_t;
\ No newline at end of file
diff --git a/include/subsystems/custom_encoder.h b/include/subsystems/custom_encoder.h
index 2b87b86..b9d3e96 100644
--- a/include/subsystems/custom_encoder.h
+++ b/include/subsystems/custom_encoder.h
@@ -5,30 +5,29 @@
  * A wrapper class for the vex encoder that allows the use of 3rd party
  * encoders with different tick-per-revolution values.
  */
-class CustomEncoder : public vex::encoder
-{
+class CustomEncoder : public vex::encoder {
   typedef vex::encoder super;
 
-  public:
+public:
   /**
    * Construct an encoder with a custom number of ticks
    * @param port the triport port on the brain the encoder is plugged into
    * @param ticks_per_rev the number of ticks the encoder will report for one revolution
-  */
+   */
   CustomEncoder(vex::triport::port &port, double ticks_per_rev);
 
   /**
    * sets the stored rotation of the encoder. Any further movements will be from this value
    * @param val the numerical value of the angle we are setting to
    * @param units the unit of val
-  */
+   */
   void setRotation(double val, vex::rotationUnits units);
 
   /**
    * sets the stored position of the encoder. Any further movements will be from this value
    * @param val the numerical value of the position we are setting to
    * @param units the unit of val
-  */
+   */
   void setPosition(double val, vex::rotationUnits units);
 
   /**
@@ -52,7 +51,6 @@ class CustomEncoder : public vex::encoder
    */
   double velocity(vex::velocityUnits units);
 
-
-  private:
+private:
   double tick_scalar;
 };
\ No newline at end of file
diff --git a/include/subsystems/flywheel.h b/include/subsystems/flywheel.h
index c8c42b3..2837d7a 100644
--- a/include/subsystems/flywheel.h
+++ b/include/subsystems/flywheel.h
@@ -1,22 +1,21 @@
 #pragma once
 
-#include "../core/include/utils/controls/feedforward.h"
-#include "vex.h"
 #include "../core/include/robot_specs.h"
-#include "../core/include/utils/controls/pid.h"
-#include "../core/include/utils/command_structure/auto_command.h"
 #include "../core/include/subsystems/screen.h"
+#include "../core/include/utils/command_structure/auto_command.h"
+#include "../core/include/utils/controls/feedforward.h"
+#include "../core/include/utils/controls/pid.h"
+#include "vex.h"
 #include <atomic>
 
 /**
  * a Flywheel class that handles all control of a high inertia spinning disk
- * It gives multiple options for what control system to use in order to control wheel velocity and functions alerting the user when the flywheel is up to speed.
- * Flywheel is a set and forget class.
- * Once you create it you can call spin_rpm or stop on it at any time and it will take all necessary steps to accomplish this
+ * It gives multiple options for what control system to use in order to control wheel velocity and functions alerting
+ * the user when the flywheel is up to speed. Flywheel is a set and forget class. Once you create it you can call
+ * spin_rpm or stop on it at any time and it will take all necessary steps to accomplish this
  *
  */
-class Flywheel
-{
+class Flywheel {
 
 public:
   // CONSTRUCTORS, GETTERS, AND SETTERS
@@ -70,10 +69,7 @@ class Flywheel
    * @brief check if the feedback controller thinks the flywheel is on target
    * @return true if on target
    */
-  bool is_on_target()
-  {
-    return fb.is_on_target();
-  }
+  bool is_on_target() { return fb.is_on_target(); }
 
   /**
    *  @brief Creates a page displaying info about the flywheel
@@ -85,23 +81,22 @@ class Flywheel
    * @brief Creates a new auto command to spin the flywheel at the desired velocity
    * @param rpm the rpm to spin at
    * @return an auto command to add to a command controller
-  */
-  AutoCommand *SpinRpmCmd(int rpm)
-  {
+   */
+  AutoCommand *SpinRpmCmd(int rpm) {
 
-    return new FunctionCommand([this, rpm]()
-                               {spin_rpm(rpm); return true; });
+    return new FunctionCommand([this, rpm]() {
+      spin_rpm(rpm);
+      return true;
+    });
   }
 
   /**
-   * @brief Creates a new auto command that will hold until the flywheel has its target as defined by its feedback controller
+   * @brief Creates a new auto command that will hold until the flywheel has its target as defined by its feedback
+   * controller
    * @return an auto command to add to a command controller
    */
-  AutoCommand *WaitUntilUpToSpeedCmd()
-  {
-    return new WaitUntilCondition(
-        new FunctionCondition([this]()
-                              { return is_on_target(); }));
+  AutoCommand *WaitUntilUpToSpeedCmd() {
+    return new WaitUntilCondition(new FunctionCondition([this]() { return is_on_target(); }));
   }
 
 private:
@@ -116,7 +111,7 @@ class Flywheel
   double ratio;                   ///< ratio between motor and flywheel. For accurate RPM calcualation
   std::atomic<double> target_rpm; ///< Desired RPM of the flywheel.
   task rpm_task;                  ///< task that handles spinning the wheel at a given target_rpm
-  Filter &avger;            ///< Moving average to smooth out noise from
+  Filter &avger;                  ///< Moving average to smooth out noise from
 
