Tutorials

Step-by-step guides for the things you actually do with LightLib in practice. Read in order if new; pick what you need otherwise.

1. Basic Motion — drive, turn, swing. The three primitives that every hand-crafted auton is built from. Covers the full pid_*_set / pid_wait* family and how to chain motions smoothly.
2. Odom Motion — driving to a field point instead of "24 inches forward." Covers the boomerang controller, how odometry actually works under the hood, and tuning the look-ahead / boomerang knobs.
3. PID Tuning — full workflow for tuning all four chassis PIDs (drive, turn, swing, heading) from scratch. Covers the theory, the live on-brain tuner, exit conditions, and the relay-feedback auto-tune routines.
4. Path Following — RAMSETE trajectory following. Smooth curved paths, Jerryio CSV imports, and the per-tick kV / kA / kS feedforward.
5. Characterization — characterize_* and autotune_* routines. Once-per-build measurements that produce the real-robot constants every other tutorial assumes you have.
6. UI Config — the on-brain auton selector. What each panel does (preview, live PID, live odom), how registered autons end up as buttons, and the run-screen takeover during autonomous.
7. Subsystems — subsystems.hpp end-to-end. Adding motors, motor groups, and pistons; the RotationalSnap lift; alliance color; and the holonomic / H-drive opt-ins.
8. Auton Config — the three-file workflow for adding an auton (autons.hpp / autons.cpp / auton_config.cpp), plus everything default_constants() and default_positions() control.

Suggested order on a fresh build

characterization day  →  PID tuning  →  basic motion autons  →
odom motion autons    →  path following

The first two are "configure the robot" — they make every later motion work. The last three are "use the robot."