light Namespace Reference

Public LightLib odometry / pose-estimation API. More...

Namespaces
namespace	ekf
namespace	field
namespace	lightcast
namespace	paths
namespace	units
	Single source of truth for unit conversions.
namespace	util
	Misc math, geometry, and unit-conversion helpers.

Classes
struct	Auton
	One registered autonomous routine. More...
class	AutonSelector
	On-brain auton picker UI. More...
class	Drive
	Tank-drive chassis class. More...
struct	DriveFF
	Per-wheel feedforward + simple velocity-loop gains. More...
class	HDrive
	Tank drive with a single center-mounted strafe wheel (H-drive layout). More...
struct	HermiteSegment
	One segment of a quintic Hermite spline. More...
class	HoloDrive
	4-motor holonomic drive — supports X-Drive and Mecanum configurations. More...
struct	HoloPID
	Internal PID used by HoloDrive / HDrive. More...
struct	odom
	One waypoint of an odom-mode movement. More...
struct	PathEvent
	Mid-path action triggered at a specific input waypoint. More...
class	PID
	Discrete PID controller with rich exit-condition support. More...
struct	PidConstants
	Container for one PID's four editable gain values. More...
class	PidTuner
	Live PID tuner UI driven by LVGL. More...
class	Piston
	Stateful 3-wire pneumatic piston with toggle helpers. More...
struct	pose
	2D pose: position (in) and heading (deg). More...
struct	RamseteConfig
	RAMSETE controller and chassis-geometry config. More...
class	RotationalSnap
	Manual-then-snap controller for a motor + rotation-sensor pair. More...
class	slew
	Slew-rate limiter that ramps speed up linearly over a configurable distance. More...
class	Spline
	Concatenated quintic Hermite spline with arc-length parameterization. More...
struct	SplineSample
	Pose / velocity / acceleration sample produced by spline evaluation. More...
class	tracking_wheel
	Single tracking wheel for odometry. More...
struct	TrajConstraints
	Kinematic limits used by the trajectory generator. More...
class	Trajectory
	Time-parameterized trajectory: dense state table + total duration. More...
struct	TrajState
	One sample of a time-parameterized trajectory. More...
struct	united_odom
	One waypoint of an odom-mode movement, with okapi units. More...
struct	united_pose
	2D pose with okapi units. More...
struct	Waypoint
	Single 2-D waypoint with optional heading and per-point speed cap. More...

Typedefs
using	PoseGetterFn = pose(*)()
	External pose getter used by register_pose_source().
using	PoseSetterFn = void(*)(pose)
	External pose setter used by register_pose_source().

Enumerations
enum	PidType {   PID_DRIVE = 0 , PID_TURN , PID_SWING , PID_HEADING ,   PID_EKF , PID_COUNT }
	PID controller categories selectable in the tuner. More...
enum	ConstSlot {   KP = 0 , KI , KD , START_I ,   CONST_COUNT }
	Index into a PidConstants slot. More...

