Clean code (#91)

* include new template zip file * Clean code for beta release, cus we forgor * update template
purduesigbots · Apr 5, 2024 · 8dc950b · 8dc950b
1 parent 4a12f7b
commit 8dc950b
Show file tree

Hide file tree

Showing 11 changed files with 3 additions and 92 deletions.
diff --git a/[email protected] b/[email protected]
diff --git a/include/VOSS/controller/BoomerangController.hpp b/include/VOSS/controller/BoomerangController.hpp
@@ -17,17 +17,9 @@ class BoomerangController : public AbstractController {
     Pose carrotPoint;
 
     utils::PID linear_pid, angular_pid;
-    double vel;
-    double exit_error;
-    double angular_exit_error;
     double min_error;
     bool can_reverse;
-    double settle_time;
 
-    double close;
-    double close_2;
-    int counter;
-    double prev_angle;
     double min_vel;
 
   public:
@@ -47,12 +39,8 @@ class BoomerangController : public AbstractController {
     modify_linear_constants(double kP, double kI, double kD);
     std::shared_ptr<BoomerangController>
     modify_angular_constants(double kP, double kI, double kD);
-    std::shared_ptr<BoomerangController> modify_exit_error(double error);
-    std::shared_ptr<BoomerangController>
-    modify_angular_exit_error(double error);
     std::shared_ptr<BoomerangController> modify_min_error(double error);
     std::shared_ptr<BoomerangController> modify_lead_pct(double lead_pct);
-    std::shared_ptr<BoomerangController> modify_settle_time(double time);
 
     friend class BoomerangControllerBuilder;
 };

diff --git a/include/VOSS/controller/BoomerangControllerBuilder.hpp b/include/VOSS/controller/BoomerangControllerBuilder.hpp
@@ -20,11 +20,8 @@ class BoomerangControllerBuilder {
                                                       double kD);
     BoomerangControllerBuilder& with_angular_constants(double kP, double kI,
                                                        double kD);
-    BoomerangControllerBuilder& with_exit_error(double error);
-    BoomerangControllerBuilder& with_angular_exit_error(double error);
-    BoomerangControllerBuilder& with_min_error(double error);
     BoomerangControllerBuilder& with_lead_pct(double lead_pct);
-    BoomerangControllerBuilder& with_settle_time(double time);
+    BoomerangControllerBuilder& with_min_error(double error);
     BoomerangControllerBuilder& with_min_vel_for_thru(double min_vel);
 
     std::shared_ptr<BoomerangController> build();

diff --git a/include/VOSS/controller/PIDController.hpp b/include/VOSS/controller/PIDController.hpp
@@ -11,7 +11,6 @@ class PIDController : public AbstractController {
     std::shared_ptr<PIDController> p;
 
     utils::PID linear_pid, angular_pid;
-    double tracking_kP;
     double min_error;
     bool can_reverse;
 
@@ -35,11 +34,7 @@ class PIDController : public AbstractController {
                                                            double kD);
     std::shared_ptr<PIDController>
     modify_angular_constants(double kP, double kI, double kD);
-    std::shared_ptr<PIDController> modify_tracking_kp(double kP);
-    std::shared_ptr<PIDController> modify_exit_error(double exit_error);
-    std::shared_ptr<PIDController> modify_angular_exit_error(double exit_error);
     std::shared_ptr<PIDController> modify_min_error(double min_error);
-    std::shared_ptr<PIDController> modify_settle_time(double settle_time);
 
     friend class PIDControllerBuilder;
     friend class BoomerangControllerBuilder;

diff --git a/include/VOSS/controller/PIDControllerBuilder.hpp b/include/VOSS/controller/PIDControllerBuilder.hpp
@@ -20,7 +20,6 @@ class PIDControllerBuilder {
                                                 double kD);
     PIDControllerBuilder& with_angular_constants(double kP, double kI,
                                                  double kD);
-    PIDControllerBuilder& with_tracking_kp(double kP);
     PIDControllerBuilder& with_min_error(double error);
     PIDControllerBuilder& with_min_vel_for_thru(double min_vel);
 

diff --git a/include/VOSS/controller/SwingController.hpp b/include/VOSS/controller/SwingController.hpp
@@ -30,8 +30,6 @@ class SwingController : public AbstractController {
 
     std::shared_ptr<SwingController>
     modify_angular_constants(double kP, double kI, double kD);
-    std::shared_ptr<SwingController> modify_angular_exit_error(double error);
-    std::shared_ptr<SwingController> modify_settle_time(double time);
 
     friend class SwingControllerBuilder;
 };

diff --git a/src/VOSS/controller/BoomerangController.cpp b/src/VOSS/controller/BoomerangController.cpp
@@ -104,7 +104,6 @@ void BoomerangController::reset() {
     this->linear_pid.reset();
     this->angular_pid.reset();
     this->can_reverse = false;
-    this->counter = 0;
 }
 
 std::shared_ptr<BoomerangController>
@@ -129,27 +128,6 @@ BoomerangController::modify_angular_constants(double kP, double kI, double kD) {
     return this->p;
 }
 
