LightLib
PROS library for VEX V5: EKF/MCL localization, RAMSETE path following, high-level chassis API
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pure_pursuit.hpp
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1#pragma once
2
19namespace light {
20
22struct PurePursuitConfig {
25 float lookaheadIn = 12.0f;
26};
27
32void pure_pursuit_configure(PurePursuitConfig cfg);
33
34} // namespace light
light
Initialize once via init(); poll getPose/setPose from any task.
Definition pid.hpp:22
light::pure_pursuit_configure
void pure_pursuit_configure(PurePursuitConfig cfg)
Configure the Pure Pursuit follower.
light::PurePursuitConfig
Pure Pursuit controller config — only knob is the carrot lookahead.
Definition pure_pursuit.hpp:22
light::PurePursuitConfig::lookaheadIn
float lookaheadIn
Carrot distance, inches.
Definition pure_pursuit.hpp:25