I’m having an issue when okapilib with an x-drive and trying to set the brake mode.
Relevant code:
std::shared_ptr<okapi::OdomChassisController> drive =
okapi::ChassisControllerBuilder()
.withMotors(
1,
-3,
-4,
2
)
.withDimensions(okapi::AbstractMotor::gearset::green, {{4_in, 15.25_in}, okapi::imev5GreenTPR})
.withOdometry()
.buildOdometry();
auto XDriveTrain { std::dynamic_pointer_cast<okapi::XDriveModel>(drive->getModel()) };
auto topLeft { XDriveTrain->getTopLeftMotor() };
okapi::Controller controller;
okapi::ControllerButton holdButton(okapi::ControllerDigital::B);
void opcontrol() {
while (true) {
/*
Driving code
*/
static bool toggle { false };
if (holdButton.changedToPressed()) {
toggle = !toggle;
if (toggle) {
XDriveTrain->setBrakeMode(okapi::AbstractMotor::brakeMode::hold);
}
else {
XDriveTrain->setBrakeMode(okapi::AbstractMotor::brakeMode::coast);
}
}
switch (topLeft->getBrakeMode()) {
case okapi::AbstractMotor::brakeMode::hold :
std::cout << "hold mode\n";
break;
case okapi::AbstractMotor::brakeMode::coast :
std::cout << "coast mode\n";
break;
}
pros::delay(10);
}
}
What should happen is when B is pressed, all chassis motors go to hold brake mode (and the terminal should be saying “hold mode” in a loop). When B is pressed again all chassis motors go to coast mode (terminal should go back to saying “coast mode”).
However, when B is pressed the motors do not actually hold, even though the terminal prints the expected correct output.
I noticed that if I place XDriveTrain->setBrakeMode(okapi::AbstractMotor::brakeMode::hold); inside opcontrol but outside of the loop, it also does not work, but if I place in within the opcontrol loop it does work.
Back when I was using only C++ PROS I set the brake mode per motor and it worked fine. I wonder if it has to do with okapilib using C PROS for setBrakeMode internally…