Functions
void	register_pose_source (PoseGetterFn getter, PoseSetterFn setter)
	Register an external pose source.
double	wrap180 (double a)
	Normalize an angle in degrees to the half-open interval (-180, 180] so PID always takes the shortest path.
void	reset ()
	Reset all internal pose state to (0, 0, 0).
void	init (OdomSensors sensors, MCLConfig cfg={})
	Initialize the estimator.
void	stop ()
	Stop the background odometry task.
void	moveToPoint (float targetX, float targetY, int timeout, float maxSpeed, bool reversed)
	Drive the chassis to a field-relative point (legacy entry point).
Pose	getPose (bool radians=false)
void	setPose (Pose pose, bool radians=false)
	Overwrite the current pose.
Pose	getSpeed (bool radians=false)
Pose	getLocalSpeed (bool radians=false)
Pose	estimatePose (float time, bool radians=false)
	Linearly extrapolate the pose time seconds into the future, assuming current velocity holds.
void	update ()
	Force one update step (normally called by the background task).
Pose	getPoseRad ()
	Radian-only pose accessor.
bool	runPath (const char *name, bool reversed=false, int timeoutMs=-1, float poseErrBailIn=8.0f)
	Run a registered path by name.
bool	runPath (const char *name, std::vector< PathEvent > events, bool reversed=false, int timeoutMs=-1, float poseErrBailIn=8.0f)
	Variant accepting mid-path event triggers.
void	ramsete_configure (RamseteConfig rc, DriveFF ff, TrajConstraints defaultCons)
	Configure the RAMSETE follower.
bool	followTrajectory (const Trajectory &traj, int timeoutMs=-1, float poseErrBailIn=8.0f)
	Follow a pre-generated Trajectory.
bool	followTrajectory (const std::vector< Waypoint > &wps, const TrajConstraints &cons, bool reversed=false, int timeoutMs=-1, float poseErrBailIn=8.0f)
	Generate and follow a trajectory from waypoints.
bool	followTrajectory (const std::vector< Waypoint > &wps, const TrajConstraints &cons, std::vector< PathEvent > events, bool reversed=false, int timeoutMs=-1, float poseErrBailIn=8.0f)
	Generate-and-follow variant with mid-path event triggers.
bool	runJerryioPath (const char *csv, bool reversed=false, int timeoutMs=-1, float poseErrBailIn=8.0f)
	Run a waypoint path exported from path.jerryio.com (or any CSV-like text).
bool	runJerryioPath (const char *csv, std::vector< PathEvent > events, bool reversed=false, int timeoutMs=-1, float poseErrBailIn=8.0f)
	Variant with mid-path event triggers.
bool	runJerryioPathFromSD (const char *filePath, bool reversed=false, int timeoutMs=-1, float poseErrBailIn=8.0f)
	Read the CSV from the V5 SD card (e.g.
bool	runJerryioPathFromSD (const char *filePath, std::vector< PathEvent > events, bool reversed=false, int timeoutMs=-1, float poseErrBailIn=8.0f)
	SD-card variant with mid-path event triggers.
void	autotune_ekf_noise (int sampleMs=10, int durationMs=5000, int warmupMs=500)
	Stationary EKF process-noise calibration.
void	autotune_mcl_noise (int sampleMs=20, int durationMs=4000, int warmupMs=300)
	Stationary MCL distance-sensor noise calibration.
Trajectory	generateTrajectory (const std::vector< Waypoint > &wps, const TrajConstraints &cons, bool reversed=false)
	Generate a time-parameterized trajectory from waypoints.
uint32_t	auton_elapsed ()
void	wait_until_auton (uint32_t ms)
	Block until ms milliseconds have elapsed since auton started.
void	extras_init (light::Drive *chassis, pros::MotorGroup *leftMotors, pros::MotorGroup *rightMotors)
	Register the user's drivetrain objects with LightLib.
void	getDriveMotorGroups (pros::MotorGroup **leftOut, pros::MotorGroup **rightOut)
	Look up the registered drivetrain motor groups.
light::Drive *	getChassis ()
void	ez_template_print ()
	Prints our branding all over your pros terminal.
void	screen_print (std::string text, int line=0)
	Prints to the brain screen in one string.
std::string	exit_to_string (exit_output input)
	Returns a human-readable name for an exit_output code.
Characterization routines
Each is meant to be run as its own selectable auton.
void	characterize_kV_kA_kS (float maxVoltage=10.0f, float rampVps=0.25f)
	Identify kV / kA / kS by ramping voltage and recording velocity.
float	characterize_track_width (int rotations=10)
	Identify the effective track width by spinning in place.
float	characterize_a_lat_max ()
	Identify the maximum sustainable lateral acceleration.
void	characterize_friction (float maxVoltage=10.0f, float stepV=0.5f)
	Friction-FF auto-ID for the non-trajectory PID controllers.
Relay-feedback (Åström–Hägglund) PID auto-tune
Each routine runs a bang-bang oscillation around the current pose, measures the steady-state amplitude a and period Tu, computes Ku = 4·h/(π·a), Pu = Tu, kP = 0.6·Ku, kI = 2·kP/Pu, kD = kP·Pu/8 (Z-N classic PID) then printfs the result AND calls the matching EZ pid_*_constants_set so the tune is live on the chassis immediately. You still need to transcribe the printout into default_constants() for it to survive a program restart. Common parameters reliefV — relay voltage amplitude (volts, ±). Must exceed kS — if the robot never moves, the tune times out and aborts without overwriting the previous PID values. cycles — total number of full oscillation cycles to average. timeoutMs — active-time bail (cooldowns don't count against this). chunkCycles — cycles per chunk before a motor cooldown kicks in. 0 = no cooldowns (legacy continuous behavior). coolMs — motor-off pause between chunks. Wall time ≈ timeoutMs + (cycles/chunkCycles - 1)·coolMs. Space requirements turn / swing — about 2 ft² (in-place oscillation). drive — ≥ 8 ft straight clear ahead. heading — ≥ 8 ft straight lane; the robot drives forward at forwardV while the relay corrects heading around 0.
void	autotune_turn_pid (float reliefV=4.0f, int cycles=6, int timeoutMs=15000, int chunkCycles=2, int coolMs=5000)
void	autotune_drive_pid (float reliefV=6.0f, int cycles=5, int timeoutMs=15000, int chunkCycles=2, int coolMs=5000)
void	autotune_swing_pid (float reliefV=4.0f, int cycles=6, int timeoutMs=15000, int chunkCycles=2, int coolMs=5000)
void	autotune_heading_pid (float forwardV=3.0f, float reliefV=2.0f, int cycles=5, int timeoutMs=15000, int chunkCycles=2, int coolMs=5000)

