Summary

Allows chassis settings to be modified post-construction of the chassis, all in a thread safe / atomic manner. It also adds the ability to have any number of exit conditions and configure them in a much cleaner manner.

PID gains and slew can be changed mid motion, but changing exit conditions mid motion will not take effect until the next motion runs.

Motivation

Before, an advanced user would have to edit headers to modify chassis settings after chassis construction, risking headaches due to thread-unsafety, but now it's a built-in thread-safe feature.

Also having two different exit conditions annoyed me.

Test Plan

I will not be able to test it, but ideally the following tests should be run:

• check that the same controller settings behaves the same before this PR and with this PR
• change all 5 PID gains mid-motion and observe an distinct change in behavior
• change 1-4 PID gains mid-motion and observe a distinct change in behavior
• change slew mid-motion and a distinct change in behavior
• add an exit condition mid-motion and observe a a distinct change in behavior only in the next motion
• clear all exit conditions and observe the motion running until the its timeout
• check that PID, slew, and exit conditions persist to the next motion

Additional Notes

Needs docs / comments

If exit conditions seem to goof, then just use commit 1409044, as I doubt the exit conditions can be fixed in a timely manner.

Download the template for this pull request:

• via manual download: [email protected] a196c1.zip
• via PROS Integrated Terminal:

curl -o [email protected] a196c1.zip https://nightly.link/LemLib/LemLib/actions/artifacts/1440375098.zip;
pros c fetch [email protected] a196c1.zip;
pros c apply [email protected] a196c1;
rm [email protected] a196c1.zip;