Initialize once via init(); poll getPose/setPose from any task. More...

Namespaces
namespace	ekf

namespace	field

namespace	lightcast

namespace	paths

namespace	sensor_aux

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 fired once when the trajectory passes its resolved time. 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	PurePursuitConfig
	Pure Pursuit controller config — only knob is the carrot lookahead. 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...

enum class	Follower { RAMSETE , PURE_PURSUIT }
	Path-following controller selector. 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 to a field-relative point (legacy).

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)
	Linear extrapolation of pose `time` seconds ahead at current velocity.

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

Pose	getPoseRad ()
	Radian-only accessor; trajectory code MUST use this to avoid deg/rad bugs.

bool	runPath (const char *name, bool reversed=false, int timeoutMs=-1, float poseErrBailIn=8.0f, Follower follower=Follower::PURE_PURSUIT)
	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, Follower follower=Follower::PURE_PURSUIT)
	Variant accepting mid-path event triggers.

void	pure_pursuit_configure (PurePursuitConfig cfg)
	Configure the Pure Pursuit follower.

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, Follower follower=Follower::PURE_PURSUIT)
	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, Follower follower=Follower::PURE_PURSUIT)
	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, Follower follower=Follower::PURE_PURSUIT)
	Generate-and-follow variant with mid-path event triggers.

bool	followTrajectory (const std::vector< Waypoint > &wps, bool reversed=false, int timeoutMs=-1, float poseErrBailIn=8.0f, Follower follower=Follower::PURE_PURSUIT)
	Generate and follow a trajectory from waypoints, using the default `TrajConstraints` registered via `ramsete_configure()`.

bool	followTrajectory (const std::vector< Waypoint > &wps, std::vector< PathEvent > events, bool reversed=false, int timeoutMs=-1, float poseErrBailIn=8.0f, Follower follower=Follower::PURE_PURSUIT)
	Same as above, with mid-path events.

bool	runJerryioPath (const char *csv, bool reversed=false, int timeoutMs=-1, float poseErrBailIn=8.0f, Follower follower=Follower::PURE_PURSUIT)
	Run a waypoint CSV (path.jerryio.com export or hand-written).

bool	runJerryioPath (const char *csv, std::vector< PathEvent > events, bool reversed=false, int timeoutMs=-1, float poseErrBailIn=8.0f, Follower follower=Follower::PURE_PURSUIT)
	Variant with mid-path event triggers.

bool	runJerryioPathFromSD (const char *filePath, bool reversed=false, int timeoutMs=-1, float poseErrBailIn=8.0f, Follower follower=Follower::PURE_PURSUIT)
	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, Follower follower=Follower::PURE_PURSUIT)
	SD-card variant with mid-path event triggers.

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.

Stationary noise calibration
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.

Bracket-and-bisect PID auto-tune (drive / turn / swing / heading)
Three-phase tuner with kI=0. Phase 1 doubles kP until the robot oscillates (≥3 zero-crossings of pos − target), then bisects between the last stable and oscillating values. Phase 2 boosts that kP, doubles kD until the oscillation damps, then bisects to find the smallest sufficient kD. Phase 3 then pushes kP higher in +15% steps — bumping kD when oscillation returns — until settle time stops improving (best-of-2 confirmed), and writes the fastest-settling stable (kP, kD) pair. Final values are applied live via pid_*_constants_set; transcribe the printed FINAL line into default_constants() to persist across reboots. Heading scores on the \|L−R\| motor voltage differential (the heading PID's own controller effort) instead of IMU error, so its oscillation read isn't masked by drive PID dynamics. Space: turn/swing ~3 ft²; drive ≥6 ft straight; heading ≥10 ft straight.
void	autotune_turn_pid (float turnAngleDeg=180.0f, float overshootThreshDeg=3.0f, int maxIters=20)

void	autotune_drive_pid (float driveDistIn=24.0f, float overshootThreshIn=0.5f, int maxIters=20)

void	autotune_swing_pid (float swingAngleDeg=90.0f, float overshootThreshDeg=3.0f, int maxIters=20)

void	autotune_heading_pid (float driveDistIn=48.0f, float peakDiffMv=3000.0f, int maxIters=20)

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 non-trajectory PIDs.

Variables
PidTuner	pid_tuner
	Process-wide singleton tuner instance.

int	DRIVE_SPEED
	Default speeds used when a `pid_drive_set` / `pid_turn_set` / `pid_swing_set` call omits the `speed` argument.

int	TURN_SPEED

int	SWING_SPEED

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

Initialize once via init(); poll getPose/setPose from any task.

10 ms tick.

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.

◆ Follower

enum class light::Follower

strong

Path-following controller selector.

Public entry points default to PURE_PURSUIT.

Enumerator
RAMSETE
PURE_PURSUIT

Definition at line 18 of file ramsete.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	driveDistIn = `24.0f`,
		float	overshootThreshIn = `0.5f`,
		int	maxIters = `20`
	)

◆ autotune_ekf_noise()

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

Stationary EKF process-noise calibration.

Robot parked. Per-tick var(x,y,θ) → Q values, pushed live via setConfig().

◆ autotune_heading_pid()

void light::autotune_heading_pid	(	float	driveDistIn = `48.0f`,
		float	peakDiffMv = `3000.0f`,
		int	maxIters = `20`
	)

◆ autotune_mcl_noise()

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

Stationary MCL distance-sensor noise calibration.