Variables
PidTuner	pid_tuner
	Process-wide singleton tuner instance.
AutonSelector	auton_selector
	Process-wide singleton selector instance.
uint32_t	auton_start_ms
	Millisecond timestamp captured right before the selected auton routine runs.

Public types and enums
enum	e_type { SINGLE = 0 , SPLIT = 1 }
	Arcade joystick layout. More...
enum	e_swing { LEFT_SWING = 0 , RIGHT_SWING = 1 }
	Direction for swing-turn motions. More...
enum	exit_output {   RUNNING = 1 , SMALL_EXIT = 2 , BIG_EXIT = 3 , VELOCITY_EXIT = 4 ,   mA_EXIT = 5 , ERROR_NO_CONSTANTS = 6 }
	Result codes returned by PID::exit_condition. More...
enum	e_mode {   DISABLE = 0 , SWING = 1 , TURN = 2 , TURN_TO_POINT = 3 ,   DRIVE = 4 , POINT_TO_POINT = 5 , PURE_PURSUIT = 6 }
	Active chassis motion mode. More...
enum	drive_directions {   FWD = 0 , FORWARD = FWD , fwd = FWD , forward = FWD ,   REV = 1 , REVERSE = REV , rev = REV , reverse = REV }
	Drive direction with multiple spelling aliases. More...
enum	e_angle_behavior {   raw = 0 , left_turn = 1 , LEFT_TURN = 1 , counterclockwise = 1 ,   ccw = 1 , right_turn = 2 , RIGHT_TURN = 2 , clockwise = 2 ,   cw = 2 , shortest = 3 , longest = 4 }
	How to choose a turn direction when reaching an absolute heading. More...
typedef struct light::pose	pose
	2D pose: position (in) and heading (deg).
typedef struct light::united_pose	united_pose
	2D pose with okapi units.
typedef struct light::odom	odom
	One waypoint of an odom-mode movement.
typedef struct light::united_odom	united_odom
	One waypoint of an odom-mode movement, with okapi units.
const double	ANGLE_NOT_SET = 0.0000000000000000000001
	Sentinel value indicating "no angle specified".
const okapi::QAngle	p_ANGLE_NOT_SET = 0.0000000000000000000001_deg
	Sentinel value indicating "no angle specified" (united).

Detailed Description

Public LightLib odometry / pose-estimation API.

