pair<pair<double, ForwardVel>, pair<double, AngularVel>> followTo(Input& input)

Returns the speeds for the robot to drive at

Parameter

• input - The input for the controller to use for data

Returns

A pair of pairs. The first pair is the forward speed and the second pair is the angular speed. The first value of the pair is the speed and the second value is the type of speed.

Implementation Notes

This function must be implemented by the user if they are to make their own speed controller. This function is called in every iteration of the followPath function.

Example

class PidController2 : public SpeedController {
    PID ctrl;
    PID turnCtrl;
public:
    void init(){
        //setTarget() clears out all integral data and stuff
        ctrl.setTarget(0);
        turnCtrl.setTarget(0);
    }
    followToRet followTo(Input& input){
        //Kinda a bad p controller
        double dist = input.dist;
        double turn = input.targetAngle - input.currentAngle;
        return { {ctrl.getVal(dist), forwardVel::pct}, {turnCtrl.getVal(turn), angularVel::pctDiff} };
    }
};