pure_pursuit.hpp File Reference

Pure Pursuit follower configuration. More...

Go to the source code of this file.

Classes
struct	light::PurePursuitConfig
	Pure Pursuit controller config — only knob is the carrot lookahead. More...

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

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

Detailed Description

Pure Pursuit follower configuration.

The Pure Pursuit follower itself is invoked through the same light::followTrajectory / runJerryioPath / runPath entry points as RAMSETE — pass light::Follower::PURE_PURSUIT (the default) as the trailing argument. See ramsete.hpp for those signatures.

This header only declares the controller-specific tuning knobs. PP shares the chassis geometry from RamseteConfig and the wheel feedforward from DriveFF — both registered via ramsete_configure() — so this is the only PP-specific call you need in default_constants().

Definition in file pure_pursuit.hpp.