Initialize once with init(), then poll getPose() / setPose() from any task. The backing task ticks every 10 ms.

Typedef Documentation

odom

typedef struct light::odom light::odom

One waypoint of an odom-mode movement.

pose

typedef struct light::pose light::pose

2D pose: position (in) and heading (deg).

PoseGetterFn

using light::PoseGetterFn = typedef pose (*)()

External pose getter used by register_pose_source().

Definition at line 37 of file drive.hpp.

PoseSetterFn

using light::PoseSetterFn = typedef void (*)(pose)

External pose setter used by register_pose_source().

Definition at line 39 of file drive.hpp.

united_odom

typedef struct light::united_odom light::united_odom

One waypoint of an odom-mode movement, with okapi units.

united_pose

typedef struct light::united_pose light::united_pose

2D pose with okapi units.

Enumeration Type Documentation

ConstSlot

enum light::ConstSlot

Index into a PidConstants slot.

Enumerator
KP	Proportional gain.
KI	Integral gain.
KD	Derivative gain.
START_I	Integral activation threshold.
CONST_COUNT

Definition at line 26 of file pid_tuner.hpp.

drive_directions

enum light::drive_directions

Drive direction with multiple spelling aliases.

Enumerator
FWD
FORWARD
fwd
forward
REV
REVERSE
rev
reverse

Definition at line 88 of file util.hpp.

e_angle_behavior

enum light::e_angle_behavior

How to choose a turn direction when reaching an absolute heading.

Enumerator
raw	Use signed delta as-is (no wrap).
left_turn	Always turn counterclockwise.
LEFT_TURN
counterclockwise
ccw
right_turn	Always turn clockwise.
RIGHT_TURN
clockwise
cw
shortest	Pick the smaller of CW/CCW.
longest

Definition at line 98 of file util.hpp.

e_mode

enum light::e_mode

Active chassis motion mode.

Enumerator
DISABLE	No motion active.
SWING	Swing turn.
TURN	Turn-in-place to absolute heading.
TURN_TO_POINT	Turn to face a field point.
DRIVE	Straight-line drive.
POINT_TO_POINT	Drive to a field point.
PURE_PURSUIT

Definition at line 79 of file util.hpp.

e_swing

enum light::e_swing

Direction for swing-turn motions.

Enumerator
LEFT_SWING	Left side stationary, right side drives.
RIGHT_SWING

Definition at line 67 of file util.hpp.

e_type

enum light::e_type

Arcade joystick layout.

Enumerator
SINGLE	Single-stick arcade (one stick = throttle + turn).
SPLIT

Definition at line 63 of file util.hpp.

exit_output

enum light::exit_output

Result codes returned by PID::exit_condition.

Enumerator
RUNNING	Still inside the motion.
SMALL_EXIT	Small-error timer expired.
BIG_EXIT	Big-error timer expired.
VELOCITY_EXIT	Stopped moving long enough.
mA_EXIT	Motor current limit hit.
ERROR_NO_CONSTANTS

Definition at line 71 of file util.hpp.

PidType

enum light::PidType

PID controller categories selectable in the tuner.

Enumerator
PID_DRIVE	Linear drive PID.
PID_TURN	Heading/turn-in-place PID.
PID_SWING	Single-side swing PID.
PID_HEADING	Heading correction during drive moves.
PID_EKF	EKF heading-fusion PID.
PID_COUNT

Definition at line 18 of file pid_tuner.hpp.

Function Documentation

auton_elapsed()

uint32_t light::auton_elapsed

(

)

Returns

Milliseconds since the selected auton routine began executing.

autotune_drive_pid()

void light::autotune_drive_pid	(	float	reliefV = 6.0f,
		int	cycles = 5,
		int	timeoutMs = 15000,
		int	chunkCycles = 2,
		int	coolMs = 5000
	)

autotune_ekf_noise()

void light::autotune_ekf_noise	(	int	sampleMs = 10,
		int	durationMs = 5000,
		int	warmupMs = 500
	)

Stationary EKF process-noise calibration.