Robot parked with each sensor pointed at a wall in range. Mean per-sensor stddev → sensorSigmaIn; outlierGapIn = ~3·sigma. Pushed live via setConfig().

◆ autotune_swing_pid()

void light::autotune_swing_pid	(	float	swingAngleDeg = `90.0f`,
		float	overshootThreshDeg = `3.0f`,
		int	maxIters = `20`
	)

◆ autotune_turn_pid()

void light::autotune_turn_pid	(	float	turnAngleDeg = `180.0f`,
		float	overshootThreshDeg = `3.0f`,
		int	maxIters = `20`
	)

◆ 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 non-trajectory PIDs.

Fits V = kS·sgn(v) + kV·v + kQ·v·|v| (motor-cmd units) and applies via chassis.friction_constants_set(). Dumps to /usd/friction_id.csv if SD 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`
	)

Linear extrapolation of pose time seconds ahead at current velocity.

◆ 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() [1/5]

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

Generate and follow a trajectory from waypoints, using the default TrajConstraints registered via ramsete_configure().

◆ followTrajectory() [2/5]

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

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
follower	which controller to use (defaults to PURE_PURSUIT)

◆ followTrajectory() [3/5]

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`,
		Follower	follower = `Follower::PURE_PURSUIT`
	)

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() [4/5]

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

Same as above, with mid-path events.

Uses the default TrajConstraints from ramsete_configure().

◆ followTrajectory() [5/5]

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

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 accessor; trajectory code MUST use this to avoid deg/rad bugs.

Definition at line 182 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 to a field-relative point (legacy).

Inches; speed cap 0..127.

◆ pure_pursuit_configure()

void light::pure_pursuit_configure ( PurePursuitConfig cfg )

Configure the Pure Pursuit follower.

Call once in initialize() (after ramsete_configure(), since PP reuses RamseteConfig + DriveFF).

◆ 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`,
		Follower	follower = `Follower::PURE_PURSUIT`
	)

Run a waypoint CSV (path.jerryio.com export or hand-written).

Lines are "x,y" or "x,y,heading_rad"; extra columns ignored. Inches/radians, LightLib convention (+Y forward, CW+). Uses TrajConstraints from ramsete_configure().

◆ runJerryioPath() [2/2]

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

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`,
		Follower	follower = `Follower::PURE_PURSUIT`
	)

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`,
		Follower	follower = `Follower::PURE_PURSUIT`
	)

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`,
		Follower	follower = `Follower::PURE_PURSUIT`
	)

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`,
		Follower	follower = `Follower::PURE_PURSUIT`
	)

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 (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.

◆ DRIVE_SPEED

int light::DRIVE_SPEED

extern

Default speeds used when a pid_drive_set / pid_turn_set / pid_swing_set call omits the speed argument.

Defined in src/autons.cpp — edit there.

◆ 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.

◆ SWING_SPEED

int light::SWING_SPEED

extern

◆ TURN_SPEED

int light::TURN_SPEED

extern

Namespaces

Classes

Typedefs

Enumerations

Functions

Variables

Public types and enums

Detailed Description

Typedef Documentation

◆ odom

◆ pose

◆ PoseGetterFn

◆ PoseSetterFn

◆ united_odom

◆ united_pose

Enumeration Type Documentation

◆ ConstSlot

◆ drive_directions

◆ e_angle_behavior

◆ e_mode

◆ e_swing

◆ e_type

◆ exit_output

◆ Follower

◆ PidType

Function Documentation

◆ auton_elapsed()

◆ autotune_drive_pid()

◆ autotune_ekf_noise()

◆ autotune_heading_pid()

◆ autotune_mcl_noise()

◆ autotune_swing_pid()

◆ autotune_turn_pid()

◆ characterize_a_lat_max()

◆ characterize_friction()

◆ characterize_kV_kA_kS()

◆ characterize_track_width()

◆ estimatePose()

◆ exit_to_string()

◆ extras_init()

◆ ez_template_print()

◆ followTrajectory() [1/5]

◆ followTrajectory() [2/5]

◆ followTrajectory() [3/5]

◆ followTrajectory() [4/5]

◆ followTrajectory() [5/5]

◆ generateTrajectory()

◆ getChassis()

◆ getDriveMotorGroups()

◆ getLocalSpeed()

◆ getPose()

◆ getPoseRad()

◆ getSpeed()

◆ init()

◆ moveToPoint()

◆ pure_pursuit_configure()

◆ ramsete_configure()

◆ register_pose_source()

◆ reset()

◆ runJerryioPath() [1/2]

◆ runJerryioPath() [2/2]

◆ runJerryioPathFromSD() [1/2]

◆ runJerryioPathFromSD() [2/2]

◆ runPath() [1/2]

◆ runPath() [2/2]

◆ screen_print()

◆ setPose()

◆ stop()

◆ update()

◆ wait_until_auton()

◆ wrap180()

Variable Documentation

◆ ANGLE_NOT_SET

◆ auton_selector

◆ auton_start_ms

◆ DRIVE_SPEED

◆ p_ANGLE_NOT_SET

◆ pid_tuner

◆ SWING_SPEED

◆ TURN_SPEED