Fixed a problem where the OPControl was trying to pull values from an array that never had any values to begin with

causeing a segmentation fault and crashing the brain.
Also changed how the function lift_range_finder worked.  Instead of just makeing a variable eqaul to a number it also returns the value
so we can use it outside of the function.
We also added actual values to all the arrays.

include/EZ-Template/pneumatics.hpp

@@ -6,24 +6,35 @@
 #include "EZ-Template/piston.hpp"
 
 namespace ez {
-
-    enum class Pistons {
-        claw_piston
-    };
-    enum class ControlPeriod {
+     /**
+     * Enumeration to hold the current part of a match were in.
+     */
+    enum class ControlPeriodP {
         driver,
         auton
     };
-    enum class Controller {
+    /**
+     * Enumeration to hold the different controllers avalable. 
+     */
+    enum class ControllerP {
         master,
         slave
     };
-    enum class Buttons {
+    /**
+     * Enumeration to hold the different buttons to use.
+     */
+    enum class ButtonsP {
         arrow_buttons,
         Y_B_buttons,
         left_shoulder_buttons,
         right_shoulder_buttons
     };
+    /**
+     * Enumeration to hold all the pistons avalable.
+     */
+    enum class PistonsP {
+        claw_piston
+    };
 
     class Pneumatics{
 
@@ -34,7 +45,7 @@ namespace ez {
 
         Pneumatics();
 
-        void control_piston(enum Pistons, enum ControlPeriod, enum Controller, enum Buttons);
+        void control_piston(enum PistonsP, enum ControlPeriodP, enum ControllerP, enum ButtonsP);
 
         bool get_piston_state();
         void set_piston_state(bool value);

include/EZ-Template/rotation_mechanisms/rotation_calc.hpp

@@ -2,28 +2,43 @@
 
 #include <vector>
 #include "api.h"
+//#include "main.h"
 #include "pros/adi.hpp"
 #include "pros/rotation.hpp"
 
 namespace ez{
-
-    enum class ControlPeriod {
+    /**
+     * Enumeration to hold the current part of a match were in.
+     */
+    enum class ControlPeriodR {
         driver,
         auton
     };
-    enum class Controller {
+    /**
+     * Enumeration to hold the different controllers avalable. 
+     */
+    enum class ControllerR {
         master,
         slave
     };
-    enum class Buttons {
+    /**
+     * Enumeration to hold the different buttons to use.
+     */
+    enum class ButtonsR {
         arrow_buttons,
         Y_B_buttons,
         left_shoulder_buttons,
         right_shoulder_buttons
     };
 
+    /**
+     * Arm mechanism class.
+     * 
+     * Sets up all constructors, variables, and functions.
+     */
     class ArmMech{
         private:
+        // Arrays to hold different values for the arm.
         std::vector<int> levelOneArmStates;
         std::vector<int> levelTwoArmStates;
         std::vector<int> levelThreeArmStates;
@@ -32,20 +47,20 @@ namespace ez{
         float armKP;
 
         public:
-        std::vector<int> selectedStates;
-        int targetPos;
+        std::vector<int> selectedStates; // Array for the arm to actaully use.
+        int targetPos; // Value to be changed based on the height of the lift
         int currArmState;
         int armTarget;
         float armError;
         float armVelocity;
         
-        ArmMech();
+        ArmMech(); // Defualt constructor
 
-        void arm_driver_control(enum Controller, enum Buttons);
+        void arm_driver_control(enum ControllerR, enum ButtonsR);
         void arm_auton_control(int pickState);
         void cycle_states();
         void reset_state();
-        void arm_control();
+        void arm_control(); // Computes the velocity for the arm to move at.
 
         void set_arm_kp(float _armKP);
         void set_state_values(std::vector<int> _levelOneArmStates, std::vector<int> _levelTwoArmStates, std::vector<int> _levelThreeArmStates, std::vector<int> _levelFourArmStates);
@@ -55,32 +70,37 @@ namespace ez{
         float get_arm_kp();
     };
 