Robot must be parked on the field throughout. Per-tick variance of (x, y, theta) over the sample window is integrated to Q values and pushed into the live EKF via setConfig().

Parameters

sampleMs	sample period in ms (default 10 — matches odom tick)
durationMs	total wall time to sample (ms)
warmupMs	discard initial transient before sampling (ms)

autotune_heading_pid()

void light::autotune_heading_pid	(	float	forwardV = 3.0f,
		float	reliefV = 2.0f,
		int	cycles = 5,
		int	timeoutMs = 15000,
		int	chunkCycles = 2,
		int	coolMs = 5000
	)

autotune_mcl_noise()

void light::autotune_mcl_noise	(	int	sampleMs = 20,
		int	durationMs = 4000,
		int	warmupMs = 300
	)

Stationary MCL distance-sensor noise calibration.

Robot must be parked with every configured distance sensor pointed at a wall in range. Per-sensor std-dev of raw range readings (in inches) is averaged to set sensorSigmaIn, and outlierGapIn is set to ~3·sigma. Pushed into live MCL via setConfig().

autotune_swing_pid()

void light::autotune_swing_pid	(	float	reliefV = 4.0f,
		int	cycles = 6,
		int	timeoutMs = 15000,
		int	chunkCycles = 2,
		int	coolMs = 5000
	)

autotune_turn_pid()

void light::autotune_turn_pid	(	float	reliefV = 4.0f,
		int	cycles = 6,
		int	timeoutMs = 15000,
		int	chunkCycles = 2,
		int	coolMs = 5000
	)

characterize_a_lat_max()

float light::characterize_a_lat_max

(

)

Identify the maximum sustainable lateral acceleration.

characterize_friction()

void light::characterize_friction	(	float	maxVoltage = 10.0f,
		float	stepV = 0.5f
	)

Friction-FF auto-ID for the non-trajectory PID controllers.

Sweeps voltage open-loop, fits V = kS·sgn(v) + kV·v + kQ·v·|v| in motor- cmd units, and applies the result via chassis.friction_constants_set(). Raw samples are written to /usd/friction_id.csv when an SD card is present.

characterize_kV_kA_kS()

void light::characterize_kV_kA_kS	(	float	maxVoltage = 10.0f,
		float	rampVps = 0.25f
	)

Identify kV / kA / kS by ramping voltage and recording velocity.

characterize_track_width()

float light::characterize_track_width

(

int

rotations = 10

)

Identify the effective track width by spinning in place.

estimatePose()

Pose light::estimatePose	(	float	time,
		bool	radians = false
	)

Linearly extrapolate the pose time seconds into the future, assuming current velocity holds.

exit_to_string()

std::string light::exit_to_string

(

exit_output

input

)

Returns a human-readable name for an exit_output code.

Parameters

input

the exit_output value

extras_init()

void light::extras_init	(	light::Drive *	chassis,
		pros::MotorGroup *	leftMotors,
		pros::MotorGroup *	rightMotors
	)

Register the user's drivetrain objects with LightLib.

Must be called once in initialize() before screen_task / lib_extras / moveToPoint are used.

Takes pointers rather than externing globals so LightLib can live in the PROS cold package without linker errors.

Parameters

chassis	the user's Drive instance
leftMotors	left-side motor group
rightMotors	right-side motor group

ez_template_print()

void light::ez_template_print

(

)

Prints our branding all over your pros terminal.

followTrajectory() [1/3]

bool light::followTrajectory	(	const std::vector< Waypoint > &	wps,
		const TrajConstraints &	cons,
		bool	reversed = false,
		int	timeoutMs = -1,
		float	poseErrBailIn = 8.0f
	)

Generate and follow a trajectory from waypoints.

Parameters

wps	waypoint list
cons	kinematic limits
reversed	drive the path in reverse
timeoutMs	wall-time bail in ms (-1 = no timeout)
poseErrBailIn	bail if the pose error grows above this many inches

followTrajectory() [2/3]

bool light::followTrajectory	(	const std::vector< Waypoint > &	wps,
		const TrajConstraints &	cons,
		std::vector< PathEvent >	events,
		bool	reversed = false,
		int	timeoutMs = -1,
		float	poseErrBailIn = 8.0f
	)

Generate-and-follow variant with mid-path event triggers.

