holo_drive.hpp File Reference

Holonomic and H-drive chassis classes (alternatives to the tank Drive). More...

#include <climits>
#include <cmath>
#include <vector>
#include "LightLib/api.h"
#include "pros/imu.hpp"
#include "pros/motors.hpp"

Go to the source code of this file.

Classes
struct	light::HoloPID
	Internal PID used by HoloDrive / HDrive. More...
class	light::HoloDrive
	4-motor holonomic drive — supports X-Drive and Mecanum configurations. More...
class	light::HDrive
	Tank drive with a single center-mounted strafe wheel (H-drive layout). More...

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

Functions
double	light::wrap180 (double a)
	Normalize an angle in degrees to the half-open interval (-180, 180] so PID always takes the shortest path.

Detailed Description

Holonomic and H-drive chassis classes (alternatives to the tank Drive).

Both classes implement opcontrol mixing, IMU-stabilized straight motions, and per-axis PID for autonomous moves.

Definition in file holo_drive.hpp.