+    /**
+     * List mechanism class.
+     * 
+     * Sets up all constructors, variables, and functions.
+     */
     class LiftMech {
         private:
-        std::vector<int> liftStates;
-        int numLiftStates;
-        float liftKP;
+        std::vector<int> liftStates; // Array the lift uses to move.
         std::vector<int> firstRange;
         std::vector<int> secondRange; 
         std::vector<int> thirdRange; 
         std::vector<int> fourthRange;
+        int numLiftStates;
+        float liftKP;
 
         public:
+        int liftHeight; // Current height of the lift in centdegrees
         int currLiftState;
         int liftTarget;
-        int liftHeight;
         float liftError;
         float liftVelocity;
     
-        LiftMech();
-        LiftMech(std::initializer_list<int> _liftStates, int _numLiftStates);
+        LiftMech(); // Default constructor
+        LiftMech(std::initializer_list<int> _liftStates, int _numLiftStates); // Constructor to initialze array and amount of values in array.
 
-        void lift_driver_control(enum Controller, enum Buttons);
+        void lift_driver_control(enum ControllerR, enum ButtonsR);
         void lift_auton_control(int pickState);
         void cycle_states();
         void reset_state();
-        void lift_control();
-        void lift_range_finder();
+        void lift_control(); // Computes the velocity for the lift to move at.  
+        int lift_range_finder(); // Finds the ranges for the arm to use 
 
         void set_lift_kp(float _liftKP);
         void set_ranges(std::vector<int> _firstRange, std::vector<int> _secondRange, std::vector<int> _thirdRange, std::vector<int> _fourthRange);
@@ -90,9 +110,14 @@ namespace ez{
         float get_lift_kp();
     };
 
+    /**
+     * Wrist mechanism class.
+     * 
+     * Sets up all constructors, variables, and functions.
+     */
     class WristMech {
         private:
-        std::vector<int> wristStates;
+        std::vector<int> wristStates; // Array the wrist uses to move
         int numWristStates;
         float wristKP;
 
@@ -102,12 +127,12 @@ namespace ez{
         float wristError;
         float wristVelocity;
 
-        WristMech();
-        WristMech(std::initializer_list<int> _wristStates, int _numWristStates);
+        WristMech(); // Default constuctor
+        WristMech(std::initializer_list<int> _wristStates, int _numWristStates); // Constructor to initialze array and amount of values in array.
 
-        void wrist_driver_control(enum Controller, enum Buttons);
+        void wrist_driver_control(enum ControllerR, enum ButtonsR);
 
-        void rotate_wrist(int wristThreshold);
+        void rotate_wrist(int wristThreshold); // Rotates the wrist based where the arm is.
         void reset_state();
         void wrist_control();
 

include/setup/initialize.hpp

@@ -8,29 +8,39 @@
 #define CONFIG_H
 
 /**
- * 
+ * Sets up the master and slave controllers.
  */
 inline pros::Controller master(pros::E_CONTROLLER_MASTER);
 inline pros::Controller slave(pros::E_CONTROLLER_PARTNER);
 
 /**
- * Declare mechinism motors
+ * Declares mechinism motors and motor groups.
  */
-inline pros::MotorGroup lift({10, 11});
-inline pros::MotorGroup wrist({13, 14});
-inline pros::Motor arm({12});
+inline pros::MotorGroup lift({15, -19});
+inline pros::MotorGroup wrist({1, 9});
+inline pros::Motor arm({6});
 
 /**
- * Declare pistons here
+ * Declares piston mechanisms.
  */
 inline ez::Piston claw({'G',true});
 
 /**
- * Declare sensors here
+ * Declare limit switches and other ADI sensors
  */
-inline pros::Rotation liftRotation({15});
-inline pros::Rotation armRotation({16});
-inline pros::Rotation wristRotation({17});
+inline pros::ADIButton liftReset({'A'});
+inline pros::ADIButton armReset({'B'});
+
+/**
+ * Declares all sensors.
+ * 
+ * [1] - Rotation sensors
+ * 
+ * [2] - Color sensors
+ */
+inline pros::Rotation liftRotation({17});
+inline pros::Rotation armRotation({8});
+inline pros::Rotation wristRotation({21});
 
 inline pros::Optical colorSensorOne({18});
 inline pros::Optical colorSensorTwo({19});