Summary

Members	Descriptions
namespace xapi
namespace xVecLib	The main Namespace for the Library.
struct robotAccess::coordinate	A simple struct to represent a coordinate.
struct pidValue	Struct to hold PID values.
struct robotAccess	The robotAccess struct allows PID and other code in xVecLib to gain access to the robot variables.

namespace xapi

Summary

Members	Descriptions
public std::uint32_t get_pen()
public std::uint32_t fill_rect(const std::int16_t x0,const std::int16_t y0,const std::int16_t x1,const std::int16_t y1)
public std::uint32_t set_pen(std::uint32_t color)
public std::uint32_t draw_rect(const std::int16_t x0,const std::int16_t y0,const std::int16_t x1,const std::int16_t y1)
public std::uint32_t fill_circle(const std::int16_t x,const std::int16_t y,const std::int16_t radius)
public std::uint32_t draw_circle(const std::int16_t x,const std::int16_t y,const std::int16_t radius)
public std::uint32_t draw_line(const std::int16_t x0,const std::int16_t y0,const std::int16_t x1,const std::int16_t y1)
public uint32_t millis(void)
public void delay(const uint32_t milliseconds)
class xapi::Mutex
class xapi::MotorGroup
class xapi::Motor
class xapi::IMU
class xapi::Rotation
class xapi::Encoder

Members

public std::uint32_t get_pen()

public std::uint32_t fill_rect(const std::int16_t x0,const std::int16_t y0,const std::int16_t x1,const std::int16_t y1)

public std::uint32_t set_pen(std::uint32_t color)

public std::uint32_t draw_rect(const std::int16_t x0,const std::int16_t y0,const std::int16_t x1,const std::int16_t y1)

public std::uint32_t fill_circle(const std::int16_t x,const std::int16_t y,const std::int16_t radius)

public std::uint32_t draw_circle(const std::int16_t x,const std::int16_t y,const std::int16_t radius)

public std::uint32_t draw_line(const std::int16_t x0,const std::int16_t y0,const std::int16_t x1,const std::int16_t y1)

public uint32_t millis(void)

public void delay(const uint32_t milliseconds)

class xapi::Mutex

Summary

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class xapi::MotorGroup

Summary

Members	Descriptions

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class xapi::Motor

Summary

Members	Descriptions

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class xapi::IMU

Summary

Members	Descriptions

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class xapi::Rotation

Summary

Members	Descriptions

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class xapi::Encoder

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Members

namespace xVecLib

The main Namespace for the Library.

Summary

Members	Descriptions
enum cAxis	An enum that contains the 2 possible axis, X and Y.
public double calcInchesPerTick(double current,double size,double ratio)	Calculates the inches per one tick of the Motor.
public double getTilePos(double pos)	Converts pos from inches to tiles.
public double getPosTile(double tile)	Converts tile from tiles to inches.
public double checkSign(double num)	Returns 0 if num is equal to 0, 1 if it's greater, -1 if it's less.
public double convertRadians(double num)	Converts num from degrees to radians.
public double convertDegrees(double num)	Converts num from radians to degrees.
public double slew(double target,double current,double maxChange)	Slew rate limiter.
public constexpr double radToDeg(double rad)	Convert radians to degrees.
public constexpr double degToRad(double deg)	Convert degrees to radians.
public double angleError(double angle1,double angle2,bool radians)	Calculate the error between 2 angles. Useful when calculating the error between 2 headings.
public template<> constexpr T sgn(T value)	Return the sign of a number.
public double avg(std::vector< double > values)	Return the average of a vector of numbers.
public double ema(double current,double previous,double smooth)	Exponential moving average.
public double getCurvature(Point first,Point other)	Get the signed curvature of a circle that intersects the first Point and the second Point.
public template<> constexpr const T & clamp(const T & v,const T & lo,const T & hi)
public double average(std::vector< double > const & v)
public bool whatAxis(cAxis ax)
class xVecLib::control	The control class is used to control individual motors with powerful methods.
class xVecLib::drawing
class xVecLib::Point	A point. Used in all path tracking methods.
class xVecLib::robot	A class to allow basic control of the robot using the pid class.
struct xVecLib::odom	A struct for odom devices This includes encoders, rotaion sensors, motor groups, and motors.
struct xVecLib::moveToParams	struct containing the moveTo params
struct xVecLib::pidSettings

Members

enum cAxis

Values	Descriptions
x
y

An enum that contains the 2 possible axis, X and Y.

public double calcInchesPerTick(double current,double size,double ratio)

Calculates the inches per one tick of the Motor.

Ticks represent what you are tracking (degrees)

Parameters

• current

Returns

double

public double getTilePos(double pos)

Converts pos from inches to tiles.

