light::PurePursuitConfig Struct Reference

Pure Pursuit controller config — only knob is the carrot lookahead. More...

#include <pure_pursuit.hpp>

Public Attributes
float	lookaheadIn = 12.0f
	Carrot distance, inches.

Detailed Description

Pure Pursuit controller config — only knob is the carrot lookahead.

Definition at line 22 of file pure_pursuit.hpp.

Member Data Documentation

lookaheadIn

float light::PurePursuitConfig::lookaheadIn = 12.0f

Carrot distance, inches.

Larger = smoother but cuts corners; smaller = tighter tracking but oscillates near tight curvatures. Typical: 8–18 in.

Definition at line 25 of file pure_pursuit.hpp.

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The documentation for this struct was generated from the following file:

• include/LightLib/drive/pure_pursuit.hpp