   // Functions for internal use only
   /**
diff --git a/include/subsystems/fun/pl_mpeg.h b/include/subsystems/fun/pl_mpeg.h
new file mode 100644
index 0000000..6e2489c
--- /dev/null
+++ b/include/subsystems/fun/pl_mpeg.h
@@ -0,0 +1,3993 @@
+#include "vex.h"
+/*
+PL_MPEG - MPEG1 Video decoder, MP2 Audio decoder, MPEG-PS demuxer
+
+Dominic Szablewski - https://phoboslab.org
+
+
+-- LICENSE: The MIT License(MIT)
+
+Copyright(c) 2019 Dominic Szablewski
+
+Permission is hereby granted, free of charge, to any person obtaining a copy of
+this software and associated documentation files(the "Software"), to deal in
+the Software without restriction, including without limitation the rights to
+use, copy, modify, merge, publish, distribute, sublicense, and / or sell copies
+of the Software, and to permit persons to whom the Software is furnished to do
+so, subject to the following conditions :
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.
+
+
+
+
+-- Synopsis
+
+// Define `PL_MPEG_IMPLEMENTATION` in *one* C/C++ file before including this
+// library to create the implementation.
+
+#define PL_MPEG_IMPLEMENTATION
+#include "plmpeg.h"
+
+// This function gets called for each decoded video frame
+void my_video_callback(plm_t *plm, plm_frame_t *frame, void *user) {
+        // Do something with frame->y.data, frame->cr.data, frame->cb.data
+}
+
+// This function gets called for each decoded audio frame
+void my_audio_callback(plm_t *plm, plm_samples_t *frame, void *user) {
+        // Do something with samples->interleaved
+}
+
+// Load a .mpg (MPEG Program Stream) file
+plm_t *plm = plm_create_with_filename("some-file.mpg");
+
+// Install the video & audio decode callbacks
+plm_set_video_decode_callback(plm, my_video_callback, my_data);
+plm_set_audio_decode_callback(plm, my_audio_callback, my_data);
+
+
+// Decode
+do {
+        plm_decode(plm, time_since_last_call);
+} while (!plm_has_ended(plm));
+
+// All done
+plm_destroy(plm);
+
+
+
+-- Documentation
+
+This library provides several interfaces to load, demux and decode MPEG video
+and audio data. A high-level API combines the demuxer, video & audio decoders
+in an easy to use wrapper.
+
+Lower-level APIs for accessing the demuxer, video decoder and audio decoder,
+as well as providing different data sources are also available.
+
+Interfaces are written in an object oriented style, meaning you create object
+instances via various different constructor functions (plm_*create()),
+do some work on them and later dispose them via plm_*destroy().
+
+plm_* ......... the high-level interface, combining demuxer and decoders
+plm_buffer_* .. the data source used by all interfaces
+plm_demux_* ... the MPEG-PS demuxer
+plm_video_* ... the MPEG1 Video ("mpeg1") decoder
+plm_audio_* ... the MPEG1 Audio Layer II ("mp2") decoder
+
+
+With the high-level interface you have two options to decode video & audio:
+
+ 1. Use plm_decode() and just hand over the delta time since the last call.
+    It will decode everything needed and call your callbacks (specified through
+    plm_set_{video|audio}_decode_callback()) any number of times.
+
+ 2. Use plm_decode_video() and plm_decode_audio() to decode exactly one
+    frame of video or audio data at a time. How you handle the synchronization
+    of both streams is up to you.
+
+If you only want to decode video *or* audio through these functions, you should
+disable the other stream (plm_set_{video|audio}_enabled(FALSE))
+
+Video data is decoded into a struct with all 3 planes (Y, Cr, Cb) stored in
+separate buffers. You can either convert this to RGB on the CPU (slow) via the
+plm_frame_to_rgb() function or do it on the GPU with the following matrix:
+
+mat4 bt601 = mat4(
+        1.16438,  0.00000,  1.59603, -0.87079,
+        1.16438, -0.39176, -0.81297,  0.52959,
+        1.16438,  2.01723,  0.00000, -1.08139,
+        0, 0, 0, 1
+);
+gl_FragColor = vec4(y, cb, cr, 1.0) * bt601;
+
+Audio data is decoded into a struct with either one single float array with the
+samples for the left and right channel interleaved, or if the
+PLM_AUDIO_SEPARATE_CHANNELS is defined *before* including this library, into
+two separate float arrays - one for each channel.
+
+
+Data can be supplied to the high level interface, the demuxer and the decoders
+in three different ways:
+
+ 1. Using plm_create_from_filename() or with a file handle with
+    plm_create_from_file().
+
+ 2. Using plm_create_with_memory() and supplying a pointer to memory that
+    contains the whole file.
+
+ 3. Using plm_create_with_buffer(), supplying your own plm_buffer_t instance and
+    periodically writing to this buffer.
+
+When using your own plm_buffer_t instance, you can fill this buffer using
+plm_buffer_write(). You can either monitor plm_buffer_get_remaining() and push
+data when appropriate, or install a callback on the buffer with
+plm_buffer_set_load_callback() that gets called whenever the buffer needs more
+data.
+
+A buffer created with plm_buffer_create_with_capacity() is treated as a ring
+buffer, meaning that data that has already been read, will be discarded. In
+contrast, a buffer created with plm_buffer_create_for_appending() will keep all
+data written to it in memory. This enables seeking in the already loaded data.
+
+
+There should be no need to use the lower level plm_demux_*, plm_video_* and
+plm_audio_* functions, if all you want to do is read/decode an MPEG-PS file.
+However, if you get raw mpeg1video data or raw mp2 audio data from a different
+source, these functions can be used to decode the raw data directly. Similarly,
+if you only want to analyze an MPEG-PS file or extract raw video or audio
+packets from it, you can use the plm_demux_* functions.
+
+
+This library uses malloc(), realloc() and free() to manage memory. Typically
+all allocation happens up-front when creating the interface. However, the
+default buffer size may be too small for certain inputs. In these cases plmpeg
+will realloc() the buffer with a larger size whenever needed. You can configure
+the default buffer size by defining PLM_BUFFER_DEFAULT_SIZE *before*
+including this library.
+
+You can also define PLM_MALLOC, PLM_REALLOC and PLM_FREE to provide your own
+memory management functions.
+
+
+See below for detailed the API documentation.
+
+*/
+
+#ifndef PL_MPEG_H
+#define PL_MPEG_H
+
+#include <stdint.h>
+// #include <stdio.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+// -----------------------------------------------------------------------------
+// Public Data Types
+
+// Object types for the various interfaces
+
+typedef struct plm_t plm_t;
+typedef struct plm_buffer_t plm_buffer_t;
+typedef struct plm_demux_t plm_demux_t;
+typedef struct plm_video_t plm_video_t;
+typedef struct plm_audio_t plm_audio_t;
+
+// Demuxed MPEG PS packet
+// The type maps directly to the various MPEG-PES start codes. PTS is the
+// presentation time stamp of the packet in seconds. Note that not all packets
+// have a PTS value, indicated by PLM_PACKET_INVALID_TS.
+
+#define PLM_PACKET_INVALID_TS -1
+
+typedef struct {
+  int type;
+  double pts;
+  size_t length;
+  uint8_t *data;
+} plm_packet_t;
+
+// Decoded Video Plane
+// The byte length of the data is width * height. Note that different planes
+// have different sizes: the Luma plane (Y) is double the size of each of
+// the two Chroma planes (Cr, Cb) - i.e. 4 times the byte length.
+// Also note that the size of the plane does *not* denote the size of the
+// displayed frame. The sizes of planes are always rounded up to the nearest
+// macroblock (16px).
+
+typedef struct {
+  unsigned int width;
+  unsigned int height;
+  uint8_t *data;
+} plm_plane_t;
+
+// Decoded Video Frame
+// width and height denote the desired display size of the frame. This may be
+// different from the internal size of the 3 planes.
+
+typedef struct {
+  double time;
+  unsigned int width;
+  unsigned int height;
+  plm_plane_t y;
+  plm_plane_t cr;
+  plm_plane_t cb;
+} plm_frame_t;
+
+// Callback function type for decoded video frames used by the high-level
+// plm_* interface
+
+typedef void (*plm_video_decode_callback)(plm_t *self, plm_frame_t *frame, void *user);
+
+// Decoded Audio Samples
+// Samples are stored as normalized (-1, 1) float either interleaved, or if
+// PLM_AUDIO_SEPARATE_CHANNELS is defined, in two separate arrays.
+// The `count` is always PLM_AUDIO_SAMPLES_PER_FRAME and just there for
+// convenience.
+
+#define PLM_AUDIO_SAMPLES_PER_FRAME 1152
+
+typedef struct {
+  double time;
+  unsigned int count;
+#ifdef PLM_AUDIO_SEPARATE_CHANNELS
+  float left[PLM_AUDIO_SAMPLES_PER_FRAME];
+  float right[PLM_AUDIO_SAMPLES_PER_FRAME];
+#else
+  float interleaved[PLM_AUDIO_SAMPLES_PER_FRAME * 2];
+#endif
+} plm_samples_t;
+
+// Callback function type for decoded audio samples used by the high-level
+// plm_* interface
+
+typedef void (*plm_audio_decode_callback)(plm_t *self, plm_samples_t *samples, void *user);
+
+// Callback function for plm_buffer when it needs more data
+
+typedef void (*plm_buffer_load_callback)(plm_buffer_t *self, void *user);
+
+// -----------------------------------------------------------------------------
+// plm_* public API
+// High-Level API for loading/demuxing/decoding MPEG-PS data
+
+// Create a plmpeg instance with a filename. Returns NULL if the file could not
+// be opened.
+
+plm_t *plm_create_with_filename(const char *filename);
+
+// Create a plmpeg instance with a file handle. Pass TRUE to close_when_done to
+// let plmpeg call fclose() on the handle when plm_destroy() is called.
+
+plm_t *plm_create_with_file(FIL *fh, int close_when_done);
+
+// Create a plmpeg instance with a pointer to memory as source. This assumes the
+// whole file is in memory. The memory is not copied. Pass TRUE to
+// free_when_done to let plmpeg call free() on the pointer when plm_destroy()
+// is called.
+
+plm_t *plm_create_with_memory(uint8_t *bytes, size_t length, int free_when_done);
+
+// Create a plmpeg instance with a plm_buffer as source. Pass TRUE to
+// destroy_when_done to let plmpeg call plm_buffer_destroy() on the buffer when
+// plm_destroy() is called.
+
+plm_t *plm_create_with_buffer(plm_buffer_t *buffer, int destroy_when_done);
+
+// Destroy a plmpeg instance and free all data.
+
+void plm_destroy(plm_t *self);
+
+// Get whether we have headers on all available streams and we can accurately
+// report the number of video/audio streams, video dimensions, framerate and
+// audio samplerate.
+// This returns FALSE if the file is not an MPEG-PS file or - when not using a
+// file as source - when not enough data is available yet.
+
+int plm_has_headers(plm_t *self);
+
+// Get or set whether video decoding is enabled. Default TRUE.
+
+int plm_get_video_enabled(plm_t *self);
+void plm_set_video_enabled(plm_t *self, int enabled);
+
+// Get the number of video streams (0--1) reported in the system header.
+
+int plm_get_num_video_streams(plm_t *self);
+
+// Get the display width/height of the video stream.
+
+int plm_get_width(plm_t *self);
+int plm_get_height(plm_t *self);
+
+// Get the framerate of the video stream in frames per second.
+
+double plm_get_framerate(plm_t *self);
+
+// Get or set whether audio decoding is enabled. Default TRUE.
+
+int plm_get_audio_enabled(plm_t *self);
+void plm_set_audio_enabled(plm_t *self, int enabled);
+
+// Get the number of audio streams (0--4) reported in the system header.
+
+int plm_get_num_audio_streams(plm_t *self);
+
+// Set the desired audio stream (0--3). Default 0.
+
+void plm_set_audio_stream(plm_t *self, int stream_index);
+
+// Get the samplerate of the audio stream in samples per second.
+
+int plm_get_samplerate(plm_t *self);
+
+// Get or set the audio lead time in seconds - the time in which audio samples
+// are decoded in advance (or behind) the video decode time. Typically this
+// should be set to the duration of the buffer of the audio API that you use
+// for output. E.g. for SDL2: (SDL_AudioSpec.samples / samplerate)
+
+double plm_get_audio_lead_time(plm_t *self);
+void plm_set_audio_lead_time(plm_t *self, double lead_time);
+
+// Get the current internal time in seconds.
+
+double plm_get_time(plm_t *self);
+
+// Get the video duration of the underlying source in seconds.
+
+double plm_get_duration(plm_t *self);
+
+// Rewind all buffers back to the beginning.
+
+void plm_rewind(plm_t *self);
+
+// Get or set looping. Default FALSE.
+
+int plm_get_loop(plm_t *self);
+void plm_set_loop(plm_t *self, int loop);
+
+// Get whether the file has ended. If looping is enabled, this will always
+// return FALSE.
+
+int plm_has_ended(plm_t *self);
+
+// Set the callback for decoded video frames used with plm_decode(). If no
+// callback is set, video data will be ignored and not be decoded. The *user
+// Parameter will be passed to your callback.
+
+void plm_set_video_decode_callback(plm_t *self, plm_video_decode_callback fp, void *user);
+
+// Set the callback for decoded audio samples used with plm_decode(). If no
+// callback is set, audio data will be ignored and not be decoded. The *user
+// Parameter will be passed to your callback.
+
+void plm_set_audio_decode_callback(plm_t *self, plm_audio_decode_callback fp, void *user);
+
+// Advance the internal timer by seconds and decode video/audio up to this time.
+// This will call the video_decode_callback and audio_decode_callback any number
+// of times. A frame-skip is not implemented, i.e. everything up to current time
+// will be decoded.
+
+void plm_decode(plm_t *self, double seconds);
+
+// Decode and return one video frame. Returns NULL if no frame could be decoded
+// (either because the source ended or data is corrupt). If you only want to
+// decode video, you should disable audio via plm_set_audio_enabled().
+// The returned plm_frame_t is valid until the next call to plm_decode_video()
+// or until plm_destroy() is called.
+
+plm_frame_t *plm_decode_video(plm_t *self);
+
+// Decode and return one audio frame. Returns NULL if no frame could be decoded
+// (either because the source ended or data is corrupt). If you only want to
+// decode audio, you should disable video via plm_set_video_enabled().
+// The returned plm_samples_t is valid until the next call to plm_decode_audio()
+// or until plm_destroy() is called.
+
+plm_samples_t *plm_decode_audio(plm_t *self);
+
+// Seek to the specified time, clamped between 0 -- duration. This can only be
+// used when the underlying plm_buffer is seekable, i.e. for files, fixed
+// memory buffers or _for_appending buffers.
+// If seek_exact is TRUE this will seek to the exact time, otherwise it will
+// seek to the last intra frame just before the desired time. Exact seeking can
+// be slow, because all frames up to the seeked one have to be decoded on top of
+// the previous intra frame.
+// If seeking succeeds, this function will call the video_decode_callback
+// exactly once with the target frame. If audio is enabled, it will also call
+// the audio_decode_callback any number of times, until the audio_lead_time is
+// satisfied.
+// Returns TRUE if seeking succeeded or FALSE if no frame could be found.
+
+int plm_seek(plm_t *self, double time, int seek_exact);
+
+// Similar to plm_seek(), but will not call the video_decode_callback,
+// audio_decode_callback or make any attempts to sync audio.
+// Returns the found frame or NULL if no frame could be found.
+
+plm_frame_t *plm_seek_frame(plm_t *self, double time, int seek_exact);
+
+// -----------------------------------------------------------------------------
+// plm_buffer public API
+// Provides the data source for all other plm_* interfaces
+
+// The default size for buffers created from files or by the high-level API
+
+#ifndef PLM_BUFFER_DEFAULT_SIZE
+#define PLM_BUFFER_DEFAULT_SIZE (128 * 1024)
+#endif
+
+// Create a buffer instance with a filename. Returns NULL if the file could not
+// be opened.
+
+plm_buffer_t *plm_buffer_create_with_filename(const char *filename);
+
+// Create a buffer instance with a file handle. Pass TRUE to close_when_done
+// to let plmpeg call fclose() on the handle when plm_destroy() is called.
+
+plm_buffer_t *plm_buffer_create_with_file(FIL *fh, int close_when_done);
+
+// Create a buffer instance with a pointer to memory as source. This assumes
+// the whole file is in memory. The bytes are not copied. Pass 1 to
+// free_when_done to let plmpeg call free() on the pointer when plm_destroy()
+// is called.
+
+plm_buffer_t *plm_buffer_create_with_memory(uint8_t *bytes, size_t length, int free_when_done);
+
+// Create an empty buffer with an initial capacity. The buffer will grow
+// as needed. Data that has already been read, will be discarded.
+
+plm_buffer_t *plm_buffer_create_with_capacity(size_t capacity);
+
+// Create an empty buffer with an initial capacity. The buffer will grow
+// as needed. Decoded data will *not* be discarded. This can be used when
+// loading a file over the network, without needing to throttle the download.
+// It also allows for seeking in the already loaded data.
+
+plm_buffer_t *plm_buffer_create_for_appending(size_t initial_capacity);
+
+// Destroy a buffer instance and free all data
+
+void plm_buffer_destroy(plm_buffer_t *self);
+
+// Copy data into the buffer. If the data to be written is larger than the
+// available space, the buffer will realloc() with a larger capacity.
+// Returns the number of bytes written. This will always be the same as the
+// passed in length, except when the buffer was created _with_memory() for
+// which _write() is forbidden.
+
+size_t plm_buffer_write(plm_buffer_t *self, uint8_t *bytes, size_t length);
+
+// Mark the current byte length as the end of this buffer and signal that no
+// more data is expected to be written to it. This function should be called
+// just after the last plm_buffer_write().
+// For _with_capacity buffers, this is cleared on a plm_buffer_rewind().
+
+void plm_buffer_signal_end(plm_buffer_t *self);
+
+// Set a callback that is called whenever the buffer needs more data
+
+void plm_buffer_set_load_callback(plm_buffer_t *self, plm_buffer_load_callback fp, void *user);
+
+// Rewind the buffer back to the beginning. When loading from a file handle,
+// this also seeks to the beginning of the file.
+
+void plm_buffer_rewind(plm_buffer_t *self);
+
+// Get the total size. For files, this returns the file size. For all other
+// types it returns the number of bytes currently in the buffer.
+
+size_t plm_buffer_get_size(plm_buffer_t *self);
+
+// Get the number of remaining (yet unread) bytes in the buffer. This can be
+// useful to throttle writing.
+
+size_t plm_buffer_get_remaining(plm_buffer_t *self);
+
+// Get whether the read position of the buffer is at the end and no more data
+// is expected.
+
+int plm_buffer_has_ended(plm_buffer_t *self);
+
+// -----------------------------------------------------------------------------
+// plm_demux public API
+// Demux an MPEG Program Stream (PS) data into separate packages
+
+// Various Packet Types
+
+static const int PLM_DEMUX_PACKET_PRIVATE = 0xBD;
+static const int PLM_DEMUX_PACKET_AUDIO_1 = 0xC0;
+static const int PLM_DEMUX_PACKET_AUDIO_2 = 0xC1;
+static const int PLM_DEMUX_PACKET_AUDIO_3 = 0xC2;
+static const int PLM_DEMUX_PACKET_AUDIO_4 = 0xC2;
+static const int PLM_DEMUX_PACKET_VIDEO_1 = 0xE0;
+
+// Create a demuxer with a plm_buffer as source. This will also attempt to read
+// the pack and system headers from the buffer.
+
+plm_demux_t *plm_demux_create(plm_buffer_t *buffer, int destroy_when_done);
+
+// Destroy a demuxer and free all data.
+
+void plm_demux_destroy(plm_demux_t *self);
+
+// Returns TRUE/FALSE whether pack and system headers have been found. This will
+// attempt to read the headers if non are present yet.
+
+int plm_demux_has_headers(plm_demux_t *self);
+
+// Returns the number of video streams found in the system header. This will
+// attempt to read the system header if non is present yet.
+
+int plm_demux_get_num_video_streams(plm_demux_t *self);
+
+// Returns the number of audio streams found in the system header. This will
+// attempt to read the system header if non is present yet.
+
+int plm_demux_get_num_audio_streams(plm_demux_t *self);
+
+// Rewind the internal buffer. See plm_buffer_rewind().
+
+void plm_demux_rewind(plm_demux_t *self);
+
+// Get whether the file has ended. This will be cleared on seeking or rewind.
+
+int plm_demux_has_ended(plm_demux_t *self);
+
+// Seek to a packet of the specified type with a PTS just before specified time.
+// If force_intra is TRUE, only packets containing an intra frame will be
+// considered - this only makes sense when the type is PLM_DEMUX_PACKET_VIDEO_1.
+// Note that the specified time is considered 0-based, regardless of the first
+// PTS in the data source.
+
+plm_packet_t *plm_demux_seek(plm_demux_t *self, double time, int type, int force_intra);
+
+// Get the PTS of the first packet of this type. Returns PLM_PACKET_INVALID_TS
+// if not packet of this packet type can be found.
+
+double plm_demux_get_start_time(plm_demux_t *self, int type);
+
+// Get the duration for the specified packet type - i.e. the span between the
+// the first PTS and the last PTS in the data source. This only makes sense when
+// the underlying data source is a file or fixed memory.
+
+double plm_demux_get_duration(plm_demux_t *self, int type);
+
+// Decode and return the next packet. The returned packet_t is valid until
+// the next call to plm_demux_decode() or until the demuxer is destroyed.
+
+plm_packet_t *plm_demux_decode(plm_demux_t *self);
+
+// -----------------------------------------------------------------------------
+// plm_video public API
+// Decode MPEG1 Video ("mpeg1") data into raw YCrCb frames
+
+// Create a video decoder with a plm_buffer as source.
+
+plm_video_t *plm_video_create_with_buffer(plm_buffer_t *buffer, int destroy_when_done);
+
+// Destroy a video decoder and free all data.
+
+void plm_video_destroy(plm_video_t *self);
+
+// Get whether a sequence header was found and we can accurately report on
+// dimensions and framerate.
+
+int plm_video_has_header(plm_video_t *self);
+
+// Get the framerate in frames per second.
+
+double plm_video_get_framerate(plm_video_t *self);
+
+// Get the display width/height.
+
+int plm_video_get_width(plm_video_t *self);
+int plm_video_get_height(plm_video_t *self);
+
+// Set "no delay" mode. When enabled, the decoder assumes that the video does
+// *not* contain any B-Frames. This is useful for reducing lag when streaming.
+// The default is FALSE.
+
+void plm_video_set_no_delay(plm_video_t *self, int no_delay);
+
+// Get the current internal time in seconds.
+
+double plm_video_get_time(plm_video_t *self);
+
+// Set the current internal time in seconds. This is only useful when you
+// manipulate the underlying video buffer and want to enforce a correct
+// timestamps.
+
+void plm_video_set_time(plm_video_t *self, double time);
+
+// Rewind the internal buffer. See plm_buffer_rewind().
+
+void plm_video_rewind(plm_video_t *self);
+
+// Get whether the file has ended. This will be cleared on rewind.
+
+int plm_video_has_ended(plm_video_t *self);
+
+// Decode and return one frame of video and advance the internal time by
+// 1/framerate seconds. The returned frame_t is valid until the next call of
+// plm_video_decode() or until the video decoder is destroyed.
+
+plm_frame_t *plm_video_decode(plm_video_t *self);
+
+// Convert the YCrCb data of a frame into interleaved R G B data. The stride
+// specifies the width in bytes of the destination buffer. I.e. the number of
+// bytes from one line to the next. The stride must be at least
+// (frame->width * bytes_per_pixel). The buffer pointed to by *dest must have a
+// size of at least (stride * frame->height).
+// Note that the alpha component of the dest buffer is always left untouched.
+
+void plm_frame_to_rgb(plm_frame_t *frame, uint8_t *dest, int stride);
+void plm_frame_to_bgr(plm_frame_t *frame, uint8_t *dest, int stride);
+void plm_frame_to_rgba(plm_frame_t *frame, uint8_t *dest, int stride);
+void plm_frame_to_bgra(plm_frame_t *frame, uint8_t *dest, int stride);
+void plm_frame_to_argb(plm_frame_t *frame, uint8_t *dest, int stride);
+void plm_frame_to_abgr(plm_frame_t *frame, uint8_t *dest, int stride);
+
+// -----------------------------------------------------------------------------
+// plm_audio public API
+// Decode MPEG-1 Audio Layer II ("mp2") data into raw samples
+
+// Create an audio decoder with a plm_buffer as source.
+
+plm_audio_t *plm_audio_create_with_buffer(plm_buffer_t *buffer, int destroy_when_done);
+
+// Destroy an audio decoder and free all data.
+
+void plm_audio_destroy(plm_audio_t *self);
+
+// Get whether a frame header was found and we can accurately report on
+// samplerate.
+
+int plm_audio_has_header(plm_audio_t *self);
+
+// Get the samplerate in samples per second.
+
+int plm_audio_get_samplerate(plm_audio_t *self);
+
+// Get the current internal time in seconds.
+
+double plm_audio_get_time(plm_audio_t *self);
+
+// Set the current internal time in seconds. This is only useful when you
+// manipulate the underlying video buffer and want to enforce a correct
+// timestamps.
+
+void plm_audio_set_time(plm_audio_t *self, double time);
+
+// Rewind the internal buffer. See plm_buffer_rewind().
+
+void plm_audio_rewind(plm_audio_t *self);
+
+// Get whether the file has ended. This will be cleared on rewind.
+
+int plm_audio_has_ended(plm_audio_t *self);
+
+// Decode and return one "frame" of audio and advance the internal time by
+// (PLM_AUDIO_SAMPLES_PER_FRAME/samplerate) seconds. The returned samples_t
+// is valid until the next call of plm_audio_decode() or until the audio
+// decoder is destroyed.
+
+plm_samples_t *plm_audio_decode(plm_audio_t *self);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // PL_MPEG_H
+
+// -----------------------------------------------------------------------------
+// -----------------------------------------------------------------------------
+// IMPLEMENTATION
+
+#ifdef PL_MPEG_IMPLEMENTATION
+
+#include <stdlib.h>
+#include <string.h>
+
+#ifndef TRUE
+#define TRUE 1
+#define FALSE 0
+#endif
+
+#ifndef PLM_MALLOC
+#define PLM_MALLOC(sz) malloc(sz)
+#define PLM_FREE(p) free(p)
+#define PLM_REALLOC(p, sz) realloc(p, sz)
+#endif
+
+#define PLM_UNUSED(expr) (void)(expr)
+
+// -----------------------------------------------------------------------------
+// plm (high-level interface) implementation
+
+struct plm_t {
+  plm_demux_t *demux;
+  double time;
+  int has_ended;
+  int loop;
+  int has_decoders;
+
+  int video_enabled;
+  int video_packet_type;
+  plm_buffer_t *video_buffer;
+  plm_video_t *video_decoder;
+
+  int audio_enabled;
+  int audio_stream_index;
+  int audio_packet_type;
+  double audio_lead_time;
+  plm_buffer_t *audio_buffer;
+  plm_audio_t *audio_decoder;
+
+  plm_video_decode_callback video_decode_callback;
+  void *video_decode_callback_user_data;
+
+  plm_audio_decode_callback audio_decode_callback;
+  void *audio_decode_callback_user_data;
+};
+
+int plm_init_decoders(plm_t *self);
+void plm_handle_end(plm_t *self);
+void plm_read_video_packet(plm_buffer_t *buffer, void *user);
+void plm_read_audio_packet(plm_buffer_t *buffer, void *user);
+void plm_read_packets(plm_t *self, int requested_type);
+
+plm_t *plm_create_with_filename(const char *filename) {
+  plm_buffer_t *buffer = plm_buffer_create_with_filename(filename);
+  if (!buffer) {
+    return NULL;
+  }
+  return plm_create_with_buffer(buffer, TRUE);
+}
+
+plm_t *plm_create_with_file(FIL *fh, int close_when_done) {
+  plm_buffer_t *buffer = plm_buffer_create_with_file(fh, close_when_done);
+  return plm_create_with_buffer(buffer, TRUE);
+}
+
+plm_t *plm_create_with_memory(uint8_t *bytes, size_t length, int free_when_done) {
+  plm_buffer_t *buffer = plm_buffer_create_with_memory(bytes, length, free_when_done);
+  return plm_create_with_buffer(buffer, TRUE);
+}
+
+plm_t *plm_create_with_buffer(plm_buffer_t *buffer, int destroy_when_done) {
+  plm_t *self = (plm_t *)PLM_MALLOC(sizeof(plm_t));
+  memset(self, 0, sizeof(plm_t));
+
+  self->demux = plm_demux_create(buffer, destroy_when_done);
+  self->video_enabled = TRUE;
+  self->audio_enabled = TRUE;
+  plm_init_decoders(self);
+
+  return self;
+}
+
+int plm_init_decoders(plm_t *self) {
+  if (self->has_decoders) {
+    return TRUE;
+  }
+
+  if (!plm_demux_has_headers(self->demux)) {
+    return FALSE;
+  }
+
+  if (plm_demux_get_num_video_streams(self->demux) > 0) {
+    if (self->video_enabled) {
+      self->video_packet_type = PLM_DEMUX_PACKET_VIDEO_1;
+    }
+    self->video_buffer = plm_buffer_create_with_capacity(PLM_BUFFER_DEFAULT_SIZE);
+    plm_buffer_set_load_callback(self->video_buffer, plm_read_video_packet, self);
+  }
+
+  if (plm_demux_get_num_audio_streams(self->demux) > 0) {
+    if (self->audio_enabled) {
+      self->audio_packet_type = PLM_DEMUX_PACKET_AUDIO_1 + self->audio_stream_index;
+    }
+    self->audio_buffer = plm_buffer_create_with_capacity(PLM_BUFFER_DEFAULT_SIZE);
+    plm_buffer_set_load_callback(self->audio_buffer, plm_read_audio_packet, self);
+  }
+
+  if (self->video_buffer) {
+    self->video_decoder = plm_video_create_with_buffer(self->video_buffer, TRUE);
+  }
+
+  if (self->audio_buffer) {
+    self->audio_decoder = plm_audio_create_with_buffer(self->audio_buffer, TRUE);
+  }
+
+  self->has_decoders = TRUE;
+  return TRUE;
+}
+
+void plm_destroy(plm_t *self) {
+  if (self->video_decoder) {
+    plm_video_destroy(self->video_decoder);
+  }
+  if (self->audio_decoder) {
+    plm_audio_destroy(self->audio_decoder);
+  }
+
+  plm_demux_destroy(self->demux);
+  PLM_FREE(self);
+}
+
+int plm_get_audio_enabled(plm_t *self) { return self->audio_enabled; }
+
+int plm_has_headers(plm_t *self) {
+  if (!plm_demux_has_headers(self->demux)) {
+    return FALSE;
+  }
+
+  if (!plm_init_decoders(self)) {
+    return FALSE;
+  }
+
+  if ((self->video_decoder && !plm_video_has_header(self->video_decoder)) ||
+      (self->audio_decoder && !plm_audio_has_header(self->audio_decoder))) {
+    return FALSE;
+  }
+
+  return TRUE;
+}
+
+void plm_set_audio_enabled(plm_t *self, int enabled) {
+  self->audio_enabled = enabled;
+
+  if (!enabled) {
+    self->audio_packet_type = 0;
+    return;
+  }
+
+  self->audio_packet_type =
+      (plm_init_decoders(self) && self->audio_decoder) ? PLM_DEMUX_PACKET_AUDIO_1 + self->audio_stream_index : 0;
+}
+
+void plm_set_audio_stream(plm_t *self, int stream_index) {
+  if (stream_index < 0 || stream_index > 3) {
+    return;
+  }
+  self->audio_stream_index = stream_index;
+
+  // Set the correct audio_packet_type
+  plm_set_audio_enabled(self, self->audio_enabled);
+}
+
+int plm_get_video_enabled(plm_t *self) { return self->video_enabled; }
+
+void plm_set_video_enabled(plm_t *self, int enabled) {
+  self->video_enabled = enabled;
+
+  if (!enabled) {
+    self->video_packet_type = 0;
+    return;
+  }
+
+  self->video_packet_type = (plm_init_decoders(self) && self->video_decoder) ? PLM_DEMUX_PACKET_VIDEO_1 : 0;
+}
+
+int plm_get_num_video_streams(plm_t *self) { return plm_demux_get_num_video_streams(self->demux); }
+
+int plm_get_width(plm_t *self) {
+  return (plm_init_decoders(self) && self->video_decoder) ? plm_video_get_width(self->video_decoder) : 0;
+}
+
+int plm_get_height(plm_t *self) {
+  return (plm_init_decoders(self) && self->video_decoder) ? plm_video_get_height(self->video_decoder) : 0;
+}
+
+double plm_get_framerate(plm_t *self) {
+  return (plm_init_decoders(self) && self->video_decoder) ? plm_video_get_framerate(self->video_decoder) : 0;
+}
+
+int plm_get_num_audio_streams(plm_t *self) { return plm_demux_get_num_audio_streams(self->demux); }
+
+int plm_get_samplerate(plm_t *self) {
+  return (plm_init_decoders(self) && self->audio_decoder) ? plm_audio_get_samplerate(self->audio_decoder) : 0;
+}
+
+double plm_get_audio_lead_time(plm_t *self) { return self->audio_lead_time; }
+
+void plm_set_audio_lead_time(plm_t *self, double lead_time) { self->audio_lead_time = lead_time; }
+
+double plm_get_time(plm_t *self) { return self->time; }
+
+double plm_get_duration(plm_t *self) { return plm_demux_get_duration(self->demux, PLM_DEMUX_PACKET_VIDEO_1); }
+
+void plm_rewind(plm_t *self) {
+  if (self->video_decoder) {
+    plm_video_rewind(self->video_decoder);
+  }
+
+  if (self->audio_decoder) {
+    plm_audio_rewind(self->audio_decoder);
+  }
+
+  plm_demux_rewind(self->demux);
+  self->time = 0;
+}
+
+int plm_get_loop(plm_t *self) { return self->loop; }
+
+void plm_set_loop(plm_t *self, int loop) { self->loop = loop; }
+
+int plm_has_ended(plm_t *self) { return self->has_ended; }
+
+void plm_set_video_decode_callback(plm_t *self, plm_video_decode_callback fp, void *user) {
+  self->video_decode_callback = fp;
+  self->video_decode_callback_user_data = user;
+}
+
+void plm_set_audio_decode_callback(plm_t *self, plm_audio_decode_callback fp, void *user) {
+  self->audio_decode_callback = fp;
+  self->audio_decode_callback_user_data = user;
+}
+
+void plm_decode(plm_t *self, double tick) {
+  if (!plm_init_decoders(self)) {
+    return;
+  }
+
+  int decode_video = (self->video_decode_callback && self->video_packet_type);
+  int decode_audio = (self->audio_decode_callback && self->audio_packet_type);
+
+  if (!decode_video && !decode_audio) {
+    // Nothing to do here
+    return;
+  }
+
+  int did_decode = FALSE;
+  int decode_video_failed = FALSE;
+  int decode_audio_failed = FALSE;
+
+  double video_target_time = self->time + tick;
+  double audio_target_time = self->time + tick + self->audio_lead_time;
+
+  do {
+    did_decode = FALSE;
+
+    if (decode_video && plm_video_get_time(self->video_decoder) < video_target_time) {
+      plm_frame_t *frame = plm_video_decode(self->video_decoder);
+      if (frame) {
+        self->video_decode_callback(self, frame, self->video_decode_callback_user_data);
+        did_decode = TRUE;
+      } else {
+        decode_video_failed = TRUE;
+      }
+    }
+
+    if (decode_audio && plm_audio_get_time(self->audio_decoder) < audio_target_time) {
+      plm_samples_t *samples = plm_audio_decode(self->audio_decoder);
+      if (samples) {
+        self->audio_decode_callback(self, samples, self->audio_decode_callback_user_data);
+        did_decode = TRUE;
+      } else {
+        decode_audio_failed = TRUE;
+      }
+    }
+  } while (did_decode);
+
+  // Did all sources we wanted to decode fail and the demuxer is at the end?
+  if ((!decode_video || decode_video_failed) && (!decode_audio || decode_audio_failed) &&
+      plm_demux_has_ended(self->demux)) {
+    plm_handle_end(self);
+    return;
+  }
+
+  self->time += tick;
+}
+
+plm_frame_t *plm_decode_video(plm_t *self) {
+  if (!plm_init_decoders(self)) {
+    return NULL;
+  }
+
+  if (!self->video_packet_type) {
+    return NULL;
+  }
+
+  plm_frame_t *frame = plm_video_decode(self->video_decoder);
+  if (frame) {
+    self->time = frame->time;
+  } else if (plm_demux_has_ended(self->demux)) {
+    plm_handle_end(self);
+  }
+  return frame;
+}
+
+plm_samples_t *plm_decode_audio(plm_t *self) {
+  if (!plm_init_decoders(self)) {
+    return NULL;
+  }
+
+  if (!self->audio_packet_type) {
+    return NULL;
+  }
+
+  plm_samples_t *samples = plm_audio_decode(self->audio_decoder);
+  if (samples) {
+    self->time = samples->time;
+  } else if (plm_demux_has_ended(self->demux)) {
+    plm_handle_end(self);
+  }
+  return samples;
+}
+
+void plm_handle_end(plm_t *self) {
+  if (self->loop) {
+    plm_rewind(self);
+  } else {
+    self->has_ended = TRUE;
+  }
+}
+
+void plm_read_video_packet(plm_buffer_t *buffer, void *user) {
+  PLM_UNUSED(buffer);
+  plm_t *self = (plm_t *)user;
+  plm_read_packets(self, self->video_packet_type);
+}
+
+void plm_read_audio_packet(plm_buffer_t *buffer, void *user) {
+  PLM_UNUSED(buffer);
+  plm_t *self = (plm_t *)user;
+  plm_read_packets(self, self->audio_packet_type);
+}
+
+void plm_read_packets(plm_t *self, int requested_type) {
+  plm_packet_t *packet;
+  while ((packet = plm_demux_decode(self->demux))) {
+    if (packet->type == self->video_packet_type) {
+      plm_buffer_write(self->video_buffer, packet->data, packet->length);
+    } else if (packet->type == self->audio_packet_type) {
+      plm_buffer_write(self->audio_buffer, packet->data, packet->length);
+    }
+
+    if (packet->type == requested_type) {
+      return;
+    }
+  }
+
+  if (plm_demux_has_ended(self->demux)) {
+    if (self->video_buffer) {
+      plm_buffer_signal_end(self->video_buffer);
+    }
+    if (self->audio_buffer) {
+      plm_buffer_signal_end(self->audio_buffer);
+    }
+  }
+}
+
+plm_frame_t *plm_seek_frame(plm_t *self, double time, int seek_exact) {
+  if (!plm_init_decoders(self)) {
+    return NULL;
+  }
+
+  if (!self->video_packet_type) {
+    return NULL;
+  }
+
+  int type = self->video_packet_type;
+
+  double start_time = plm_demux_get_start_time(self->demux, type);
+  double duration = plm_demux_get_duration(self->demux, type);
+
+  if (time < 0) {
+    time = 0;
+  } else if (time > duration) {
+    time = duration;
+  }
+
+  plm_packet_t *packet = plm_demux_seek(self->demux, time, type, TRUE);
+  if (!packet) {
+    return NULL;
+  }
+
+  // Disable writing to the audio buffer while decoding video
+  int previous_audio_packet_type = self->audio_packet_type;
+  self->audio_packet_type = 0;
+
+  // Clear video buffer and decode the found packet
+  plm_video_rewind(self->video_decoder);
+  plm_video_set_time(self->video_decoder, packet->pts - start_time);
+  plm_buffer_write(self->video_buffer, packet->data, packet->length);
+  plm_frame_t *frame = plm_video_decode(self->video_decoder);
+
+  // If we want to seek to an exact frame, we have to decode all frames
+  // on top of the intra frame we just jumped to.
+  if (seek_exact) {
+    while (frame && frame->time < time) {
+      frame = plm_video_decode(self->video_decoder);
+    }
+  }
+
+  // Enable writing to the audio buffer again?
+  self->audio_packet_type = previous_audio_packet_type;
+
+  if (frame) {
+    self->time = frame->time;
+  }
+
+  self->has_ended = FALSE;
+  return frame;
+}
+
+int plm_seek(plm_t *self, double time, int seek_exact) {
+  plm_frame_t *frame = plm_seek_frame(self, time, seek_exact);
+
+  if (!frame) {
+    return FALSE;
+  }
+
+  if (self->video_decode_callback) {
+    self->video_decode_callback(self, frame, self->video_decode_callback_user_data);
+  }
+
+  // If audio is not enabled we are done here.
+  if (!self->audio_packet_type) {
+    return TRUE;
+  }
+
+  // Sync up Audio. This demuxes more packets until the first audio packet
+  // with a PTS greater than the current time is found. plm_decode() is then
+  // called to decode enough audio data to satisfy the audio_lead_time.
+
+  double start_time = plm_demux_get_start_time(self->demux, self->video_packet_type);
+  plm_audio_rewind(self->audio_decoder);
+
+  plm_packet_t *packet = NULL;
+  while ((packet = plm_demux_decode(self->demux))) {
+    if (packet->type == self->video_packet_type) {
+      plm_buffer_write(self->video_buffer, packet->data, packet->length);
+    } else if (packet->type == self->audio_packet_type && packet->pts - start_time > self->time) {
+      plm_audio_set_time(self->audio_decoder, packet->pts - start_time);
+      plm_buffer_write(self->audio_buffer, packet->data, packet->length);
+      plm_decode(self, 0);
+      break;
+    }
+  }
+
+  return TRUE;
+}
+
+// -----------------------------------------------------------------------------
+// plm_buffer implementation
+
+enum plm_buffer_mode { PLM_BUFFER_MODE_FILE, PLM_BUFFER_MODE_FIXED_MEM, PLM_BUFFER_MODE_RING, PLM_BUFFER_MODE_APPEND };
+
+struct plm_buffer_t {
+  size_t bit_index;
+  size_t capacity;
+  size_t length;
+  size_t total_size;
+  int discard_read_bytes;
+  int has_ended;
+  int free_when_done;
+  int close_when_done;
+  FIL *fh;
+  plm_buffer_load_callback load_callback;
+  void *load_callback_user_data;
+  uint8_t *bytes;
+  enum plm_buffer_mode mode;
+};
+
+typedef struct {
+  int16_t index;
+  int16_t value;
+} plm_vlc_t;
+
+typedef struct {
+  int16_t index;
+  uint16_t value;
+} plm_vlc_uint_t;
+
+void plm_buffer_seek(plm_buffer_t *self, size_t pos);
+size_t plm_buffer_tell(plm_buffer_t *self);
+void plm_buffer_discard_read_bytes(plm_buffer_t *self);
+void plm_buffer_load_file_callback(plm_buffer_t *self, void *user);
+
+int plm_buffer_has(plm_buffer_t *self, size_t count);
+int plm_buffer_read(plm_buffer_t *self, int count);
+void plm_buffer_align(plm_buffer_t *self);
+void plm_buffer_skip(plm_buffer_t *self, size_t count);
+int plm_buffer_skip_bytes(plm_buffer_t *self, uint8_t v);
+int plm_buffer_next_start_code(plm_buffer_t *self);
+int plm_buffer_find_start_code(plm_buffer_t *self, int code);
+int plm_buffer_no_start_code(plm_buffer_t *self);
+int16_t plm_buffer_read_vlc(plm_buffer_t *self, const plm_vlc_t *table);
+uint16_t plm_buffer_read_vlc_uint(plm_buffer_t *self, const plm_vlc_uint_t *table);
+
+plm_buffer_t *plm_buffer_create_with_filename(const char *filename) {
+  FIL *fh = vexFileOpen(filename, "rb"); // fopen(filename, "rb");
+  if (!fh) {
+    return NULL;
+  }
+  return plm_buffer_create_with_file(fh, TRUE);
+}
+
+plm_buffer_t *plm_buffer_create_with_file(FIL *fh, int close_when_done) {
+  plm_buffer_t *self = plm_buffer_create_with_capacity(PLM_BUFFER_DEFAULT_SIZE);
+  self->fh = fh;
+  self->close_when_done = close_when_done;
+  self->mode = PLM_BUFFER_MODE_FILE;
+  self->discard_read_bytes = TRUE;
+
+  vexFileSeek(self->fh, 0, SEEK_END);
+  self->total_size = vexFileTell(self->fh);
+  vexFileSeek(self->fh, 0, SEEK_SET);
+
+  plm_buffer_set_load_callback(self, plm_buffer_load_file_callback, NULL);
+  return self;
+}
+
+plm_buffer_t *plm_buffer_create_with_memory(uint8_t *bytes, size_t length, int free_when_done) {
+  plm_buffer_t *self = (plm_buffer_t *)PLM_MALLOC(sizeof(plm_buffer_t));
+  memset(self, 0, sizeof(plm_buffer_t));
+  self->capacity = length;
+  self->length = length;
+  self->total_size = length;
+  self->free_when_done = free_when_done;
+  self->bytes = bytes;
+  self->mode = PLM_BUFFER_MODE_FIXED_MEM;
+  self->discard_read_bytes = FALSE;
+  return self;
+}
+
+plm_buffer_t *plm_buffer_create_with_capacity(size_t capacity) {
+  plm_buffer_t *self = (plm_buffer_t *)PLM_MALLOC(sizeof(plm_buffer_t));
+  memset(self, 0, sizeof(plm_buffer_t));
+  self->capacity = capacity;
+  self->free_when_done = TRUE;
+  self->bytes = (uint8_t *)PLM_MALLOC(capacity);
+  self->mode = PLM_BUFFER_MODE_RING;
+  self->discard_read_bytes = TRUE;
+  return self;
+}
+
+plm_buffer_t *plm_buffer_create_for_appending(size_t initial_capacity) {
+  plm_buffer_t *self = plm_buffer_create_with_capacity(initial_capacity);
+  self->mode = PLM_BUFFER_MODE_APPEND;
+  self->discard_read_bytes = FALSE;
+  return self;
+}
+
+void plm_buffer_destroy(plm_buffer_t *self) {
+  if (self->fh && self->close_when_done) {
+    vexFileClose(self->fh);
+  }
+  if (self->free_when_done) {
+    PLM_FREE(self->bytes);
+  }
+  PLM_FREE(self);
+}
+
+size_t plm_buffer_get_size(plm_buffer_t *self) {
+  return (self->mode == PLM_BUFFER_MODE_FILE) ? self->total_size : self->length;
+}
+
+size_t plm_buffer_get_remaining(plm_buffer_t *self) { return self->length - (self->bit_index >> 3); }
+
+size_t plm_buffer_write(plm_buffer_t *self, uint8_t *bytes, size_t length) {
+  if (self->mode == PLM_BUFFER_MODE_FIXED_MEM) {
+    return 0;
+  }
+
+  if (self->discard_read_bytes) {
+    // This should be a ring buffer, but instead it just shifts all unread
+    // data to the beginning of the buffer and appends new data at the end.
+    // Seems to be good enough.
+
+    plm_buffer_discard_read_bytes(self);
+    if (self->mode == PLM_BUFFER_MODE_RING) {
+      self->total_size = 0;
+    }
+  }
+
+  // Do we have to resize to fit the new data?
+  size_t bytes_available = self->capacity - self->length;
+  if (bytes_available < length) {
+    size_t new_size = self->capacity;
+    do {
+      new_size *= 2;
+    } while (new_size - self->length < length);
+    self->bytes = (uint8_t *)PLM_REALLOC(self->bytes, new_size);
+    self->capacity = new_size;
+  }
+
+  memcpy(self->bytes + self->length, bytes, length);
+  self->length += length;
+  self->has_ended = FALSE;
+  return length;
+}
+
+void plm_buffer_signal_end(plm_buffer_t *self) { self->total_size = self->length; }
+
+void plm_buffer_set_load_callback(plm_buffer_t *self, plm_buffer_load_callback fp, void *user) {
+  self->load_callback = fp;
+  self->load_callback_user_data = user;
+}
+
+void plm_buffer_rewind(plm_buffer_t *self) { plm_buffer_seek(self, 0); }
+
+void plm_buffer_seek(plm_buffer_t *self, size_t pos) {
+  self->has_ended = FALSE;
+
+  if (self->mode == PLM_BUFFER_MODE_FILE) {
+    vexFileSeek(self->fh, pos, SEEK_SET);
+    self->bit_index = 0;
+    self->length = 0;
+  } else if (self->mode == PLM_BUFFER_MODE_RING) {
+    if (pos != 0) {
+      // Seeking to non-0 is forbidden for dynamic-mem buffers
+      return;
+    }
+    self->bit_index = 0;
+    self->length = 0;
+    self->total_size = 0;
+  } else if (pos < self->length) {
+    self->bit_index = pos << 3;
+  }
+}
+
+size_t plm_buffer_tell(plm_buffer_t *self) {
+  return self->mode == PLM_BUFFER_MODE_FILE ? vexFileTell(self->fh) + (self->bit_index >> 3) - self->length
+                                            : self->bit_index >> 3;
+}
+
+void plm_buffer_discard_read_bytes(plm_buffer_t *self) {
+  size_t byte_pos = self->bit_index >> 3;
+  if (byte_pos == self->length) {
+    self->bit_index = 0;
+    self->length = 0;
+  } else if (byte_pos > 0) {
+    memmove(self->bytes, self->bytes + byte_pos, self->length - byte_pos);
+    self->bit_index -= byte_pos << 3;
+    self->length -= byte_pos;
+  }
+}
+
+void plm_buffer_load_file_callback(plm_buffer_t *self, void *user) {
+  PLM_UNUSED(user);
+
+  if (self->discard_read_bytes) {
+    plm_buffer_discard_read_bytes(self);
+  }
+
+  size_t bytes_available = self->capacity - self->length;
+  size_t bytes_read = vexFileRead((char *)self->bytes + self->length, 1, bytes_available, self->fh);
+  self->length += bytes_read;
+
+  if (bytes_read == 0) {
+    self->has_ended = TRUE;
+  }
+}
+
+int plm_buffer_has_ended(plm_buffer_t *self) { return self->has_ended; }
+
+int plm_buffer_has(plm_buffer_t *self, size_t count) {
+  if (((self->length << 3) - self->bit_index) >= count) {
+    return TRUE;
+  }
+
+  if (self->load_callback) {
+    self->load_callback(self, self->load_callback_user_data);
+
+    if (((self->length << 3) - self->bit_index) >= count) {
+      return TRUE;
+    }
+  }
+
+  if (self->total_size != 0 && self->length == self->total_size) {
+    self->has_ended = TRUE;
+  }
+  return FALSE;
+}
+
+int plm_buffer_read(plm_buffer_t *self, int count) {
+  if (!plm_buffer_has(self, count)) {
+    return 0;
+  }
+
+  int value = 0;
+  while (count) {
+    int current_byte = self->bytes[self->bit_index >> 3];
+
+    int remaining = 8 - (self->bit_index & 7);        // Remaining bits in byte
+    int read = remaining < count ? remaining : count; // Bits in self run
+    int shift = remaining - read;
+    int mask = (0xff >> (8 - read));
+
+    value = (value << read) | ((current_byte & (mask << shift)) >> shift);
+
+    self->bit_index += read;
+    count -= read;
+  }
+
+  return value;
+}
+
+void plm_buffer_align(plm_buffer_t *self) {
+  self->bit_index = ((self->bit_index + 7) >> 3) << 3; // Align to next byte
+}
+
+void plm_buffer_skip(plm_buffer_t *self, size_t count) {
+  if (plm_buffer_has(self, count)) {
+    self->bit_index += count;
+  }
+}
+
+int plm_buffer_skip_bytes(plm_buffer_t *self, uint8_t v) {
+  plm_buffer_align(self);
+  int skipped = 0;
+  while (plm_buffer_has(self, 8) && self->bytes[self->bit_index >> 3] == v) {
+    self->bit_index += 8;
+    skipped++;
+  }
+  return skipped;
+}
+
+int plm_buffer_next_start_code(plm_buffer_t *self) {
+  plm_buffer_align(self);
+
+  while (plm_buffer_has(self, (5 << 3))) {
+    size_t byte_index = (self->bit_index) >> 3;
+    if (self->bytes[byte_index] == 0x00 && self->bytes[byte_index + 1] == 0x00 && self->bytes[byte_index + 2] == 0x01) {
+      self->bit_index = (byte_index + 4) << 3;
+      return self->bytes[byte_index + 3];
+    }
+    self->bit_index += 8;
+  }
+  return -1;
+}
+
+int plm_buffer_find_start_code(plm_buffer_t *self, int code) {
+  int current = 0;
+  while (TRUE) {
+    current = plm_buffer_next_start_code(self);
+    if (current == code || current == -1) {
+      return current;
+    }
+  }
+  return -1;
+}
+
+int plm_buffer_has_start_code(plm_buffer_t *self, int code) {
+  size_t previous_bit_index = self->bit_index;
+  int previous_discard_read_bytes = self->discard_read_bytes;
+
+  self->discard_read_bytes = FALSE;
+  int current = plm_buffer_find_start_code(self, code);
+
+  self->bit_index = previous_bit_index;
+  self->discard_read_bytes = previous_discard_read_bytes;
+  return current;
+}
+
+int plm_buffer_peek_non_zero(plm_buffer_t *self, int bit_count) {
+  if (!plm_buffer_has(self, bit_count)) {
+    return FALSE;
+  }
+
+  int val = plm_buffer_read(self, bit_count);
+  self->bit_index -= bit_count;
+  return val != 0;
+}
+
+int16_t plm_buffer_read_vlc(plm_buffer_t *self, const plm_vlc_t *table) {
+  plm_vlc_t state = {0, 0};
+  do {
+    state = table[state.index + plm_buffer_read(self, 1)];
+  } while (state.index > 0);
+  return state.value;
+}
+
+uint16_t plm_buffer_read_vlc_uint(plm_buffer_t *self, const plm_vlc_uint_t *table) {
+  return (uint16_t)plm_buffer_read_vlc(self, (const plm_vlc_t *)table);
+}
+
+// ----------------------------------------------------------------------------
+// plm_demux implementation
+
+static const int PLM_START_PACK = 0xBA;
+static const int PLM_START_END = 0xB9;
+static const int PLM_START_SYSTEM = 0xBB;
+
+struct plm_demux_t {
+  plm_buffer_t *buffer;
+  int destroy_buffer_when_done;
+  double system_clock_ref;
+
+  size_t last_file_size;
+  double last_decoded_pts;
+  double start_time;
+  double duration;
+
+  int start_code;
+  int has_pack_header;
+  int has_system_header;
+  int has_headers;
+
+  int num_audio_streams;
+  int num_video_streams;
+  plm_packet_t current_packet;
+  plm_packet_t next_packet;
+};
+
+void plm_demux_buffer_seek(plm_demux_t *self, size_t pos);
+double plm_demux_decode_time(plm_demux_t *self);
+plm_packet_t *plm_demux_decode_packet(plm_demux_t *self, int type);
+plm_packet_t *plm_demux_get_packet(plm_demux_t *self);
+
+plm_demux_t *plm_demux_create(plm_buffer_t *buffer, int destroy_when_done) {
+  plm_demux_t *self = (plm_demux_t *)PLM_MALLOC(sizeof(plm_demux_t));
+  memset(self, 0, sizeof(plm_demux_t));
+
+  self->buffer = buffer;
+  self->destroy_buffer_when_done = destroy_when_done;
+
+  self->start_time = PLM_PACKET_INVALID_TS;
+  self->duration = PLM_PACKET_INVALID_TS;
+  self->start_code = -1;
+
+  plm_demux_has_headers(self);
+  return self;
+}
+
+void plm_demux_destroy(plm_demux_t *self) {
+  if (self->destroy_buffer_when_done) {
+    plm_buffer_destroy(self->buffer);
+  }
+  PLM_FREE(self);
+}
+
+int plm_demux_has_headers(plm_demux_t *self) {
+  if (self->has_headers) {
+    return TRUE;
+  }
+
+  // Decode pack header
+  if (!self->has_pack_header) {
+    if (self->start_code != PLM_START_PACK && plm_buffer_find_start_code(self->buffer, PLM_START_PACK) == -1) {
+      return FALSE;
+    }
+
+    self->start_code = PLM_START_PACK;
+    if (!plm_buffer_has(self->buffer, 64)) {
+      return FALSE;
+    }
+    self->start_code = -1;
+
+    if (plm_buffer_read(self->buffer, 4) != 0x02) {
+      return FALSE;
+    }
+
+    self->system_clock_ref = plm_demux_decode_time(self);
+    plm_buffer_skip(self->buffer, 1);
+    plm_buffer_skip(self->buffer, 22); // mux_rate * 50
+    plm_buffer_skip(self->buffer, 1);
+
+    self->has_pack_header = TRUE;
+  }
+
+  // Decode system header
+  if (!self->has_system_header) {
+    if (self->start_code != PLM_START_SYSTEM && plm_buffer_find_start_code(self->buffer, PLM_START_SYSTEM) == -1) {
+      return FALSE;
+    }
+
+    self->start_code = PLM_START_SYSTEM;
+    if (!plm_buffer_has(self->buffer, 56)) {
+      return FALSE;
+    }
+    self->start_code = -1;
+
+    plm_buffer_skip(self->buffer, 16); // header_length
+    plm_buffer_skip(self->buffer, 24); // rate bound
+    self->num_audio_streams = plm_buffer_read(self->buffer, 6);
+    plm_buffer_skip(self->buffer, 5); // misc flags
+    self->num_video_streams = plm_buffer_read(self->buffer, 5);
+
+    self->has_system_header = TRUE;
+  }
+
+  self->has_headers = TRUE;
+  return TRUE;
+}
+
+int plm_demux_get_num_video_streams(plm_demux_t *self) {
+  return plm_demux_has_headers(self) ? self->num_video_streams : 0;
+}
+
+int plm_demux_get_num_audio_streams(plm_demux_t *self) {
+  return plm_demux_has_headers(self) ? self->num_audio_streams : 0;
+}
+
+void plm_demux_rewind(plm_demux_t *self) {
+  plm_buffer_rewind(self->buffer);
+  self->current_packet.length = 0;
+  self->next_packet.length = 0;
+  self->start_code = -1;
+}
+
+int plm_demux_has_ended(plm_demux_t *self) { return plm_buffer_has_ended(self->buffer); }
+
+void plm_demux_buffer_seek(plm_demux_t *self, size_t pos) {
+  plm_buffer_seek(self->buffer, pos);
+  self->current_packet.length = 0;
+  self->next_packet.length = 0;
+  self->start_code = -1;
+}
+
+double plm_demux_get_start_time(plm_demux_t *self, int type) {
+  if (self->start_time != PLM_PACKET_INVALID_TS) {
+    return self->start_time;
+  }
+
+  int previous_pos = plm_buffer_tell(self->buffer);
+  int previous_start_code = self->start_code;
+
+  // Find first video PTS
+  plm_demux_rewind(self);
+  do {
+    plm_packet_t *packet = plm_demux_decode(self);
+    if (!packet) {
+      break;
+    }
+    if (packet->type == type) {
+      self->start_time = packet->pts;
+    }
+  } while (self->start_time == PLM_PACKET_INVALID_TS);
+
+  plm_demux_buffer_seek(self, previous_pos);
+  self->start_code = previous_start_code;
+  return self->start_time;
+}
+
+double plm_demux_get_duration(plm_demux_t *self, int type) {
+  size_t file_size = plm_buffer_get_size(self->buffer);
+
+  if (self->duration != PLM_PACKET_INVALID_TS && self->last_file_size == file_size) {
+    return self->duration;
+  }
+
+  size_t previous_pos = plm_buffer_tell(self->buffer);
+  int previous_start_code = self->start_code;
+
+  // Find last video PTS. Start searching 64kb from the end and go further
+  // back if needed.
+  long start_range = 64 * 1024;
+  long max_range = 4096 * 1024;
+  for (long range = start_range; range <= max_range; range *= 2) {
+    long seek_pos = file_size - range;
+    if (seek_pos < 0) {
+      seek_pos = 0;
+      range = max_range; // Make sure to bail after this round
+    }
+    plm_demux_buffer_seek(self, seek_pos);
+    self->current_packet.length = 0;
+
+    double last_pts = PLM_PACKET_INVALID_TS;
+    plm_packet_t *packet = NULL;
+    while ((packet = plm_demux_decode(self))) {
+      if (packet->pts != PLM_PACKET_INVALID_TS && packet->type == type) {
+        last_pts = packet->pts;
+      }
+    }
+    if (last_pts != PLM_PACKET_INVALID_TS) {
+      self->duration = last_pts - plm_demux_get_start_time(self, type);
+      break;
+    }
+  }
+
+  plm_demux_buffer_seek(self, previous_pos);
+  self->start_code = previous_start_code;
+  self->last_file_size = file_size;
+  return self->duration;
+}
+
+plm_packet_t *plm_demux_seek(plm_demux_t *self, double seek_time, int type, int force_intra) {
+  if (!plm_demux_has_headers(self)) {
+    return NULL;
+  }
+
+  // Using the current time, current byte position and the average bytes per
+  // second for this file, try to jump to a byte position that hopefully has
+  // packets containing timestamps within one second before to the desired
+  // seek_time.
+
+  // If we hit close to the seek_time scan through all packets to find the
+  // last one (just before the seek_time) containing an intra frame.
+  // Otherwise we should at least be closer than before. Calculate the bytes
+  // per second for the jumped range and jump again.
+
+  // The number of retries here is hard-limited to a generous amount. Usually
+  // the correct range is found after 1--5 jumps, even for files with very
+  // variable bitrates. If significantly more jumps are needed, there's
+  // probably something wrong with the file and we just avoid getting into an
+  // infinite loop. 32 retries should be enough for anybody.
+
+  double duration = plm_demux_get_duration(self, type);
+  long file_size = plm_buffer_get_size(self->buffer);
+  long byterate = file_size / duration;
+
+  double cur_time = self->last_decoded_pts;
+  double scan_span = 1;
+
+  if (seek_time > duration) {
+    seek_time = duration;
+  } else if (seek_time < 0) {
+    seek_time = 0;
+  }
+  seek_time += self->start_time;
+
+  for (int retry = 0; retry < 32; retry++) {
+    int found_packet_with_pts = FALSE;
+    int found_packet_in_range = FALSE;
+    long last_valid_packet_start = -1;
+    double first_packet_time = PLM_PACKET_INVALID_TS;
+
+    long cur_pos = plm_buffer_tell(self->buffer);
+
+    // Estimate byte offset and jump to it.
+    long offset = (seek_time - cur_time - scan_span) * byterate;
+    long seek_pos = cur_pos + offset;
+    if (seek_pos < 0) {
+      seek_pos = 0;
+    } else if (seek_pos > file_size - 256) {
+      seek_pos = file_size - 256;
+    }
+
+    plm_demux_buffer_seek(self, seek_pos);
+
+    // Scan through all packets up to the seek_time to find the last packet
+    // containing an intra frame.
+    while (plm_buffer_find_start_code(self->buffer, type) != -1) {
+      long packet_start = plm_buffer_tell(self->buffer);
+      plm_packet_t *packet = plm_demux_decode_packet(self, type);
+
+      // Skip packet if it has no PTS
+      if (!packet || packet->pts == PLM_PACKET_INVALID_TS) {
+        continue;
+      }
+
+      // Bail scanning through packets if we hit one that is outside
+      // seek_time - scan_span.
+      // We also adjust the cur_time and byterate values here so the next
+      // iteration can be a bit more precise.
+      if (packet->pts > seek_time || packet->pts < seek_time - scan_span) {
+        found_packet_with_pts = TRUE;
+        byterate = (seek_pos - cur_pos) / (packet->pts - cur_time);
+        cur_time = packet->pts;
+        break;
+      }
+
+      // If we are still here, it means this packet is in close range to
+      // the seek_time. If this is the first packet for this jump position
+      // record the PTS. If we later have to back off, when there was no
+      // intra frame in this range, we can lower the seek_time to not scan
+      // this range again.
+      if (!found_packet_in_range) {
+        found_packet_in_range = TRUE;
+        first_packet_time = packet->pts;
+      }
+
+      // Check if this is an intra frame packet. If so, record the buffer
+      // position of the start of this packet. We want to jump back to it
+      // later, when we know it's the last intra frame before desired
+      // seek time.
+      if (force_intra) {
+        for (size_t i = 0; i < packet->length - 6; i++) {
+          // Find the START_PICTURE code
+          if (packet->data[i] == 0x00 && packet->data[i + 1] == 0x00 && packet->data[i + 2] == 0x01 &&
+              packet->data[i + 3] == 0x00) {
+            // Bits 11--13 in the picture header contain the frame
+            // type, where 1=Intra
+            if ((packet->data[i + 5] & 0x38) == 8) {
+              last_valid_packet_start = packet_start;
+            }
+            break;
+          }
+        }
+      }
+
+      // If we don't want intra frames, just use the last PTS found.
+      else {
+        last_valid_packet_start = packet_start;
+      }
+    }
+
+    // If there was at least one intra frame in the range scanned above,
+    // our search is over. Jump back to the packet and decode it again.
+    if (last_valid_packet_start != -1) {
+      plm_demux_buffer_seek(self, last_valid_packet_start);
+      return plm_demux_decode_packet(self, type);
+    }
+
+    // If we hit the right range, but still found no intra frame, we have
+    // to increases the scan_span. This is done exponentially to also handle
+    // video files with very few intra frames.
+    else if (found_packet_in_range) {
+      scan_span *= 2;
+      seek_time = first_packet_time;
+    }
+
+    // If we didn't find any packet with a PTS, it probably means we reached
+    // the end of the file. Estimate byterate and cur_time accordingly.
+    else if (!found_packet_with_pts) {
+      byterate = (seek_pos - cur_pos) / (duration - cur_time);
+      cur_time = duration;
+    }
+  }
+
+  return NULL;
+}
+
+plm_packet_t *plm_demux_decode(plm_demux_t *self) {
+  if (!plm_demux_has_headers(self)) {
+    return NULL;
+  }
+
+  if (self->current_packet.length) {
+    size_t bits_till_next_packet = self->current_packet.length << 3;
+    if (!plm_buffer_has(self->buffer, bits_till_next_packet)) {
+      return NULL;
+    }
+    plm_buffer_skip(self->buffer, bits_till_next_packet);
+    self->current_packet.length = 0;
+  }
+
+  // Pending packet waiting for data?
+  if (self->next_packet.length) {
+    return plm_demux_get_packet(self);
+  }
+
+  // Pending packet waiting for header?
+  if (self->start_code != -1) {
+    return plm_demux_decode_packet(self, self->start_code);
+  }
+
+  do {
+    self->start_code = plm_buffer_next_start_code(self->buffer);
+    if (self->start_code == PLM_DEMUX_PACKET_VIDEO_1 || self->start_code == PLM_DEMUX_PACKET_PRIVATE ||
+        (self->start_code >= PLM_DEMUX_PACKET_AUDIO_1 && self->start_code <= PLM_DEMUX_PACKET_AUDIO_4)) {
+      return plm_demux_decode_packet(self, self->start_code);
+    }
+  } while (self->start_code != -1);
+
+  return NULL;
+}
+
+double plm_demux_decode_time(plm_demux_t *self) {
+  int64_t clock = plm_buffer_read(self->buffer, 3) << 30;
+  plm_buffer_skip(self->buffer, 1);
+  clock |= plm_buffer_read(self->buffer, 15) << 15;
+  plm_buffer_skip(self->buffer, 1);
+  clock |= plm_buffer_read(self->buffer, 15);
+  plm_buffer_skip(self->buffer, 1);
+  return (double)clock / 90000.0;
+}
+
+plm_packet_t *plm_demux_decode_packet(plm_demux_t *self, int type) {
+  if (!plm_buffer_has(self->buffer, 16 << 3)) {
+    return NULL;
+  }
+
+  self->start_code = -1;
+
+  self->next_packet.type = type;
+  self->next_packet.length = plm_buffer_read(self->buffer, 16);
+  self->next_packet.length -= plm_buffer_skip_bytes(self->buffer, 0xff); // stuffing
+
+  // skip P-STD
+  if (plm_buffer_read(self->buffer, 2) == 0x01) {
+    plm_buffer_skip(self->buffer, 16);
+    self->next_packet.length -= 2;
+  }
+
+  int pts_dts_marker = plm_buffer_read(self->buffer, 2);
+  if (pts_dts_marker == 0x03) {
+    self->next_packet.pts = plm_demux_decode_time(self);
+    self->last_decoded_pts = self->next_packet.pts;
+    plm_buffer_skip(self->buffer, 40); // skip dts
+    self->next_packet.length -= 10;
+  } else if (pts_dts_marker == 0x02) {
+    self->next_packet.pts = plm_demux_decode_time(self);
+    self->last_decoded_pts = self->next_packet.pts;
+    self->next_packet.length -= 5;
+  } else if (pts_dts_marker == 0x00) {
+    self->next_packet.pts = PLM_PACKET_INVALID_TS;
+    plm_buffer_skip(self->buffer, 4);
+    self->next_packet.length -= 1;
+  } else {
+    return NULL; // invalid
+  }
+
+  return plm_demux_get_packet(self);
+}
+
+plm_packet_t *plm_demux_get_packet(plm_demux_t *self) {
+  if (!plm_buffer_has(self->buffer, self->next_packet.length << 3)) {
+    return NULL;
+  }
+
+  self->current_packet.data = self->buffer->bytes + (self->buffer->bit_index >> 3);
+  self->current_packet.length = self->next_packet.length;
+  self->current_packet.type = self->next_packet.type;
+  self->current_packet.pts = self->next_packet.pts;
+
+  self->next_packet.length = 0;
+  return &self->current_packet;
+}
+
+// -----------------------------------------------------------------------------
+// plm_video implementation
+
+// Inspired by Java MPEG-1 Video Decoder and Player by Zoltan Korandi
+// https://sourceforge.net/projects/javampeg1video/
+
+static const int PLM_VIDEO_PICTURE_TYPE_INTRA = 1;
+static const int PLM_VIDEO_PICTURE_TYPE_PREDICTIVE = 2;
+static const int PLM_VIDEO_PICTURE_TYPE_B = 3;
+
+static const int PLM_START_SEQUENCE = 0xB3;
+static const int PLM_START_SLICE_FIRST = 0x01;
+static const int PLM_START_SLICE_LAST = 0xAF;
+static const int PLM_START_PICTURE = 0x00;
+static const int PLM_START_EXTENSION = 0xB5;
+static const int PLM_START_USER_DATA = 0xB2;
+
+#define PLM_START_IS_SLICE(c) (c >= PLM_START_SLICE_FIRST && c <= PLM_START_SLICE_LAST)
+
+static const double PLM_VIDEO_PICTURE_RATE[] = {0.000,  23.976, 24.000, 25.000, 29.970, 30.000, 50.000, 59.940,
+                                                60.000, 0.000,  0.000,  0.000,  0.000,  0.000,  0.000,  0.000};
+
+static const uint8_t PLM_VIDEO_ZIG_ZAG[] = {0,  1,  8,  16, 9,  2,  3,  10, 17, 24, 32, 25, 18, 11, 4,  5,
+                                            12, 19, 26, 33, 40, 48, 41, 34, 27, 20, 13, 6,  7,  14, 21, 28,
+                                            35, 42, 49, 56, 57, 50, 43, 36, 29, 22, 15, 23, 30, 37, 44, 51,
+                                            58, 59, 52, 45, 38, 31, 39, 46, 53, 60, 61, 54, 47, 55, 62, 63};
+
+static const uint8_t PLM_VIDEO_INTRA_QUANT_MATRIX[] = {8,  16, 19, 22, 26, 27, 29, 34, 16, 16, 22, 24, 27, 29, 34, 37,
+                                                       19, 22, 26, 27, 29, 34, 34, 38, 22, 22, 26, 27, 29, 34, 37, 40,
+                                                       22, 26, 27, 29, 32, 35, 40, 48, 26, 27, 29, 32, 35, 40, 48, 58,
+                                                       26, 27, 29, 34, 38, 46, 56, 69, 27, 29, 35, 38, 46, 56, 69, 83};
+
+static const uint8_t PLM_VIDEO_NON_INTRA_QUANT_MATRIX[] = {
+    16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16,
+    16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16,
+    16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16};
+
+static const uint8_t PLM_VIDEO_PREMULTIPLIER_MATRIX[] = {32, 44, 42, 38, 32, 25, 17, 9,  44, 62, 58, 52, 44, 35, 24, 12,
+                                                         42, 58, 55, 49, 42, 33, 23, 12, 38, 52, 49, 44, 38, 30, 20, 10,
+                                                         32, 44, 42, 38, 32, 25, 17, 9,  25, 35, 33, 30, 25, 20, 14, 7,
+                                                         17, 24, 23, 20, 17, 14, 9,  5,  9,  12, 12, 10, 9,  7,  5,  2};
+
+static const plm_vlc_t PLM_VIDEO_MACROBLOCK_ADDRESS_INCREMENT[] = {
+    {1 << 1, 0},  {0, 1},       //   0: x
+    {2 << 1, 0},  {3 << 1, 0},  //   1: 0x
+    {4 << 1, 0},  {5 << 1, 0},  //   2: 00x
+    {0, 3},       {0, 2},       //   3: 01x
+    {6 << 1, 0},  {7 << 1, 0},  //   4: 000x
+    {0, 5},       {0, 4},       //   5: 001x
+    {8 << 1, 0},  {9 << 1, 0},  //   6: 0000x
+    {0, 7},       {0, 6},       //   7: 0001x
+    {10 << 1, 0}, {11 << 1, 0}, //   8: 0000 0x
+    {12 << 1, 0}, {13 << 1, 0}, //   9: 0000 1x
+    {14 << 1, 0}, {15 << 1, 0}, //  10: 0000 00x
+    {16 << 1, 0}, {17 << 1, 0}, //  11: 0000 01x
+    {18 << 1, 0}, {19 << 1, 0}, //  12: 0000 10x
+    {0, 9},       {0, 8},       //  13: 0000 11x
+    {-1, 0},      {20 << 1, 0}, //  14: 0000 000x
+    {-1, 0},      {21 << 1, 0}, //  15: 0000 001x
+    {22 << 1, 0}, {23 << 1, 0}, //  16: 0000 010x
+    {0, 15},      {0, 14},      //  17: 0000 011x
+    {0, 13},      {0, 12},      //  18: 0000 100x
+    {0, 11},      {0, 10},      //  19: 0000 101x
+    {24 << 1, 0}, {25 << 1, 0}, //  20: 0000 0001x
+    {26 << 1, 0}, {27 << 1, 0}, //  21: 0000 0011x
+    {28 << 1, 0}, {29 << 1, 0}, //  22: 0000 0100x
+    {30 << 1, 0}, {31 << 1, 0}, //  23: 0000 0101x
+    {32 << 1, 0}, {-1, 0},      //  24: 0000 0001 0x
+    {-1, 0},      {33 << 1, 0}, //  25: 0000 0001 1x
+    {34 << 1, 0}, {35 << 1, 0}, //  26: 0000 0011 0x
+    {36 << 1, 0}, {37 << 1, 0}, //  27: 0000 0011 1x
+    {38 << 1, 0}, {39 << 1, 0}, //  28: 0000 0100 0x
+    {0, 21},      {0, 20},      //  29: 0000 0100 1x
+    {0, 19},      {0, 18},      //  30: 0000 0101 0x
+    {0, 17},      {0, 16},      //  31: 0000 0101 1x
+    {0, 35},      {-1, 0},      //  32: 0000 0001 00x
+    {-1, 0},      {0, 34},      //  33: 0000 0001 11x
+    {0, 33},      {0, 32},      //  34: 0000 0011 00x
+    {0, 31},      {0, 30},      //  35: 0000 0011 01x
+    {0, 29},      {0, 28},      //  36: 0000 0011 10x
+    {0, 27},      {0, 26},      //  37: 0000 0011 11x
+    {0, 25},      {0, 24},      //  38: 0000 0100 00x
+    {0, 23},      {0, 22},      //  39: 0000 0100 01x
+};
+
+static const plm_vlc_t PLM_VIDEO_MACROBLOCK_TYPE_INTRA[] = {
+    {1 << 1, 0},
+    {0, 0x01}, //   0: x
+    {-1, 0},
+    {0, 0x11}, //   1: 0x
+};
+
+static const plm_vlc_t PLM_VIDEO_MACROBLOCK_TYPE_PREDICTIVE[] = {
+    {1 << 1, 0}, {0, 0x0a},   //   0: x
+    {2 << 1, 0}, {0, 0x02},   //   1: 0x
+    {3 << 1, 0}, {0, 0x08},   //   2: 00x
+    {4 << 1, 0}, {5 << 1, 0}, //   3: 000x
+    {6 << 1, 0}, {0, 0x12},   //   4: 0000x
+    {0, 0x1a},   {0, 0x01},   //   5: 0001x
+    {-1, 0},     {0, 0x11},   //   6: 0000 0x
+};
+
+static const plm_vlc_t PLM_VIDEO_MACROBLOCK_TYPE_B[] = {
+    {1 << 1, 0}, {2 << 1, 0},  //   0: x
+    {3 << 1, 0}, {4 << 1, 0},  //   1: 0x
+    {0, 0x0c},   {0, 0x0e},    //   2: 1x
+    {5 << 1, 0}, {6 << 1, 0},  //   3: 00x
+    {0, 0x04},   {0, 0x06},    //   4: 01x
+    {7 << 1, 0}, {8 << 1, 0},  //   5: 000x
+    {0, 0x08},   {0, 0x0a},    //   6: 001x
+    {9 << 1, 0}, {10 << 1, 0}, //   7: 0000x
+    {0, 0x1e},   {0, 0x01},    //   8: 0001x
+    {-1, 0},     {0, 0x11},    //   9: 0000 0x
+    {0, 0x16},   {0, 0x1a},    //  10: 0000 1x
+};
+
+static const plm_vlc_t *PLM_VIDEO_MACROBLOCK_TYPE[] = {
+    NULL, PLM_VIDEO_MACROBLOCK_TYPE_INTRA, PLM_VIDEO_MACROBLOCK_TYPE_PREDICTIVE, PLM_VIDEO_MACROBLOCK_TYPE_B};
+
+static const plm_vlc_t PLM_VIDEO_CODE_BLOCK_PATTERN[] = {
+    {1 << 1, 0},  {2 << 1, 0},  //   0: x
+    {3 << 1, 0},  {4 << 1, 0},  //   1: 0x
+    {5 << 1, 0},  {6 << 1, 0},  //   2: 1x
+    {7 << 1, 0},  {8 << 1, 0},  //   3: 00x
+    {9 << 1, 0},  {10 << 1, 0}, //   4: 01x
+    {11 << 1, 0}, {12 << 1, 0}, //   5: 10x
+    {13 << 1, 0}, {0, 60},      //   6: 11x
+    {14 << 1, 0}, {15 << 1, 0}, //   7: 000x
+    {16 << 1, 0}, {17 << 1, 0}, //   8: 001x
+    {18 << 1, 0}, {19 << 1, 0}, //   9: 010x
+    {20 << 1, 0}, {21 << 1, 0}, //  10: 011x
+    {22 << 1, 0}, {23 << 1, 0}, //  11: 100x
+    {0, 32},      {0, 16},      //  12: 101x
+    {0, 8},       {0, 4},       //  13: 110x
+    {24 << 1, 0}, {25 << 1, 0}, //  14: 0000x
+    {26 << 1, 0}, {27 << 1, 0}, //  15: 0001x
+    {28 << 1, 0}, {29 << 1, 0}, //  16: 0010x
+    {30 << 1, 0}, {31 << 1, 0}, //  17: 0011x
+    {0, 62},      {0, 2},       //  18: 0100x
+    {0, 61},      {0, 1},       //  19: 0101x
+    {0, 56},      {0, 52},      //  20: 0110x
+    {0, 44},      {0, 28},      //  21: 0111x
+    {0, 40},      {0, 20},      //  22: 1000x
+    {0, 48},      {0, 12},      //  23: 1001x
+    {32 << 1, 0}, {33 << 1, 0}, //  24: 0000 0x
+    {34 << 1, 0}, {35 << 1, 0}, //  25: 0000 1x
+    {36 << 1, 0}, {37 << 1, 0}, //  26: 0001 0x
+    {38 << 1, 0}, {39 << 1, 0}, //  27: 0001 1x
+    {40 << 1, 0}, {41 << 1, 0}, //  28: 0010 0x
+    {42 << 1, 0}, {43 << 1, 0}, //  29: 0010 1x
+    {0, 63},      {0, 3},       //  30: 0011 0x
+    {0, 36},      {0, 24},      //  31: 0011 1x
+    {44 << 1, 0}, {45 << 1, 0}, //  32: 0000 00x
+    {46 << 1, 0}, {47 << 1, 0}, //  33: 0000 01x
+    {48 << 1, 0}, {49 << 1, 0}, //  34: 0000 10x
+    {50 << 1, 0}, {51 << 1, 0}, //  35: 0000 11x
+    {52 << 1, 0}, {53 << 1, 0}, //  36: 0001 00x
+    {54 << 1, 0}, {55 << 1, 0}, //  37: 0001 01x
+    {56 << 1, 0}, {57 << 1, 0}, //  38: 0001 10x
+    {58 << 1, 0}, {59 << 1, 0}, //  39: 0001 11x
+    {0, 34},      {0, 18},      //  40: 0010 00x
+    {0, 10},      {0, 6},       //  41: 0010 01x
+    {0, 33},      {0, 17},      //  42: 0010 10x
+    {0, 9},       {0, 5},       //  43: 0010 11x
+    {-1, 0},      {60 << 1, 0}, //  44: 0000 000x
+    {61 << 1, 0}, {62 << 1, 0}, //  45: 0000 001x
+    {0, 58},      {0, 54},      //  46: 0000 010x
+    {0, 46},      {0, 30},      //  47: 0000 011x
+    {0, 57},      {0, 53},      //  48: 0000 100x
+    {0, 45},      {0, 29},      //  49: 0000 101x
+    {0, 38},      {0, 26},      //  50: 0000 110x
+    {0, 37},      {0, 25},      //  51: 0000 111x
+    {0, 43},      {0, 23},      //  52: 0001 000x
+    {0, 51},      {0, 15},      //  53: 0001 001x
+    {0, 42},      {0, 22},      //  54: 0001 010x
+    {0, 50},      {0, 14},      //  55: 0001 011x
+    {0, 41},      {0, 21},      //  56: 0001 100x
+    {0, 49},      {0, 13},      //  57: 0001 101x
+    {0, 35},      {0, 19},      //  58: 0001 110x
+    {0, 11},      {0, 7},       //  59: 0001 111x
+    {0, 39},      {0, 27},      //  60: 0000 0001x
+    {0, 59},      {0, 55},      //  61: 0000 0010x
+    {0, 47},      {0, 31},      //  62: 0000 0011x
+};
+
+static const plm_vlc_t PLM_VIDEO_MOTION[] = {
+    {1 << 1, 0},  {0, 0},       //   0: x
+    {2 << 1, 0},  {3 << 1, 0},  //   1: 0x
+    {4 << 1, 0},  {5 << 1, 0},  //   2: 00x
+    {0, 1},       {0, -1},      //   3: 01x
+    {6 << 1, 0},  {7 << 1, 0},  //   4: 000x
+    {0, 2},       {0, -2},      //   5: 001x
+    {8 << 1, 0},  {9 << 1, 0},  //   6: 0000x
+    {0, 3},       {0, -3},      //   7: 0001x
+    {10 << 1, 0}, {11 << 1, 0}, //   8: 0000 0x
+    {12 << 1, 0}, {13 << 1, 0}, //   9: 0000 1x
+    {-1, 0},      {14 << 1, 0}, //  10: 0000 00x
+    {15 << 1, 0}, {16 << 1, 0}, //  11: 0000 01x
+    {17 << 1, 0}, {18 << 1, 0}, //  12: 0000 10x
+    {0, 4},       {0, -4},      //  13: 0000 11x
+    {-1, 0},      {19 << 1, 0}, //  14: 0000 001x
+    {20 << 1, 0}, {21 << 1, 0}, //  15: 0000 010x
+    {0, 7},       {0, -7},      //  16: 0000 011x
+    {0, 6},       {0, -6},      //  17: 0000 100x
+    {0, 5},       {0, -5},      //  18: 0000 101x
+    {22 << 1, 0}, {23 << 1, 0}, //  19: 0000 0011x
+    {24 << 1, 0}, {25 << 1, 0}, //  20: 0000 0100x
+    {26 << 1, 0}, {27 << 1, 0}, //  21: 0000 0101x
+    {28 << 1, 0}, {29 << 1, 0}, //  22: 0000 0011 0x
+    {30 << 1, 0}, {31 << 1, 0}, //  23: 0000 0011 1x
+    {32 << 1, 0}, {33 << 1, 0}, //  24: 0000 0100 0x
+    {0, 10},      {0, -10},     //  25: 0000 0100 1x
+    {0, 9},       {0, -9},      //  26: 0000 0101 0x
+    {0, 8},       {0, -8},      //  27: 0000 0101 1x
+    {0, 16},      {0, -16},     //  28: 0000 0011 00x
+    {0, 15},      {0, -15},     //  29: 0000 0011 01x
+    {0, 14},      {0, -14},     //  30: 0000 0011 10x
+    {0, 13},      {0, -13},     //  31: 0000 0011 11x
+    {0, 12},      {0, -12},     //  32: 0000 0100 00x
+    {0, 11},      {0, -11},     //  33: 0000 0100 01x
+};
+
+static const plm_vlc_t PLM_VIDEO_DCT_SIZE_LUMINANCE[] = {
+    {1 << 1, 0}, {2 << 1, 0}, //   0: x
+    {0, 1},      {0, 2},      //   1: 0x
+    {3 << 1, 0}, {4 << 1, 0}, //   2: 1x
+    {0, 0},      {0, 3},      //   3: 10x
+    {0, 4},      {5 << 1, 0}, //   4: 11x
+    {0, 5},      {6 << 1, 0}, //   5: 111x
+    {0, 6},      {7 << 1, 0}, //   6: 1111x
+    {0, 7},      {8 << 1, 0}, //   7: 1111 1x
+    {0, 8},      {-1, 0},     //   8: 1111 11x
+};
+
+static const plm_vlc_t PLM_VIDEO_DCT_SIZE_CHROMINANCE[] = {
+    {1 << 1, 0}, {2 << 1, 0}, //   0: x
+    {0, 0},      {0, 1},      //   1: 0x
+    {0, 2},      {3 << 1, 0}, //   2: 1x
+    {0, 3},      {4 << 1, 0}, //   3: 11x
+    {0, 4},      {5 << 1, 0}, //   4: 111x
+    {0, 5},      {6 << 1, 0}, //   5: 1111x
+    {0, 6},      {7 << 1, 0}, //   6: 1111 1x
+    {0, 7},      {8 << 1, 0}, //   7: 1111 11x
+    {0, 8},      {-1, 0},     //   8: 1111 111x
+};
+
+static const plm_vlc_t *PLM_VIDEO_DCT_SIZE[] = {PLM_VIDEO_DCT_SIZE_LUMINANCE, PLM_VIDEO_DCT_SIZE_CHROMINANCE,
+                                                PLM_VIDEO_DCT_SIZE_CHROMINANCE};
+
+//  dct_coeff bitmap:
+//    0xff00  run
+//    0x00ff  level
+
+//  Decoded values are unsigned. Sign bit follows in the stream.
+
+static const plm_vlc_uint_t PLM_VIDEO_DCT_COEFF[] = {
+    {1 << 1, 0},   {0, 0x0001},   //   0: x
+    {2 << 1, 0},   {3 << 1, 0},   //   1: 0x
+    {4 << 1, 0},   {5 << 1, 0},   //   2: 00x
+    {6 << 1, 0},   {0, 0x0101},   //   3: 01x
+    {7 << 1, 0},   {8 << 1, 0},   //   4: 000x
+    {9 << 1, 0},   {10 << 1, 0},  //   5: 001x
+    {0, 0x0002},   {0, 0x0201},   //   6: 010x
+    {11 << 1, 0},  {12 << 1, 0},  //   7: 0000x
+    {13 << 1, 0},  {14 << 1, 0},  //   8: 0001x
+    {15 << 1, 0},  {0, 0x0003},   //   9: 0010x
+    {0, 0x0401},   {0, 0x0301},   //  10: 0011x
+    {16 << 1, 0},  {0, 0xffff},   //  11: 0000 0x
+    {17 << 1, 0},  {18 << 1, 0},  //  12: 0000 1x
+    {0, 0x0701},   {0, 0x0601},   //  13: 0001 0x
+    {0, 0x0102},   {0, 0x0501},   //  14: 0001 1x
+    {19 << 1, 0},  {20 << 1, 0},  //  15: 0010 0x
+    {21 << 1, 0},  {22 << 1, 0},  //  16: 0000 00x
+    {0, 0x0202},   {0, 0x0901},   //  17: 0000 10x
+    {0, 0x0004},   {0, 0x0801},   //  18: 0000 11x
+    {23 << 1, 0},  {24 << 1, 0},  //  19: 0010 00x
+    {25 << 1, 0},  {26 << 1, 0},  //  20: 0010 01x
+    {27 << 1, 0},  {28 << 1, 0},  //  21: 0000 000x
+    {29 << 1, 0},  {30 << 1, 0},  //  22: 0000 001x
+    {0, 0x0d01},   {0, 0x0006},   //  23: 0010 000x
+    {0, 0x0c01},   {0, 0x0b01},   //  24: 0010 001x
+    {0, 0x0302},   {0, 0x0103},   //  25: 0010 010x
+    {0, 0x0005},   {0, 0x0a01},   //  26: 0010 011x
+    {31 << 1, 0},  {32 << 1, 0},  //  27: 0000 0000x
+    {33 << 1, 0},  {34 << 1, 0},  //  28: 0000 0001x
+    {35 << 1, 0},  {36 << 1, 0},  //  29: 0000 0010x
+    {37 << 1, 0},  {38 << 1, 0},  //  30: 0000 0011x
+    {39 << 1, 0},  {40 << 1, 0},  //  31: 0000 0000 0x
+    {41 << 1, 0},  {42 << 1, 0},  //  32: 0000 0000 1x
+    {43 << 1, 0},  {44 << 1, 0},  //  33: 0000 0001 0x
+    {45 << 1, 0},  {46 << 1, 0},  //  34: 0000 0001 1x
+    {0, 0x1001},   {0, 0x0502},   //  35: 0000 0010 0x
+    {0, 0x0007},   {0, 0x0203},   //  36: 0000 0010 1x
+    {0, 0x0104},   {0, 0x0f01},   //  37: 0000 0011 0x
+    {0, 0x0e01},   {0, 0x0402},   //  38: 0000 0011 1x
+    {47 << 1, 0},  {48 << 1, 0},  //  39: 0000 0000 00x
+    {49 << 1, 0},  {50 << 1, 0},  //  40: 0000 0000 01x
+    {51 << 1, 0},  {52 << 1, 0},  //  41: 0000 0000 10x
+    {53 << 1, 0},  {54 << 1, 0},  //  42: 0000 0000 11x
+    {55 << 1, 0},  {56 << 1, 0},  //  43: 0000 0001 00x
+    {57 << 1, 0},  {58 << 1, 0},  //  44: 0000 0001 01x
+    {59 << 1, 0},  {60 << 1, 0},  //  45: 0000 0001 10x
+    {61 << 1, 0},  {62 << 1, 0},  //  46: 0000 0001 11x
+    {-1, 0},       {63 << 1, 0},  //  47: 0000 0000 000x
+    {64 << 1, 0},  {65 << 1, 0},  //  48: 0000 0000 001x
+    {66 << 1, 0},  {67 << 1, 0},  //  49: 0000 0000 010x
+    {68 << 1, 0},  {69 << 1, 0},  //  50: 0000 0000 011x
+    {70 << 1, 0},  {71 << 1, 0},  //  51: 0000 0000 100x
+    {72 << 1, 0},  {73 << 1, 0},  //  52: 0000 0000 101x
+    {74 << 1, 0},  {75 << 1, 0},  //  53: 0000 0000 110x
+    {76 << 1, 0},  {77 << 1, 0},  //  54: 0000 0000 111x
+    {0, 0x000b},   {0, 0x0802},   //  55: 0000 0001 000x
+    {0, 0x0403},   {0, 0x000a},   //  56: 0000 0001 001x
+    {0, 0x0204},   {0, 0x0702},   //  57: 0000 0001 010x
+    {0, 0x1501},   {0, 0x1401},   //  58: 0000 0001 011x
+    {0, 0x0009},   {0, 0x1301},   //  59: 0000 0001 100x
+    {0, 0x1201},   {0, 0x0105},   //  60: 0000 0001 101x
+    {0, 0x0303},   {0, 0x0008},   //  61: 0000 0001 110x
+    {0, 0x0602},   {0, 0x1101},   //  62: 0000 0001 111x
+    {78 << 1, 0},  {79 << 1, 0},  //  63: 0000 0000 0001x
+    {80 << 1, 0},  {81 << 1, 0},  //  64: 0000 0000 0010x
+    {82 << 1, 0},  {83 << 1, 0},  //  65: 0000 0000 0011x
+    {84 << 1, 0},  {85 << 1, 0},  //  66: 0000 0000 0100x
+    {86 << 1, 0},  {87 << 1, 0},  //  67: 0000 0000 0101x
+    {88 << 1, 0},  {89 << 1, 0},  //  68: 0000 0000 0110x
+    {90 << 1, 0},  {91 << 1, 0},  //  69: 0000 0000 0111x
+    {0, 0x0a02},   {0, 0x0902},   //  70: 0000 0000 1000x
+    {0, 0x0503},   {0, 0x0304},   //  71: 0000 0000 1001x
+    {0, 0x0205},   {0, 0x0107},   //  72: 0000 0000 1010x
+    {0, 0x0106},   {0, 0x000f},   //  73: 0000 0000 1011x
+    {0, 0x000e},   {0, 0x000d},   //  74: 0000 0000 1100x
+    {0, 0x000c},   {0, 0x1a01},   //  75: 0000 0000 1101x
+    {0, 0x1901},   {0, 0x1801},   //  76: 0000 0000 1110x
+    {0, 0x1701},   {0, 0x1601},   //  77: 0000 0000 1111x
+    {92 << 1, 0},  {93 << 1, 0},  //  78: 0000 0000 0001 0x
+    {94 << 1, 0},  {95 << 1, 0},  //  79: 0000 0000 0001 1x
+    {96 << 1, 0},  {97 << 1, 0},  //  80: 0000 0000 0010 0x
+    {98 << 1, 0},  {99 << 1, 0},  //  81: 0000 0000 0010 1x
+    {100 << 1, 0}, {101 << 1, 0}, //  82: 0000 0000 0011 0x
+    {102 << 1, 0}, {103 << 1, 0}, //  83: 0000 0000 0011 1x
+    {0, 0x001f},   {0, 0x001e},   //  84: 0000 0000 0100 0x
+    {0, 0x001d},   {0, 0x001c},   //  85: 0000 0000 0100 1x
+    {0, 0x001b},   {0, 0x001a},   //  86: 0000 0000 0101 0x
+    {0, 0x0019},   {0, 0x0018},   //  87: 0000 0000 0101 1x
+    {0, 0x0017},   {0, 0x0016},   //  88: 0000 0000 0110 0x
+    {0, 0x0015},   {0, 0x0014},   //  89: 0000 0000 0110 1x
+    {0, 0x0013},   {0, 0x0012},   //  90: 0000 0000 0111 0x
+    {0, 0x0011},   {0, 0x0010},   //  91: 0000 0000 0111 1x
+    {104 << 1, 0}, {105 << 1, 0}, //  92: 0000 0000 0001 00x
+    {106 << 1, 0}, {107 << 1, 0}, //  93: 0000 0000 0001 01x
+    {108 << 1, 0}, {109 << 1, 0}, //  94: 0000 0000 0001 10x
+    {110 << 1, 0}, {111 << 1, 0}, //  95: 0000 0000 0001 11x
+    {0, 0x0028},   {0, 0x0027},   //  96: 0000 0000 0010 00x
+    {0, 0x0026},   {0, 0x0025},   //  97: 0000 0000 0010 01x
+    {0, 0x0024},   {0, 0x0023},   //  98: 0000 0000 0010 10x
+    {0, 0x0022},   {0, 0x0021},   //  99: 0000 0000 0010 11x
+    {0, 0x0020},   {0, 0x010e},   // 100: 0000 0000 0011 00x
+    {0, 0x010d},   {0, 0x010c},   // 101: 0000 0000 0011 01x
+    {0, 0x010b},   {0, 0x010a},   // 102: 0000 0000 0011 10x
+    {0, 0x0109},   {0, 0x0108},   // 103: 0000 0000 0011 11x
+    {0, 0x0112},   {0, 0x0111},   // 104: 0000 0000 0001 000x
+    {0, 0x0110},   {0, 0x010f},   // 105: 0000 0000 0001 001x
+    {0, 0x0603},   {0, 0x1002},   // 106: 0000 0000 0001 010x
+    {0, 0x0f02},   {0, 0x0e02},   // 107: 0000 0000 0001 011x
+    {0, 0x0d02},   {0, 0x0c02},   // 108: 0000 0000 0001 100x
+    {0, 0x0b02},   {0, 0x1f01},   // 109: 0000 0000 0001 101x
+    {0, 0x1e01},   {0, 0x1d01},   // 110: 0000 0000 0001 110x
+    {0, 0x1c01},   {0, 0x1b01},   // 111: 0000 0000 0001 111x
+};
+
+typedef struct {
+  int full_px;
+  int is_set;
+  int r_size;
+  int h;
+  int v;
+} plm_video_motion_t;
+
+struct plm_video_t {
+  double framerate;
+  double time;
+  int frames_decoded;
+  int width;
+  int height;
+  int mb_width;
+  int mb_height;
+  int mb_size;
+
+  int luma_width;
+  int luma_height;
+
+  int chroma_width;
+  int chroma_height;
+
+  int start_code;
+  int picture_type;
+
+  plm_video_motion_t motion_forward;
+  plm_video_motion_t motion_backward;
+
+  int has_sequence_header;
+
+  int quantizer_scale;
+  int slice_begin;
+  int macroblock_address;
+
+  int mb_row;
+  int mb_col;
+
+  int macroblock_type;
+  int macroblock_intra;
+
+  int dc_predictor[3];
+
+  plm_buffer_t *buffer;
+  int destroy_buffer_when_done;
+
+  plm_frame_t frame_current;
+  plm_frame_t frame_forward;
+  plm_frame_t frame_backward;
+
+  uint8_t *frames_data;
+
+  int block_data[64];
+  uint8_t intra_quant_matrix[64];
+  uint8_t non_intra_quant_matrix[64];
+
+  int has_reference_frame;
+  int assume_no_b_frames;
+};
+
+static inline uint8_t plm_clamp(int n) {
+  if (n > 255) {
+    n = 255;
+  } else if (n < 0) {
+    n = 0;
+  }
+  return n;
+}
+
+int plm_video_decode_sequence_header(plm_video_t *self);
+void plm_video_init_frame(plm_video_t *self, plm_frame_t *frame, uint8_t *base);
+void plm_video_decode_picture(plm_video_t *self);
+void plm_video_decode_slice(plm_video_t *self, int slice);
+void plm_video_decode_macroblock(plm_video_t *self);
+void plm_video_decode_motion_vectors(plm_video_t *self);
+int plm_video_decode_motion_vector(plm_video_t *self, int r_size, int motion);
+void plm_video_predict_macroblock(plm_video_t *self);
+void plm_video_copy_macroblock(plm_video_t *self, plm_frame_t *s, int motion_h, int motion_v);
+void plm_video_interpolate_macroblock(plm_video_t *self, plm_frame_t *s, int motion_h, int motion_v);
+void plm_video_process_macroblock(plm_video_t *self, uint8_t *s, uint8_t *d, int mh, int mb, int bs, int interp);
+void plm_video_decode_block(plm_video_t *self, int block);
+void plm_video_idct(int *block);
+
+plm_video_t *plm_video_create_with_buffer(plm_buffer_t *buffer, int destroy_when_done) {
+  plm_video_t *self = (plm_video_t *)PLM_MALLOC(sizeof(plm_video_t));
+  memset(self, 0, sizeof(plm_video_t));
+
+  self->buffer = buffer;
+  self->destroy_buffer_when_done = destroy_when_done;
+
+  // Attempt to decode the sequence header
+  self->start_code = plm_buffer_find_start_code(self->buffer, PLM_START_SEQUENCE);
+  if (self->start_code != -1) {
+    plm_video_decode_sequence_header(self);
+  }
+  return self;
+}
+
+void plm_video_destroy(plm_video_t *self) {
+  if (self->destroy_buffer_when_done) {
+    plm_buffer_destroy(self->buffer);
+  }
+
+  if (self->has_sequence_header) {
+    PLM_FREE(self->frames_data);
+  }
+
+  PLM_FREE(self);
+}
+
+double plm_video_get_framerate(plm_video_t *self) { return plm_video_has_header(self) ? self->framerate : 0; }
+
+int plm_video_get_width(plm_video_t *self) { return plm_video_has_header(self) ? self->width : 0; }
+
+int plm_video_get_height(plm_video_t *self) { return plm_video_has_header(self) ? self->height : 0; }
+
+void plm_video_set_no_delay(plm_video_t *self, int no_delay) { self->assume_no_b_frames = no_delay; }
+
+double plm_video_get_time(plm_video_t *self) { return self->time; }
+
+void plm_video_set_time(plm_video_t *self, double time) {
+  self->frames_decoded = self->framerate * time;
+  self->time = time;
+}
+
+void plm_video_rewind(plm_video_t *self) {
+  plm_buffer_rewind(self->buffer);
+  self->time = 0;
+  self->frames_decoded = 0;
+  self->has_reference_frame = FALSE;
+  self->start_code = -1;
+}
+
+int plm_video_has_ended(plm_video_t *self) { return plm_buffer_has_ended(self->buffer); }
+
+plm_frame_t *plm_video_decode(plm_video_t *self) {
+  if (!plm_video_has_header(self)) {
+    return NULL;
+  }
+
+  plm_frame_t *frame = NULL;
+  do {
+    if (self->start_code != PLM_START_PICTURE) {
+      self->start_code = plm_buffer_find_start_code(self->buffer, PLM_START_PICTURE);
+
+      if (self->start_code == -1) {
+        // If we reached the end of the file and the previously decoded
+        // frame was a reference frame, we still have to return it.
+        if (self->has_reference_frame && !self->assume_no_b_frames && plm_buffer_has_ended(self->buffer) &&
+            (self->picture_type == PLM_VIDEO_PICTURE_TYPE_INTRA ||
+             self->picture_type == PLM_VIDEO_PICTURE_TYPE_PREDICTIVE)) {
+          self->has_reference_frame = FALSE;
+          frame = &self->frame_backward;
+          break;
+        }
+
+        return NULL;
+      }
+    }
+
+    // Make sure we have a full picture in the buffer before attempting to
+    // decode it. Sadly, this can only be done by seeking for the start code
+    // of the next picture. Also, if we didn't find the start code for the
+    // next picture, but the source has ended, we assume that this last
+    // picture is in the buffer.
+    if (plm_buffer_has_start_code(self->buffer, PLM_START_PICTURE) == -1 && !plm_buffer_has_ended(self->buffer)) {
+      return NULL;
+    }
+    plm_buffer_discard_read_bytes(self->buffer);
+
+    plm_video_decode_picture(self);
+
+    if (self->assume_no_b_frames) {
+      frame = &self->frame_backward;
+    } else if (self->picture_type == PLM_VIDEO_PICTURE_TYPE_B) {
+      frame = &self->frame_current;
+    } else if (self->has_reference_frame) {
+      frame = &self->frame_forward;
+    } else {
+      self->has_reference_frame = TRUE;
+    }
+  } while (!frame);
+
+  frame->time = self->time;
+  self->frames_decoded++;
+  self->time = (double)self->frames_decoded / self->framerate;
+
+  return frame;
+}
+
+int plm_video_has_header(plm_video_t *self) {
+  if (self->has_sequence_header) {
+    return TRUE;
+  }
+
+  if (self->start_code != PLM_START_SEQUENCE) {
+    self->start_code = plm_buffer_find_start_code(self->buffer, PLM_START_SEQUENCE);
+  }
+  if (self->start_code == -1) {
+    return FALSE;
+  }
+
+  if (!plm_video_decode_sequence_header(self)) {
+    return FALSE;
+  }
+
+  return TRUE;
+}
+
+int plm_video_decode_sequence_header(plm_video_t *self) {
+  int max_header_size = 64 + 2 * 64 * 8; // 64 bit header + 2x 64 byte matrix
+  if (!plm_buffer_has(self->buffer, max_header_size)) {
+    return FALSE;
+  }
+
+  self->width = plm_buffer_read(self->buffer, 12);
+  self->height = plm_buffer_read(self->buffer, 12);
+
+  if (self->width <= 0 || self->height <= 0) {
+    return FALSE;
+  }
+
+  // Skip pixel aspect ratio
+  plm_buffer_skip(self->buffer, 4);
+
+  self->framerate = PLM_VIDEO_PICTURE_RATE[plm_buffer_read(self->buffer, 4)];
+
+  // Skip bit_rate, marker, buffer_size and constrained bit
+  plm_buffer_skip(self->buffer, 18 + 1 + 10 + 1);
+
+  // Load custom intra quant matrix?
+  if (plm_buffer_read(self->buffer, 1)) {
+    for (int i = 0; i < 64; i++) {
+      int idx = PLM_VIDEO_ZIG_ZAG[i];
+      self->intra_quant_matrix[idx] = plm_buffer_read(self->buffer, 8);
+    }
+  } else {
+    memcpy(self->intra_quant_matrix, PLM_VIDEO_INTRA_QUANT_MATRIX, 64);
+  }
+
+  // Load custom non intra quant matrix?
+  if (plm_buffer_read(self->buffer, 1)) {
+    for (int i = 0; i < 64; i++) {
+      int idx = PLM_VIDEO_ZIG_ZAG[i];
+      self->non_intra_quant_matrix[idx] = plm_buffer_read(self->buffer, 8);
+    }
+  } else {
+    memcpy(self->non_intra_quant_matrix, PLM_VIDEO_NON_INTRA_QUANT_MATRIX, 64);
+  }
+
+  self->mb_width = (self->width + 15) >> 4;
+  self->mb_height = (self->height + 15) >> 4;
+  self->mb_size = self->mb_width * self->mb_height;
+
+  self->luma_width = self->mb_width << 4;
+  self->luma_height = self->mb_height << 4;
+
+  self->chroma_width = self->mb_width << 3;
+  self->chroma_height = self->mb_height << 3;
+
+  // Allocate one big chunk of data for all 3 frames = 9 planes
+  size_t luma_plane_size = self->luma_width * self->luma_height;
+  size_t chroma_plane_size = self->chroma_width * self->chroma_height;
+  size_t frame_data_size = (luma_plane_size + 2 * chroma_plane_size);
+
+  self->frames_data = (uint8_t *)PLM_MALLOC(frame_data_size * 3);
+  plm_video_init_frame(self, &self->frame_current, self->frames_data + frame_data_size * 0);
+  plm_video_init_frame(self, &self->frame_forward, self->frames_data + frame_data_size * 1);
+  plm_video_init_frame(self, &self->frame_backward, self->frames_data + frame_data_size * 2);
+
+  self->has_sequence_header = TRUE;
+  return TRUE;
+}
+
+void plm_video_init_frame(plm_video_t *self, plm_frame_t *frame, uint8_t *base) {
+  size_t luma_plane_size = self->luma_width * self->luma_height;
+  size_t chroma_plane_size = self->chroma_width * self->chroma_height;
+
+  frame->width = self->width;
+  frame->height = self->height;
+  frame->y.width = self->luma_width;
+  frame->y.height = self->luma_height;
+  frame->y.data = base;
+
+  frame->cr.width = self->chroma_width;
+  frame->cr.height = self->chroma_height;
+  frame->cr.data = base + luma_plane_size;
+
+  frame->cb.width = self->chroma_width;
+  frame->cb.height = self->chroma_height;
+  frame->cb.data = base + luma_plane_size + chroma_plane_size;
+}
+
+void plm_video_decode_picture(plm_video_t *self) {
+  plm_buffer_skip(self->buffer, 10); // skip temporalReference
+  self->picture_type = plm_buffer_read(self->buffer, 3);
+  plm_buffer_skip(self->buffer, 16); // skip vbv_delay
+
+  // D frames or unknown coding type
+  if (self->picture_type <= 0 || self->picture_type > PLM_VIDEO_PICTURE_TYPE_B) {
+    return;
+  }
+
+  // Forward full_px, f_code
+  if (self->picture_type == PLM_VIDEO_PICTURE_TYPE_PREDICTIVE || self->picture_type == PLM_VIDEO_PICTURE_TYPE_B) {
+    self->motion_forward.full_px = plm_buffer_read(self->buffer, 1);
+    int f_code = plm_buffer_read(self->buffer, 3);
+    if (f_code == 0) {
+      // Ignore picture with zero f_code
+      return;
+    }
+    self->motion_forward.r_size = f_code - 1;
+  }
+
+  // Backward full_px, f_code
+  if (self->picture_type == PLM_VIDEO_PICTURE_TYPE_B) {
+    self->motion_backward.full_px = plm_buffer_read(self->buffer, 1);
+    int f_code = plm_buffer_read(self->buffer, 3);
+    if (f_code == 0) {
+      // Ignore picture with zero f_code
+      return;
+    }
+    self->motion_backward.r_size = f_code - 1;
+  }
+
+  plm_frame_t frame_temp = self->frame_forward;
+  if (self->picture_type == PLM_VIDEO_PICTURE_TYPE_INTRA || self->picture_type == PLM_VIDEO_PICTURE_TYPE_PREDICTIVE) {
+    self->frame_forward = self->frame_backward;
+  }
+
+  // Find first slice start code; skip extension and user data
+  do {
+    self->start_code = plm_buffer_next_start_code(self->buffer);
+  } while (self->start_code == PLM_START_EXTENSION || self->start_code == PLM_START_USER_DATA);
+
+  // Decode all slices
+  while (PLM_START_IS_SLICE(self->start_code)) {
+    plm_video_decode_slice(self, self->start_code & 0x000000FF);
+    if (self->macroblock_address >= self->mb_size - 2) {
+      break;
+    }
+    self->start_code = plm_buffer_next_start_code(self->buffer);
+  }
+
+  // If this is a reference picture rotate the prediction pointers
+  if (self->picture_type == PLM_VIDEO_PICTURE_TYPE_INTRA || self->picture_type == PLM_VIDEO_PICTURE_TYPE_PREDICTIVE) {
+    self->frame_backward = self->frame_current;
+    self->frame_current = frame_temp;
+  }
+}
+
+void plm_video_decode_slice(plm_video_t *self, int slice) {
+  self->slice_begin = TRUE;
+  self->macroblock_address = (slice - 1) * self->mb_width - 1;
+
+  // Reset motion vectors and DC predictors
+  self->motion_backward.h = self->motion_forward.h = 0;
+  self->motion_backward.v = self->motion_forward.v = 0;
+  self->dc_predictor[0] = 128;
+  self->dc_predictor[1] = 128;
+  self->dc_predictor[2] = 128;
+
+  self->quantizer_scale = plm_buffer_read(self->buffer, 5);
+
+  // Skip extra
+  while (plm_buffer_read(self->buffer, 1)) {
+    plm_buffer_skip(self->buffer, 8);
+  }
+
+  do {
+    plm_video_decode_macroblock(self);
+  } while (self->macroblock_address < self->mb_size - 1 && plm_buffer_peek_non_zero(self->buffer, 23));
+}
+
+void plm_video_decode_macroblock(plm_video_t *self) {
+  // Decode increment
+  int increment = 0;
+  int t = plm_buffer_read_vlc(self->buffer, PLM_VIDEO_MACROBLOCK_ADDRESS_INCREMENT);
+
+  while (t == 34) {
+    // macroblock_stuffing
+    t = plm_buffer_read_vlc(self->buffer, PLM_VIDEO_MACROBLOCK_ADDRESS_INCREMENT);
+  }
+  while (t == 35) {
+    // macroblock_escape
+    increment += 33;
+    t = plm_buffer_read_vlc(self->buffer, PLM_VIDEO_MACROBLOCK_ADDRESS_INCREMENT);
+  }
+  increment += t;
+
+  // Process any skipped macroblocks
+  if (self->slice_begin) {
+    // The first increment of each slice is relative to beginning of the
+    // previous row, not the previous macroblock
+    self->slice_begin = FALSE;
+    self->macroblock_address += increment;
+  } else {
+    if (self->macroblock_address + increment >= self->mb_size) {
+      return; // invalid
+    }
+    if (increment > 1) {
+      // Skipped macroblocks reset DC predictors
+      self->dc_predictor[0] = 128;
+      self->dc_predictor[1] = 128;
+      self->dc_predictor[2] = 128;
+
+      // Skipped macroblocks in P-pictures reset motion vectors
+      if (self->picture_type == PLM_VIDEO_PICTURE_TYPE_PREDICTIVE) {
+        self->motion_forward.h = 0;
+        self->motion_forward.v = 0;
+      }
+    }
+
+    // Predict skipped macroblocks
+    while (increment > 1) {
+      self->macroblock_address++;
+      self->mb_row = self->macroblock_address / self->mb_width;
+      self->mb_col = self->macroblock_address % self->mb_width;
+
+      plm_video_predict_macroblock(self);
+      increment--;
+    }
+    self->macroblock_address++;
+  }
+
+  self->mb_row = self->macroblock_address / self->mb_width;
+  self->mb_col = self->macroblock_address % self->mb_width;
+
+  if (self->mb_col >= self->mb_width || self->mb_row >= self->mb_height) {
+    return; // corrupt stream;
+  }
+
+  // Process the current macroblock
+  const plm_vlc_t *table = PLM_VIDEO_MACROBLOCK_TYPE[self->picture_type];
+  self->macroblock_type = plm_buffer_read_vlc(self->buffer, table);
+
+  self->macroblock_intra = (self->macroblock_type & 0x01);
+  self->motion_forward.is_set = (self->macroblock_type & 0x08);
+  self->motion_backward.is_set = (self->macroblock_type & 0x04);
+
+  // Quantizer scale
+  if ((self->macroblock_type & 0x10) != 0) {
+    self->quantizer_scale = plm_buffer_read(self->buffer, 5);
+  }
+
+  if (self->macroblock_intra) {
+    // Intra-coded macroblocks reset motion vectors
+    self->motion_backward.h = self->motion_forward.h = 0;
+    self->motion_backward.v = self->motion_forward.v = 0;
+  } else {
+    // Non-intra macroblocks reset DC predictors
+    self->dc_predictor[0] = 128;
+    self->dc_predictor[1] = 128;
+    self->dc_predictor[2] = 128;
+
+    plm_video_decode_motion_vectors(self);
+    plm_video_predict_macroblock(self);
+  }
+
+  // Decode blocks
+  int cbp = ((self->macroblock_type & 0x02) != 0) ? plm_buffer_read_vlc(self->buffer, PLM_VIDEO_CODE_BLOCK_PATTERN)
+                                                  : (self->macroblock_intra ? 0x3f : 0);
+
+  for (int block = 0, mask = 0x20; block < 6; block++) {
+    if ((cbp & mask) != 0) {
+      plm_video_decode_block(self, block);
+    }
+    mask >>= 1;
+  }
+}
+
+void plm_video_decode_motion_vectors(plm_video_t *self) {
+
+  // Forward
+  if (self->motion_forward.is_set) {
+    int r_size = self->motion_forward.r_size;
+    self->motion_forward.h = plm_video_decode_motion_vector(self, r_size, self->motion_forward.h);
+    self->motion_forward.v = plm_video_decode_motion_vector(self, r_size, self->motion_forward.v);
+  } else if (self->picture_type == PLM_VIDEO_PICTURE_TYPE_PREDICTIVE) {
+    // No motion information in P-picture, reset vectors
+    self->motion_forward.h = 0;
+    self->motion_forward.v = 0;
+  }
+
+  if (self->motion_backward.is_set) {
+    int r_size = self->motion_backward.r_size;
+    self->motion_backward.h = plm_video_decode_motion_vector(self, r_size, self->motion_backward.h);
+    self->motion_backward.v = plm_video_decode_motion_vector(self, r_size, self->motion_backward.v);
+  }
+}
+
+int plm_video_decode_motion_vector(plm_video_t *self, int r_size, int motion) {
+  int fscale = 1 << r_size;
+  int m_code = plm_buffer_read_vlc(self->buffer, PLM_VIDEO_MOTION);
+  int r = 0;
+  int d;
+
+  if ((m_code != 0) && (fscale != 1)) {
+    r = plm_buffer_read(self->buffer, r_size);
+    d = ((abs(m_code) - 1) << r_size) + r + 1;
+    if (m_code < 0) {
+      d = -d;
+    }
+  } else {
+    d = m_code;
+  }
+
+  motion += d;
+  if (motion > (fscale << 4) - 1) {
+    motion -= fscale << 5;
+  } else if (motion < ((-fscale) << 4)) {
+    motion += fscale << 5;
+  }
+
+  return motion;
+}
+
+void plm_video_predict_macroblock(plm_video_t *self) {
+  int fw_h = self->motion_forward.h;
+  int fw_v = self->motion_forward.v;
+
+  if (self->motion_forward.full_px) {
+    fw_h <<= 1;
+    fw_v <<= 1;
+  }
+
+  if (self->picture_type == PLM_VIDEO_PICTURE_TYPE_B) {
+    int bw_h = self->motion_backward.h;
+    int bw_v = self->motion_backward.v;
+
+    if (self->motion_backward.full_px) {
+      bw_h <<= 1;
+      bw_v <<= 1;
+    }
+
+    if (self->motion_forward.is_set) {
+      plm_video_copy_macroblock(self, &self->frame_forward, fw_h, fw_v);
+      if (self->motion_backward.is_set) {
+        plm_video_interpolate_macroblock(self, &self->frame_backward, bw_h, bw_v);
+      }
+    } else {
+      plm_video_copy_macroblock(self, &self->frame_backward, bw_h, bw_v);
+    }
+  } else {
+    plm_video_copy_macroblock(self, &self->frame_forward, fw_h, fw_v);
+  }
+}
+
+void plm_video_copy_macroblock(plm_video_t *self, plm_frame_t *s, int motion_h, int motion_v) {
+  plm_frame_t *d = &self->frame_current;
+  plm_video_process_macroblock(self, s->y.data, d->y.data, motion_h, motion_v, 16, FALSE);
+  plm_video_process_macroblock(self, s->cr.data, d->cr.data, motion_h / 2, motion_v / 2, 8, FALSE);
+  plm_video_process_macroblock(self, s->cb.data, d->cb.data, motion_h / 2, motion_v / 2, 8, FALSE);
+}
+
+void plm_video_interpolate_macroblock(plm_video_t *self, plm_frame_t *s, int motion_h, int motion_v) {
+  plm_frame_t *d = &self->frame_current;
+  plm_video_process_macroblock(self, s->y.data, d->y.data, motion_h, motion_v, 16, TRUE);
+  plm_video_process_macroblock(self, s->cr.data, d->cr.data, motion_h / 2, motion_v / 2, 8, TRUE);
+  plm_video_process_macroblock(self, s->cb.data, d->cb.data, motion_h / 2, motion_v / 2, 8, TRUE);
+}
+
+#define PLM_BLOCK_SET(DEST, DEST_INDEX, DEST_WIDTH, SOURCE_INDEX, SOURCE_WIDTH, BLOCK_SIZE, OP)                        \
+  do {                                                                                                                 \
+    int dest_scan = DEST_WIDTH - BLOCK_SIZE;                                                                           \
+    int source_scan = SOURCE_WIDTH - BLOCK_SIZE;                                                                       \
+    for (int y = 0; y < BLOCK_SIZE; y++) {                                                                             \
+      for (int x = 0; x < BLOCK_SIZE; x++) {                                                                           \
+        DEST[DEST_INDEX] = OP;                                                                                         \
+        SOURCE_INDEX++;                                                                                                \
+        DEST_INDEX++;                                                                                                  \
+      }                                                                                                                \
+      SOURCE_INDEX += source_scan;                                                                                     \
+      DEST_INDEX += dest_scan;                                                                                         \
+    }                                                                                                                  \
+  } while (FALSE)
+
+void plm_video_process_macroblock(plm_video_t *self, uint8_t *s, uint8_t *d, int motion_h, int motion_v, int block_size,
+                                  int interpolate) {
+  int dw = self->mb_width * block_size;
+
+  int hp = motion_h >> 1;
+  int vp = motion_v >> 1;
+  int odd_h = (motion_h & 1) == 1;
+  int odd_v = (motion_v & 1) == 1;
+
+  unsigned int si = ((self->mb_row * block_size) + vp) * dw + (self->mb_col * block_size) + hp;
+  unsigned int di = (self->mb_row * dw + self->mb_col) * block_size;
+
+  unsigned int max_address = (dw * (self->mb_height * block_size - block_size + 1) - block_size);
+  if (si > max_address || di > max_address) {
+    return; // corrupt video
+  }
+
+#define PLM_MB_CASE(INTERPOLATE, ODD_H, ODD_V, OP)                                                                     \
+  case ((INTERPOLATE << 2) | (ODD_H << 1) | (ODD_V)):                                                                  \
+    PLM_BLOCK_SET(d, di, dw, si, dw, block_size, OP);                                                                  \
+    break
+
+  switch ((interpolate << 2) | (odd_h << 1) | (odd_v)) {
+    PLM_MB_CASE(0, 0, 0, (s[si]));
+    PLM_MB_CASE(0, 0, 1, (s[si] + s[si + dw] + 1) >> 1);
+    PLM_MB_CASE(0, 1, 0, (s[si] + s[si + 1] + 1) >> 1);
+    PLM_MB_CASE(0, 1, 1, (s[si] + s[si + 1] + s[si + dw] + s[si + dw + 1] + 2) >> 2);
+
+    PLM_MB_CASE(1, 0, 0, (d[di] + (s[si]) + 1) >> 1);
+    PLM_MB_CASE(1, 0, 1, (d[di] + ((s[si] + s[si + dw] + 1) >> 1) + 1) >> 1);
+    PLM_MB_CASE(1, 1, 0, (d[di] + ((s[si] + s[si + 1] + 1) >> 1) + 1) >> 1);
+    PLM_MB_CASE(1, 1, 1, (d[di] + ((s[si] + s[si + 1] + s[si + dw] + s[si + dw + 1] + 2) >> 2) + 1) >> 1);
+  }
+
+#undef PLM_MB_CASE
+}
+
+void plm_video_decode_block(plm_video_t *self, int block) {
+
+  int n = 0;
+  uint8_t *quant_matrix;
+
+  // Decode DC coefficient of intra-coded blocks
+  if (self->macroblock_intra) {
+    int predictor;
+    int dct_size;
+
+    // DC prediction
+    int plane_index = block > 3 ? block - 3 : 0;
+    predictor = self->dc_predictor[plane_index];
+    dct_size = plm_buffer_read_vlc(self->buffer, PLM_VIDEO_DCT_SIZE[plane_index]);
+
+    // Read DC coeff
+    if (dct_size > 0) {
+      int differential = plm_buffer_read(self->buffer, dct_size);
+      if ((differential & (1 << (dct_size - 1))) != 0) {
+        self->block_data[0] = predictor + differential;
+      } else {
+        self->block_data[0] = predictor + (-(1 << dct_size) | (differential + 1));
+      }
+    } else {
+      self->block_data[0] = predictor;
+    }
+
+    // Save predictor value
+    self->dc_predictor[plane_index] = self->block_data[0];
+
+    // Dequantize + premultiply
+    self->block_data[0] <<= (3 + 5);
+
+    quant_matrix = self->intra_quant_matrix;
+    n = 1;
+  } else {
+    quant_matrix = self->non_intra_quant_matrix;
+  }
+
+  // Decode AC coefficients (+DC for non-intra)
+  int level = 0;
+  while (TRUE) {
+    int run = 0;
+    uint16_t coeff = plm_buffer_read_vlc_uint(self->buffer, PLM_VIDEO_DCT_COEFF);
+
+    if ((coeff == 0x0001) && (n > 0) && (plm_buffer_read(self->buffer, 1) == 0)) {
+      // end_of_block
+      break;
+    }
+    if (coeff == 0xffff) {
+      // escape
+      run = plm_buffer_read(self->buffer, 6);
+      level = plm_buffer_read(self->buffer, 8);
+      if (level == 0) {
+        level = plm_buffer_read(self->buffer, 8);
+      } else if (level == 128) {
+        level = plm_buffer_read(self->buffer, 8) - 256;
+      } else if (level > 128) {
+        level = level - 256;
+      }
+    } else {
+      run = coeff >> 8;
+      level = coeff & 0xff;
+      if (plm_buffer_read(self->buffer, 1)) {
+        level = -level;
+      }
+    }
+
+    n += run;
+    if (n < 0 || n >= 64) {
+      return; // invalid
+    }
+
+    int de_zig_zagged = PLM_VIDEO_ZIG_ZAG[n];
+    n++;
+
+    // Dequantize, oddify, clip
+    level <<= 1;
+    if (!self->macroblock_intra) {
+      level += (level < 0 ? -1 : 1);
+    }
+    level = (level * self->quantizer_scale * quant_matrix[de_zig_zagged]) >> 4;
+    if ((level & 1) == 0) {
+      level -= level > 0 ? 1 : -1;
+    }
+    if (level > 2047) {
+      level = 2047;
+    } else if (level < -2048) {
+      level = -2048;
+    }
+
+    // Save premultiplied coefficient
+    self->block_data[de_zig_zagged] = level * PLM_VIDEO_PREMULTIPLIER_MATRIX[de_zig_zagged];
+  }
+
+  // Move block to its place
+  uint8_t *d;
+  int dw;
+  int di;
+
+  if (block < 4) {
+    d = self->frame_current.y.data;
+    dw = self->luma_width;
+    di = (self->mb_row * self->luma_width + self->mb_col) << 4;
+    if ((block & 1) != 0) {
+      di += 8;
+    }
+    if ((block & 2) != 0) {
+      di += self->luma_width << 3;
+    }
+  } else {
+    d = (block == 4) ? self->frame_current.cb.data : self->frame_current.cr.data;
+    dw = self->chroma_width;
+    di = ((self->mb_row * self->luma_width) << 2) + (self->mb_col << 3);
+  }
+
+  int *s = self->block_data;
+  int si = 0;
+  if (self->macroblock_intra) {
+    // Overwrite (no prediction)
+    if (n == 1) {
+      int clamped = plm_clamp((s[0] + 128) >> 8);
+      PLM_BLOCK_SET(d, di, dw, si, 8, 8, clamped);
+      s[0] = 0;
+    } else {
+      plm_video_idct(s);
+      PLM_BLOCK_SET(d, di, dw, si, 8, 8, plm_clamp(s[si]));
+      memset(self->block_data, 0, sizeof(self->block_data));
+    }
+  } else {
+    // Add data to the predicted macroblock
+    if (n == 1) {
+      int value = (s[0] + 128) >> 8;
+      PLM_BLOCK_SET(d, di, dw, si, 8, 8, plm_clamp(d[di] + value));
+      s[0] = 0;
+    } else {
+      plm_video_idct(s);
+      PLM_BLOCK_SET(d, di, dw, si, 8, 8, plm_clamp(d[di] + s[si]));
+      memset(self->block_data, 0, sizeof(self->block_data));
+    }
+  }
+}
+
+void plm_video_idct(int *block) {
+  int b1, b3, b4, b6, b7, tmp1, tmp2, m0, x0, x1, x2, x3, x4, y3, y4, y5, y6, y7;
+
+  // Transform columns
+  for (int i = 0; i < 8; ++i) {
+    b1 = block[4 * 8 + i];
+    b3 = block[2 * 8 + i] + block[6 * 8 + i];
+    b4 = block[5 * 8 + i] - block[3 * 8 + i];
+    tmp1 = block[1 * 8 + i] + block[7 * 8 + i];
+    tmp2 = block[3 * 8 + i] + block[5 * 8 + i];
+    b6 = block[1 * 8 + i] - block[7 * 8 + i];
+    b7 = tmp1 + tmp2;
+    m0 = block[0 * 8 + i];
+    x4 = ((b6 * 473 - b4 * 196 + 128) >> 8) - b7;
+    x0 = x4 - (((tmp1 - tmp2) * 362 + 128) >> 8);
+    x1 = m0 - b1;
+    x2 = (((block[2 * 8 + i] - block[6 * 8 + i]) * 362 + 128) >> 8) - b3;
+    x3 = m0 + b1;
+    y3 = x1 + x2;
+    y4 = x3 + b3;
+    y5 = x1 - x2;
+    y6 = x3 - b3;
+    y7 = -x0 - ((b4 * 473 + b6 * 196 + 128) >> 8);
+    block[0 * 8 + i] = b7 + y4;
+    block[1 * 8 + i] = x4 + y3;
+    block[2 * 8 + i] = y5 - x0;
+    block[3 * 8 + i] = y6 - y7;
+    block[4 * 8 + i] = y6 + y7;
+    block[5 * 8 + i] = x0 + y5;
+    block[6 * 8 + i] = y3 - x4;
+    block[7 * 8 + i] = y4 - b7;
+  }
+
+  // Transform rows
+  for (int i = 0; i < 64; i += 8) {
+    b1 = block[4 + i];
+    b3 = block[2 + i] + block[6 + i];
+    b4 = block[5 + i] - block[3 + i];
+    tmp1 = block[1 + i] + block[7 + i];
+    tmp2 = block[3 + i] + block[5 + i];
+    b6 = block[1 + i] - block[7 + i];
+    b7 = tmp1 + tmp2;
+    m0 = block[0 + i];
+    x4 = ((b6 * 473 - b4 * 196 + 128) >> 8) - b7;
+    x0 = x4 - (((tmp1 - tmp2) * 362 + 128) >> 8);
+    x1 = m0 - b1;
+    x2 = (((block[2 + i] - block[6 + i]) * 362 + 128) >> 8) - b3;
+    x3 = m0 + b1;
+    y3 = x1 + x2;
+    y4 = x3 + b3;
+    y5 = x1 - x2;
+    y6 = x3 - b3;
+    y7 = -x0 - ((b4 * 473 + b6 * 196 + 128) >> 8);
+    block[0 + i] = (b7 + y4 + 128) >> 8;
+    block[1 + i] = (x4 + y3 + 128) >> 8;
+    block[2 + i] = (y5 - x0 + 128) >> 8;
+    block[3 + i] = (y6 - y7 + 128) >> 8;
+    block[4 + i] = (y6 + y7 + 128) >> 8;
+    block[5 + i] = (x0 + y5 + 128) >> 8;
+    block[6 + i] = (y3 - x4 + 128) >> 8;
+    block[7 + i] = (y4 - b7 + 128) >> 8;
+  }
+}
+
+// YCbCr conversion following the BT.601 standard:
+// https://infogalactic.com/info/YCbCr#ITU-R_BT.601_conversion
+
+#define PLM_PUT_PIXEL(RI, GI, BI, Y_OFFSET, DEST_OFFSET)                                                               \
+  y = ((frame->y.data[y_index + Y_OFFSET] - 16) * 76309) >> 16;                                                        \
+  dest[d_index + DEST_OFFSET + RI] = plm_clamp(y + r);                                                                 \
+  dest[d_index + DEST_OFFSET + GI] = plm_clamp(y - g);                                                                 \
+  dest[d_index + DEST_OFFSET + BI] = plm_clamp(y + b);
+
+#define PLM_DEFINE_FRAME_CONVERT_FUNCTION(NAME, BYTES_PER_PIXEL, RI, GI, BI)                                           \
+  void NAME(plm_frame_t *frame, uint8_t *dest, int stride) {                                                           \
+    int cols = frame->width >> 1;                                                                                      \
+    int rows = frame->height >> 1;                                                                                     \
+    int yw = frame->y.width;                                                                                           \
+    int cw = frame->cb.width;                                                                                          \
+    for (int row = 0; row < rows; row++) {                                                                             \
+      int c_index = row * cw;                                                                                          \
+      int y_index = row * 2 * yw;                                                                                      \
+      int d_index = row * 2 * stride;                                                                                  \
+      for (int col = 0; col < cols; col++) {                                                                           \
+        int y;                                                                                                         \
+        int cr = frame->cr.data[c_index] - 128;                                                                        \
+        int cb = frame->cb.data[c_index] - 128;                                                                        \
+        int r = (cr * 104597) >> 16;                                                                                   \
+        int g = (cb * 25674 + cr * 53278) >> 16;                                                                       \
+        int b = (cb * 132201) >> 16;                                                                                   \
+        PLM_PUT_PIXEL(RI, GI, BI, 0, 0);                                                                               \
+        PLM_PUT_PIXEL(RI, GI, BI, 1, BYTES_PER_PIXEL);                                                                 \
+        PLM_PUT_PIXEL(RI, GI, BI, yw, stride);                                                                         \
+        PLM_PUT_PIXEL(RI, GI, BI, yw + 1, stride + BYTES_PER_PIXEL);                                                   \
+        c_index += 1;                                                                                                  \
+        y_index += 2;                                                                                                  \
+        d_index += 2 * BYTES_PER_PIXEL;                                                                                \
+      }                                                                                                                \
+    }                                                                                                                  \
+  }
+
+PLM_DEFINE_FRAME_CONVERT_FUNCTION(plm_frame_to_rgb, 3, 0, 1, 2)
+PLM_DEFINE_FRAME_CONVERT_FUNCTION(plm_frame_to_bgr, 3, 2, 1, 0)
+PLM_DEFINE_FRAME_CONVERT_FUNCTION(plm_frame_to_rgba, 4, 0, 1, 2)
+PLM_DEFINE_FRAME_CONVERT_FUNCTION(plm_frame_to_bgra, 4, 2, 1, 0)
+PLM_DEFINE_FRAME_CONVERT_FUNCTION(plm_frame_to_argb, 4, 1, 2, 3)
+PLM_DEFINE_FRAME_CONVERT_FUNCTION(plm_frame_to_abgr, 4, 3, 2, 1)
+
+#undef PLM_PUT_PIXEL
+#undef PLM_DEFINE_FRAME_CONVERT_FUNCTION
+
+// -----------------------------------------------------------------------------
+// plm_audio implementation
+
+// Based on kjmp2 by Martin J. Fiedler
+// http://keyj.emphy.de/kjmp2/
+
+static const int PLM_AUDIO_FRAME_SYNC = 0x7ff;
+
+static const int PLM_AUDIO_MPEG_2_5 = 0x0;
+static const int PLM_AUDIO_MPEG_2 = 0x2;
+static const int PLM_AUDIO_MPEG_1 = 0x3;
+
+static const int PLM_AUDIO_LAYER_III = 0x1;
+static const int PLM_AUDIO_LAYER_II = 0x2;
+static const int PLM_AUDIO_LAYER_I = 0x3;
+
+static const int PLM_AUDIO_MODE_STEREO = 0x0;
+static const int PLM_AUDIO_MODE_JOINT_STEREO = 0x1;
+static const int PLM_AUDIO_MODE_DUAL_CHANNEL = 0x2;
+static const int PLM_AUDIO_MODE_MONO = 0x3;
+
+static const unsigned short PLM_AUDIO_SAMPLE_RATE[] = {
+    44100, 48000, 32000, 0, // MPEG-1
+    22050, 24000, 16000, 0  // MPEG-2
+};
+
+static const short PLM_AUDIO_BIT_RATE[] = {
+    32, 48, 56, 64, 80, 96, 112, 128, 160, 192, 224, 256, 320, 384, // MPEG-1
+    8,  16, 24, 32, 40, 48, 56,  64,  80,  96,  112, 128, 144, 160  // MPEG-2
+};
+
+static const int PLM_AUDIO_SCALEFACTOR_BASE[] = {0x02000000, 0x01965FEA, 0x01428A30};
+
+static const float PLM_AUDIO_SYNTHESIS_WINDOW[] = {
+    0.0,      -0.5,     -0.5,     -0.5,     -0.5,     -0.5,     -0.5,     -1.0,     -1.0,     -1.0,     -1.0,
+    -1.5,     -1.5,     -2.0,     -2.0,     -2.5,     -2.5,     -3.0,     -3.5,     -3.5,     -4.0,     -4.5,
+    -5.0,     -5.5,     -6.5,     -7.0,     -8.0,     -8.5,     -9.5,     -10.5,    -12.0,    -13.0,    -14.5,
+    -15.5,    -17.5,    -19.0,    -20.5,    -22.5,    -24.5,    -26.5,    -29.0,    -31.5,    -34.0,    -36.5,
+    -39.5,    -42.5,    -45.5,    -48.5,    -52.0,    -55.5,    -58.5,    -62.5,    -66.0,    -69.5,    -73.5,
+    -77.0,    -80.5,    -84.5,    -88.0,    -91.5,    -95.0,    -98.0,    -101.0,   -104.0,   106.5,    109.0,
+    111.0,    112.5,    113.5,    114.0,    114.0,    113.5,    112.0,    110.5,    107.5,    104.0,    100.0,
+    94.5,     88.5,     81.5,     73.0,     63.5,     53.0,     41.5,     28.5,     14.5,     -1.0,     -18.0,
+    -36.0,    -55.5,    -76.5,    -98.5,    -122.0,   -147.0,   -173.5,   -200.5,   -229.5,   -259.5,   -290.5,
+    -322.5,   -355.5,   -389.5,   -424.0,   -459.5,   -495.5,   -532.0,   -568.5,   -605.0,   -641.5,   -678.0,
+    -714.0,   -749.0,   -783.5,   -817.0,   -849.0,   -879.5,   -908.5,   -935.0,   -959.5,   -981.0,   -1000.5,
+    -1016.0,  -1028.5,  -1037.5,  -1042.5,  -1043.5,  -1040.0,  -1031.5,  1018.5,   1000.0,   976.0,    946.5,
+    911.0,    869.5,    822.0,    767.5,    707.0,    640.0,    565.5,    485.0,    397.0,    302.5,    201.0,
+    92.5,     -22.5,    -144.0,   -272.5,   -407.0,   -547.5,   -694.0,   -846.0,   -1003.0,  -1165.0,  -1331.5,
+    -1502.0,  -1675.5,  -1852.5,  -2031.5,  -2212.5,  -2394.0,  -2576.5,  -2758.5,  -2939.5,  -3118.5,  -3294.5,
+    -3467.5,  -3635.5,  -3798.5,  -3955.0,  -4104.5,  -4245.5,  -4377.5,  -4499.0,  -4609.5,  -4708.0,  -4792.5,
+    -4863.5,  -4919.0,  -4958.0,  -4979.5,  -4983.0,  -4967.5,  -4931.5,  -4875.0,  -4796.0,  -4694.5,  -4569.5,
+    -4420.0,  -4246.0,  -4046.0,  -3820.0,  -3567.0,  3287.0,   2979.5,   2644.0,   2280.5,   1888.0,   1467.5,
+    1018.5,   541.0,    35.0,     -499.0,   -1061.0,  -1650.0,  -2266.5,  -2909.0,  -3577.0,  -4270.0,  -4987.5,
+    -5727.5,  -6490.0,  -7274.0,  -8077.5,  -8899.5,  -9739.0,  -10594.5, -11464.5, -12347.0, -13241.0, -14144.5,
+    -15056.0, -15973.5, -16895.5, -17820.0, -18744.5, -19668.0, -20588.0, -21503.0, -22410.5, -23308.5, -24195.0,
+    -25068.5, -25926.5, -26767.0, -27589.0, -28389.0, -29166.5, -29919.0, -30644.5, -31342.0, -32009.5, -32645.0,
+    -33247.0, -33814.5, -34346.0, -34839.5, -35295.0, -35710.0, -36084.5, -36417.5, -36707.5, -36954.0, -37156.5,
+    -37315.0, -37428.0, -37496.0, 37519.0,  37496.0,  37428.0,  37315.0,  37156.5,  36954.0,  36707.5,  36417.5,
+    36084.5,  35710.0,  35295.0,  34839.5,  34346.0,  33814.5,  33247.0,  32645.0,  32009.5,  31342.0,  30644.5,
+    29919.0,  29166.5,  28389.0,  27589.0,  26767.0,  25926.5,  25068.5,  24195.0,  23308.5,  22410.5,  21503.0,
+    20588.0,  19668.0,  18744.5,  17820.0,  16895.5,  15973.5,  15056.0,  14144.5,  13241.0,  12347.0,  11464.5,
+    10594.5,  9739.0,   8899.5,   8077.5,   7274.0,   6490.0,   5727.5,   4987.5,   4270.0,   3577.0,   2909.0,
+    2266.5,   1650.0,   1061.0,   499.0,    -35.0,    -541.0,   -1018.5,  -1467.5,  -1888.0,  -2280.5,  -2644.0,
+    -2979.5,  3287.0,   3567.0,   3820.0,   4046.0,   4246.0,   4420.0,   4569.5,   4694.5,   4796.0,   4875.0,
+    4931.5,   4967.5,   4983.0,   4979.5,   4958.0,   4919.0,   4863.5,   4792.5,   4708.0,   4609.5,   4499.0,
+    4377.5,   4245.5,   4104.5,   3955.0,   3798.5,   3635.5,   3467.5,   3294.5,   3118.5,   2939.5,   2758.5,
+    2576.5,   2394.0,   2212.5,   2031.5,   1852.5,   1675.5,   1502.0,   1331.5,   1165.0,   1003.0,   846.0,
+    694.0,    547.5,    407.0,    272.5,    144.0,    22.5,     -92.5,    -201.0,   -302.5,   -397.0,   -485.0,
+    -565.5,   -640.0,   -707.0,   -767.5,   -822.0,   -869.5,   -911.0,   -946.5,   -976.0,   -1000.0,  1018.5,
+    1031.5,   1040.0,   1043.5,   1042.5,   1037.5,   1028.5,   1016.0,   1000.5,   981.0,    959.5,    935.0,
+    908.5,    879.5,    849.0,    817.0,    783.5,    749.0,    714.0,    678.0,    641.5,    605.0,    568.5,
+    532.0,    495.5,    459.5,    424.0,    389.5,    355.5,    322.5,    290.5,    259.5,    229.5,    200.5,
+    173.5,    147.0,    122.0,    98.5,     76.5,     55.5,     36.0,     18.0,     1.0,      -14.5,    -28.5,
+    -41.5,    -53.0,    -63.5,    -73.0,    -81.5,    -88.5,    -94.5,    -100.0,   -104.0,   -107.5,   -110.5,
+    -112.0,   -113.5,   -114.0,   -114.0,   -113.5,   -112.5,   -111.0,   -109.0,   106.5,    104.0,    101.0,
+    98.0,     95.0,     91.5,     88.0,     84.5,     80.5,     77.0,     73.5,     69.5,     66.0,     62.5,
+    58.5,     55.5,     52.0,     48.5,     45.5,     42.5,     39.5,     36.5,     34.0,     31.5,     29.0,
+    26.5,     24.5,     22.5,     20.5,     19.0,     17.5,     15.5,     14.5,     13.0,     12.0,     10.5,
+    9.5,      8.5,      8.0,      7.0,      6.5,      5.5,      5.0,      4.5,      4.0,      3.5,      3.5,
+    3.0,      2.5,      2.5,      2.0,      2.0,      1.5,      1.5,      1.0,      1.0,      1.0,      1.0,
+    0.5,      0.5,      0.5,      0.5,      0.5,      0.5};
+
+// Quantizer lookup, step 1: bitrate classes
+static const uint8_t PLM_AUDIO_QUANT_LUT_STEP_1[2][16] = {
+    // 32, 48, 56, 64, 80, 96,112,128,160,192,224,256,320,384 <- bitrate
+    {0, 0, 1, 1, 1, 2, 2, 2, 2, 2, 2, 2, 2, 2}, // mono
+    // 16, 24, 28, 32, 40, 48, 56, 64, 80, 96,112,128,160,192 <- bitrate / chan
+    {0, 0, 0, 0, 0, 0, 1, 1, 1, 2, 2, 2, 2, 2} // stereo
+};
+
+// Quantizer lookup, step 2: bitrate class, sample rate -> B2 table idx, sblimit
+#define PLM_AUDIO_QUANT_TAB_A (27 | 64) // Table 3-B.2a: high-rate, sblimit = 27
+#define PLM_AUDIO_QUANT_TAB_B (30 | 64) // Table 3-B.2b: high-rate, sblimit = 30
+#define PLM_AUDIO_QUANT_TAB_C 8         // Table 3-B.2c:  low-rate, sblimit =  8
+#define PLM_AUDIO_QUANT_TAB_D 12        // Table 3-B.2d:  low-rate, sblimit = 12
+
+static const uint8_t QUANT_LUT_STEP_2[3][3] = {
+    // 44.1 kHz,              48 kHz,                32 kHz
+    {PLM_AUDIO_QUANT_TAB_C, PLM_AUDIO_QUANT_TAB_C, PLM_AUDIO_QUANT_TAB_D}, // 32 - 48 kbit/sec/ch
+    {PLM_AUDIO_QUANT_TAB_A, PLM_AUDIO_QUANT_TAB_A, PLM_AUDIO_QUANT_TAB_A}, // 56 - 80 kbit/sec/ch
+    {PLM_AUDIO_QUANT_TAB_B, PLM_AUDIO_QUANT_TAB_A, PLM_AUDIO_QUANT_TAB_B}  // 96+	 kbit/sec/ch
+};
+
+// Quantizer lookup, step 3: B2 table, subband -> nbal, row index
+// (upper 4 bits: nbal, lower 4 bits: row index)
+static const uint8_t PLM_AUDIO_QUANT_LUT_STEP_3[3][32] = {
+    // Low-rate table (3-B.2c and 3-B.2d)
+    {0x44, 0x44, 0x34, 0x34, 0x34, 0x34, 0x34, 0x34, 0x34, 0x34, 0x34, 0x34},
+    // High-rate table (3-B.2a and 3-B.2b)
+    {0x43, 0x43, 0x43, 0x42, 0x42, 0x42, 0x42, 0x42, 0x42, 0x42, 0x42, 0x31, 0x31, 0x31, 0x31,
+     0x31, 0x31, 0x31, 0x31, 0x31, 0x31, 0x31, 0x31, 0x20, 0x20, 0x20, 0x20, 0x20, 0x20, 0x20},
+    // MPEG-2 LSR table (B.2 in ISO 13818-3)
+    {0x45, 0x45, 0x45, 0x45, 0x34, 0x34, 0x34, 0x34, 0x34, 0x34, 0x34, 0x24, 0x24, 0x24, 0x24,
+     0x24, 0x24, 0x24, 0x24, 0x24, 0x24, 0x24, 0x24, 0x24, 0x24, 0x24, 0x24, 0x24, 0x24, 0x24}};
+
+// Quantizer lookup, step 4: table row, allocation[] value -> quant table index
+static const uint8_t PLM_AUDIO_QUANT_LUT_STEP_4[6][16] = {{0, 1, 2, 17},
+                                                          {0, 1, 2, 3, 4, 5, 6, 17},
+                                                          {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 17},
+                                                          {0, 1, 3, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17},
+                                                          {0, 1, 2, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 17},
+                                                          {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15}};
+
+typedef struct plm_quantizer_spec_t {
+  unsigned short levels;
+  unsigned char group;
+  unsigned char bits;
+} plm_quantizer_spec_t;
+
+static const plm_quantizer_spec_t PLM_AUDIO_QUANT_TAB[] = {
+    {3, 1, 5},      //  1
+    {5, 1, 7},      //  2
+    {7, 0, 3},      //  3
+    {9, 1, 10},     //  4
+    {15, 0, 4},     //  5
+    {31, 0, 5},     //  6
+    {63, 0, 6},     //  7
+    {127, 0, 7},    //  8
+    {255, 0, 8},    //  9
+    {511, 0, 9},    // 10
+    {1023, 0, 10},  // 11
+    {2047, 0, 11},  // 12
+    {4095, 0, 12},  // 13
+    {8191, 0, 13},  // 14
+    {16383, 0, 14}, // 15
+    {32767, 0, 15}, // 16
+    {65535, 0, 16}  // 17
+};
+
+struct plm_audio_t {
+  double time;
+  int samples_decoded;
+  int samplerate_index;
+  int bitrate_index;
+  int version;
+  int layer;
+  int mode;
+  int bound;
+  int v_pos;
+  int next_frame_data_size;
+  int has_header;
+
+  plm_buffer_t *buffer;
+  int destroy_buffer_when_done;
+
+  const plm_quantizer_spec_t *allocation[2][32];
+  uint8_t scale_factor_info[2][32];
+  int scale_factor[2][32][3];
+  int sample[2][32][3];
+
+  plm_samples_t samples;
+  float D[1024];
+  float V[2][1024];
+  float U[32];
+};
+
+int plm_audio_find_frame_sync(plm_audio_t *self);
+int plm_audio_decode_header(plm_audio_t *self);
+void plm_audio_decode_frame(plm_audio_t *self);
+const plm_quantizer_spec_t *plm_audio_read_allocation(plm_audio_t *self, int sb, int tab3);
+void plm_audio_read_samples(plm_audio_t *self, int ch, int sb, int part);
+void plm_audio_idct36(int s[32][3], int ss, float *d, int dp);
+
+plm_audio_t *plm_audio_create_with_buffer(plm_buffer_t *buffer, int destroy_when_done) {
+  plm_audio_t *self = (plm_audio_t *)PLM_MALLOC(sizeof(plm_audio_t));
+  memset(self, 0, sizeof(plm_audio_t));
+
+  self->samples.count = PLM_AUDIO_SAMPLES_PER_FRAME;
+  self->buffer = buffer;
+  self->destroy_buffer_when_done = destroy_when_done;
+  self->samplerate_index = 3; // Indicates 0
+
+  memcpy(self->D, PLM_AUDIO_SYNTHESIS_WINDOW, 512 * sizeof(float));
+  memcpy(self->D + 512, PLM_AUDIO_SYNTHESIS_WINDOW, 512 * sizeof(float));
+
+  // Attempt to decode first header
+  self->next_frame_data_size = plm_audio_decode_header(self);
+
+  return self;
+}
+
+void plm_audio_destroy(plm_audio_t *self) {
+  if (self->destroy_buffer_when_done) {
+    plm_buffer_destroy(self->buffer);
+  }
+  PLM_FREE(self);
+}
+
+int plm_audio_has_header(plm_audio_t *self) {
+  if (self->has_header) {
+    return TRUE;
+  }
+
+  self->next_frame_data_size = plm_audio_decode_header(self);
+  return self->has_header;
+}
+
+int plm_audio_get_samplerate(plm_audio_t *self) {
+  return plm_audio_has_header(self) ? PLM_AUDIO_SAMPLE_RATE[self->samplerate_index] : 0;
+}
+
+double plm_audio_get_time(plm_audio_t *self) { return self->time; }
+
+void plm_audio_set_time(plm_audio_t *self, double time) {
+  self->samples_decoded = time * (double)PLM_AUDIO_SAMPLE_RATE[self->samplerate_index];
+  self->time = time;
+}
+
+void plm_audio_rewind(plm_audio_t *self) {
+  plm_buffer_rewind(self->buffer);
+  self->time = 0;
+  self->samples_decoded = 0;
+  self->next_frame_data_size = 0;
+}
+
+int plm_audio_has_ended(plm_audio_t *self) { return plm_buffer_has_ended(self->buffer); }
+
+plm_samples_t *plm_audio_decode(plm_audio_t *self) {
+  // Do we have at least enough information to decode the frame header?
+  if (!self->next_frame_data_size) {
+    if (!plm_buffer_has(self->buffer, 48)) {
+      return NULL;
+    }
+    self->next_frame_data_size = plm_audio_decode_header(self);
+  }
+
+  if (self->next_frame_data_size == 0 || !plm_buffer_has(self->buffer, self->next_frame_data_size << 3)) {
+    return NULL;
+  }
+
+  plm_audio_decode_frame(self);
+  self->next_frame_data_size = 0;
+
+  self->samples.time = self->time;
+
+  self->samples_decoded += PLM_AUDIO_SAMPLES_PER_FRAME;
+  self->time = (double)self->samples_decoded / (double)PLM_AUDIO_SAMPLE_RATE[self->samplerate_index];
+
+  return &self->samples;
+}
+
+int plm_audio_find_frame_sync(plm_audio_t *self) {
+  size_t i;
+  for (i = self->buffer->bit_index >> 3; i < self->buffer->length - 1; i++) {
+    if (self->buffer->bytes[i] == 0xFF && (self->buffer->bytes[i + 1] & 0xFE) == 0xFC) {
+      self->buffer->bit_index = ((i + 1) << 3) + 3;
+      return TRUE;
+    }
+  }
+  self->buffer->bit_index = (i + 1) << 3;
+  return FALSE;
+}
+
+int plm_audio_decode_header(plm_audio_t *self) {
+  if (!plm_buffer_has(self->buffer, 48)) {
+    return 0;
+  }
+
+  plm_buffer_skip_bytes(self->buffer, 0x00);
+  int sync = plm_buffer_read(self->buffer, 11);
+
+  // Attempt to resync if no syncword was found. This sucks balls. The MP2
+  // stream contains a syncword just before every frame (11 bits set to 1).
+  // However, this syncword is not guaranteed to not occur elsewhere in the
+  // stream. So, if we have to resync, we also have to check if the header
+  // (samplerate, bitrate) differs from the one we had before. This all
+  // may still lead to garbage data being decoded :/
+
+  if (sync != PLM_AUDIO_FRAME_SYNC && !plm_audio_find_frame_sync(self)) {
+    return 0;
+  }
+
+  self->version = plm_buffer_read(self->buffer, 2);
+  self->layer = plm_buffer_read(self->buffer, 2);
+  int hasCRC = !plm_buffer_read(self->buffer, 1);
+
+  if (self->version != PLM_AUDIO_MPEG_1 || self->layer != PLM_AUDIO_LAYER_II) {
+    return 0;
+  }
+
+  int bitrate_index = plm_buffer_read(self->buffer, 4) - 1;
+  if (bitrate_index > 13) {
+    return 0;
+  }
+
+  int samplerate_index = plm_buffer_read(self->buffer, 2);
+  if (samplerate_index == 3) {
+    return 0;
+  }
+
+  int padding = plm_buffer_read(self->buffer, 1);
+  plm_buffer_skip(self->buffer, 1); // f_private
+  int mode = plm_buffer_read(self->buffer, 2);
+
+  // If we already have a header, make sure the samplerate, bitrate and mode
+  // are still the same, otherwise we might have missed sync.
+  if (self->has_header &&
+      (self->bitrate_index != bitrate_index || self->samplerate_index != samplerate_index || self->mode != mode)) {
+    return 0;
+  }
+
+  self->bitrate_index = bitrate_index;
+  self->samplerate_index = samplerate_index;
+  self->mode = mode;
+  self->has_header = TRUE;
+
+  // Parse the mode_extension, set up the stereo bound
+  if (mode == PLM_AUDIO_MODE_JOINT_STEREO) {
+    self->bound = (plm_buffer_read(self->buffer, 2) + 1) << 2;
+  } else {
+    plm_buffer_skip(self->buffer, 2);
+    self->bound = (mode == PLM_AUDIO_MODE_MONO) ? 0 : 32;
+  }
+
+  // Discard the last 4 bits of the header and the CRC value, if present
+  plm_buffer_skip(self->buffer, 4); // copyright(1), original(1), emphasis(2)
+  if (hasCRC) {
+    plm_buffer_skip(self->buffer, 16);
+  }
+
+  // Compute frame size, check if we have enough data to decode the whole
+  // frame.
+  int bitrate = PLM_AUDIO_BIT_RATE[self->bitrate_index];
+  int samplerate = PLM_AUDIO_SAMPLE_RATE[self->samplerate_index];
+  int frame_size = (144000 * bitrate / samplerate) + padding;
+  return frame_size - (hasCRC ? 6 : 4);
+}
+
+void plm_audio_decode_frame(plm_audio_t *self) {
+  // Prepare the quantizer table lookups
+  int tab3 = 0;
+  int sblimit = 0;
+
+  int tab1 = (self->mode == PLM_AUDIO_MODE_MONO) ? 0 : 1;
+  int tab2 = PLM_AUDIO_QUANT_LUT_STEP_1[tab1][self->bitrate_index];
+  tab3 = QUANT_LUT_STEP_2[tab2][self->samplerate_index];
+  sblimit = tab3 & 63;
+  tab3 >>= 6;
+
+  if (self->bound > sblimit) {
+    self->bound = sblimit;
+  }
+
+  // Read the allocation information
+  for (int sb = 0; sb < self->bound; sb++) {
+    self->allocation[0][sb] = plm_audio_read_allocation(self, sb, tab3);
+    self->allocation[1][sb] = plm_audio_read_allocation(self, sb, tab3);
+  }
+
+  for (int sb = self->bound; sb < sblimit; sb++) {
+    self->allocation[0][sb] = self->allocation[1][sb] = plm_audio_read_allocation(self, sb, tab3);
+  }
+
+  // Read scale factor selector information
+  int channels = (self->mode == PLM_AUDIO_MODE_MONO) ? 1 : 2;
+  for (int sb = 0; sb < sblimit; sb++) {
+    for (int ch = 0; ch < channels; ch++) {
+      if (self->allocation[ch][sb]) {
+        self->scale_factor_info[ch][sb] = plm_buffer_read(self->buffer, 2);
+      }
+    }
+    if (self->mode == PLM_AUDIO_MODE_MONO) {
+      self->scale_factor_info[1][sb] = self->scale_factor_info[0][sb];
+    }
+  }
+
+  // Read scale factors
+  for (int sb = 0; sb < sblimit; sb++) {
+    for (int ch = 0; ch < channels; ch++) {
+      if (self->allocation[ch][sb]) {
+        int *sf = self->scale_factor[ch][sb];
+        switch (self->scale_factor_info[ch][sb]) {
+        case 0:
+          sf[0] = plm_buffer_read(self->buffer, 6);
+          sf[1] = plm_buffer_read(self->buffer, 6);
+          sf[2] = plm_buffer_read(self->buffer, 6);
+          break;
+        case 1:
+          sf[0] = sf[1] = plm_buffer_read(self->buffer, 6);
+          sf[2] = plm_buffer_read(self->buffer, 6);
+          break;
+        case 2:
+          sf[0] = sf[1] = sf[2] = plm_buffer_read(self->buffer, 6);
+          break;
+        case 3:
+          sf[0] = plm_buffer_read(self->buffer, 6);
+          sf[1] = sf[2] = plm_buffer_read(self->buffer, 6);
+          break;
+        }
+      }
+    }
+    if (self->mode == PLM_AUDIO_MODE_MONO) {
+      self->scale_factor[1][sb][0] = self->scale_factor[0][sb][0];
+      self->scale_factor[1][sb][1] = self->scale_factor[0][sb][1];
+      self->scale_factor[1][sb][2] = self->scale_factor[0][sb][2];
+    }
+  }
+
+  // Coefficient input and reconstruction
+  int out_pos = 0;
+  for (int part = 0; part < 3; part++) {
+    for (int granule = 0; granule < 4; granule++) {
+
+      // Read the samples
+      for (int sb = 0; sb < self->bound; sb++) {
+        plm_audio_read_samples(self, 0, sb, part);
+        plm_audio_read_samples(self, 1, sb, part);
+      }
+      for (int sb = self->bound; sb < sblimit; sb++) {
+        plm_audio_read_samples(self, 0, sb, part);
+        self->sample[1][sb][0] = self->sample[0][sb][0];
+        self->sample[1][sb][1] = self->sample[0][sb][1];
+        self->sample[1][sb][2] = self->sample[0][sb][2];
+      }
+      for (int sb = sblimit; sb < 32; sb++) {
+        self->sample[0][sb][0] = 0;
+        self->sample[0][sb][1] = 0;
+        self->sample[0][sb][2] = 0;
+        self->sample[1][sb][0] = 0;
+        self->sample[1][sb][1] = 0;
+        self->sample[1][sb][2] = 0;
+      }
+
+      // Synthesis loop
+      for (int p = 0; p < 3; p++) {
+        // Shifting step
+        self->v_pos = (self->v_pos - 64) & 1023;
+
+        for (int ch = 0; ch < 2; ch++) {
+          plm_audio_idct36(self->sample[ch], p, self->V[ch], self->v_pos);
+
+          // Build U, windowing, calculate output
+          memset(self->U, 0, sizeof(self->U));
+
+          int d_index = 512 - (self->v_pos >> 1);
+          int v_index = (self->v_pos % 128) >> 1;
+          while (v_index < 1024) {
+            for (int i = 0; i < 32; ++i) {
+              self->U[i] += self->D[d_index++] * self->V[ch][v_index++];
+            }
+
+            v_index += 128 - 32;
+            d_index += 64 - 32;
+          }
+
+          d_index -= (512 - 32);
+          v_index = (128 - 32 + 1024) - v_index;
+          while (v_index < 1024) {
+            for (int i = 0; i < 32; ++i) {
+              self->U[i] += self->D[d_index++] * self->V[ch][v_index++];
+            }
+
+            v_index += 128 - 32;
+            d_index += 64 - 32;
+          }
+
+// Output samples
+#ifdef PLM_AUDIO_SEPARATE_CHANNELS
+          float *out_channel = ch == 0 ? self->samples.left : self->samples.right;
+          for (int j = 0; j < 32; j++) {
+            out_channel[out_pos + j] = self->U[j] / 2147418112.0f;
+          }
+#else
+          for (int j = 0; j < 32; j++) {
+            self->samples.interleaved[((out_pos + j) << 1) + ch] = self->U[j] / 2147418112.0f;
+          }
+#endif
+        } // End of synthesis channel loop
+        out_pos += 32;
+      } // End of synthesis sub-block loop
+
+    } // Decoding of the granule finished
+  }
+
+  plm_buffer_align(self->buffer);
+}
+
+const plm_quantizer_spec_t *plm_audio_read_allocation(plm_audio_t *self, int sb, int tab3) {
+  int tab4 = PLM_AUDIO_QUANT_LUT_STEP_3[tab3][sb];
+  int qtab = PLM_AUDIO_QUANT_LUT_STEP_4[tab4 & 15][plm_buffer_read(self->buffer, tab4 >> 4)];
+  return qtab ? (&PLM_AUDIO_QUANT_TAB[qtab - 1]) : 0;
+}
+
+void plm_audio_read_samples(plm_audio_t *self, int ch, int sb, int part) {
+  const plm_quantizer_spec_t *q = self->allocation[ch][sb];
+  int sf = self->scale_factor[ch][sb][part];
+  int *sample = self->sample[ch][sb];
+  int val = 0;
+
+  if (!q) {
+    // No bits allocated for this subband
+    sample[0] = sample[1] = sample[2] = 0;
+    return;
+  }
+
+  // Resolve scalefactor
+  if (sf == 63) {
+    sf = 0;
+  } else {
+    int shift = (sf / 3) | 0;
+    sf = (PLM_AUDIO_SCALEFACTOR_BASE[sf % 3] + ((1 << shift) >> 1)) >> shift;
+  }
+
+  // Decode samples
+  int adj = q->levels;
+  if (q->group) {
+    // Decode grouped samples
+    val = plm_buffer_read(self->buffer, q->bits);
+    sample[0] = val % adj;
+    val /= adj;
+    sample[1] = val % adj;
+    sample[2] = val / adj;
+  } else {
+    // Decode direct samples
+    sample[0] = plm_buffer_read(self->buffer, q->bits);
+    sample[1] = plm_buffer_read(self->buffer, q->bits);
+    sample[2] = plm_buffer_read(self->buffer, q->bits);
+  }
+
+  // Postmultiply samples
+  int scale = 65536 / (adj + 1);
+  adj = ((adj + 1) >> 1) - 1;
+
+  val = (adj - sample[0]) * scale;
+  sample[0] = (val * (sf >> 12) + ((val * (sf & 4095) + 2048) >> 12)) >> 12;
+
+  val = (adj - sample[1]) * scale;
+  sample[1] = (val * (sf >> 12) + ((val * (sf & 4095) + 2048) >> 12)) >> 12;
+
+  val = (adj - sample[2]) * scale;
+  sample[2] = (val * (sf >> 12) + ((val * (sf & 4095) + 2048) >> 12)) >> 12;
+}
+
+void plm_audio_idct36(int s[32][3], int ss, float *d, int dp) {
+  float t01, t02, t03, t04, t05, t06, t07, t08, t09, t10, t11, t12, t13, t14, t15, t16, t17, t18, t19, t20, t21, t22,
+      t23, t24, t25, t26, t27, t28, t29, t30, t31, t32, t33;
+
+  t01 = (float)(s[0][ss] + s[31][ss]);
+  t02 = (float)(s[0][ss] - s[31][ss]) * 0.500602998235f;
+  t03 = (float)(s[1][ss] + s[30][ss]);
+  t04 = (float)(s[1][ss] - s[30][ss]) * 0.505470959898f;
+  t05 = (float)(s[2][ss] + s[29][ss]);
+  t06 = (float)(s[2][ss] - s[29][ss]) * 0.515447309923f;
+  t07 = (float)(s[3][ss] + s[28][ss]);
+  t08 = (float)(s[3][ss] - s[28][ss]) * 0.53104259109f;
+  t09 = (float)(s[4][ss] + s[27][ss]);
+  t10 = (float)(s[4][ss] - s[27][ss]) * 0.553103896034f;
+  t11 = (float)(s[5][ss] + s[26][ss]);
+  t12 = (float)(s[5][ss] - s[26][ss]) * 0.582934968206f;
+  t13 = (float)(s[6][ss] + s[25][ss]);
+  t14 = (float)(s[6][ss] - s[25][ss]) * 0.622504123036f;
+  t15 = (float)(s[7][ss] + s[24][ss]);
+  t16 = (float)(s[7][ss] - s[24][ss]) * 0.674808341455f;
+  t17 = (float)(s[8][ss] + s[23][ss]);
+  t18 = (float)(s[8][ss] - s[23][ss]) * 0.744536271002f;
+  t19 = (float)(s[9][ss] + s[22][ss]);
+  t20 = (float)(s[9][ss] - s[22][ss]) * 0.839349645416f;
+  t21 = (float)(s[10][ss] + s[21][ss]);
+  t22 = (float)(s[10][ss] - s[21][ss]) * 0.972568237862f;
+  t23 = (float)(s[11][ss] + s[20][ss]);
+  t24 = (float)(s[11][ss] - s[20][ss]) * 1.16943993343f;
+  t25 = (float)(s[12][ss] + s[19][ss]);
+  t26 = (float)(s[12][ss] - s[19][ss]) * 1.48416461631f;
+  t27 = (float)(s[13][ss] + s[18][ss]);
+  t28 = (float)(s[13][ss] - s[18][ss]) * 2.05778100995f;
+  t29 = (float)(s[14][ss] + s[17][ss]);
+  t30 = (float)(s[14][ss] - s[17][ss]) * 3.40760841847f;
+  t31 = (float)(s[15][ss] + s[16][ss]);
+  t32 = (float)(s[15][ss] - s[16][ss]) * 10.1900081235f;
+
+  t33 = t01 + t31;
+  t31 = (t01 - t31) * 0.502419286188f;
+  t01 = t03 + t29;
+  t29 = (t03 - t29) * 0.52249861494f;
+  t03 = t05 + t27;
+  t27 = (t05 - t27) * 0.566944034816f;
+  t05 = t07 + t25;
+  t25 = (t07 - t25) * 0.64682178336f;
+  t07 = t09 + t23;
+  t23 = (t09 - t23) * 0.788154623451f;
+  t09 = t11 + t21;
+  t21 = (t11 - t21) * 1.06067768599f;
+  t11 = t13 + t19;
+  t19 = (t13 - t19) * 1.72244709824f;
+  t13 = t15 + t17;
+  t17 = (t15 - t17) * 5.10114861869f;
+  t15 = t33 + t13;
+  t13 = (t33 - t13) * 0.509795579104f;
+  t33 = t01 + t11;
+  t01 = (t01 - t11) * 0.601344886935f;
+  t11 = t03 + t09;
+  t09 = (t03 - t09) * 0.899976223136f;
+  t03 = t05 + t07;
+  t07 = (t05 - t07) * 2.56291544774f;
+  t05 = t15 + t03;
+  t15 = (t15 - t03) * 0.541196100146f;
+  t03 = t33 + t11;
+  t11 = (t33 - t11) * 1.30656296488f;
+  t33 = t05 + t03;
+  t05 = (t05 - t03) * 0.707106781187f;
+  t03 = t15 + t11;
+  t15 = (t15 - t11) * 0.707106781187f;
+  t03 += t15;
+  t11 = t13 + t07;
+  t13 = (t13 - t07) * 0.541196100146f;
+  t07 = t01 + t09;
+  t09 = (t01 - t09) * 1.30656296488f;
+  t01 = t11 + t07;
+  t07 = (t11 - t07) * 0.707106781187f;
+  t11 = t13 + t09;
+  t13 = (t13 - t09) * 0.707106781187f;
+  t11 += t13;
+  t01 += t11;
+  t11 += t07;
+  t07 += t13;
+  t09 = t31 + t17;
+  t31 = (t31 - t17) * 0.509795579104f;
+  t17 = t29 + t19;
+  t29 = (t29 - t19) * 0.601344886935f;
+  t19 = t27 + t21;
+  t21 = (t27 - t21) * 0.899976223136f;
+  t27 = t25 + t23;
+  t23 = (t25 - t23) * 2.56291544774f;
+  t25 = t09 + t27;
+  t09 = (t09 - t27) * 0.541196100146f;
+  t27 = t17 + t19;
+  t19 = (t17 - t19) * 1.30656296488f;
+  t17 = t25 + t27;
+  t27 = (t25 - t27) * 0.707106781187f;
+  t25 = t09 + t19;
+  t19 = (t09 - t19) * 0.707106781187f;
+  t25 += t19;
+  t09 = t31 + t23;
+  t31 = (t31 - t23) * 0.541196100146f;
+  t23 = t29 + t21;
+  t21 = (t29 - t21) * 1.30656296488f;
+  t29 = t09 + t23;
+  t23 = (t09 - t23) * 0.707106781187f;
+  t09 = t31 + t21;
+  t31 = (t31 - t21) * 0.707106781187f;
+  t09 += t31;
+  t29 += t09;
+  t09 += t23;
+  t23 += t31;
+  t17 += t29;
+  t29 += t25;
+  t25 += t09;
+  t09 += t27;
+  t27 += t23;
+  t23 += t19;
+  t19 += t31;
+  t21 = t02 + t32;
+  t02 = (t02 - t32) * 0.502419286188f;
+  t32 = t04 + t30;
+  t04 = (t04 - t30) * 0.52249861494f;
+  t30 = t06 + t28;
+  t28 = (t06 - t28) * 0.566944034816f;
+  t06 = t08 + t26;
+  t08 = (t08 - t26) * 0.64682178336f;
+  t26 = t10 + t24;
+  t10 = (t10 - t24) * 0.788154623451f;
+  t24 = t12 + t22;
+  t22 = (t12 - t22) * 1.06067768599f;
+  t12 = t14 + t20;
+  t20 = (t14 - t20) * 1.72244709824f;
+  t14 = t16 + t18;
+  t16 = (t16 - t18) * 5.10114861869f;
+  t18 = t21 + t14;
+  t14 = (t21 - t14) * 0.509795579104f;
+  t21 = t32 + t12;
+  t32 = (t32 - t12) * 0.601344886935f;
+  t12 = t30 + t24;
+  t24 = (t30 - t24) * 0.899976223136f;
+  t30 = t06 + t26;
+  t26 = (t06 - t26) * 2.56291544774f;
+  t06 = t18 + t30;
+  t18 = (t18 - t30) * 0.541196100146f;
+  t30 = t21 + t12;
+  t12 = (t21 - t12) * 1.30656296488f;
+  t21 = t06 + t30;
+  t30 = (t06 - t30) * 0.707106781187f;
+  t06 = t18 + t12;
+  t12 = (t18 - t12) * 0.707106781187f;
+  t06 += t12;
+  t18 = t14 + t26;
+  t26 = (t14 - t26) * 0.541196100146f;
+  t14 = t32 + t24;
+  t24 = (t32 - t24) * 1.30656296488f;
+  t32 = t18 + t14;
+  t14 = (t18 - t14) * 0.707106781187f;
+  t18 = t26 + t24;
+  t24 = (t26 - t24) * 0.707106781187f;
+  t18 += t24;
+  t32 += t18;
+  t18 += t14;
+  t26 = t14 + t24;
+  t14 = t02 + t16;
+  t02 = (t02 - t16) * 0.509795579104f;
+  t16 = t04 + t20;
+  t04 = (t04 - t20) * 0.601344886935f;
+  t20 = t28 + t22;
+  t22 = (t28 - t22) * 0.899976223136f;
+  t28 = t08 + t10;
+  t10 = (t08 - t10) * 2.56291544774f;
+  t08 = t14 + t28;
+  t14 = (t14 - t28) * 0.541196100146f;
+  t28 = t16 + t20;
+  t20 = (t16 - t20) * 1.30656296488f;
+  t16 = t08 + t28;
+  t28 = (t08 - t28) * 0.707106781187f;
+  t08 = t14 + t20;
+  t20 = (t14 - t20) * 0.707106781187f;
+  t08 += t20;
+  t14 = t02 + t10;
+  t02 = (t02 - t10) * 0.541196100146f;
+  t10 = t04 + t22;
+  t22 = (t04 - t22) * 1.30656296488f;
+  t04 = t14 + t10;
+  t10 = (t14 - t10) * 0.707106781187f;
+  t14 = t02 + t22;
+  t02 = (t02 - t22) * 0.707106781187f;
+  t14 += t02;
+  t04 += t14;
+  t14 += t10;
+  t10 += t02;
+  t16 += t04;
+  t04 += t08;
+  t08 += t14;
+  t14 += t28;
+  t28 += t10;
+  t10 += t20;
+  t20 += t02;
+  t21 += t16;
+  t16 += t32;
+  t32 += t04;
+  t04 += t06;
+  t06 += t08;
+  t08 += t18;
+  t18 += t14;
+  t14 += t30;
+  t30 += t28;
+  t28 += t26;
+  t26 += t10;
+  t10 += t12;
+  t12 += t20;
+  t20 += t24;
+  t24 += t02;
+
+  d[dp + 48] = -t33;
+  d[dp + 49] = d[dp + 47] = -t21;
+  d[dp + 50] = d[dp + 46] = -t17;
+  d[dp + 51] = d[dp + 45] = -t16;
+  d[dp + 52] = d[dp + 44] = -t01;
+  d[dp + 53] = d[dp + 43] = -t32;
+  d[dp + 54] = d[dp + 42] = -t29;
+  d[dp + 55] = d[dp + 41] = -t04;
+  d[dp + 56] = d[dp + 40] = -t03;
+  d[dp + 57] = d[dp + 39] = -t06;
+  d[dp + 58] = d[dp + 38] = -t25;
+  d[dp + 59] = d[dp + 37] = -t08;
+  d[dp + 60] = d[dp + 36] = -t11;
+  d[dp + 61] = d[dp + 35] = -t18;
+  d[dp + 62] = d[dp + 34] = -t09;
+  d[dp + 63] = d[dp + 33] = -t14;
+  d[dp + 32] = -t05;
+  d[dp + 0] = t05;
+  d[dp + 31] = -t30;
+  d[dp + 1] = t30;
+  d[dp + 30] = -t27;
+  d[dp + 2] = t27;
+  d[dp + 29] = -t28;
+  d[dp + 3] = t28;
+  d[dp + 28] = -t07;
+  d[dp + 4] = t07;
+  d[dp + 27] = -t26;
+  d[dp + 5] = t26;
+  d[dp + 26] = -t23;
+  d[dp + 6] = t23;
+  d[dp + 25] = -t10;
+  d[dp + 7] = t10;
+  d[dp + 24] = -t15;
+  d[dp + 8] = t15;
+  d[dp + 23] = -t12;
+  d[dp + 9] = t12;
+  d[dp + 22] = -t19;
+  d[dp + 10] = t19;
+  d[dp + 21] = -t20;
+  d[dp + 11] = t20;
+  d[dp + 20] = -t13;
+  d[dp + 12] = t13;
+  d[dp + 19] = -t24;
+  d[dp + 13] = t24;
+  d[dp + 18] = -t31;
+  d[dp + 14] = t31;
+  d[dp + 17] = -t02;
+  d[dp + 15] = t02;
+  d[dp + 16] = 0.0;
+}
+
+#endif // PL_MPEG_IMPLEMENTATION
\ No newline at end of file
diff --git a/include/subsystems/fun/video.h b/include/subsystems/fun/video.h
new file mode 100644
index 0000000..2478855
--- /dev/null
+++ b/include/subsystems/fun/video.h
@@ -0,0 +1,17 @@
+#include "../core/include/subsystems/screen.h"
+#include "pl_mpeg.h"
+#include <string>
+
+/// @brief Only one video file can be open at a time due to memory constraints
+void set_video(const std::string &filename);
+/// @brief  restart the global video
+void video_restart();
+// plays the video set by set_video()
+// because of memory constraints we're limited to one video at a time
+class VideoPlayer : public screen::Page {
+public:
+  VideoPlayer();
+  void update(bool was_pressed, int x, int y) override;
+
+  void draw(vex::brain::lcd &screen, bool first_draw, unsigned int frame_number) override;
+};
\ No newline at end of file
diff --git a/include/subsystems/layout.h b/include/subsystems/layout.h
index 1715e93..61531f2 100644
--- a/include/subsystems/layout.h
+++ b/include/subsystems/layout.h
@@ -1,11 +1,8 @@
 #include <cmath>
 #include <functional>
 
