custom_move.hpp File Reference

Custom movement primitives using LightLib's Drive and dual distance sensors. More...

#include "LightLib/lib.hpp"
#include "LightLib/main.h"

Go to the source code of this file.

Functions
void	custom_move_init (light::Drive &chassis)
	Register the chassis used by the custom movement primitives.
void	WallRide (pros::Distance *frontSensor, pros::Distance *leftSensor, double stopDistIn, double targetDistIn, int baseSpeed=80, int timeout=5000)
	Drive forward while wall-tracking on the left.

Detailed Description

Custom movement primitives using LightLib's Drive and dual distance sensors.

Dependencies

• LightLib (provides light::Drive)
• PROS 4 (provides pros::Distance, pros::millis, etc.)
• LightLib/main.h (PROS umbrella header)

Setup

Two steps required before use:

1. Call custom_move_init() once inside initialize() in main.cpp, passing your existing light::Drive chassis object:

   custom_move_init(chassis);

2. Declare two pros::Distance sensors — one on the front of the robot and one on the left side — and call WallRide():

   pros::Distance frontDist(PORT_A);
   pros::Distance leftDist(PORT_B);
   WallRide(&frontDist, &leftDist, 6.0, 4.0);

   Drives forward until front sensor reads ≤ 6 inches, maintaining 4 inches from the left wall throughout.

Motor control scale

All speed values use LightLib's -127..127 scale (not raw millivolts).

Note

The light::Drive reference is stored as a pointer at runtime inside custom_move_init(), avoiding the PROS cold/hot package linker constraint.

Definition in file custom_move.hpp.

Function Documentation

custom_move_init()

void custom_move_init

(

light::Drive &

chassis

)

Register the chassis used by the custom movement primitives.

Must be called once in initialize() before WallRide().

Parameters

chassis

the user's Drive instance

WallRide()

void WallRide	(	pros::Distance *	frontSensor,
		pros::Distance *	leftSensor,
		double	stopDistIn,
		double	targetDistIn,
		int	baseSpeed = 80,
		int	timeout = 5000
	)

Drive forward while wall-tracking on the left.

Combines two behaviors:

1. Stops when the front distance sensor reads ≤ stopDistIn.
2. Maintains targetDistIn from a left-side wall via a PD steering loop.

Pass nullptr for a sensor whose port is 0 (not installed). Returns immediately if frontSensor is nullptr. If leftSensor is nullptr, the robot drives straight with no wall correction.

Parameters

frontSensor	front-facing distance sensor (stop condition)
leftSensor	left-facing distance sensor (wall-tracking)
stopDistIn	front threshold in inches — robot stops when front reads ≤ this
targetDistIn	desired lateral distance from the left wall, inches
baseSpeed	forward drive speed, 0–127
timeout	max run duration in milliseconds before forced exit