Parameters

• pos

Returns

pos in tiles

public double getPosTile(double tile)

Converts tile from tiles to inches.

Parameters

• tile

Returns

double

public double checkSign(double num)

Returns 0 if num is equal to 0, 1 if it's greater, -1 if it's less.

Parameters

• num

Returns

double

public double convertRadians(double num)

Converts num from degrees to radians.

Parameters

• num

Returns

The value in radians of num

public double convertDegrees(double num)

Converts num from radians to degrees.

Parameters

• num

Returns

The value in degrees of num

public double slew(double target,double current,double maxChange)

Slew rate limiter.

Parameters

• target target value

• current current value

• maxChange maximum change. No maximum if set to 0

Returns

double - the limited value

public constexpr double radToDeg(double rad)

Convert radians to degrees.

Parameters

• rad radians

Returns

double degrees

public constexpr double degToRad(double deg)

Convert degrees to radians.

Parameters

• deg degrees

Returns

double radians

public double angleError(double angle1,double angle2,bool radians)

Calculate the error between 2 angles. Useful when calculating the error between 2 headings.

Parameters

• angle1

• angle2

• radians true if angle is in radians, false if not. False by default

Returns

double wrapped angle

public template<>
constexpr T sgn(T value)

Return the sign of a number.

Parameters

• x the number to get the sign of

Returns

int - -1 if negative, 1 if positive

public double avg(std::vector< double > values)

Return the average of a vector of numbers.

Parameters

• values

Returns

double

public double ema(double current,double previous,double smooth)

Exponential moving average.

Parameters

• current current measurement

• previous previous output

• smooth smoothing factor (0-1). 1 means no smoothing, 0 means no change

Returns

double - the smoothed output

public double getCurvature(Point first,Point other)

Get the signed curvature of a circle that intersects the first Point and the second Point.

The circle will be tangent to the theta value of the first Point

The curvature is signed. Positive curvature means the circle is going clockwise, negative means counter-clockwise

Theta has to be in radians and in standard form. That means 0 is right and increases counter-clockwise

Parameters

• [Point](#classx_vec_lib_1_1_point) the first Point

• other the second Point

Returns

double curvature

The circle will be tangent to the theta value of the first Point

The curvature is signed. Positive curvature means the circle is going clockwise, negative means counter-clockwise

Theta has to be in radians and in standard form. That means 0 is right and increases counter-clockwise

Parameters

• first the first Point

• other the second Point

Returns

double curvature

public template<>
constexpr const T & clamp(const T & v,const T & lo,const T & hi)

public double average(std::vector< double > const & v)

public bool whatAxis(cAxis ax)

class xVecLib::control

The control class is used to control individual motors with powerful methods.

This class provides methods for controlling the robot's movement, including the PID control loop and moveTo.

Parameters

• rightMotors The motors on the right side of the robot.

• leftMotors The motors on the left side of the robot.

• imu The Inertial Measurement Unit (IMU) that provides information about the robot's orientation.

• lateralSettings The PID values for controlling the robot's movement laterally.

• angularSetting The PID values for controlling the robot's movement in a circular motion.

Summary

Members	Descriptions
public control(pros::MotorGroup * _rightMotors,pros::MotorGroup * _leftMotors,pros::Imu * _imu,pidSettings linearSetting,pidSettings angularSetting,double wheelDiameter,double gearRatio)	Constructor for the control class.

Members

public control(pros::MotorGroup * _rightMotors,pros::MotorGroup * _leftMotors,pros::Imu * _imu,pidSettings linearSetting,pidSettings angularSetting,double wheelDiameter,double gearRatio)

Constructor for the control class.

Parameters

• _rightMotors The motors on the right side of the robot

• _leftMotors The motors on the left side of the robot

• _imu The Inertial Measurement Unit (IMU) that provides information about the robot's orientation

• linearSetting The PID values for controlling the robot's movement laterally

• angularSetting The PID values for controlling the robot's movement in a circular motion

• sensors The sensors that the robot uses for odometry

class xVecLib::drawing

Summary

Members	Descriptions
public inline drawing()
public void drawTile(double x,double y)	Draws a tile on the brain. Used in the xVecLib::drawing::drawField();.
public void drawField(void)	Draws a field on the robot's brain.
public void xVecLibScreen(void)	A screen that uses xVecLib to display internal data.

Members

public inline drawing()

public void drawTile(double x,double y)

Draws a tile on the brain. Used in the xVecLib::drawing::drawField();.

Parameters

• x The x value of the tile. Ranges from 1-6

• y The y value of the tile. Ranges from 1-6

public void drawField(void)

Draws a field on the robot's brain.