-struct SliderCfg{
-    double &val;
-    double min;
-    double max;
+struct SliderCfg {
+  double &val;
+  double min;
+  double max;
 };
-
-
-
diff --git a/include/subsystems/lift.h b/include/subsystems/lift.h
index 2b45fa7..8512f47 100644
--- a/include/subsystems/lift.h
+++ b/include/subsystems/lift.h
@@ -1,10 +1,10 @@
 #pragma once
 
-#include "vex.h"
 #include "../core/include/utils/controls/pid.h"
+#include "vex.h"
+#include <atomic>
 #include <iostream>
 #include <map>
-#include <atomic>
 #include <vector>
 
 using namespace vex;
@@ -17,19 +17,15 @@ using namespace std;
  *
  * @author Ryan McGee
  */
-template <typename T>
-class Lift
-{
-  public:
-
+template <typename T> class Lift {
+public:
   /**
    * lift_cfg_t holds the physical parameter specifications of a lify system.
    * includes:
    * - maximum speeds for the system
-   * - softstops to stop the lift from hitting the hard stops too hard 
+   * - softstops to stop the lift from hitting the hard stops too hard
    */
-  struct lift_cfg_t
-  {
+  struct lift_cfg_t {
     double up_speed, down_speed;
     double softstop_up, softstop_down;
 
@@ -37,73 +33,71 @@ class Lift
   };
 
   /**
-    * Construct the Lift object and begin the background task that controls the lift.
-    *
-    * Usage example:
-    * /code{.cpp}
-    * enum Positions {UP, MID, DOWN};
-    * map<Positions, double> setpt_map { 
-    *      {DOWN, 0.0}, 
-    *      {MID, 0.5},
-    *      {UP, 1.0}
-    *  };
-    * Lift<Positions> my_lift(motors, lift_cfg, setpt_map);
-    * /endcode
-    *
-    * @param lift_motors 
-    *   A set of motors, all set that positive rotation correlates with the lift going up
-    * @param lift_cfg
-    *   Lift characterization information; PID tunings and movement speeds
-    * @param setpoint_map
-    *   A map of enum type T, in which each enum entry corresponds to a different lift height
-    */
-  Lift(motor_group &lift_motors, lift_cfg_t &lift_cfg, map<T, double> &setpoint_map, limit *homing_switch=NULL)
-  : lift_motors(lift_motors), cfg(lift_cfg), lift_pid(cfg.lift_pid_cfg), setpoint_map(setpoint_map), homing_switch(homing_switch)
-  {
+   * Construct the Lift object and begin the background task that controls the lift.
+   *
+   * Usage example:
+   * /code{.cpp}
+   * enum Positions {UP, MID, DOWN};
+   * map<Positions, double> setpt_map {
+   *      {DOWN, 0.0},
+   *      {MID, 0.5},
+   *      {UP, 1.0}
+   *  };
+   * Lift<Positions> my_lift(motors, lift_cfg, setpt_map);
+   * /endcode
+   *
+   * @param lift_motors
+   *   A set of motors, all set that positive rotation correlates with the lift going up
+   * @param lift_cfg
+   *   Lift characterization information; PID tunings and movement speeds
+   * @param setpoint_map
+   *   A map of enum type T, in which each enum entry corresponds to a different lift height
+   */
+  Lift(motor_group &lift_motors, lift_cfg_t &lift_cfg, map<T, double> &setpoint_map, limit *homing_switch = NULL)
+      : lift_motors(lift_motors), cfg(lift_cfg), lift_pid(cfg.lift_pid_cfg), setpoint_map(setpoint_map),
+        homing_switch(homing_switch) {
 
     is_async = true;
     setpoint = 0;
-    
+
     // Create a background task that is constantly updating the lift PID, if requested.
     // Set once, and forget.
-    task t([](void* ptr){
-      Lift &lift = *((Lift*) ptr);
-
-      while(true)
-      {
-        if(lift.get_async())
-          lift.hold();
+    task t(
+        [](void *ptr) {
+          Lift &lift = *((Lift *)ptr);
 
-        vexDelay(50);
-      }
+          while (true) {
+            if (lift.get_async())
+              lift.hold();
 
-      return 0;
-    }, this);
+            vexDelay(50);
+          }
 
+          return 0;
+        },
+        this);
   }
 
   /**
-    *  Control the lift with an "up" button and a "down" button.
-    *  Use PID to hold the lift when letting go.
-    *  @param up_ctrl
-    *    Button controlling the "UP" motion
-    *  @param down_ctrl
-    *    Button controlling the "DOWN" motion
-    */
-  void control_continuous(bool up_ctrl, bool down_ctrl)
-  {
+   *  Control the lift with an "up" button and a "down" button.
+   *  Use PID to hold the lift when letting go.
+   *  @param up_ctrl
+   *    Button controlling the "UP" motion
+   *  @param down_ctrl
+   *    Button controlling the "DOWN" motion
+   */
+  void control_continuous(bool up_ctrl, bool down_ctrl) {
     static timer tmr;
-    
+
     double cur_pos = 0;
 
     // Check if there's a hook for a custom sensor. If not, use the motors.
-    if(get_sensor == NULL)
+    if (get_sensor == NULL)
       cur_pos = lift_motors.position(rev);
     else
       cur_pos = get_sensor();
 
-    if(up_ctrl && cur_pos < cfg.softstop_up)
-    {
+    if (up_ctrl && cur_pos < cfg.softstop_up) {
       lift_motors.spin(directionType::fwd, cfg.up_speed, volt);
       setpoint = cur_pos + .3;
 
@@ -111,71 +105,65 @@ class Lift
 
       // Disable the PID while going UP.
       is_async = false;
-    } else if(down_ctrl && cur_pos > cfg.softstop_down)
-    {
+    } else if (down_ctrl && cur_pos > cfg.softstop_down) {
       // Lower the lift slowly, at a rate defined by down_speed
-      if(setpoint > cfg.softstop_down)
+      if (setpoint > cfg.softstop_down)
         setpoint = setpoint - (tmr.time(sec) * cfg.down_speed);
       // std::cout << "DEBUG OUT: DOWN " << setpoint << ", " << tmr.time(sec) << ", " << cfg.down_speed << "\n";
       is_async = true;
-    } else
-    {
+    } else {
       // Hold the lift at the last setpoint
       is_async = true;
     }
 
-    tmr.reset();  
+    tmr.reset();
   }
 
   /**
    * Control the lift with manual controls (no holding voltage)
-   * 
+   *
    * @param up_btn Raise the lift when true
    * @param down_btn Lower the lift when true
    * @param volt_up Motor voltage when raising the lift
    * @param volt_down Motor voltage when lowering the lift
    */
-  void control_manual(bool up_btn, bool down_btn, int volt_up, int volt_down)
-  {
+  void control_manual(bool up_btn, bool down_btn, int volt_up, int volt_down) {
     static bool down_hold = false;
     static bool init = true;
 
     // Allow for setting position while still calling this function
-    if(init || up_btn || down_btn)
-    {
+    if (init || up_btn || down_btn) {
       init = false;
       is_async = false;
     }
 
     double rev = lift_motors.position(rotationUnits::rev);
 
-    if(rev < cfg.softstop_down && down_btn)
+    if (rev < cfg.softstop_down && down_btn)
       down_hold = true;
-    else if( !down_btn )
+    else if (!down_btn)
       down_hold = false;
 
-    if(up_btn && rev < cfg.softstop_up)
+    if (up_btn && rev < cfg.softstop_up)
       lift_motors.spin(directionType::fwd, volt_up, voltageUnits::volt);
-    else if(down_btn && rev > cfg.softstop_down && !down_hold)
+    else if (down_btn && rev > cfg.softstop_down && !down_hold)
       lift_motors.spin(directionType::rev, volt_down, voltageUnits::volt);
     else
       lift_motors.spin(directionType::fwd, 0, voltageUnits::volt);
-  
   }
 
   /**
-    * Control the lift in "steps". When the "up" button is pressed, the lift will go to the next
-    * position as defined by pos_list. Order matters! 
-    *
-    * @param up_step
-    *   A button that increments the position of the lift.
-    * @param down_step
-    *   A button that decrements the position of the lift.
-    * @param pos_list
-    *   A list of positions for the lift to go through. The higher the index, the higher the lift should be (generally).
-    */
-  void control_setpoints(bool up_step, bool down_step, vector<T> pos_list)
-  {
+   * Control the lift in "steps". When the "up" button is pressed, the lift will go to the next
+   * position as defined by pos_list. Order matters!
+   *
+   * @param up_step
+   *   A button that increments the position of the lift.
+   * @param down_step
+   *   A button that decrements the position of the lift.
+   * @param pos_list
+   *   A list of positions for the lift to go through. The higher the index, the higher the lift should be (generally).
+   */
+  void control_setpoints(bool up_step, bool down_step, vector<T> pos_list) {
     // Make sure inputs are only processed on the rising edge of the button
     static bool up_last = up_step, down_last = down_step;
 
@@ -188,31 +176,29 @@ class Lift
     static int cur_index = 0;
 
     // Avoid an index overflow. Shouldn't happen unless the user changes pos_list between calls.
-    if(cur_index >= pos_list.size())
+    if (cur_index >= pos_list.size())
       cur_index = pos_list.size() - 1;
 
     // Increment or decrement the index of the list, bringing it up or down.
-    if(up_rising && cur_index < (pos_list.size() - 1))
+    if (up_rising && cur_index < (pos_list.size() - 1))
       cur_index++;
-    else if(down_rising && cur_index > 0)
+    else if (down_rising && cur_index > 0)
       cur_index--;
 
     // Set the lift to hold the position in the background with the PID loop
     set_position(pos_list[cur_index]);
-    is_async = true;  
-
+    is_async = true;
   }
 
   /**
-    * Enable the background task, and send the lift to a position, specified by the
-    * setpoint map from the constructor.
-    * 
-    * @param pos
-    *   A lift position enum type
-    * @return True if the pid has reached the setpoint
-    */
-  bool set_position(T pos)
-  {
+   * Enable the background task, and send the lift to a position, specified by the
+   * setpoint map from the constructor.
+   *
+   * @param pos
+   *   A lift position enum type
+   * @return True if the pid has reached the setpoint
+   */
+  bool set_position(T pos) {
     this->setpoint = setpoint_map[pos];
     is_async = true;
 
@@ -220,35 +206,30 @@ class Lift
   }
 
   /**
-    * Manually set a setpoint value for the lift PID to go to.
-    * @param val
-    *   Lift setpoint, in motor revolutions or sensor units defined by get_sensor. Cannot be outside the softstops.
-    * @return True if the pid has reached the setpoint
-    */
-  bool set_setpoint(double val)
-  {
+   * Manually set a setpoint value for the lift PID to go to.
+   * @param val
+   *   Lift setpoint, in motor revolutions or sensor units defined by get_sensor. Cannot be outside the softstops.
+   * @return True if the pid has reached the setpoint
+   */
+  bool set_setpoint(double val) {
     this->setpoint = val;
     return (lift_pid.get_target() == this->setpoint) && lift_pid.is_on_target();
   }
-  
+
   /**
-    * @return The current setpoint for the lift
-    */
-  double get_setpoint()
-  {
-    return this->setpoint;
-  }
+   * @return The current setpoint for the lift
+   */
+  double get_setpoint() { return this->setpoint; }
 
   /**
-    * Target the class's setpoint.
-    * Calculate the PID output and set the lift motors accordingly.
-    */
-  void hold()
-  {
+   * Target the class's setpoint.
+   * Calculate the PID output and set the lift motors accordingly.
+   */
+  void hold() {
     lift_pid.set_target(setpoint);
     // std::cout << "DEBUG OUT: SETPOINT " << setpoint << "\n";
 
-    if(get_sensor != NULL)
+    if (get_sensor != NULL)
       lift_pid.update(get_sensor());
     else
       lift_pid.update(lift_motors.position(rev));
@@ -259,16 +240,14 @@ class Lift
   }
 
   /**
-   * A blocking function that automatically homes the lift based on a sensor or hard stop, 
+   * A blocking function that automatically homes the lift based on a sensor or hard stop,
    * and sets the position to 0. A watchdog times out after 3 seconds, to avoid damage.
    */
-  void home()
-  {
+  void home() {
     static timer tmr;
     tmr.reset();
-    
-    while(tmr.time(sec) < 3)
-    {
+
+    while (tmr.time(sec) < 3) {
       lift_motors.spin(directionType::rev, 6, volt);
 
       if (homing_switch == NULL && lift_motors.current(currentUnits::amp) > 1.5)
@@ -277,45 +256,35 @@ class Lift
         break;
     }
 
-    if(reset_sensor != NULL)
+    if (reset_sensor != NULL)
       reset_sensor();
-    
+
     lift_motors.resetPosition();
     lift_motors.stop();
-
   }
 
   /**
-    * @return whether or not the background thread is running the lift
-    */
-  bool get_async()
-  {
-    return is_async;
-  }
+   * @return whether or not the background thread is running the lift
+   */
+  bool get_async() { return is_async; }
 
   /**
-    * Enables or disables the background task. Note that running the control functions, or set_position functions
-    * will immediately re-enable the task for autonomous use.
-    * @param val Whether or not the background thread should run the lift
-    */
-  void set_async(bool val)
-  {
-    this->is_async = val;
-  }
+   * Enables or disables the background task. Note that running the control functions, or set_position functions
+   * will immediately re-enable the task for autonomous use.
+   * @param val Whether or not the background thread should run the lift
+   */
+  void set_async(bool val) { this->is_async = val; }
 
   /**
-    * Creates a custom hook for any other type of sensor to be used on the lift. Example:
-    * /code{.cpp}
-    * my_lift.set_sensor_function( [](){return my_sensor.position();} );
-    * /endcode
-    *
-    * @param fn_ptr
-    *   Pointer to custom sensor function
-    */
-  void set_sensor_function(double (*fn_ptr) (void))
-  {
-    this->get_sensor = fn_ptr;
-  }
+   * Creates a custom hook for any other type of sensor to be used on the lift. Example:
+   * /code{.cpp}
+   * my_lift.set_sensor_function( [](){return my_sensor.position();} );
+   * /endcode
+   *
+   * @param fn_ptr
+   *   Pointer to custom sensor function
+   */
+  void set_sensor_function(double (*fn_ptr)(void)) { this->get_sensor = fn_ptr; }
 
   /**
    *  Creates a custom hook to reset the sensor used in set_sensor_function(). Example:
@@ -323,24 +292,18 @@ class Lift
    * my_lift.set_sensor_reset( my_sensor.resetPosition );
    * /endcode
    */
-  void set_sensor_reset(void (*fn_ptr) (void))
-  {
-    this->reset_sensor = fn_ptr;
-  }
-
-  private:
+  void set_sensor_reset(void (*fn_ptr)(void)) { this->reset_sensor = fn_ptr; }
 
+private:
   motor_group &lift_motors;
   lift_cfg_t &cfg;
   PID lift_pid;
   map<T, double> &setpoint_map;
   limit *homing_switch;
-  
+
   atomic<double> setpoint;
   atomic<bool> is_async;
 
   double (*get_sensor)(void) = NULL;
   void (*reset_sensor)(void) = NULL;
-  
-
 };
\ No newline at end of file
diff --git a/include/subsystems/mecanum_drive.h b/include/subsystems/mecanum_drive.h
index 97f3cdb..b120d66 100644
--- a/include/subsystems/mecanum_drive.h
+++ b/include/subsystems/mecanum_drive.h
@@ -1,26 +1,23 @@
 #pragma once
 
-#include "vex.h"
 #include "../core/include/utils/controls/pid.h"
+#include "vex.h"
 
 #ifndef PI
 #define PI 3.141592654
 #endif
 
 /**
-  * A class representing the Mecanum drivetrain.
-  * Contains 4 motors, a possible IMU (intertial), and a possible undriven perpendicular wheel.
-  */
-class MecanumDrive
-{
-
-  public:
+ * A class representing the Mecanum drivetrain.
+ * Contains 4 motors, a possible IMU (intertial), and a possible undriven perpendicular wheel.
+ */
+class MecanumDrive {
 
+public:
   /**
-    * Configure the Mecanum drive PID tunings and robot configurations
-    */
-  struct mecanumdrive_config_t
-  {
+   * Configure the Mecanum drive PID tunings and robot configurations
+   */
+  struct mecanumdrive_config_t {
     // PID configurations for autonomous driving
     PID::pid_config_t drive_pid_conf;
     PID::pid_config_t drive_gyro_pid_conf;
@@ -34,65 +31,63 @@ class MecanumDrive
 
     // Width between the center of the left and right wheels
     double wheelbase_width;
-
   };
 
   /**
-  * Create the Mecanum drivetrain object
-  */
-  MecanumDrive(vex::motor &left_front, vex::motor &right_front, vex::motor &left_rear, vex::motor &right_rear, 
-               vex::rotation *lateral_wheel=NULL, vex::inertial *imu=NULL, mecanumdrive_config_t *config=NULL);
+   * Create the Mecanum drivetrain object
+   */
+  MecanumDrive(vex::motor &left_front, vex::motor &right_front, vex::motor &left_rear, vex::motor &right_rear,
+               vex::rotation *lateral_wheel = NULL, vex::inertial *imu = NULL, mecanumdrive_config_t *config = NULL);
 
   /**
-  * Drive the robot using vectors. This handles all the math required for mecanum control.
-  *
-  * @param direction_deg  the direction to drive the robot, in degrees. 0 is forward,
-  *                       180 is back, clockwise is positive, counterclockwise is negative.
-  * @param magnitude      How fast the robot should drive, in percent: 0.0->1.0
-  * @param rotation       How fast the robot should rotate, in percent: -1.0->+1.0
-  */
+   * Drive the robot using vectors. This handles all the math required for mecanum control.
+   *
+   * @param direction_deg  the direction to drive the robot, in degrees. 0 is forward,
+   *                       180 is back, clockwise is positive, counterclockwise is negative.
+   * @param magnitude      How fast the robot should drive, in percent: 0.0->1.0
+   * @param rotation       How fast the robot should rotate, in percent: -1.0->+1.0
+   */
   void drive_raw(double direction_deg, double magnitude, double rotation);
 
   /**
-  * Drive the robot with a mecanum-style / arcade drive. Inputs are in percent (-100.0 -> 100.0) straight from the controller.
-  * Controls are mixed, so the robot can drive forward / strafe / rotate all at the same time. 
-  *
-  * @param left_y left joystick, Y axis (forward / backwards)
-  * @param left_x left joystick, X axis (strafe left / right)
-  * @param right_x right joystick, X axis (rotation left / right)
-  * @param power =2 how much of a "curve" there should be on drive controls; better for low speed maneuvers.
-  *                Leave blank for a default curve of 2 (higher means more fidelity)
-  */
-  void drive(double left_y, double left_x, double right_x, int power=2);
+   * Drive the robot with a mecanum-style / arcade drive. Inputs are in percent (-100.0 -> 100.0) straight from the
+   * controller. Controls are mixed, so the robot can drive forward / strafe / rotate all at the same time.
+   *
+   * @param left_y left joystick, Y axis (forward / backwards)
+   * @param left_x left joystick, X axis (strafe left / right)
+   * @param right_x right joystick, X axis (rotation left / right)
+   * @param power =2 how much of a "curve" there should be on drive controls; better for low speed maneuvers.
+   *                Leave blank for a default curve of 2 (higher means more fidelity)
+   */
+  void drive(double left_y, double left_x, double right_x, int power = 2);
 
   /**
-  * Drive the robot in a straight line automatically.
-  * If the inertial was declared in the constructor, use it to correct while driving.
-  * If the lateral wheel was declared in the constructor, use it for more accurate positioning while strafing.
-  *
-  * @param inches   How far the robot should drive, in inches
-  * @param direction    What direction the robot should travel in, in degrees.
-  *                     0 is forward, +/-180 is reverse, clockwise is positive.
-  * @param speed    The maximum speed the robot should travel, in percent: -1.0->+1.0
-  * @param gyro_correction =true   Whether or not to use the gyro to help correct while driving.
-  *                               Will always be false if no gyro was declared in the constructor.
-  */
-  bool auto_drive(double inches, double direction, double speed, bool gyro_correction=true);
+   * Drive the robot in a straight line automatically.
+   * If the inertial was declared in the constructor, use it to correct while driving.
+   * If the lateral wheel was declared in the constructor, use it for more accurate positioning while strafing.
+   *
+   * @param inches   How far the robot should drive, in inches
+   * @param direction    What direction the robot should travel in, in degrees.
+   *                     0 is forward, +/-180 is reverse, clockwise is positive.
+   * @param speed    The maximum speed the robot should travel, in percent: -1.0->+1.0
+   * @param gyro_correction =true   Whether or not to use the gyro to help correct while driving.
+   *                               Will always be false if no gyro was declared in the constructor.
+   */
+  bool auto_drive(double inches, double direction, double speed, bool gyro_correction = true);
 
   /**
-  * Autonomously turn the robot X degrees over it's center point. Uses a closed loop
-  * for control.
-  * @param degrees How many degrees to rotate the robot. Clockwise postive.
-  * @param speed What percentage to run the motors at: 0.0 -> 1.0
-  * @param ignore_imu =false Whether or not to use the Inertial for determining angle.
-  *        Will instead use circumference formula + robot's wheelbase + encoders to determine.
-  * 
-  * @return whether or not the robot has finished the maneuver
-  */
-  bool auto_turn(double degrees, double speed, bool ignore_imu=false);
-
-  private:
-
+   * Autonomously turn the robot X degrees over it's center point. Uses a closed loop
+   * for control.
+   * @param degrees How many degrees to rotate the robot. Clockwise postive.
+   * @param speed What percentage to run the motors at: 0.0 -> 1.0
+   * @param ignore_imu =false Whether or not to use the Inertial for determining angle.
+   *        Will instead use circumference formula + robot's wheelbase + encoders to determine.
+   *
+   * @return whether or not the robot has finished the maneuver
+   */
+  bool auto_turn(double degrees, double speed, bool ignore_imu = false);
+
+private:
   vex::motor &left_front, &right_front, &left_rear, &right_rear;
 
   mecanumdrive_config_t *config;
@@ -104,5 +99,4 @@ class MecanumDrive
   PID *turn_pid = NULL;
 
   bool init = true;
-
 };
\ No newline at end of file
diff --git a/include/subsystems/odometry/odometry_3wheel.h b/include/subsystems/odometry/odometry_3wheel.h
index 15ce85d..bef1f85 100644
--- a/include/subsystems/odometry/odometry_3wheel.h
+++ b/include/subsystems/odometry/odometry_3wheel.h
@@ -1,14 +1,14 @@
 #pragma once
+#include "../core/include/subsystems/custom_encoder.h"
 #include "../core/include/subsystems/odometry/odometry_base.h"
 #include "../core/include/subsystems/tank_drive.h"
-#include "../core/include/subsystems/custom_encoder.h"
 
 /**
  * Odometry3Wheel
- * 
+ *
  * This class handles the code for a standard 3-pod odometry setup, where there are 3 "pods" made up of undriven
  * (dead) wheels connected to encoders in the following configuration:
- * 
+ *
  *  +Y   ---------------
  *  ^    |             |
  *  |    |             |
@@ -18,80 +18,76 @@
  *  |    ---------------
  *  |
  *  +-------------------> + X
- * 
+ *
  * Where O is the center of rotation. The robot will monitor the changes in rotation of these wheels and calculate
  * the robot's X, Y and rotation on the field.
- * 
+ *
  * This is a "set and forget" class, meaning once the object is created, the robot will immediately begin
  * tracking it's movement in the background.
- * 
+ *
  * @author Ryan McGee
  * @date Oct 31 2022
- * 
+ *
  */
-class Odometry3Wheel : public OdometryBase
-{
-    public:
-
-    /**
-     * odometry3wheel_cfg_t holds all the specifications for how to calculate position with 3 encoders
-     * See the core wiki for what exactly each of these parameters measures
-     */
-    typedef struct
-    {
-        double wheelbase_dist; /**< distance from the center of the left wheel to the center of the right wheel*/
-        double off_axis_center_dist; /**< distance from the center of the robot to the center off axis wheel*/
-        double wheel_diam; /**< the diameter of the tracking wheel*/
-        
-    } odometry3wheel_cfg_t;
-    
-    /**
-     * Construct a new Odometry 3 Wheel object
-     * 
-     * @param lside_fwd left-side encoder reference
-     * @param rside_fwd right-side encoder reference
-     * @param off_axis off-axis (perpendicular) encoder reference
-     * @param cfg robot odometry configuration
-     * @param is_async true to constantly run in the background
-     */
-    Odometry3Wheel(CustomEncoder &lside_fwd, CustomEncoder &rside_fwd, CustomEncoder &off_axis, odometry3wheel_cfg_t &cfg, bool is_async=true);
-
-    /**
-     * Update the current position of the robot once, using the current state of
-     * the encoders and the previous known location
-     * 
-     * @return the robot's updated position
-     */
-    pose_t update() override;
+class Odometry3Wheel : public OdometryBase {
+public:
+  /**
+   * odometry3wheel_cfg_t holds all the specifications for how to calculate position with 3 encoders
+   * See the core wiki for what exactly each of these parameters measures
+   */
+  typedef struct {
+    double wheelbase_dist;       /**< distance from the center of the left wheel to the center of the right wheel*/
+    double off_axis_center_dist; /**< distance from the center of the robot to the center off axis wheel*/
+    double wheel_diam;           /**< the diameter of the tracking wheel*/
 
-    /**
-     * A guided tuning process to automatically find tuning parameters.
-     * This method is blocking, and returns when tuning has finished. Follow
-     * the instructions on the controller to complete the tuning process
-     * 
-     * @param con Controller reference, for screen and button control
-     * @param drive Drivetrain reference for robot control
-     */
-    void tune(vex::controller &con, TankDrive &drive);
+  } odometry3wheel_cfg_t;
 
-    private:
+  /**
+   * Construct a new Odometry 3 Wheel object
+   *
+   * @param lside_fwd left-side encoder reference
+   * @param rside_fwd right-side encoder reference
+   * @param off_axis off-axis (perpendicular) encoder reference
+   * @param cfg robot odometry configuration
+   * @param is_async true to constantly run in the background
+   */
+  Odometry3Wheel(CustomEncoder &lside_fwd, CustomEncoder &rside_fwd, CustomEncoder &off_axis, odometry3wheel_cfg_t &cfg,
+                 bool is_async = true);
 
-    /**
-     * Calculation method for the robot's new position using the change in encoders, the old position, and the robot's configuration.
-     * This uses a series of arclength formulae for finding distance driven and change in angle.
-     * Then vector math is used to combine it with the robot's old position data
-     * 
-     * @param lside_delta_deg Left encoder change in rotation, in degrees
-     * @param rside_delta_deg Right encoder change in rotation, in degrees
-     * @param offax_delta_deg Off-axis (perpendicular) encoder change in rotation, in degrees
-     * @param old_pos Robot's old position, for integration
-     * @param cfg Data on robot's configuration (wheel diameter, wheelbase, off-axis distance from center)
-     * @return The robot's new position (x, y, rot) 
-     */
-    static pose_t calculate_new_pos(double lside_delta_deg, double rside_delta_deg, double offax_delta_deg, pose_t old_pos, odometry3wheel_cfg_t cfg);
+  /**
+   * Update the current position of the robot once, using the current state of
+   * the encoders and the previous known location
+   *
+   * @return the robot's updated position
+   */
+  pose_t update() override;
 
-    CustomEncoder &lside_fwd, &rside_fwd, &off_axis;
-    odometry3wheel_cfg_t &cfg;
+  /**
+   * A guided tuning process to automatically find tuning parameters.
+   * This method is blocking, and returns when tuning has finished. Follow
+   * the instructions on the controller to complete the tuning process
+   *
+   * @param con Controller reference, for screen and button control
+   * @param drive Drivetrain reference for robot control
+   */
+  void tune(vex::controller &con, TankDrive &drive);
 
+private:
+  /**
+   * Calculation method for the robot's new position using the change in encoders, the old position, and the robot's
+   * configuration. This uses a series of arclength formulae for finding distance driven and change in angle. Then
+   * vector math is used to combine it with the robot's old position data
+   *
+   * @param lside_delta_deg Left encoder change in rotation, in degrees
+   * @param rside_delta_deg Right encoder change in rotation, in degrees
+   * @param offax_delta_deg Off-axis (perpendicular) encoder change in rotation, in degrees
+   * @param old_pos Robot's old position, for integration
+   * @param cfg Data on robot's configuration (wheel diameter, wheelbase, off-axis distance from center)
+   * @return The robot's new position (x, y, rot)
+   */
+  static pose_t calculate_new_pos(double lside_delta_deg, double rside_delta_deg, double offax_delta_deg,
+                                  pose_t old_pos, odometry3wheel_cfg_t cfg);
 
+  CustomEncoder &lside_fwd, &rside_fwd, &off_axis;
+  odometry3wheel_cfg_t &cfg;
 };
\ No newline at end of file
diff --git a/include/subsystems/odometry/odometry_base.h b/include/subsystems/odometry/odometry_base.h
index 2da4202..05293f4 100644
--- a/include/subsystems/odometry/odometry_base.h
+++ b/include/subsystems/odometry/odometry_base.h
@@ -1,149 +1,146 @@
 #pragma once
 
-#include "vex.h"
-#include "../core/include/utils/geometry.h"
 #include "../core/include/robot_specs.h"
 #include "../core/include/utils/command_structure/auto_command.h"
+#include "../core/include/utils/geometry.h"
+#include "vex.h"
 
 #ifndef PI
 #define PI 3.141592654
 #endif
 
-
-
 /**
  * OdometryBase
- * 
+ *
  * This base class contains all the shared code between different implementations of odometry.
- * It handles the asynchronous management, position input/output and basic math functions, and 
- * holds positional types specific to field orientation. 
- * 
- * All future odometry implementations should extend this file and redefine update() function. 
- * 
+ * It handles the asynchronous management, position input/output and basic math functions, and
+ * holds positional types specific to field orientation.
+ *
+ * All future odometry implementations should extend this file and redefine update() function.
+ *
  * @author Ryan McGee
  * @date Aug 11 2021
  */
-class OdometryBase
-{
+class OdometryBase {
 public:
-
-    /**
-     * Construct a new Odometry Base object
-     * 
-     * @param is_async True to run constantly in the background, false to call update() manually
-     */
-    OdometryBase(bool is_async);
-
-    /**
-    * Gets the current position and rotation
-    * @return the position that the odometry believes the robot is at
-    */
-    pose_t get_position(void);
-
-    /**
-     * Sets the current position of the robot
-     * @param newpos the new position that the odometry will believe it is at
-     */
-    virtual void set_position(const pose_t& newpos=zero_pos);
-    AutoCommand *SetPositionCmd(const pose_t& newpos=zero_pos);
-    /**
-     * Update the current position on the field based on the sensors
-     * @return the location that the robot is at after the odometry does its calculations
-     */
-    virtual pose_t update() = 0;
-
-    /**
-     * Function that runs in the background task. This function pointer is passed
-     * to the vex::task constructor. 
-     * 
-     * @param ptr Pointer to OdometryBase object
-     * @return Required integer return code. Unused.
-     */
-    static int background_task(void* ptr);
-
-    /**
-     * End the background task. Cannot be restarted.
-     * If the user wants to end the thread but keep the data up to date,
-     * they must run the update() function manually from then on.
-     */
-    void end_async();
-
-    /**
-     * Get the distance between two points
-     * @param start_pos distance from this point
-     * @param end_pos to this point
-     * @return the euclidean distance between start_pos and end_pos
-     */
-    static double pos_diff(pose_t start_pos, pose_t end_pos);
-
-    /**
-     * Get the change in rotation between two points
-     * @param pos1 position with initial rotation
-     * @param pos2 position with final rotation
-     * @return change in rotation between pos1 and pos2
-     */
-    static double rot_diff(pose_t pos1, pose_t pos2);
-
-    /**
-     * Get the smallest difference in angle between a start heading and end heading.
-     * Returns the difference between -180 degrees and +180 degrees, representing the robot
-     * turning left or right, respectively.
-     * @param start_deg intitial angle (degrees)
-     * @param end_deg final angle (degrees)
-     * @return the smallest angle from the initial to the final angle. This takes into account the wrapping of rotations around 360 degrees 
-     */
-    static double smallest_angle(double start_deg, double end_deg);
-
-    /// @brief end_task is true if we instruct the odometry thread to shut down
-    bool end_task = false;
-
-    /**
-     * Get the current speed
-     * @return the speed at which the robot is moving and grooving (inch/s)
-     */
-    double get_speed();
-
-    /**
-     * Get the current acceleration
-     * @return the acceleration rate of the robot (inch/s^2)
-     */
-    double get_accel();
-
-    /**
-     * Get the current angular speed in degrees
-     * @return the angular velocity at which we are turning (deg/s) 
-     */
-    double get_angular_speed_deg();
-
-    /**
-     * Get the current angular acceleration in degrees
-     * @return the angular acceleration at which we are turning (deg/s^2)
-     */
-    double get_angular_accel_deg();
-
-    /**
-     * Zeroed position. X=0, Y=0, Rotation= 90 degrees
-     */
-    inline static constexpr pose_t zero_pos = {.x=0.0L, .y=0.0L, .rot=90.0L};
+  /**
+   * Construct a new Odometry Base object
+   *
+   * @param is_async True to run constantly in the background, false to call update() manually
+   */
+  OdometryBase(bool is_async);
+
+  /**
+   * Gets the current position and rotation
+   * @return the position that the odometry believes the robot is at
+   */
+  pose_t get_position(void);
+
+  /**
+   * Sets the current position of the robot
+   * @param newpos the new position that the odometry will believe it is at
+   */
+  virtual void set_position(const pose_t &newpos = zero_pos);
+  AutoCommand *SetPositionCmd(const pose_t &newpos = zero_pos);
+  /**
+   * Update the current position on the field based on the sensors
+   * @return the location that the robot is at after the odometry does its calculations
+   */
+  virtual pose_t update() = 0;
+
+  /**
+   * Function that runs in the background task. This function pointer is passed
+   * to the vex::task constructor.
+   *
+   * @param ptr Pointer to OdometryBase object
+   * @return Required integer return code. Unused.
+   */
+  static int background_task(void *ptr);
+
+  /**
+   * End the background task. Cannot be restarted.
+   * If the user wants to end the thread but keep the data up to date,
+   * they must run the update() function manually from then on.
+   */
+  void end_async();
+
+  /**
+   * Get the distance between two points
+   * @param start_pos distance from this point
+   * @param end_pos to this point
+   * @return the euclidean distance between start_pos and end_pos
+   */
+  static double pos_diff(pose_t start_pos, pose_t end_pos);
+
+  /**
+   * Get the change in rotation between two points
+   * @param pos1 position with initial rotation
+   * @param pos2 position with final rotation
+   * @return change in rotation between pos1 and pos2
+   */
+  static double rot_diff(pose_t pos1, pose_t pos2);
+
+  /**
+   * Get the smallest difference in angle between a start heading and end heading.
+   * Returns the difference between -180 degrees and +180 degrees, representing the robot
+   * turning left or right, respectively.
+   * @param start_deg intitial angle (degrees)
+   * @param end_deg final angle (degrees)
+   * @return the smallest angle from the initial to the final angle. This takes into account the wrapping of rotations
+   * around 360 degrees
+   */
+  static double smallest_angle(double start_deg, double end_deg);
+
+  /// @brief end_task is true if we instruct the odometry thread to shut down
+  bool end_task = false;
+
+  /**
+   * Get the current speed
+   * @return the speed at which the robot is moving and grooving (inch/s)
+   */
+  double get_speed();
+
+  /**
+   * Get the current acceleration
+   * @return the acceleration rate of the robot (inch/s^2)
+   */
+  double get_accel();
+
+  /**
+   * Get the current angular speed in degrees
+   * @return the angular velocity at which we are turning (deg/s)
+   */
+  double get_angular_speed_deg();
+
+  /**
+   * Get the current angular acceleration in degrees
+   * @return the angular acceleration at which we are turning (deg/s^2)
+   */
+  double get_angular_accel_deg();
+
+  /**
+   * Zeroed position. X=0, Y=0, Rotation= 90 degrees
+   */
+  inline static constexpr pose_t zero_pos = {.x = 0.0L, .y = 0.0L, .rot = 90.0L};
 
 protected:
-    /**
-     * handle to the vex task that is running the odometry code
-    */
-    vex::task *handle;
-
-    /**
-     * Mutex to control multithreading
-     */
-    vex::mutex mut;
-
-    /**
-     * Current position of the robot in terms of x,y,rotation
-     */
-    pose_t current_pos;
-
-    double speed; /**< the speed at which we are travelling (inch/s)*/
-    double accel; /**< the rate at which we are accelerating (inch/s^2)*/
-    double ang_speed_deg; /**< the speed at which we are turning (deg/s)*/
-    double ang_accel_deg; /**< the rate at which we are accelerating our turn (deg/s^2)*/
+  /**
+   * handle to the vex task that is running the odometry code
+   */
+  vex::task *handle;
+
+  /**
+   * Mutex to control multithreading
+   */
+  vex::mutex mut;
+
+  /**
+   * Current position of the robot in terms of x,y,rotation
+   */
+  pose_t current_pos;
+
+  double speed;         /**< the speed at which we are travelling (inch/s)*/
+  double accel;         /**< the rate at which we are accelerating (inch/s^2)*/
+  double ang_speed_deg; /**< the speed at which we are turning (deg/s)*/
+  double ang_accel_deg; /**< the rate at which we are accelerating our turn (deg/s^2)*/
 };
\ No newline at end of file
diff --git a/include/subsystems/odometry/odometry_tank.h b/include/subsystems/odometry/odometry_tank.h
index 7e8607f..186ea85 100644
--- a/include/subsystems/odometry/odometry_tank.h
+++ b/include/subsystems/odometry/odometry_tank.h
@@ -1,84 +1,89 @@
 #pragma once
 
-#include "../core/include/subsystems/odometry/odometry_base.h"
 #include "../core/include/subsystems/custom_encoder.h"
+#include "../core/include/subsystems/odometry/odometry_base.h"
 #include "../core/include/utils/geometry.h"
-#include "../core/include/utils/vector2d.h"
 #include "../core/include/utils/moving_average.h"
+#include "../core/include/utils/vector2d.h"
 
 #include "../core/include/robot_specs.h"
 
-static int background_task(void* odom_obj);
-
+static int background_task(void *odom_obj);
 
 /**
  * OdometryTank defines an odometry system for a tank drivetrain
  * This requires encoders in the same orientation as the drive wheels
- * Odometry is a "start and forget" subsystem, which means once it's created and configured, 
+ * Odometry is a "start and forget" subsystem, which means once it's created and configured,
  * it will constantly run in the background and track the robot's X, Y and rotation coordinates.
-*/
-class OdometryTank : public OdometryBase
-{
+ */
+class OdometryTank : public OdometryBase {
 public:
-    /**
-    * Initialize the Odometry module, calculating position from the drive motors.
-    * @param left_side The left motors 
-    * @param right_side The right motors
-    * @param config the specifications that supply the odometry with descriptions of the robot. See robot_specs_t for what is contained
-    * @param imu The robot's inertial sensor. If not included, rotation is calculated from the encoders.
-    * @param is_async If true, position will be updated in the background continuously. If false, the programmer will have to manually call update().
-    */
-    OdometryTank(vex::motor_group &left_side, vex::motor_group &right_side, robot_specs_t &config, vex::inertial *imu=NULL, bool is_async=true);
-
-    /**
-    * Initialize the Odometry module, calculating position from the drive motors.
-    * @param left_custom_enc The left custom encoder 
-    * @param right_custom_enc The right custom encoder
-    * @param config the specifications that supply the odometry with descriptions of the robot. See robot_specs_t for what is contained
-    * @param imu The robot's inertial sensor. If not included, rotation is calculated from the encoders.
-    * @param is_async If true, position will be updated in the background continuously. If false, the programmer will have to manually call update().
-    */
+  /**
+   * Initialize the Odometry module, calculating position from the drive motors.
+   * @param left_side The left motors
+   * @param right_side The right motors
+   * @param config the specifications that supply the odometry with descriptions of the robot. See robot_specs_t for
+   * what is contained
+   * @param imu The robot's inertial sensor. If not included, rotation is calculated from the encoders.
+   * @param is_async If true, position will be updated in the background continuously. If false, the programmer will
+   * have to manually call update().
+   */
+  OdometryTank(vex::motor_group &left_side, vex::motor_group &right_side, robot_specs_t &config,
+               vex::inertial *imu = NULL, bool is_async = true);
 
-    OdometryTank(CustomEncoder &left_custom_enc, CustomEncoder &right_custom_enc, robot_specs_t &config, vex::inertial *imu=NULL, bool is_async=true);
+  /**
+   * Initialize the Odometry module, calculating position from the drive motors.
+   * @param left_custom_enc The left custom encoder
+   * @param right_custom_enc The right custom encoder
+   * @param config the specifications that supply the odometry with descriptions of the robot. See robot_specs_t for
+   * what is contained
+   * @param imu The robot's inertial sensor. If not included, rotation is calculated from the encoders.
+   * @param is_async If true, position will be updated in the background continuously. If false, the programmer will
+   * have to manually call update().
+   */
 
-    /**
-    * Initialize the Odometry module, calculating position from the drive motors.
-    * @param left_vex_enc The left vex encoder 
-    * @param right_vex_enc The right vex encoder
-    * @param config the specifications that supply the odometry with descriptions of the robot. See robot_specs_t for what is contained
-    * @param imu The robot's inertial sensor. If not included, rotation is calculated from the encoders.
-    * @param is_async If true, position will be updated in the background continuously. If false, the programmer will have to manually call update().
-    */
+  OdometryTank(CustomEncoder &left_custom_enc, CustomEncoder &right_custom_enc, robot_specs_t &config,
+               vex::inertial *imu = NULL, bool is_async = true);
 
-    OdometryTank(vex::encoder &left_vex_enc, vex::encoder &right_vex_enc, robot_specs_t &config, vex::inertial *imu=NULL, bool is_async=true);
+  /**
+   * Initialize the Odometry module, calculating position from the drive motors.
+   * @param left_vex_enc The left vex encoder
+   * @param right_vex_enc The right vex encoder
+   * @param config the specifications that supply the odometry with descriptions of the robot. See robot_specs_t for
+   * what is contained
+   * @param imu The robot's inertial sensor. If not included, rotation is calculated from the encoders.
+   * @param is_async If true, position will be updated in the background continuously. If false, the programmer will
+   * have to manually call update().
+   */
 
-    /**
-     * Update the current position on the field based on the sensors
-     * @return the position that odometry has calculated itself to be at
-     */
-    pose_t update() override;
+  OdometryTank(vex::encoder &left_vex_enc, vex::encoder &right_vex_enc, robot_specs_t &config,
+               vex::inertial *imu = NULL, bool is_async = true);
 
-    /**
-     * set_position tells the odometry to place itself at a position
-     * @param newpos the position the odometry will take
-    */
-    void set_position(const pose_t &newpos=zero_pos) override;
+  /**
+   * Update the current position on the field based on the sensors
+   * @return the position that odometry has calculated itself to be at
+   */
+  pose_t update() override;
 
-    
+  /**
+   * set_position tells the odometry to place itself at a position
+   * @param newpos the position the odometry will take
+   */
+  void set_position(const pose_t &newpos = zero_pos) override;
 
 private:
-    /**
-     * Get information from the input hardware and an existing position, and calculate a new current position
-     */
-    static pose_t calculate_new_pos(robot_specs_t &config, pose_t &stored_info, double lside_diff, double rside_diff, double angle_deg);
+  /**
+   * Get information from the input hardware and an existing position, and calculate a new current position
+   */
+  static pose_t calculate_new_pos(robot_specs_t &config, pose_t &stored_info, double lside_diff, double rside_diff,
+                                  double angle_deg);
 
-    vex::motor_group *left_side, *right_side;
-    CustomEncoder *left_custom_enc, *right_custom_enc;
-    vex::encoder *left_vex_enc, *right_vex_enc;
-    vex::inertial *imu;
-    robot_specs_t &config;
+  vex::motor_group *left_side, *right_side;
+  CustomEncoder *left_custom_enc, *right_custom_enc;
+  vex::encoder *left_vex_enc, *right_vex_enc;
+  vex::inertial *imu;
+  robot_specs_t &config;
 
-    double rotation_offset = 0;
-    ExponentialMovingAverage ema = ExponentialMovingAverage(3);
-    
+  double rotation_offset = 0;
+  ExponentialMovingAverage ema = ExponentialMovingAverage(3);
 };
\ No newline at end of file
diff --git a/include/subsystems/screen.h b/include/subsystems/screen.h
index 58159b2..ec2452c 100644
--- a/include/subsystems/screen.h
+++ b/include/subsystems/screen.h
@@ -1,312 +1,298 @@
 #pragma once
-#include "vex.h"
-#include <vector>
-#include <functional>
-#include <map>
-#include <cassert>
 #include "../core/include/subsystems/odometry/odometry_base.h"
-#include "../core/include/utils/graph_drawer.h"
 #include "../core/include/utils/controls/pid.h"
 #include "../core/include/utils/controls/pidff.h"
+#include "../core/include/utils/graph_drawer.h"
+#include "vex.h"
+#include <cassert>
+#include <functional>
+#include <map>
+#include <vector>
 