Events whose index is out of range are skipped (with a printf warning); the path still runs.

followTrajectory() [3/3]

bool light::followTrajectory	(	const Trajectory &	traj,
		int	timeoutMs = -1,
		float	poseErrBailIn = 8.0f
	)

Follow a pre-generated Trajectory.

Parameters

traj	the trajectory to follow
timeoutMs	wall-time bail in ms (-1 = no timeout)
poseErrBailIn	bail if the pose error grows above this many inches

Returns

true on completion, false on bail/timeout

generateTrajectory()

Trajectory light::generateTrajectory	(	const std::vector< Waypoint > &	wps,
		const TrajConstraints &	cons,
		bool	reversed = false
	)

Generate a time-parameterized trajectory from waypoints.

Parameters

wps	ordered waypoint list
cons	kinematic limits
reversed	true if the robot should drive the path in reverse

Returns

the generated Trajectory; empty on failure

getChassis()

light::Drive * light::getChassis

(

)

Returns

Pointer to the registered chassis, or nullptr if not registered.

getDriveMotorGroups()

void light::getDriveMotorGroups	(	pros::MotorGroup **	leftOut,
		pros::MotorGroup **	rightOut
	)

Look up the registered drivetrain motor groups.

Used by RAMSETE / characterization so they command the same motor groups the user registered via extras_init().

Parameters

leftOut	out: pointer to the registered left motor group, or nullptr
rightOut	out: pointer to the registered right motor group, or nullptr

getLocalSpeed()

Pose light::getLocalSpeed

(

bool

radians = false

)

Returns

Robot-frame velocities (forward / strafe / yaw).

getPose()

Pose light::getPose

(

bool

radians = false

)

Returns

Current fused pose.

Parameters

radians

true for radians, false for degrees.

getPoseRad()

Pose light::getPoseRad ( )

inline

Radian-only pose accessor.

RAMSETE and trajectory code MUST use this, never getPose(false). Double-conversion between degrees and radians is the top bug source in ports of this algorithm — centralizing the one radian entry point avoids it.

Definition at line 224 of file odometry.hpp.

getSpeed()

Pose light::getSpeed

(

bool

radians = false

)

Returns

Field-frame velocities (in/s, deg/s by default).

init()

void light::init	(	OdomSensors	sensors,
		MCLConfig	cfg = {}
	)

Initialize the estimator.

Parameters

sensors	sensor bundle (copied)
cfg	MCL configuration; defaults are usually fine

moveToPoint()

void light::moveToPoint	(	float	targetX,
		float	targetY,
		int	timeout,
		float	maxSpeed,
		bool	reversed
	)

Drive the chassis to a field-relative point (legacy entry point).

Parameters

targetX	target X, inches
targetY	target Y, inches
timeout	bail after this many ms
maxSpeed	speed cap, 0..127
reversed	drive backwards

ramsete_configure()

void light::ramsete_configure	(	RamseteConfig	rc,
		DriveFF	ff,
		TrajConstraints	defaultCons
	)

Configure the RAMSETE follower.

Call once in initialize() before any followTrajectory / runJerryioPath call.

Parameters

rc	controller and chassis geometry
ff	wheel feedforward gains
defaultCons	default kinematic limits used when none are passed explicitly

register_pose_source()

void light::register_pose_source	(	PoseGetterFn	getter,
		PoseSetterFn	setter
	)

Register an external pose source.

When registered, all odom_*_get() reads return the externally-supplied pose instead of LightLib's wheel integrator, and odom_*_set() calls forward to the supplied setter. Used internally to route the legacy pid_odom_* motion through the fused EKF / MCL pose estimate.