-std::shared_ptr<BoomerangController>
-BoomerangController::modify_exit_error(double exit_error) {
-    auto pid_mod = BoomerangControllerBuilder::from(*this)
-                       .with_exit_error(exit_error)
-                       .build();
-
-    this->p = pid_mod;
-
-    return this->p;
-}
-
-std::shared_ptr<BoomerangController>
-BoomerangController::modify_angular_exit_error(double exit_error) {
-    auto pid_mod = BoomerangControllerBuilder::from(*this)
-                       .with_angular_exit_error(exit_error)
-                       .build();
-
-    this->p = pid_mod;
-
-    return this->p;
-}
 
 std::shared_ptr<BoomerangController>
 BoomerangController::modify_min_error(double min_error) {
@@ -172,15 +150,4 @@ BoomerangController::modify_lead_pct(double lead_pct) {
     return this->p;
 }
 
-std::shared_ptr<BoomerangController>
-BoomerangController::modify_settle_time(double settle_time) {
-    auto pid_mod = BoomerangControllerBuilder::from(*this)
-                       .with_settle_time(settle_time)
-                       .build();
-
-    this->p = pid_mod;
-
-    return this->p;
-}
-
 } // namespace voss::controller
diff --git a/src/VOSS/controller/BoomerangControllerBuilder.cpp b/src/VOSS/controller/BoomerangControllerBuilder.cpp
@@ -40,36 +40,19 @@ BoomerangControllerBuilder::with_angular_constants(double kP, double kI,
     return *this;
 }
 
-BoomerangControllerBuilder&
-BoomerangControllerBuilder::with_exit_error(double error) {
-    this->ctrl.exit_error = error;
-    return *this;
-}
-
-BoomerangControllerBuilder&
-BoomerangControllerBuilder::with_angular_exit_error(double error) {
-    this->ctrl.angular_exit_error = voss::to_radians(error);
-    return *this;
-}
-
 BoomerangControllerBuilder&
 BoomerangControllerBuilder::with_min_error(double error) {
     this->ctrl.min_error = error;
     return *this;
 }
 
+
 BoomerangControllerBuilder&
 BoomerangControllerBuilder::with_lead_pct(double lead_pct) {
     this->ctrl.lead_pct = lead_pct;
     return *this;
 }
 
-BoomerangControllerBuilder&
-BoomerangControllerBuilder::with_settle_time(double time) {
-    this->ctrl.settle_time = (time > 0) ? time : 250;
-    return *this;
-}
-
 BoomerangControllerBuilder&
 BoomerangControllerBuilder::with_min_vel_for_thru(double min_vel) {
     this->ctrl.min_vel = min_vel;

diff --git a/src/VOSS/controller/PIDController.cpp b/src/VOSS/controller/PIDController.cpp
@@ -171,15 +171,6 @@ PIDController::modify_angular_constants(double kP, double kI, double kD) {
     return this->p;
 }
 
-std::shared_ptr<PIDController> PIDController::modify_tracking_kp(double kP) {
-    auto pid_mod =
-        PIDControllerBuilder::from(*this).with_tracking_kp(kP).build();
-
-    this->p = pid_mod;
-
-    return this->p;
-}
-
 std::shared_ptr<PIDController>
 PIDController::modify_min_error(double min_error) {
     auto pid_mod =

diff --git a/src/VOSS/controller/PIDControllerBuilder.cpp b/src/VOSS/controller/PIDControllerBuilder.cpp
@@ -38,10 +38,6 @@ PIDControllerBuilder::with_angular_constants(double kP, double kI, double kD) {
     return *this;
 }
 
-PIDControllerBuilder& PIDControllerBuilder::with_tracking_kp(double kP) {
-    this->ctrl.tracking_kP = kP;
-    return *this;
-}
 
 PIDControllerBuilder& PIDControllerBuilder::with_min_error(double error) {
     this->ctrl.min_error = error;

diff --git a/src/main.cpp b/src/main.cpp
@@ -29,12 +29,9 @@ auto pid = voss::controller::PIDControllerBuilder::new_builder(odom)
 auto boomerang = voss::controller::BoomerangControllerBuilder::new_builder(odom)
                      .with_linear_constants(20, 0.02, 169)
                      .with_angular_constants(250, 0.05, 2435)
-                     .with_exit_error(1.0)
                      .with_lead_pct(0.5)
-                     .with_angular_exit_error(1.0)
-                     .with_min_error(5)
                      .with_min_vel_for_thru(70)
-                     .with_settle_time(200)
+                     .with_min_error(5)
                      .build();
 
 auto swing = voss::controller::SwingControllerBuilder::new_builder(odom)