-namespace screen
-{
-    /// @brief Widget that does something when you tap it. The function is only called once when you first tap it
-    class ButtonWidget
-    {
-    public:
-        /// @brief Create a Button widget
-        /// @param onpress the function to be called when the button is tapped
-        /// @param rect the area the button should take up on the screen
-        /// @param name the label put on the button
-        ButtonWidget(std::function<void(void)> onpress, Rect rect, std::string name) : onpress(onpress), rect(rect), name(name) {}
-        /// @brief Create a Button widget
-        /// @param onpress the function to be called when the button is tapped
-        /// @param rect the area the button should take up on the screen
-        /// @param name the label put on the button
-        ButtonWidget(void (*onpress)(), Rect rect, std::string name) : onpress(onpress), rect(rect), name(name) {}
-
-        /// @brief responds to user input
-        /// @param was_pressed if the screen is pressed
-        /// @param x x position if the screen was pressed
-        /// @param y y position if the screen was pressed
-        /// @return true if the button was pressed
-        bool update(bool was_pressed, int x, int y);
-        /// @brief draws the button to the screen
-        void draw(vex::brain::lcd &, bool first_draw, unsigned int frame_number);
-
-    private:
-        std::function<void(void)> onpress;
-        Rect rect;
-        std::string name = "";
-        bool was_pressed_last = false;
-    };
-
-    /// @brief Widget that updates a double value. Updates by reference so watch out for race conditions cuz the screen stuff lives on another thread
-    class SliderWidget
-    {
-    public:
-        /// @brief Creates a slider widget
-        /// @param val reference to the value to modify
-        /// @param low minimum value to go to
-        /// @param high maximum value to go to
-        /// @param rect rect to draw it
-        /// @param name name of the value
-        SliderWidget(double &val, double low, double high, Rect rect, std::string name) : value(val), low(low), high(high), rect(rect), name(name) {}
-
-        /// @brief responds to user input
-        /// @param was_pressed if the screen is pressed
-        /// @param x x position if the screen was pressed
-        /// @param y y position if the screen was pressed
-        /// @return true if the value updated
-        bool update(bool was_pressed, int x, int y);
-        /// @brief @ref Page::draws the slide to the screen
-        void draw(vex::brain::lcd &, bool first_draw, unsigned int frame_number);
-
-    private:
-        double &value;
-
-        double low;
-        double high;
-
-        Rect rect;
-        std::string name = "";
-    };
-
-    struct WidgetConfig;
-
-    struct SliderConfig
-    {
-        double &val;
-        double low;
-        double high;
-    };
-    struct ButtonConfig
-    {
-        std::function<void()> onclick;
-    };
-    struct CheckboxConfig
-    {
-        std::function<void(bool)> onupdate;
-    };
-    struct LabelConfig
-    {
-        std::string label;
-    };
-
-    struct TextConfig
-    {
-        std::function<std::string()> text;
-    };
-    struct SizedWidget
-    {
-        int size;
-        WidgetConfig &widget;
-    };
-    struct WidgetConfig
-    {
-        enum Type
-        {
-            Col,
-            Row,
-            Slider,
-            Button,
-            Checkbox,
-            Label,
-            Text,
-            Graph,
-        };
-        Type type;
-        union
-        {
-            std::vector<SizedWidget> widgets;
-            SliderConfig slider;
-            ButtonConfig button;
-            CheckboxConfig checkbox;
-            LabelConfig label;
-            TextConfig text;
-            GraphDrawer *graph;
-        } config;
-    };
-
-    class Page;
-    /// @brief Page describes one part of the screen slideshow
-    class Page
-    {
-    public:
-        /**
-         * @brief collect data, respond to screen input, do fast things (runs at
-         * 50hz even if you're not focused on this Page (only drawn page gets
-         * touch updates))
-         * @param was_pressed true if the screen has been pressed
-         * @param x x position of screen press (if the screen was pressed)
-         * @param y y position of screen press (if the screen was pressed)
-         */
-        virtual void update(bool was_pressed, int x, int y);
-        /**
-         * @brief draw stored data to the screen (runs at 10 hz and only runs if
-         * this page is in front)
-         * @param first_draw true if we just switched to this page
-         * @param frame_number frame of drawing we are on (basically an animation
-         * tick)
-         */
-        virtual void draw(vex::brain::lcd &screen, bool first_draw,
-                          unsigned int frame_number);
-    };
-
-    struct ScreenRect
-    {
-        uint32_t x1;
-        uint32_t y1;
-        uint32_t x2;
-        uint32_t y2;
-    };
-    void draw_widget(WidgetConfig &widget, ScreenRect rect);
-
-    class WidgetPage : public Page
-    {
-    public:
-        WidgetPage(WidgetConfig &cfg) : base_widget(cfg) {}
-        void update(bool was_pressed, int x, int y) override;
-
-        void draw(vex::brain::lcd &, bool first_draw, unsigned int frame_number) override
-        {
-            draw_widget(base_widget, {.x1 = 20, .y1 = 0, .x2 = 440, .y2 = 240});
-        }
-
-    private:
-        WidgetConfig &base_widget;
-    };
-
-    /**
-     * @brief Start the screen background task. Once you start this, no need to draw to the screen manually elsewhere
-     * @param screen reference to the vex screen
-     * @param pages drawing pages
-     * @param first_page optional, which page to start the program at. by default 0
-     */
-    void start_screen(vex::brain::lcd &screen, std::vector<Page *> pages, int first_page = 0);
-
-
-    void next_page();
-    void prev_page();
-
-    /// @brief stops the screen. If you have a drive team that hates fun call this at the start of opcontrol
-    void stop_screen();
-
-    /// @brief  type of function needed for update
-    using update_func_t = std::function<void(bool, int, int)>;
-
-    /// @brief  type of function needed for draw
-    using draw_func_t = std::function<void(vex::brain::lcd &screen, bool, unsigned int)>;
-
-    /// @brief Draws motor stats and battery stats to the screen
-    class StatsPage : public Page
-    {
-    public:
-        /// @brief Creates a stats page
-        /// @param motors a map of string to motor that we want to draw on this page
-        StatsPage(std::map<std::string, vex::motor &> motors);
-        /// @brief @see Page#update
-        void update(bool was_pressed, int x, int y) override;
-        /// @brief @see Page#draw
-        void draw(vex::brain::lcd &, bool first_draw, unsigned int frame_number) override;
-
-    private:
-        void draw_motor_stats(const std::string &name, vex::motor &mot, unsigned int frame, int x, int y, vex::brain::lcd &scr);
-
-        std::map<std::string, vex::motor &> motors;
-        static const int y_start = 0;
-        static const int per_column = 4;
-        static const int row_height = 20;
-        static const int row_width = 200;
-    };
-
-    /**
-     * @brief a page that shows odometry position and rotation and a map (if an sd card with the file is on)
-     */
-    class OdometryPage : public Page
-    {
-    public:
-        /// @brief Create an odometry trail. Make sure odometry is initilized before now
-        /// @param odom the odometry system to monitor
-        /// @param robot_width the width (side to side) of the robot in inches. Used for visualization
-        /// @param robot_height the robot_height (front to back) of the robot in inches. Used for visualization
-        /// @param do_trail whether or not to calculate and draw the trail. Drawing and storing takes a very *slight* extra amount of processing power
-        OdometryPage(OdometryBase &odom, double robot_width, double robot_height, bool do_trail);
-        /// @brief @see Page#update
-        void update(bool was_pressed, int x, int y) override;
-        /// @brief @see Page#draw
-        void draw(vex::brain::lcd &, bool first_draw, unsigned int frame_number) override;
-
-    private:
-        static const int path_len = 40;
-        static constexpr char const *field_filename = "vex_field_240p.png";
-
-        OdometryBase &odom;
-        double robot_width;
-        double robot_height;
-        uint8_t *buf = nullptr;
-        int buf_size = 0;
-        pose_t path[path_len];
-        int path_index = 0;
-        bool do_trail;
-        GraphDrawer velocity_graph;
-    };
-
-    /// @brief Simple page that stores no internal data. the draw and update functions use only global data rather than storing anything
-    class FunctionPage : public Page
-    {
-    public:
-        /// @brief Creates a function page
-        /// @param update_f the function called every tick to respond to user input or do data collection
-        /// @param draw_t the function called to draw to the screen
-        FunctionPage(update_func_t update_f, draw_func_t draw_t);
-        /// @brief @see Page#update
-        void update(bool was_pressed, int x, int y) override;
-        /// @brief @see Page#draw
-        void draw(vex::brain::lcd &, bool first_draw, unsigned int frame_number) override;
-
-    private:
-        update_func_t update_f;
-        draw_func_t draw_f;
-    };
-
-    /// @brief PIDPage provides a way to tune a pid controller on the screen
-    class PIDPage : public Page
-    {
-    public:
-        /// @brief Create a PIDPage
-        /// @param pid the pid controller we're changing
-        /// @param name a name to recognize this pid controller if we've got multiple pid screens
-        /// @param onchange a function that is called when a tuning parameter is changed. If you need to update stuff on that change register a handler here
-        PIDPage(
-            PID &pid, std::string name, std::function<void(void)> onchange = []() {});
-        PIDPage(
-            PIDFF &pidff, std::string name, std::function<void(void)> onchange = []() {});
-
-        /// @brief @see Page#update
-        void update(bool was_pressed, int x, int y) override;
-        /// @brief @see Page#draw
-        void draw(vex::brain::lcd &, bool first_draw, unsigned int frame_number) override;
-
-    private:
-        /// @brief reset d
-        void zero_d_f() { cfg.d = 0; }
-        /// @brief reset i
-        void zero_i_f() { cfg.i = 0; }
-
-        PID::pid_config_t &cfg;
-        PID &pid;
-        const std::string name;
-        std::function<void(void)> onchange;
-
-        SliderWidget p_slider;
-        SliderWidget i_slider;
-        SliderWidget d_slider;
-        ButtonWidget zero_i;
-        ButtonWidget zero_d;
-
-        GraphDrawer graph;
-    };
-
-}
+namespace screen {
+/// @brief Widget that does something when you tap it. The function is only called once when you first tap it
+class ButtonWidget {
+public:
+  /// @brief Create a Button widget
+  /// @param onpress the function to be called when the button is tapped
+  /// @param rect the area the button should take up on the screen
+  /// @param name the label put on the button
+  ButtonWidget(std::function<void(void)> onpress, Rect rect, std::string name)
+      : onpress(onpress), rect(rect), name(name) {}
+  /// @brief Create a Button widget
+  /// @param onpress the function to be called when the button is tapped
+  /// @param rect the area the button should take up on the screen
+  /// @param name the label put on the button
+  ButtonWidget(void (*onpress)(), Rect rect, std::string name) : onpress(onpress), rect(rect), name(name) {}
+
+  /// @brief responds to user input
+  /// @param was_pressed if the screen is pressed
+  /// @param x x position if the screen was pressed
+  /// @param y y position if the screen was pressed
+  /// @return true if the button was pressed
+  bool update(bool was_pressed, int x, int y);
+  /// @brief draws the button to the screen
+  void draw(vex::brain::lcd &, bool first_draw, unsigned int frame_number);
+
+private:
+  std::function<void(void)> onpress;
+  Rect rect;
+  std::string name = "";
+  bool was_pressed_last = false;
+};
+
+/// @brief Widget that updates a double value. Updates by reference so watch out for race conditions cuz the screen
+/// stuff lives on another thread
+class SliderWidget {
+public:
+  /// @brief Creates a slider widget
+  /// @param val reference to the value to modify
+  /// @param low minimum value to go to
+  /// @param high maximum value to go to
+  /// @param rect rect to draw it
+  /// @param name name of the value
+  SliderWidget(double &val, double low, double high, Rect rect, std::string name)
+      : value(val), low(low), high(high), rect(rect), name(name) {}
+
+  /// @brief responds to user input
+  /// @param was_pressed if the screen is pressed
+  /// @param x x position if the screen was pressed
+  /// @param y y position if the screen was pressed
+  /// @return true if the value updated
+  bool update(bool was_pressed, int x, int y);
+  /// @brief @ref Page::draws the slide to the screen
+  void draw(vex::brain::lcd &, bool first_draw, unsigned int frame_number);
+
+private:
+  double &value;
+
+  double low;
+  double high;
+
+  Rect rect;
+  std::string name = "";
+};
+
+struct WidgetConfig;
+
+struct SliderConfig {
+  double &val;
+  double low;
+  double high;
+};
+struct ButtonConfig {
+  std::function<void()> onclick;
+};
+struct CheckboxConfig {
+  std::function<void(bool)> onupdate;
+};
+struct LabelConfig {
+  std::string label;
+};
+
+struct TextConfig {
+  std::function<std::string()> text;
+};
+struct SizedWidget {
+  int size;
+  WidgetConfig &widget;
+};
+struct WidgetConfig {
+  enum Type {
+    Col,
+    Row,
+    Slider,
+    Button,
+    Checkbox,
+    Label,
+    Text,
+    Graph,
+  };
+  Type type;
+  union {
+    std::vector<SizedWidget> widgets;
+    SliderConfig slider;
+    ButtonConfig button;
+    CheckboxConfig checkbox;
+    LabelConfig label;
+    TextConfig text;
+    GraphDrawer *graph;
+  } config;
+};
+
+class Page;
+/// @brief Page describes one part of the screen slideshow
+class Page {
+public:
+  /**
+   * @brief collect data, respond to screen input, do fast things (runs at
+   * 50hz even if you're not focused on this Page (only drawn page gets
+   * touch updates))
+   * @param was_pressed true if the screen has been pressed
+   * @param x x position of screen press (if the screen was pressed)
+   * @param y y position of screen press (if the screen was pressed)
+   */
+  virtual void update(bool was_pressed, int x, int y);
+  /**
+   * @brief draw stored data to the screen (runs at 10 hz and only runs if
+   * this page is in front)
+   * @param first_draw true if we just switched to this page
+   * @param frame_number frame of drawing we are on (basically an animation
+   * tick)
+   */
+  virtual void draw(vex::brain::lcd &screen, bool first_draw, unsigned int frame_number);
+};
+
+struct ScreenRect {
+  uint32_t x1;
+  uint32_t y1;
+  uint32_t x2;
+  uint32_t y2;
+};
+void draw_widget(WidgetConfig &widget, ScreenRect rect);
+
+class WidgetPage : public Page {
+public:
+  WidgetPage(WidgetConfig &cfg) : base_widget(cfg) {}
+  void update(bool was_pressed, int x, int y) override;
+
+  void draw(vex::brain::lcd &, bool first_draw, unsigned int frame_number) override {
+    draw_widget(base_widget, {.x1 = 20, .y1 = 0, .x2 = 440, .y2 = 240});
+  }
+
+private:
+  WidgetConfig &base_widget;
+};
+
+/**
+ * @brief Start the screen background task. Once you start this, no need to draw to the screen manually elsewhere
+ * @param screen reference to the vex screen
+ * @param pages drawing pages
+ * @param first_page optional, which page to start the program at. by default 0
+ */
+void start_screen(vex::brain::lcd &screen, std::vector<Page *> pages, int first_page = 0);
+
+void next_page();
+void prev_page();
+void goto_page(size_t page);
+
+/// @brief stops the screen. If you have a drive team that hates fun call this at the start of opcontrol
+void stop_screen();
+
+/// @brief  type of function needed for update
+using update_func_t = std::function<void(bool, int, int)>;
+
+/// @brief  type of function needed for draw
+using draw_func_t = std::function<void(vex::brain::lcd &screen, bool, unsigned int)>;
+
+/// @brief Draws motor stats and battery stats to the screen
+class StatsPage : public Page {
+public:
+  /// @brief Creates a stats page
+  /// @param motors a map of string to motor that we want to draw on this page
+  StatsPage(std::map<std::string, vex::motor &> motors);
+  /// @brief @see Page#update
+  void update(bool was_pressed, int x, int y) override;
+  /// @brief @see Page#draw
+  void draw(vex::brain::lcd &, bool first_draw, unsigned int frame_number) override;
+
+private:
+  void draw_motor_stats(const std::string &name, vex::motor &mot, unsigned int frame, int x, int y,
+                        vex::brain::lcd &scr);
+
+  std::map<std::string, vex::motor &> motors;
+  static const int y_start = 0;
+  static const int per_column = 4;
+  static const int row_height = 20;
+  static const int row_width = 200;
+};
+
+/**
+ * @brief a page that shows odometry position and rotation and a map (if an sd card with the file is on)
+ */
+class OdometryPage : public Page {
+public:
+  /// @brief Create an odometry trail. Make sure odometry is initilized before now
+  /// @param odom the odometry system to monitor
+  /// @param robot_width the width (side to side) of the robot in inches. Used for visualization
+  /// @param robot_height the robot_height (front to back) of the robot in inches. Used for visualization
+  /// @param do_trail whether or not to calculate and draw the trail. Drawing and storing takes a very *slight* extra
+  /// amount of processing power
+  OdometryPage(OdometryBase &odom, double robot_width, double robot_height, bool do_trail);
+  /// @brief @see Page#update
+  void update(bool was_pressed, int x, int y) override;
+  /// @brief @see Page#draw
+  void draw(vex::brain::lcd &, bool first_draw, unsigned int frame_number) override;
+
+private:
+  static const int path_len = 40;
+  static constexpr char const *field_filename = "vex_field_240p.png";
+
+  OdometryBase &odom;
+  double robot_width;
+  double robot_height;
+  uint8_t *buf = nullptr;
+  int buf_size = 0;
+  pose_t path[path_len];
+  int path_index = 0;
+  bool do_trail;
+  GraphDrawer velocity_graph;
+};
+
+/// @brief Simple page that stores no internal data. the draw and update functions use only global data rather than
+/// storing anything
+class FunctionPage : public Page {
+public:
+  /// @brief Creates a function page
+  /// @param update_f the function called every tick to respond to user input or do data collection
+  /// @param draw_t the function called to draw to the screen
+  FunctionPage(update_func_t update_f, draw_func_t draw_t);
+  /// @brief @see Page#update
+  void update(bool was_pressed, int x, int y) override;
+  /// @brief @see Page#draw
+  void draw(vex::brain::lcd &, bool first_draw, unsigned int frame_number) override;
+
+private:
+  update_func_t update_f;
+  draw_func_t draw_f;
+};
+
+/// @brief PIDPage provides a way to tune a pid controller on the screen
+class PIDPage : public Page {
+public:
+  /// @brief Create a PIDPage
+  /// @param pid the pid controller we're changing
+  /// @param name a name to recognize this pid controller if we've got multiple pid screens
+  /// @param onchange a function that is called when a tuning parameter is changed. If you need to update stuff on that
+  /// change register a handler here
+  PIDPage(
+      PID &pid, std::string name, std::function<void(void)> onchange = []() {});
+  PIDPage(
+      PIDFF &pidff, std::string name, std::function<void(void)> onchange = []() {});
+
+  /// @brief @see Page#update
+  void update(bool was_pressed, int x, int y) override;
+  /// @brief @see Page#draw
+  void draw(vex::brain::lcd &, bool first_draw, unsigned int frame_number) override;
+
+private:
+  /// @brief reset d
+  void zero_d_f() { cfg.d = 0; }
+  /// @brief reset i
+  void zero_i_f() { cfg.i = 0; }
+
+  PID::pid_config_t &cfg;
+  PID &pid;
+  const std::string name;
+  std::function<void(void)> onchange;
+
+  SliderWidget p_slider;
+  SliderWidget i_slider;
+  SliderWidget d_slider;
+  ButtonWidget zero_i;
+  ButtonWidget zero_d;
+
+  GraphDrawer graph;
+};
+
+} // namespace screen
diff --git a/include/subsystems/tank_drive.h b/include/subsystems/tank_drive.h
index 2e63002..ab4f3e8 100644
--- a/include/subsystems/tank_drive.h
+++ b/include/subsystems/tank_drive.h
@@ -4,53 +4,66 @@
 #define PI 3.141592654
 #endif
 
-#include "vex.h"
+#include "../core/include/robot_specs.h"
 #include "../core/include/subsystems/odometry/odometry_tank.h"
-#include "../core/include/utils/controls/pid.h"
+#include "../core/include/utils/command_structure/auto_command.h"
 #include "../core/include/utils/controls/feedback_base.h"
-#include "../core/include/robot_specs.h"
+#include "../core/include/utils/controls/pid.h"
 #include "../core/include/utils/pure_pursuit.h"
-#include "../core/include/utils/command_structure/auto_command.h"
+#include "vex.h"
 #include <vector>
 
 using namespace vex;
 
 /**
  * TankDrive is a class to run a tank drive system.
- * A tank drive system, sometimes called differential drive, has a motor (or group of synchronized motors) on the left and right side
+ * A tank drive system, sometimes called differential drive, has a motor (or
+ * group of synchronized motors) on the left and right side
  */
-class TankDrive
-{
+class TankDrive {
 public:
-  enum class BrakeType
-  {
-    None, ///< just send 0 volts to the motors
-    ZeroVelocity, ///< try to bring the robot to rest. But don't try to hold position
-    Smart, ///< bring the robot to rest and once it's stopped, try to hold that position
+  enum class BrakeType {
+    None,         ///< just send 0 volts to the motors
+    ZeroVelocity, ///< try to bring the robot to rest. But don't try to hold
+                  ///< position
+    Smart,        ///< bring the robot to rest and once it's stopped, try to hold
+                  ///< that position
   };
   /**
    * Create the TankDrive object
    * @param left_motors left side drive motors
    * @param right_motors right side drive motors
-   * @param config the configuration specification defining physical dimensions about the robot. See robot_specs_t for more info
-   * @param odom an odometry system to track position and rotation. this is necessary to execute autonomous paths
+   * @param config the configuration specification defining physical
+   * dimensions about the robot. See robot_specs_t for more info
+   * @param odom an odometry system to track position and rotation. this is
+   * necessary to execute autonomous paths
    */
   TankDrive(motor_group &left_motors, motor_group &right_motors, robot_specs_t &config, OdometryBase *odom = NULL);
 
-  AutoCommand *DriveToPointCmd(point_t pt, vex::directionType dir = vex::forward, double max_speed = 1.0, double end_speed = 0.0);
-  AutoCommand *DriveToPointCmd(Feedback &fb, point_t pt, vex::directionType dir = vex::forward, double max_speed = 1.0, double end_speed = 0.0);
+  AutoCommand *DriveToPointCmd(point_t pt, vex::directionType dir = vex::forward, double max_speed = 1.0,
+                               double end_speed = 0.0);
+  AutoCommand *DriveToPointCmd(Feedback &fb, point_t pt, vex::directionType dir = vex::forward, double max_speed = 1.0,
+                               double end_speed = 0.0);
 
-  AutoCommand *DriveForwardCmd(double dist, vex::directionType dir = vex::forward, double max_speed = 1.0, double end_speed = 0.0);
-  AutoCommand *DriveForwardCmd(Feedback &fb, double dist, vex::directionType dir = vex::forward, double max_speed = 1.0, double end_speed = 0.0);
+  AutoCommand *DriveForwardCmd(double dist, vex::directionType dir = vex::forward, double max_speed = 1.0,
+                               double end_speed = 0.0);
+  AutoCommand *DriveForwardCmd(Feedback &fb, double dist, vex::directionType dir = vex::forward, double max_speed = 1.0,
+                               double end_speed = 0.0);
 
   AutoCommand *TurnToHeadingCmd(double heading, double max_speed = 1.0, double end_speed = 0.0);
   AutoCommand *TurnToHeadingCmd(Feedback &fb, double heading, double max_speed = 1.0, double end_speed = 0.0);
 
+  AutoCommand *TurnToPointCmd(double x, double y, vex::directionType dir = vex::directionType::fwd,
+                              double max_speed = 1.0, double end_speed = 0.0);
+
   AutoCommand *TurnDegreesCmd(double degrees, double max_speed = 1.0, double start_speed = 0.0);
   AutoCommand *TurnDegreesCmd(Feedback &fb, double degrees, double max_speed = 1.0, double end_speed = 0.0);
 
   AutoCommand *PurePursuitCmd(PurePursuit::Path path, directionType dir, double max_speed = 1, double end_speed = 0);
-  AutoCommand *PurePursuitCmd(Feedback &feedback, PurePursuit::Path path, directionType dir, double max_speed = 1, double end_speed = 0);
+  AutoCommand *PurePursuitCmd(Feedback &feedback, PurePursuit::Path path, directionType dir, double max_speed = 1,
+                              double end_speed = 0);
+  Condition *DriveStalledCondition(double stall_time);
+  AutoCommand *DriveTankCmd(double left, double right);
 
   /**
    * Stops rotation of all the motors using their "brake mode"
@@ -58,8 +71,8 @@ class TankDrive
   void stop();
 
   /**
-   * Drive the robot using differential style controls. left_motors controls the left motors,
-   * right_motors controls the right motors.
+   * Drive the robot using differential style controls. left_motors controls
+   * the left motors, right_motors controls the right motors.
    *
    * left_motors and right_motors are in "percent": -1.0 -> 1.0
    * @param left the percent to run the left motors
@@ -72,12 +85,12 @@ class TankDrive
    * Drive the robot raw-ly
    * @param left the percent to run the left motors (-1, 1)
    * @param right the percent to run the right motors (-1, 1)
-  */
+   */
   void drive_tank_raw(double left, double right);
 
   /**
-   * Drive the robot using arcade style controls. forward_back controls the linear motion,
-   * left_right controls the turning.
+   * Drive the robot using arcade style controls. forward_back controls the
+   * linear motion, left_right controls the turning.
    *
    * forward_back and left_right are in "percent": -1.0 -> 1.0
    *
@@ -89,14 +102,18 @@ class TankDrive
   void drive_arcade(double forward_back, double left_right, int power = 1, BrakeType bt = BrakeType::None);
 
   /**
-   * Use odometry to drive forward a certain distance using a custom feedback controller
+   * Use odometry to drive forward a certain distance using a custom feedback
+   * controller
    *
    * Returns whether or not the robot has reached it's destination.
    * @param inches     the distance to drive forward
    * @param dir        the direction we want to travel forward and backward
-   * @param feedback   the custom feedback controller we will use to travel. controls the rate at which we accelerate and drive.
-   * @param max_speed  the maximum percentage of robot speed at which the robot will travel. 1 = full power
-   * @param end_speed    the movement profile will attempt to reach this velocity by its completion
+   * @param feedback   the custom feedback controller we will use to travel.
+   * controls the rate at which we accelerate and drive.
+   * @param max_speed  the maximum percentage of robot speed at which the
+   * robot will travel. 1 = full power
+   * @param end_speed    the movement profile will attempt to reach this
+   * velocity by its completion
    * @return true when we have reached our target distance
    */
   bool drive_forward(double inches, directionType dir, Feedback &feedback, double max_speed = 1, double end_speed = 0);
@@ -105,34 +122,43 @@ class TankDrive
    * Autonomously drive the robot forward a certain distance
    *
    *
-   * @param inches      degrees by which we will turn relative to the robot (+) turns ccw, (-) turns cw
+   * @param inches      degrees by which we will turn relative to the robot
+   * (+) turns ccw, (-) turns cw
    * @param dir        the direction we want to travel forward and backward
-   * @param max_speed   the maximum percentage of robot speed at which the robot will travel. 1 = full power
-   * @param end_speed   the movement profile will attempt to reach this velocity by its completion
+   * @param max_speed   the maximum percentage of robot speed at which the
+   * robot will travel. 1 = full power
+   * @param end_speed   the movement profile will attempt to reach this
+   * velocity by its completion
    */
   bool drive_forward(double inches, directionType dir, double max_speed = 1, double end_speed = 0);
 
   /**
-   * Autonomously turn the robot X degrees counterclockwise (negative for clockwise), with a maximum motor speed
-   * of percent_speed (-1.0 -> 1.0)
+   * Autonomously turn the robot X degrees counterclockwise (negative for
+   * clockwise), with a maximum motor speed of percent_speed (-1.0 -> 1.0)
    *
    * Uses PID + Feedforward for it's control.
    *
-   * @param degrees     degrees by which we will turn relative to the robot (+) turns ccw, (-) turns cw
-   * @param feedback    the feedback controller we will use to travel. controls the rate at which we accelerate and drive.
-   * @param max_speed   the maximum percentage of robot speed at which the robot will travel. 1 = full power
+   * @param degrees     degrees by which we will turn relative to the robot
+   * (+) turns ccw, (-) turns cw
+   * @param feedback    the feedback controller we will use to travel.
+   * controls the rate at which we accelerate and drive.
+   * @param max_speed   the maximum percentage of robot speed at which the
+   * robot will travel. 1 = full power
    */
   bool turn_degrees(double degrees, Feedback &feedback, double max_speed = 1, double end_speed = 0);
 
   /**
-   * Autonomously turn the robot X degrees to counterclockwise (negative for clockwise), with a maximum motor speed
-   * of percent_speed (-1.0 -> 1.0)
+   * Autonomously turn the robot X degrees to counterclockwise (negative for
+   * clockwise), with a maximum motor speed of percent_speed (-1.0 -> 1.0)
    *
    * Uses the defualt turning feedback of the drive system.
    *
-   * @param degrees     degrees by which we will turn relative to the robot (+) turns ccw, (-) turns cw
-   * @param max_speed   the maximum percentage of robot speed at which the robot will travel. 1 = full power
-   * @param end_speed   the movement profile will attempt to reach this velocity by its completion
+   * @param degrees     degrees by which we will turn relative to the robot
+   * (+) turns ccw, (-) turns cw
+   * @param max_speed   the maximum percentage of robot speed at which the
+   * robot will travel. 1 = full power
+   * @param end_speed   the movement profile will attempt to reach this
+   * velocity by its completion
    */
   bool turn_degrees(double degrees, double max_speed = 1, double end_speed = 0);
 
@@ -144,11 +170,15 @@ class TankDrive
    * @param x          the x position of the target
    * @param y          the y position of the target
    * @param dir        the direction we want to travel forward and backward
-   * @param feedback   the feedback controller we will use to travel. controls the rate at which we accelerate and drive.
-   * @param max_speed  the maximum percentage of robot speed at which the robot will travel. 1 = full power
-   * @param end_speed  the movement profile will attempt to reach this velocity by its completion
+   * @param feedback   the feedback controller we will use to travel. controls
+   * the rate at which we accelerate and drive.
+   * @param max_speed  the maximum percentage of robot speed at which the
+   * robot will travel. 1 = full power
+   * @param end_speed  the movement profile will attempt to reach this
+   * velocity by its completion
    */
-  bool drive_to_point(double x, double y, vex::directionType dir, Feedback &feedback, double max_speed = 1, double end_speed = 0);
+  bool drive_to_point(double x, double y, vex::directionType dir, Feedback &feedback, double max_speed = 1,
+                      double end_speed = 0);
 
   /**
    * Use odometry to automatically drive the robot to a point on the field.
@@ -159,8 +189,10 @@ class TankDrive
    * @param x          the x position of the target
    * @param y          the y position of the target
    * @param dir        the direction we want to travel forward and backward
-   * @param max_speed  the maximum percentage of robot speed at which the robot will travel. 1 = full power
-   * @param end_speed  the movement profile will attempt to reach this velocity by its completion
+   * @param max_speed  the maximum percentage of robot speed at which the
+   * robot will travel. 1 = full power
+   * @param end_speed  the movement profile will attempt to reach this
+   * velocity by its completion
    */
   bool drive_to_point(double x, double y, vex::directionType dir, double max_speed = 1, double end_speed = 0);
 
@@ -169,9 +201,12 @@ class TankDrive
    * 0 is forward.
    *
    * @param heading_deg the heading to which we will turn
-   * @param feedback    the feedback controller we will use to travel. controls the rate at which we accelerate and drive.
-   * @param max_speed  the maximum percentage of robot speed at which the robot will travel. 1 = full power
-   * @param end_speed  the movement profile will attempt to reach this velocity by its completion
+   * @param feedback    the feedback controller we will use to travel.
+   * controls the rate at which we accelerate and drive.
+   * @param max_speed  the maximum percentage of robot speed at which the
+   * robot will travel. 1 = full power
+   * @param end_speed  the movement profile will attempt to reach this
+   * velocity by its completion
    */
   bool turn_to_heading(double heading_deg, Feedback &feedback, double max_speed = 1, double end_speed = 0);
   /**
@@ -179,8 +214,10 @@ class TankDrive
    * 0 is forward. Uses the defualt turn feedback of the drive system
    *
    * @param heading_deg the heading to which we will turn
-   * @param max_speed  the maximum percentage of robot speed at which the robot will travel. 1 = full power
-   * @param end_speed  the movement profile will attempt to reach this velocity by its completion
+   * @param max_speed  the maximum percentage of robot speed at which the
+   * robot will travel. 1 = full power
+   * @param end_speed  the movement profile will attempt to reach this
+   * velocity by its completion
    */
   bool turn_to_heading(double heading_deg, double max_speed = 1, double end_speed = 0);
 
@@ -190,40 +227,47 @@ class TankDrive
   void reset_auto();
 
   /**
-   * Create a curve for the inputs, so that drivers have more control at lower speeds.
-   * Curves are exponential, with the default being squaring the inputs.
+   * Create a curve for the inputs, so that drivers have more control at lower
+   * speeds. Curves are exponential, with the default being squaring the
+   * inputs.
    *
    * @param input the input before modification
    * @param power the power to raise input to
-   * @return input ^ power (accounts for negative inputs and odd numbered powers)
+   * @return input ^ power (accounts for negative inputs and odd numbered
+   * powers)
    */
   static double modify_inputs(double input, int power = 2);
 
   /**
-   * Drive the robot autonomously using a pure-pursuit algorithm - Input path with a set of
-   * waypoints - the robot will attempt to follow the points while cutting corners (radius)
-   * to save time (compared to stop / turn / start)
+   * Drive the robot autonomously using a pure-pursuit algorithm - Input path
+   * with a set of waypoints - the robot will attempt to follow the points
+   * while cutting corners (radius) to save time (compared to stop / turn /
+   * start)
    *
    * @param path The list of coordinates to follow, in order
    * @param dir Run the bot forwards or backwards
    * @param feedback The feedback controller determining speed
    * @param max_speed Limit the speed of the robot (for pid / pidff feedbacks)
-   * @param end_speed the movement profile will attempt to reach this velocity by its completion
+   * @param end_speed the movement profile will attempt to reach this velocity
+   * by its completion
    * @return True when the path is complete
    */
-  bool pure_pursuit(PurePursuit::Path path, directionType dir, Feedback &feedback, double max_speed = 1, double end_speed = 0);
+  bool pure_pursuit(PurePursuit::Path path, directionType dir, Feedback &feedback, double max_speed = 1,
+                    double end_speed = 0);
 
   /**
-   * Drive the robot autonomously using a pure-pursuit algorithm - Input path with a set of
-   * waypoints - the robot will attempt to follow the points while cutting corners (radius)
-   * to save time (compared to stop / turn / start)
+   * Drive the robot autonomously using a pure-pursuit algorithm - Input path
+   * with a set of waypoints - the robot will attempt to follow the points
+   * while cutting corners (radius) to save time (compared to stop / turn /
+   * start)
    *
    * Use the default drive feedback
    *
    * @param path The list of coordinates to follow, in order
    * @param dir Run the bot forwards or backwards
    * @param max_speed Limit the speed of the robot (for pid / pidff feedbacks)
-   * @param end_speed the movement profile will attempt to reach this velocity by its completion
+   * @param end_speed the movement profile will attempt to reach this velocity
+   * by its completion
    * @return True when the path is complete
    */
   bool pure_pursuit(PurePursuit::Path path, directionType dir, double max_speed = 1, double end_speed = 0);
@@ -232,14 +276,19 @@ class TankDrive
   motor_group &left_motors;  ///< left drive motors
   motor_group &right_motors; ///< right drive motors
 
-  PID correction_pid;                      ///< PID controller used to drive in as straight a line as possible
+  PID correction_pid;                      ///< PID controller used to drive in as straight a line
+                                           ///< as possible
   Feedback *drive_default_feedback = NULL; ///< feedback to use to drive if none is specified
   Feedback *turn_default_feedback = NULL;  ///< feedback to use to turn if none is specified
 
-  OdometryBase *odometry; ///< odometry system to track position and rotation. necessary for autonomous driving
+  OdometryBase *odometry; ///< odometry system to track position and rotation.
+                          ///< necessary for autonomous driving
 
-  robot_specs_t &config; ///< configuration holding physical dimensions of the robot. see robot_specs_t for more information
+  robot_specs_t &config; ///< configuration holding physical dimensions of the
+                         ///< robot. see robot_specs_t for more information
 
-  bool func_initialized = false; ///< used to control initialization of autonomous driving. (you only wan't to set the target once, not every iteration that you're driving)
+  bool func_initialized = false; ///< used to control initialization of autonomous driving. (you
+                                 ///< only wan't to set the target once, not every iteration that
+                                 ///< you're driving)
   bool is_pure_pursuit = false;  ///< true if we are driving with a pure pursuit system
 };
diff --git a/include/utils/auto_chooser.h b/include/utils/auto_chooser.h
index 59562b6..248227c 100644
--- a/include/utils/auto_chooser.h
+++ b/include/utils/auto_chooser.h
@@ -1,9 +1,9 @@
 #pragma once
+#include "../core/include/subsystems/screen.h"
+#include "../core/include/utils/geometry.h"
 #include "vex.h"
 #include <string>
 #include <vector>
-#include "../core/include/subsystems/screen.h"
-#include "../core/include/utils/geometry.h"
 
 /**
  * Autochooser is a utility to make selecting robot autonomous programs easier
@@ -11,10 +11,10 @@
  * During a season, we usually code between 4 and 6 autonomous programs.
  * Most teams will change their entire robot program as a way of choosing autonomi
  * but this may cause issues if you have an emergency patch to upload during a competition.
- * This class was built as a way of using the robot screen to list autonomous programs, and the touchscreen to select them.
+ * This class was built as a way of using the robot screen to list autonomous programs, and the touchscreen to select
+ * them.
  */
-class AutoChooser : public screen::Page
-{
+class AutoChooser : public screen::Page {
 public:
   /**
    * Initialize the auto-chooser. This class places a choice menu on the brain screen,
@@ -36,8 +36,7 @@ class AutoChooser : public screen::Page
   /**
    *  entry_t is a datatype used to store information that the chooser knows about an auto selection button
    */
-  struct entry_t
-  {
+  struct entry_t {
     Rect rect;
     std::string name; /**< name of the auto repretsented by the block*/
   };
diff --git a/include/utils/command_structure/auto_command.h b/include/utils/command_structure/auto_command.h
index fa8528e..c7832cf 100644
--- a/include/utils/command_structure/auto_command.h
+++ b/include/utils/command_structure/auto_command.h
@@ -7,11 +7,10 @@
 #pragma once
 
 #include "vex.h"
+#include <atomic>
 #include <functional>
-#include <vector>
 #include <queue>
-#include <atomic>
-
+#include <vector>
 
 /**
  * A Condition is a function that returns true or false
@@ -22,17 +21,14 @@
  * extend this class for different choices you wish to make
 
  */
-class Condition
-{
+class Condition {
 public:
   Condition *Or(Condition *b);
   Condition *And(Condition *b);
   virtual bool test() = 0;
 };
 
-
-class AutoCommand
-{
+class AutoCommand {
 public:
   static constexpr double default_timeout = 10.0;
   /**
@@ -45,17 +41,15 @@ class AutoCommand
    * What to do if we timeout instead of finishing. timeout is specified by the timeout seconds in the constructor
    */
   virtual void on_timeout() {}
-  AutoCommand *withTimeout(double t_seconds)
-  {
-    if (this->timeout_seconds < 0)
-    {
+  AutoCommand *withTimeout(double t_seconds) {
+    if (this->timeout_seconds < 0) {
       // should never be timed out
       return this;
     }
     this->timeout_seconds = t_seconds;
     return this;
   }
-  AutoCommand *withCancelCondition(Condition *true_to_end){
+  AutoCommand *withCancelCondition(Condition *true_to_end) {
     this->true_to_end = true_to_end;
     return this;
   }
@@ -76,14 +70,10 @@ class AutoCommand
  * FunctionCommand is fun and good way to do simple things
  * Printing, launching nukes, and other quick and dirty one time things
  */
-class FunctionCommand : public AutoCommand
-{
+class FunctionCommand : public AutoCommand {
 public:
   FunctionCommand(std::function<bool(void)> f) : f(f) {}
-  bool run()
-  {
-    return f();
-  }
+  bool run() { return f(); }
 
 private:
   std::function<bool(void)> f;
@@ -95,15 +85,12 @@ class FunctionCommand : public AutoCommand
 // Test 3 -> true
 // Returns false until the Nth time that it is called
 // This is pretty much only good for implementing RepeatUntil
-class TimesTestedCondition : public Condition
-{
+class TimesTestedCondition : public Condition {
 public:
   TimesTestedCondition(size_t N) : max(N) {}
-  bool test() override
-  {
+  bool test() override {
     count++;
-    if (count >= max)
-    {
+    if (count >= max) {
       return true;
     }
     return false;
@@ -115,13 +102,11 @@ class TimesTestedCondition : public Condition
 };
 
 /// @brief FunctionCondition is a quick and dirty Condition to wrap some expression that should be evaluated at runtime
-class FunctionCondition : public Condition
-{
+class FunctionCondition : public Condition {
 public:
   FunctionCondition(
-      std::function<bool()> cond, std::function<void(void)> timeout = []() {}) : cond(cond), timeout(timeout)
-  {
-  }
+      std::function<bool()> cond, std::function<void(void)> timeout = []() {})
+      : cond(cond), timeout(timeout) {}
   bool test() override;
 
 private:
@@ -129,9 +114,9 @@ class FunctionCondition : public Condition
   std::function<void(void)> timeout;
 };
 
-/// @brief IfTimePassed tests based on time since the command controller was constructed. Returns true if elapsed time > time_s
-class IfTimePassed : public Condition
-{
+/// @brief IfTimePassed tests based on time since the command controller was constructed. Returns true if elapsed time >
+/// time_s
+class IfTimePassed : public Condition {
 public:
   IfTimePassed(double time_s);
   bool test() override;
@@ -142,14 +127,10 @@ class IfTimePassed : public Condition
 };
 
 /// @brief Waits until the condition is true
-class WaitUntilCondition : public AutoCommand
-{
+class WaitUntilCondition : public AutoCommand {
 public:
   WaitUntilCondition(Condition *cond) : cond(cond) {}
-  bool run() override
-  {
-    return cond->test();
-  }
+  bool run() override { return cond->test(); }
 
 private:
   Condition *cond;
@@ -160,8 +141,7 @@ class WaitUntilCondition : public AutoCommand
 
 /// @brief InOrder runs its commands sequentially then continues.
 /// How to handle timeout in this case. Automatically set it to sum of commands timouts?
-class InOrder : public AutoCommand
-{
+class InOrder : public AutoCommand {
 public:
   InOrder(const InOrder &other) = default;
   InOrder(std::queue<AutoCommand *> cmds);
@@ -177,8 +157,7 @@ class InOrder : public AutoCommand
 
 /// @brief  Parallel runs multiple commands in parallel and waits for all to finish before continuing.
 /// if none finish before this command's timeout, it will call on_timeout on all children continue
-class Parallel : public AutoCommand
-{
+class Parallel : public AutoCommand {
 public:
   Parallel(std::initializer_list<AutoCommand *> cmds);
   bool run() override;
@@ -189,11 +168,10 @@ class Parallel : public AutoCommand
   std::vector<vex::task *> runners;
 };
 
-/// @brief Branch chooses from multiple options at runtime. the function decider returns an index into the choices vector
-/// If you wish to make no choice and skip this section, return NO_CHOICE;
-/// any choice that is out of bounds set to NO_CHOICE
-class Branch : public AutoCommand
-{
+/// @brief Branch chooses from multiple options at runtime. the function decider returns an index into the choices
+/// vector If you wish to make no choice and skip this section, return NO_CHOICE; any choice that is out of bounds set
+/// to NO_CHOICE
+class Branch : public AutoCommand {
 public:
   Branch(Condition *cond, AutoCommand *false_choice, AutoCommand *true_choice);
   ~Branch();
@@ -212,8 +190,7 @@ class Branch : public AutoCommand
 /// @brief Async runs a command asynchronously
 /// will simply let it go and never look back
 /// THIS HAS A VERY NICHE USE CASE. THINK ABOUT IF YOU REALLY NEED IT
-class Async : public AutoCommand
-{
+class Async : public AutoCommand {
 public:
   Async(AutoCommand *cmd) : cmd(cmd) {}
   bool run() override;
@@ -222,8 +199,7 @@ class Async : public AutoCommand
   AutoCommand *cmd = nullptr;
 };
 
-class RepeatUntil : public AutoCommand
-{
+class RepeatUntil : public AutoCommand {
 public:
   /// @brief RepeatUntil that runs a fixed number of times
   /// @param cmds the cmds to repeat
diff --git a/include/utils/command_structure/basic_command.h b/include/utils/command_structure/basic_command.h
index 6df7306..44a8bf8 100644
--- a/include/utils/command_structure/basic_command.h
+++ b/include/utils/command_structure/basic_command.h
@@ -1,118 +1,112 @@
 /**
  * @file basic_commands.h
  * @author Ethan Kishimori GITHUB(LilacEthan)
- * 
+ *
  * @brief Basic Commands for Motors and Solenoids able to throw into the Command Controller
  *  Commands Included
  *      - BasicSpinCommand
  *      - BasicStopCommand
  *      - BasicSolenoidSet
- * 
+ *
  * @version 0.1
- * 
+ *
  */
 #pragma once
 
 #include "../core/include/utils/command_structure/auto_command.h"
- 
-//Basic Motor Classes-----------------------------------------------
+
+// Basic Motor Classes-----------------------------------------------
 
 /**
  * AutoCommand wrapper class for BasicSpinCommand
  * using the vex hardware functions
  */
 class BasicSpinCommand : public AutoCommand {
-    public:
-
-     //Enumurator for the type of power setting in the motor
-     enum type {percent,voltage,veocity};
-
-     /**
-     * @brief Construct a new BasicSpinCommand
-     *      
-     * @param motor Motor to spin
-     * @param direc Direction of motor spin
-     * @param setting Power setting in volts,percentage,velocity
-     * @param power Value of desired power
-     */
-     BasicSpinCommand(vex::motor &motor, vex::directionType dir, BasicSpinCommand::type setting, double power);
-
-     /**
-     * @brief Runs the BasicSpinCommand 
-     * Overrides run from Auto Command
-     * 
-     * @return True Async running command
-     */
-     bool run() override; 
-
-    private:
-
-     vex::motor &motor;
-
-     type setting;
-
-     vex::directionType dir;
-
-     double power;
+public:
+  // Enumurator for the type of power setting in the motor
+  enum type { percent, voltage, veocity };
+
+  /**
+   * @brief Construct a new BasicSpinCommand
+   *
+   * @param motor Motor to spin
+   * @param direc Direction of motor spin
+   * @param setting Power setting in volts,percentage,velocity
+   * @param power Value of desired power
+   */
+  BasicSpinCommand(vex::motor &motor, vex::directionType dir, BasicSpinCommand::type setting, double power);
+
+  /**
+   * @brief Runs the BasicSpinCommand
+   * Overrides run from Auto Command
+   *
+   * @return True Async running command
+   */
+  bool run() override;
+
+private:
+  vex::motor &motor;
+
+  type setting;
+
+  vex::directionType dir;
+
+  double power;
 };
 /**
  * AutoCommand wrapper class for BasicStopCommand
  * Using the Vex hardware functions
  */
-class BasicStopCommand : public AutoCommand{
-    public:
-
-     /**
-      * @brief Construct a new BasicMotorStop Command 
-      * 
-      * @param motor The motor to stop
-      * @param setting The brake setting for the motor
-      */
-     BasicStopCommand(vex::motor &motor, vex::brakeType setting);
-
-     /**
-      * @brief Runs the BasicMotorStop Command
-      * Overrides run command from AutoCommand
-      * 
-      * @return True Command runs once
-      */
-     bool run() override;
-
-    private:
-
-     vex::motor &motor;
-
-     vex::brakeType setting;
+class BasicStopCommand : public AutoCommand {
+public:
+  /**
+   * @brief Construct a new BasicMotorStop Command
+   *
+   * @param motor The motor to stop
+   * @param setting The brake setting for the motor
+   */
+  BasicStopCommand(vex::motor &motor, vex::brakeType setting);
+
+  /**
+   * @brief Runs the BasicMotorStop Command
+   * Overrides run command from AutoCommand
+   *
+   * @return True Command runs once
+   */
+  bool run() override;
+
+private:
+  vex::motor &motor;
+
+  vex::brakeType setting;
 };
 
-//Basic Solenoid Commands----------------------------------
+// Basic Solenoid Commands----------------------------------
 
 /**
  * AutoCommand wrapper class for BasicSolenoidSet
  * Using the Vex hardware functions
  */
-class BasicSolenoidSet : public AutoCommand{
-    public:
-
-     /**
-     * @brief Construct a new BasicSolenoidSet Command
-     * 
-     * @param solenoid Solenoid being set
-     * @param setting Setting of the solenoid in boolean (true,false)
-     */
-     BasicSolenoidSet(vex::pneumatics &solenoid, bool setting);
-
-     /**
-     * @brief Runs the BasicSolenoidSet
-     * Overrides run command from AutoCommand
-     * 
-     * @return True Command runs once
-     */
-     bool run() override;
-
-    private:
-
-     vex::pneumatics &solenoid;
-
-     bool setting;
+class BasicSolenoidSet : public AutoCommand {
+public:
+  /**
+   * @brief Construct a new BasicSolenoidSet Command
+   *
+   * @param solenoid Solenoid being set
+   * @param setting Setting of the solenoid in boolean (true,false)
+   */
+  BasicSolenoidSet(vex::pneumatics &solenoid, bool setting);
+
+  /**
+   * @brief Runs the BasicSolenoidSet
+   * Overrides run command from AutoCommand
+   *
+   * @return True Command runs once
+   */
+  bool run() override;
+
+private:
+  vex::pneumatics &solenoid;
+
+  bool setting;
 };
\ No newline at end of file
diff --git a/include/utils/command_structure/command_controller.h b/include/utils/command_structure/command_controller.h
index 4f8cf14..f942b99 100644
--- a/include/utils/command_structure/command_controller.h
+++ b/include/utils/command_structure/command_controller.h
@@ -8,25 +8,34 @@
  */
 
 #pragma once
-#include <vector>
-#include <queue>
 #include "../core/include/utils/command_structure/auto_command.h"
+#include <queue>
+#include <vector>
 
-class CommandController
-{
+class CommandController {
 public:
-  /// @brief Create an empty CommandController. Add Command with CommandController::add()
-  [[deprecated("Use list constructor instead.")]] CommandController() : command_queue({}) {}
+  /// @brief Create an empty CommandController. Add Command with
+  /// CommandController::add()
+  [[deprecated("Empty constructor is bad. Use list constructor "
+               "instead.")]] CommandController()
+      : command_queue({}) {}
 
-  /// @brief Create a CommandController with commands pre added. More can be added with CommandController::add()
+  /// @brief Create a CommandController with commands pre added. More can be
+  /// added with CommandController::add()
   /// @param cmds
   CommandController(std::initializer_list<AutoCommand *> cmds) : command_queue(cmds) {}
   /**
    * Adds a command to the queue
    * @param cmd the AutoCommand we want to add to our list
-   * @param timeout_seconds the number of seconds we will let the command run for. If it exceeds this, we cancel it and run on_timeout. if it is <= 0 no time out will be applied
+   * @param timeout_seconds the number of seconds we will let the command run
+   * for. If it exceeds this, we cancel it and run on_timeout. if it is <= 0
+   * no time out will be applied
    */
-  [[deprecated("Use list constructor instead. If you need to make a decision before adding new commands, use Branch (https://github.com/RIT-VEX-U/Core/wiki/3-%7C-Utilites#commandcontroller)")]] void add(std::vector<AutoCommand *> cmds);
+  [[deprecated("Use list constructor instead. If you need to make a decision "
+               "before adding new commands, use Branch "
+               "(https://github.com/RIT-VEX-U/Core/wiki/"
+               "3-%7C-Utilites#commandcontroller)")]] void
+  add(std::vector<AutoCommand *> cmds);
   void add(AutoCommand *cmd, double timeout_seconds = 10.0);
 
   /**
@@ -37,9 +46,13 @@ class CommandController
   /**
    * Add multiple commands to the queue. No timeout here.
    * @param cmds the AutoCommands we want to add to our list
-   * @param timeout_sec timeout in seconds to apply to all commands if they are still the default
+   * @param timeout_sec timeout in seconds to apply to all commands if they
+   * are still the default
    */
-  [[deprecated("Use list constructor instead. If you need to make a decision before adding new commands, use Branch (https://github.com/RIT-VEX-U/Core/wiki/3-%7C-Utilites#commandcontroller)")]] void
+  [[deprecated("Use list constructor instead. If you need to make a decision "
+               "before adding new commands, use Branch "
+               "(https://github.com/RIT-VEX-U/Core/wiki/"
+               "3-%7C-Utilites#commandcontroller)")]] void
   add(std::vector<AutoCommand *> cmds, double timeout_sec);
   /**
    * Adds a command that will delay progression
@@ -49,8 +62,10 @@ class CommandController
    */
   void add_delay(int ms);
 
-  /// @brief add_cancel_func specifies that when this func evaluates to true, to cancel the command controller
-  /// @param true_if_cancel a function that returns true when we want to cancel the command controller
+  /// @brief add_cancel_func specifies that when this func evaluates to true,
+  /// to cancel the command controller
+  /// @param true_if_cancel a function that returns true when we want to
+  /// cancel the command controller
   void add_cancel_func(std::function<bool(void)> true_if_cancel);
 
   /**
@@ -61,14 +76,15 @@ class CommandController
 
   /**
    * last_command_timed_out tells how the last command ended
-   * Use this if you want to make decisions based on the end of the last command
-   * @return true if the last command timed out. false if it finished regularly
+   * Use this if you want to make decisions based on the end of the last
+   * command
+   * @return true if the last command timed out. false if it finished
+   * regularly
    */
   bool last_command_timed_out();
 
 private:
   std::queue<AutoCommand *> command_queue;
   bool command_timed_out = false;
-  std::function<bool()> should_cancel = []()
-  { return false; };
+  std::function<bool()> should_cancel = []() { return false; };
 };
\ No newline at end of file
diff --git a/include/utils/command_structure/delay_command.h b/include/utils/command_structure/delay_command.h
index c82b9bd..fe824c2 100644
--- a/include/utils/command_structure/delay_command.h
+++ b/include/utils/command_structure/delay_command.h
@@ -9,25 +9,25 @@
 
 #include "../core/include/utils/command_structure/auto_command.h"
 
-class DelayCommand: public AutoCommand {
-  public:
-    /**
-     * Construct a delay command
-     * @param ms the number of milliseconds to delay for
-    */
-    DelayCommand(int ms): ms(ms) {}
-    
-    /**
-     * Delays for the amount of milliseconds stored in the command
-     * Overrides run from AutoCommand
-     * @returns true when complete
-     */
-    bool run() override {
-      vexDelay(ms);
-      return true;
-    }
+class DelayCommand : public AutoCommand {
+public:
+  /**
+   * Construct a delay command
+   * @param ms the number of milliseconds to delay for
+   */
+  DelayCommand(int ms) : ms(ms) {}
 
-  private:
-    // amount of milliseconds to wait
-    int ms;
+  /**
+   * Delays for the amount of milliseconds stored in the command
+   * Overrides run from AutoCommand
+   * @returns true when complete
+   */
+  bool run() override {
+    vexDelay(ms);
+    return true;
+  }
+
+private:
+  // amount of milliseconds to wait
+  int ms;
 };
\ No newline at end of file
diff --git a/include/utils/command_structure/drive_commands.h b/include/utils/command_structure/drive_commands.h
index ee590fb..74c0dbc 100644
--- a/include/utils/command_structure/drive_commands.h
+++ b/include/utils/command_structure/drive_commands.h
@@ -2,7 +2,7 @@
  * File: drive_commands.h
  * Desc:
  *    Holds all the AutoCommand subclasses that wrap (currently) TankDrive functions
- *    
+ *
  *    Currently includes:
  *      - drive_forward
  *      - turn_degrees
@@ -18,243 +18,235 @@
 
 #pragma once
 
-#include "vex.h"
-#include "../core/include/utils/geometry.h"
-#include "../core/include/utils/command_structure/auto_command.h"
 #include "../core/include/subsystems/tank_drive.h"
+#include "../core/include/utils/command_structure/auto_command.h"
+#include "../core/include/utils/geometry.h"
+#include "vex.h"
 
 using namespace vex;
 
-
 // ==== DRIVING ====
 
 /**
- * AutoCommand wrapper class for the drive_forward function in the 
+ * AutoCommand wrapper class for the drive_forward function in the
  * TankDrive class
  *
  */
-class DriveForwardCommand: public AutoCommand 
-{
-  public:
-    DriveForwardCommand(TankDrive &drive_sys, Feedback &feedback, double inches, directionType dir, double max_speed=1, double end_speed=0);
-
-    /**
-     * Run drive_forward
-     * Overrides run from AutoCommand
-     * @returns true when execution is complete, false otherwise
-     */
-    bool run() override;
-    /**
-     * Cleans up drive system if we time out before finishing
-    */
-    void on_timeout() override;
-
-  private:
-    // drive system to run the function on
-    TankDrive &drive_sys;
-
-    // feedback controller to use
-    Feedback &feedback;
-
-    // parameters for drive_forward
-    double inches;
-    directionType dir;
-    double max_speed;
-    double end_speed;
+class DriveForwardCommand : public AutoCommand {
+public:
+  DriveForwardCommand(TankDrive &drive_sys, Feedback &feedback, double inches, directionType dir, double max_speed = 1,
+                      double end_speed = 0);
+
+  /**
+   * Run drive_forward
+   * Overrides run from AutoCommand
+   * @returns true when execution is complete, false otherwise
+   */
+  bool run() override;
+  /**
+   * Cleans up drive system if we time out before finishing
+   */
+  void on_timeout() override;
+
+private:
+  // drive system to run the function on
+  TankDrive &drive_sys;
+
+  // feedback controller to use
+  Feedback &feedback;
+
+  // parameters for drive_forward
+  double inches;
+  directionType dir;
+  double max_speed;
+  double end_speed;
 };
 
 /**
- * AutoCommand wrapper class for the turn_degrees function in the 
+ * AutoCommand wrapper class for the turn_degrees function in the
  * TankDrive class
  */
-class TurnDegreesCommand: public AutoCommand 
-{
-  public:
-    TurnDegreesCommand(TankDrive &drive_sys, Feedback &feedback, double degrees, double max_speed = 1, double end_speed = 0);
-
-    /**
-     * Run turn_degrees
-     * Overrides run from AutoCommand
-     * @returns true when execution is complete, false otherwise
-     */
-    bool run() override;
-    /**
-     * Cleans up drive system if we time out before finishing
-    */
-    void on_timeout() override;
-
-
-  private:
-    // drive system to run the function on
-    TankDrive &drive_sys;
-    
-    // feedback controller to use
-    Feedback &feedback;
-
-    // parameters for turn_degrees
-    double degrees;
-    double max_speed;
-    double end_speed;
+class TurnDegreesCommand : public AutoCommand {
+public:
+  TurnDegreesCommand(TankDrive &drive_sys, Feedback &feedback, double degrees, double max_speed = 1,
+                     double end_speed = 0);
+
+  /**
+   * Run turn_degrees
+   * Overrides run from AutoCommand
+   * @returns true when execution is complete, false otherwise
+   */
+  bool run() override;
+  /**
+   * Cleans up drive system if we time out before finishing
+   */
+  void on_timeout() override;
+
+private:
+  // drive system to run the function on
+  TankDrive &drive_sys;
+
+  // feedback controller to use
+  Feedback &feedback;
+
+  // parameters for turn_degrees
+  double degrees;
+  double max_speed;
+  double end_speed;
 };
 
 /**
  * AutoCommand wrapper class for the drive_to_point function in the
  * TankDrive class
  */
-class DriveToPointCommand: public AutoCommand 
-{
-  public:
-    DriveToPointCommand(TankDrive &drive_sys, Feedback &feedback, double x, double y, directionType dir, double max_speed = 1, double end_speed = 0);
-    DriveToPointCommand(TankDrive &drive_sys, Feedback &feedback, point_t point, directionType dir, double max_speed=1, double end_speed = 0);
-
-    /**
-     * Run drive_to_point
-     * Overrides run from AutoCommand
-     * @returns true when execution is complete, false otherwise
-     */
-    bool run() override;
-
-  private:
-    // drive system to run the function on
-    TankDrive &drive_sys;
-    
-    /**
-     * Cleans up drive system if we time out before finishing
-    */
-    void on_timeout() override;
-
-
-    // feedback controller to use
-    Feedback &feedback;
-
-    // parameters for drive_to_point
-    double x;
-    double y;
-    directionType dir;
-    double max_speed;
-    double end_speed;
-    
+class DriveToPointCommand : public AutoCommand {
+public:
+  DriveToPointCommand(TankDrive &drive_sys, Feedback &feedback, double x, double y, directionType dir,
+                      double max_speed = 1, double end_speed = 0);
+  DriveToPointCommand(TankDrive &drive_sys, Feedback &feedback, point_t point, directionType dir, double max_speed = 1,
+                      double end_speed = 0);
+
+  /**
+   * Run drive_to_point
+   * Overrides run from AutoCommand
+   * @returns true when execution is complete, false otherwise
+   */
+  bool run() override;
+
+private:
+  // drive system to run the function on
+  TankDrive &drive_sys;
+
+  /**
+   * Cleans up drive system if we time out before finishing
+   */
+  void on_timeout() override;
+
+  // feedback controller to use
+  Feedback &feedback;
+
+  // parameters for drive_to_point
+  double x;
+  double y;
+  directionType dir;
+  double max_speed;
+  double end_speed;
 };
 
 /**
- * AutoCommand wrapper class for the turn_to_heading() function in the 
+ * AutoCommand wrapper class for the turn_to_heading() function in the
  * TankDrive class
  *
  */
-class TurnToHeadingCommand: public AutoCommand 
-{
-  public:
-    TurnToHeadingCommand(TankDrive &drive_sys, Feedback &feedback, double heading_deg, double speed = 1, double end_speed = 0);
-
-    /**
-     * Run turn_to_heading
-     * Overrides run from AutoCommand
-     * @returns true when execution is complete, false otherwise
-     */
-    bool run() override;
-    /**
-     * Cleans up drive system if we time out before finishing
-    */
-    void on_timeout() override;
-
-
-  private:
-    // drive system to run the function on
-    TankDrive &drive_sys;
-
-    // feedback controller to use
-    Feedback &feedback;
-
-    // parameters for turn_to_heading
-    double heading_deg;
-    double max_speed;
-    double end_speed;
+class TurnToHeadingCommand : public AutoCommand {
+public:
+  TurnToHeadingCommand(TankDrive &drive_sys, Feedback &feedback, double heading_deg, double speed = 1,
+                       double end_speed = 0);
+
+  /**
+   * Run turn_to_heading
+   * Overrides run from AutoCommand
+   * @returns true when execution is complete, false otherwise
+   */
+  bool run() override;
+  /**
+   * Cleans up drive system if we time out before finishing
+   */
+  void on_timeout() override;
+
+private:
+  // drive system to run the function on
+  TankDrive &drive_sys;
+
+  // feedback controller to use
+  Feedback &feedback;
+
+  // parameters for turn_to_heading
+  double heading_deg;
+  double max_speed;
+  double end_speed;
 };
 
 /**
  * Autocommand wrapper class for pure pursuit function in the TankDrive class
-*/
-class PurePursuitCommand: public AutoCommand
-{
-  public:
+ */
+class PurePursuitCommand : public AutoCommand {
+public:
   /**
    * Construct a Pure Pursuit AutoCommand
-   * 
+   *
    * @param path The list of coordinates to follow, in order
    * @param dir Run the bot forwards or backwards
    * @param feedback The feedback controller determining speed
    * @param max_speed Limit the speed of the robot (for pid / pidff feedbacks)
-  */
-  PurePursuitCommand(TankDrive &drive_sys, Feedback &feedback, PurePursuit::Path path, directionType dir, double max_speed=1, double end_speed=0);
+   */
+  PurePursuitCommand(TankDrive &drive_sys, Feedback &feedback, PurePursuit::Path path, directionType dir,
+                     double max_speed = 1, double end_speed = 0);
 
   /**
    * Direct call to TankDrive::pure_pursuit
-  */
+   */
   bool run() override;
 
   /**
    * Reset the drive system when it times out
-  */
+   */
   void on_timeout() override;
 
-  private:
+private:
   TankDrive &drive_sys;
   PurePursuit::Path path;
   directionType dir;
   Feedback &feedback;
   double max_speed;
   double end_speed;
-
 };
 
 /**
- * AutoCommand wrapper class for the stop() function in the 
+ * AutoCommand wrapper class for the stop() function in the
  * TankDrive class
  */
-class DriveStopCommand: public AutoCommand 
-{
-  public:
-    DriveStopCommand(TankDrive &drive_sys);
-
-    /**
-     * Stop the drive system
-     * Overrides run from AutoCommand
-     * @returns true when execution is complete, false otherwise
-     */
-    bool run() override;
-    void on_timeout() override;
-
-  private:
-    // drive system to run the function on
-    TankDrive &drive_sys;
-};
+class DriveStopCommand : public AutoCommand {
+public:
+  DriveStopCommand(TankDrive &drive_sys);
+
+  /**
+   * Stop the drive system
+   * Overrides run from AutoCommand
+   * @returns true when execution is complete, false otherwise
+   */
+  bool run() override;
+  void on_timeout() override;
 
+private:
+  // drive system to run the function on
+  TankDrive &drive_sys;
+};
 
 // ==== ODOMETRY ====
 
 /**
- * AutoCommand wrapper class for the set_position function in the 
+ * AutoCommand wrapper class for the set_position function in the
  * Odometry class
  */
-class OdomSetPosition: public AutoCommand 
-{
-  public:
-    /**
-     * constructs a new OdomSetPosition command
-     * @param odom the odometry system we are setting
-     * @param newpos the position we are telling the odometry to take. defaults to (0, 0), angle = 90
-    */
-    OdomSetPosition(OdometryBase &odom, const pose_t &newpos=OdometryBase::zero_pos);
-
-    /**
-     * Run set_position
-     * Overrides run from AutoCommand
-     * @returns true when execution is complete, false otherwise
-     */
-    bool run() override;
-
-  private:
-    // drive system with an odometry config
-    OdometryBase &odom;
-    pose_t newpos;
+class OdomSetPosition : public AutoCommand {
+public:
+  /**
+   * constructs a new OdomSetPosition command
+   * @param odom the odometry system we are setting
+   * @param newpos the position we are telling the odometry to take. defaults to (0, 0), angle = 90
+   */
+  OdomSetPosition(OdometryBase &odom, const pose_t &newpos = OdometryBase::zero_pos);
+
+  /**
+   * Run set_position
+   * Overrides run from AutoCommand
+   * @returns true when execution is complete, false otherwise
+   */
+  bool run() override;
+
+private:
+  // drive system with an odometry config
+  OdometryBase &odom;
+  pose_t newpos;
 };
diff --git a/include/utils/command_structure/flywheel_commands.h b/include/utils/command_structure/flywheel_commands.h
index 04bf8f5..dc3490c 100644
--- a/include/utils/command_structure/flywheel_commands.h
+++ b/include/utils/command_structure/flywheel_commands.h
@@ -14,56 +14,56 @@
  * in the Flywheel class
  *
  */
-class SpinRPMCommand: public AutoCommand {
-  public:
+class SpinRPMCommand : public AutoCommand {
+public:
   /**
    * Construct a SpinRPM Command
    * @param flywheel the flywheel sys to command
    * @param rpm the rpm that we should spin at
-  */
+   */
   SpinRPMCommand(Flywheel &flywheel, int rpm);
 
-    /**
-     * Run spin_manual
-     * Overrides run from AutoCommand
-     * @returns true when execution is complete, false otherwise
-     */
-    bool run() override;
-
-  private:
-    // Flywheel instance to run the function on
-    Flywheel &flywheel;
-
-    // parameters for spin_rpm
-    int rpm;
+  /**
+   * Run spin_manual
+   * Overrides run from AutoCommand
+   * @returns true when execution is complete, false otherwise
+   */
+  bool run() override;
+
+private:
+  // Flywheel instance to run the function on
+  Flywheel &flywheel;
+
+  // parameters for spin_rpm
+  int rpm;
 };
 
 /**
  * AutoCommand that listens to the Flywheel and waits until it is at its target speed +/- the specified threshold
  *
  */
-class WaitUntilUpToSpeedCommand: public AutoCommand {
-  public:
-    /** 
-     * Creat a WaitUntilUpToSpeedCommand
-     * @param flywheel the flywheel system we are commanding
-     * @param threshold_rpm the threshold over and under the flywheel target RPM that we define to be acceptable
-    */
-    WaitUntilUpToSpeedCommand(Flywheel &flywheel, int threshold_rpm);
-
-    /**
-     * Run spin_manual
-     * Overrides run from AutoCommand
-     * @returns true when execution is complete, false otherwise
-     */
-    bool run() override;
-
-  private:
-    // Flywheel instance to run the function on
-    Flywheel &flywheel;
-
-    // if the actual speed is equal to the desired speed +/- this value, we are ready to fire
-    int threshold_rpm;
+class WaitUntilUpToSpeedCommand : public AutoCommand {
+public:
+  /**
+   * Creat a WaitUntilUpToSpeedCommand
+   * @param flywheel the flywheel system we are commanding
+   * @param threshold_rpm the threshold over and under the flywheel target RPM that we define to be acceptable
+   */
+  WaitUntilUpToSpeedCommand(Flywheel &flywheel, int threshold_rpm);
+
+  /**
+   * Run spin_manual
+   * Overrides run from AutoCommand
+   * @returns true when execution is complete, false otherwise
+   */
+  bool run() override;
+
+private:
+  // Flywheel instance to run the function on
+  Flywheel &flywheel;
+
+  // if the actual speed is equal to the desired speed +/- this value, we are ready to fire
+  int threshold_rpm;
 };
 
 /**
@@ -71,24 +71,24 @@ class WaitUntilUpToSpeedCommand: public AutoCommand {
  * in the Flywheel class
  *
  */
-class FlywheelStopCommand: public AutoCommand {
-  public:
+class FlywheelStopCommand : public AutoCommand {
+public:
   /**
    * Construct a FlywheelStopCommand
    * @param flywheel the flywheel system we are commanding
-  */
+   */
   FlywheelStopCommand(Flywheel &flywheel);
 
-    /**
-     * Run stop
-     * Overrides run from AutoCommand
-     * @returns true when execution is complete, false otherwise
-     */
-    bool run() override;
-
-  private:
-    // Flywheel instance to run the function on
-    Flywheel &flywheel;
+  /**
+   * Run stop
+   * Overrides run from AutoCommand
+   * @returns true when execution is complete, false otherwise
+   */
+  bool run() override;
+
+private:
+  // Flywheel instance to run the function on
+  Flywheel &flywheel;
 };
 
 /**
@@ -96,24 +96,24 @@ class FlywheelStopCommand: public AutoCommand {
  * in the Flywheel class
  *
  */
-class FlywheelStopMotorsCommand: public AutoCommand {
-  public:
+class FlywheelStopMotorsCommand : public AutoCommand {
+public:
   /**
    * Construct a FlywheeStopMotors Command
    * @param flywheel the flywheel system we are commanding
-  */
+   */
   FlywheelStopMotorsCommand(Flywheel &flywheel);
 
-    /**
-     * Run stop
-     * Overrides run from AutoCommand
-     * @returns true when execution is complete, false otherwise
-     */
-    bool run() override;
-
-  private:
-    // Flywheel instance to run the function on
-    Flywheel &flywheel;
+  /**
+   * Run stop
+   * Overrides run from AutoCommand
+   * @returns true when execution is complete, false otherwise
+   */
+  bool run() override;
+
+private:
+  // Flywheel instance to run the function on
+  Flywheel &flywheel;
 };
 
 /**
@@ -121,17 +121,17 @@ class FlywheelStopMotorsCommand: public AutoCommand {
  * in the Flywheel class
  *
  */
-class FlywheelStopNonTasksCommand: public AutoCommand {
+class FlywheelStopNonTasksCommand : public AutoCommand {
   FlywheelStopNonTasksCommand(Flywheel &flywheel);
 
-    /**
-     * Run stop
-     * Overrides run from AutoCommand
-     * @returns true when execution is complete, false otherwise
-     */
-    bool run() override;
-
-  private:
-    // Flywheel instance to run the function on
-    Flywheel &flywheel;
+  /**
+   * Run stop
+   * Overrides run from AutoCommand
+   * @returns true when execution is complete, false otherwise
+   */
+  bool run() override;
+
+private:
+  // Flywheel instance to run the function on
+  Flywheel &flywheel;
 };
diff --git a/include/utils/controls/bang_bang.h b/include/utils/controls/bang_bang.h
index aeba17d..d034728 100644
--- a/include/utils/controls/bang_bang.h
+++ b/include/utils/controls/bang_bang.h
@@ -1,50 +1,50 @@
 #include "../core/include/utils/controls/feedback_base.h"
 
-class BangBang : public Feedback
-{
+class BangBang : public Feedback {
 
 public:
-    BangBang(double thresshold, double low, double high);
-    /**
-     * Initialize the feedback controller for a movement
-     *
-     * @param start_pt the current sensor value
-     * @param set_pt where the sensor value should be
-     * @param start_vel Movement starting velocity
-     * @param end_vel Movement ending velocity
-     */
-    void init(double start_pt, double set_pt, double start_vel [[maybe_unused]] = 0.0, double end_vel [[maybe_unused]] = 0.0) override;
+  BangBang(double thresshold, double low, double high);
+  /**
+   * Initialize the feedback controller for a movement
+   *
+   * @param start_pt the current sensor value
+   * @param set_pt where the sensor value should be
+   * @param start_vel Movement starting velocity
+   * @param end_vel Movement ending velocity
+   */
+  void init(double start_pt, double set_pt, double start_vel [[maybe_unused]] = 0.0,
+            double end_vel [[maybe_unused]] = 0.0) override;
 
-    /**
-     * Iterate the feedback loop once with an updated sensor value
-     *
-     * @param val value from the sensor
-     * @return feedback loop result
-     */
-    double update(double val) override;
+  /**
+   * Iterate the feedback loop once with an updated sensor value
+   *
+   * @param val value from the sensor
+   * @return feedback loop result
+   */
+  double update(double val) override;
 
-    /**
-     * @return the last saved result from the feedback controller
-     */
-    double get() override;
+  /**
+   * @return the last saved result from the feedback controller
+   */
+  double get() override;
 
-    /**
-     * Clamp the upper and lower limits of the output. If both are 0, no limits should be applied.
-     *
-     * @param lower Upper limit
-     * @param upper Lower limit
-     */
-    void set_limits(double lower, double upper) override;
+  /**
+   * Clamp the upper and lower limits of the output. If both are 0, no limits should be applied.
+   *
+   * @param lower Upper limit
+   * @param upper Lower limit
+   */
+  void set_limits(double lower, double upper) override;
 
-    /**
-     * @return true if the feedback controller has reached it's setpoint
-     */
-    bool is_on_target() override;
+  /**
+   * @return true if the feedback controller has reached it's setpoint
+   */
+  bool is_on_target() override;
 
 private:
-    double setpt;
-    double sensor_val;
-    double lower_bound, upper_bound;
-    double last_output;
-    double threshhold;
+  double setpt;
+  double sensor_val;
+  double lower_bound, upper_bound;
+  double last_output;
+  double threshhold;
 };
diff --git a/include/utils/controls/feedback_base.h b/include/utils/controls/feedback_base.h
index 9b9c625..c1baac1 100644
--- a/include/utils/controls/feedback_base.h
+++ b/include/utils/controls/feedback_base.h
@@ -7,44 +7,41 @@
  * @date 9/25/2022
  *
  */
-class Feedback
-{
+class Feedback {
 public:
-    /**
-     * Initialize the feedback controller for a movement
-     *
-     * @param start_pt the current sensor value
-     * @param set_pt where the sensor value should be
-     * @param start_vel Movement starting velocity
-     * @param end_vel Movement ending velocity
-     */
-    virtual void init(double start_pt, double set_pt, double start_vel = 0.0, double end_vel = 0.0) = 0;
+  /**
+   * Initialize the feedback controller for a movement
+   *
+   * @param start_pt the current sensor value
+   * @param set_pt where the sensor value should be
+   * @param start_vel Movement starting velocity
+   * @param end_vel Movement ending velocity
+   */
+  virtual void init(double start_pt, double set_pt, double start_vel = 0.0, double end_vel = 0.0) = 0;
 
-    /**
-     * Iterate the feedback loop once with an updated sensor value
-     *
-     * @param val value from the sensor
-     * @return feedback loop result
-     */
-    virtual double update(double val) = 0;
+  /**
+   * Iterate the feedback loop once with an updated sensor value
+   *
+   * @param val value from the sensor
+   * @return feedback loop result
+   */
+  virtual double update(double val) = 0;
 
-    /**
-     * @return the last saved result from the feedback controller
-     */
-    virtual double get() = 0;
-
-    /**
-     * Clamp the upper and lower limits of the output. If both are 0, no limits should be applied.
-     *
-     * @param lower Upper limit
-     * @param upper Lower limit
-     */
-    virtual void set_limits(double lower, double upper) = 0;
-
-    /**
-     * @return true if the feedback controller has reached it's setpoint
-     */
-    virtual bool is_on_target() = 0;
+  /**
+   * @return the last saved result from the feedback controller
+   */
+  virtual double get() = 0;
 
+  /**
+   * Clamp the upper and lower limits of the output. If both are 0, no limits should be applied.
+   *
+   * @param lower Upper limit
+   * @param upper Lower limit
+   */
+  virtual void set_limits(double lower, double upper) = 0;
 
+  /**
+   * @return true if the feedback controller has reached it's setpoint
+   */
+  virtual bool is_on_target() = 0;
 };
\ No newline at end of file
diff --git a/include/utils/controls/feedforward.h b/include/utils/controls/feedforward.h
index c6700e7..f10b359 100644
--- a/include/utils/controls/feedforward.h
+++ b/include/utils/controls/feedforward.h
@@ -1,90 +1,85 @@
 #pragma once
 
-#include <math.h>
-#include <vector>
 #include "../core/include/utils/math_util.h"
 #include "../core/include/utils/moving_average.h"
 #include "vex.h"
+#include <math.h>
+#include <vector>
 
 /**
  * FeedForward
- * 
+ *
  * Stores the feedfoward constants, and allows for quick computation.
  * Feedfoward should be used in systems that require smooth precise movements
  * and have high inertia, such as drivetrains and lifts.
- * 
+ *
  * This is best used alongside a PID loop, with the form:
  * output = pid.get() + feedforward.calculate(v, a);
- * 
- * In this case, the feedforward does the majority of the heavy lifting, and the 
+ *
+ * In this case, the feedforward does the majority of the heavy lifting, and the
  * pid loop only corrects for inconsistencies
- * 
+ *
  * For information about tuning feedforward, I reccommend looking at this post:
  * https://www.chiefdelphi.com/t/paper-frc-drivetrain-characterization/160915
  * (yes I know it's for FRC but trust me, it's useful)
- * 
+ *
  * @author Ryan McGee
  * @date 6/13/2022
  */
-class FeedForward
-{
-    public:
+class FeedForward {
+public:
+  /**
+   * ff_config_t holds the parameters to make the theoretical model of a real world system
+   * equation is of the form
+   * kS if the system is not stopped, 0 otherwise
+   * + kV * desired velocity
+   * + kA * desired acceleration
+   * + kG
+   */
+  typedef struct {
+    double kS; /**< Coefficient to overcome static friction: the point at which the motor *starts* to move.*/
+    double kV; /**< Veclocity coefficient: the power required to keep the mechanism in motion. Multiplied by the
+                  requested velocity.*/
+    double kA; /**< kA - Acceleration coefficient: the power required to change the mechanism's speed. Multiplied by the
+                  requested acceleration.*/
+    double kG; /**< kG - Gravity coefficient: only needed for lifts. The power required to overcome gravity and stay at
+                  steady state.*/
+  } ff_config_t;
 
-    /**
-     * ff_config_t holds the parameters to make the theoretical model of a real world system
-     * equation is of the form
-     * kS if the system is not stopped, 0 otherwise
-     * + kV * desired velocity
-     * + kA * desired acceleration
-     * + kG
-     */
-    typedef struct
-    {
-        double kS; /**< Coefficient to overcome static friction: the point at which the motor *starts* to move.*/
-        double kV; /**< Veclocity coefficient: the power required to keep the mechanism in motion. Multiplied by the requested velocity.*/
-        double kA; /**< kA - Acceleration coefficient: the power required to change the mechanism's speed. Multiplied by the requested acceleration.*/
-        double kG; /**< kG - Gravity coefficient: only needed for lifts. The power required to overcome gravity and stay at steady state.*/
-    } ff_config_t;
+  /**
+   * Creates a FeedForward object.
+   * @param cfg Configuration Struct for tuning
+   */
+  FeedForward(ff_config_t &cfg) : cfg(cfg) {}
 
