Added Boomerang code

[Cavaire3D]

This introduces a new format that generates boomerang code for xVecLib.

Code exported:
robo.set(59, -34);
imu.set_rotation(270);
ou.printCoords();
ou.moveToBoom( -59.924, -50.746, 347.5795700547434, 0.0672986800982153,5);
ou.moveToBoom( -45.96, 36, 90, -0.12368406072104425,5);

[Jerrylum]

Is the library open source? Can I have the link of the repository?

[Cavaire3D]

Repository is https://codeberg.org/xVec/xVecLib
Documentation (Work in Progress) is https://xvec.codeberg.page

[Jerrylum]

Thank you for the PR.

Since I modified the internal API for formats after you submitted your PR, you need to refactor your format. It doesn't happen very often.

Please tell me what your format is generating. I see it generates a sequence of moveToBoom function calls with five parameters. I would like to learn more about the function as well as the algorithm that you are using. Is it a modified Boomerang algorithm? Explanations with figures are welcome.

Remove console.log function calls, use Logger when necessary.

[Cavaire3D]

This function is a boomerang controller implementation created using Boomerang controller.
It is one of many methods provided by my library, all of which require a tuned PID controller and odometry.

The format calculates the lead by using the control that has the most impact to the segment (the one that is the furthest away) as the carrot point. It then calculates the lead by rearranging the equation.

The documentation for this method is unfinished, and will be posted https://xvec.codeberg.page/class_x_y_zv_lib_1_1_p_i_d_ab96f6a3edb6bccf97d240b3154b0110b.html#ab96f6a3edb6bccf97d240b3154b0110b when finished.

I will update the code now to use the requested logger.

[Jerrylum]

The next step is writing test cases

[Jerrylum]

I see you started working on the test cases. Please keep going, and address the following change requests:

[Jerrylum]

Are you still working on the PR?

[Cavaire3D]

I am still working on this PR, but testing has revealed a few major bugs that I am currently working out. I will push changes once I fix those bugs.

[Jerrylum]

You modified the file permission of multiple files, please change them back before I can continue to review your pull request. Thank you.