chore: Update Robodash initialization and console usage

include/abstractGlobals.hpp

@@ -5,6 +5,9 @@
 #include "gif-pros/gifclass.hpp"
 #include "robodash/api.h"
 
+extern rd::Console console;
+extern rd_view_t *gifview;
+
 /* Functions */
 // Slapper
 void refreshSlapper();

src/auton/autonomous.cpp

@@ -20,10 +20,9 @@ void testPID() {
 }
 
 rd::Selector gui_selector({
-    {"PID test", &testPID},
+    {"PID test", &testPID, "/usd/images/pidtest.bin"},
 });
 
-
 void autonomous() {
     chassis.setPose(0,0,0);
     gui_selector.run_auton();

src/init/initialize.cpp

@@ -11,13 +11,13 @@ void initialize() {
 
     chassis.calibrate();
     pros::Task odomTask(strait::odomThread);
-
-    rd::Console console;
-
-    rd_view_t *gifview = rd_view_create("Logo GIF");
-    static Gif gif("/usd/logo2.gif", rd_view_obj(gifview));
 }
 
+// Robodash inits
+rd::Console console;
+rd_view_t *gifview = rd_view_create("Logo");
+static Gif gif("/usd/logo2.gif", rd_view_obj(gifview));
+
 /**
  * Runs while the robot is in the disabled state of Field Management System or
  * the VEX Competition Switch, following either autonomous or opcontrol. When

src/libSTRAITIS/drivetrain/pid.cpp

@@ -32,7 +32,7 @@ void strait::LateralPID::move_lateral_pid(double target, double maxSpeed, double
 	double local_timer = 0;
 
 	while (true) {
-		double error = target - ((leftDrive.get_positions().at(0) + rightDrive.get_positions().at(0)) / 2);
+		double error = target - ((leftDrive.get_position(0) + rightDrive.get_position(0)) / 2);
 		integral = (integral + error);
 		derivative = (error - prevError);
 

src/main.cpp

@@ -1,4 +1,5 @@
 #include "main.h"
+#include "robodash/core.h"
 
 /**
  * Runs the operator control code. This function will be started in its own task
@@ -10,6 +11,7 @@
  */
 void opcontrol() {
 	while (true) { // Main continuous loop
+		rd_view_focus(gifview);
 		/* Drive */
 		strait::arcadeDrive(12, 0, 0.5);