-    
-    /**
-     * Creates a FeedForward object.
-     * @param cfg Configuration Struct for tuning
-    */
-    FeedForward(ff_config_t &cfg) : cfg(cfg) {}
+  /**
+   * @brief Perform the feedforward calculation
+   *
+   * This calculation is the equation:
+   * F = kG + kS*sgn(v) + kV*v + kA*a
+   *
+   * @param v Requested velocity of system
+   * @param a Requested acceleration of system
+   * @return A feedforward that should closely represent the system if tuned correctly
+   */
+  double calculate(double v, double a, double pid_ref = 0.0) {
+    double ks_sign = 0;
+    if (v != 0)
+      ks_sign = sign(v);
+    else if (pid_ref != 0)
+      ks_sign = sign(pid_ref);
 
-    /**
-     * @brief Perform the feedforward calculation
-     * 
-     * This calculation is the equation:
-     * F = kG + kS*sgn(v) + kV*v + kA*a
-     * 
-     * @param v Requested velocity of system
-     * @param a Requested acceleration of system
-     * @return A feedforward that should closely represent the system if tuned correctly
-     */
-    double calculate(double v, double a, double pid_ref=0.0)
-    {
-        double ks_sign = 0;
-        if(v != 0)
-            ks_sign = sign(v);
-        else if(pid_ref != 0)
-            ks_sign = sign(pid_ref);
-        
-        return (cfg.kS * ks_sign) + (cfg.kV * v) + (cfg.kA * a) + cfg.kG;
-    }
-
-    private:
-
-    ff_config_t &cfg;
+    return (cfg.kS * ks_sign) + (cfg.kV * v) + (cfg.kA * a) + cfg.kG;
+  }
 
+private:
+  ff_config_t &cfg;
 };
 
-
 /**
-* tune_feedforward takes a group of motors and finds the feedforward conifg parameters automagically.
-*  @param motor the motor group to use 
-*  @param pct Maximum velocity in percent (0->1.0)
+ * tune_feedforward takes a group of motors and finds the feedforward conifg parameters automagically.
+ *  @param motor the motor group to use
+ *  @param pct Maximum velocity in percent (0->1.0)
  * @param duration Amount of time the motors spin for the test
  * @return A tuned feedforward object
  */
diff --git a/include/utils/controls/motion_controller.h b/include/utils/controls/motion_controller.h
index 86b3cde..539c27c 100644
--- a/include/utils/controls/motion_controller.h
+++ b/include/utils/controls/motion_controller.h
@@ -1,135 +1,131 @@
 #pragma once
-#include "../core/include/utils/controls/pid.h"
+#include "../core/include/subsystems/screen.h"
+#include "../core/include/subsystems/tank_drive.h"
+#include "../core/include/utils/controls/feedback_base.h"
 #include "../core/include/utils/controls/feedforward.h"
+#include "../core/include/utils/controls/pid.h"
 #include "../core/include/utils/controls/trapezoid_profile.h"
-#include "../core/include/utils/controls/feedback_base.h"
-#include "../core/include/subsystems/tank_drive.h"
-#include "../core/include/subsystems/screen.h"
 
 #include "vex.h"
 
 /**
  * Motion Controller class
- * 
+ *
  * This class defines a top-level motion profile, which can act as an intermediate between
  * a subsystem class and the motors themselves
  *
- * This takes the constants kS, kV, kA, kP, kI, kD, max_v and acceleration and wraps around 
+ * This takes the constants kS, kV, kA, kP, kI, kD, max_v and acceleration and wraps around
  * a feedforward, PID and trapezoid profile. It does so with the following formula:
- * 
+ *
  * out = feedfoward.calculate(motion_profile.get(time_s)) + pid.get(motion_profile.get(time_s))
- * 
+ *
  * For PID and Feedforward specific formulae, see pid.h, feedforward.h, and trapezoid_profile.h
- * 
+ *
  * @author Ryan McGee
  * @date 7/13/2022
  */
-class MotionController : public Feedback
-{
-    public:
-
-    /**
-     * m_profile_config holds all data the motion controller uses to plan paths
-     * When motion pofile is given a target to drive to, max_v and accel are used to make the trapezoid profile instructing the controller how to drive
-     * pid_cfg, ff_cfg are used to find the motor outputs necessary to execute this path
-     */
-    typedef struct
-    {
-        double max_v; ///< the maximum velocity the robot can drive
-        double accel; ///< the most acceleration the robot can do
-        PID::pid_config_t pid_cfg; ///< configuration parameters for the internal PID controller 
-        FeedForward::ff_config_t ff_cfg; ///< configuration parameters for the internal 
-    } m_profile_cfg_t;
-
-    /**
-     * @brief Construct a new Motion Controller object
-     * 
-     * @param config The definition of how the robot is able to move
-     *    max_v Maximum velocity the movement is capable of
-     *    accel Acceleration / deceleration of the movement
-     *    pid_cfg Definitions of kP, kI, and kD
-     *    ff_cfg Definitions of kS, kV, and kA
-     */
-    MotionController(m_profile_cfg_t &config);
-
-    /**
-     * @brief Initialize the motion profile for a new movement
-     * This will also reset the PID and profile timers.
-     */
-    void init(double start_pt, double end_pt, double start_vel, double end_vel) override;
-    
-    /**
-     * @brief Update the motion profile with a new sensor value
-     * 
-     * @param sensor_val Value from the sensor
-     * @return the motor input generated from the motion profile 
-     */
-    double update(double sensor_val) override;
-
-    /**
-     * @return the last saved result from the feedback controller
-     */
-    double get() override;
-
-    /**
-     * Clamp the upper and lower limits of the output. If both are 0, no limits should be applied.
-     * if limits are applied, the controller will not target any value below lower or above upper
-     * 
-     * @param lower upper limit
-     * @param upper lower limiet
-     */
-    void set_limits(double lower, double upper) override;
-
-    /** 
-     * @return Whether or not the movement has finished, and the PID
-     * confirms it is on target
-     */
-    bool is_on_target() override;
-
-    /**
-     * @return The current postion, velocity and acceleration setpoints
-    */
-    motion_t get_motion() const;
-
-
-    screen::Page *Page();
-
-    /**
-     * This method attempts to characterize the robot's drivetrain and automatically tune the feedforward.
-     * It does this by first calculating the kS (voltage to overcome static friction) by slowly increasing
-     * the voltage until it moves.
-     * 
-     * Next is kV (voltage to sustain a certain velocity), where the robot will record it's steady-state velocity
-     * at 'pct' speed.
-     * 
-     * Finally, kA (voltage needed to accelerate by a certain rate), where the robot will record the entire movement's
-     * velocity and acceleration, record a plot of [X=(pct-kV*V-kS), Y=(Acceleration)] along the movement,
-     * and since kA*Accel = pct-kV*V-kS, the reciprocal of the linear regression is the kA value.
-     * 
-     * @param drive The tankdrive to operate on
-     * @param odometry The robot's odometry subsystem
-     * @param pct Maximum velocity in percent (0->1.0)
-     * @param duration Amount of time the robot should be moving for the test
-     * @return A tuned feedforward object
-     */
-    static FeedForward::ff_config_t tune_feedforward(TankDrive &drive, OdometryTank &odometry, double pct=0.6, double duration=2);
-
-    private: 
-
-    m_profile_cfg_t config;
-
-    PID pid;
-    FeedForward ff;
-    TrapezoidProfile profile;
-
-    double current_pos;
-    double end_pt;
-
-    double lower_limit = 0, upper_limit = 0;
-    double out = 0;
-    motion_t cur_motion;
-     
-    vex::timer tmr;
-    friend class MotionControllerPage;
-
+class MotionController : public Feedback {
+public:
+  /**
+   * m_profile_config holds all data the motion controller uses to plan paths
+   * When motion pofile is given a target to drive to, max_v and accel are used to make the trapezoid profile
+   * instructing the controller how to drive pid_cfg, ff_cfg are used to find the motor outputs necessary to execute
+   * this path
+   */
+  typedef struct {
+    double max_v;                    ///< the maximum velocity the robot can drive
+    double accel;                    ///< the most acceleration the robot can do
+    PID::pid_config_t pid_cfg;       ///< configuration parameters for the internal PID controller
+    FeedForward::ff_config_t ff_cfg; ///< configuration parameters for the internal
+  } m_profile_cfg_t;
+
+  /**
+   * @brief Construct a new Motion Controller object
+   *
+   * @param config The definition of how the robot is able to move
+   *    max_v Maximum velocity the movement is capable of
+   *    accel Acceleration / deceleration of the movement
+   *    pid_cfg Definitions of kP, kI, and kD
+   *    ff_cfg Definitions of kS, kV, and kA
+   */
+  MotionController(m_profile_cfg_t &config);
+
+  /**
+   * @brief Initialize the motion profile for a new movement
+   * This will also reset the PID and profile timers.
+   */
+  void init(double start_pt, double end_pt, double start_vel, double end_vel) override;
+
+  /**
+   * @brief Update the motion profile with a new sensor value
+   *
+   * @param sensor_val Value from the sensor
+   * @return the motor input generated from the motion profile
+   */
+  double update(double sensor_val) override;
+
+  /**
+   * @return the last saved result from the feedback controller
+   */
+  double get() override;
+
+  /**
+   * Clamp the upper and lower limits of the output. If both are 0, no limits should be applied.
+   * if limits are applied, the controller will not target any value below lower or above upper
+   *
+   * @param lower upper limit
+   * @param upper lower limiet
+   */
+  void set_limits(double lower, double upper) override;
+
+  /**
+   * @return Whether or not the movement has finished, and the PID
+   * confirms it is on target
+   */
+  bool is_on_target() override;
+
+  /**
+   * @return The current postion, velocity and acceleration setpoints
+   */
+  motion_t get_motion() const;
+
+  screen::Page *Page();
+
+  /**
+   * This method attempts to characterize the robot's drivetrain and automatically tune the feedforward.
+   * It does this by first calculating the kS (voltage to overcome static friction) by slowly increasing
+   * the voltage until it moves.
+   *
+   * Next is kV (voltage to sustain a certain velocity), where the robot will record it's steady-state velocity
+   * at 'pct' speed.
+   *
+   * Finally, kA (voltage needed to accelerate by a certain rate), where the robot will record the entire movement's
+   * velocity and acceleration, record a plot of [X=(pct-kV*V-kS), Y=(Acceleration)] along the movement,
+   * and since kA*Accel = pct-kV*V-kS, the reciprocal of the linear regression is the kA value.
+   *
+   * @param drive The tankdrive to operate on
+   * @param odometry The robot's odometry subsystem
+   * @param pct Maximum velocity in percent (0->1.0)
+   * @param duration Amount of time the robot should be moving for the test
+   * @return A tuned feedforward object
+   */
+  static FeedForward::ff_config_t tune_feedforward(TankDrive &drive, OdometryTank &odometry, double pct = 0.6,
+                                                   double duration = 2);
+
+private:
+  m_profile_cfg_t config;
+
+  PID pid;
+  FeedForward ff;
+  TrapezoidProfile profile;
+
+  double current_pos;
+  double end_pt;
+
+  double lower_limit = 0, upper_limit = 0;
+  double out = 0;
+  motion_t cur_motion;
+
+  vex::timer tmr;
+  friend class MotionControllerPage;
 };
\ No newline at end of file
diff --git a/include/utils/controls/pid.h b/include/utils/controls/pid.h
index 102bc8a..4bf7951 100644
--- a/include/utils/controls/pid.h
+++ b/include/utils/controls/pid.h
@@ -41,12 +41,12 @@ class PID : public Feedback {
    * an angle
    */
   struct pid_config_t {
-    double p;        ///< proportional coeffecient p * error()
-    double i;        ///< integral coeffecient i * integral(error)
-    double d;        ///< derivitave coeffecient d * derivative(error)
-    double deadband; ///< at what threshold are we close enough to be finished
-    double on_target_time; ///< the time in seconds that we have to be on target
-                           ///< for to say we are officially at the target
+    double p;                ///< proportional coeffecient p * error()
+    double i;                ///< integral coeffecient i * integral(error)
+    double d;                ///< derivitave coeffecient d * derivative(error)
+    double deadband;         ///< at what threshold are we close enough to be finished
+    double on_target_time;   ///< the time in seconds that we have to be on target
+                             ///< for to say we are officially at the target
     ERROR_TYPE error_method; ///< Linear or angular. wheter to do error as a
                              ///< simple subtraction or to wrap
   };
@@ -69,8 +69,7 @@ class PID : public Feedback {
    * base
    * @param end_vel sets the target end velocity of the PID controller
    */
-  void init(double start_pt, double set_pt, double start_vel = 0,
-            double end_vel = 0) override;
+  void init(double start_pt, double set_pt, double start_vel = 0, double end_vel = 0) override;
 
   /**
    * Update the PID loop by taking the time difference from last update,
@@ -134,37 +133,30 @@ class PID : public Feedback {
    */
   void set_target(double target);
 
-  pid_config_t
-      &config; ///< configuration struct for this controller. see pid_config_t
-               ///< for information about what this contains
+  pid_config_t &config; ///< configuration struct for this controller. see pid_config_t
+                        ///< for information about what this contains
 
 private:
-  double last_error =
-      0; ///< the error measured on the last iteration of update()
-  double accum_error =
-      0; ///< the integral of error over time since we called init()
-
-  double last_time = 0; ///< the time measured the last time update() was called
-  double on_target_last_time =
-      0; ///< the time at which we started being on target
-
-  double lower_limit =
-      0; ///< the PID controller will never set a target to go lower than this
-  double upper_limit =
-      0; ///< the PID controller will never set a target to go higher than this
-
-  double target = 0; ///< the target position of the PID controller (lower_limit
-                     ///< <= target <= upper_limit)
+  double last_error = 0;  ///< the error measured on the last iteration of update()
+  double accum_error = 0; ///< the integral of error over time since we called init()
+
+  double last_time = 0;           ///< the time measured the last time update() was called
+  double on_target_last_time = 0; ///< the time at which we started being on target
+
+  double lower_limit = 0; ///< the PID controller will never set a target to go lower than this
+  double upper_limit = 0; ///< the PID controller will never set a target to go higher than this
+
+  double target = 0;     ///< the target position of the PID controller (lower_limit
+                         ///< <= target <= upper_limit)
   double target_vel = 0; ///< the target velocity of the PID controller (if !=
                          ///< 0, controller will not wait for stop)
   double sensor_val = 0; ///< the last recorded value of the sensor we use to
                          ///< feed the PID controller
-  double out = 0; ///< the last calculated output value. we save it here so that
-                  ///< we don't have to recalculate if we ask for it more than
-                  ///< once between update() calls
+  double out = 0;        ///< the last calculated output value. we save it here so that
+                         ///< we don't have to recalculate if we ask for it more than
+                         ///< once between update() calls
 
-  bool is_checking_on_target =
-      false; ///< true if the sensor reading is within target +/- deadband
+  bool is_checking_on_target = false; ///< true if the sensor reading is within target +/- deadband
 
   timer pid_timer; ///< used for calculating integrals and derivatives in line
                    ///< with the real world times and checking the time we are
diff --git a/include/utils/controls/pidff.h b/include/utils/controls/pidff.h
index 243f81b..4c6a0e5 100644
--- a/include/utils/controls/pidff.h
+++ b/include/utils/controls/pidff.h
@@ -15,8 +15,7 @@ class PIDFF : public Feedback {
    * @param start_vel the current rate of change of the sensor value
    * @param end_vel the desired ending rate of change of the sensor value
    */
-  void init(double start_pt, double set_pt, double start_vel,
-            double end_vel) override;
+  void init(double start_pt, double set_pt, double start_vel, double end_vel) override;
 
   /**
    * Set the target of the PID loop
diff --git a/include/utils/controls/take_back_half.h b/include/utils/controls/take_back_half.h
index 692660f..b0383c8 100644
--- a/include/utils/controls/take_back_half.h
+++ b/include/utils/controls/take_back_half.h
@@ -3,57 +3,57 @@
 
 /// @brief A velocity controller
 /// @warning If you try to use this as a position controller, it will fail.
-class TakeBackHalf : public Feedback
-{
+class TakeBackHalf : public Feedback {
 
 public:
-    TakeBackHalf(double TBH_gain, double first_cross_split, double on_target_threshold);
-    /**
-     * Initialize the feedback controller for a movement
-     *
-     * @param start_pt the current sensor value
-     * @param set_pt where the sensor value should be
-     * @param start_vel Movement starting velocity (IGNORED)
-     * @param end_vel Movement ending velocity (IGNORED)
-     */
-    void init(double start_pt, double set_pt, double, double);
-    /**
-     * Iterate the feedback loop once with an updated sensor value
-     *
-     * @param val value from the sensor
-     * @return feedback loop result
-     */
-    double update(double val) override;
-
-    /**
-     * @return the last saved result from the feedback controller
-     */
-    double get() override;
-
-    /**
-     * Clamp the upper and lower limits of the output. If both are 0, no limits should be applied.
-     *
-     * @param lower Upper limit
-     * @param upper Lower limit
-     */
-    void set_limits(double lower, double upper) override;
-
-    /**
-     * @return true if the feedback controller has reached it's setpoint
-     */
-    bool is_on_target() override;
-
-    double TBH_gain;             ///< tuned parameter
-    double first_cross_split; 
+  TakeBackHalf(double TBH_gain, double first_cross_split, double on_target_threshold);
+  /**
+   * Initialize the feedback controller for a movement
+   *
+   * @param start_pt the current sensor value
+   * @param set_pt where the sensor value should be
+   * @param start_vel Movement starting velocity (IGNORED)
+   * @param end_vel Movement ending velocity (IGNORED)
+   */
+  void init(double start_pt, double set_pt, double, double);
+  /**
+   * Iterate the feedback loop once with an updated sensor value
+   *
+   * @param val value from the sensor
+   * @return feedback loop result
+   */
+  double update(double val) override;
+
+  /**
+   * @return the last saved result from the feedback controller
+   */
+  double get() override;
+
+  /**
+   * Clamp the upper and lower limits of the output. If both are 0, no limits should be applied.
+   *
+   * @param lower Upper limit
+   * @param upper Lower limit
+   */
+  void set_limits(double lower, double upper) override;
+
+  /**
+   * @return true if the feedback controller has reached it's setpoint
+   */
+  bool is_on_target() override;
+
+  double TBH_gain; ///< tuned parameter
+  double first_cross_split;
+
 private:
-    double on_target_threshhold; ///< tuned parameter
+  double on_target_threshhold; ///< tuned parameter
 
-    double target = 0.0;
+  double target = 0.0;
 
-    bool first_cross = true;
-    double tbh = 0.0;
-    double prev_error = 0.0;
+  bool first_cross = true;
+  double tbh = 0.0;
+  double prev_error = 0.0;
 
-    double output = 0.0;
-    double lower = 0.0, upper = 0.0; ///< output limits
+  double output = 0.0;
+  double lower = 0.0, upper = 0.0; ///< output limits
 };
\ No newline at end of file
diff --git a/include/utils/controls/trapezoid_profile.h b/include/utils/controls/trapezoid_profile.h
index 6cd9cc2..5de8f7c 100644
--- a/include/utils/controls/trapezoid_profile.h
+++ b/include/utils/controls/trapezoid_profile.h
@@ -160,8 +160,7 @@ class TrapezoidProfile {
    * @return a trapezoid_profile_segment_t that represents constant acceleration
    * to the target velocity
    */
-  trapezoid_profile_segment_t calculate_kinetic_motion(double si, double vi,
-                                                       double v_target);
+  trapezoid_profile_segment_t calculate_kinetic_motion(double si, double vi, double v_target);
 
   /**
    * Calculate the next segment of the trapezoid motion profile
diff --git a/include/utils/generic_auto.h b/include/utils/generic_auto.h
index f03fd76..d59edd6 100644
--- a/include/utils/generic_auto.h
+++ b/include/utils/generic_auto.h
@@ -1,59 +1,51 @@
 #pragma once
 
-#include <queue>
-#include <map>
 #include "vex.h"
 #include <functional>
+#include <map>
+#include <queue>
 
 typedef std::function<bool(void)> state_ptr;
 
 /**
  * GenericAuto provides a pleasant interface for organizing an auto path
  * steps of the path can be added with add() and when ready, calling run() will begin executing the path
-*/
-class GenericAuto
-{
-  public:
-
+ */
+class GenericAuto {
+public:
   /**
-  * The method that runs the autonomous. If 'blocking' is true, then
-  * this method will run through every state until it finished.
-  *
-  * If blocking is false, then assuming every state is also non-blocking,
-  * the method will run through the current state in the list and return
-  * immediately.
-  *
-  * @param blocking
-  *     Whether or not to block the thread until all states have run
-  * @returns
-  *     true after all states have finished.
-  */
-  [[deprecated("Use CommandController instead.")]] 
-  bool run(bool blocking);
+   * The method that runs the autonomous. If 'blocking' is true, then
+   * this method will run through every state until it finished.
+   *
+   * If blocking is false, then assuming every state is also non-blocking,
+   * the method will run through the current state in the list and return
+   * immediately.
+   *
+   * @param blocking
+   *     Whether or not to block the thread until all states have run
+   * @returns
+   *     true after all states have finished.
+   */
+  [[deprecated("Use CommandController instead.")]] bool run(bool blocking);
 
   /**
    * Add a new state to the autonomous via function point of type "bool (ptr*)()"
    * @param new_state the function to run
    */
-  [[deprecated("Use CommandController instead.")]] 
-  void add(state_ptr new_state);
+  [[deprecated("Use CommandController instead.")]] void add(state_ptr new_state);
 
   /**
    * Add a new state to the autonomous via function point of type "bool (ptr*)()" that will run asynchronously
    * @param async_state the function to run
    */
-  [[deprecated("Use CommandController instead.")]] 
-  void add_async(state_ptr async_state);
+  [[deprecated("Use CommandController instead.")]] void add_async(state_ptr async_state);
 
   /**
    * add_delay adds a period where the auto system will simply wait for the specified time
    * @param ms how long to wait in milliseconds
-  */
-  [[deprecated("Use CommandController instead.")]] 
-  void add_delay(int ms);
-
-  private:
+   */
+  [[deprecated("Use CommandController instead.")]] void add_delay(int ms);
 
+private:
   std::queue<state_ptr> state_list;
-
 };
diff --git a/include/utils/geometry.h b/include/utils/geometry.h
index c6e18a9..b273626 100644
--- a/include/utils/geometry.h
+++ b/include/utils/geometry.h
@@ -4,132 +4,87 @@
 /**
  * Data structure representing an X,Y coordinate
  */
-struct point_t
-{
-    double x; ///< the x position in space
-    double y; ///< the y position in space
+struct point_t {
+  double x; ///< the x position in space
+  double y; ///< the y position in space
 
-    /**
-     * dist calculates the euclidian distance between this point and another point using the pythagorean theorem
-     * @param other the point to measure the distance from
-     * @return the euclidian distance between this and other
-     */
-    double dist(const point_t other) const
-    {
-        return std::sqrt(std::pow(this->x - other.x, 2) + pow(this->y - other.y, 2));
-    }
+  /**
+   * dist calculates the euclidian distance between this point and another point using the pythagorean theorem
+   * @param other the point to measure the distance from
+   * @return the euclidian distance between this and other
+   */
+  double dist(const point_t other) const {
+    return std::sqrt(std::pow(this->x - other.x, 2) + pow(this->y - other.y, 2));
+  }
 
-    /**
-     * Vector2D addition operation on points
-     * @param other the point to add on to this
-     * @return this + other (this.x + other.x, this.y + other.y)
-     */
-    point_t operator+(const point_t &other) const
-    {
-        point_t p{
-            .x = this->x + other.x,
-            .y = this->y + other.y};
-        return p;
-    }
+  /**
+   * Vector2D addition operation on points
+   * @param other the point to add on to this
+   * @return this + other (this.x + other.x, this.y + other.y)
+   */
+  point_t operator+(const point_t &other) const {
+    point_t p{.x = this->x + other.x, .y = this->y + other.y};
+    return p;
+  }
 
-    /**
-     * Vector2D subtraction operation on points
-     * @param other the point_t to subtract from this
-     * @return this - other (this.x - other.x, this.y - other.y)
-     */
-    point_t operator-(const point_t &other) const
-    {
-        point_t p{
-            .x = this->x - other.x,
-            .y = this->y - other.y};
-        return p;
-    }
+  /**
+   * Vector2D subtraction operation on points
+   * @param other the point_t to subtract from this
+   * @return this - other (this.x - other.x, this.y - other.y)
+   */
+  point_t operator-(const point_t &other) const {
+    point_t p{.x = this->x - other.x, .y = this->y - other.y};
+    return p;
+  }
 
-    point_t operator*(double s) const
-    {
-        return {x * s, y * s};
-    }
-    point_t operator/(double s) const
-    {
-        return {x / s, y / s};
-    }
+  point_t operator*(double s) const { return {x * s, y * s}; }
+  point_t operator/(double s) const { return {x / s, y / s}; }
 
-    point_t operator-() const
-    {
-        return {-x, -y};
-    }
-    point_t operator+() const
-    {
-        return {x, y};
-    }
+  point_t operator-() const { return {-x, -y}; }
+  point_t operator+() const { return {x, y}; }
 
-    bool operator==(const point_t &rhs)
-    {
-        return x == rhs.x && y == rhs.y;
-    }
+  bool operator==(const point_t &rhs) { return x == rhs.x && y == rhs.y; }
 };
 
 /**
  *  Describes a single position and rotation
  */
-struct pose_t
-{
-    double x;   ///< x position in the world
-    double y;   ///< y position in the world
-    double rot; ///< rotation in the world
+struct pose_t {
+  double x;   ///< x position in the world
+  double y;   ///< y position in the world
+  double rot; ///< rotation in the world
 
-    point_t get_point()
-    {
-        return point_t{.x = x, .y = y};
-    }
-
-} ;
-
-struct Rect
-{
-    point_t min;
-    point_t max;
-    static Rect from_min_and_size(point_t min, point_t size){
-        return {min, min+size};
-    }
-    point_t dimensions() const
-    {
-        return max - min;
-    }
-    point_t center() const{
-        return (min + max)/2;
-    }
-    double width() const{
-        return max.x - min.x;
-    }
-    double height() const{
-        return max.y - min.y;
-    }
-    bool contains(point_t p) const
-    {
-        bool xin = p.x > min.x && p.x < max.x;
-        bool yin = p.y > min.y && p.y < max.y;
-        return xin && yin;
-    }
+  point_t get_point() { return point_t{.x = x, .y = y}; }
+};
 
+struct Rect {
+  point_t min;
+  point_t max;
+  static Rect from_min_and_size(point_t min, point_t size) { return {min, min + size}; }
+  point_t dimensions() const { return max - min; }
+  point_t center() const { return (min + max) / 2; }
+  double width() const { return max.x - min.x; }
+  double height() const { return max.y - min.y; }
+  bool contains(point_t p) const {
+    bool xin = p.x > min.x && p.x < max.x;
+    bool yin = p.y > min.y && p.y < max.y;
+    return xin && yin;
+  }
 };
 
-struct Mat2
-{
-    double X11, X12;
-    double X21, X22;
-    point_t operator*(const point_t p) const
-    {
-        double outx = p.x * X11 + p.y * X12;
-        double outy = p.x * X21 + p.y * X22;
-        return {outx, outy};
-    }
+struct Mat2 {
+  double X11, X12;
+  double X21, X22;
+  point_t operator*(const point_t p) const {
+    double outx = p.x * X11 + p.y * X12;
+    double outy = p.x * X21 + p.y * X22;
+    return {outx, outy};
+  }
 
-    static Mat2 FromRotationDegrees(double degrees)
-    {
-        double rad = degrees * (M_PI / 180.0);
-        double c = cos(rad);
-        double s = sin(rad);
-        return {c, -s, s, c};
-    }
+  static Mat2 FromRotationDegrees(double degrees) {
+    double rad = degrees * (M_PI / 180.0);
+    double c = cos(rad);
+    double s = sin(rad);
+    return {c, -s, s, c};
+  }
 };
\ No newline at end of file
diff --git a/include/utils/graph_drawer.h b/include/utils/graph_drawer.h
index 9273389..c637f09 100644
--- a/include/utils/graph_drawer.h
+++ b/include/utils/graph_drawer.h
@@ -1,15 +1,14 @@
 #pragma once
 
-#include <string>
-#include <stdio.h>
-#include <vector>
-#include <cmath>
-#include "vex.h"
 #include "../core/include/utils/geometry.h"
 #include "../core/include/utils/vector2d.h"
+#include "vex.h"
+#include <cmath>
+#include <stdio.h>
+#include <string>
+#include <vector>
 
-class GraphDrawer
-{
+class GraphDrawer {
 public:
   /// @brief Creates a graph drawer with the specified number of series (each series is a separate line)
   /// @param num_samples the number of samples to graph at a time (40 will graph the last 40 data points)
@@ -17,7 +16,8 @@ class GraphDrawer
   /// @param upper_bound the top of the window when displaying (if upper_bound = lower_bound, auto calculate bounds)
   /// @param colors the colors of the series. must be of size num_series
   /// @param num_series the number of series to graph
-  GraphDrawer(int num_samples, double lower_bound, double upper_bound, std::vector<vex::color> colors, size_t num_series = 1);
+  GraphDrawer(int num_samples, double lower_bound, double upper_bound, std::vector<vex::color> colors,
+              size_t num_series = 1);
   /**
    * add_samples adds a point to the graph, removing one from the back
    * @param sample an x, y coordinate of the next point to graph
@@ -26,7 +26,8 @@ class GraphDrawer
 
   /**
    * add_samples adds a point to the graph, removing one from the back
-   * @param sample a y coordinate of the next point to graph, the x coordinate is gotten from vex::timer::system(); (time in ms)
+   * @param sample a y coordinate of the next point to graph, the x coordinate is gotten from vex::timer::system();
+   * (time in ms)
    */
   void add_samples(std::vector<double> sample);
 
diff --git a/include/utils/logger.h b/include/utils/logger.h
index 159baa6..696ea2a 100644
--- a/include/utils/logger.h
+++ b/include/utils/logger.h
@@ -1,68 +1,58 @@
 #pragma once
 
+#include "vex.h"
 #include <cstdarg>
 #include <cstdio>
 #include <string>
-#include "vex.h"
 
 /// @brief possible values for log filtering
-enum LogLevel
-{
-    DEBUG,
-    NOTICE,
-    WARNING,
-    ERROR,
-    CRITICAL,
-    TIME
-};
+enum LogLevel { DEBUG, NOTICE, WARNING, ERROR, CRITICAL, TIME };
 
 /// @brief Class to simplify writing to files
-class Logger
-{
+class Logger {
 private:
-    const std::string filename;
-    vex::brain::sdcard sd;
-    void write_level(LogLevel l);
+  const std::string filename;
+  vex::brain::sdcard sd;
+  void write_level(LogLevel l);
 
 public:
-    /// @brief  maximum size for a string to be before it's written
-    static constexpr int MAX_FORMAT_LEN = 512;
-    /// @brief  Create a logger that will save to a file
-    /// @param filename the file to save to
-    explicit Logger(const std::string &filename);
-
-    /// @brief copying not allowed
-    Logger(const Logger &l) = delete;
-    /// @brief copying not allowed
-    Logger &operator=(const Logger &l) = delete;
-
-
-    /// @brief Write a string to the log
-    /// @param s the string to write
-    void Log(const std::string &s);
-
-    /// @brief Write a string to the log with a loglevel
-    /// @param level the level to write. DEBUG, NOTICE, WARNING, ERROR, CRITICAL, TIME
-    /// @param s the string to write
-    void Log(LogLevel level, const std::string &s);
-
-    /// @brief Write a string and newline to the log
-    /// @param s the string to write
-    void Logln(const std::string &s);
-
-    /// @brief Write a string and a newline to the log with a loglevel
-    /// @param level the level to write. DEBUG, NOTICE, WARNING, ERROR, CRITICAL, TIME
-    /// @param s the string to write
-    void Logln(LogLevel level, const std::string &s);
-
-    /// @brief Write a formatted string to the log
-    /// @param fmt the format string (like printf)
-    /// @param ... the args
-    void Logf(const char *fmt, ...);
-
-    /// @brief Write a formatted string to the log with a loglevel
-    /// @param level the level to write. DEBUG, NOTICE, WARNING, ERROR, CRITICAL, TIME
-    /// @param fmt the format string (like printf)
-    /// @param ... the args
-    void Logf(LogLevel level, const char *fmt, ...);
+  /// @brief  maximum size for a string to be before it's written
+  static constexpr int MAX_FORMAT_LEN = 512;
+  /// @brief  Create a logger that will save to a file
+  /// @param filename the file to save to
+  explicit Logger(const std::string &filename);
+
+  /// @brief copying not allowed
+  Logger(const Logger &l) = delete;
+  /// @brief copying not allowed
+  Logger &operator=(const Logger &l) = delete;
+
+  /// @brief Write a string to the log
+  /// @param s the string to write
+  void Log(const std::string &s);
+
+  /// @brief Write a string to the log with a loglevel
+  /// @param level the level to write. DEBUG, NOTICE, WARNING, ERROR, CRITICAL, TIME
+  /// @param s the string to write
+  void Log(LogLevel level, const std::string &s);
+
+  /// @brief Write a string and newline to the log
+  /// @param s the string to write
+  void Logln(const std::string &s);
+
+  /// @brief Write a string and a newline to the log with a loglevel
+  /// @param level the level to write. DEBUG, NOTICE, WARNING, ERROR, CRITICAL, TIME
+  /// @param s the string to write
+  void Logln(LogLevel level, const std::string &s);
+
+  /// @brief Write a formatted string to the log
+  /// @param fmt the format string (like printf)
+  /// @param ... the args
+  void Logf(const char *fmt, ...);
+
+  /// @brief Write a formatted string to the log with a loglevel
+  /// @param level the level to write. DEBUG, NOTICE, WARNING, ERROR, CRITICAL, TIME
+  /// @param fmt the format string (like printf)
+  /// @param ... the args
+  void Logf(LogLevel level, const char *fmt, ...);
 };
diff --git a/include/utils/math_util.h b/include/utils/math_util.h
index d419a6e..d101742 100644
--- a/include/utils/math_util.h
+++ b/include/utils/math_util.h
@@ -1,17 +1,16 @@
 #pragma once
-#include <vector>
+#include "../core/include/utils/geometry.h"
 #include "math.h"
 #include "vex.h"
-#include "../core/include/utils/geometry.h"
-
+#include <vector>
 
 /**
-* Constrain the input between a minimum and a maximum value
-* 
-* @param val  the value to be restrained
-* @param low  the minimum value that will be returned
-* @param high the maximum value that will be returned
-**/
+ * Constrain the input between a minimum and a maximum value
+ *
+ * @param val  the value to be restrained
+ * @param low  the minimum value that will be returned
+ * @param high the maximum value that will be returned
+ **/
 double clamp(double value, double low, double high);
 
 /**
@@ -19,14 +18,14 @@ double clamp(double value, double low, double high);
  * @param a at t = 0, output = a
  * @param b at t = 1, output = b
  * @return a linear mixing of a and b according to t
-*/
+ */
 double lerp(double a, double b, double t);
 /**
-* Returns the sign of a number
-* @param x
-* 
-* returns the sign +/-1 of x. 0 if x is 0
-**/
+ * Returns the sign of a number
+ * @param x
+ *
+ * returns the sign +/-1 of x. 0 if x is 0
+ **/
 double sign(double x);
 
 double wrap_angle_deg(double input);
@@ -40,7 +39,6 @@ Calculates the variance of  a set of numbers (needed for linear regression)
 */
 double variance(std::vector<double> const &values, double mean);
 
-
 /*
 Calculates the average of a vector of doubles
 @param values   the list of values for which the average is taken
diff --git a/include/utils/moving_average.h b/include/utils/moving_average.h
index ed01819..389c7b1 100644
--- a/include/utils/moving_average.h
+++ b/include/utils/moving_average.h
@@ -5,8 +5,7 @@
  * Interface for filters
  * Use add_entry to supply data and get_value to retrieve the filtered value
  */
-class Filter
-{
+class Filter {
 public:
   virtual void add_entry(double n) = 0;
   virtual double get_value() const = 0;
@@ -15,17 +14,18 @@ class Filter
 /**
  * MovingAverage
  *
- * A moving average is a way of smoothing out noisy data. For many sensor readings, the noise is roughly symmetric around the actual value.
- * This means that if you collect enough samples those that are too high are cancelled out by the samples that are too low leaving the real value.
+ * A moving average is a way of smoothing out noisy data. For many sensor readings, the noise is roughly symmetric
+ * around the actual value. This means that if you collect enough samples those that are too high are cancelled out by
+ * the samples that are too low leaving the real value.
  *
  * The MovingAverage class provides a simple interface to do this smoothing from our noisy sensor values.
  *
- * WARNING: because we need a lot of samples to get the actual value, the value given by the MovingAverage will 'lag' behind the actual value that the sensor is reading.
- * Using a MovingAverage is thus a tradeoff between accuracy and lag time (more samples) vs. less accuracy and faster updating (less samples).
+ * WARNING: because we need a lot of samples to get the actual value, the value given by the MovingAverage will 'lag'
+ * behind the actual value that the sensor is reading. Using a MovingAverage is thus a tradeoff between accuracy and lag
+ * time (more samples) vs. less accuracy and faster updating (less samples).
  *
  */
-class MovingAverage : public Filter
-{
+class MovingAverage : public Filter {
 public:
   /*
    * Create a moving average calculator with 0 as the default value
@@ -73,17 +73,18 @@ class MovingAverage : public Filter
 /**
  * ExponentialMovingAverage
  *
- * An exponential moving average is a way of smoothing out noisy data. For many sensor readings, the noise is roughly symmetric around the actual value.
- * This means that if you collect enough samples those that are too high are cancelled out by the samples that are too low leaving the real value.
+ * An exponential moving average is a way of smoothing out noisy data. For many sensor readings, the noise is roughly
+ * symmetric around the actual value. This means that if you collect enough samples those that are too high are
+ * cancelled out by the samples that are too low leaving the real value.
  *
- * A simple mobing average lags significantly with time as it has to counteract old samples. An exponential moving average keeps more up to date by
- * weighting newer readings higher than older readings so it is more up to date while also still smoothed.
+ * A simple mobing average lags significantly with time as it has to counteract old samples. An exponential moving
+ * average keeps more up to date by weighting newer readings higher than older readings so it is more up to date while
+ * also still smoothed.
  *
  * The ExponentialMovingAverage class provides an simple interface to do this smoothing from our noisy sensor values.
  *
  */
-class ExponentialMovingAverage : public Filter
-{
+class ExponentialMovingAverage : public Filter {
 public:
   /*
    * Create a moving average calculator with 0 as the default value
diff --git a/include/utils/pure_pursuit.h b/include/utils/pure_pursuit.h
index 3fd8edb..2e27271 100644
--- a/include/utils/pure_pursuit.h
+++ b/include/utils/pure_pursuit.h
@@ -1,128 +1,120 @@
 #pragma once
 
-#include <vector>
 #include "../core/include/utils/geometry.h"
 #include "../core/include/utils/vector2d.h"
 #include "vex.h"
+#include <vector>
 
 using namespace vex;
 
 namespace PurePursuit {
+/**
+ * Wrapper for a vector of points, checking if any of the points are too close for pure pursuit
+ */
+class Path {
+public:
   /**
-   * Wrapper for a vector of points, checking if any of the points are too close for pure pursuit
-   */
-  class Path
-  {
-    public:
-      /**
-       * Create a Path
-       * @param points the points that make up the path
-       * @param radius the lookahead radius for pure pursuit
-       */
-      Path(std::vector<point_t> points, double radius);
-
-      /**
-       * Get the points associated with this Path
-       */
-      std::vector<point_t> get_points();
-
-      /**
-       * Get the radius associated with this Path
-       */
-      double get_radius();
-      
-      /**
-       * Get whether this path will behave as expected
-       */
-      bool is_valid();
-    
-    private:
-      std::vector<point_t> points;
-      double radius;
-      bool valid;
-  };
-  /**
-   * Represents a piece of a cubic spline with s(x) = a(x-xi)^3 + b(x-xi)^2 + c(x-xi) + d
-   * The x_start and x_end shows where the equation is valid.
+   * Create a Path
+   * @param points the points that make up the path
+   * @param radius the lookahead radius for pure pursuit
    */
-  struct spline
-  {
-    double a, b, c, d, x_start, x_end; 
-
-    double getY(double x) {
-      return a * pow((x - x_start), 3) + b * pow((x - x_start), 2) + c * (x - x_start) + d;
-    }
-  };
-  /**
-   * a position along the hermite path
-   * contains a position and orientation information that the robot would be at at this point
-   */
-  struct hermite_point
-  {
-    double x;
-    double y;
-    double dir;
-    double mag;
-
-    point_t getPoint() const {
-      return {x, y};
-    }
-
-    Vector2D getTangent() const {
-      return Vector2D(dir, mag);
-    }
-  };
+  Path(std::vector<point_t> points, double radius);
 
   /**
-    * Returns points of the intersections of a line segment and a circle. The line 
-    * segment is defined by two points, and the circle is defined by a center and radius.
-    */
-  extern std::vector<point_t> line_circle_intersections(point_t center, double r, point_t point1, point_t point2);
-  /**
-    * Selects a look ahead from all the intersections in the path.
-    */
-  extern point_t get_lookahead(const std::vector<point_t> &path, pose_t robot_loc, double radius);
-
-  /**
-    * Injects points in a path without changing the curvature with a certain spacing.
-    */
-  extern std::vector<point_t> inject_path(const std::vector<point_t> &path, double spacing);
-
-  /**
-  * Returns a smoothed path maintaining the start and end of the path.
-  *
-  * Weight data is how much weight to update the data (alpha)
-  * Weight smooth is how much weight to smooth the coordinates (beta)
-  * Tolerance is how much change per iteration is necessary to continue iterating.
-  *
-  * Honestly have no idea if/how this works.
-  * https://medium.com/@jaems33/understanding-robot-motion-path-smoothing-5970c8363bc4
-  */
-
-  extern std::vector<point_t> smooth_path(const std::vector<point_t> &path, double weight_data, double weight_smooth, double tolerance);
-
-  extern std::vector<point_t> smooth_path_cubic(const std::vector<point_t> &path, double res);
+   * Get the points associated with this Path
+   */
+  std::vector<point_t> get_points();
 
   /**
-   * Interpolates a smooth path given a list of waypoints using hermite splines.
-   * For more information: https://www.youtube.com/watch?v=hG0p4XgePSA.
-   *
-   * @param path The path of hermite points to interpolate.
-   * @param steps The number of points interpolated between points.
-   * @return The smoothed path.
+   * Get the radius associated with this Path
    */
-  extern std::vector<point_t> smooth_path_hermite(const std::vector<hermite_point> &path, double step);
+  double get_radius();
 
   /**
-   * Estimates the remaining distance from the robot's position to the end,
-   * by "searching" for the robot along the path and running a "connect the dots"
-   * distance algoritm
-   * 
-   * @param path The pure pursuit path the robot is following
-   * @param robot_pose The robot's current position
-   * @param radius Pure pursuit "radius", used to search for the robot along the path
-   * @return A rough estimate of the remaining distance
-  */
-  extern double estimate_remaining_dist(const std::vector<point_t> &path, pose_t robot_pose, double radius);
-
-}
\ No newline at end of file
+   * Get whether this path will behave as expected
+   */
+  bool is_valid();
+
+private:
+  std::vector<point_t> points;
+  double radius;
+  bool valid;
+};
+/**
+ * Represents a piece of a cubic spline with s(x) = a(x-xi)^3 + b(x-xi)^2 + c(x-xi) + d
+ * The x_start and x_end shows where the equation is valid.
+ */
+struct spline {
+  double a, b, c, d, x_start, x_end;
+
+  double getY(double x) { return a * pow((x - x_start), 3) + b * pow((x - x_start), 2) + c * (x - x_start) + d; }
+};
+/**
+ * a position along the hermite path
+ * contains a position and orientation information that the robot would be at at this point
+ */
+struct hermite_point {
+  double x;
+  double y;
+  double dir;
+  double mag;
+
+  point_t getPoint() const { return {x, y}; }
+
+  Vector2D getTangent() const { return Vector2D(dir, mag); }
+};
+
+/**
+ * Returns points of the intersections of a line segment and a circle. The line
+ * segment is defined by two points, and the circle is defined by a center and radius.
+ */
+extern std::vector<point_t> line_circle_intersections(point_t center, double r, point_t point1, point_t point2);
+/**
+ * Selects a look ahead from all the intersections in the path.
+ */
+extern point_t get_lookahead(const std::vector<point_t> &path, pose_t robot_loc, double radius);
+
+/**
+ * Injects points in a path without changing the curvature with a certain spacing.
+ */
+extern std::vector<point_t> inject_path(const std::vector<point_t> &path, double spacing);
+
+/**
+ * Returns a smoothed path maintaining the start and end of the path.
+ *
+ * Weight data is how much weight to update the data (alpha)
+ * Weight smooth is how much weight to smooth the coordinates (beta)
+ * Tolerance is how much change per iteration is necessary to continue iterating.
+ *
+ * Honestly have no idea if/how this works.
+ * https://medium.com/@jaems33/understanding-robot-motion-path-smoothing-5970c8363bc4
+ */
+
+extern std::vector<point_t> smooth_path(const std::vector<point_t> &path, double weight_data, double weight_smooth,
+                                        double tolerance);
+
+extern std::vector<point_t> smooth_path_cubic(const std::vector<point_t> &path, double res);
+
+/**
+ * Interpolates a smooth path given a list of waypoints using hermite splines.
+ * For more information: https://www.youtube.com/watch?v=hG0p4XgePSA.
+ *
+ * @param path The path of hermite points to interpolate.
+ * @param steps The number of points interpolated between points.
+ * @return The smoothed path.
+ */
+extern std::vector<point_t> smooth_path_hermite(const std::vector<hermite_point> &path, double step);
+
+/**
+ * Estimates the remaining distance from the robot's position to the end,
+ * by "searching" for the robot along the path and running a "connect the dots"
+ * distance algoritm
+ *
+ * @param path The pure pursuit path the robot is following
+ * @param robot_pose The robot's current position
+ * @param radius Pure pursuit "radius", used to search for the robot along the path
+ * @return A rough estimate of the remaining distance
+ */
+extern double estimate_remaining_dist(const std::vector<point_t> &path, pose_t robot_pose, double radius);
+
+} // namespace PurePursuit
\ No newline at end of file
diff --git a/include/utils/serializer.h b/include/utils/serializer.h
index 327b653..edf80b1 100644
--- a/include/utils/serializer.h
+++ b/include/utils/serializer.h
@@ -1,9 +1,9 @@
 #pragma once
 #include <algorithm>
 #include <map>
+#include <stdio.h>
 #include <string>
 #include <vector>
-#include <stdio.h>
 #include <vex.h>
 
 /// @brief character that will be used to seperate values
@@ -12,86 +12,87 @@ const char serialization_separator = '$';
 const std::size_t MAX_FILE_SIZE = 4096;
 
 /// @brief Serializes Arbitrary data to a file on the SD Card
-class Serializer
-{
+class Serializer {
 private:
-    bool flush_always;
-    std::string filename;
-    std::map<std::string, int> ints;
-    std::map<std::string, bool> bools;
-    std::map<std::string, double> doubles;
-    std::map<std::string, std::string> strings;
+  bool flush_always;
+  std::string filename;
+  std::map<std::string, int> ints;
+  std::map<std::string, bool> bools;
+  std::map<std::string, double> doubles;
+  std::map<std::string, std::string> strings;
 
-    /// @brief loads Serializer state from disk
-    bool read_from_disk();
+  /// @brief loads Serializer state from disk
+  bool read_from_disk();
 
 public:
-    /// @brief Save and close upon destruction (bc of vex, this doesnt always get called when the program ends. To be sure, call save_to_disk)
-    ~Serializer()
-    {
-        save_to_disk();
-        printf("Saving %s\n", filename.c_str());
-        fflush(stdout);
-    }
-
-    /// @brief create a Serializer
-    /// @param filename the file to read from. If filename does not exist we will create that file
-    /// @param flush_always If true, after every write flush to a file. If false, you are responsible for calling save_to_disk
-    explicit Serializer(const std::string &filename, bool flush_always = true) : flush_always(flush_always), filename(filename), ints({}), bools({}), doubles({}), strings({})
-
-    {
-        read_from_disk();
-    }
-
-    /// @brief saves current Serializer state to disk
-    void save_to_disk() const;
-
-    /// Setters - not saved until save_to_disk is called
-
-    /// @brief sets an integer by the name of name to i. If flush_always == true, this will save to the sd card
-    /// @param name name of integer
-    /// @param i value of integer
-    void set_int(const std::string &name, int i);
-
-    /// @brief sets a bool by the name of name to b. If flush_always == true, this will save to the sd card
-    /// @param name name of bool
-    /// @param b value of bool
-    void set_bool(const std::string &name, bool b);
-
-    /// @brief sets a double by the name of name to d. If flush_always == true, this will save to the sd card
-    /// @param name name of double
-    /// @param d value of double
-    void set_double(const std::string &name, double d);
-
-    /// @brief sets a string by the name of name to s. If flush_always == true, this will save to the sd card
-    /// @param name name of string
-    /// @param i value of string
-    void set_string(const std::string &name, std::string str);
-
-    /// Getters
-    /// Return value if it exists in the serializer
-
-    /// @brief gets a value stored in the serializer. If not found, sets the value to otherwise
-    /// @param name name of value
-    /// @param otherwise value if the name is not specified
-    /// @return the value if found or otherwise
-    int int_or(const std::string &name, int otherwise);
-
-    /// @brief gets a value stored in the serializer. If not, sets the value to otherwise
-    /// @param name name of value
-    /// @param otherwise value if the name is not specified
-    /// @return the value if found or otherwise
-    bool bool_or(const std::string &name, bool otherwise);
-
-    /// @brief gets a value stored in the serializer. If not, sets the value to otherwise
-    /// @param name name of value
-    /// @param otherwise value if the name is not specified
-    /// @return the value if found or otherwise
-    double double_or(const std::string &name, double otherwise);
-
-    /// @brief gets a value stored in the serializer. If not, sets the value to otherwise
-    /// @param name name of value
-    /// @param otherwise value if the name is not specified
-    /// @return the value if found or otherwise
-    std::string string_or(const std::string &name, std::string otherwise);
+  /// @brief Save and close upon destruction (bc of vex, this doesnt always get called when the program ends. To be
+  /// sure, call save_to_disk)
+  ~Serializer() {
+    save_to_disk();
+    printf("Saving %s\n", filename.c_str());
+    fflush(stdout);
+  }
+
+  /// @brief create a Serializer
+  /// @param filename the file to read from. If filename does not exist we will create that file
+  /// @param flush_always If true, after every write flush to a file. If false, you are responsible for calling
+  /// save_to_disk
+  explicit Serializer(const std::string &filename, bool flush_always = true)
+      : flush_always(flush_always), filename(filename), ints({}), bools({}), doubles({}), strings({})
+
+  {
+    read_from_disk();
+  }
+
+  /// @brief saves current Serializer state to disk
+  void save_to_disk() const;
+
+  /// Setters - not saved until save_to_disk is called
+
+  /// @brief sets an integer by the name of name to i. If flush_always == true, this will save to the sd card
+  /// @param name name of integer
+  /// @param i value of integer
+  void set_int(const std::string &name, int i);
+
+  /// @brief sets a bool by the name of name to b. If flush_always == true, this will save to the sd card
+  /// @param name name of bool
+  /// @param b value of bool
+  void set_bool(const std::string &name, bool b);
+
+  /// @brief sets a double by the name of name to d. If flush_always == true, this will save to the sd card
+  /// @param name name of double
+  /// @param d value of double
+  void set_double(const std::string &name, double d);
+
+  /// @brief sets a string by the name of name to s. If flush_always == true, this will save to the sd card
+  /// @param name name of string
+  /// @param i value of string
+  void set_string(const std::string &name, std::string str);
+
+  /// Getters
+  /// Return value if it exists in the serializer
+
+  /// @brief gets a value stored in the serializer. If not found, sets the value to otherwise
+  /// @param name name of value
+  /// @param otherwise value if the name is not specified
+  /// @return the value if found or otherwise
+  int int_or(const std::string &name, int otherwise);
+
+  /// @brief gets a value stored in the serializer. If not, sets the value to otherwise
+  /// @param name name of value
+  /// @param otherwise value if the name is not specified
+  /// @return the value if found or otherwise
+  bool bool_or(const std::string &name, bool otherwise);
+
+  /// @brief gets a value stored in the serializer. If not, sets the value to otherwise
+  /// @param name name of value
+  /// @param otherwise value if the name is not specified
+  /// @return the value if found or otherwise
+  double double_or(const std::string &name, double otherwise);
+
+  /// @brief gets a value stored in the serializer. If not, sets the value to otherwise
+  /// @param name name of value
+  /// @param otherwise value if the name is not specified
+  /// @return the value if found or otherwise
+  std::string string_or(const std::string &name, std::string otherwise);
 };
diff --git a/include/utils/state_machine.h b/include/utils/state_machine.h
new file mode 100644
index 0000000..8671fe0
--- /dev/null
+++ b/include/utils/state_machine.h
@@ -0,0 +1,202 @@
+#pragma once
+#include <string>
+#include <type_traits>
+#include <utility>
+
+/**
+ * @brief State Machine :))))))
+ * A fun fun way of controlling stateful subsystems - used in the 2023-2024 Over
+ * Under game for our overly complex intake-cata subsystem (see there for an
+ * example)
+ * The statemachine runs in a background thread and a user thread can interact
+ * with it through current_state and send_message.
+ *
+ * Designwise:
+ * the System class should hold onto any motors, feedback controllers, etc that
+ * are persistent in the system States themselves should hold any data that
+ * *only* that state needs. For example if a state should be exitted after a
+ * certain amount of time, it should hold a timer rather than the System holding
+ * that timer. (see Junder from 2024 for an example of this design)
+ *
+ * @tparam System The system that this is the base class of `class Thing :
+ * public StateMachine<Thing>
+ * @tparam IDType The ID enum that recognizes states. Hint hint, use an `enum
+ * class`
+ * @tparam Message the message enum that a state or an outside can send and that
+ * states respond to
+ * @tparam delay_ms the delay to wait between each state processing to allow
+ * other threads to work
+ * @tparam do_log true if you want print statements describing incoming messages
+ * and current states. If true, it is expected that IDType and Message have a
+ * function called to_string that takes them as its only parameter and returns a
+ * std::string
+ */
+template <typename System, typename IDType, typename Message, int32_t delay_ms, bool do_log = false>
+class StateMachine {
+  static_assert(std::is_enum<Message>::value, "Message should be an enum (it's easier that way)");
+  static_assert(std::is_enum<IDType>::value, "IDType should be an enum (it's easier that way)");
+
+public:
+  /**
+   * @brief MaybeMessage
+   * a message of Message type or nothing
+   * MaybeMessage m = {}; // empty
+   * MaybeMessage m = Message::EnumField1
+   */
+  class MaybeMessage {
+  public:
+    /**
+     * @brief Empty message - when theres no message
+     */
+    MaybeMessage() : exists(false) {}
+    /**
+     * @brief Create a maybemessage with a message
+     * @param msg the message to hold on to
+     */
+    MaybeMessage(Message msg) : exists(true), thing(msg) {}
+    /**
+     * @brief check if the message is here
+     * @return true if there is a message
+     */
+    bool has_message() { return exists; }
+    /**
+     * @brief Get the message stored. The return value is invalid unless
+     * has_message returned true
+     * @return The message if it exists. Undefined otherwise
+     */
+    Message message() { return thing; }
+
+  private:
+    bool exists;
+    Message thing;
+  };
+  /**
+   * Abstract class that all states for this machine must inherit from
+   * States MUST override respond() and id() in order to function correctly
+   * (the compiler won't have it any other way)
+   */
+  struct State {
+    // run once when we enter the state
+    virtual void entry(System &) {}
+    // run continously while in the state
+    virtual MaybeMessage work(System &) { return {}; }
+    // run once when we exit the state
+    virtual void exit(System &) {}
+    // respond to a message when one comes in
+    virtual State *respond(System &s, Message m) = 0;
+    // Identify
+    virtual IDType id() const = 0;
+
+    // virtual destructor cuz c++
+    virtual ~State() {}
+  };
+
+  // Data that gets passed to the runner thread. Don't worry too much about
+  // this
+  using thread_data = std::pair<State *, StateMachine *>;
+
+  /**
+   * @brief Construct a state machine and immediatly start running it
+   * @param initial the state that the machine will begin in
+   */
+  StateMachine(State *initial) : runner(thread_runner, new thread_data{initial, this}) {}
+
+  /**
+   * @brief retrieve the current state of the state machine. This is safe to
+   * call from external threads
+   * @return the current state
+   */
+  IDType current_state() const {
+    mut.lock();
+    auto t = cur_type;
+    mut.unlock();
+    return t;
+  }
+  /**
+   * @brief send a message to the state machine from outside
+   * @param msg the message to send
+   * This is safe to call from external threads
+   */
+  void send_message(Message msg) {
+    mut.lock();
+    incoming_msg = msg;
+    mut.unlock();
+  }
+
+private:
+  vex::task runner;
+  mutable vex::mutex mut;
+  MaybeMessage incoming_msg;
+  IDType cur_type;
+
+  /**
+   * @brief the thread that does the running of the state machine.
+   * @param vptr the thread_data that we get passed to begin. cast it back
+   * @return return value of thread (the thread never ends so this doesn't
+   * really matter)
+   */
+  static int thread_runner(void *vptr) {
+    thread_data *ptr = static_cast<thread_data *>(vptr);
+    State *cur_state = ptr->first;
+
+    StateMachine &sys = *ptr->second;
+    System &derived = *static_cast<System *>(&sys);
+
+    cur_state->entry(derived);
+
+    sys.cur_type = cur_state->id();
+
+    auto respond_to_message = [&](Message msg) {
+      if (do_log) {
+        printf("responding to msg: %s\n", to_string(msg).c_str());
+        fflush(stdout);
+      }
+
+      State *next_state = cur_state->respond(derived, msg);
+
+      if (cur_state != next_state) {
+        // switched states
+        sys.mut.lock();
+
+        cur_state->exit(derived);
+        next_state->entry(derived);
+
+        delete cur_state;
+
+        cur_state = next_state;
+        sys.cur_type = cur_state->id();
+
+        sys.mut.unlock();
+      }
+    };
+
+    while (true) {
+      if (do_log) {
+        std::string str = to_string(cur_state->id());
+        std::string str2 = to_string(sys.cur_type);
+
+        printf("state: %s %s\n", str.c_str(), str2.c_str());
+      }
+
+      // Internal Message passed
+      MaybeMessage internal_msg = cur_state->work(derived);
+
+      if (internal_msg.has_message()) {
+        respond_to_message(internal_msg.message());
+      }
+
+      // External Message passed
+      sys.mut.lock();
+      MaybeMessage incoming = sys.incoming_msg;
+      sys.incoming_msg = {};
+      sys.mut.unlock();
+
+      if (incoming.has_message()) {
+        respond_to_message(incoming.message());
+      }
+
+      vexDelay(delay_ms);
+    }
+    return 0;
+  }
+};
diff --git a/include/utils/vector2d.h b/include/utils/vector2d.h
index c39f50f..6c555cc 100644
--- a/include/utils/vector2d.h
+++ b/include/utils/vector2d.h
@@ -1,96 +1,92 @@
 #pragma once
 
-
-#include <cmath>
 #include "../core/include/utils/geometry.h"
+#include <cmath>
 
 #ifndef PI
 #define PI 3.141592654
 #endif
 /**
  * Vector2D is an x,y pair
- * Used to represent 2D locations on the field. 
+ * Used to represent 2D locations on the field.
  * It can also be treated as a direction and magnitude
-*/
-class Vector2D
-{
+ */
+class Vector2D {
 public:
-    /**
-     * Construct a vector object.
-     * 
-     * @param dir Direction, in radians. 'foward' is 0, clockwise positive when viewed from the top.
-     * @param mag Magnitude.
-     */ 
-    Vector2D(double dir, double mag);
-    
-    /**
-     * Construct a vector object from a cartesian point.
-     * 
-     * @param p point_t.x , point_t.y
-     */
-    Vector2D(point_t p);
-
-    /**
-     * Get the direction of the vector, in radians.
-     * '0' is forward, clockwise positive when viewed from the top.
-     * 
-     * Use r2d() to convert.
-     * @return the direction of the vetctor in radians
-     */
-    double get_dir() const;
-
-    /**
-     * @return the magnitude of the vector
-     */
-    double get_mag() const;
-
-    /**
-     * @return the X component of the vector; positive to the right.
-     */
-    double get_x() const;
-
-    /**
-     * @return the Y component of the vector, positive forward.
-     */
-    double get_y() const;
-
-    /**
-     * Changes the magnitude of the vector to 1
-     * @return the normalized vector
-    */
-    Vector2D normalize();
-
-    /**
-    * Returns a point from the vector
-    * @return the point represented by the vector
-    */
-    point_t point();
-
-/**
- * Scales a Vector2D by a scalar with the * operator
- * @param x the value to scale the vector by
- * @return the this Vector2D scaled by x
-*/
-    Vector2D operator*(const double &x);
-    /**
-     * Add the components of two vectors together
-     * Vector2D + Vector2D = (this.x + other.x, this.y + other.y)
-     * @param other the vector to add to this
-     * @return the sum of the vectors
-    */
-    Vector2D operator+(const Vector2D &other);
-    /**
-     * Subtract the components of two vectors together
-     * Vector2D - Vector2D = (this.x - other.x, this.y - other.y)
-     * @param other the vector to subtract from this
-     * @return the difference of the vectors
-    */
-    Vector2D operator-(const Vector2D &other);
+  /**
+   * Construct a vector object.
+   *
+   * @param dir Direction, in radians. 'foward' is 0, clockwise positive when viewed from the top.
+   * @param mag Magnitude.
+   */
+  Vector2D(double dir, double mag);
+
+  /**
+   * Construct a vector object from a cartesian point.
+   *
+   * @param p point_t.x , point_t.y
+   */
+  Vector2D(point_t p);
+
+  /**
+   * Get the direction of the vector, in radians.
+   * '0' is forward, clockwise positive when viewed from the top.
+   *
+   * Use r2d() to convert.
+   * @return the direction of the vetctor in radians
+   */
+  double get_dir() const;
+
+  /**
+   * @return the magnitude of the vector
+   */
+  double get_mag() const;
+
+  /**
+   * @return the X component of the vector; positive to the right.
+   */
+  double get_x() const;
+
+  /**
+   * @return the Y component of the vector, positive forward.
+   */
+  double get_y() const;
+
+  /**
+   * Changes the magnitude of the vector to 1
+   * @return the normalized vector
+   */
+  Vector2D normalize();
+
+  /**
+   * Returns a point from the vector
+   * @return the point represented by the vector
+   */
+  point_t point();
+
+  /**
+   * Scales a Vector2D by a scalar with the * operator
+   * @param x the value to scale the vector by
+   * @return the this Vector2D scaled by x
+   */
+  Vector2D operator*(const double &x);
+  /**
+   * Add the components of two vectors together
+   * Vector2D + Vector2D = (this.x + other.x, this.y + other.y)
+   * @param other the vector to add to this
+   * @return the sum of the vectors
+   */
+  Vector2D operator+(const Vector2D &other);
+  /**
+   * Subtract the components of two vectors together
+   * Vector2D - Vector2D = (this.x - other.x, this.y - other.y)
+   * @param other the vector to subtract from this
+   * @return the difference of the vectors
+   */
+  Vector2D operator-(const Vector2D &other);
 
 private:
-
-    double dir, mag;
-
+  double dir, mag;
 };
 
 /**
diff --git a/src/subsystems/custom_encoder.cpp b/src/subsystems/custom_encoder.cpp
index a8f3adc..b9614f8 100644
--- a/src/subsystems/custom_encoder.cpp
+++ b/src/subsystems/custom_encoder.cpp
@@ -1,41 +1,28 @@
-#include "../core/include/subsystems/custom_encoder.h"   
+#include "../core/include/subsystems/custom_encoder.h"
 
-CustomEncoder::CustomEncoder(vex::triport::port &port, double ticks_per_rev)
-: super(port)
-{
+CustomEncoder::CustomEncoder(vex::triport::port &port, double ticks_per_rev) : super(port) {
   // bc it's a quadrature encoder, ticks per rev has to be multiplied by 4
   tick_scalar = 360 / (ticks_per_rev * 4);
 }
 
-void CustomEncoder::setRotation(double val, vex::rotationUnits units)
-{
-  super::setRotation(val / tick_scalar, units);
-}
+void CustomEncoder::setRotation(double val, vex::rotationUnits units) { super::setRotation(val / tick_scalar, units); }
 
-void CustomEncoder::setPosition(double val, vex::rotationUnits units)
-{
-  super::setPosition(val / tick_scalar, units);
-}
+void CustomEncoder::setPosition(double val, vex::rotationUnits units) { super::setPosition(val / tick_scalar, units); }
+
+double CustomEncoder::rotation(vex::rotationUnits units) {
+  if (units != vex::rotationUnits::raw) {
+    return super::rotation(units) * tick_scalar;
+  }
 
-double CustomEncoder::rotation(vex::rotationUnits units)
-{
-  if(units != vex::rotationUnits::raw) {
-    return super::rotation(units) * tick_scalar;
-}
-  
   return super::rotation(units);
 }
 
-double CustomEncoder::position(vex::rotationUnits units)
-{
+double CustomEncoder::position(vex::rotationUnits units) {
   if (units != vex::rotationUnits::raw) {
-    return super::position(units) * tick_scalar;
-}
+    return super::position(units) * tick_scalar;
+  }
 
   return super::position(units);
 }
 
-double CustomEncoder::velocity(vex::velocityUnits units)
-{
-    return super::velocity(units) * tick_scalar;
-}
+double CustomEncoder::velocity(vex::velocityUnits units) { return super::velocity(units) * tick_scalar; }
diff --git a/src/subsystems/flywheel.cpp b/src/subsystems/flywheel.cpp
index eab2f74..4e57acc 100644
--- a/src/subsystems/flywheel.cpp
+++ b/src/subsystems/flywheel.cpp
@@ -1,9 +1,9 @@
 #include "../core/include/subsystems/flywheel.h"
+#include "../core/include/subsystems/screen.h"
 #include "../core/include/utils/controls/feedforward.h"
 #include "../core/include/utils/controls/pid.h"
-#include "../core/include/utils/math_util.h"
-#include "../core/include/subsystems/screen.h"
 #include "../core/include/utils/graph_drawer.h"
+#include "../core/include/utils/math_util.h"
 #include "vex.h"
 
 using namespace vex;
@@ -12,9 +12,8 @@ using namespace vex;
  *         CONSTRUCTOR, GETTERS, SETTERS
  *********************************************************/
 
-Flywheel::Flywheel(motor_group &motors, Feedback &feedback, FeedForward &helper, const double ratio, Filter &filt) : motors(motors),
-                                                                                                                     task_running(false), fb(feedback), ff(helper),
-                                                                                                                     ratio(ratio), avger(filt) {}
+Flywheel::Flywheel(motor_group &motors, Feedback &feedback, FeedForward &helper, const double ratio, Filter &filt)
+    : motors(motors), task_running(false), fb(feedback), ff(helper), ratio(ratio), avger(filt) {}
 
 /**
  * Return the current value that the target_rpm should be set to
@@ -30,32 +29,25 @@ motor_group &Flywheel::get_motors() const { return motors; }
  * return the current velocity of the flywheel motors, in RPM
  * @return the measured velocity of the flywheel
  */
-double Flywheel::measure_RPM()
-{
+double Flywheel::measure_RPM() {
   double rawRPM = ratio * motors.velocity(velocityUnits::rpm);
   avger.add_entry(rawRPM);
   return avger.get_value();
 }
 
-double Flywheel::getRPM() const
-{
-  return avger.get_value();
-}
+double Flywheel::getRPM() const { return avger.get_value(); }
 
 /**
  * Runs a thread that keeps track of updating flywheel RPM and controlling it accordingly
  */
-int spinRPMTask(void *wheelPointer)
-{
+int spinRPMTask(void *wheelPointer) {
   Flywheel &wheel = *(Flywheel *)wheelPointer;
 
   // get the pid from the wheel and set its target to the RPM stored in the wheel.
-  while (true)
-  {
+  while (true) {
     double rpm = wheel.measure_RPM();
 
-    if (wheel.target_rpm != 0)
-    {
+    if (wheel.target_rpm != 0) {
       double output = wheel.ff.calculate(wheel.target_rpm, 0.0, 0.0);
       {
         wheel.fb_mut.lock();
@@ -82,10 +74,7 @@ int spinRPMTask(void *wheelPointer)
  * @param speed - speed (between -1 and 1) to set the motor
  * @param dir - direction that the motor moves in; defaults to forward
  */
-void Flywheel::spin_raw(double speed, directionType dir)
-{
-  motors.spin(dir, speed * 12, voltageUnits::volt);
-}
+void Flywheel::spin_raw(double speed, directionType dir) { motors.spin(dir, speed * 12, voltageUnits::volt); }
 
 /**
  * Spin motors using voltage; defaults forward at 12 volts
@@ -93,11 +82,10 @@ void Flywheel::spin_raw(double speed, directionType dir)
  * @param speed - speed (between -1 and 1) to set the motor
  * @param dir - direction that the motor moves in; defaults to forward
  */
-void Flywheel::spin_manual(double speed, directionType dir)
-{
+void Flywheel::spin_manual(double speed, directionType dir) {
   if (!task_running) {
     motors.spin(dir, speed * 12, voltageUnits::volt);
-}
+  }
 }
 
 /**
@@ -105,24 +93,20 @@ void Flywheel::spin_manual(double speed, directionType dir)
  * what control scheme is dependent on control_style
  * @param input_rpm - set the current RPM
  */
-void Flywheel::spin_rpm(double input_rpm)
-{
+void Flywheel::spin_rpm(double input_rpm) {
   // setting to 0 is equivelent to stopping
-  if (input_rpm == 0.0)
-  {
+  if (input_rpm == 0.0) {
     stop();
   }
   // only run if the RPM is different or it isn't already running
-  if (!task_running)
-  {
+  if (!task_running) {
     rpm_task = task(spinRPMTask, this);
     task_running = true;
   }
   // now that its running, set the target
   set_target(input_rpm);
 }
-void Flywheel::set_target(double value)
-{
+void Flywheel::set_target(double value) {
   fb_mut.lock();
   target_rpm = (value);
   fb.init(getRPM(), value);
@@ -132,10 +116,8 @@ void Flywheel::set_target(double value)
 /**
  * stop the RPM thread and the wheel
  */
-void Flywheel::stop()
-{
-  if (task_running)
-  {
+void Flywheel::stop() {
+  if (task_running) {
     task_running = false;
     rpm_task.stop();
     target_rpm = 0.0;
@@ -144,18 +126,18 @@ void Flywheel::stop()
 }
 
 //------------------------- Screen Stuff ----------------------------
-class FlywheelPage : public screen::Page
-{
+class FlywheelPage : public screen::Page {
 public:
   static const size_t window_size = 40;
 
-  FlywheelPage(const Flywheel &fw) : fw(fw), gd(GraphDrawer(window_size, 0.0, 0.0, {vex::color(255, 0, 0), vex::color(0, 255, 0), vex::color(0, 0, 255)}, 3)), avg_err(window_size) {}
+  FlywheelPage(const Flywheel &fw)
+      : fw(fw), gd(GraphDrawer(window_size, 0.0, 0.0,
+                               {vex::color(255, 0, 0), vex::color(0, 255, 0), vex::color(0, 0, 255)}, 3)),
+        avg_err(window_size) {}
   /// @brief @see Page#update
   void update(bool, int, int) override {}
   /// @brief @see Page#draw
-  void draw(vex::brain::lcd &screen, bool,
-            unsigned int) override
-  {
+  void draw(vex::brain::lcd &screen, bool, unsigned int) override {
 
     double target = fw.get_target();
     double actual = fw.getRPM();
@@ -180,7 +162,4 @@ class FlywheelPage : public screen::Page
   MovingAverage avg_err;
 };
 
-screen::Page *Flywheel::Page() const
-{
-  return new FlywheelPage(*this);
-}
\ No newline at end of file
+screen::Page *Flywheel::Page() const { return new FlywheelPage(*this); }
\ No newline at end of file
diff --git a/src/subsystems/fun/video.cpp b/src/subsystems/fun/video.cpp
new file mode 100644
index 0000000..4763c12
--- /dev/null
+++ b/src/subsystems/fun/video.cpp
@@ -0,0 +1,124 @@
+#include "../core/include/subsystems/fun/video.h"
+#include <cstdint>
+
+#define PL_MPEG_IMPLEMENTATION
+#include "../core/include/subsystems/fun/pl_mpeg.h"
+
+static uint8_t buf[358400];
+
+enum VideoState { DoesntExist, TooBig, DidntReadRight, Ok, NeverInitialized };
+
+static vex::task video_task;
+static VideoState state = VideoState::NeverInitialized;
+static std::string name = "";
+static uint8_t *argb_buffer;
+static int w;
+static int h;
+static int x;
+static int y;
+static bool frame_ready = false;
+static plm_t *plm;
+const int32_t video_player_priority = 2;
+static int32_t file_size = 0;
+static bool should_restart = false;
+
+void video_restart() { should_restart = true; }
+
+void explain_error(vex::brain::lcd &screen) {
+  switch (state) {
+  case DoesntExist:
+    screen.printAt(40, 30, true, "Couldn't find video %s", name.c_str());
+    break;
+  case TooBig:
+    screen.printAt(40, 30, true, "%s was too big to open", name.c_str());
+    break;
+  case DidntReadRight:
+    screen.printAt(40, 30, true, "%s wasnt read correctly. Are you sure its mpeg1", name.c_str());
+    break;
+  case NeverInitialized:
+    screen.printAt(40, 30, true, "no video loaded. did you forget set_video()");
+    break;
+
+  default:
+    break;
+  }
+}
+
+int video_player() {
+  if (state != Ok) {
+    return 1;
+  }
+  plm_frame_t *frame = NULL;
+  while (true) {
+    for (int i = 1; frame = plm_decode_video(plm); i++) {
+
+      uint32_t start_ms = vex::timer::system();
+
+      frame_ready = false;
+      plm_frame_to_bgra(frame, argb_buffer, w * 4);
+      frame_ready = true;
+      uint32_t elapsed_ms = vex::timer::system() - start_ms;
+
+      vexDelay(33 - elapsed_ms);
+      if (should_restart) {
+        should_restart = false;
+        break;
+      }
+    }
+    plm_rewind(plm);
+  }
+  return 0;
+}
+
+void set_video(const std::string &filename) {
+  vex::brain Brain;
+  const char *fname = filename.c_str();
+
+  if (!Brain.SDcard.exists(fname)) {
+    state = DoesntExist;
+    return;
+  }
+  file_size = Brain.SDcard.size(fname);
+  if (file_size > sizeof(buf)) {
+    state = TooBig;
+    return;
+  }
+  const int32_t read = Brain.SDcard.loadfile(fname, buf, sizeof(buf));
+
+  if (read != file_size) {
+    state = DidntReadRight;
+    return;
+  }
+  plm = plm_create_with_memory(buf, file_size, 0);
+
+  plm_set_audio_enabled(plm, false);
+  plm_set_loop(plm, true);
+
+  w = plm_get_width(plm);
+  h = plm_get_height(plm);
+  int render_buf_len = w * h * 4;
+  x = (480 - w) / 2;
+  y = (200 - h) / 2;
+  argb_buffer = new uint8_t[render_buf_len];
+  state = Ok;
+  name = fname;
+  video_task = vex::task(video_player, video_player_priority);
+}
+
+VideoPlayer::VideoPlayer() {}
+void VideoPlayer::update(bool was_pressed, int x, int y) {}
+
+void VideoPlayer::draw(vex::brain::lcd &screen, bool first_draw, unsigned int frame_number) {
+  if (state != Ok) {
+    explain_error(screen);
+    return;
+  }
+  // nothin bad ever happened with a spin lock
+  for (int i = 0; i < 5; i++) {
+    if (frame_ready) {
+      break;
+    }
+    vexDelay(1);
+  }
+  screen.drawImageFromBuffer((uint32_t *)argb_buffer, x, y, w, h);
+}
\ No newline at end of file
diff --git a/src/subsystems/mecanum_drive.cpp b/src/subsystems/mecanum_drive.cpp
index 793c1b9..53b7519 100644
--- a/src/subsystems/mecanum_drive.cpp
+++ b/src/subsystems/mecanum_drive.cpp
@@ -1,47 +1,45 @@
 #include "../core/include/subsystems/mecanum_drive.h"
-#include "../core/include/utils/vector2d.h"
 #include "../core/include/utils/math_util.h"
+#include "../core/include/utils/vector2d.h"
 
 /**
-* Create the Mecanum drivetrain object
-*/
-MecanumDrive::MecanumDrive(vex::motor &left_front, vex::motor &right_front, vex::motor &left_rear, vex::motor &right_rear, 
-                           vex::rotation *lateral_wheel, vex::inertial *imu, mecanumdrive_config_t *config)
-: left_front(left_front), right_front(right_front), left_rear(left_rear), right_rear(right_rear), // MOTOR CONFIG
-  config(config), // CONFIG ...uh... config
-  lateral_wheel(lateral_wheel), // NON-DRIVEN WHEEL CONFIG
-  imu(imu) //IMU CONFIG
+ * Create the Mecanum drivetrain object
+ */
+MecanumDrive::MecanumDrive(vex::motor &left_front, vex::motor &right_front, vex::motor &left_rear,
+                           vex::motor &right_rear, vex::rotation *lateral_wheel, vex::inertial *imu,
+                           mecanumdrive_config_t *config)
+    : left_front(left_front), right_front(right_front), left_rear(left_rear), right_rear(right_rear), // MOTOR CONFIG
+      config(config),               // CONFIG ...uh... config
+      lateral_wheel(lateral_wheel), // NON-DRIVEN WHEEL CONFIG
+      imu(imu)                      // IMU CONFIG
 {
 
