Feature/odom #173
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Feature/odom #173
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BOOMERANG was removed as a unique thing, and is now another flavor of pure pursuit. This simplified everything internally with no change to the user.
Fixed odom slew, general refactoring, exit conditions are now set correctly for normal drive moves after pure pursuit
Fixed some stuff in the example project, fixed slew constants, and commented out unused variables in tracking
the robot will actually go at a maximum speed now! tuned constants some more refactored some pid_tasks
and some simple refactoring
With this comes a new constructor that is unique to not overlap with "ratio" used previously, and removing "ratio" will create breaking changes. This new constructor takes in a motor group and it extracts that out into the ez motor groups. This currently doesn't work as there's a bug with `get_direction` that has an open issue on the PROS kernel. If a left and right tracker are enabled, the main sensors for the drive switch over to being these tracking wheels. If only one sensor is used, then this tracker is only used for odom. Normal drive motions will use IMEs still, as that PID uses a left and a right PID. Only one horizontal tracker will be used. Angle is currently always calculated with IMU. Until there's an easy way to tune track width, #45 will remain open.
Adding missing okapi unit functions, general cleaning and refactoring. Prep being done for documentation being added to drive.hpp
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Summary:
Adds odometry along with unrelated fixes because I'm very good at using github correctly
Motivation:
Odometry allows users to do more!
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