Parameters

getter	function returning the current pose
setter	function applying a new pose

reset()

void light::reset

(

)

Reset all internal pose state to (0, 0, 0).

runJerryioPath() [1/2]

bool light::runJerryioPath	(	const char *	csv,
		bool	reversed = false,
		int	timeoutMs = -1,
		float	poseErrBailIn = 8.0f
	)

Run a waypoint path exported from path.jerryio.com (or any CSV-like text).

Each non-empty, non-#-commented line has 2 or 3 floats separated by commas, tabs, or whitespace: "x, y" or "x, y, heading_rad". Units are inches and radians (LightLib convention: +Y forward, theta=0 faces +Y, CW+). Uses the TrajConstraints from ramsete_configure(). Extra columns past 3 are ignored, so exports with speed/lookahead fields still work.

runJerryioPath() [2/2]

bool light::runJerryioPath	(	const char *	csv,
		std::vector< PathEvent >	events,
		bool	reversed = false,
		int	timeoutMs = -1,
		float	poseErrBailIn = 8.0f
	)

Variant with mid-path event triggers.

See PathEvent for index semantics.

runJerryioPathFromSD() [1/2]

bool light::runJerryioPathFromSD	(	const char *	filePath,
		bool	reversed = false,
		int	timeoutMs = -1,
		float	poseErrBailIn = 8.0f
	)

Read the CSV from the V5 SD card (e.g.

"/usd/paths/red_left.csv").

runJerryioPathFromSD() [2/2]

bool light::runJerryioPathFromSD	(	const char *	filePath,
		std::vector< PathEvent >	events,
		bool	reversed = false,
		int	timeoutMs = -1,
		float	poseErrBailIn = 8.0f
	)

SD-card variant with mid-path event triggers.

runPath() [1/2]

bool light::runPath	(	const char *	name,
		bool	reversed = false,
		int	timeoutMs = -1,
		float	poseErrBailIn = 8.0f
	)

Run a registered path by name.

Parameters

name	path name (must match a row in kAll[])
reversed	drive the path in reverse
timeoutMs	wall-time bail in ms (-1 = no timeout)
poseErrBailIn	bail if pose error exceeds this many inches

Returns

true on completion, false on bail/timeout/unknown name

runPath() [2/2]

bool light::runPath	(	const char *	name,
		std::vector< PathEvent >	events,
		bool	reversed = false,
		int	timeoutMs = -1,
		float	poseErrBailIn = 8.0f
	)

Variant accepting mid-path event triggers.

See PathEvent.

screen_print()

void light::screen_print	(	std::string	text,
		int	line = 0
	)

Prints to the brain screen in one string.

Splits input between lines with '
' or when text longer then 32 characters.

Parameters

text	input string
line	starting line to print on, defaults to 0

setPose()

void light::setPose	(	Pose	pose,
		bool	radians = false
	)

Overwrite the current pose.

stop()

void light::stop

(

)

Stop the background odometry task.

update()

void light::update

(

)

Force one update step (normally called by the background task).

wait_until_auton()

void light::wait_until_auton

(

uint32_t

ms

)

Block until ms milliseconds have elapsed since auton started.

If that point is already in the past, returns immediately.

Parameters

ms	wall-clock target, in ms since auton start

wrap180()

double light::wrap180

(

double

a

)

Normalize an angle in degrees to the half-open interval (-180, 180] so PID always takes the shortest path.

Parameters

a	input angle in degrees

Variable Documentation

ANGLE_NOT_SET

const double light::ANGLE_NOT_SET = 0.0000000000000000000001

Sentinel value indicating "no angle specified".

Definition at line 111 of file util.hpp.

auton_selector

AutonSelector light::auton_selector

extern

Process-wide singleton selector instance.

auton_start_ms

uint32_t light::auton_start_ms

extern

Millisecond timestamp captured right before the selected auton routine runs.

Set by LightLib in autonomous(); read by the helpers below.

p_ANGLE_NOT_SET

const okapi::QAngle light::p_ANGLE_NOT_SET = 0.0000000000000000000001_deg

Sentinel value indicating "no angle specified" (united).

Definition at line 113 of file util.hpp.

pid_tuner

PidTuner light::pid_tuner

extern

Process-wide singleton tuner instance.