   // If the configuration exists, then allocate memory for the drive and turn pids
-  if(config != NULL)
-  {
+  if (config != NULL) {
     drive_pid = new PID(config->drive_pid_conf);
     drive_gyro_pid = new PID(config->drive_gyro_pid_conf);
     turn_pid = new PID(config->turn_pid_conf);
   }
-
 }
 
 /**
-  * Drive the robot using vectors. This handles all the math required for mecanum control.
-  *
-  * @param direction_deg  the direction to drive the robot, in degrees. 0 is forward,
-  *                       180 is back, clockwise is positive, counterclockwise is negative.
-  * @param magnitude      How fast the robot should drive, in percent: 0.0->1.0
-  * @param rotation       How fast the robot should rotate, in percent: -1.0->+1.0
-  */
-void MecanumDrive::drive_raw(double direction_deg, double magnitude, double rotation)
-{
+ * Drive the robot using vectors. This handles all the math required for mecanum control.
+ *
+ * @param direction_deg  the direction to drive the robot, in degrees. 0 is forward,
+ *                       180 is back, clockwise is positive, counterclockwise is negative.
+ * @param magnitude      How fast the robot should drive, in percent: 0.0->1.0
+ * @param rotation       How fast the robot should rotate, in percent: -1.0->+1.0
+ */
+void MecanumDrive::drive_raw(double direction_deg, double magnitude, double rotation) {
   double direction = deg2rad(direction_deg);
-  
+
   // ALGORITHM - "rotate" the vector by 45 degrees and apply each corner to a wheel
   // .. Oh, and mix rotation too
   double lf = (magnitude * cos(direction - (PI / 4.0))) + rotation;
   double rf = (magnitude * cos(direction + (PI / 4.0))) - rotation;
   double lr = (magnitude * cos(direction + (PI / 4.0))) + rotation;
   double rr = (magnitude * cos(direction - (PI / 4.0))) - rotation;
-  
+
   // Limit the output between -1.0 and +1.0
   lf = clamp(lf, -1.0, 1.0);
   rf = clamp(rf, -1.0, 1.0);
@@ -56,8 +54,8 @@ void MecanumDrive::drive_raw(double direction_deg, double magnitude, double rota
 }
 
 /**
- * Drive the robot with a mecanum-style / arcade drive. Inputs are in percent (-100.0 -> 100.0) straight from the controller.
- * Controls are mixed, so the robot can drive forward / strafe / rotate all at the same time. 
+ * Drive the robot with a mecanum-style / arcade drive. Inputs are in percent (-100.0 -> 100.0) straight from the
+ * controller. Controls are mixed, so the robot can drive forward / strafe / rotate all at the same time.
  *
  * @param left_y left joystick, Y axis (forward / backwards)
  * @param left_x left joystick, X axis (strafe left / right)
@@ -65,40 +63,37 @@ void MecanumDrive::drive_raw(double direction_deg, double magnitude, double rota
  * @param power = 2 how much of a "curve" there should be on drive controls; better for low speed maneuvers.
  *                Leave blank for a default curve of 2 (higher means more fidelity)
  */
-void MecanumDrive::drive(double left_y, double left_x, double right_x, int power)
-{
+void MecanumDrive::drive(double left_y, double left_x, double right_x, int power) {
   // LATERAL CONTROLS - convert cartesion to a vector
   double magnitude = sqrt(pow(left_y / 100.0, 2) + pow(left_x / 100.0, 2));
   magnitude = pow(magnitude, power);
-  
+
   double direction = atan2(left_x / 100.0, left_y / 100.0);
 
   // ROTATIONAL CONTROLS - just the right x joystick
   double rotation = right_x / 100.0;
 
-  //  
+  //
   rotation = sign(rotation) * fabs(pow(rotation, power));
-  
-  return this->drive_raw(rad2deg(direction), magnitude, rotation);  
+
+  return this->drive_raw(rad2deg(direction), magnitude, rotation);
 }
 
 /**
-  * Drive the robot in a straight line automatically.
-  * If the inertial was declared in the constructor, use it to correct while driving.
-  * If the lateral wheel was declared in the constructor, use it for more accurate positioning while strafing.
-  *
-  * @param inches   How far the robot should drive, in inches
-  * @param direction    What direction the robot should travel in, in degrees.
-  *                     0 is forward, +/-180 is reverse, clockwise is positive.
-  * @param speed    The maximum speed the robot should travel, in percent: -1.0->+1.0
-  * @param gyro_correction = true   Whether or not to use the gyro to help correct while driving.
-  *                               Will always be false if no gyro was declared in the constructor.
-  * @return Whether or not the maneuver is complete.
-  */
-bool MecanumDrive::auto_drive(double inches, double direction, double speed, bool gyro_correction)
-{
-  if(config == NULL || drive_pid == NULL)
-  {
+ * Drive the robot in a straight line automatically.
+ * If the inertial was declared in the constructor, use it to correct while driving.
+ * If the lateral wheel was declared in the constructor, use it for more accurate positioning while strafing.
+ *
+ * @param inches   How far the robot should drive, in inches
+ * @param direction    What direction the robot should travel in, in degrees.
+ *                     0 is forward, +/-180 is reverse, clockwise is positive.
+ * @param speed    The maximum speed the robot should travel, in percent: -1.0->+1.0
+ * @param gyro_correction = true   Whether or not to use the gyro to help correct while driving.
+ *                               Will always be false if no gyro was declared in the constructor.
+ * @return Whether or not the maneuver is complete.
+ */
+bool MecanumDrive::auto_drive(double inches, double direction, double speed, bool gyro_correction) {
+  if (config == NULL || drive_pid == NULL) {
     fprintf(stderr, "Failed to run MecanumDrive::auto_drive - Missing mecanumdrive_config_t in constructor\n");
     return true; // avoid an infinte loop within auto
   }
@@ -106,10 +101,8 @@ bool MecanumDrive::auto_drive(double inches, double direction, double speed, boo
   bool enable_gyro = gyro_correction && (imu != NULL);
   bool enable_wheel = (lateral_wheel != NULL);
 
-
   // INITIALIZE - only run ONCE "per drive" on startup
-  if(init == true)
-  {
+  if (init == true) {
 
     // Reset all driven encoders, and PID
     left_front.resetPosition();
@@ -120,16 +113,15 @@ bool MecanumDrive::auto_drive(double inches, double direction, double speed, boo
     drive_pid->reset();
 
     // Reset only if gyro exists
-    if(enable_gyro)
-    {
+    if (enable_gyro) {
       imu->resetRotation();
       drive_gyro_pid->reset();
       drive_gyro_pid->set_target(0.0);
     }
     // reset only if lateral wheel exists
-    if(enable_wheel) {
-      lateral_wheel->resetPosition();
-}
+    if (enable_wheel) {
+      lateral_wheel->resetPosition();
+    }
 
     // Finish setting up the PID loop - max speed and position target
     drive_pid->set_limits(-fabs(speed), fabs(speed));
@@ -147,44 +139,34 @@ bool MecanumDrive::auto_drive(double inches, double direction, double speed, boo
 
   // IF in quadrant 1 or 3, use left front and right rear wheels as "drive" movement
   // ELSE in quadrant 2 or 4, use left rear and right front wheels as "drive" movement
-  // Some wheels are NOT being averaged at any given time since the general mecanum algorithm makes them go slower than our robot speed
-  // somewhat of a nasty hack, but wheel slippage should make up for it, and multivariable calc is hard.
-  if( (direction > 0 && direction <= 90) || (direction < -90 && direction > -180))
-  {
-    drive_avg = fabs(left_front.position(rotationUnits::rev) * config->drive_wheel_diam * PI)
-              + fabs(right_rear.position(rotationUnits::rev) * config->drive_wheel_diam * PI)
-              / 2.0;
-  } else
-  {
-    drive_avg = fabs(left_rear.position(rotationUnits::rev) * config->drive_wheel_diam * PI)
-              + fabs(right_front.position(rotationUnits::rev) * config->drive_wheel_diam * PI)
-              / 2.0;
+  // Some wheels are NOT being averaged at any given time since the general mecanum algorithm makes them go slower than
+  // our robot speed somewhat of a nasty hack, but wheel slippage should make up for it, and multivariable calc is hard.
+  if ((direction > 0 && direction <= 90) || (direction < -90 && direction > -180)) {
+    drive_avg = fabs(left_front.position(rotationUnits::rev) * config->drive_wheel_diam * PI) +
+                fabs(right_rear.position(rotationUnits::rev) * config->drive_wheel_diam * PI) / 2.0;
+  } else {
+    drive_avg = fabs(left_rear.position(rotationUnits::rev) * config->drive_wheel_diam * PI) +
+                fabs(right_front.position(rotationUnits::rev) * config->drive_wheel_diam * PI) / 2.0;
   }
 
   // Only use the encoder wheel if it exists.
   // Without the wheel should be usable, but with it will be muuuuch more accurate.
-  if(enable_wheel)
-  {
+  if (enable_wheel) {
     // Distance driven = Magnitude = sqrt(x^2 + y^2)
     // Since drive_avg is already a polar magnitude, turn it into "Y" with cos(theta)
-    dist_avg = sqrt(
-      pow(lateral_wheel->position(rotationUnits::rev) * config->lateral_wheel_diam * PI, 2)
-      + pow(drive_avg * cos(direction * (PI / 180.0)), 2)
-    );
-  }else
-  {
+    dist_avg = sqrt(pow(lateral_wheel->position(rotationUnits::rev) * config->lateral_wheel_diam * PI, 2) +
+                    pow(drive_avg * cos(direction * (PI / 180.0)), 2));
+  } else {
     dist_avg = drive_avg;
   }
 
   // ...double check to avoid an infinite loop
   dist_avg = fabs(dist_avg);
 
-
   // ROTATION CORRECTION
   double rot = 0;
 
-  if(enable_gyro)
-  {
+  if (enable_gyro) {
     drive_gyro_pid->update(imu->rotation());
     rot = drive_gyro_pid->get();
   }
@@ -195,8 +177,7 @@ bool MecanumDrive::auto_drive(double inches, double direction, double speed, boo
   this->drive_raw(direction, drive_pid->get(), rot);
 
   // Stop and return true whenever the robot has completed it's drive.
-  if(drive_pid->is_on_target())
-  {
+  if (drive_pid->is_on_target()) {
     drive_raw(0, 0, 0);
     init = true;
     return true;
@@ -207,20 +188,18 @@ bool MecanumDrive::auto_drive(double inches, double direction, double speed, boo
 }
 
 /**
-* Autonomously turn the robot X degrees over it's center point. Uses a closed loop
-* for control.
-* @param degrees How many degrees to rotate the robot. Clockwise postive.
-* @param speed What percentage to run the motors at: 0.0 -> 1.0
-* @param ignore_imu = false Whether or not to use the Inertial for determining angle.
-*        Will instead use circumference formula + robot's wheelbase + encoders to determine.
-* 
-* @return whether or not the robot has finished the maneuver
-*/
-bool MecanumDrive::auto_turn(double degrees, double speed, bool ignore_imu)
-{
+ * Autonomously turn the robot X degrees over it's center point. Uses a closed loop
+ * for control.
+ * @param degrees How many degrees to rotate the robot. Clockwise postive.
+ * @param speed What percentage to run the motors at: 0.0 -> 1.0
+ * @param ignore_imu = false Whether or not to use the Inertial for determining angle.
+ *        Will instead use circumference formula + robot's wheelbase + encoders to determine.
+ *
+ * @return whether or not the robot has finished the maneuver
+ */
+bool MecanumDrive::auto_turn(double degrees, double speed, bool ignore_imu) {
   // Make sure the configurations exist before continuing
-  if(config == NULL || turn_pid == NULL)
-  {
+  if (config == NULL || turn_pid == NULL) {
     fprintf(stderr, "Failed to run MecanumDrive::auto_turn - Missing mecanumdrive_config_t in constructor\n");
     return true;
   }
@@ -229,16 +208,13 @@ bool MecanumDrive::auto_turn(double degrees, double speed, bool ignore_imu)
   ignore_imu = ignore_imu || (this->imu == NULL);
 
   // INITIALIZE - clear encoders / imu / pid loops
-  if(init == true)
-  {
-    if(ignore_imu)
-    {
+  if (init == true) {
+    if (ignore_imu) {
       this->left_front.resetPosition();
       this->right_front.resetPosition();
       this->left_rear.resetPosition();
       this->right_rear.resetPosition();
-    }else
-    {
+    } else {
       this->imu->resetRotation();
     }
 
@@ -253,15 +229,14 @@ bool MecanumDrive::auto_turn(double degrees, double speed, bool ignore_imu)
 
   double current_angle = 0.0;
 
-  if(ignore_imu)
-  {
-    double avg = (left_front.position(rotationUnits::rev) + left_rear.position(rotationUnits::rev) 
-                - right_front.position(rotationUnits::rev) - right_rear.position(rotationUnits::rev)) / 4.0;
+  if (ignore_imu) {
+    double avg = (left_front.position(rotationUnits::rev) + left_rear.position(rotationUnits::rev) -
+                  right_front.position(rotationUnits::rev) - right_rear.position(rotationUnits::rev)) /
+                 4.0;
 
     // Current arclength = (avg * wheel_diam * PI) = (theta * (wheelbase / 2.0)). then convert to degrees
     current_angle = (360.0 * avg * config->drive_wheel_diam) / config->wheelbase_width;
-  } else
-  {
+  } else {
     current_angle = imu->rotation();
   }
 
@@ -269,8 +244,7 @@ bool MecanumDrive::auto_turn(double degrees, double speed, bool ignore_imu)
   this->drive_raw(0, 0, turn_pid->get());
 
   // We have reached the target.
-  if(this->turn_pid->is_on_target())
-  {
+  if (this->turn_pid->is_on_target()) {
     this->drive_raw(0, 0, 0);
     init = true;
     return true;
diff --git a/src/subsystems/odometry/odometry_3wheel.cpp b/src/subsystems/odometry/odometry_3wheel.cpp
index 4715559..e7cbf20 100644
--- a/src/subsystems/odometry/odometry_3wheel.cpp
+++ b/src/subsystems/odometry/odometry_3wheel.cpp
@@ -1,218 +1,217 @@
 #include "../core/include/subsystems/odometry/odometry_3wheel.h"
-#include "../core/include/utils/vector2d.h"
 #include "../core/include/utils/math_util.h"
+#include "../core/include/utils/vector2d.h"
 
-Odometry3Wheel::Odometry3Wheel(CustomEncoder &lside_fwd, CustomEncoder &rside_fwd, CustomEncoder &off_axis, odometry3wheel_cfg_t &cfg, bool is_async) 
-: OdometryBase(is_async), lside_fwd(lside_fwd), rside_fwd(rside_fwd), off_axis(off_axis), cfg(cfg)
-{}
+Odometry3Wheel::Odometry3Wheel(CustomEncoder &lside_fwd, CustomEncoder &rside_fwd, CustomEncoder &off_axis,
+                               odometry3wheel_cfg_t &cfg, bool is_async)
+    : OdometryBase(is_async), lside_fwd(lside_fwd), rside_fwd(rside_fwd), off_axis(off_axis), cfg(cfg) {}
 
 /**
  * Update the current position of the robot once, using the current state of
  * the encoders and the previous known location
- * 
+ *
  * @return the robot's updated position
  */
-pose_t Odometry3Wheel::update()
-{
-    static double lside_old=0, rside_old=0, offax_old=0;
-
-    double lside = lside_fwd.position(deg);
-    double rside = rside_fwd.position(deg);
-    double offax = off_axis.position(deg);
-
-    double lside_delta = lside - lside_old;
-    double rside_delta = rside - rside_old;
-    double offax_delta = offax - offax_old;
-
-    lside_old = lside;
-    rside_old = rside;
-    offax_old = offax;
-
-    pose_t updated_pos = calculate_new_pos(lside_delta, rside_delta, offax_delta, current_pos, cfg);
-
-    static pose_t last_pos = updated_pos;
-    static double last_speed = 0;
-    static double last_ang_speed = 0;
-    static timer tmr;
-
-    double speed_local = 0;
-    double accel_local = 0;
-    double ang_speed_local = 0;
-    double ang_accel_local = 0;
-    bool update_vel_accel = tmr.time(sec) > 0.1;
-
-    // This loop runs too fast. Only check at LEAST every 1/10th sec
-    if(update_vel_accel)
-    {
-      // Calculate robot velocity
-      speed_local = pos_diff(updated_pos, last_pos) / tmr.time(sec);
-
-      // Calculate robot acceleration
-      accel_local = (speed_local - last_speed) / tmr.time(sec);
-
-      // Calculate robot angular velocity (deg/sec)
-      ang_speed_local = smallest_angle(updated_pos.rot, last_pos.rot) / tmr.time(sec);
-
-      // Calculate robot angular acceleration (deg/sec^2)
-      ang_accel_local = (ang_speed_local - last_ang_speed) / tmr.time(sec);
-
-      tmr.reset();
-      last_pos = updated_pos;
-      last_speed = speed_local;
-      last_ang_speed = ang_speed_local;
-    }
-
-    this->current_pos = updated_pos;
-    if(update_vel_accel)
-    {
-        this->speed = speed_local;
-        this->accel = accel_local;
-        this->ang_speed_deg = ang_speed_local;
-        this->ang_accel_deg = ang_accel_local;
-    }
-
-    return current_pos;
+pose_t Odometry3Wheel::update() {
+  static double lside_old = 0, rside_old = 0, offax_old = 0;
+
+  double lside = lside_fwd.position(deg);
+  double rside = rside_fwd.position(deg);
+  double offax = off_axis.position(deg);
+
+  double lside_delta = lside - lside_old;
+  double rside_delta = rside - rside_old;
+  double offax_delta = offax - offax_old;
+
+  lside_old = lside;
+  rside_old = rside;
+  offax_old = offax;
+
+  pose_t updated_pos = calculate_new_pos(lside_delta, rside_delta, offax_delta, current_pos, cfg);
+
+  static pose_t last_pos = updated_pos;
+  static double last_speed = 0;
+  static double last_ang_speed = 0;
+  static timer tmr;
+
+  double speed_local = 0;
+  double accel_local = 0;
+  double ang_speed_local = 0;
+  double ang_accel_local = 0;
+  bool update_vel_accel = tmr.time(sec) > 0.1;
+
+  // This loop runs too fast. Only check at LEAST every 1/10th sec
+  if (update_vel_accel) {
+    // Calculate robot velocity
+    speed_local = pos_diff(updated_pos, last_pos) / tmr.time(sec);
+
+    // Calculate robot acceleration
+    accel_local = (speed_local - last_speed) / tmr.time(sec);
+
+    // Calculate robot angular velocity (deg/sec)
+    ang_speed_local = smallest_angle(updated_pos.rot, last_pos.rot) / tmr.time(sec);
+
+    // Calculate robot angular acceleration (deg/sec^2)
+    ang_accel_local = (ang_speed_local - last_ang_speed) / tmr.time(sec);
+
+    tmr.reset();
+    last_pos = updated_pos;
+    last_speed = speed_local;
+    last_ang_speed = ang_speed_local;
+  }
+
+  this->current_pos = updated_pos;
+  if (update_vel_accel) {
+    this->speed = speed_local;
+    this->accel = accel_local;
+    this->ang_speed_deg = ang_speed_local;
+    this->ang_accel_deg = ang_accel_local;
+  }
+
+  return current_pos;
 }
 
 /**
- * Calculation method for the robot's new position using the change in encoders, the old position, and the robot's configuration.
- * This uses a series of arclength formulae for finding distance driven and change in angle.
- * Then vector math is used to combine it with the robot's old position data
- * 
+ * Calculation method for the robot's new position using the change in encoders, the old position, and the robot's
+ * configuration. This uses a series of arclength formulae for finding distance driven and change in angle. Then vector
+ * math is used to combine it with the robot's old position data
+ *
  * @param lside_delta_deg Left encoder change in rotation, in degrees
  * @param rside_delta_deg Right encoder change in rotation, in degrees
  * @param offax_delta_deg Off-axis (perpendicular) encoder change in rotation, in degrees
  * @param old_pos Robot's old position, for integration
  * @param cfg Data on robot's configuration (wheel diameter, wheelbase, off-axis distance from center)
- * @return The robot's new position (x, y, rot) 
+ * @return The robot's new position (x, y, rot)
  */
-pose_t Odometry3Wheel::calculate_new_pos(double lside_delta_deg, double rside_delta_deg, double offax_delta_deg, pose_t old_pos, odometry3wheel_cfg_t cfg)
-{
-    pose_t retval = {};
-
-    // Arclength formula for encoder degrees -> single wheel distance driven
-    double lside_dist = (cfg.wheel_diam / 2.0) * deg2rad(lside_delta_deg);
-    double rside_dist = (cfg.wheel_diam / 2.0) * deg2rad(rside_delta_deg);
-    double offax_dist = (cfg.wheel_diam / 2.0) * deg2rad(offax_delta_deg);
-    
-    // Inverse arclength formula for arc distance driven -> robot angle
-    double delta_angle_rad = (rside_dist - lside_dist) / cfg.wheelbase_dist;
-    double delta_angle_deg = rad2deg(delta_angle_rad);
-
-    // Distance along the robot's local Y axis (forward/backward)
-    double dist_local_y = (lside_dist + rside_dist) / 2.0;
-
-    // Distance along the robot's local X axis (right/left)
-    double dist_local_x = offax_dist - (delta_angle_rad * cfg.off_axis_center_dist);
-
-    // Change in displacement as a vector, on the local coordinate system (+y = robot fwd)
-    Vector2D local_displacement({.x=dist_local_x, .y=dist_local_y});
-
-    // Rotate the local displacement to match the old robot's rotation
-    double dir_delta_from_trans_rad = local_displacement.get_dir() - (PI/2.0);
-    double global_dir_rad = wrap_angle_rad(dir_delta_from_trans_rad + deg2rad(old_pos.rot));
-    Vector2D global_displacement(global_dir_rad, local_displacement.get_mag());
-
-    // Tack on the position change to the old position
-    Vector2D old_pos_vec({.x=old_pos.x, .y=old_pos.y});
-    Vector2D new_pos_vec = old_pos_vec + global_displacement;
-
-    retval.x = new_pos_vec.get_x();
-    retval.y = new_pos_vec.get_y();
-    retval.rot = wrap_angle_deg(old_pos.rot + delta_angle_deg);
-    
-    return retval;
+pose_t Odometry3Wheel::calculate_new_pos(double lside_delta_deg, double rside_delta_deg, double offax_delta_deg,
+                                         pose_t old_pos, odometry3wheel_cfg_t cfg) {
+  pose_t retval = {};
+
+  // Arclength formula for encoder degrees -> single wheel distance driven
+  double lside_dist = (cfg.wheel_diam / 2.0) * deg2rad(lside_delta_deg);
+  double rside_dist = (cfg.wheel_diam / 2.0) * deg2rad(rside_delta_deg);
+  double offax_dist = (cfg.wheel_diam / 2.0) * deg2rad(offax_delta_deg);
+
+  // Inverse arclength formula for arc distance driven -> robot angle
+  double delta_angle_rad = (rside_dist - lside_dist) / cfg.wheelbase_dist;
+  double delta_angle_deg = rad2deg(delta_angle_rad);
+
+  // Distance along the robot's local Y axis (forward/backward)
+  double dist_local_y = (lside_dist + rside_dist) / 2.0;
+
+  // Distance along the robot's local X axis (right/left)
+  double dist_local_x = offax_dist - (delta_angle_rad * cfg.off_axis_center_dist);
+
+  // Change in displacement as a vector, on the local coordinate system (+y = robot fwd)
+  Vector2D local_displacement({.x = dist_local_x, .y = dist_local_y});
+
+  // Rotate the local displacement to match the old robot's rotation
+  double dir_delta_from_trans_rad = local_displacement.get_dir() - (PI / 2.0);
+  double global_dir_rad = wrap_angle_rad(dir_delta_from_trans_rad + deg2rad(old_pos.rot));
+  Vector2D global_displacement(global_dir_rad, local_displacement.get_mag());
+
+  // Tack on the position change to the old position
+  Vector2D old_pos_vec({.x = old_pos.x, .y = old_pos.y});
+  Vector2D new_pos_vec = old_pos_vec + global_displacement;
+
+  retval.x = new_pos_vec.get_x();
+  retval.y = new_pos_vec.get_y();
+  retval.rot = wrap_angle_deg(old_pos.rot + delta_angle_deg);
+
+  return retval;
 }
 
 /**
  * A guided tuning process to automatically find tuning parameters.
  * This method is blocking, and returns when tuning has finished. Follow
  * the instructions on the controller to complete the tuning process
- * 
+ *
  * It is assumed the gear ratio and encoder PPR have been set correctly
- * 
+ *
  */
-void Odometry3Wheel::tune(vex::controller &con, TankDrive &drive)
-{
-
-    // TODO check if all the messages fit on the controller screen
-    // STEP 1: Align robot and reset odometry
-    con.Screen.clearScreen();
-    con.Screen.setCursor(1,1);
-    con.Screen.print("Wheel Diameter Test");
-    con.Screen.newLine();
-    con.Screen.print("Align robot with ref");
-    con.Screen.newLine();
-    con.Screen.newLine();
-    con.Screen.print("Press A to continue");
-    while(!con.ButtonA.pressing()) { vexDelay(20); }
-
-    double old_lval = lside_fwd.position(deg);
-    double old_rval = rside_fwd.position(deg);
-
-    // Step 2: Drive robot a known distance
-    con.Screen.clearLine(2);
-    con.Screen.setCursor(2,1);
-    con.Screen.print("Drive or Push robot");
-    con.Screen.newLine();
-    con.Screen.print("10 feet (5 tiles)");
-    con.Screen.newLine();
-    con.Screen.print("Press A to continue");
-    while(!con.ButtonA.pressing())
-    {
-        drive.drive_arcade(con.Axis3.position() / 100.0, con.Axis1.position() / 100.0);
-        vexDelay(20);
-    }
-
-    // Wheel diameter is ratio of expected distance / measured distance
-    double avg_deg = ((lside_fwd.position(deg) - old_lval) + (rside_fwd.position(deg) - old_rval)) / 2.0;
-    double measured_dist = 0.5 * deg2rad(avg_deg); // Simulate diam=1", radius=1/2"
-    double found_diam = 120.0 / measured_dist; 
-
-    // Step 3: Reset alignment for turning test
-    con.Screen.clearScreen();
-    con.Screen.setCursor(1,1);
-    con.Screen.print("Wheelbase Test");
-    con.Screen.newLine();
-    con.Screen.print("Align robot with ref");
-    con.Screen.newLine();
-    con.Screen.newLine();
-    con.Screen.print("Press A to continue");
-    while(!con.ButtonA.pressing()) { vexDelay(20); }
-    con.Screen.clearScreen();
-    
-    old_lval = lside_fwd.position(deg);
-    old_rval = rside_fwd.position(deg);
-    double old_offax = off_axis.position(deg);
-
-    con.Screen.setCursor(2,1);
-    con.Screen.clearLine();
-    con.Screen.print("Turn robot 10");
-    con.Screen.newLine();
-    con.Screen.print("times in place");
-    con.Screen.newLine();
-    con.Screen.print("Press A to continue");
-    while(!con.ButtonA.pressing())
-    {
-        drive.drive_arcade(0, con.Axis1.position() / 100.0);
-        vexDelay(20);
-    }
-
-    double lside_dist = deg2rad(lside_fwd.position(deg) - old_lval) * (found_diam / 2.0);
-    double rside_dist = deg2rad(rside_fwd.position(deg) - old_rval) * (found_diam / 2.0);
-    double offax_dist = deg2rad(off_axis.position(deg) - old_offax) * (found_diam / 2.0);
-
-    double expected_angle = 10 * (2*PI);
-    double found_wheelbase = fabs(rside_dist - lside_dist) / expected_angle;
-    double found_offax_center_dist = offax_dist / expected_angle;
-
-    con.Screen.clearScreen();
-    con.Screen.setCursor(1,1);
-    con.Screen.print("Diam: %f", found_diam);
-    con.Screen.newLine();
-    con.Screen.print("whlbase: %f", found_wheelbase);
-    con.Screen.newLine();
-    con.Screen.print("offax: %f", found_offax_center_dist);
-
-    printf("Tuning completed.\n  Wheel Diameter: %f\n  Wheelbase: %f\n  Off Axis Distance: %f\n", found_diam, found_wheelbase, found_offax_center_dist);
+void Odometry3Wheel::tune(vex::controller &con, TankDrive &drive) {
+
+  // TODO check if all the messages fit on the controller screen
+  // STEP 1: Align robot and reset odometry
+  con.Screen.clearScreen();
+  con.Screen.setCursor(1, 1);
+  con.Screen.print("Wheel Diameter Test");
+  con.Screen.newLine();
+  con.Screen.print("Align robot with ref");
+  con.Screen.newLine();
+  con.Screen.newLine();
+  con.Screen.print("Press A to continue");
+  while (!con.ButtonA.pressing()) {
+    vexDelay(20);
+  }
+
+  double old_lval = lside_fwd.position(deg);
+  double old_rval = rside_fwd.position(deg);
+
+  // Step 2: Drive robot a known distance
+  con.Screen.clearLine(2);
+  con.Screen.setCursor(2, 1);
+  con.Screen.print("Drive or Push robot");
+  con.Screen.newLine();
+  con.Screen.print("10 feet (5 tiles)");
+  con.Screen.newLine();
+  con.Screen.print("Press A to continue");
+  while (!con.ButtonA.pressing()) {
+    drive.drive_arcade(con.Axis3.position() / 100.0, con.Axis1.position() / 100.0);
+    vexDelay(20);
+  }
+
+  // Wheel diameter is ratio of expected distance / measured distance
+  double avg_deg = ((lside_fwd.position(deg) - old_lval) + (rside_fwd.position(deg) - old_rval)) / 2.0;
+  double measured_dist = 0.5 * deg2rad(avg_deg); // Simulate diam=1", radius=1/2"
+  double found_diam = 120.0 / measured_dist;
+
+  // Step 3: Reset alignment for turning test
+  con.Screen.clearScreen();
+  con.Screen.setCursor(1, 1);
+  con.Screen.print("Wheelbase Test");
+  con.Screen.newLine();
+  con.Screen.print("Align robot with ref");
+  con.Screen.newLine();
+  con.Screen.newLine();
+  con.Screen.print("Press A to continue");
+  while (!con.ButtonA.pressing()) {
+    vexDelay(20);
+  }
+  con.Screen.clearScreen();
+
+  old_lval = lside_fwd.position(deg);
+  old_rval = rside_fwd.position(deg);
+  double old_offax = off_axis.position(deg);
+
+  con.Screen.setCursor(2, 1);
+  con.Screen.clearLine();
+  con.Screen.print("Turn robot 10");
+  con.Screen.newLine();
+  con.Screen.print("times in place");
+  con.Screen.newLine();
+  con.Screen.print("Press A to continue");
+  while (!con.ButtonA.pressing()) {
+    drive.drive_arcade(0, con.Axis1.position() / 100.0);
+    vexDelay(20);
+  }
+
+  double lside_dist = deg2rad(lside_fwd.position(deg) - old_lval) * (found_diam / 2.0);
+  double rside_dist = deg2rad(rside_fwd.position(deg) - old_rval) * (found_diam / 2.0);
+  double offax_dist = deg2rad(off_axis.position(deg) - old_offax) * (found_diam / 2.0);
+
+  double expected_angle = 10 * (2 * PI);
+  double found_wheelbase = fabs(rside_dist - lside_dist) / expected_angle;
+  double found_offax_center_dist = offax_dist / expected_angle;
+
+  con.Screen.clearScreen();
+  con.Screen.setCursor(1, 1);
+  con.Screen.print("Diam: %f", found_diam);
+  con.Screen.newLine();
+  con.Screen.print("whlbase: %f", found_wheelbase);
+  con.Screen.newLine();
+  con.Screen.print("offax: %f", found_offax_center_dist);
+
+  printf("Tuning completed.\n  Wheel Diameter: %f\n  Wheelbase: %f\n  Off Axis Distance: %f\n", found_diam,
+         found_wheelbase, found_offax_center_dist);
 }
\ No newline at end of file
diff --git a/src/subsystems/odometry/odometry_base.cpp b/src/subsystems/odometry/odometry_base.cpp
index 15981ae..9b4d7eb 100644
--- a/src/subsystems/odometry/odometry_base.cpp
+++ b/src/subsystems/odometry/odometry_base.cpp
@@ -6,8 +6,7 @@
  *
  * @param is_async True to run constantly in the background, false to call update() manually
  */
-OdometryBase::OdometryBase(bool is_async) : current_pos(zero_pos)
-{
+OdometryBase::OdometryBase(bool is_async) : current_pos(zero_pos) {
   if (is_async) {
     handle = new vex::task(background_task, (void *)this);
   }
@@ -20,12 +19,10 @@ OdometryBase::OdometryBase(bool is_async) : current_pos(zero_pos)
  * @param ptr Pointer to OdometryBase object
  * @return Required integer return code. Unused.
  */
-int OdometryBase::background_task(void *ptr)
-{
+int OdometryBase::background_task(void *ptr) {
   OdometryBase &obj = *((OdometryBase *)ptr);
   vexDelay(1000);
-  while (!obj.end_task)
-  {
+  while (!obj.end_task) {
     obj.mut.lock();
     obj.update();
     obj.mut.unlock();
@@ -39,16 +36,12 @@ int OdometryBase::background_task(void *ptr)
  * If the user wants to end the thread but keep the data up to date,
  * they must run the update() function manually from then on.
  */
-void OdometryBase::end_async()
-{
-  this->end_task = true;
-}
+void OdometryBase::end_async() { this->end_task = true; }
 
 /**
  * Gets the current position and rotation
  */
-pose_t OdometryBase::get_position(void)
-{
+pose_t OdometryBase::get_position(void) {
   mut.lock();
 
   // Create a new struct to pass-by-value
@@ -62,8 +55,7 @@ pose_t OdometryBase::get_position(void)
 /**
  * Sets the current position of the robot
  */
-void OdometryBase::set_position(const pose_t &newpos)
-{
+void OdometryBase::set_position(const pose_t &newpos) {
   mut.lock();
 
   current_pos = newpos;
@@ -71,10 +63,11 @@ void OdometryBase::set_position(const pose_t &newpos)
   mut.unlock();
 }
 
-AutoCommand *OdometryBase::SetPositionCmd(const pose_t &newpos)
-{
-  return new FunctionCommand([&](){set_position(newpos); return true;});
-
+AutoCommand *OdometryBase::SetPositionCmd(const pose_t &newpos) {
+  return new FunctionCommand([&]() {
+    set_position(newpos);
+    return true;
+  });
 }
 
 /**
@@ -83,8 +76,7 @@ AutoCommand *OdometryBase::SetPositionCmd(const pose_t &newpos)
  * @param end_pos to this point
  * @return the euclidean distance between start_pos and end_pos
  */
-double OdometryBase::pos_diff(pose_t start_pos, pose_t end_pos)
-{
+double OdometryBase::pos_diff(pose_t start_pos, pose_t end_pos) {
   // Use the pythagorean theorem
   double retval = sqrt(pow(end_pos.x - start_pos.x, 2) + pow(end_pos.y - start_pos.y, 2));
 
@@ -94,35 +86,30 @@ double OdometryBase::pos_diff(pose_t start_pos, pose_t end_pos)
 /**
  * Get the change in rotation between two points
  */
-double OdometryBase::rot_diff(pose_t pos1, pose_t pos2)
-{
-  return pos1.rot - pos2.rot;
-}
+double OdometryBase::rot_diff(pose_t pos1, pose_t pos2) { return pos1.rot - pos2.rot; }
 
 /**
  * Get the smallest difference in angle between a start heading and end heading.
  * Returns the difference between -180 degrees and +180 degrees, representing the robot
  * turning left or right, respectively.
  */
-double OdometryBase::smallest_angle(double start_deg, double end_deg)
-{
+double OdometryBase::smallest_angle(double start_deg, double end_deg) {
   double retval;
   // get the difference between 0 and 360
   retval = fmod(end_deg - start_deg, 360.0);
   if (retval < 0) {
     retval += 360.0;
-}
+  }
 
   // Get the closest angle, now between -180 (turn left) and +180 (turn right)
   if (retval > 180) {
     retval -= 360;
-}
+  }
 
   return retval;
 }
 
-double OdometryBase::get_speed()
-{
+double OdometryBase::get_speed() {
   mut.lock();
   double retval = speed;
   mut.unlock();
@@ -130,8 +117,7 @@ double OdometryBase::get_speed()
   return retval;
 }
 
-double OdometryBase::get_accel()
-{
+double OdometryBase::get_accel() {
   mut.lock();
   double retval = accel;
   mut.unlock();
@@ -139,8 +125,7 @@ double OdometryBase::get_accel()
   return retval;
 }
 
-double OdometryBase::get_angular_speed_deg()
-{
+double OdometryBase::get_angular_speed_deg() {
   mut.lock();
   double retval = ang_speed_deg;
   mut.unlock();
@@ -148,8 +133,7 @@ double OdometryBase::get_angular_speed_deg()
   return retval;
 }
 
-double OdometryBase::get_angular_accel_deg()
-{
+double OdometryBase::get_angular_accel_deg() {
   mut.lock();
   double retval = ang_accel_deg;
   mut.unlock();
diff --git a/src/subsystems/odometry/odometry_tank.cpp b/src/subsystems/odometry/odometry_tank.cpp
index b910cff..b0a397d 100644
--- a/src/subsystems/odometry/odometry_tank.cpp
+++ b/src/subsystems/odometry/odometry_tank.cpp
@@ -4,47 +4,52 @@
  * Initialize the Odometry module, calculating position from the drive motors.
  * @param left_side The left motors
  * @param right_side The right motors
- * @param config the specifications that supply the odometry with descriptions of the robot. See robot_specs_t for what is contained
+ * @param config the specifications that supply the odometry with descriptions of the robot. See robot_specs_t for what
+ * is contained
  * @param imu The robot's inertial sensor. If not included, rotation is calculated from the encoders.
- * @param is_async If true, position will be updated in the background continuously. If false, the programmer will have to manually call update().
+ * @param is_async If true, position will be updated in the background continuously. If false, the programmer will have
+ * to manually call update().
  */
-OdometryTank::OdometryTank(vex::motor_group &left_side, vex::motor_group &right_side, robot_specs_t &config, vex::inertial *imu, bool is_async)
-    : OdometryBase(is_async), left_side(&left_side), right_side(&right_side), left_custom_enc(NULL), right_custom_enc(NULL), left_vex_enc(NULL), right_vex_enc(NULL), imu(imu), config(config)
-{
-}
+OdometryTank::OdometryTank(vex::motor_group &left_side, vex::motor_group &right_side, robot_specs_t &config,
+                           vex::inertial *imu, bool is_async)
+    : OdometryBase(is_async), left_side(&left_side), right_side(&right_side), left_custom_enc(NULL),
+      right_custom_enc(NULL), left_vex_enc(NULL), right_vex_enc(NULL), imu(imu), config(config) {}
 
 /**
  * Initialize the Odometry module, calculating position from the drive motors.
  * @param left_custom_enc The left custom encoder
  * @param right_custom_enc The right custom encoder
- * @param config the specifications that supply the odometry with descriptions of the robot. See robot_specs_t for what is contained
+ * @param config the specifications that supply the odometry with descriptions of the robot. See robot_specs_t for what
+ * is contained
  * @param imu The robot's inertial sensor. If not included, rotation is calculated from the encoders.
- * @param is_async If true, position will be updated in the background continuously. If false, the programmer will have to manually call update().
+ * @param is_async If true, position will be updated in the background continuously. If false, the programmer will have
+ * to manually call update().
  */
-OdometryTank::OdometryTank(CustomEncoder &left_custom_enc, CustomEncoder &right_custom_enc, robot_specs_t &config, vex::inertial *imu, bool is_async)
-    : OdometryBase(is_async), left_side(NULL), right_side(NULL), left_custom_enc(&left_custom_enc), right_custom_enc(&right_custom_enc), left_vex_enc(NULL), right_vex_enc(NULL), imu(imu), config(config)
-{
-}
+OdometryTank::OdometryTank(CustomEncoder &left_custom_enc, CustomEncoder &right_custom_enc, robot_specs_t &config,
+                           vex::inertial *imu, bool is_async)
+    : OdometryBase(is_async), left_side(NULL), right_side(NULL), left_custom_enc(&left_custom_enc),
+      right_custom_enc(&right_custom_enc), left_vex_enc(NULL), right_vex_enc(NULL), imu(imu), config(config) {}
 
 /**
  * Initialize the Odometry module, calculating position from the drive motors.
  * @param left_vex_enc The left vex encoder
  * @param right_vex_enc The right vex encoder
- * @param config the specifications that supply the odometry with descriptions of the robot. See robot_specs_t for what is contained
+ * @param config the specifications that supply the odometry with descriptions of the robot. See robot_specs_t for what
+ * is contained
  * @param imu The robot's inertial sensor. If not included, rotation is calculated from the encoders.
- * @param is_async If true, position will be updated in the background continuously. If false, the programmer will have to manually call update().
+ * @param is_async If true, position will be updated in the background continuously. If false, the programmer will have
+ * to manually call update().
  */
-OdometryTank::OdometryTank(vex::encoder &left_vex_enc, vex::encoder &right_vex_enc, robot_specs_t &config, vex::inertial *imu, bool is_async)
-    : OdometryBase(is_async), left_side(NULL), right_side(NULL), left_custom_enc(NULL), right_custom_enc(NULL), left_vex_enc(&left_vex_enc), right_vex_enc(&right_vex_enc), imu(imu), config(config)
-{
-}
+OdometryTank::OdometryTank(vex::encoder &left_vex_enc, vex::encoder &right_vex_enc, robot_specs_t &config,
+                           vex::inertial *imu, bool is_async)
+    : OdometryBase(is_async), left_side(NULL), right_side(NULL), left_custom_enc(NULL), right_custom_enc(NULL),
+      left_vex_enc(&left_vex_enc), right_vex_enc(&right_vex_enc), imu(imu), config(config) {}
 
 /**
  * Resets the position and rotational data to the input.
  *
  */
-void OdometryTank::set_position(const pose_t &newpos)
-{
+void OdometryTank::set_position(const pose_t &newpos) {
   mut.lock();
   rotation_offset = newpos.rot - (current_pos.rot - rotation_offset);
   mut.unlock();
@@ -56,22 +61,16 @@ void OdometryTank::set_position(const pose_t &newpos)
  * Update, store and return the current position of the robot. Only use if not initializing
  * with a separate thread.
  */
-pose_t OdometryTank::update()
-{
+pose_t OdometryTank::update() {
   double lside_revs = 0, rside_revs = 0;
 
-  if (left_side != NULL && right_side != NULL)
-  {
+  if (left_side != NULL && right_side != NULL) {
     lside_revs = left_side->position(vex::rotationUnits::rev) / config.odom_gear_ratio;
     rside_revs = right_side->position(vex::rotationUnits::rev) / config.odom_gear_ratio;
-  }
-  else if (left_custom_enc != NULL && right_custom_enc != NULL)
-  {
+  } else if (left_custom_enc != NULL && right_custom_enc != NULL) {
     lside_revs = left_custom_enc->position(vex::rotationUnits::rev) / config.odom_gear_ratio;
     rside_revs = right_custom_enc->position(vex::rotationUnits::rev) / config.odom_gear_ratio;
-  }
-  else if (left_vex_enc != NULL && right_vex_enc != NULL)
-  {
+  } else if (left_vex_enc != NULL && right_vex_enc != NULL) {
     lside_revs = left_vex_enc->position(vex::rotationUnits::rev) / config.odom_gear_ratio;
     rside_revs = right_vex_enc->position(vex::rotationUnits::rev) / config.odom_gear_ratio;
   }
@@ -79,8 +78,7 @@ pose_t OdometryTank::update()
   double angle = 0;
 
   // If the IMU data was passed in, use it for rotational data
-  if (imu == NULL || imu->installed() == false)
-  {
+  if (imu == NULL || imu->installed() == false) {
     // Get the difference in distance driven between the two sides
     // Uses the absolute position of the encoders, so resetting them will result in
     // a bad angle.
@@ -91,9 +89,7 @@ pose_t OdometryTank::update()
     angle = ((180.0 / PI) * (distance_diff / config.dist_between_wheels)) + 90;
 
     // printf("angle: %f, ", (180.0 / PI) * (distance_diff / config.dist_between_wheels));
-  }
-  else
-  {
+  } else {
     // Translate "0 forward and clockwise positive" to "90 forward and CCW negative"
     angle = -imu->rotation(vex::rotationUnits::deg) + 90;
   }
@@ -106,7 +102,7 @@ pose_t OdometryTank::update()
   angle = fmod(angle, 360.0);
   if (angle < 0) {
     angle += 360;
-}
+  }
 
   current_pos = calculate_new_pos(config, current_pos, lside_revs, rside_revs, angle);
 
@@ -117,8 +113,7 @@ pose_t OdometryTank::update()
   bool update_vel_accel = tmr.time(sec) > 0.02;
 
   // This loop runs too fast. Only check at LEAST every 1/10th sec
-  if (update_vel_accel)
-  {
+  if (update_vel_accel) {
     // Calculate robot velocity
     double this_speed = pos_diff(current_pos, last_pos) / tmr.time(sec);
     ema.add_entry(this_speed);
@@ -145,8 +140,8 @@ pose_t OdometryTank::update()
  * Using information about the robot's mechanical structure and sensors, calculate a new position
  * of the robot, relative to when this method was previously ran.
  */
-pose_t OdometryTank::calculate_new_pos(robot_specs_t &config, pose_t &curr_pos, double lside_revs, double rside_revs, double angle_deg)
-{
+pose_t OdometryTank::calculate_new_pos(robot_specs_t &config, pose_t &curr_pos, double lside_revs, double rside_revs,
+                                       double angle_deg) {
   pose_t new_pos;
 
   static double stored_lside_revs = lside_revs;
diff --git a/src/subsystems/screen.cpp b/src/subsystems/screen.cpp
index 6518bd0..336858d 100644
--- a/src/subsystems/screen.cpp
+++ b/src/subsystems/screen.cpp
@@ -30,8 +30,7 @@ void draw_widget(vex::brain::lcd &scr, WidgetConfig &widget, ScreenRect rect) {
  * you probably shouldnt have to use it
  */
 struct ScreenData {
-  ScreenData(const std::vector<Page *> &m_pages, int m_page,
-             vex::brain::lcd &m_screen)
+  ScreenData(const std::vector<Page *> &m_pages, int m_page, vex::brain::lcd &m_screen)
       : pages(m_pages), page(m_page), screen(m_screen) {}
   std::vector<Page *> pages;
   int page = 0;
@@ -50,8 +49,7 @@ static ScreenData *screen_data_ptr;
 /// @param screen the brain screen
 /// @param pages the list of pages in your UI slideshow
 /// @param first_page the page to start on (by default 0)
-void start_screen(vex::brain::lcd &screen, std::vector<Page *> pages,
-                  int first_page) {
+void start_screen(vex::brain::lcd &screen, std::vector<Page *> pages, int first_page) {
   if (pages.size() == 0) {
     printf("No pages, not starting screen");
     return;
@@ -65,8 +63,7 @@ void start_screen(vex::brain::lcd &screen, std::vector<Page *> pages,
 
   ScreenData *data = new ScreenData{pages, first_page, screen};
 
-  screen_thread =
-      new vex::thread(screen_thread_func, static_cast<void *>(data));
+  screen_thread = new vex::thread(screen_thread_func, static_cast<void *>(data));
 }
 
 void stop_screen() { running = false; }
@@ -81,6 +78,10 @@ void next_page() {
   screen_data_ptr->page++;
   screen_data_ptr->page %= screen_data_ptr->pages.size();
 }
+void goto_page(size_t page) {
+  screen_data_ptr->page = page;
+  screen_data_ptr->page %= screen_data_ptr->pages.size();
+}
 
 /**
  * @brief runs the screen thread
@@ -162,28 +163,22 @@ int screen_thread_func(void *screen_data_v) {
  * @param update_f drawing function
  * @param draw_f drawing function
  */
-FunctionPage::FunctionPage(update_func_t update_f, draw_func_t draw_f)
-    : update_f(update_f), draw_f(draw_f) {}
+FunctionPage::FunctionPage(update_func_t update_f, draw_func_t draw_f) : update_f(update_f), draw_f(draw_f) {}
 
 /// @brief update uses the supplied update function to update this page
-void FunctionPage::update(bool was_pressed, int x, int y) {
-  update_f(was_pressed, x, y);
-}
+void FunctionPage::update(bool was_pressed, int x, int y) { update_f(was_pressed, x, y); }
 /// @brief draw uses the supplied draw function to draw to the screen
-void FunctionPage::draw(vex::brain::lcd &screen, bool first_draw,
-                        unsigned int frame_number) {
+void FunctionPage::draw(vex::brain::lcd &screen, bool first_draw, unsigned int frame_number) {
   draw_f(screen, first_draw, frame_number);
 }
 
-StatsPage::StatsPage(std::map<std::string, vex::motor &> motors)
-    : motors(motors) {}
+StatsPage::StatsPage(std::map<std::string, vex::motor &> motors) : motors(motors) {}
 void StatsPage::update(bool was_pressed, int x, int y) {
   (void)x;
   (void)y;
   (void)was_pressed;
 }
-void StatsPage::draw_motor_stats(const std::string &name, vex::motor &mot,
-                                 unsigned int frame, int x, int y,
+void StatsPage::draw_motor_stats(const std::string &name, vex::motor &mot, unsigned int frame, int x, int y,
                                  vex::brain::lcd &scr) {
   const vex::color hot_col = vex::color(120, 0, 0);
   const vex::color med_col = vex::color(140, 100, 0);
@@ -207,8 +202,7 @@ void StatsPage::draw_motor_stats(const std::string &name, vex::motor &mot,
   }
 
   scr.drawRectangle(x, y, row_width, row_height, col);
-  scr.printAt(x + 2, y + 16, false, " %2d   %2.0fC   %.7s", port, temp,
-              name.c_str());
+  scr.printAt(x + 2, y + 16, false, " %2d   %2.0fC   %.7s", port, temp, name.c_str());
 }
 void StatsPage::draw(vex::brain::lcd &scr, bool first_draw [[maybe_unused]],
                      unsigned int frame_number [[maybe_unused]]) {
@@ -235,12 +229,10 @@ void StatsPage::draw(vex::brain::lcd &scr, bool first_draw [[maybe_unused]],
   }
   vex::brain b;
   scr.printAt(50, 220, "Battery: %2.1fv  %2.0fC %d%%", b.Battery.voltage(),
-              b.Battery.temperature(vex::temperatureUnits::celsius),
-              b.Battery.capacity());
+              b.Battery.temperature(vex::temperatureUnits::celsius), b.Battery.capacity());
 }
 
-OdometryPage::OdometryPage(OdometryBase &odom, double width, double height,
-                           bool do_trail)
+OdometryPage::OdometryPage(OdometryBase &odom, double width, double height, bool do_trail)
     : odom(odom), robot_width(width), robot_height(height), do_trail(do_trail),
       velocity_graph(30, 0.0, 0.0, {vex::green}, 1) {
   vex::brain b;
@@ -270,13 +262,10 @@ void OdometryPage::draw(vex::brain::lcd &scr, bool first_draw [[maybe_unused]],
     path_index %= path_len;
   }
 
-  auto to_px = [](const point_t p) -> point_t {
-    return {(double)in_to_px(p.x) + 200, (double)in_to_px(-p.y) + 240};
-  };
+  auto to_px = [](const point_t p) -> point_t { return {(double)in_to_px(p.x) + 200, (double)in_to_px(-p.y) + 240}; };
 
   auto draw_line = [to_px, &scr](const point_t from, const point_t to) {
-    scr.drawLine((int)to_px(from).x, (int)to_px(from).y, (int)to_px(to).x,
-                 (int)to_px(to).y);
+    scr.drawLine((int)to_px(from).x, (int)to_px(from).y, (int)to_px(to).x, (int)to_px(to).y);
   };
 
   point_t pos = pose.get_point();
@@ -341,8 +330,7 @@ bool SliderWidget::update(bool was_pressed, int x, int y) {
     double dx = x;
     double dy = y;
     if (rect.contains(point_t{dx, dy})) {
-      double pct =
-          (dx - rect.min.x - margin) / (rect.dimensions().x - 2 * margin);
+      double pct = (dx - rect.min.x - margin) / (rect.dimensions().x - 2 * margin);
       pct = clamp(pct, 0.0, 1.0);
       value = (low + pct * (high - low));
     }
@@ -365,8 +353,7 @@ void SliderWidget::draw(vex::brain::lcd &scr, bool first_draw [[maybe_unused]],
   scr.setFillColor(vex::color(50, 50, 50));
   scr.setPenWidth(1);
 
-  scr.drawRectangle(rect.min.x, rect.min.y, rect.dimensions().x,
-                    rect.dimensions().y);
+  scr.drawRectangle(rect.min.x, rect.min.y, rect.dimensions().x, rect.dimensions().y);
 
   scr.setPenColor(vex::color(200, 200, 200));
   scr.setPenWidth(4);
@@ -378,16 +365,13 @@ void SliderWidget::draw(vex::brain::lcd &scr, bool first_draw [[maybe_unused]],
   const double handle_width = 4;
   const double handle_height = 4;
 
-  scr.drawRectangle(vx - (handle_width / 2), y - (handle_height / 2),
-                    handle_width, handle_height);
+  scr.drawRectangle(vx - (handle_width / 2), y - (handle_height / 2), handle_width, handle_height);
   int text_w = scr.getStringWidth((name + "        ").c_str());
-  scr.printAt(xmid - text_w / 2, y - 15, false, "%s: %.5f", name.c_str(),
-              value);
+  scr.printAt(xmid - text_w / 2, y - 15, false, "%s: %.5f", name.c_str(), value);
 }
 
 bool ButtonWidget::update(bool was_pressed, int x, int y) {
-  if (was_pressed && !was_pressed_last &&
-      rect.contains({(double)x, (double)y})) {
+  if (was_pressed && !was_pressed_last && rect.contains({(double)x, (double)y})) {
     onpress();
     was_pressed_last = was_pressed;
     return true;
@@ -413,11 +397,9 @@ PIDPage::PIDPage(PID &pid, std::string name, std::function<void(void)> onchange)
       i_slider(cfg.i, 0.0, 0.05, Rect{{60, 80}, {180, 120}}, "I"),
       d_slider(cfg.d, 0.0, 0.05, Rect{{60, 140}, {180, 180}}, "D"),
       zero_i([this]() { zero_i_f(); }, Rect{{180, 80}, {220, 120}}, "0"),
-      zero_d([this]() { zero_d_f(); }, Rect{{180, 140}, {220, 180}}, "0"),
-      graph(40, 0, 0, {vex::red, vex::green}, 2) {}
+      zero_d([this]() { zero_d_f(); }, Rect{{180, 140}, {220, 180}}, "0"), graph(40, 0, 0, {vex::red, vex::green}, 2) {}
 
-PIDPage::PIDPage(PIDFF &pidff, std::string name,
-                 std::function<void(void)> onchange)
+PIDPage::PIDPage(PIDFF &pidff, std::string name, std::function<void(void)> onchange)
     : PIDPage((pidff.pid), name, onchange) {}
 
 void PIDPage::update(bool was_pressed, int x, int y) {
@@ -432,8 +414,7 @@ void PIDPage::update(bool was_pressed, int x, int y) {
     onchange();
   }
 }
-void PIDPage::draw(vex::brain::lcd &scr, bool first_draw [[maybe_unused]],
-                   unsigned int frame_number [[maybe_unused]]) {
+void PIDPage::draw(vex::brain::lcd &scr, bool first_draw [[maybe_unused]], unsigned int frame_number [[maybe_unused]]) {
   p_slider.draw(scr, first_draw, frame_number);
   i_slider.draw(scr, first_draw, frame_number);
   d_slider.draw(scr, first_draw, frame_number);
diff --git a/src/subsystems/tank_drive.cpp b/src/subsystems/tank_drive.cpp
index 3c33872..5721b58 100644
--- a/src/subsystems/tank_drive.cpp
+++ b/src/subsystems/tank_drive.cpp
@@ -1,145 +1,188 @@
-#include "../core/include/utils/geometry.h"
 #include "../core/include/subsystems/tank_drive.h"
-#include "../core/include/utils/math_util.h"
-#include "../core/include/utils/controls/pidff.h"
 #include "../core/include/utils/command_structure/drive_commands.h"
+#include "../core/include/utils/controls/pidff.h"
+#include "../core/include/utils/geometry.h"
+#include "../core/include/utils/math_util.h"
 
 TankDrive::TankDrive(motor_group &left_motors, motor_group &right_motors, robot_specs_t &config, OdometryBase *odom)
-    : left_motors(left_motors), right_motors(right_motors), correction_pid(config.correction_pid), odometry(odom), config(config)
-{
+    : left_motors(left_motors), right_motors(right_motors), correction_pid(config.correction_pid), odometry(odom),
+      config(config) {
   drive_default_feedback = config.drive_feedback;
   turn_default_feedback = config.turn_feedback;
 }
 
-AutoCommand *TankDrive::DriveToPointCmd(Feedback &fb, point_t pt, vex::directionType dir, double max_speed, double end_speed)
-{
+AutoCommand *TankDrive::DriveToPointCmd(Feedback &fb, point_t pt, vex::directionType dir, double max_speed,
+                                        double end_speed) {
   return new DriveToPointCommand(*this, fb, pt, dir, max_speed, end_speed);
 }
 
-AutoCommand *TankDrive::DriveToPointCmd(point_t pt, vex::directionType dir, double max_speed, double end_speed)
-{
+AutoCommand *TankDrive::DriveToPointCmd(point_t pt, vex::directionType dir, double max_speed, double end_speed) {
   return new DriveToPointCommand(*this, *drive_default_feedback, pt, dir, max_speed, end_speed);
 }
 
-AutoCommand *TankDrive::DriveForwardCmd(double dist, vex::directionType dir, double max_speed, double end_speed)
-{
+AutoCommand *TankDrive::DriveForwardCmd(double dist, vex::directionType dir, double max_speed, double end_speed) {
   return new DriveForwardCommand(*this, *drive_default_feedback, dist, dir, max_speed, end_speed);
 }
 
-AutoCommand *TankDrive::DriveForwardCmd(Feedback &fb, double dist, vex::directionType dir, double max_speed, double end_speed)
-{
+AutoCommand *TankDrive::DriveForwardCmd(Feedback &fb, double dist, vex::directionType dir, double max_speed,
+                                        double end_speed) {
   return new DriveForwardCommand(*this, fb, dist, dir, max_speed, end_speed);
 }
 
-AutoCommand *TankDrive::TurnToHeadingCmd(double heading, double max_speed, double end_speed)
-{
+AutoCommand *TankDrive::TurnToHeadingCmd(double heading, double max_speed, double end_speed) {
   return new TurnToHeadingCommand(*this, *turn_default_feedback, heading, max_speed, end_speed);
 }
-AutoCommand *TankDrive::TurnToHeadingCmd(Feedback &fb, double heading, double max_speed, double end_speed)
-{
+AutoCommand *TankDrive::TurnToHeadingCmd(Feedback &fb, double heading, double max_speed, double end_speed) {
   return new TurnToHeadingCommand(*this, fb, heading, max_speed, end_speed);
 }
 
-AutoCommand *TankDrive::TurnDegreesCmd(double degrees, double max_speed, double end_speed)
-{
+AutoCommand *TankDrive::TurnToPointCmd(double x, double y, vex::directionType dir, double max_speed, double end_speed) {
+  class TurnToPointCmd : public AutoCommand {
+  public:
+    TurnToPointCmd(TankDrive &td, double x, double y, vex::directionType dir, double max_speed, double end_speed)
+        : td(td), x(x), y(y), dir(dir), max_speed(max_speed), end_speed(end_speed), func_initialized(false) {}
+    bool run() override {
+      if (!func_initialized) {
+        pose_t pose = td.odometry->get_position();
+        double dy = y - pose.y;
+        double dx = x - pose.x;
+        heading = rad2deg(atan2(dy, dx));
+        if (dir != vex::directionType::fwd) {
+          heading += 90.0;
+        }
+        func_initialized = true;
+      }
+      return td.turn_to_heading(heading, max_speed, end_speed);
+    }
+    void on_timeout() override { td.stop(); }
+    TankDrive &td;
+    double x, y;
+    vex::directionType dir;
+    double max_speed;
+    double end_speed;
+    bool func_initialized;
+    double heading;
+  };
+  return new TurnToPointCmd(*this, x, y, dir, max_speed, end_speed);
+}
+
+AutoCommand *TankDrive::TurnDegreesCmd(double degrees, double max_speed, double end_speed) {
   return new TurnDegreesCommand(*this, *turn_default_feedback, degrees, max_speed, end_speed);
 }
-AutoCommand *TankDrive::TurnDegreesCmd(Feedback &fb, double degrees, double max_speed, double end_speed)
-{
+AutoCommand *TankDrive::TurnDegreesCmd(Feedback &fb, double degrees, double max_speed, double end_speed) {
   return new TurnDegreesCommand(*this, fb, degrees, max_speed, end_speed);
 }
-AutoCommand *TankDrive::PurePursuitCmd(PurePursuit::Path path, directionType dir, double max_speed, double end_speed)
-{
+AutoCommand *TankDrive::PurePursuitCmd(PurePursuit::Path path, directionType dir, double max_speed, double end_speed) {
   return new PurePursuitCommand(*this, *drive_default_feedback, path, dir, max_speed, end_speed);
 }
-AutoCommand *TankDrive::PurePursuitCmd(Feedback &feedback, PurePursuit::Path path, directionType dir, double max_speed, double end_speed)
-{
+AutoCommand *TankDrive::PurePursuitCmd(Feedback &feedback, PurePursuit::Path path, directionType dir, double max_speed,
+                                       double end_speed) {
   return new PurePursuitCommand(*this, feedback, path, dir, max_speed, end_speed);
 }
 
+Condition *TankDrive::DriveStalledCondition(double stall_time) {
+  class DriveStalledCondition : public Condition {
+  public:
+    DriveStalledCondition(TankDrive &td, double stall_time) : td(td), stalled_for(stall_time) {}
+    bool test() override {
+      if (!func_initialized) {
+        stopped_timer.reset();
+        func_initialized = true;
+      }
+      if (td.odometry->get_speed() > 0) {
+        stopped_timer.reset();
+      }
+      return stopped_timer.value() > stalled_for;
+    }
+    TankDrive &td;
+    vex::timer stopped_timer;
+    double stalled_for = 10.0;
+    bool func_initialized = false;
+  };
+  return new DriveStalledCondition(*this, stall_time);
+}
+AutoCommand *TankDrive::DriveTankCmd(double left, double right) {
+  class DriveTankCommand : public AutoCommand {
+  public:
+    DriveTankCommand(TankDrive &td, double left, double right) : td(td), left(left), right(right) {}
+    bool run() override {
+      td.drive_tank(left, right);
+      return false;
+    }
+    void on_timeout() override { td.stop(); }
+    TankDrive &td;
+    double left = 0;
+    double right = 0;
+  };
+  return new DriveTankCommand(*this, left, right);
+}
+
 /**
  * Reset the initialization for autonomous drive functions
  */
-void TankDrive::reset_auto()
-{
-  func_initialized = false;
-}
+void TankDrive::reset_auto() { func_initialized = false; }
 
 /**
  * Stops rotation of all the motors using their "brake mode"
  */
-void TankDrive::stop()
-{
+void TankDrive::stop() {
   left_motors.stop();
   right_motors.stop();
 }
 
-void TankDrive::drive_tank_raw(double left_norm, double right_norm)
-{
+void TankDrive::drive_tank_raw(double left_norm, double right_norm) {
   left_motors.spin(directionType::fwd, left_norm * 12, voltageUnits::volt);
   right_motors.spin(directionType::fwd, right_norm * 12, voltageUnits::volt);
 }
 /**
- * Drive the robot using differential style controls. left_motors controls the left motors,
- * right_motors controls the right motors.
+ * Drive the robot using differential style controls. left_motors controls the
+ * left motors, right_motors controls the right motors.
  *
  * left_motors and right_motors are in "percent": -1.0 -> 1.0
  */
 bool captured_position = false;
 bool was_breaking = false;
-void TankDrive::drive_tank(double left, double right, int power, BrakeType bt)
-{
+void TankDrive::drive_tank(double left, double right, int power, BrakeType bt) {
 
   left = modify_inputs(left, power);
   right = modify_inputs(right, power);
   double brake_threshold = 0.05;
   bool should_brake = (bt != BrakeType::None) && fabs(left) < brake_threshold && fabs(right) < brake_threshold;
 
-  if (!should_brake)
-  {
+  if (!should_brake) {
     drive_tank_raw(left, right);
     was_breaking = false;
     return;
   }
-  if (should_brake && !was_breaking)
-  {
+  if (should_brake && !was_breaking) {
     captured_position = false;
   }
   static PID::pid_config_t zero_vel_cfg = {.p = 0.005, .d = 0.0005};
   static PID zero_vel_pid = PID(zero_vel_cfg);
 
-  if (bt == BrakeType::ZeroVelocity)
-  {
+  if (bt == BrakeType::ZeroVelocity) {
     zero_vel_pid.set_target(0);
     double vel = left_motors.velocity(vex::velocityUnits::pct) + right_motors.velocity(vex::velocityUnits::pct);
     double outp = zero_vel_pid.update(vel);
     left_motors.spin(directionType::fwd, outp, voltageUnits::volt);
     right_motors.spin(directionType::fwd, outp, voltageUnits::volt);
-  }
-  else if (bt == BrakeType::Smart)
-  {
+  } else if (bt == BrakeType::Smart) {
     static pose_t target_pose = {.x = 0.0, .y = 0.0, .rot = 0.0};
 
     zero_vel_pid.set_target(0);
     double vel = odometry->get_speed();
-    if (fabs(vel) <= 0.01 && !captured_position)
-    {
+    if (fabs(vel) <= 0.01 && !captured_position) {
       target_pose = odometry->get_position();
       captured_position = true;
-    }
-    else if (captured_position)
-    {
+    } else if (captured_position) {
       double dist_to_target = odometry->pos_diff(target_pose, odometry->get_position());
-      if (dist_to_target < 12.0)
-      {
+      if (dist_to_target < 12.0) {
         drive_to_point(target_pose.x, target_pose.y, vex::fwd);
       } else {
         target_pose = odometry->get_position();
         reset_auto();
       }
-    }
-    else
-    {
+    } else {
       double outp = zero_vel_pid.update(vel);
       left_motors.spin(directionType::fwd, outp, voltageUnits::volt);
       right_motors.spin(directionType::fwd, outp, voltageUnits::volt);
@@ -149,13 +192,12 @@ void TankDrive::drive_tank(double left, double right, int power, BrakeType bt)
 }
 
 /**
- * Drive the robot using arcade style controls. forward_back controls the linear motion,
- * left_right controls the turning.
+ * Drive the robot using arcade style controls. forward_back controls the linear
+ * motion, left_right controls the turning.
  *
  * left_motors and right_motors are in "percent": -1.0 -> 1.0
  */
-void TankDrive::drive_arcade(double forward_back, double left_right, int power, BrakeType bt)
-{
+void TankDrive::drive_arcade(double forward_back, double left_right, int power, BrakeType bt) {
   forward_back = modify_inputs(forward_back, power);
   left_right = modify_inputs(left_right, power);
 
@@ -166,40 +208,40 @@ void TankDrive::drive_arcade(double forward_back, double left_right, int power,
 }
 
 /**
- * Use odometry to drive forward a certain distance using a custom feedback controller
+ * Use odometry to drive forward a certain distance using a custom feedback
+ * controller
  *
  * Returns whether or not the robot has reached it's destination.
  * @param inches     the distance to drive forward
  * @param dir        the direction we want to travel forward and backward
- * @param feedback   the custom feedback controller we will use to travel. controls the rate at which we accelerate and drive.
- * @param max_speed  the maximum percentage of robot speed at which the robot will travel. 1 = full power
- * @param end_speed  the movement profile will attempt to reach this velocity by its completion
+ * @param feedback   the custom feedback controller we will use to travel.
+ * controls the rate at which we accelerate and drive.
+ * @param max_speed  the maximum percentage of robot speed at which the robot
+ * will travel. 1 = full power
+ * @param end_speed  the movement profile will attempt to reach this velocity by
+ * its completion
  */
-bool TankDrive::drive_forward(double inches, directionType dir, Feedback &feedback, double max_speed, double end_speed)
-{
+bool TankDrive::drive_forward(double inches, directionType dir, Feedback &feedback, double max_speed,
+                              double end_speed) {
   static pose_t pos_setpt;
 
   // We can't run the auto drive function without odometry
-  if (odometry == NULL)
-  {
+  if (odometry == NULL) {
     fprintf(stderr, "Odometry is NULL. Unable to run drive_forward()\n");
     fflush(stderr);
     return true;
   }
 
-  // Generate a point X inches forward of the current position, on first startup
-  if (!func_initialized)
-  {
+  // Generate a point X inches forward of the current position, on first
+  // startup
+  if (!func_initialized) {
     pose_t cur_pos = odometry->get_position();
 
     // forwards is positive Y axis, backwards is negative
-    if (dir == directionType::rev)
-    {
+    if (dir == directionType::rev) {
       printf("going backwards\n");
       inches = -fabs(inches);
-    }
-    else
-    {
+    } else {
       printf("going forwards\n");
       inches = fabs(inches);
     }
@@ -219,40 +261,45 @@ bool TankDrive::drive_forward(double inches, directionType dir, Feedback &feedba
  * Autonomously drive the robot forward a certain distance
  *
  *
- * @param inches      degrees by which we will turn relative to the robot (+) turns ccw, (-) turns cw
+ * @param inches      degrees by which we will turn relative to the robot (+)
+ * turns ccw, (-) turns cw
  * @param dir        the direction we want to travel forward and backward
- * @param max_speed   the maximum percentage of robot speed at which the robot will travel. 1 = full power
- * @param end_speed   the movement profile will attempt to reach this velocity by its completion
+ * @param max_speed   the maximum percentage of robot speed at which the robot
+ * will travel. 1 = full power
+ * @param end_speed   the movement profile will attempt to reach this velocity
+ * by its completion
  * @return true if we have finished driving to our point
  */
-bool TankDrive::drive_forward(double inches, directionType dir, double max_speed, double end_speed)
-{
+bool TankDrive::drive_forward(double inches, directionType dir, double max_speed, double end_speed) {
   if (drive_default_feedback != NULL) {
     return drive_forward(inches, dir, *drive_default_feedback, max_speed, end_speed);
-}
+  }
 
-  printf("tank_drive.cpp: Cannot run drive_forward without a feedback controller!\n");
+  printf("tank_drive.cpp: Cannot run drive_forward without a feedback "
+         "controller!\n");
   fflush(stdout);
   return true;
 }
 
 /**
- * Autonomously turn the robot X degrees to counterclockwise (negative for clockwise), with a maximum motor speed
- * of percent_speed (-1.0 -> 1.0)
+ * Autonomously turn the robot X degrees to counterclockwise (negative for
+ * clockwise), with a maximum motor speed of percent_speed (-1.0 -> 1.0)
  *
  * Uses the specified feedback for it's control.
  *
- * @param degrees     degrees by which we will turn relative to the robot (+) turns ccw, (-) turns cw
- * @param feedback    the feedback controller we will use to travel. controls the rate at which we accelerate and drive.
- * @param max_speed   the maximum percentage of robot speed at which the robot will travel. 1 = full power
- * @param end_speed   the movement profile will attempt to reach this velocity by its completion
+ * @param degrees     degrees by which we will turn relative to the robot (+)
+ * turns ccw, (-) turns cw
+ * @param feedback    the feedback controller we will use to travel. controls
+ * the rate at which we accelerate and drive.
+ * @param max_speed   the maximum percentage of robot speed at which the robot
+ * will travel. 1 = full power
+ * @param end_speed   the movement profile will attempt to reach this velocity
+ * by its completion
  * @return true if we have turned our target number of degrees
  */
-bool TankDrive::turn_degrees(double degrees, Feedback &feedback, double max_speed, double end_speed)
-{
+bool TankDrive::turn_degrees(double degrees, Feedback &feedback, double max_speed, double end_speed) {
   // We can't run the auto drive function without odometry
-  if (odometry == NULL)
-  {
+  if (odometry == NULL) {
     fprintf(stderr, "Odometry is NULL. Unable to run turn_degrees()\n");
     fflush(stderr);
     return true;
@@ -261,8 +308,7 @@ bool TankDrive::turn_degrees(double degrees, Feedback &feedback, double max_spee
   static double target_heading = 0;
 
   // On the first run of the funciton, reset the gyro position and PID
-  if (!func_initialized)
-  {
+  if (!func_initialized) {
     double start_heading = odometry->get_position().rot;
     target_heading = start_heading + degrees;
   }
@@ -271,23 +317,26 @@ bool TankDrive::turn_degrees(double degrees, Feedback &feedback, double max_spee
 }
 
 /**
- * Autonomously turn the robot X degrees to counterclockwise (negative for clockwise), with a maximum motor speed
- * of percent_speed (-1.0 -> 1.0)
+ * Autonomously turn the robot X degrees to counterclockwise (negative for
+ * clockwise), with a maximum motor speed of percent_speed (-1.0 -> 1.0)
  *
  * Uses the defualt turning feedback of the drive system.
  *
- * @param degrees     degrees by which we will turn relative to the robot (+) turns ccw, (-) turns cw
- * @param max_speed   the maximum percentage of robot speed at which the robot will travel. 1 = full power
- * @param end_speed   the movement profile will attempt to reach this velocity by its completion
+ * @param degrees     degrees by which we will turn relative to the robot (+)
+ * turns ccw, (-) turns cw
+ * @param max_speed   the maximum percentage of robot speed at which the robot
+ * will travel. 1 = full power
+ * @param end_speed   the movement profile will attempt to reach this velocity
+ * by its completion
  * @return true if we turned te target number of degrees
  */
-bool TankDrive::turn_degrees(double degrees, double max_speed, double end_speed)
-{
+bool TankDrive::turn_degrees(double degrees, double max_speed, double end_speed) {
   if (turn_default_feedback != NULL) {
     return turn_degrees(degrees, *turn_default_feedback, max_speed, end_speed);
-}
+  }
 
-  printf("tank_drive.cpp: Cannot run turn_degrees without a feedback controller!\n");
+  printf("tank_drive.cpp: Cannot run turn_degrees without a feedback "
+         "controller!\n");
   fflush(stdout);
   return true;
 }
@@ -300,23 +349,24 @@ bool TankDrive::turn_degrees(double degrees, double max_speed, double end_speed)
  * @param x          the x position of the target
  * @param y          the y position of the target
  * @param dir        the direction we want to travel forward and backward
- * @param feedback   the feedback controller we will use to travel. controls the rate at which we accelerate and drive.
- * @param max_speed  the maximum percentage of robot speed at which the robot will travel. 1 = full power
- * @param end_speed  the movement profile will attempt to reach this velocity by its completion
+ * @param feedback   the feedback controller we will use to travel. controls the
+ * rate at which we accelerate and drive.
+ * @param max_speed  the maximum percentage of robot speed at which the robot
+ * will travel. 1 = full power
+ * @param end_speed  the movement profile will attempt to reach this velocity by
+ * its completion
  * @return true if we have reached our target point
  */
-bool TankDrive::drive_to_point(double x, double y, vex::directionType dir, Feedback &feedback, double max_speed, double end_speed)
-{
+bool TankDrive::drive_to_point(double x, double y, vex::directionType dir, Feedback &feedback, double max_speed,
+                               double end_speed) {
   // We can't run the auto drive function without odometry
-  if (odometry == NULL)
-  {
+  if (odometry == NULL) {
     fprintf(stderr, "Odometry is NULL. Unable to run drive_forward()\n");
     fflush(stderr);
     return true;
   }
 
-  if (!func_initialized)
-  {
+  if (!func_initialized) {
 
     double initial_dist = OdometryBase::pos_diff(odometry->get_position(), {.x = x, .y = y});
 
@@ -335,10 +385,7 @@ bool TankDrive::drive_to_point(double x, double y, vex::directionType dir, Feedb
   pose_t end_pos = {.x = x, .y = y};
 
   // Create a point (and vector) to get the direction
-  point_t pos_diff_pt =
-      {
-          .x = x - current_pos.x,
-          .y = y - current_pos.y};
+  point_t pos_diff_pt = {.x = x - current_pos.x, .y = y - current_pos.y};
 
   Vector2D point_vec(pos_diff_pt);
 
@@ -347,8 +394,9 @@ bool TankDrive::drive_to_point(double x, double y, vex::directionType dir, Feedb
 
   int sign = 1;
 
