extras.hpp File Reference

Miscellaneous helpers wired into the LightLib base init: brain-screen status print, motor-temperature controller buzz, a moveToPoint helper, and a small standalone PID struct used by characterization paths. More...

#include "LightLib/lib.hpp"
#include "LightLib/drive/odometry.hpp"
#include "pros/motor_group.hpp"

Go to the source code of this file.

Classes
struct	LightPID
	Lightweight PID controller used by characterization helpers. More...

Namespaces
namespace	light
	Public LightLib odometry / pose-estimation API.

Functions
void	screen_print_tracker (light::tracking_wheel *tracker, std::string name, int line)
	Render one tracking-wheel's live position to a brain-screen line.
void	screen_task ()
	Background task that paints status text to the brain screen.
void	lib_extras ()
	Boots all the LightLib helper tasks (screen, temp watch, etc.).
void	checkMotorTemp (pros::Controller &controller, pros::Motor &Top, pros::Motor &Bottom)
	Buzz the controller when a key drive motor exceeds the configured heat threshold (HEAT_BUZZ_TEMP in main.cpp).
void	default_positions ()
	Set initial piston / mechanism states.
void	track_basket ()
	Tracks a basket / scoring target (project-specific).
void	light::extras_init (light::Drive *chassis, pros::MotorGroup *leftMotors, pros::MotorGroup *rightMotors)
	Register the user's drivetrain objects with LightLib.
void	light::getDriveMotorGroups (pros::MotorGroup **leftOut, pros::MotorGroup **rightOut)
	Look up the registered drivetrain motor groups.
light::Drive *	light::getChassis ()
void	moveToPoint (float x, float y, int timeout, float maxSpeed=127.0f, bool reversed=false)
	Move the chassis to a field-relative (x, y) point.

Detailed Description

Miscellaneous helpers wired into the LightLib base init: brain-screen status print, motor-temperature controller buzz, a moveToPoint helper, and a small standalone PID struct used by characterization paths.

Definition in file extras.hpp.

Function Documentation

checkMotorTemp()

void checkMotorTemp	(	pros::Controller &	controller,
		pros::Motor &	Top,
		pros::Motor &	Bottom
	)

Buzz the controller when a key drive motor exceeds the configured heat threshold (HEAT_BUZZ_TEMP in main.cpp).

Parameters

controller	controller to buzz
Top	first motor to monitor
Bottom	second motor to monitor

default_positions()

void default_positions

(

)

Set initial piston / mechanism states.

User-defined in autons.cpp.

lib_extras()

void lib_extras

(

)

Boots all the LightLib helper tasks (screen, temp watch, etc.).

moveToPoint()

void moveToPoint	(	float	x,
		float	y,
		int	timeout,
		float	maxSpeed = 127.0f,
		bool	reversed = false
	)

Move the chassis to a field-relative (x, y) point.

Parameters

x	target X in inches
y	target Y in inches
timeout	give up after this many milliseconds
maxSpeed	speed cap, 0..127
reversed	drive to the point backwards

screen_print_tracker()

void screen_print_tracker	(	light::tracking_wheel *	tracker,
		std::string	name,
		int	line
	)

Render one tracking-wheel's live position to a brain-screen line.

Parameters

tracker	tracking_wheel to print
name	label printed before the value
line	brain-screen line index (0..7)

screen_task()

void screen_task

(

)

Background task that paints status text to the brain screen.

track_basket()

void track_basket

(

)

Tracks a basket / scoring target (project-specific).