-  // Make an imaginary perpendicualar line to that between the bot and the point. If the point is behind that line,
-  // and the point is within the robot's radius, use negatives for feedback control.
+  // Make an imaginary perpendicualar line to that between the bot and the
+  // point. If the point is behind that line, and the point is within the
+  // robot's radius, use negatives for feedback control.
 
   double angle_to_point = atan2(y - current_pos.y, x - current_pos.x) * 180.0 / PI;
   double angle = fmod(current_pos.rot - angle_to_point, 360.0);
@@ -356,22 +404,22 @@ bool TankDrive::drive_to_point(double x, double y, vex::directionType dir, Feedb
   // Normalize the angle between 0 and 360
   if (angle > 360) {
     angle -= 360;
-}
+  }
   if (angle < 0) {
     angle += 360;
-}
+  }
 
   // If the angle is behind the robot, report negative.
   if (dir == directionType::fwd && angle > 90 && angle < 270) {
     sign = -1;
   } else if (dir == directionType::rev && (angle < 90 || angle > 270)) {
     sign = -1;
-}
+  }
 
-  if (fabs(dist_left) < config.drive_correction_cutoff)
-  {
-    // When inside the robot's cutoff radius, report the distance to the point along the robot's forward axis,
-    // so we always "reach" the point without having to do a lateral translation
+  if (fabs(dist_left) < config.drive_correction_cutoff) {
+    // When inside the robot's cutoff radius, report the distance to the
+    // point along the robot's forward axis, so we always "reach" the point
+    // without having to do a lateral translation
     dist_left *= fabs(cos(angle * PI / 180.0));
   }
 
@@ -385,7 +433,7 @@ bool TankDrive::drive_to_point(double x, double y, vex::directionType dir, Feedb
     delta_heading = OdometryBase::smallest_angle(current_pos.rot, heading);
   } else {
     delta_heading = OdometryBase::smallest_angle(current_pos.rot - 180, heading);
-}
+  }
 
   // Update the PID controllers with new information
   correction_pid.update(delta_heading);
@@ -395,7 +443,7 @@ bool TankDrive::drive_to_point(double x, double y, vex::directionType dir, Feedb
   double correction = 0;
   if (is_pure_pursuit || fabs(dist_left) > config.drive_correction_cutoff) {
     correction = correction_pid.get();
-}
+  }
 
   // Reverse the drive_pid output if we're going backwards
   double drive_pid_rval;
@@ -403,7 +451,7 @@ bool TankDrive::drive_to_point(double x, double y, vex::directionType dir, Feedb
     drive_pid_rval = feedback.get() * -1;
   } else {
     drive_pid_rval = feedback.get();
-}
+  }
 
   // Combine the two pid outputs
   double lside = drive_pid_rval + correction;
@@ -416,8 +464,7 @@ bool TankDrive::drive_to_point(double x, double y, vex::directionType dir, Feedb
   drive_tank(lside, rside);
 
   // Check if the robot has reached it's destination
-  if (feedback.is_on_target())
-  {
+  if (feedback.is_on_target()) {
     if (end_speed == 0) {
       stop();
     }
@@ -437,17 +484,19 @@ bool TankDrive::drive_to_point(double x, double y, vex::directionType dir, Feedb
  * @param x          the x position of the target
  * @param y          the y position of the target
  * @param dir        the direction we want to travel forward and backward
- * @param max_speed  the maximum percentage of robot speed at which the robot will travel. 1 = full power
- * @param end_speed  the movement profile will attempt to reach this velocity by its completion
+ * @param max_speed  the maximum percentage of robot speed at which the robot
+ * will travel. 1 = full power
+ * @param end_speed  the movement profile will attempt to reach this velocity by
+ * its completion
  * @return true if we have reached our target point
  */
-bool TankDrive::drive_to_point(double x, double y, vex::directionType dir, double max_speed, double end_speed)
-{
+bool TankDrive::drive_to_point(double x, double y, vex::directionType dir, double max_speed, double end_speed) {
   if (drive_default_feedback != NULL) {
     return this->drive_to_point(x, y, dir, *drive_default_feedback, max_speed, end_speed);
-}
+  }
 
-  printf("tank_drive.cpp: Cannot run drive_to_point without a feedback controller!\n");
+  printf("tank_drive.cpp: Cannot run drive_to_point without a feedback "
+         "controller!\n");
   fflush(stdout);
   return true;
 }
@@ -457,23 +506,23 @@ bool TankDrive::drive_to_point(double x, double y, vex::directionType dir, doubl
  * 0 is forward.
  *
  * @param heading_deg the heading to which we will turn
- * @param feedback    the feedback controller we will use to travel. controls the rate at which we accelerate and drive.
- * @param max_speed  the maximum percentage of robot speed at which the robot will travel. 1 = full power
- * @param end_speed  the movement profile will attempt to reach this velocity by its completion
+ * @param feedback    the feedback controller we will use to travel. controls
+ * the rate at which we accelerate and drive.
+ * @param max_speed  the maximum percentage of robot speed at which the robot
+ * will travel. 1 = full power
+ * @param end_speed  the movement profile will attempt to reach this velocity by
+ * its completion
  * @return true if we have reached our target heading
  */
-bool TankDrive::turn_to_heading(double heading_deg, Feedback &feedback, double max_speed, double end_speed)
-{
+bool TankDrive::turn_to_heading(double heading_deg, Feedback &feedback, double max_speed, double end_speed) {
   // We can't run the auto drive function without odometry
-  if (odometry == NULL)
-  {
+  if (odometry == NULL) {
     fprintf(stderr, "Odometry is NULL. Unable to run drive_forward()\n");
     fflush(stderr);
     return true;
   }
 
-  if (!func_initialized)
-  {
+  if (!func_initialized) {
     double initial_delta = OdometryBase::smallest_angle(odometry->get_position().rot, heading_deg);
     feedback.init(-initial_delta, 0, odometry->get_angular_speed_deg(), end_speed);
     feedback.set_limits(-fabs(max_speed), fabs(max_speed));
@@ -481,7 +530,8 @@ bool TankDrive::turn_to_heading(double heading_deg, Feedback &feedback, double m
     func_initialized = true;
   }
 
-  // Get the difference between the new heading and the current, and decide whether to turn left or right.
+  // Get the difference between the new heading and the current, and decide
+  // whether to turn left or right.
   double delta_heading = OdometryBase::smallest_angle(odometry->get_position().rot, heading_deg);
   feedback.update(-delta_heading);
 
@@ -490,8 +540,7 @@ bool TankDrive::turn_to_heading(double heading_deg, Feedback &feedback, double m
   drive_tank(-feedback.get(), feedback.get());
 
   // When the robot has reached it's angle, return true.
-  if (feedback.is_on_target())
-  {
+  if (feedback.is_on_target()) {
     func_initialized = false;
     stop();
     return true;
@@ -504,17 +553,19 @@ bool TankDrive::turn_to_heading(double heading_deg, Feedback &feedback, double m
  * 0 is forward. Uses the defualt turn feedback of the drive system
  *
  * @param heading_deg the heading to which we will turn
- * @param max_speed  the maximum percentage of robot speed at which the robot will travel. 1 = full power
- * @param end_speed  the movement profile will attempt to reach this velocity by its completion
+ * @param max_speed  the maximum percentage of robot speed at which the robot
+ * will travel. 1 = full power
+ * @param end_speed  the movement profile will attempt to reach this velocity by
+ * its completion
  * @return true if we have reached our target heading
  */
-bool TankDrive::turn_to_heading(double heading_deg, double max_speed, double end_speed)
-{
+bool TankDrive::turn_to_heading(double heading_deg, double max_speed, double end_speed) {
   if (turn_default_feedback != NULL) {
     return turn_to_heading(heading_deg, *turn_default_feedback, max_speed, end_speed);
-}
+  }
 
-  printf("tank_drive.cpp: Cannot run turn_to_heading without a feedback controller!\n");
+  printf("tank_drive.cpp: Cannot run turn_to_heading without a feedback "
+         "controller!\n");
   fflush(stdout);
   return true;
 }
@@ -524,17 +575,15 @@ bool TankDrive::turn_to_heading(double heading_deg, double max_speed, double end
  * Allows for better control of the robot at slower speeds
  * @param input the input signal -1 -> 1
  * @param power the power to raise the signal to
- * @return input^power accounting for any sign issues that would arise with this naive solution
+ * @return input^power accounting for any sign issues that would arise with this
+ * naive solution
  */
-double TankDrive::modify_inputs(double input, int power)
-{
-  return sign(input) * pow(std::abs(input), power);
-}
+double TankDrive::modify_inputs(double input, int power) { return sign(input) * pow(std::abs(input), power); }
 
 /**
- * Drive the robot autonomously using a pure-pursuit algorithm - Input path with a set of
- * waypoints - the robot will attempt to follow the points while cutting corners (radius)
- * to save time (compared to stop / turn / start)
+ * Drive the robot autonomously using a pure-pursuit algorithm - Input path with
+ * a set of waypoints - the robot will attempt to follow the points while
+ * cutting corners (radius) to save time (compared to stop / turn / start)
  *
  * @param path The list of coordinates to follow, in order
  * @param dir Run the bot forwards or backwards
@@ -542,23 +591,23 @@ double TankDrive::modify_inputs(double input, int power)
  * @param max_speed Limit the speed of the robot (for pid / pidff feedbacks)
  * @return True when the path is complete
  */
-bool TankDrive::pure_pursuit(PurePursuit::Path path, directionType dir, Feedback &feedback, double max_speed, double end_speed)
-{
+bool TankDrive::pure_pursuit(PurePursuit::Path path, directionType dir, Feedback &feedback, double max_speed,
+                             double end_speed) {
   std::vector<point_t> points = path.get_points();
-  if (!path.is_valid())
-  {
-    printf("WARNING: Unexpected pure pursuit path - some segments intersect or are too close\n");
+  if (!path.is_valid()) {
+    printf("WARNING: Unexpected pure pursuit path - some segments "
+           "intersect or are too close\n");
   }
   pose_t robot_pose = odometry->get_position();
 
-  // On function initialization, send the path-length estimate to the feedback controller
-  if (!func_initialized)
-  {
+  // On function initialization, send the path-length estimate to the feedback
+  // controller
+  if (!func_initialized) {
     if (dir != directionType::rev) {
       feedback.init(-estimate_path_length(points), 0, odometry->get_speed(), end_speed);
     } else {
       feedback.init(estimate_path_length(points), 0, odometry->get_speed(), end_speed);
-}
+    }
 
     func_initialized = true;
   }
@@ -578,15 +627,13 @@ bool TankDrive::pure_pursuit(PurePursuit::Path path, directionType dir, Feedback
     angle_diff = OdometryBase::smallest_angle(robot_pose.rot, rad2deg(atan2(localized.y, localized.x)));
   } else {
     angle_diff = OdometryBase::smallest_angle(robot_pose.rot + 180, rad2deg(atan2(localized.y, localized.x)));
-}
+  }
 
   // Correct the robot's heading until the last cut-off
-  if (!(is_last_point && robot_pose.get_point().dist(last_point) < config.drive_correction_cutoff))
-  {
+  if (!(is_last_point && robot_pose.get_point().dist(last_point) < config.drive_correction_cutoff)) {
     correction_pid.update(angle_diff);
     correction = correction_pid.get();
-  }
-  else // Inside cut-off radius, ignore horizontal diffs
+  } else // Inside cut-off radius, ignore horizontal diffs
   {
     dist_remaining *= cos(angle_diff * (PI / 180.0));
   }
@@ -595,7 +642,7 @@ bool TankDrive::pure_pursuit(PurePursuit::Path path, directionType dir, Feedback
     feedback.update(-dist_remaining);
   } else {
     feedback.update(dist_remaining);
-}
+  }
 
   max_speed = fabs(max_speed);
 
@@ -607,9 +654,9 @@ bool TankDrive::pure_pursuit(PurePursuit::Path path, directionType dir, Feedback
 
   drive_tank(left, right);
 
-  // When the robot has reached the end point and feedback reports on target, end pure pursuit
-  if (is_last_point && feedback.is_on_target())
-  {
+  // When the robot has reached the end point and feedback reports on target,
+  // end pure pursuit
+  if (is_last_point && feedback.is_on_target()) {
     func_initialized = false;
     stop();
     return true;
@@ -618,9 +665,9 @@ bool TankDrive::pure_pursuit(PurePursuit::Path path, directionType dir, Feedback
 }
 
 /**
- * Drive the robot autonomously using a pure-pursuit algorithm - Input path with a set of
- * waypoints - the robot will attempt to follow the points while cutting corners (radius)
- * to save time (compared to stop / turn / start)
+ * Drive the robot autonomously using a pure-pursuit algorithm - Input path with
+ * a set of waypoints - the robot will attempt to follow the points while
+ * cutting corners (radius) to save time (compared to stop / turn / start)
  *
  * Use the default drive feedback
  *
@@ -629,7 +676,6 @@ bool TankDrive::pure_pursuit(PurePursuit::Path path, directionType dir, Feedback
  * @param max_speed Limit the speed of the robot (for pid / pidff feedbacks)
  * @return True when the path is complete
  */
-bool TankDrive::pure_pursuit(PurePursuit::Path path, directionType dir, double max_speed, double end_speed)
-{
+bool TankDrive::pure_pursuit(PurePursuit::Path path, directionType dir, double max_speed, double end_speed) {
   return pure_pursuit(path, dir, *config.drive_feedback, max_speed, end_speed);
 }
\ No newline at end of file
diff --git a/src/utils/auto_chooser.cpp b/src/utils/auto_chooser.cpp
index 9ef9b87..2d3418e 100644
--- a/src/utils/auto_chooser.cpp
+++ b/src/utils/auto_chooser.cpp
@@ -5,8 +5,7 @@
  * so the driver can choose which autonomous to run.
  * @param brain the brain on which to draw the selection boxes
  */
-AutoChooser::AutoChooser(std::vector<std::string> paths, size_t def) : choice(def)
-{
+AutoChooser::AutoChooser(std::vector<std::string> paths, size_t def) : choice(def) {
   const static int per_line = 3;
   const static int num_lines = 2;
   const static int x_padding = 20;
@@ -18,42 +17,35 @@ AutoChooser::AutoChooser(std::vector<std::string> paths, size_t def) : choice(de
   list = std::vector<entry_t>(paths.size());
   int x = 50;
   int y = 10;
-  for (size_t i = 0; i < list.size(); i++)
-  {
+  for (size_t i = 0; i < list.size(); i++) {
     Rect r = Rect::from_min_and_size({(double)x, (double)y}, {entry_width, entry_height});
     list[i] = entry_t{r, paths[i]};
     x += entry_width + x_padding;
-    if ((i + 1) % per_line == 0)
-    {
+    if ((i + 1) % per_line == 0) {
       y += entry_height + y_padding;
       x = 50;
     }
   }
 }
-void AutoChooser::update(bool was_pressed, int x, int y)
-{
+void AutoChooser::update(bool was_pressed, int x, int y) {
   size_t i = 0;
-  for (const entry_t &e : list)
-  {
-    if (was_pressed && e.rect.contains({(double)x, (double)y}))
-    {
+  for (const entry_t &e : list) {
+    if (was_pressed && e.rect.contains({(double)x, (double)y})) {
       choice = i;
     }
     i++;
   }
 }
 
-void AutoChooser::draw(vex::brain::lcd &scr, [[maybe_unused]] bool first_draw, [[maybe_unused]] unsigned int frame_number)
-{
+void AutoChooser::draw(vex::brain::lcd &scr, [[maybe_unused]] bool first_draw,
+                       [[maybe_unused]] unsigned int frame_number) {
   scr.setFont(vex::fontType::mono20);
 
-  for (size_t i = 0; i < list.size(); i++)
-  {
+  for (size_t i = 0; i < list.size(); i++) {
     entry_t e = list[i];
     scr.setFillColor(vex::blue);
 
-    if (choice == i)
-    {
+    if (choice == i) {
       scr.setFillColor(vex::green);
     }
     scr.drawRectangle(e.rect.min.x, e.rect.min.y, e.rect.width(), e.rect.height());
@@ -66,7 +58,4 @@ void AutoChooser::draw(vex::brain::lcd &scr, [[maybe_unused]] bool first_draw, [
 /**
  * Return the selected autonomous
  */
-size_t AutoChooser::get_choice() 
-{
-  return choice;
-}
\ No newline at end of file
+size_t AutoChooser::get_choice() { return choice; }
\ No newline at end of file
diff --git a/src/utils/command_structure/auto_command.cpp b/src/utils/command_structure/auto_command.cpp
index 5bce832..657d4b6 100644
--- a/src/utils/command_structure/auto_command.cpp
+++ b/src/utils/command_structure/auto_command.cpp
@@ -1,334 +1,277 @@
 #include "../core/include/utils/command_structure/auto_command.h"
 
-class OrCondition : public Condition
-{
+class OrCondition : public Condition {
 public:
-    OrCondition(Condition *A, Condition *B) : A(A), B(B) {}
-    bool test() override
-    {
-        bool a = A->test();
-        bool b = B->test();
-        return a | b;
-    }
+  OrCondition(Condition *A, Condition *B) : A(A), B(B) {}
+  bool test() override {
+    bool a = A->test();
+    bool b = B->test();
+    return a | b;
+  }
 
 private:
-    Condition *A;
-    Condition *B;
+  Condition *A;
+  Condition *B;
 };
 
-class AndCondition : public Condition
-{
+class AndCondition : public Condition {
 public:
-    AndCondition(Condition *A, Condition *B) : A(A), B(B) {}
-    bool test() override
-    {
-        bool a = A->test();
-        bool b = B->test();
-        return a & b;
-    }
+  AndCondition(Condition *A, Condition *B) : A(A), B(B) {}
+  bool test() override {
+    bool a = A->test();
+    bool b = B->test();
+    return a & b;
+  }
 
 private:
-    Condition *A;
-    Condition *B;
+  Condition *A;
+  Condition *B;
 };
 
-Condition *Condition::Or(Condition *b)
-{
-    return new OrCondition(this, b);
-}
+Condition *Condition::Or(Condition *b) { return new OrCondition(this, b); }
 
-Condition *Condition::And(Condition *b)
-{
-    return new AndCondition(this, b);
-}
+Condition *Condition::And(Condition *b) { return new AndCondition(this, b); }
 
-bool FunctionCondition::test()
-{
-    return cond();
-}
+bool FunctionCondition::test() { return cond(); }
 IfTimePassed::IfTimePassed(double time_s) : time_s(time_s), tmr() {}
-bool IfTimePassed::test()
-{
-    return tmr.value() > time_s;
-}
+bool IfTimePassed::test() { return tmr.value() > time_s; }
 
-InOrder::InOrder(std::queue<AutoCommand *> cmds) : cmds(cmds)
-{
-    timeout_seconds = -1.0; // never timeout unless with_timeout is explicitly called
-}
-InOrder::InOrder(std::initializer_list<AutoCommand *> cmds) : cmds(cmds)
-{
-    timeout_seconds = -1.0;
+InOrder::InOrder(std::queue<AutoCommand *> cmds) : cmds(cmds) {
+  timeout_seconds = -1.0; // never timeout unless with_timeout is explicitly called
 }
+InOrder::InOrder(std::initializer_list<AutoCommand *> cmds) : cmds(cmds) { timeout_seconds = -1.0; }
 
-bool InOrder::run()
-{
-    // outer loop finished
-    if (cmds.size() == 0 && current_command == nullptr)
-    {
-        return true;
-    }
-    // retrieve and remove command at the front of the queue
-    if (current_command == nullptr)
-    {
-        printf("TAKING INORDER: len =  %d\n", cmds.size());
-        current_command = cmds.front();
-        cmds.pop();
-        tmr.reset();
-    }
-
-    // run command
-    bool cmd_finished = current_command->run();
-    if (cmd_finished)
-    {
-        printf("InOrder Cmd finished\n");
-        current_command = nullptr;
-        return false; // continue onto next command
-    }
-
-    double seconds = tmr.value();
-
-    bool should_timeout = current_command->timeout_seconds > 0.0;
-    bool doTimeout = should_timeout && seconds > current_command->timeout_seconds;
-    if (current_command->true_to_end != nullptr)
-    {
-        doTimeout = doTimeout || current_command->true_to_end->test();
-    }
-
-    // timeout
-    if (doTimeout)
-    {
-        printf("InOrder timed out\n");
-        current_command->on_timeout();
-        current_command = nullptr;
-        return false;
-    }
+bool InOrder::run() {
+  // outer loop finished
+  if (cmds.size() == 0 && current_command == nullptr) {
+    return true;
+  }
+  // retrieve and remove command at the front of the queue
+  if (current_command == nullptr) {
+    printf("TAKING INORDER: len =  %d\n", cmds.size());
+    current_command = cmds.front();
+    cmds.pop();
+    tmr.reset();
+  }
+
+  // run command
+  bool cmd_finished = current_command->run();
+  if (cmd_finished) {
+    printf("InOrder Cmd finished\n");
+    current_command = nullptr;
+    return false; // continue onto next command
+  }
+
+  double seconds = tmr.value();
+
+  bool should_timeout = current_command->timeout_seconds > 0.0;
+  bool doTimeout = should_timeout && seconds > current_command->timeout_seconds;
+  if (current_command->true_to_end != nullptr) {
+    doTimeout = doTimeout || current_command->true_to_end->test();
+  }
+
+  // timeout
+  if (doTimeout) {
+    printf("InOrder timed out\n");
+    current_command->on_timeout();
+    current_command = nullptr;
     return false;
+  }
+  return false;
 }
 
-void InOrder::on_timeout()
-{
-    if (current_command != nullptr)
-    {
-        current_command->on_timeout();
-    }
+void InOrder::on_timeout() {
+  if (current_command != nullptr) {
+    current_command->on_timeout();
+  }
 }
 
-struct parallel_runner_info
-{
-    int index;
-    std::vector<vex::task *> *runners;
-    AutoCommand *cmd;
+struct parallel_runner_info {
+  int index;
+  std::vector<vex::task *> *runners;
+  AutoCommand *cmd;
 };
-static int parallel_runner(void *arg)
-{
-    parallel_runner_info *ri = (parallel_runner_info *)arg;
-    vex::timer tmr;
-    while (1)
-    {
-        bool finished = ri->cmd->run();
-        if (finished)
-        {
-            break;
-        }
-        double t = (double)(tmr.time()) / 1000.0;
-        bool timed_out = t > ri->cmd->timeout_seconds;
-        bool doTimeout = timed_out && (ri->cmd->timeout_seconds > 0);
-        if (ri->cmd->true_to_end != nullptr)
-        {
-            doTimeout = doTimeout || ri->cmd->true_to_end->test();
-        }
-        if (doTimeout)
-        {
-            ri->cmd->on_timeout();
-        }
-        vexDelay(20);
+static int parallel_runner(void *arg) {
+  parallel_runner_info *ri = (parallel_runner_info *)arg;
+  vex::timer tmr;
+  while (1) {
+    bool finished = ri->cmd->run();
+    if (finished) {
+      break;
     }
-
-    if ((*ri->runners)[ri->index] != nullptr)
-    {
-        delete (*ri->runners)[ri->index];
-        (*ri->runners)[ri->index] = nullptr;
+    double t = (double)(tmr.time()) / 1000.0;
+    bool timed_out = t > ri->cmd->timeout_seconds;
+    bool doTimeout = timed_out && (ri->cmd->timeout_seconds > 0);
+    if (ri->cmd->true_to_end != nullptr) {
+      doTimeout = doTimeout || ri->cmd->true_to_end->test();
+    }
+    if (doTimeout) {
+      ri->cmd->on_timeout();
     }
-    return 0;
+    vexDelay(20);
+  }
+
+  if ((*ri->runners)[ri->index] != nullptr) {
+    delete (*ri->runners)[ri->index];
+    (*ri->runners)[ri->index] = nullptr;
+  }
+  return 0;
 }
 
 // wait for all to finish
 Parallel::Parallel(std::initializer_list<AutoCommand *> cmds) : cmds(cmds), runners(0) {}
 
-bool Parallel::run()
-{
-    if (runners.size() == 0)
-    {
-        // not initialized yet
-        for (int i = 0; i < cmds.size(); i++)
-        {
-            parallel_runner_info *ri = new parallel_runner_info{
-                .index = i,
-                .runners = &runners,
-                .cmd = cmds[i],
-            };
-            runners.push_back(new vex::task(parallel_runner, ri));
-        }
+bool Parallel::run() {
+  if (runners.size() == 0) {
+    // not initialized yet
+    for (int i = 0; i < cmds.size(); i++) {
+      parallel_runner_info *ri = new parallel_runner_info{
+          .index = i,
+          .runners = &runners,
+          .cmd = cmds[i],
+      };
+      runners.push_back(new vex::task(parallel_runner, ri));
     }
+  }
 
-    bool all_finished = true;
+  bool all_finished = true;
 
-    for (int i = 0; i < cmds.size(); i++)
-    {
-        if (runners[i] != nullptr)
-        {
-            all_finished = false;
-        }
+  for (int i = 0; i < cmds.size(); i++) {
+    if (runners[i] != nullptr) {
+      all_finished = false;
     }
-    return all_finished;
+  }
+  return all_finished;
 }
-void Parallel::on_timeout()
-{
-    for (int i = 0; i < runners.size(); i++)
-    {
-
-        if (runners[i] != nullptr)
-        {
-            runners[i]->stop();
-            if (cmds[i] != nullptr)
-            {
-                cmds[i]->on_timeout();
-            }
-            delete runners[i];
-            runners[i] = nullptr;
-            if (cmds[i] != nullptr)
-            {
-                delete cmds[i];
-                cmds[i] = nullptr;
-            }
-        }
+void Parallel::on_timeout() {
+  for (int i = 0; i < runners.size(); i++) {
+
+    if (runners[i] != nullptr) {
+      runners[i]->stop();
+      if (cmds[i] != nullptr) {
+        cmds[i]->on_timeout();
+      }
+      delete runners[i];
+      runners[i] = nullptr;
+      if (cmds[i] != nullptr) {
+        delete cmds[i];
+        cmds[i] = nullptr;
+      }
     }
+  }
 }
 
-Branch::Branch(Condition *cond, AutoCommand *false_choice, AutoCommand *true_choice) : false_choice(false_choice), true_choice(true_choice), cond(cond), choice(false), chosen(false), tmr() {}
+Branch::Branch(Condition *cond, AutoCommand *false_choice, AutoCommand *true_choice)
+    : false_choice(false_choice), true_choice(true_choice), cond(cond), choice(false), chosen(false), tmr() {
+  this->timeout_seconds = -1;
+}
 
-Branch::~Branch()
-{
-    delete false_choice;
-    delete true_choice;
+Branch::~Branch() {
+  delete false_choice;
+  delete true_choice;
 };
-bool Branch::run()
-{
-    if (!chosen)
-    {
-        choice = cond->test();
-        chosen = true;
+bool Branch::run() {
+  if (!chosen) {
+    choice = cond->test();
+    chosen = true;
+    tmr.reset();
+  }
+
+  double seconds = static_cast<double>(tmr.time()) / 1000.0;
+  if (choice == false) {
+    if (seconds > false_choice->timeout_seconds && false_choice->timeout_seconds != -1) {
+      false_choice->on_timeout();
+      chosen = false;
+      return true;
     }
-
-    double seconds = static_cast<double>(tmr.time()) / 1000.0;
-    if (choice == false)
-    {
-        if (seconds > false_choice->timeout_seconds && false_choice->timeout_seconds != -1)
-        {
-            false_choice->on_timeout();
-        }
-        return false_choice->run();
+    bool finished = false_choice->run();
+    if (finished) {
+      chosen = false;
+      return finished;
     }
-    else
-    {
-        if (seconds > true_choice->timeout_seconds && true_choice->timeout_seconds != -1)
-        {
-            true_choice->on_timeout();
-        }
-        return true_choice->run();
+  } else {
+    if (seconds > true_choice->timeout_seconds && true_choice->timeout_seconds != -1) {
+      true_choice->on_timeout();
+      chosen = false;
+      return true;
     }
-}
-void Branch::on_timeout()
-{
-    if (!chosen)
-    {
-        // dont need to do anything
-        return;
+    bool finished = true_choice->run();
+    if (finished) {
+      chosen = false;
+      return finished;
     }
+  }
+  return false;
+}
+void Branch::on_timeout() {
+  if (!chosen) {
+    // dont need to do anything
+    return;
+  }
+
+  if (choice == false) {
+    false_choice->on_timeout();
+  } else {
+    true_choice->on_timeout();
+  }
+  chosen = false;
+}
 
-    if (choice == false)
-    {
-        false_choice->on_timeout();
+static int async_runner(void *arg) {
+  AutoCommand *cmd = (AutoCommand *)arg;
+  vex::timer tmr;
+  while (1) {
+    bool finished = cmd->run();
+    if (finished) {
+      break;
     }
-    else
-    {
-        true_choice->on_timeout();
+    double t = (double)(tmr.time()) / 1000.0;
+    bool timed_out = t > cmd->timeout_seconds;
+    bool doTimeout = timed_out && cmd->timeout_seconds > 0;
+    if (cmd->true_to_end != nullptr) {
+      doTimeout = doTimeout || cmd->true_to_end->test();
     }
-}
-
-static int async_runner(void *arg)
-{
-    AutoCommand *cmd = (AutoCommand *)arg;
-    vex::timer tmr;
-    while (1)
-    {
-        bool finished = cmd->run();
-        if (finished)
-        {
-            break;
-        }
-        double t = (double)(tmr.time()) / 1000.0;
-        bool timed_out = t > cmd->timeout_seconds;
-        bool doTimeout = timed_out && cmd->timeout_seconds > 0;
-        if (cmd->true_to_end != nullptr)
-        {
-            doTimeout = doTimeout || cmd->true_to_end->test();
-        }
-        if (doTimeout)
-        {
-            cmd->on_timeout();
-            break;
-        }
-        vexDelay(20);
+    if (doTimeout) {
+      cmd->on_timeout();
+      break;
     }
-    delete cmd;
+    vexDelay(20);
+  }
+  delete cmd;
 
-    return 0;
+  return 0;
 }
-bool Async::run()
-{
-    vex::task *t = new vex::task(async_runner, (void *)cmd);
-    (void)t;
-    // lmao get memory leaked
-    return true;
+bool Async::run() {
+  vex::task *t = new vex::task(async_runner, (void *)cmd);
+  (void)t;
+  // lmao get memory leaked
+  return true;
 }
 
-RepeatUntil::RepeatUntil(InOrder cmds, size_t times) : RepeatUntil(cmds, new TimesTestedCondition(times))
-{
-    timeout_seconds = 999999;
+RepeatUntil::RepeatUntil(InOrder cmds, size_t times) : RepeatUntil(cmds, new TimesTestedCondition(times)) {
+  timeout_seconds = -1.0;
 }
 
-RepeatUntil::RepeatUntil(InOrder cmds, Condition *cond) : cmds(cmds), working_cmds(new InOrder(cmds)), cond(cond)
-{
-    timeout_seconds = 999999;
+RepeatUntil::RepeatUntil(InOrder cmds, Condition *cond) : cmds(cmds), working_cmds(new InOrder(cmds)), cond(cond) {
+  timeout_seconds = -1.0;
 }
 
+bool RepeatUntil::run() {
+  bool finished = working_cmds->run();
+  if (!finished) {
+    // return if we're not done yet
+    return false;
+  }
+  // this run finished
 
+  bool res = cond->test();
+  // we should finish
+  if (res) {
+    return true;
+  }
+  working_cmds = new InOrder(cmds);
 
-bool RepeatUntil::run()
-{
-    bool finished = working_cmds->run();
-    if (!finished)
-    {
-        // return if we're not done yet
-        return false;
-    }
-    // this run finished
-
-    bool res = cond->test();
-    // we should finish
-    if (res)
-    {
-        return true;
-    }
-    working_cmds = new InOrder(cmds);
-
-
-    return false;
+  return false;
 }
 
-void RepeatUntil::on_timeout()
-{
-    working_cmds->on_timeout();
-}
\ No newline at end of file
+void RepeatUntil::on_timeout() { working_cmds->on_timeout(); }
\ No newline at end of file
diff --git a/src/utils/command_structure/basic_command.cpp b/src/utils/command_structure/basic_command.cpp
index a45b85f..9102f30 100644
--- a/src/utils/command_structure/basic_command.cpp
+++ b/src/utils/command_structure/basic_command.cpp
@@ -22,7 +22,9 @@
  * @param setting Power setting in volts,percentage,velocity
  * @param power Value of desired power
  */
-BasicSpinCommand::BasicSpinCommand(vex::motor &motor, vex::directionType dir, BasicSpinCommand::type setting, double power) : motor(motor), setting(setting), dir(dir), power(power) {}
+BasicSpinCommand::BasicSpinCommand(vex::motor &motor, vex::directionType dir, BasicSpinCommand::type setting,
+                                   double power)
+    : motor(motor), setting(setting), dir(dir), power(power) {}
 
 /**
  * @brief Run the BasicSpinCommand
@@ -30,21 +32,19 @@ BasicSpinCommand::BasicSpinCommand(vex::motor &motor, vex::directionType dir, Ba
  *
  * @return True Command runs once
  */
-bool BasicSpinCommand::run()
-{
-   switch (setting)
-   {             // Switch Statement taking the setting Enum
-   case voltage: // Voltage Setting
-      motor.spin(dir, power, vex::volt);
-      break;
-   case percent: // Percentage Setting
-      motor.spin(dir, power, vex::percent);
-      break;
-   case veocity: // Velocity Setting
-      motor.spin(dir, power, vex::velocityUnits::rpm);
-      break;
-   }
-   return true; // Always return True to send next on CommandController
+bool BasicSpinCommand::run() {
+  switch (setting) { // Switch Statement taking the setting Enum
+  case voltage:      // Voltage Setting
+    motor.spin(dir, power, vex::volt);
+    break;
+  case percent: // Percentage Setting
+    motor.spin(dir, power, vex::percent);
+    break;
+  case veocity: // Velocity Setting
+    motor.spin(dir, power, vex::velocityUnits::rpm);
+    break;
+  }
+  return true; // Always return True to send next on CommandController
 }
 
 /**
@@ -61,10 +61,9 @@ BasicStopCommand::BasicStopCommand(vex::motor &motor, vex::brakeType setting) :
  *
  * @return True Command runs once
  */
-bool BasicStopCommand::run()
-{
-   motor.stop(setting);
-   return true;
+bool BasicStopCommand::run() {
+  motor.stop(setting);
+  return true;
 }
 
 // Basic Solenoid Commands-----------------------------------
@@ -82,8 +81,7 @@ BasicSolenoidSet::BasicSolenoidSet(vex::pneumatics &solenoid, bool setting) : so
  *
  * @return True Command runs once
  */
-bool BasicSolenoidSet::run()
-{
-   solenoid.set(setting);
-   return true;
+bool BasicSolenoidSet::run() {
+  solenoid.set(setting);
+  return true;
 }
\ No newline at end of file
diff --git a/src/utils/command_structure/command_controller.cpp b/src/utils/command_structure/command_controller.cpp
index 79eb29c..b0520f3 100644
--- a/src/utils/command_structure/command_controller.cpp
+++ b/src/utils/command_structure/command_controller.cpp
@@ -6,17 +6,17 @@
  *    a queue and get executed and removed from the queue
  *    in FIFO order.
  */
-#include <stdio.h>
 #include "../core/include/utils/command_structure/command_controller.h"
 #include "../core/include/utils/command_structure/delay_command.h"
+#include <stdio.h>
 
 /**
  * Adds a command to the queue
  * @param cmd the AutoCommand we want to add to our list
- * @param timeout_seconds the number of seconds we will let the command run for. If it exceeds this, we cancel it and run on_timeout
+ * @param timeout_seconds the number of seconds we will let the command run for.
+ * If it exceeds this, we cancel it and run on_timeout
  */
-void CommandController::add(AutoCommand *cmd, double timeout_seconds)
-{
+void CommandController::add(AutoCommand *cmd, double timeout_seconds) {
   cmd->timeout_seconds = timeout_seconds;
   command_queue.push(cmd);
 }
@@ -25,10 +25,8 @@ void CommandController::add(AutoCommand *cmd, double timeout_seconds)
  * Add multiple commands to the queue. No timeout here.
  * @param cmds the AutoCommands we want to add to our list
  */
-void CommandController::add(std::vector<AutoCommand *> cmds)
-{
-  for (AutoCommand *cmd : cmds)
-  {
+void CommandController::add(std::vector<AutoCommand *> cmds) {
+  for (AutoCommand *cmd : cmds) {
     command_queue.push(cmd);
   }
 }
@@ -36,14 +34,12 @@ void CommandController::add(std::vector<AutoCommand *> cmds)
 /**
  * Add multiple commands to the queue. No timeout here.
  * @param cmds the AutoCommands we want to add to our list
- * @param timeout timeout in seconds to apply to all commands if they are still the default
+ * @param timeout timeout in seconds to apply to all commands if they are still
+ * the default
  */
-void CommandController::add(std::vector<AutoCommand *> cmds, double timeout_sec)
-{
-  for (AutoCommand *cmd : cmds)
-  {
-    if (cmd->timeout_seconds == AutoCommand::default_timeout)
-    {
+void CommandController::add(std::vector<AutoCommand *> cmds, double timeout_sec) {
+  for (AutoCommand *cmd : cmds) {
+    if (cmd->timeout_seconds == AutoCommand::default_timeout) {
       cmd->timeout_seconds = timeout_sec;
     }
     command_queue.push(cmd);
@@ -56,23 +52,18 @@ void CommandController::add(std::vector<AutoCommand *> cmds, double timeout_sec)
  * @param ms - number of milliseconds to wait
  *    before continuing execution of autonomous
  */
-void CommandController::add_delay(int ms)
-{
+void CommandController::add_delay(int ms) {
   AutoCommand *delay = new DelayCommand(ms);
   command_queue.push(delay);
 }
 
-void CommandController::add_cancel_func(std::function<bool(void)> true_if_cancel)
-{
-  should_cancel = true_if_cancel;
-}
+void CommandController::add_cancel_func(std::function<bool(void)> true_if_cancel) { should_cancel = true_if_cancel; }
 
 /**
  * Begin execution of the queue
  * Execute and remove commands in FIFO order
  */
-void CommandController::run()
-{
+void CommandController::run() {
   AutoCommand *next_cmd;
   printf("Running Auto. Commands 1 to %d\n", command_queue.size());
   fflush(stdout);
@@ -80,45 +71,44 @@ void CommandController::run()
   vex::timer tmr;
   tmr.reset();
 
-  while (!command_queue.empty())
-  {
+  while (!command_queue.empty()) {
     // retrieve and remove command at the front of the queue
     next_cmd = command_queue.front();
     command_queue.pop();
     command_timed_out = false;
 
-    // printf("Beginning Command %d : timeout = %.2f : at time = %.1f seconds\n", command_count, next_cmd->timeout_seconds, tmr.time(vex::seconds));
-    // fflush(stdout);
+    // printf("Beginning Command %d : timeout = %.2f : at time = %.1f
+    // seconds\n", command_count, next_cmd->timeout_seconds,
+    // tmr.time(vex::seconds)); fflush(stdout);
 
     vex::timer timeout_timer;
     timeout_timer.reset();
     bool doTimeout = next_cmd->timeout_seconds > 0.0;
-    if (next_cmd->true_to_end != nullptr)
-    {
+    if (next_cmd->true_to_end != nullptr) {
       doTimeout = doTimeout || next_cmd->true_to_end->test();
     }
 
     // run the current command until it returns true or we timeout
-    while (!next_cmd->run())
-    {
-      vexDelay(20);
+    while (!next_cmd->run()) {
+
+      if (!doTimeout) {
+        vexDelay(20);
 
-      if (!doTimeout)
-      {
         continue;
       }
 
-      // If we do want to check for timeout, check and end the command if we should
+      // If we do want to check for timeout, check and end the command if
+      // we should
       double cmd_elapsed_sec = ((double)timeout_timer.time()) / 1000.0;
-      if (cmd_elapsed_sec > next_cmd->timeout_seconds || should_cancel())
-      {
+      if (cmd_elapsed_sec > next_cmd->timeout_seconds || should_cancel()) {
         next_cmd->on_timeout();
         command_timed_out = true;
         break;
       }
+      vexDelay(20);
     }
-    if (should_cancel())
-    {
+    if (should_cancel()) {
+      printf("Cancelling");
       break;
     }
 
@@ -129,7 +119,4 @@ void CommandController::run()
   printf("Finished commands in %f seconds\n", tmr.time(vex::sec));
 }
 
-bool CommandController::last_command_timed_out()
-{
-  return command_timed_out;
-}
\ No newline at end of file
+bool CommandController::last_command_timed_out() { return command_timed_out; }
\ No newline at end of file
diff --git a/src/utils/command_structure/drive_commands.cpp b/src/utils/command_structure/drive_commands.cpp
index 4984cf6..c017513 100644
--- a/src/utils/command_structure/drive_commands.cpp
+++ b/src/utils/command_structure/drive_commands.cpp
@@ -2,7 +2,7 @@
  * File: drive_commands.h
  * Desc:
  *    Holds all the AutoCommand subclasses that wrap (currently) TankDrive functions
- *    
+ *
  *    Currently includes:
  *      - drive_forward
  *      - turn_degrees
@@ -18,7 +18,6 @@
 
 #include "../core/include/utils/command_structure/drive_commands.h"
 
-
 // ==== DRIVING ====
 
 /**
@@ -28,28 +27,26 @@
  * @param inches how far forward to drive
  * @param dir the direction to drive
  * @param max_speed 0 -> 1 percentage of the drive systems speed to drive at
-*/
-DriveForwardCommand::DriveForwardCommand(TankDrive &drive_sys, Feedback &feedback, double inches, directionType dir, double max_speed, double end_speed):
-  drive_sys(drive_sys), feedback(feedback), inches(inches), dir(dir), max_speed(max_speed), end_speed(end_speed) {}
+ */
+DriveForwardCommand::DriveForwardCommand(TankDrive &drive_sys, Feedback &feedback, double inches, directionType dir,
+                                         double max_speed, double end_speed)
+    : drive_sys(drive_sys), feedback(feedback), inches(inches), dir(dir), max_speed(max_speed), end_speed(end_speed) {}
 
 /**
  * Run drive_forward
  * Overrides run from AutoCommand
  * @returns true when execution is complete, false otherwise
  */
-bool DriveForwardCommand::run() {
-  return drive_sys.drive_forward(inches, dir, feedback, max_speed, end_speed);
-}
+bool DriveForwardCommand::run() { return drive_sys.drive_forward(inches, dir, feedback, max_speed, end_speed); }
 
 /**
  * reset the drive system if we timeout
-*/
-void DriveForwardCommand::on_timeout(){
+ */
+void DriveForwardCommand::on_timeout() {
   drive_sys.stop();
   drive_sys.reset_auto();
 }
 
-
 /**
  * Construct a TurnDegreesCommand Command
  * @param drive_sys the drive system we are commanding
@@ -57,26 +54,24 @@ void DriveForwardCommand::on_timeout(){
  * @param degrees how many degrees to rotate
  * @param max_speed 0 -> 1 percentage of the drive systems speed to drive at
  */
-TurnDegreesCommand::TurnDegreesCommand(TankDrive &drive_sys, Feedback &feedback, double degrees, double max_speed, double end_speed):
-  drive_sys(drive_sys), feedback(feedback), degrees(degrees), max_speed(max_speed), end_speed(end_speed) {}
+TurnDegreesCommand::TurnDegreesCommand(TankDrive &drive_sys, Feedback &feedback, double degrees, double max_speed,
+                                       double end_speed)
+    : drive_sys(drive_sys), feedback(feedback), degrees(degrees), max_speed(max_speed), end_speed(end_speed) {}
 
 /**
  * Run turn_degrees
  * Overrides run from AutoCommand
  * @returns true when execution is complete, false otherwise
  */
-bool TurnDegreesCommand::run() {
-  return drive_sys.turn_degrees(degrees, max_speed, end_speed);
-}
+bool TurnDegreesCommand::run() { return drive_sys.turn_degrees(degrees, max_speed, end_speed); }
 /**
  * reset the drive system if we timeout
-*/
-void TurnDegreesCommand::on_timeout(){
+ */
+void TurnDegreesCommand::on_timeout() {
   drive_sys.stop();
   drive_sys.reset_auto();
 }
 
-
 /**
  * Construct a DriveForward Command
  * @param drive_sys the drive system we are commanding
@@ -86,8 +81,9 @@ void TurnDegreesCommand::on_timeout(){
  * @param dir the direction to drive
  * @param max_speed 0 -> 1 percentage of the drive systems speed to drive at
  */
-DriveToPointCommand::DriveToPointCommand(TankDrive &drive_sys, Feedback &feedback, double x, double y, directionType dir, double max_speed, double end_speed):
-  drive_sys(drive_sys), feedback(feedback), x(x), y(y), dir(dir), max_speed(max_speed), end_speed(end_speed) {}
+DriveToPointCommand::DriveToPointCommand(TankDrive &drive_sys, Feedback &feedback, double x, double y,
+                                         directionType dir, double max_speed, double end_speed)
+    : drive_sys(drive_sys), feedback(feedback), x(x), y(y), dir(dir), max_speed(max_speed), end_speed(end_speed) {}
 
 /**
  * Construct a DriveForward Command
@@ -97,26 +93,25 @@ DriveToPointCommand::DriveToPointCommand(TankDrive &drive_sys, Feedback &feedbac
  * @param dir the direction to drive
  * @param max_speed 0 -> 1 percentage of the drive systems speed to drive at
  */
-DriveToPointCommand::DriveToPointCommand(TankDrive &drive_sys, Feedback &feedback, point_t point, directionType dir, double max_speed, double end_speed):
-  drive_sys(drive_sys), feedback(feedback), x(point.x), y(point.y), dir(dir), max_speed(max_speed), end_speed(end_speed) {}
+DriveToPointCommand::DriveToPointCommand(TankDrive &drive_sys, Feedback &feedback, point_t point, directionType dir,
+                                         double max_speed, double end_speed)
+    : drive_sys(drive_sys), feedback(feedback), x(point.x), y(point.y), dir(dir), max_speed(max_speed),
+      end_speed(end_speed) {}
 
 /**
  * Run drive_to_point
  * Overrides run from AutoCommand
  * @returns true when execution is complete, false otherwise
  */
-bool DriveToPointCommand::run() {
-  return drive_sys.drive_to_point(x, y, dir, feedback, max_speed, end_speed);
-}
+bool DriveToPointCommand::run() { return drive_sys.drive_to_point(x, y, dir, feedback, max_speed, end_speed); }
 /**
  * reset the drive system if we don't hit our target
-*/
-void DriveToPointCommand::on_timeout(){
+ */
+void DriveToPointCommand::on_timeout() {
   drive_sys.stop();
   drive_sys.reset_auto();
 }
 
-
 /**
  * Construct a TurnToHeadingCommand Command
  * @param drive_sys the drive system we are commanding
@@ -124,50 +119,45 @@ void DriveToPointCommand::on_timeout(){
  * @param heading_deg the heading to turn to in degrees
  * @param max_speed 0 -> 1 percentage of the drive systems speed to drive at
  */
-TurnToHeadingCommand::TurnToHeadingCommand(TankDrive &drive_sys, Feedback &feedback, double heading_deg, double max_speed, double end_speed):
-  drive_sys(drive_sys), feedback(feedback), heading_deg(heading_deg), max_speed(max_speed), end_speed(end_speed) {}
+TurnToHeadingCommand::TurnToHeadingCommand(TankDrive &drive_sys, Feedback &feedback, double heading_deg,
+                                           double max_speed, double end_speed)
+    : drive_sys(drive_sys), feedback(feedback), heading_deg(heading_deg), max_speed(max_speed), end_speed(end_speed) {}
 
 /**
  * Run turn_to_heading
  * Overrides run from AutoCommand
  * @returns true when execution is complete, false otherwise
  */
-bool TurnToHeadingCommand::run() {
-  return drive_sys.turn_to_heading(heading_deg, feedback, max_speed, end_speed);
-}
+bool TurnToHeadingCommand::run() { return drive_sys.turn_to_heading(heading_deg, feedback, max_speed, end_speed); }
 /**
  * reset the drive system if we don't hit our target
-*/
-void TurnToHeadingCommand::on_timeout(){
+ */
+void TurnToHeadingCommand::on_timeout() {
   drive_sys.stop();
   drive_sys.reset_auto();
 }
 
 /**
  * Construct a Pure Pursuit AutoCommand
- * 
+ *
  * @param path The list of coordinates to follow, in order
  * @param dir Run the bot forwards or backwards
  * @param feedback The feedback controller determining speed
  * @param max_speed Limit the speed of the robot (for pid / pidff feedbacks)
-*/
-PurePursuitCommand::PurePursuitCommand(TankDrive &drive_sys, Feedback &feedback, PurePursuit::Path path, directionType dir, double max_speed, double end_speed)
-: drive_sys(drive_sys), path(path), dir(dir), feedback(feedback), max_speed(max_speed), end_speed(end_speed)
-{}
+ */
+PurePursuitCommand::PurePursuitCommand(TankDrive &drive_sys, Feedback &feedback, PurePursuit::Path path,
+                                       directionType dir, double max_speed, double end_speed)
+    : drive_sys(drive_sys), path(path), dir(dir), feedback(feedback), max_speed(max_speed), end_speed(end_speed) {}
 
 /**
  * Direct call to TankDrive::pure_pursuit
-*/
-bool PurePursuitCommand::run()
-{
-  return drive_sys.pure_pursuit(path, dir, feedback, max_speed, end_speed);
-}
+ */
+bool PurePursuitCommand::run() { return drive_sys.pure_pursuit(path, dir, feedback, max_speed, end_speed); }
 
 /**
  * Reset the drive system when it times out
-*/
-void PurePursuitCommand::on_timeout()
-{
+ */
+void PurePursuitCommand::on_timeout() {
   drive_sys.stop();
   drive_sys.reset_auto();
 }
@@ -176,13 +166,9 @@ void PurePursuitCommand::on_timeout()
  * Construct a DriveStop Command
  * @param drive_sys the drive system we are commanding
  */
-DriveStopCommand::DriveStopCommand(TankDrive &drive_sys):
-  drive_sys(drive_sys) {}
+DriveStopCommand::DriveStopCommand(TankDrive &drive_sys) : drive_sys(drive_sys) {}
 
-void DriveStopCommand::on_timeout()
-{
-  drive_sys.reset_auto();
-}
+void DriveStopCommand::on_timeout() { drive_sys.reset_auto(); }
 
 /**
  * Stop the drive train
@@ -194,14 +180,13 @@ bool DriveStopCommand::run() {
   return true;
 }
 
-
 // ==== ODOMETRY ====
 /**
  * Construct an Odometry set pos
  * @param odom the odometry system we are setting
  * @param newpos the now position to set the odometry to
  */
-OdomSetPosition::OdomSetPosition(OdometryBase &odom, const pose_t &newpos): odom(odom), newpos(newpos){}
+OdomSetPosition::OdomSetPosition(OdometryBase &odom, const pose_t &newpos) : odom(odom), newpos(newpos) {}
 
 bool OdomSetPosition::run() {
   odom.set_position(newpos);
diff --git a/src/utils/command_structure/flywheel_commands.cpp b/src/utils/command_structure/flywheel_commands.cpp
index bddda27..4307abc 100644
--- a/src/utils/command_structure/flywheel_commands.cpp
+++ b/src/utils/command_structure/flywheel_commands.cpp
@@ -6,49 +6,40 @@
 
 #include "../core/include/utils/command_structure/flywheel_commands.h"
 
-
-SpinRPMCommand::SpinRPMCommand(Flywheel &flywheel, int rpm):
-  flywheel(flywheel), rpm(rpm) {}
+SpinRPMCommand::SpinRPMCommand(Flywheel &flywheel, int rpm) : flywheel(flywheel), rpm(rpm) {}
 
 bool SpinRPMCommand::run() {
   flywheel.spin_rpm(rpm);
   return true;
 }
 
-WaitUntilUpToSpeedCommand::WaitUntilUpToSpeedCommand(Flywheel &flywheel, int threshold_rpm):
-  flywheel(flywheel), threshold_rpm(threshold_rpm) {}
+WaitUntilUpToSpeedCommand::WaitUntilUpToSpeedCommand(Flywheel &flywheel, int threshold_rpm)
+    : flywheel(flywheel), threshold_rpm(threshold_rpm) {}
 
 bool WaitUntilUpToSpeedCommand::run() {
   // If we're withing the specified threshold, we're ready to fire
-  if (fabs(flywheel.get_target() - flywheel.getRPM()) < threshold_rpm){
+  if (fabs(flywheel.get_target() - flywheel.getRPM()) < threshold_rpm) {
     return true;
   }
   // else, keep waiting
   return false;
 }
 
-
-
-FlywheelStopCommand::FlywheelStopCommand(Flywheel &flywheel):
-  flywheel(flywheel) {}
+FlywheelStopCommand::FlywheelStopCommand(Flywheel &flywheel) : flywheel(flywheel) {}
 
 bool FlywheelStopCommand::run() {
   flywheel.stop();
   return true;
 }
 
-
-FlywheelStopMotorsCommand::FlywheelStopMotorsCommand(Flywheel &flywheel):
-  flywheel(flywheel) {}
+FlywheelStopMotorsCommand::FlywheelStopMotorsCommand(Flywheel &flywheel) : flywheel(flywheel) {}
 
 bool FlywheelStopMotorsCommand::run() {
   flywheel.stop();
   return true;
 }
 
-
-FlywheelStopNonTasksCommand::FlywheelStopNonTasksCommand(Flywheel &flywheel):
-  flywheel(flywheel) {}
+FlywheelStopNonTasksCommand::FlywheelStopNonTasksCommand(Flywheel &flywheel) : flywheel(flywheel) {}
 
 bool FlywheelStopNonTasksCommand::run() {
   flywheel.stop();
diff --git a/src/utils/controls/bang_bang.cpp b/src/utils/controls/bang_bang.cpp
index 161a951..4dd542b 100644
--- a/src/utils/controls/bang_bang.cpp
+++ b/src/utils/controls/bang_bang.cpp
@@ -1,43 +1,30 @@
 #include "../core/include/utils/controls/bang_bang.h"
 #include <cmath>
 
-BangBang::BangBang(double threshhold, double low, double high) : setpt(low), sensor_val(low), lower_bound(low), upper_bound(high), threshhold(threshhold) {}
+BangBang::BangBang(double threshhold, double low, double high)
+    : setpt(low), sensor_val(low), lower_bound(low), upper_bound(high), threshhold(threshhold) {}
 
-void BangBang::init(double start_pt, double set_pt, double, double)
-{
-    sensor_val = start_pt;
-    setpt = set_pt;
+void BangBang::init(double start_pt, double set_pt, double, double) {
+  sensor_val = start_pt;
+  setpt = set_pt;
 }
 
-void BangBang::set_limits(double lower, double upper)
-{
-    lower_bound = lower;
-    upper_bound = upper;
-}
-double BangBang::get()
-{
-    return last_output;
+void BangBang::set_limits(double lower, double upper) {
+  lower_bound = lower;
+  upper_bound = upper;
 }
+double BangBang::get() { return last_output; }
 
-double BangBang::update(double val)
-{
-    sensor_val = val;
-    if (fabs(val - setpt) < threshhold)
-    {
-        last_output = 0;
-    }
-    else if (val > setpt)
-    {
-        last_output = lower_bound;
-    }
-    else
-    {
-        last_output = upper_bound;
-    }
-    return upper_bound;
+double BangBang::update(double val) {
+  sensor_val = val;
+  if (fabs(val - setpt) < threshhold) {
+    last_output = 0;
+  } else if (val > setpt) {
+    last_output = lower_bound;
+  } else {
+    last_output = upper_bound;
+  }
+  return upper_bound;
 }
 
-bool BangBang::is_on_target()
-{
-    return fabs(sensor_val - setpt) < threshhold;
-}
\ No newline at end of file
+bool BangBang::is_on_target() { return fabs(sensor_val - setpt) < threshhold; }
\ No newline at end of file
diff --git a/src/utils/controls/feedforward.cpp b/src/utils/controls/feedforward.cpp
index ba68dc2..9540c4f 100644
--- a/src/utils/controls/feedforward.cpp
+++ b/src/utils/controls/feedforward.cpp
@@ -1,92 +1,85 @@
 #include "../core/include/utils/controls/feedforward.h"
 
-
 /**
-* tune_feedforward takes a group of motors and finds the feedforward conifg parameters automagically.
-*  @param motor the motor group to use 
-*  @param pct Maximum velocity in percent (0->1.0)
+ * tune_feedforward takes a group of motors and finds the feedforward conifg parameters automagically.
+ *  @param motor the motor group to use
+ *  @param pct Maximum velocity in percent (0->1.0)
  * @param duration Amount of time the motors spin for the test
  * @return A tuned feedforward object
  */
-FeedForward::ff_config_t tune_feedforward(vex::motor_group &motor, double pct, double duration)
-{
-    FeedForward::ff_config_t out = {};
-    
-    double start_pos = motor.position(vex::rotationUnits::rev);
-
-    // ========== kS Tuning =========
-    // Start at 0 and slowly increase the power until the robot starts moving
-    double power = 0;
-    while(fabs(motor.position(vex::rotationUnits::rev) - start_pos) < 0.05)
-    {
-        motor.spin(vex::directionType::fwd, power, vex::voltageUnits::volt);
-        power += 0.001;
-        vexDelay(100);
-    }
-    out.kS = power;
-    motor.stop();
+FeedForward::ff_config_t tune_feedforward(vex::motor_group &motor, double pct, double duration) {
+  FeedForward::ff_config_t out = {};
 
+  double start_pos = motor.position(vex::rotationUnits::rev);
 
-    // ========== kV / kA Tuning =========
+  // ========== kS Tuning =========
+  // Start at 0 and slowly increase the power until the robot starts moving
+  double power = 0;
+  while (fabs(motor.position(vex::rotationUnits::rev) - start_pos) < 0.05) {
+    motor.spin(vex::directionType::fwd, power, vex::voltageUnits::volt);
+    power += 0.001;
+    vexDelay(100);
+  }
+  out.kS = power;
+  motor.stop();
 
-    std::vector<std::pair<double, double>> vel_data_points; // time, velocity
-    std::vector<std::pair<double, double>> accel_data_points; // time, accel
+  // ========== kV / kA Tuning =========
 
-    double max_speed = 0;
-    vex::timer tmr;
-    double time = 0;
+  std::vector<std::pair<double, double>> vel_data_points;   // time, velocity
+  std::vector<std::pair<double, double>> accel_data_points; // time, accel
 
-    MovingAverage vel_ma(3);
-    MovingAverage accel_ma(3);
+  double max_speed = 0;
+  vex::timer tmr;
+  double time = 0;
 
-    // Move the robot forward at a fixed percentage for X seconds while taking velocity and accel measurements
-    do
-    {
-        double last_time = time;
-        time = tmr.time(vex::sec);
-        double dt = time - last_time;
+  MovingAverage vel_ma(3);
+  MovingAverage accel_ma(3);
 
-        vel_ma.add_entry(motor.velocity(vex::velocityUnits::rpm));
-        accel_ma.add_entry(motor.velocity(vex::velocityUnits::rpm)/dt);
+  // Move the robot forward at a fixed percentage for X seconds while taking velocity and accel measurements
+  do {
+    double last_time = time;
+    time = tmr.time(vex::sec);
+    double dt = time - last_time;
 
-        double speed = vel_ma.get_value();
-        double accel = accel_ma.get_value();
+    vel_ma.add_entry(motor.velocity(vex::velocityUnits::rpm));
+    accel_ma.add_entry(motor.velocity(vex::velocityUnits::rpm) / dt);
 
-        // For kV:
-        if(speed > max_speed) {
-            max_speed = speed;
-}
+    double speed = vel_ma.get_value();
+    double accel = accel_ma.get_value();
 
-        // For kA:
-        // Filter out the acceleration dampening due to motor inductance
-        if(time > 0.25)
-        {
-            vel_data_points.push_back(std::pair<double, double>(time, speed));
-            accel_data_points.push_back(std::pair<double, double>(time, accel));
-        }
+    // For kV:
+    if (speed > max_speed) {
+      max_speed = speed;
+    }
 
-        // Theoretical polling rate = 100hz (it won't be that much, cause, y'know, vex.)
-        vexDelay(10); 
-    } while(time < duration);
+    // For kA:
+    // Filter out the acceleration dampening due to motor inductance
+    if (time > 0.25) {
+      vel_data_points.push_back(std::pair<double, double>(time, speed));
+      accel_data_points.push_back(std::pair<double, double>(time, accel));
+    }
 
-    motor.stop();
+    // Theoretical polling rate = 100hz (it won't be that much, cause, y'know, vex.)
+    vexDelay(10);
+  } while (time < duration);
 
-    // Calculate kV (volts/12 per unit per second)
-    out.kV = (pct - out.kS) / max_speed;
+  motor.stop();
 
-    // Calculate kA (volts/12 per unit per second^2)
-    std::vector<std::pair<double, double>> accel_per_pct;
-    for (int i = 0; i < vel_data_points.size(); i++)
-    {
-        accel_per_pct.push_back(std::pair<double, double>(
-            pct - out.kS - (vel_data_points[i].second * out.kV),   // Acceleration-causing percent (X variable)
-            accel_data_points[i].second                            // Measured acceleration (Y variable)
+  // Calculate kV (volts/12 per unit per second)
+  out.kV = (pct - out.kS) / max_speed;
+
+  // Calculate kA (volts/12 per unit per second^2)
+  std::vector<std::pair<double, double>> accel_per_pct;
+  for (int i = 0; i < vel_data_points.size(); i++) {
+    accel_per_pct.push_back(std::pair<double, double>(
+        pct - out.kS - (vel_data_points[i].second * out.kV), // Acceleration-causing percent (X variable)
+        accel_data_points[i].second                          // Measured acceleration (Y variable)
         ));
-    }
-    
-    // kA is the reciprocal of the slope of the linear regression
-    double regres_slope = calculate_linear_regression(accel_per_pct).first;
-    out.kA = 1.0 / regres_slope; 
+  }
+
+  // kA is the reciprocal of the slope of the linear regression
+  double regres_slope = calculate_linear_regression(accel_per_pct).first;
+  out.kA = 1.0 / regres_slope;
 
-    return out;
+  return out;
 }
\ No newline at end of file
diff --git a/src/utils/controls/motion_controller.cpp b/src/utils/controls/motion_controller.cpp
index eba94cc..127461a 100644
--- a/src/utils/controls/motion_controller.cpp
+++ b/src/utils/controls/motion_controller.cpp
@@ -13,8 +13,7 @@
  * ff_cfg Definitions of kS, kV, and kA
  */
 MotionController::MotionController(m_profile_cfg_t &config)
-    : config(config), pid(config.pid_cfg), ff(config.ff_cfg),
-      profile(config.max_v, config.accel) {}
+    : config(config), pid(config.pid_cfg), ff(config.ff_cfg), profile(config.max_v, config.accel) {}
 
 /**
  * @brief Initialize the motion profile for a new movement
@@ -24,14 +23,13 @@ MotionController::MotionController(m_profile_cfg_t &config)
  * @param start_vel Movement starting velocity
  * @param end_vel Movement ending velocity
  */
-void MotionController::init(double start_pt, double end_pt, double start_vel,
-                            double end_vel) {
-    profile.set_endpts(start_pt, end_pt);
-    profile.set_vel_endpts(start_vel, end_vel);
-    pid.reset();
-    tmr.reset();
-
-    this->end_pt = end_pt;
+void MotionController::init(double start_pt, double end_pt, double start_vel, double end_vel) {
+  profile.set_endpts(start_pt, end_pt);
+  profile.set_vel_endpts(start_vel, end_vel);
+  pid.reset();
+  tmr.reset();
+
+  this->end_pt = end_pt;
 }
 
 /**
@@ -41,19 +39,19 @@ void MotionController::init(double start_pt, double end_pt, double start_vel,
  * @return the motor input generated from the motion profile
  */
 double MotionController::update(double sensor_val) {
-    cur_motion = profile.calculate(tmr.time(timeUnits::sec), sensor_val);
-    pid.set_target(cur_motion.pos);
-    pid.update(sensor_val);
+  cur_motion = profile.calculate(tmr.time(timeUnits::sec), sensor_val);
+  pid.set_target(cur_motion.pos);
+  pid.update(sensor_val);
 
-    this->current_pos = sensor_val;
+  this->current_pos = sensor_val;
 
-    out = pid.get() + ff.calculate(cur_motion.vel, cur_motion.accel, pid.get());
+  out = pid.get() + ff.calculate(cur_motion.vel, cur_motion.accel, pid.get());
 
-    if (lower_limit != upper_limit) {
-        out = clamp(out, lower_limit, upper_limit);
-    }
+  if (lower_limit != upper_limit) {
+    out = clamp(out, lower_limit, upper_limit);
+  }
 
-    return out;
+  return out;
 }
 
 /**
@@ -69,8 +67,8 @@ double MotionController::get() { return out; }
  * @param upper Lower limit
  */
 void MotionController::set_limits(double lower, double upper) {
-    lower_limit = lower;
-    upper_limit = upper;
+  lower_limit = lower;
+  upper_limit = upper;
 }
 
 /**
@@ -78,9 +76,8 @@ void MotionController::set_limits(double lower, double upper) {
  * confirms it is on target
  */
 bool MotionController::is_on_target() {
-    return (tmr.time(timeUnits::sec) > profile.get_movement_time()) &&
-           pid.is_on_target() &&
-           fabs(end_pt - current_pos) < pid.config.deadband;
+  return (tmr.time(timeUnits::sec) > profile.get_movement_time()) && pid.is_on_target() &&
+         fabs(end_pt - current_pos) < pid.config.deadband;
 }
 
 /**
@@ -107,143 +104,136 @@ motion_t MotionController::get_motion() const { return cur_motion; }
  * @param duration Amount of time the robot should be moving for the test
  * @return A tuned feedforward object
  */
-FeedForward::ff_config_t
-MotionController::tune_feedforward(TankDrive &drive, OdometryTank &odometry,
-                                   double pct, double duration) {
-    FeedForward::ff_config_t out = {};
-
-    pose_t start_pos = odometry.get_position();
-
-    // ========== kS Tuning =========
-    // Start at 0 and slowly increase the power until the robot starts moving
-    double power = 0;
-    while (odometry.pos_diff(start_pos, odometry.get_position()) < 0.05) {
-        drive.drive_tank(power, power, 1);
-        power += 0.001;
-        vexDelay(100);
+FeedForward::ff_config_t MotionController::tune_feedforward(TankDrive &drive, OdometryTank &odometry, double pct,
+                                                            double duration) {
+  FeedForward::ff_config_t out = {};
+
+  pose_t start_pos = odometry.get_position();
+
+  // ========== kS Tuning =========
+  // Start at 0 and slowly increase the power until the robot starts moving
+  double power = 0;
+  while (odometry.pos_diff(start_pos, odometry.get_position()) < 0.05) {
+    drive.drive_tank(power, power, 1);
+    power += 0.001;
+    vexDelay(100);
+  }
+  out.kS = power;
+  drive.stop();
+
+  // ========== kV / kA Tuning =========
+
+  std::vector<std::pair<double, double>> vel_data_points;   // time, velocity
+  std::vector<std::pair<double, double>> accel_data_points; // time, accel
+
+  double max_speed = 0;
+  double max_accel = 0;
+  timer tmr;
+  double time;
+
+  MovingAverage vel_ma(3);
+  MovingAverage accel_ma(3);
+
+  // Move the robot forward at a fixed percentage for X seconds while taking
+  // velocity and accel measurements
+
+  drive.drive_tank(pct, pct, 1);
+  do {
+    time = tmr.time(sec);
+
+    vel_ma.add_entry(odometry.get_speed());
+    accel_ma.add_entry(odometry.get_accel());
+
+    double speed = vel_ma.get_value();
+    double accel = accel_ma.get_value();
+    // For kV:
+    if (speed > max_speed) {
+      max_speed = speed;
+    }
+    if (accel > max_accel) {
+      max_accel = accel;
     }
-    out.kS = power;
-    drive.stop();
-
-    // ========== kV / kA Tuning =========
-
-    std::vector<std::pair<double, double>> vel_data_points;   // time, velocity
-    std::vector<std::pair<double, double>> accel_data_points; // time, accel
-
-    double max_speed = 0;
-    double max_accel = 0;
-    timer tmr;
-    double time;
-
-    MovingAverage vel_ma(3);
-    MovingAverage accel_ma(3);
-
-    // Move the robot forward at a fixed percentage for X seconds while taking
-    // velocity and accel measurements
-
-    drive.drive_tank(pct, pct, 1);
-    do {
-        time = tmr.time(sec);
-
-        vel_ma.add_entry(odometry.get_speed());
-        accel_ma.add_entry(odometry.get_accel());
-
-        double speed = vel_ma.get_value();
-        double accel = accel_ma.get_value();
-        // For kV:
-        if (speed > max_speed) {
-            max_speed = speed;
-        }
-        if (accel > max_accel) {
-            max_accel = accel;
-        }
-
-        // For kA:
-        // Filter out the acceleration dampening due to motor inductance
-        if (time > 0.25) {
-            vel_data_points.push_back(std::pair<double, double>(time, speed));
-            accel_data_points.push_back(std::pair<double, double>(time, accel));
-        }
-
-        // Theoretical polling rate = 100hz (it won't be that much, cause,
-        // y'know, vex.)
-        vexDelay(10);
-    } while (time < duration);
-
-    drive.stop();
-
-    // Calculate kV (volts/12 per unit per second)
-    out.kV = (pct - out.kS) / max_speed;
-
-    printf("Max speed achieved: %.4f\n", max_speed);
-    printf("Max accel achieved: %.4f\n", max_accel);
-
-    // Calculate kA (volts/12 per unit per second^2)
-    std::vector<std::pair<double, double>> accel_per_pct;
-    for (int i = 0; i < vel_data_points.size(); i++) {
-        accel_per_pct.push_back(std::pair<double, double>(
-            pct - out.kS -
-                (vel_data_points[i].second *
-                 out.kV), // Acceleration-causing percent (X variable)
-            accel_data_points[i].second // Measured acceleration (Y variable)
-            ));
+
+    // For kA:
+    // Filter out the acceleration dampening due to motor inductance
+    if (time > 0.25) {
+      vel_data_points.push_back(std::pair<double, double>(time, speed));
+      accel_data_points.push_back(std::pair<double, double>(time, accel));
     }
 
-    // kA is the reciprocal of the slope of the linear regression
-    double regres_slope = calculate_linear_regression(accel_per_pct).first;
-    out.kA = 1.0 / regres_slope;
+    // Theoretical polling rate = 100hz (it won't be that much, cause,
+    // y'know, vex.)
+    vexDelay(10);
+  } while (time < duration);
+
+  drive.stop();
+
+  // Calculate kV (volts/12 per unit per second)
+  out.kV = (pct - out.kS) / max_speed;
 
-    return out;
+  printf("Max speed achieved: %.4f\n", max_speed);
+  printf("Max accel achieved: %.4f\n", max_accel);
+
+  // Calculate kA (volts/12 per unit per second^2)
+  std::vector<std::pair<double, double>> accel_per_pct;
+  for (int i = 0; i < vel_data_points.size(); i++) {
+    accel_per_pct.push_back(std::pair<double, double>(
+        pct - out.kS - (vel_data_points[i].second * out.kV), // Acceleration-causing percent (X variable)
+        accel_data_points[i].second                          // Measured acceleration (Y variable)
+        ));
+  }
+
+  // kA is the reciprocal of the slope of the linear regression
+  double regres_slope = calculate_linear_regression(accel_per_pct).first;
+  out.kA = 1.0 / regres_slope;
+
+  return out;
 }
 
 class MotionControllerPage : public screen::Page {
-  public:
-    MotionControllerPage(const MotionController &mc) : mc(mc) {}
-
-    void update(bool was_pressed, int x, int y) override {}
-    void draw(vex::brain::lcd &screen, bool first_draw,
-              unsigned int frame_number) {
-        const motion_t mot = mc.get_motion();
-
-        // Text - top right
-        screen.printAt(240, 20, "pos: %.2fin", mot.pos);
-        screen.printAt(240, 40, "vel: %.2fin", mot.vel);
-        screen.printAt(240, 60, "acc: %.2fin", mot.accel);
-        screen.printAt(240, 80, "%.2fs of %.2fs", mc.tmr.value(),
-                       mc.profile.get_movement_time());
-
-        // Trapezoid - bottom right
-        const int32_t trap_width = 200;
-        const int32_t trap_height = 98;
-        const double seconds = mc.tmr.value();
-        const double full_time = mc.profile.get_movement_time();
-        const double x_pct = seconds / full_time;
-        const double y_pct = mot.vel / mc.profile.get_max_v();
-        const int32_t x_pos = (int32_t)(x_pct * trap_width) + 240;
-        const int32_t y_pos = (int32_t)(-y_pct * trap_height) + 100;
-        const int32_t max_vel_y = 120;
-        const int32_t end_acc_x = 260;
-        const int32_t start_dec_x = 420;
-
-        // trapezoid
-        screen.setPenColor(vex::red);
-        // accelerating
-        screen.drawLine(240, 200, end_acc_x, max_vel_y);
-        // staying
-        screen.drawLine(end_acc_x, max_vel_y, start_dec_x, max_vel_y);
-        // decellerating
-        screen.drawLine(440, 200, start_dec_x, max_vel_y);
-
-        // dot where we are
-        screen.setFillColor(vex::red);
-        screen.setPenColor(vex::white);
-        screen.drawCircle(x_pos, y_pos, 3);
-    }
-
-  private:
-    const MotionController &mc;
+public:
+  MotionControllerPage(const MotionController &mc) : mc(mc) {}
+
+  void update(bool was_pressed, int x, int y) override {}
+  void draw(vex::brain::lcd &screen, bool first_draw, unsigned int frame_number) {
+    const motion_t mot = mc.get_motion();
+
+    // Text - top right
+    screen.printAt(240, 20, "pos: %.2fin", mot.pos);
+    screen.printAt(240, 40, "vel: %.2fin", mot.vel);
+    screen.printAt(240, 60, "acc: %.2fin", mot.accel);
+    screen.printAt(240, 80, "%.2fs of %.2fs", mc.tmr.value(), mc.profile.get_movement_time());
+
+    // Trapezoid - bottom right
+    const int32_t trap_width = 200;
+    const int32_t trap_height = 98;
+    const double seconds = mc.tmr.value();
+    const double full_time = mc.profile.get_movement_time();
+    const double x_pct = seconds / full_time;
+    const double y_pct = mot.vel / mc.profile.get_max_v();
+    const int32_t x_pos = (int32_t)(x_pct * trap_width) + 240;
+    const int32_t y_pos = (int32_t)(-y_pct * trap_height) + 100;
+    const int32_t max_vel_y = 120;
+    const int32_t end_acc_x = 260;
+    const int32_t start_dec_x = 420;
+
+    // trapezoid
+    screen.setPenColor(vex::red);
+    // accelerating
+    screen.drawLine(240, 200, end_acc_x, max_vel_y);
+    // staying
+    screen.drawLine(end_acc_x, max_vel_y, start_dec_x, max_vel_y);
+    // decellerating
+    screen.drawLine(440, 200, start_dec_x, max_vel_y);
+
+    // dot where we are
+    screen.setFillColor(vex::red);
+    screen.setPenColor(vex::white);
+    screen.drawCircle(x_pos, y_pos, 3);
+  }
+
+private:
+  const MotionController &mc;
 };
 
-screen::Page *MotionController::Page() {
-    return new MotionControllerPage(*this);
-}
\ No newline at end of file
+screen::Page *MotionController::Page() { return new MotionControllerPage(*this); }
\ No newline at end of file
diff --git a/src/utils/controls/pid.cpp b/src/utils/controls/pid.cpp
index 2c46495..fa92811 100644
--- a/src/utils/controls/pid.cpp
+++ b/src/utils/controls/pid.cpp
@@ -31,9 +31,8 @@ double PID::update(double sensor_val) {
   if (time_delta != 0) {
     d_term = config.d * (get_error() - last_error) / time_delta;
   } else if (last_time != 0) {
-    printf(
-        "(pid.cpp): Warning - running PID without a delay is just a P loop!\n");
-}
+    printf("(pid.cpp): Warning - running PID without a delay is just a P loop!\n");
+  }
 
   // P and D terms
   out = (config.p * get_error()) + d_term;
@@ -42,10 +41,9 @@ double PID::update(double sensor_val) {
 
   // Only add to the accumulated error if the output is not saturated
   // aka "Integral Clamping" anti-windup technique
-  if (!limits_exist ||
-      (limits_exist && (out < upper_limit && out > lower_limit))) {
+  if (!limits_exist || (limits_exist && (out < upper_limit && out > lower_limit))) {
     accum_error += time_delta * get_error();
-}
+  }
 
   // I term
   out += config.i * accum_error;
@@ -55,10 +53,8 @@ double PID::update(double sensor_val) {
 
   // Enable clamping if the limit is not 0
   if (limits_exist) {
-    out = (out < lower_limit)   ? lower_limit
-          : (out > upper_limit) ? upper_limit
-                                : out;
-}
+    out = (out < lower_limit) ? lower_limit : (out > upper_limit) ? upper_limit : out;
+  }
 
   return out;
 }
@@ -118,12 +114,11 @@ bool PID::is_on_target() {
   if (fabs(get_error()) < config.deadband) {
     if (target_vel != 0) {
       return true;
-}
+    }
     if (is_checking_on_target == false) {
       on_target_last_time = pid_timer.value();
       is_checking_on_target = true;
-    } else if (pid_timer.value() - on_target_last_time >
-               config.on_target_time) {
+    } else if (pid_timer.value() - on_target_last_time > config.on_target_time) {
       return true;
     }
   } else {
diff --git a/src/utils/controls/pidff.cpp b/src/utils/controls/pidff.cpp
index f8f38c7..e12b309 100644
--- a/src/utils/controls/pidff.cpp
+++ b/src/utils/controls/pidff.cpp
@@ -1,11 +1,10 @@
 #include "../core/include/utils/controls/pidff.h"
 #include "../core/include/utils/math_util.h"
 
-PIDFF::PIDFF(PID::pid_config_t &pid_cfg, FeedForward::ff_config_t &ff_cfg)
-    : pid(pid_cfg), ff_cfg(ff_cfg), ff(ff_cfg) {
-    out = 0;
-    lower_lim = 0;
-    upper_lim = 0;
+PIDFF::PIDFF(PID::pid_config_t &pid_cfg, FeedForward::ff_config_t &ff_cfg) : pid(pid_cfg), ff_cfg(ff_cfg), ff(ff_cfg) {
+  out = 0;
+  lower_lim = 0;
+  upper_lim = 0;
 }
 
 /**
@@ -14,9 +13,8 @@ PIDFF::PIDFF(PID::pid_config_t &pid_cfg, FeedForward::ff_config_t &ff_cfg)
  * @param start_pt the current sensor value
  * @param set_pt where the sensor value should be
  */
-void PIDFF::init(double start_pt, double set_pt, double start_vel,
-                 double end_vel) {
-    pid.init(start_pt, set_pt, start_vel, end_vel);
+void PIDFF::init(double start_pt, double set_pt, double start_vel, double end_vel) {
+  pid.init(start_pt, set_pt, start_vel, end_vel);
 }
 
 void PIDFF::set_target(double set_pt) { pid.set_target(set_pt); }
@@ -29,14 +27,14 @@ void PIDFF::set_target(double set_pt) { pid.set_target(set_pt); }
  * @return feedback loop result
  */
 double PIDFF::update(double val) {
-    double pid_out = pid.update(val);
-    double ff_out = ff_cfg.kG + (ff_cfg.kS * sign(pid_out));
-    out = pid_out + ff_out;
-    if (lower_lim != upper_lim) {
-        out = clamp(out, lower_lim, upper_lim);
-}
+  double pid_out = pid.update(val);
+  double ff_out = ff_cfg.kG + (ff_cfg.kS * sign(pid_out));
+  out = pid_out + ff_out;
+  if (lower_lim != upper_lim) {
+    out = clamp(out, lower_lim, upper_lim);
+  }
 
-    return out;
+  return out;
 }
 
 double PIDFF::get_sensor_val() const { return pid.get_sensor_val(); }
@@ -52,14 +50,14 @@ double PIDFF::get_target() const { return pid.get_target(); }
  */
 double PIDFF::update(double val, double vel_setpt, double a_setpt) {
 
-    double pid_out = pid.update(val);
-    double ff_out = ff.calculate(vel_setpt, a_setpt);
-    out = pid_out + ff_out;
-    if (lower_lim != upper_lim) {
-        out = clamp(out, lower_lim, upper_lim);
-}
+  double pid_out = pid.update(val);
+  double ff_out = ff.calculate(vel_setpt, a_setpt);
+  out = pid_out + ff_out;
+  if (lower_lim != upper_lim) {
+    out = clamp(out, lower_lim, upper_lim);
+  }
 
-    return out;
+  return out;
 }
 
 /**
@@ -75,8 +73,8 @@ double PIDFF::get() { return out; }
  * @param upper Lower limit
  */
 void PIDFF::set_limits(double lower, double upper) {
-    upper_lim = upper;
-    lower_lim = lower;
+  upper_lim = upper;
+  lower_lim = lower;
 }
 
 /**
@@ -84,4 +82,4 @@ void PIDFF::set_limits(double lower, double upper) {
  */
 bool PIDFF::is_on_target() { return pid.is_on_target(); }
 
-void PIDFF::reset() { pid.reset(); }
+void PIDFF::reset() { pid.reset(); }
\ No newline at end of file
diff --git a/src/utils/controls/take_back_half.cpp b/src/utils/controls/take_back_half.cpp
index 7defe78..16e2d10 100644
--- a/src/utils/controls/take_back_half.cpp
+++ b/src/utils/controls/take_back_half.cpp
@@ -1,84 +1,68 @@
 #include "../core/include/utils/controls/take_back_half.h"
 #include "../core/include/utils/math_util.h"
 
-TakeBackHalf::TakeBackHalf(double gain, double first_cross_split, double thresh) : TBH_gain(gain), first_cross_split(first_cross_split), on_target_threshhold(fabs(thresh))
-{
-    tbh = 0.0;
-    output = 0.0;
-    prev_error = 0.0;
-    lower = 0.0;
-    upper = 0.0;
-    first_cross = true;
+TakeBackHalf::TakeBackHalf(double gain, double first_cross_split, double thresh)
+    : TBH_gain(gain), first_cross_split(first_cross_split), on_target_threshhold(fabs(thresh)) {
+  tbh = 0.0;
+  output = 0.0;
+  prev_error = 0.0;
+  lower = 0.0;
+  upper = 0.0;
+  first_cross = true;
 }
 
-void TakeBackHalf::init(double start_pt, double set_pt, double, double)
-{
-    if (set_pt == target)
-    {
-        // nothing to do
-        return;
-    }
-    first_cross = true;
-    tbh = output;
-    target = set_pt;
-    output = update(start_pt);
+void TakeBackHalf::init(double start_pt, double set_pt, double, double) {
+  if (set_pt == target) {
+    // nothing to do
+    return;
+  }
+  first_cross = true;
+  tbh = output;
+  target = set_pt;
+  output = update(start_pt);
 }
 
-double TakeBackHalf::update(double val)
-{
-
-    if (target == 0.0)
-    {
-        printf("no target\n");
-        return 0.0;
-    }
-
-    double error = target - val;
-    output += TBH_gain * error;
-
-    // taking back half crossed target
-    if (sign(error) != sign(prev_error))
-    {
-        if (first_cross)
-        {
-            output = lerp(tbh, output, first_cross_split);
-            tbh = output;
-            first_cross = false;
-            printf("First cross\n");
-        }
-        else
-        {
-            // output = .5 * (output + tbh);
-            output = lerp(tbh, output, .5);
-            tbh = output;
-        }
-        prev_error = error;
+double TakeBackHalf::update(double val) {
+
+  if (target == 0.0) {
+    printf("no target\n");
+    return 0.0;
+  }
+
+  double error = target - val;
+  output += TBH_gain * error;
+
+  // taking back half crossed target
+  if (sign(error) != sign(prev_error)) {
+    if (first_cross) {
+      output = lerp(tbh, output, first_cross_split);
+      tbh = output;
+      first_cross = false;
+      printf("First cross\n");
+    } else {
+      // output = .5 * (output + tbh);
+      output = lerp(tbh, output, .5);
+      tbh = output;
     }
+    prev_error = error;
+  }
 
-    if (lower != upper)
-    {
-        output = clamp(output, lower, upper);
-    }
-    return output;
+  if (lower != upper) {
+    output = clamp(output, lower, upper);
+  }
+  return output;
 }
 
-double TakeBackHalf::get()
-{
-    return output;
-}
+double TakeBackHalf::get() { return output; }
 
-void TakeBackHalf::set_limits(double low, double high)
-{
+void TakeBackHalf::set_limits(double low, double high) {
 
-    lower = low;
-    upper = high;
-    printf("Set limits: %f, %f\n", lower, upper);
+  lower = low;
+  upper = high;
+  printf("Set limits: %f, %f\n", lower, upper);
 }
 
-bool TakeBackHalf::is_on_target()
-{
-    return fabs(prev_error) < on_target_threshhold;
-}
+bool TakeBackHalf::is_on_target() { return fabs(prev_error) < on_target_threshhold; }
 
 // Runs a Take Back Half variant to control RPM
 // https://www.vexwiki.org/programming/controls_algorithms/tbh
diff --git a/src/utils/generic_auto.cpp b/src/utils/generic_auto.cpp
index 1ac9dcd..c6984a3 100644
--- a/src/utils/generic_auto.cpp
+++ b/src/utils/generic_auto.cpp
@@ -1,65 +1,60 @@
 #include "../core/include/utils/generic_auto.h"
 
 /**
-* The method that runs the autonomous. If 'blocking' is true, then
-* this method will run through every state until it finished.
-*
-* If blocking is false, then assuming every state is also non-blocking,
-* the method will run through the current state in the list and return
-* immediately.
-*
-* @param blocking
-*     Whether or not to block the thread until all states have run
-* @returns
-*     true after all states have finished.
-*/
-bool GenericAuto::run(bool blocking)
-{
-  if(state_list.empty()) {
-    return true;
-}
+ * The method that runs the autonomous. If 'blocking' is true, then
+ * this method will run through every state until it finished.
+ *
+ * If blocking is false, then assuming every state is also non-blocking,
+ * the method will run through the current state in the list and return
+ * immediately.
+ *
+ * @param blocking
+ *     Whether or not to block the thread until all states have run
+ * @returns
+ *     true after all states have finished.
+ */
+bool GenericAuto::run(bool blocking) {
+  if (state_list.empty()) {
+    return true;
+  }
 
-  do
-  {
-    if( state_list.front()() ) {
-      state_list.pop();
-}
+  do {
+    if (state_list.front()()) {
+      state_list.pop();
+    }
 
-    if(blocking) {
-      vexDelay(20);
-}
+    if (blocking) {
+      vexDelay(20);
+    }
 
-  } while(blocking && !state_list.empty());
+  } while (blocking && !state_list.empty());
 
   // If the method is blocking, return true because it's finished
   // If non-blocking, return false because the list isn't empty yet
   return blocking;
 }
 
-void GenericAuto::add(state_ptr new_state)
-{
-  state_list.push(new_state);
-}
+void GenericAuto::add(state_ptr new_state) { state_list.push(new_state); }
 
-void GenericAuto::add_async(state_ptr async_state)
-{
-  state_ptr fn = [&async_state](){
-    vex::task t([](void* fn_ptr){
-      while(! (*(state_ptr*)fn_ptr)() ) {
-       vexDelay(20);
-}
+void GenericAuto::add_async(state_ptr async_state) {
+  state_ptr fn = [&async_state]() {
+    vex::task t(
+        [](void *fn_ptr) {
+          while (!(*(state_ptr *)fn_ptr)()) {
+            vexDelay(20);
+          }
 
-      return 0;
-    }, &async_state);
+          return 0;
+        },
+        &async_state);
     return true;
   };
 
   state_list.push(fn);
 }
 
-void GenericAuto::add_delay(int ms)
-{
-  add([ms](){
+void GenericAuto::add_delay(int ms) {
+  add([ms]() {
     vexDelay(ms);
     return true;
   });
diff --git a/src/utils/graph_drawer.cpp b/src/utils/graph_drawer.cpp
index 5621d99..57f830f 100644
--- a/src/utils/graph_drawer.cpp
+++ b/src/utils/graph_drawer.cpp
@@ -6,68 +6,58 @@
 /// @param upper_bound the top of the window when displaying (if upper_bound = lower_bound, auto calculate bounds)
 /// @param colors the colors of the series. must be of size num_series
 /// @param num_series the number of series to graph
-GraphDrawer::GraphDrawer(int num_samples, double lower_bound, double upper_bound, std::vector<vex::color> colors, size_t num_series) : cols(colors), auto_fit(lower_bound == upper_bound)
-{
-    if (colors.size() != num_series)
-    {
-        printf("The number of colors does not match the number of series in graph drawer\n");
-    }
-    series = std::vector<std::vector<point_t>>(num_series);
-    for (size_t i = 0; i < num_series; i++)
-    {
-        series[i] = std::vector<point_t>(num_samples, {0.0, 0.0});
-    }
+GraphDrawer::GraphDrawer(int num_samples, double lower_bound, double upper_bound, std::vector<vex::color> colors,
+                         size_t num_series)
+    : cols(colors), auto_fit(lower_bound == upper_bound) {
+  if (colors.size() != num_series) {
+    printf("The number of colors does not match the number of series in graph drawer\n");
+  }
+  series = std::vector<std::vector<point_t>>(num_series);
+  for (size_t i = 0; i < num_series; i++) {
+    series[i] = std::vector<point_t>(num_samples, {0.0, 0.0});
+  }
 
-    if (auto_fit)
-    {
-        upper = -1000.0;
-        lower = 1000.0;
-    } else {
-        upper = upper_bound;
-        lower = lower_bound;
-    }
+  if (auto_fit) {
+    upper = -1000.0;
+    lower = 1000.0;
+  } else {
+    upper = upper_bound;
+    lower = lower_bound;
+  }
 }
 
 /**
  * add_samples adds a point to the graph, removing one from the back
  * @param sample an x, y coordinate of the next point to graph
  */
-void GraphDrawer::add_samples(std::vector<point_t> new_samples)
-{
-    if (series.size() != new_samples.size())
-    {
-        printf("Mismatch between # of samples given and number of series. %s : %d\n", __FILE__, __LINE__);
+void GraphDrawer::add_samples(std::vector<point_t> new_samples) {
+  if (series.size() != new_samples.size()) {
+    printf("Mismatch between # of samples given and number of series. %s : %d\n", __FILE__, __LINE__);
+  }
+  for (size_t i = 0; i < series.size(); i++) {
+    series[i][sample_index] = new_samples[i];
+    if (auto_fit) {
+      upper = fmax(upper, new_samples[i].y);
+      lower = fmin(lower, new_samples[i].y);
     }
-    for (size_t i = 0; i < series.size(); i++)
-    {
-        series[i][sample_index] = new_samples[i];
-        if (auto_fit)
-        {
-            upper = fmax(upper, new_samples[i].y);
-            lower = fmin(lower, new_samples[i].y);
-        }
-    }
-    sample_index++;
-    sample_index %= series[0].size();
+  }
+  sample_index++;
+  sample_index %= series[0].size();
 }
 
-void GraphDrawer::add_samples(std::vector<double> new_samples)
-{
-    if (series.size() != new_samples.size())
-    {
-        printf("Mismatch between # of samples given and number of series. %s : %d\n", __FILE__, __LINE__);
-    }
-    for (size_t i = 0; i < series.size(); i++)
-    {
-        series[i][sample_index] = {(double)vex::timer::system(), new_samples[i]};
-        if (auto_fit)
-        {
-            upper = fmax(upper, new_samples[i]);
-            lower = fmin(lower, new_samples[i]);
-        }
+void GraphDrawer::add_samples(std::vector<double> new_samples) {
+  if (series.size() != new_samples.size()) {
+    printf("Mismatch between # of samples given and number of series. %s : %d\n", __FILE__, __LINE__);
+  }
+  for (size_t i = 0; i < series.size(); i++) {
+    series[i][sample_index] = {(double)vex::timer::system(), new_samples[i]};
+    if (auto_fit) {
+      upper = fmax(upper, new_samples[i]);
+      lower = fmin(lower, new_samples[i]);
     }
-    sample_index++;
-    sample_index %= series[0].size();
+  }
+  sample_index++;
+  sample_index %= series[0].size();
 }
 
 /**
@@ -77,61 +67,54 @@ void GraphDrawer::add_samples(std::vector<double> new_samples)
  * @param width the width of the graphed region
  * @param height the height of the graphed region
  */
-void GraphDrawer::draw(vex::brain::lcd &screen, int x, int y, int width, int height)
-{
-    if (series[0].size() < 1)
-    {
-        return;
-    }
-    if (cols.size() != series.size())
-    {
-        printf("The number of colors does not match the number of series in graph drawer\n");
-    }
+void GraphDrawer::draw(vex::brain::lcd &screen, int x, int y, int width, int height) {
+  if (series[0].size() < 1) {
+    return;
+  }
+  if (cols.size() != series.size()) {
+    printf("The number of colors does not match the number of series in graph drawer\n");
+  }
 
-    size_t newest_index = (sample_index-1);
-    if (sample_index<0){
-        sample_index+=series[0].size();
-    }
+  size_t newest_index = (sample_index - 1);
+  if (sample_index < 0) {
+    sample_index += series[0].size();
+  }
 
-    double earliest_time = series[0][sample_index].x;
-    double latest_time = series[0][newest_index].x;
-    // collect data
-    if (std::abs(latest_time - earliest_time) < 0.001)
-    {
-        screen.printAt(width / 2, height / 2, "Not enough Data");
-        return;
-    }
+  double earliest_time = series[0][sample_index].x;
+  double latest_time = series[0][newest_index].x;
+  // collect data
+  if (std::abs(latest_time - earliest_time) < 0.001) {
+    screen.printAt(width / 2, height / 2, "Not enough Data");
+    return;
+  }
 
-    if (border)
-    {
-        screen.setPenWidth(1);
-        screen.setPenColor(vex::white);
-        screen.setFillColor(bgcol);
-        screen.drawRectangle(x, y, width, height);
-    }
+  if (border) {
+    screen.setPenWidth(1);
+    screen.setPenColor(vex::white);
+    screen.setFillColor(bgcol);
+    screen.drawRectangle(x, y, width, height);
+  }
 
-    double time_range = latest_time - earliest_time;
-    double sample_range = upper - lower;
-    screen.setPenWidth(2);
+  double time_range = latest_time - earliest_time;
+  double sample_range = upper - lower;
+  screen.setPenWidth(2);
 
-    for (int j = 0; j < series.size(); j++)
-    {
-        double x_s = (double)x;
-        double y_s = (double)y + (double)height;
-        const std::vector<point_t> &samples = series[j];
+  for (int j = 0; j < series.size(); j++) {
+    double x_s = (double)x;
+    double y_s = (double)y + (double)height;
+    const std::vector<point_t> &samples = series[j];
 
-        screen.setPenColor(cols[j]);
-        for (int i = sample_index; i < samples.size() + sample_index - 1; i++)
-        {
-            point_t p = samples[i % samples.size()];
-            double x_pos = x_s + ((p.x - earliest_time) / time_range) * (double)width;
-            double y_pos = y_s + ((p.y - lower) / sample_range) * (double)(-height);
+    screen.setPenColor(cols[j]);
+    for (int i = sample_index; i < samples.size() + sample_index - 1; i++) {
+      point_t p = samples[i % samples.size()];
+      double x_pos = x_s + ((p.x - earliest_time) / time_range) * (double)width;
+      double y_pos = y_s + ((p.y - lower) / sample_range) * (double)(-height);
 
-            point_t p2 = samples[(i + 1) % samples.size()];
-            double x_pos2 = x_s + ((p2.x - earliest_time) / time_range) * (double)width;
-            double y_pos2 = y_s + ((p2.y - lower) / sample_range) * (double)(-height);
+      point_t p2 = samples[(i + 1) % samples.size()];
+      double x_pos2 = x_s + ((p2.x - earliest_time) / time_range) * (double)width;
+      double y_pos2 = y_s + ((p2.y - lower) / sample_range) * (double)(-height);
 
-            screen.drawLine((int)x_pos, (int)y_pos, (int)x_pos2, (int)y_pos2);
-        }
+      screen.drawLine((int)x_pos, (int)y_pos, (int)x_pos2, (int)y_pos2);
     }
+  }
 }
diff --git a/src/utils/logger.cpp b/src/utils/logger.cpp
index 65ff58d..5e35b90 100644
--- a/src/utils/logger.cpp
+++ b/src/utils/logger.cpp
@@ -1,84 +1,71 @@
 #include "../core/include/utils/logger.h"
 #include <stdarg.h>
 
-void Logger::write_level(LogLevel l)
-{
-    unsigned char *debug = (unsigned char *)"DEBUG: ";
-    unsigned char *notice = (unsigned char *)"NOTICE: ";
-    unsigned char *warning = (unsigned char *)"WARNING: ";
-    unsigned char *error = (unsigned char *)"ERROR: ";
-    unsigned char *critical = (unsigned char *)"CRITICAL: ";
-    switch (l)
-    {
-    case DEBUG:
-        sd.appendfile(filename.c_str(), debug, 7);
-        break;
-    case NOTICE:
-        sd.appendfile(filename.c_str(), notice, 8);
-        break;
-    case WARNING:
-        sd.appendfile(filename.c_str(), warning, 9);
-        break;
-    case ERROR:
-        sd.appendfile(filename.c_str(), error, 7);
-        break;
-    case CRITICAL:
-        sd.appendfile(filename.c_str(), critical, 10);
-        break;
-    case TIME:
-        int32_t msec = vexSystemTimeGet();
-        Logf("%d: ", msec);
-        break;
-    };
+void Logger::write_level(LogLevel l) {
+  unsigned char *debug = (unsigned char *)"DEBUG: ";
+  unsigned char *notice = (unsigned char *)"NOTICE: ";
+  unsigned char *warning = (unsigned char *)"WARNING: ";
+  unsigned char *error = (unsigned char *)"ERROR: ";
+  unsigned char *critical = (unsigned char *)"CRITICAL: ";
+  switch (l) {
+  case DEBUG:
+    sd.appendfile(filename.c_str(), debug, 7);
+    break;
+  case NOTICE:
+    sd.appendfile(filename.c_str(), notice, 8);
+    break;
+  case WARNING:
+    sd.appendfile(filename.c_str(), warning, 9);
+    break;
+  case ERROR:
+    sd.appendfile(filename.c_str(), error, 7);
+    break;
+  case CRITICAL:
+    sd.appendfile(filename.c_str(), critical, 10);
+    break;
+  case TIME:
+    int32_t msec = vexSystemTimeGet();
+    Logf("%d: ", msec);
+    break;
+  };
 }
 
-Logger::Logger(const std::string &filename) : filename(filename) {
-    sd.savefile(filename.c_str(), NULL, 0);
-}
+Logger::Logger(const std::string &filename) : filename(filename) { sd.savefile(filename.c_str(), NULL, 0); }
 
-void Logger::Log(const std::string &s)
-{
-    sd.appendfile(filename.c_str(), (unsigned char *)s.c_str(), s.size());
-}
-void Logger::Log(LogLevel level, const std::string &s)
-{
-    write_level(level);
-    sd.appendfile(filename.c_str(), (unsigned char *)s.c_str(), s.size());
+void Logger::Log(const std::string &s) { sd.appendfile(filename.c_str(), (unsigned char *)s.c_str(), s.size()); }
+void Logger::Log(LogLevel level, const std::string &s) {
+  write_level(level);
+  sd.appendfile(filename.c_str(), (unsigned char *)s.c_str(), s.size());
 }
 
-void Logger::Logln(const std::string &s)
-{
-    sd.appendfile(filename.c_str(), (unsigned char *)s.c_str(), s.size());
-    unsigned char newline = '\n';
-    sd.appendfile(filename.c_str(), &newline, 1);
+void Logger::Logln(const std::string &s) {
+  sd.appendfile(filename.c_str(), (unsigned char *)s.c_str(), s.size());
+  unsigned char newline = '\n';
+  sd.appendfile(filename.c_str(), &newline, 1);
 }
-void Logger::Logln(LogLevel level, const std::string &s)
-{
-    write_level(level);
-    Logln(s);
+void Logger::Logln(LogLevel level, const std::string &s) {
+  write_level(level);
+  Logln(s);
 }
 
-void Logger::Logf(const char *fmt, ...)
-{
-    char buf[MAX_FORMAT_LEN];
-    va_list args;
-    va_start(args, fmt);
-
-    int32_t written = vex_vsnprintf(buf, MAX_FORMAT_LEN, fmt, args);
+void Logger::Logf(const char *fmt, ...) {
+  char buf[MAX_FORMAT_LEN];
+  va_list args;
+  va_start(args, fmt);
 
-    va_end(args);
-    sd.appendfile(filename.c_str(), (unsigned char *)buf, written);
+  int32_t written = vex_vsnprintf(buf, MAX_FORMAT_LEN, fmt, args);
 
+  va_end(args);
+  sd.appendfile(filename.c_str(), (unsigned char *)buf, written);
 }
-void Logger::Logf(LogLevel level, const char *fmt, ...)
-{
-    char buf[MAX_FORMAT_LEN];
+void Logger::Logf(LogLevel level, const char *fmt, ...) {
+  char buf[MAX_FORMAT_LEN];
 
-    write_level(level);
-    va_list args;
-    va_start(args, fmt);
-    int32_t written = vex_vsnprintf(buf, MAX_FORMAT_LEN, fmt, args);
-    va_end(args);
+  write_level(level);
+  va_list args;
+  va_start(args, fmt);
+  int32_t written = vex_vsnprintf(buf, MAX_FORMAT_LEN, fmt, args);
+  va_end(args);
 
-    sd.appendfile(filename.c_str(), (unsigned char *)buf, written);
+  sd.appendfile(filename.c_str(), (unsigned char *)buf, written);
 }
diff --git a/src/utils/math_util.cpp b/src/utils/math_util.cpp
index 6f8e0d6..c52ca97 100644
--- a/src/utils/math_util.cpp
+++ b/src/utils/math_util.cpp
@@ -12,23 +12,16 @@
  * @param low  the minimum value that will be returned
  * @param high the maximum value that will be returned
  **/
-double clamp(double val, double low, double high)
-{
-  if (val < low)
-  {
+double clamp(double val, double low, double high) {
+  if (val < low) {
     return low;
-  }
-  else if (val > high)
-  {
+  } else if (val > high) {
     return high;
   }
   return val;
 }
 
-double lerp(double a, double b, double t)
-{
-  return a * (1.0 - t) + b * t;
-}
+double lerp(double a, double b, double t) { return a * (1.0 - t) + b * t; }
 
 /**
  * Returns the sign of a number
@@ -36,31 +29,27 @@ double lerp(double a, double b, double t)
  *
  * returns the sign +/-1 of x. special case at 0 it returns +1
  **/
-double sign(double x)
-{
-  if (x < 0)
-  {
+double sign(double x) {
+  if (x < 0) {
     return -1;
   }
   return 1;
 }
 
-double wrap_angle_deg(double input)
-{
+double wrap_angle_deg(double input) {
   double angle = fmod(input, 360);
   if (angle < 0) {
     angle += 360;
-}
+  }
 
   return angle;
 }
 
-double wrap_angle_rad(double input)
-{
+double wrap_angle_rad(double input) {
   double angle = fmod(input, 2 * PI);
   if (angle < 0) {
     angle += 2 * PI;
-}
+  }
 
   return angle;
 }
@@ -68,11 +57,9 @@ double wrap_angle_rad(double input)
 Calculates the average of a vector of doubles
 @param values   the list of values for which the average is taken
 */
-double mean(std::vector<double> const &values)
-{
+double mean(std::vector<double> const &values) {
   double total = 0;
-  for (int i = 0; i < values.size(); i++)
-  {
+  for (int i = 0; i < values.size(); i++) {
     total += values[i];
   }
   return total / (double)values.size();
@@ -84,11 +71,9 @@ Calculates the variance of  a set of numbers (needed for linear regression)
 @param values   the values for which the covariance is taken
 @param mean     the average of values
 */
-double variance(std::vector<double> const &values, double mean)
-{
+double variance(std::vector<double> const &values, double mean) {
   double total = 0.0;
-  for (int i = 0; i < values.size(); i++)
-  {
+  for (int i = 0; i < values.size(); i++) {
     total += (values[i] - mean) * (values[i] - mean);
   }
   return total;
@@ -103,11 +88,9 @@ Calculates the covariance of a set of points (needed for linear regression)
 @param meanx    the mean value of all x coordinates in points
 @param meany    the mean value of all y coordinates in points
 */
-double covariance(std::vector<std::pair<double, double>> const &points, double meanx, double meany)
-{
+double covariance(std::vector<std::pair<double, double>> const &points, double meanx, double meany) {
   double covar = 0.0;
-  for (int i = 0; i < points.size(); i++)
-  {
+  for (int i = 0; i < points.size(); i++) {
     covar += (points[i].first - meanx) * (points[i].second - meany);
   }
   return covar;
@@ -118,13 +101,12 @@ double covariance(std::vector<std::pair<double, double>> const &points, double m
  * @param points the points for the data
  * @return slope, y intercept. y = m(x)+b. std::pair<m, b>
  */
-std::pair<double, double> calculate_linear_regression(std::vector<std::pair<double, double>> const &points)
-{
-  // Purely for convenience and the ability to reuse mean() and variance() - can be easily rewritten to avoid allocating these if the code is repeatedly called
+std::pair<double, double> calculate_linear_regression(std::vector<std::pair<double, double>> const &points) {
+  // Purely for convenience and the ability to reuse mean() and variance() - can be easily rewritten to avoid allocating
+  // these if the code is repeatedly called
   std::vector<double> xs(points.size(), 0.0);
   std::vector<double> ys(points.size(), 0.0);
-  for (int i = 0; i < points.size(); i++)
-  {
+  for (int i = 0; i < points.size(); i++) {
     xs[i] = points[i].first;
     ys[i] = points[i].second;
   }
@@ -138,18 +120,16 @@ std::pair<double, double> calculate_linear_regression(std::vector<std::pair<doub
   return std::pair<double, double>(slope, y_intercept);
 }
 
-double estimate_path_length(const std::vector<point_t> &points)
-{
+double estimate_path_length(const std::vector<point_t> &points) {
   double dist = 0;
 
-  for (point_t p : points)
-  {
+  for (point_t p : points) {
     static point_t last_p = p;
 
     // Ignore the first point
     if (p == last_p) {
       continue;
-}
+    }
 
     dist += p.dist(last_p);
     last_p = p;
diff --git a/src/utils/moving_average.cpp b/src/utils/moving_average.cpp
index 1073776..14803a6 100644
--- a/src/utils/moving_average.cpp
+++ b/src/utils/moving_average.cpp
@@ -1,17 +1,19 @@
-#include <vector>
 #include "../core/include/utils/moving_average.h"
 #include <cmath>
+#include <vector>
 
 /*
  * MovingAverage
  *
- * A moving average is a way of smoothing out noisy data. For many sensor readings, the noise is roughly symmetric around the actual value.
- * This means that if you collect enough samples those that are too high are cancelled out by the samples that are too low leaving the real value.
+ * A moving average is a way of smoothing out noisy data. For many sensor readings, the noise is roughly symmetric
+ * around the actual value. This means that if you collect enough samples those that are too high are cancelled out by
+ * the samples that are too low leaving the real value.
  *
  * The MovingAverage class provides a simple interface to do this smoothing from our noisy sensor values.
  *
- * WARNING: because we need a lot of samples to get the actual value, the value given by the MovingAverage will 'lag' behind the actual value that the sensor is reading.
- * Using a MovingAverage is thus a tradeoff between accuracy and lag time (more samples) vs. less accuracy and faster updating (less samples).
+ * WARNING: because we need a lot of samples to get the actual value, the value given by the MovingAverage will 'lag'
+ * behind the actual value that the sensor is reading. Using a MovingAverage is thus a tradeoff between accuracy and lag
+ * time (more samples) vs. less accuracy and faster updating (less samples).
  *
  */
 
@@ -20,8 +22,7 @@
  *
  * @param buffer_size    The size of the buffer. The number of samples that constitute a valid reading
  */
-MovingAverage::MovingAverage(int buffer_size)
-{
+MovingAverage::MovingAverage(int buffer_size) {
   buffer = std::vector<double>(buffer_size, 0.0);
   buffer_index = 0;
   current_avg = 0;
@@ -32,8 +33,7 @@ MovingAverage::MovingAverage(int buffer_size)
  * @param buffer_size    The size of the buffer. The number of samples that constitute a valid reading
  * @param starting_value The value that the average will be before any data is added
  */
-MovingAverage::MovingAverage(int buffer_size, double starting_value)
-{
+MovingAverage::MovingAverage(int buffer_size, double starting_value) {
   buffer = std::vector<double>(buffer_size, starting_value);
   buffer_index = 0;
   current_avg = starting_value;
@@ -49,8 +49,7 @@ MovingAverage::MovingAverage(int buffer_size, double starting_value)
  *     ^
  * @param n  the sample that will be added to the moving average.
  */
-void MovingAverage::add_entry(double n)
-{
+void MovingAverage::add_entry(double n) {
   current_avg -= buffer[buffer_index] / (double)get_size();
   current_avg += n / get_size();
   buffer[buffer_index] = n;
@@ -63,24 +62,17 @@ void MovingAverage::add_entry(double n)
  * How many samples the average is made from
  * @return the number of samples used to calculate this average
  */
-double MovingAverage::get_value() const
-{
-  return current_avg;
-}
+double MovingAverage::get_value() const { return current_avg; }
 
 // How many samples the average is made from
-int MovingAverage::get_size() const
-{
-  return buffer.size();
-}
+int MovingAverage::get_size() const { return buffer.size(); }
 
 /**
  * Create a moving average calculator with 0 as the default value
  *
  * @param buffer_size    The size of the buffer. The number of samples that constitute a valid reading
  */
-ExponentialMovingAverage::ExponentialMovingAverage(int buffer_size)
-{
+ExponentialMovingAverage::ExponentialMovingAverage(int buffer_size) {
   buffer = std::vector<double>(buffer_size, 0.0);
   buffer_index = 0;
   current_avg = 0;
@@ -91,8 +83,7 @@ ExponentialMovingAverage::ExponentialMovingAverage(int buffer_size)
  * @param buffer_size    The size of the buffer. The number of samples that constitute a valid reading
  * @param starting_value The value that the average will be before any data is added
  */
-ExponentialMovingAverage::ExponentialMovingAverage(int buffer_size, double starting_value)
-{
+ExponentialMovingAverage::ExponentialMovingAverage(int buffer_size, double starting_value) {
   buffer = std::vector<double>(buffer_size, starting_value);
   buffer_index = 0;
   current_avg = starting_value;
@@ -108,8 +99,7 @@ ExponentialMovingAverage::ExponentialMovingAverage(int buffer_size, double start
  *     ^
  * @param n  the sample that will be added to the moving average.
  */
-void ExponentialMovingAverage::add_entry(double n)
-{
+void ExponentialMovingAverage::add_entry(double n) {
   int oldest_index = buffer_index;
   double oldest_sample = buffer[oldest_index];
   double oldest_weight = 1.0 / pow(2, (double)(buffer.size() - 1));
@@ -131,13 +121,7 @@ void ExponentialMovingAverage::add_entry(double n)
  * How many samples the average is made from
  * @return the number of samples used to calculate this average
  */
-double ExponentialMovingAverage::get_value() const
-{
-  return current_avg;
-}
+double ExponentialMovingAverage::get_value() const { return current_avg; }
 
 // How many samples the average is made from
-int ExponentialMovingAverage::get_size()
-{
-  return buffer.size();
-}
+int ExponentialMovingAverage::get_size() { return buffer.size(); }
diff --git a/src/utils/pure_pursuit.cpp b/src/utils/pure_pursuit.cpp
index ffdd36b..b33e4e1 100644
--- a/src/utils/pure_pursuit.cpp
+++ b/src/utils/pure_pursuit.cpp
@@ -10,26 +10,28 @@ PurePursuit::Path::Path(std::vector<point_t> points, double radius) {
   this->radius = radius;
   this->valid = true;
 
-  for(int i = 0; i < points.size() - 1; i++) {
-    for(int j = i + 2; j < points.size() - 1; j++) {
+  for (int i = 0; i < points.size() - 1; i++) {
+    for (int j = i + 2; j < points.size() - 1; j++) {
       // Iterate over points on the segments discretely and compare distances
-      double segment_i_dist = points[i].dist(points[i+1]);
-      if (segment_i_dist == 0) { segment_i_dist = 0.1;
-}
-      double segment_j_dist = points[j].dist(points[j+1]);
-      if (segment_j_dist == 0) { segment_j_dist = 0.1;
-}
-      for(double t1 = 0; t1 <= 1; t1 += radius / segment_i_dist) {
+      double segment_i_dist = points[i].dist(points[i + 1]);
+      if (segment_i_dist == 0) {
+        segment_i_dist = 0.1;
+      }
+      double segment_j_dist = points[j].dist(points[j + 1]);
+      if (segment_j_dist == 0) {
+        segment_j_dist = 0.1;
+      }
+      for (double t1 = 0; t1 <= 1; t1 += radius / segment_i_dist) {
         point_t p1;
-        p1.x = points[i].x + t1 * (points[i+1].x - points[i].x);
-        p1.y = points[i].y + t1 * (points[i+1].y - points[i].y);
+        p1.x = points[i].x + t1 * (points[i + 1].x - points[i].x);
+        p1.y = points[i].y + t1 * (points[i + 1].y - points[i].y);
 
-        for(double t2 = 0; t2 <= 1; t2 += radius / segment_j_dist) {
+        for (double t2 = 0; t2 <= 1; t2 += radius / segment_j_dist) {
           point_t p2;
-          p2.x = points[j].x + t2 * (points[j+1].x - points[j].x);
-          p2.y = points[j].y + t2 * (points[j+1].y - points[j].y);
+          p2.x = points[j].x + t2 * (points[j + 1].x - points[j].x);
+          p2.y = points[j].y + t2 * (points[j + 1].y - points[j].y);
 
-          if(p1.dist(p2) < radius) {
+          if (p1.dist(p2) < radius) {
             this->valid = false;
             return;
           }
@@ -42,67 +44,59 @@ PurePursuit::Path::Path(std::vector<point_t> points, double radius) {
 /**
  * Get the points associated with this Path
  */
-std::vector<point_t> PurePursuit::Path::get_points() {
-  return this->points;
-}
+std::vector<point_t> PurePursuit::Path::get_points() { return this->points; }
 
 /**
  * Get the radius associated with this Path
  */
-double PurePursuit::Path::get_radius() {
-  return this->radius;
-}
+double PurePursuit::Path::get_radius() { return this->radius; }
 
 /**
  * Get whether this path will behave as expected
  */
-bool PurePursuit::Path::is_valid() {
-  return this->valid;
-}
+bool PurePursuit::Path::is_valid() { return this->valid; }
 
 /**
-  * Returns points of the intersections of a line segment and a circle. The line 
-  * segment is defined by two points, and the circle is defined by a center and radius.
-  */
-std::vector<point_t> PurePursuit::line_circle_intersections(point_t center, double r, point_t point1, point_t point2)
-{
+ * Returns points of the intersections of a line segment and a circle. The line
+ * segment is defined by two points, and the circle is defined by a center and radius.
+ */
+std::vector<point_t> PurePursuit::line_circle_intersections(point_t center, double r, point_t point1, point_t point2) {
   std::vector<point_t> intersections = {};
 
-  //Do future calculations relative to the circle's center
+  // Do future calculations relative to the circle's center
   point1.y -= center.y;
   point1.x -= center.x;
   point2.y -= center.y;
   point2.x -= center.x;
 
   double x1, x2, y1, y2;
-  //Handling an infinite slope using mx+b and x^2 + y^2 = r^2
-  if(point1.x - point2.x == 0)
-  {
+  // Handling an infinite slope using mx+b and x^2 + y^2 = r^2
+  if (point1.x - point2.x == 0) {
     x1 = point1.x;
     y1 = sqrt(pow(r, 2) - pow(x1, 2));
     x2 = point1.x;
     y2 = -sqrt(pow(r, 2) - pow(x2, 2));
   }
-  //Non-infinite slope using mx+b and x^2 + y^2 = r^2
-  else
-  {
+  // Non-infinite slope using mx+b and x^2 + y^2 = r^2
+  else {
     double m = (point1.y - point2.y) / (point1.x - point2.x);
     double b = point1.y - (m * point1.x);
 
-    x1 = ((-m * b) + sqrt(pow(r, 2) + (pow(m, 2) * pow(r, 2)) - pow(b, 2))) / (1 + pow(m,2));
+    x1 = ((-m * b) + sqrt(pow(r, 2) + (pow(m, 2) * pow(r, 2)) - pow(b, 2))) / (1 + pow(m, 2));
     y1 = m * x1 + b;
-    x2 = ((-m * b) - sqrt(pow(r, 2) + (pow(m, 2) * pow(r, 2)) - pow(b, 2))) / (1 + pow(m,2));
+    x2 = ((-m * b) - sqrt(pow(r, 2) + (pow(m, 2) * pow(r, 2)) - pow(b, 2))) / (1 + pow(m, 2));
     y2 = m * x2 + b;
   }
 
-  //The equations used define an infinitely long line, so we check if the detected intersection falls on the line segment.
-  if(x1 >= fmin(point1.x, point2.x) && x1 <= fmax(point1.x, point2.x) && y1 >= fmin(point1.y, point2.y) && y1 <= fmax(point1.y, point2.y))
-  {
+  // The equations used define an infinitely long line, so we check if the detected intersection falls on the line
+  // segment.
+  if (x1 >= fmin(point1.x, point2.x) && x1 <= fmax(point1.x, point2.x) && y1 >= fmin(point1.y, point2.y) &&
+      y1 <= fmax(point1.y, point2.y)) {
     intersections.push_back(point_t{.x = x1 + center.x, .y = y1 + center.y});
   }
 
-  if(x2 >= fmin(point1.x, point2.x) && x2 <= fmax(point1.x, point2.x) && y2 >= fmin(point1.y, point2.y) && y2 <= fmax(point1.y, point2.y))
-  {
+  if (x2 >= fmin(point1.x, point2.x) && x2 <= fmax(point1.x, point2.x) && y2 >= fmin(point1.y, point2.y) &&
+      y2 <= fmax(point1.y, point2.y)) {
     intersections.push_back(point_t{.x = x2 + center.x, .y = y2 + center.y});
   }
 
@@ -112,31 +106,26 @@ std::vector<point_t> PurePursuit::line_circle_intersections(point_t center, doub
 /**
  * Selects a look ahead from all the intersections in the path.
  */
-[[maybe_unused]] point_t PurePursuit::get_lookahead(const std::vector<point_t> &path, pose_t robot_loc, double radius)
-{ 
-  //Default: the end of the path
+[[maybe_unused]] point_t PurePursuit::get_lookahead(const std::vector<point_t> &path, pose_t robot_loc, double radius) {
+  // Default: the end of the path
   point_t target = path.back();
 
-
-  if(target.dist(robot_loc.get_point()) <= radius)
-  {
+  if (target.dist(robot_loc.get_point()) <= radius) {
     return target;
   }
-  
-  //Check each line segment of the path for potential targets
-  for(int i = 0; i < path.size() - 1; i++)
-  {
+
+  // Check each line segment of the path for potential targets
+  for (int i = 0; i < path.size() - 1; i++) {
     point_t start = path[i];
-    point_t end = path[i+1];
+    point_t end = path[i + 1];
 
     std::vector<point_t> intersections = line_circle_intersections(robot_loc.get_point(), radius, start, end);
-    //Choose the intersection that is closest to the end of the line segment
-    //This prioritizes the closest intersection to the end of the path
-    for(point_t intersection: intersections)
-    {
-      if(intersection.dist(end) < target.dist(end)) {
+    // Choose the intersection that is closest to the end of the line segment
+    // This prioritizes the closest intersection to the end of the path
+    for (point_t intersection : intersections) {
+      if (intersection.dist(end) < target.dist(end)) {
         target = intersection;
-}
+      }
     }
   }
 
@@ -146,32 +135,29 @@ std::vector<point_t> PurePursuit::line_circle_intersections(point_t center, doub
 /**
  Injects points in a path without changing the curvature with a certain spacing.
 */
-[[maybe_unused]] std::vector<point_t> PurePursuit::inject_path(const std::vector<point_t> &path, double spacing)
-{
+[[maybe_unused]] std::vector<point_t> PurePursuit::inject_path(const std::vector<point_t> &path, double spacing) {
   std::vector<point_t> new_path;
 
-  //Injecting points for each line segment
-  for(int i = 0; i < path.size() - 1; i++)
-  {
+  // Injecting points for each line segment
+  for (int i = 0; i < path.size() - 1; i++) {
     point_t start = path[i];
-    point_t end = path[i+1];
+    point_t end = path[i + 1];
 
     point_t diff = end - start;
     Vector2D vector = Vector2D(diff);
-    
+
     int num_points = ceil(vector.get_mag() / spacing);
 
-    //This is the vector between each point
+    // This is the vector between each point
     vector = vector.normalize() * spacing;
 
-    for(int j = 0; j < num_points; j++)
-    {
-      //We take the start point and add additional vectors
+    for (int j = 0; j < num_points; j++) {
+      // We take the start point and add additional vectors
       point_t path_point = (Vector2D(start) + vector * j).point();
       new_path.push_back(path_point);
     }
   }
-  //Adds the last point
+  // Adds the last point
   new_path.push_back(path.back());
   return new_path;
 }
@@ -185,28 +171,26 @@ std::vector<point_t> PurePursuit::line_circle_intersections(point_t center, doub
  *
  * Honestly have no idea if/how this works.
  * https://medium.com/@jaems33/understanding-robot-motion-path-smoothing-5970c8363bc4
-*/
-[[maybe_unused]] std::vector<point_t> PurePursuit::smooth_path(const std::vector<point_t> &path, double weight_data, double weight_smooth, double tolerance)
-{
+ */
+[[maybe_unused]] std::vector<point_t> PurePursuit::smooth_path(const std::vector<point_t> &path, double weight_data,
+                                                               double weight_smooth, double tolerance) {
   std::vector<point_t> new_path = path;
   double change = tolerance;
-  while(change >= tolerance)
-  {
+  while (change >= tolerance) {
     change = 0;
-    for(int i = 1; i < path.size() - 1; i++)
-    {
-        point_t x_i = path[i];
-        point_t y_i = new_path[i];
-        point_t y_prev = new_path[i-1];
-        point_t y_next = new_path[i+1];
-        
-        point_t y_i_saved = y_i;
-        
-        y_i.x += weight_data * (x_i.x - y_i.x) + weight_smooth * (y_next.x + y_prev.x - (2 * y_i.x));
-        y_i.y += weight_data * (x_i.y - y_i.y) + weight_smooth * (y_next.y + y_prev.y - (2 * y_i.y));
-        new_path[i] = y_i;
-        
-        change += y_i.dist(y_i_saved);
+    for (int i = 1; i < path.size() - 1; i++) {
+      point_t x_i = path[i];
+      point_t y_i = new_path[i];
+      point_t y_prev = new_path[i - 1];
+      point_t y_next = new_path[i + 1];
+
+      point_t y_i_saved = y_i;
+
+      y_i.x += weight_data * (x_i.x - y_i.x) + weight_smooth * (y_next.x + y_prev.x - (2 * y_i.x));
+      y_i.y += weight_data * (x_i.y - y_i.y) + weight_smooth * (y_next.y + y_prev.y - (2 * y_i.y));
+      new_path[i] = y_i;
+
+      change += y_i.dist(y_i_saved);
     }
   }
   return new_path;
@@ -220,78 +204,73 @@ std::vector<point_t> PurePursuit::line_circle_intersections(point_t center, doub
  * @param steps The number of points interpolated between points.
  * @return The smoothed path.
  */
-[[maybe_unused]] std::vector<point_t> PurePursuit::smooth_path_hermite(const std::vector<hermite_point> &path, double steps) {
+[[maybe_unused]] std::vector<point_t> PurePursuit::smooth_path_hermite(const std::vector<hermite_point> &path,
+                                                                       double steps) {
   std::vector<point_t> new_path;
-  for(int i = 0; i < path.size() - 1; i++) {
-    for(int t = 0; t < steps; t++) {
+  for (int i = 0; i < path.size() - 1; i++) {
+    for (int t = 0; t < steps; t++) {
       // Storing the start and end points and slopes at those points as Vector2Ds.
       point_t tmp = path[i].getPoint();
       Vector2D p1 = Vector2D(tmp);
-      tmp = path[i+1].getPoint();
+      tmp = path[i + 1].getPoint();
       Vector2D p2 = Vector2D(tmp);
       Vector2D t1 = path[i].getTangent();
-      Vector2D t2 = path[i+1].getTangent();
-
+      Vector2D t2 = path[i + 1].getTangent();
 
       // Scale s from 0.0 to 1.0
       double s = (double)t / (double)steps;
 
       // Hermite Blending functions
-      double h1 = 2 * pow(s, 3) - 3 * pow(s, 2) + 1;    
+      double h1 = 2 * pow(s, 3) - 3 * pow(s, 2) + 1;
       double h2 = -2 * pow(s, 3) + 3 * pow(s, 2);
       double h3 = pow(s, 3) - 2 * pow(s, 2) + s;
       double h4 = pow(s, 3) - pow(s, 2);
 
       // Calculate the point
-      Vector2D p = p1 * h1 + p2 * h2 + t1 * h3 + t2 * h4; 
+      Vector2D p = p1 * h1 + p2 * h2 + t1 * h3 + t2 * h4;
       new_path.push_back(p.point());
     }
   }
-  //Adding last point
+  // Adding last point
   new_path.push_back(path.back().getPoint());
   return new_path;
 }
 
-
 /**
  * Estimates the remaining distance from the robot's position to the end,
  * by "searching" for the robot along the path and running a "connect the dots"
  * distance algoritm
- * 
+ *
  * @param path The pure pursuit path the robot is following
  * @param robot_pose The robot's current position
  * @param radius Pure pursuit "radius", used to search for the robot along the path
  * @return A rough estimate of the remaining distance
-*/
-double PurePursuit::estimate_remaining_dist(const std::vector<point_t> &path, pose_t robot_pose, double radius)
-{
+ */
+double PurePursuit::estimate_remaining_dist(const std::vector<point_t> &path, pose_t robot_pose, double radius) {
   point_t lookahead_pt = get_lookahead(path, robot_pose, radius);
-  
+
   if (lookahead_pt == path[path.size() - 1]) {
     return robot_pose.get_point().dist(lookahead_pt);
-}
+  }
 
   double dist = 0;
 
   // Run through the path backwards, adding distances
-  for(int i = path.size()-1; i >= 0; i--)
-  {
+  for (int i = path.size() - 1; i >= 0; i--) {
     // Test if the robot is between the two points
-    auto pts = line_circle_intersections(robot_pose.get_point(), radius, path[i-1], path[i]);
-    
+    auto pts = line_circle_intersections(robot_pose.get_point(), radius, path[i - 1], path[i]);
+
     // There is an intersection? Robot is between the points so add the distance
     // from the bot to the next point and end.
-    if(!pts.empty())
-    {
+    if (!pts.empty()) {
       dist += robot_pose.get_point().dist(path[i]);
       return dist;
     }
-    
+
     // No intersections? Add the distance between the two points and move backwards
     // in the path until we find the robot, or run out of points.
-    dist += path[i-1].dist(path[i]);      
+    dist += path[i - 1].dist(path[i]);
   }
 
   return dist;
 }
-
diff --git a/src/utils/serializer.cpp b/src/utils/serializer.cpp
index fd756e3..c0b60da 100644
--- a/src/utils/serializer.cpp
+++ b/src/utils/serializer.cpp
@@ -9,55 +9,44 @@
 
 /// @brief Convert type to bytes. Overload this for non integer types
 /// @param value value to convert
-template <typename T>
-std::vector<char> to_bytes(T value)
-{
-    // copy bytes of data into vector
-    std::vector<char> value_bytes(sizeof(T));
-    std::copy(static_cast<const char *>(static_cast<const void *>(&value)),
-              static_cast<const char *>(static_cast<const void *>(&value)) + sizeof(value),
-              value_bytes.begin());
-    return value_bytes;
+template <typename T> std::vector<char> to_bytes(T value) {
+  // copy bytes of data into vector
+  std::vector<char> value_bytes(sizeof(T));
+  std::copy(static_cast<const char *>(static_cast<const void *>(&value)),
+            static_cast<const char *>(static_cast<const void *>(&value)) + sizeof(value), value_bytes.begin());
+  return value_bytes;
 }
 
-template <>
-std::vector<char> to_bytes<std::string>(std::string str)
-{
-    std::vector<char> value_bytes(str.size() + 1);
-    std::copy(str.begin(), str.end(), value_bytes.begin());
-    value_bytes[str.size()] = 0x0;
-    return value_bytes;
+template <> std::vector<char> to_bytes<std::string>(std::string str) {
+  std::vector<char> value_bytes(str.size() + 1);
+  std::copy(str.begin(), str.end(), value_bytes.begin());
+  value_bytes[str.size()] = 0x0;
+  return value_bytes;
 }
 
 /// @brief Convert bytes to a type
 /// @param gets data from arbitrary bytes. Overload this for non integer types
-template <typename T>
-T from_bytes(std::vector<char>::const_iterator &position)
-{
-    T value;
-    std::copy(position, position + sizeof(T), static_cast<char *>(static_cast<void *>(&value)));
-    position = position + sizeof(T);
-    return value;
+template <typename T> T from_bytes(std::vector<char>::const_iterator &position) {
+  T value;
+  std::copy(position, position + sizeof(T), static_cast<char *>(static_cast<void *>(&value)));
+  position = position + sizeof(T);
+  return value;
 }
 
-template <>
-std::string from_bytes(std::vector<char>::const_iterator &position)
-{
-    auto pos = position;
-    while (*pos != 0x0)
-    {
-        ++pos;
-    }
-    std::string s(position, pos);
-    position = pos + 1;
-    return s;
+template <> std::string from_bytes(std::vector<char>::const_iterator &position) {
+  auto pos = position;
+  while (*pos != 0x0) {
+    ++pos;
+  }
+  std::string s(position, pos);
+  position = pos + 1;
+  return s;
 }
 
 /// @brief Replaces funny characters in names so they don't mess with serialization specifiers
-std::string sanitize_name(std::string s)
-{
-    std::replace(s.begin(), s.end(), serialization_separator, '-');
-    return s;
+std::string sanitize_name(std::string s) {
+  std::replace(s.begin(), s.end(), serialization_separator, '-');
+  return s;
 }
 
 // Protocol
@@ -82,186 +71,155 @@ std::string sanitize_name(std::string s)
 /// @param data the bytes to add to
 /// @param map the values and names we are talking about
 template <typename value_type>
-static void add_data(std::vector<char> &data, const std::map<std::string, value_type> &map)
-{
-    for (const auto &pair : map)
-    {
-        const std::string &name = pair.first;
-        const value_type value = pair.second;
+static void add_data(std::vector<char> &data, const std::map<std::string, value_type> &map) {
+  for (const auto &pair : map) {
+    const std::string &name = pair.first;
+    const value_type value = pair.second;
 
-        data.insert(data.end(), name.cbegin(), name.cend());
-        data.insert(data.end(), 0x0);
+    data.insert(data.end(), name.cbegin(), name.cend());
+    data.insert(data.end(), 0x0);
 
-        auto bytes = to_bytes<value_type>(value);
-        data.insert(data.end(), bytes.cbegin(), bytes.cend());
-    }
-    data.push_back(serialization_separator);
+    auto bytes = to_bytes<value_type>(value);
+    data.insert(data.end(), bytes.cbegin(), bytes.cend());
+  }
+  data.push_back(serialization_separator);
 }
 
 // reads data of a certain type from a file
 template <typename value_type>
 static std::vector<char>::const_iterator read_data(std::vector<char>::const_iterator begin,
-                                                   std::map<std::string, value_type> &map)
-{
-    std::vector<char>::const_iterator pos = begin;
-
-    while (*pos != serialization_separator)
-    {
-        auto name_start = pos;
-        // read name
-        std::string name = from_bytes<std::string>(name_start);
-        pos += name.size() + 1;
-        // read value
-        value_type value = from_bytes<value_type>(pos);
-        printf("Read Name: %s\n", name.c_str());
-        map.insert({name, value});
-    }
-
-    return pos + 1;
-}
-
-void Serializer::set_int(const std::string &name, int i)
-{
-    ints[sanitize_name(name)] = i;
-    if (flush_always)
-    {
-        save_to_disk();
-    }
-}
-void Serializer::set_bool(const std::string &name, bool b)
-{
-    bools[sanitize_name(name)] = b;
-    if (flush_always)
-    {
-        save_to_disk();
-    }
-}
-void Serializer::set_double(const std::string &name, double d)
-{
-    doubles[sanitize_name(name)] = d;
-    if (flush_always)
-    {
-        save_to_disk();
-    }
-}
-void Serializer::set_string(const std::string &name, std::string str)
-{
-    strings[sanitize_name(name)] = str;
-    if (flush_always)
-    {
-        save_to_disk();
-    }
-}
-
-int Serializer::int_or(const std::string &name, int otherwise)
-{
-    if (ints.count(name))
-    {
-        return ints.at(name);
-    }
-    set_int(name, otherwise);
-    return otherwise;
-}
-bool Serializer::bool_or(const std::string &name, bool otherwise)
-{
-    if (bools.count(name))
-    {
-        return bools.at(name);
-    }
-    set_bool(name, otherwise);
-    return otherwise;
-}
-double Serializer::double_or(const std::string &name, double otherwise)
-{
-    if (doubles.count(name))
-    {
-        return doubles.at(name);
-    }
-    set_double(name, otherwise);
-    return otherwise;
-}
-std::string Serializer::string_or(const std::string &name, std::string otherwise)
-{
-    if (strings.count(name))
-    {
-        return strings.at(name);
-    }
-    set_string(name, otherwise);
-    return otherwise;
+                                                   std::map<std::string, value_type> &map) {
+  std::vector<char>::const_iterator pos = begin;
+
+  while (*pos != serialization_separator) {
+    auto name_start = pos;
+    // read name
+    std::string name = from_bytes<std::string>(name_start);
+    pos += name.size() + 1;
+    // read value
+    value_type value = from_bytes<value_type>(pos);
+    printf("Read Name: %s\n", name.c_str());
+    map.insert({name, value});
+  }
+
+  return pos + 1;
+}
+
+void Serializer::set_int(const std::string &name, int i) {
+  ints[sanitize_name(name)] = i;
+  if (flush_always) {
+    save_to_disk();
+  }
+}
+void Serializer::set_bool(const std::string &name, bool b) {
+  bools[sanitize_name(name)] = b;
+  if (flush_always) {
+    save_to_disk();
+  }
+}
+void Serializer::set_double(const std::string &name, double d) {
+  doubles[sanitize_name(name)] = d;
+  if (flush_always) {
+    save_to_disk();
+  }
+}
+void Serializer::set_string(const std::string &name, std::string str) {
+  strings[sanitize_name(name)] = str;
+  if (flush_always) {
+    save_to_disk();
+  }
+}
+
+int Serializer::int_or(const std::string &name, int otherwise) {
+  if (ints.count(name)) {
+    return ints.at(name);
+  }
+  set_int(name, otherwise);
+  return otherwise;
+}
+bool Serializer::bool_or(const std::string &name, bool otherwise) {
+  if (bools.count(name)) {
+    return bools.at(name);
+  }
+  set_bool(name, otherwise);
+  return otherwise;
+}
+double Serializer::double_or(const std::string &name, double otherwise) {
+  if (doubles.count(name)) {
+    return doubles.at(name);
+  }
+  set_double(name, otherwise);
+  return otherwise;
+}
+std::string Serializer::string_or(const std::string &name, std::string otherwise) {
+  if (strings.count(name)) {
+    return strings.at(name);
+  }
+  set_string(name, otherwise);
+  return otherwise;
 }
 
 /// @brief forms data bytes then saves to filename this was openned with
-void Serializer::save_to_disk() const
-{
-    vex::brain::sdcard sd;
-    if (!sd.isInserted())
-    {
-        printf("!! Trying to Serialize to No SD Card !!\n");
-        return;
-    }
-
-    std::vector<char> data = {};
-    add_data<int>(data, ints);
-    add_data<bool>(data, bools);
-    add_data<double>(data, doubles);
-    add_data<std::string>(data, strings);
-
-
-    int32_t written = sd.savefile(filename.c_str(), (unsigned char *)&data[0], data.size());
-    if (written != data.size())
-    {
-        printf("!! Error writing to `%s`!!\n", filename.c_str());
-        return;
-    }
+void Serializer::save_to_disk() const {
+  vex::brain::sdcard sd;
+  if (!sd.isInserted()) {
+    printf("!! Trying to Serialize to No SD Card !!\n");
+    return;
+  }
+
+  std::vector<char> data = {};
+  add_data<int>(data, ints);
+  add_data<bool>(data, bools);
+  add_data<double>(data, doubles);
+  add_data<std::string>(data, strings);
+
+  int32_t written = sd.savefile(filename.c_str(), (unsigned char *)&data[0], data.size());
+  if (written != data.size()) {
+    printf("!! Error writing to `%s`!!\n", filename.c_str());
+    return;
+  }
 }
 
 /// @brief reads types from file data
-bool Serializer::read_from_disk()
-{
-    vex::brain::sdcard sd;
-    if (!sd.isInserted())
-    {
-        printf("!! Trying to Serialize to No SD Card !!\n");
-        return false;
-    }
-    int size = sd.size(filename.c_str());
-    if (size == 0)
-    {
-        ints = {};
-        doubles = {};
-        bools = {};
-        return true;
-    }
-
-    if (filename == "")
-    {
-        printf("!! Can't write to empty filename!!\n");
-        return false;
-    }
-
-    if (!sd.exists(filename.c_str()))
-    {
-        printf("!!f Trying to Serialize to a file that doesnt exist: Creating %s !!\n", filename.c_str());
-        save_to_disk();
-        return false;
-    }
-
-    std::vector<char> data(size);
-
-    int readsize = sd.loadfile(filename.c_str(), (unsigned char *)&data[0], size);
-    if (size != readsize)
-    {
-        printf("!! Error reading from file !!");
-        ;
-        return false;
-    }
-
-
-    auto bool_start = read_data<int>(data.cbegin(), ints);
-    auto doubles_start = read_data<bool>(bool_start, bools);
-    auto strings_start = read_data<double>(doubles_start, doubles);
-    auto file_end = read_data<std::string>(strings_start, strings);
-    (void)file_end;
-
+bool Serializer::read_from_disk() {
+  vex::brain::sdcard sd;
+  if (!sd.isInserted()) {
+    printf("!! Trying to Serialize to No SD Card !!\n");
+    return false;
+  }
+  int size = sd.size(filename.c_str());
+  if (size == 0) {
+    ints = {};
+    doubles = {};
+    bools = {};
     return true;
+  }
+
+  if (filename == "") {
+    printf("!! Can't write to empty filename!!\n");
+    return false;
+  }
+
+  if (!sd.exists(filename.c_str())) {
+    printf("!!f Trying to Serialize to a file that doesnt exist: Creating %s !!\n", filename.c_str());
+    save_to_disk();
+    return false;
+  }
+
+  std::vector<char> data(size);
+
+  int readsize = sd.loadfile(filename.c_str(), (unsigned char *)&data[0], size);
+  if (size != readsize) {
+    printf("!! Error reading from file !!");
+    ;
+    return false;
+  }
+
+  auto bool_start = read_data<int>(data.cbegin(), ints);
+  auto doubles_start = read_data<bool>(bool_start, bools);
+  auto strings_start = read_data<double>(doubles_start, doubles);
+  auto file_end = read_data<std::string>(strings_start, strings);
+  (void)file_end;
+
+  return true;
 }
diff --git a/src/utils/trapezoid_profile.cpp b/src/utils/trapezoid_profile.cpp
index 98014ba..0555ea9 100644
--- a/src/utils/trapezoid_profile.cpp
+++ b/src/utils/trapezoid_profile.cpp
@@ -5,17 +5,13 @@
 
 const double EPSILON = 0.000005;
 
-inline double calc_pos(double t, double a, double v, double si) {
-  return (0.5 * (a) * (t) * (t)) + ((v) * (t)) + (si);
-}
+inline double calc_pos(double t, double a, double v, double si) { return (0.5 * (a) * (t) * (t)) + ((v) * (t)) + (si); }
 
-inline double calc_vel(double t, double a, double vi) {
-  return ((a) * (t)) + (vi);
-}
+inline double calc_vel(double t, double a, double vi) { return ((a) * (t)) + (vi); }
 
 TrapezoidProfile::TrapezoidProfile(double max_v, double accel)
-    : si(0), sf(0), vi(0), vf(0), max_v(max_v), accel(accel), segments(),
-      num_acceleration_phases(0), precalculated(false) {}
+    : si(0), sf(0), vi(0), vf(0), max_v(max_v), accel(accel), segments(), num_acceleration_phases(0),
+      precalculated(false) {}
 
 void TrapezoidProfile::set_max_v(double max_v) {
   this->max_v = max_v;
@@ -46,7 +42,7 @@ void TrapezoidProfile::set_vel_endpts(double start, double end) {
 motion_t TrapezoidProfile::calculate_time_based(double time_s) {
   if (!this->precalculated) {
     precalculate();
-}
+  }
 
   int segment_i = 0;
 
@@ -58,8 +54,7 @@ motion_t TrapezoidProfile::calculate_time_based(double time_s) {
   double segment_t = 0;
 
   // skip phases based on time
-  while (segment_i < MAX_TRAPEZOID_PROFILE_SEGMENTS &&
-         time_s > segment_t + this->segments[segment_i].duration) {
+  while (segment_i < MAX_TRAPEZOID_PROFILE_SEGMENTS && time_s > segment_t + this->segments[segment_i].duration) {
     segment_t += this->segments[segment_i].duration;
     segment_s = this->segments[segment_i].pos_after;
     segment_v = this->segments[segment_i].vel_after;
@@ -88,7 +83,7 @@ motion_t TrapezoidProfile::calculate_time_based(double time_s) {
 motion_t TrapezoidProfile::calculate(double time_s, double pos_s) {
   if (!this->precalculated) {
     precalculate();
-}
+  }
 
   // printf("%f %f\n", time_s, pos_s);
 
@@ -102,8 +97,7 @@ motion_t TrapezoidProfile::calculate(double time_s, double pos_s) {
   double segment_t = 0;
 
   // skip acceleration phases based on time
-  while (segment_i < MAX_TRAPEZOID_PROFILE_SEGMENTS &&
-         segment_i < this->num_acceleration_phases &&
+  while (segment_i < MAX_TRAPEZOID_PROFILE_SEGMENTS && segment_i < this->num_acceleration_phases &&
          time_s > segment_t + this->segments[segment_i].duration) {
     segment_t += this->segments[segment_i].duration;
     segment_s = this->segments[segment_i].pos_after;
@@ -114,11 +108,9 @@ motion_t TrapezoidProfile::calculate(double time_s, double pos_s) {
 
   // skip other segments based on distance, if we are past the time segments
   if (segment_i >= this->num_acceleration_phases) {
-    while (
-        segment_i < MAX_TRAPEZOID_PROFILE_SEGMENTS &&
-        ((this->si < this->sf && pos_s > this->segments[segment_i].pos_after) ||
-         (this->si > this->sf &&
-          pos_s < this->segments[segment_i].pos_after))) {
+    while (segment_i < MAX_TRAPEZOID_PROFILE_SEGMENTS &&
+           ((this->si < this->sf && pos_s > this->segments[segment_i].pos_after) ||
+            (this->si > this->sf && pos_s < this->segments[segment_i].pos_after))) {
       segment_t += this->segments[segment_i].duration;
       segment_s = this->segments[segment_i].pos_after;
       segment_v = this->segments[segment_i].vel_after;
@@ -157,7 +149,7 @@ motion_t TrapezoidProfile::calculate(double time_s, double pos_s) {
   // match the sign of the starting velocity of the segment
   if (segment_v < 0) {
     out.vel *= -1;
-}
+  }
 
   return out;
 }
@@ -193,12 +185,11 @@ bool TrapezoidProfile::precalculate() {
       this->vf = this->max_v;
     } else {
       this->vf = -this->max_v;
-}
+    }
   }
 
   // if displacement is + but vf is -, or if displacement is - but vf is +
-  if ((this->si < this->sf && this->vf < 0) ||
-      (this->si > this->sf && this->vf > 0)) {
+  if ((this->si < this->sf && this->vf < 0) || (this->si > this->sf && this->vf > 0)) {
     printf("WARNING: trapezoid motion profile target velocity is in the wrong "
            "direction\n");
     this->vf = 0;
@@ -214,7 +205,7 @@ bool TrapezoidProfile::precalculate() {
 
     if (fabs(segment.pos_after - this->sf) < EPSILON) {
       return true;
-}
+    }
 
     // Check if xf is between x and x_next (meaning we overshot the end
     // position)
@@ -226,7 +217,7 @@ bool TrapezoidProfile::precalculate() {
       double a_coeff = 0.5 * segment.accel;
       if (fabs(a_coeff) < EPSILON) {
         a_coeff = EPSILON;
-}
+      }
       double b_coeff = v;
       double c_coeff = s - this->sf;
 
@@ -260,9 +251,7 @@ bool TrapezoidProfile::precalculate() {
   return false;
 }
 
-trapezoid_profile_segment_t
-TrapezoidProfile::calculate_kinetic_motion(double si, double vi,
-                                           double v_target) {
+trapezoid_profile_segment_t TrapezoidProfile::calculate_kinetic_motion(double si, double vi, double v_target) {
   trapezoid_profile_segment_t m;
 
   m.duration = fabs(v_target - vi) / this->accel;
@@ -277,8 +266,7 @@ TrapezoidProfile::calculate_kinetic_motion(double si, double vi,
   return m;
 }
 
-trapezoid_profile_segment_t TrapezoidProfile::calculate_next_segment(double s,
-                                                                     double v) {
+trapezoid_profile_segment_t TrapezoidProfile::calculate_next_segment(double s, double v) {
   // d represents the direction of travel, + or -
   int d = 1;
   if (this->si > this->sf) {
@@ -298,8 +286,7 @@ trapezoid_profile_segment_t TrapezoidProfile::calculate_next_segment(double s,
   }
 
   // how much distance would it take to reach vf in one segment?
-  trapezoid_profile_segment_t beeline_vf =
-      calculate_kinetic_motion(s, v, this->vf);
+  trapezoid_profile_segment_t beeline_vf = calculate_kinetic_motion(s, v, this->vf);
   if ((d == 1 && beeline_vf.pos_after > this->sf - EPSILON) ||
       (d == -1 && beeline_vf.pos_after <= this->sf + EPSILON)) {
     // we can't make it to vf - get as close as possible
@@ -309,8 +296,7 @@ trapezoid_profile_segment_t TrapezoidProfile::calculate_next_segment(double s,
   // we can reach vf in one segment - choose the fastest speed so that that is
   // still possible
   double v_middle =
-      d * sqrt(((v * v + this->vf * this->vf) / 2.0) +
-               this->accel * fabs(this->sf - s) + this->vf * this->vf);
+      d * sqrt(((v * v + this->vf * this->vf) / 2.0) + this->accel * fabs(this->sf - s) + this->vf * this->vf);
   // cap this at our max speed
   v_middle = fmax(-this->max_v, fmin(v_middle, this->max_v));
 
diff --git a/src/utils/vector2d.cpp b/src/utils/vector2d.cpp
index 8399b5f..e16822e 100644
--- a/src/utils/vector2d.cpp
+++ b/src/utils/vector2d.cpp
@@ -2,34 +2,29 @@
 
 /**
  * Construct a vector object.
- * 
+ *
  * @param dir Direction, in radians. 'foward' is 0, clockwise positive when viewed from the top.
  * @param mag Magnitude.
  */
-Vector2D::Vector2D(double dir, double mag)
-: dir(dir), mag(mag)
-{
-
-}
+Vector2D::Vector2D(double dir, double mag) : dir(dir), mag(mag) {}
 
 /**
  * Construct a vector object from a cartesian point.
- * 
+ *
  * @param p point_t.x , point_t.y
  */
-Vector2D::Vector2D(point_t p)
-{
-    this->dir = atan2(p.y, p.x);
-    this->mag = sqrt( (p.x*p.x) + (p.y*p.y) );
+Vector2D::Vector2D(point_t p) {
+  this->dir = atan2(p.y, p.x);
+  this->mag = sqrt((p.x * p.x) + (p.y * p.y));
 }
 
 /**
  * Get the direction of the vector, in radians.
  * '0' is forward, clockwise positive when viewed from the top.
- * 
+ *
  * Use r2d() to convert.
  */
-double Vector2D::get_dir() const { return dir;}
+double Vector2D::get_dir() const { return dir; }
 
 /**
  * Get the magnitude of the vector
@@ -39,38 +34,24 @@ double Vector2D::get_mag() const { return mag; }
 /**
  * Get the X component of the vector; positive to the right.
  */
-double Vector2D::get_x() const
-{
-return mag * cos(dir);
-}
+double Vector2D::get_x() const { return mag * cos(dir); }
 
 /**
  * Get the Y component of the vector, positive forward.
  */
-double Vector2D::get_y() const
-{
-return mag * sin(dir);
-}
+double Vector2D::get_y() const { return mag * sin(dir); }
 
 /**
  * Changes the magnetude of the vector to 1
-*/
-Vector2D Vector2D::normalize()
-{
-  return Vector2D(this->dir, 1);
-}
+ */
+Vector2D Vector2D::normalize() { return Vector2D(this->dir, 1); }
 
 /**
  * Convert a direction and magnitude representation to an x, y representation
- * @return the x, y representation of the vector 
-*/
-point_t Vector2D::point()
-{
-  point_t p = 
-  {
-    .x = this->mag * cos(this->dir),
-    .y = this->mag * sin(this->dir)
-  };
+ * @return the x, y representation of the vector
+ */
+point_t Vector2D::point() {
+  point_t p = {.x = this->mag * cos(this->dir), .y = this->mag * sin(this->dir)};
   return p;
 }
 
@@ -79,17 +60,12 @@ point_t Vector2D::point()
  * Vector2D + Vector2D = (this.x + other.x, this.y + other.y)
  * @param other the vector to add to this
  * @return the sum of the vectors
-*/
+ */
 
-Vector2D Vector2D::operator+(const Vector2D &other)
-{
-    point_t p = 
-    {
-        .x = this->get_x() + other.get_x(),
-        .y = this->get_y() + other.get_y()
-    };
+Vector2D Vector2D::operator+(const Vector2D &other) {
+  point_t p = {.x = this->get_x() + other.get_x(), .y = this->get_y() + other.get_y()};
 
-    return Vector2D( p );
+  return Vector2D(p);
 }
 
 /**
@@ -97,39 +73,25 @@ Vector2D Vector2D::operator+(const Vector2D &other)
  * Vector2D - Vector2D = (this.x - other.x, this.y - other.y)
  * @param other the vector to subtract from this
  * @return the difference of the vectors
-*/
-Vector2D Vector2D::operator-(const Vector2D &other)
-{
-    point_t p = 
-    {
-        .x = this->get_x() - other.get_x(),
-        .y = this->get_y() - other.get_y()
-    };
-    return Vector2D( p );
+ */
+Vector2D Vector2D::operator-(const Vector2D &other) {
+  point_t p = {.x = this->get_x() - other.get_x(), .y = this->get_y() - other.get_y()};
+  return Vector2D(p);
 }
 
 /**
  * Scales a Vector2D by a scalar with the * operator
  * @param x the value to scale the vector by
  * @return the this Vector2D scaled by x
-*/
-Vector2D Vector2D::operator*(const double &x)
-{
-  return Vector2D(this->dir, this->mag * x);
-}
+ */
+Vector2D Vector2D::operator*(const double &x) { return Vector2D(this->dir, this->mag * x); }
 
 /**
  * General function for converting degrees to radians
  */
-double deg2rad(double deg)
-{
-    return deg * (PI / 180.0);
-}
+double deg2rad(double deg) { return deg * (PI / 180.0); }
 
 /**
  * General function for converting radians to degrees
  */
-double rad2deg(double rad)
-{
-    return rad * (180.0 / PI);
-}
+double rad2deg(double rad) { return rad * (180.0 / PI); }

From f6847163a68b81e97352d6e1ee489f4e0fdf7bd8 Mon Sep 17 00:00:00 2001
From: cowsed <richie.sommers@outlook.com>
Date: Sun, 25 Feb 2024 14:37:02 -0500
Subject: [PATCH 243/243] no warnings in core

---
 src/subsystems/fun/video.cpp | 9 ++++++---
 1 file changed, 6 insertions(+), 3 deletions(-)

diff --git a/src/subsystems/fun/video.cpp b/src/subsystems/fun/video.cpp
index 4763c12..df9aae9 100644
--- a/src/subsystems/fun/video.cpp
+++ b/src/subsystems/fun/video.cpp
@@ -33,7 +33,9 @@ void explain_error(vex::brain::lcd &screen) {
     screen.printAt(40, 30, true, "%s was too big to open", name.c_str());
     break;
   case DidntReadRight:
-    screen.printAt(40, 30, true, "%s wasnt read correctly. Are you sure its mpeg1", name.c_str());
+    screen.printAt(40, 30, true,
+                   "%s wasnt read correctly. Are you sure its mpeg1",
+                   name.c_str());
     break;
   case NeverInitialized:
     screen.printAt(40, 30, true, "no video loaded. did you forget set_video()");
@@ -50,7 +52,7 @@ int video_player() {
   }
   plm_frame_t *frame = NULL;
   while (true) {
-    for (int i = 1; frame = plm_decode_video(plm); i++) {
+    for (int i = 1; (frame = plm_decode_video(plm)); i++) {
 
       uint32_t start_ms = vex::timer::system();
 
@@ -108,7 +110,8 @@ void set_video(const std::string &filename) {
 VideoPlayer::VideoPlayer() {}
 void VideoPlayer::update(bool was_pressed, int x, int y) {}
 
-void VideoPlayer::draw(vex::brain::lcd &screen, bool first_draw, unsigned int frame_number) {
+void VideoPlayer::draw(vex::brain::lcd &screen, bool first_draw,
+                       unsigned int frame_number) {
   if (state != Ok) {
     explain_error(screen);
     return;