This function draws a field on the robot's brain using the data from xVecLib::drawing::xfieldvalue and yfieldvalue

public void xVecLibScreen(void)

A screen that uses xVecLib to display internal data.

This function displays a screen that uses xVecLib to display internal data about the robot.

class xVecLib::Point

A point. Used in all path tracking methods.

Summary

Members	Descriptions
public double x	x value
public double y	y value
public double theta	theta value
public inline Point(double X,double Y,double theta)	Create a new Point.
public inline double getX()
public inline double getY()
public inline double getAngle()
public inline void setX(double Num)
public inline void setY(double Num)
public inline void setAngle(double Ang)
public inline double getCurve()
public inline double getVelocity()
public inline void setCurve(double curve)
public inline void setVelocity(double vel)
public inline void ExportPoint()
public Point operator+(const Point & other)	Add a Point to this Point.
public Point operator-(const Point & other)	Subtract a Point from this Point.
public double operator*(const Point & other)	Multiply a Point by this Point.
public Point operator*(const double & other)	Multiply a Point by a double.
public Point operator/(const double & other)	Divide a Point by a double.
public Point lerp(Point other,double t)	Linearly interpolate between two Points.
public double distance(Point other) const	Get the distance between two Points.
public double angle(Point other) const	Get the angle between two Points.
public Point rotate(double angle)	Rotate a Point by an angle.

Members

public double x

x value

public double y

y value

public double theta

theta value

public inline Point(double X,double Y,double theta)

Create a new Point.

Parameters

• X component

• Y component

• theta heading. Defaults to 0

public inline double getX()

public inline double getY()

public inline double getAngle()

public inline void setX(double Num)

public inline void setY(double Num)

public inline void setAngle(double Ang)

public inline double getCurve()

public inline double getVelocity()

public inline void setCurve(double curve)

public inline void setVelocity(double vel)

public inline void ExportPoint()

public Point operator+(const Point & other)

Add a Point to this Point.

Parameters

• other other Point

Returns

Point

public Point operator-(const Point & other)

Subtract a Point from this Point.

Parameters

• other other Point

Returns

Point

public double operator*(const Point & other)

Multiply a Point by this Point.

Parameters

• other other Point

Returns

Point

public Point operator*(const double & other)

Multiply a Point by a double.

Parameters

• other double

Returns

Point

public Point operator/(const double & other)

Divide a Point by a double.

Parameters

• other double

Returns

Point

public Point lerp(Point other,double t)

Linearly interpolate between two Points.

Parameters

• other the other Point

• t t value

Returns

Point

public double distance(Point other) const

Get the distance between two Points.

Parameters

• other the other Point

Returns

double

public double angle(Point other) const

Get the angle between two Points.

Parameters

• other the other Point

Returns

double in radians

public Point rotate(double angle)

Rotate a Point by an angle.

Parameters

• angle angle in radians

Returns

Point

class xVecLib::robot

class xVecLib::robot
  : public xVecLib::control

A class to allow basic control of the robot using the pid class.

This class provides methods for controlling the robot's movement, scoring mechanism, and more.

Summary

Members	Descriptions
public double gearRatio	The gear ratio of the robot's drive.
public double wheelDiameter	The diameter of the robot's wheels.
public Point odomPose	The pose of the robot.
public Point odomSpeed	The speed of the robot.
public Point odomLocalSpeed	The local speed of the robot.
public robot(pros::MotorGroup * _rightMotors,pros::MotorGroup * _leftMotors,pros::Imu * _imu,pidSettings linearSetting,pidSettings angularSetting,double wheelDiameter,double gearRatio)	Constructor for the robot class.
public void driveForwardTiles(double tiles)	Drives the Robot forward tiles.
public void driveForwardInches(double inches)	#### Parameters
public void driveReverseTiles(double tiles)	Drive the robot in reverse for a given number of tiles.
public void driveReverseInches(double inches)	Drive the robot in reverse for a given number of inches.
public void turnRight(double degree)	Turn the robot to the right by the specified degrees.
public void turnLeft(double degree)	Turn the robot to the left by the specified degrees.
public void moveToTile(double tileX,double tileY)	Runs the moveTo method, but converts tileX and tileY to the amount of inches they would represent.
public void addTilePoint(Point tile)	Adds a point in the form of a point object to the moveToPath.
public void addTilePoint(double tileX,double tileY)	Adds a point in standard (x,y) to moveToPath.
public void addFieldPoint(double tileX,double tileY)	Adds a point in the (y, x) form to moveToPath.
public void setDrivePID(pidValue pidVal)	Set the Drive PID object.
public pidValue getDrivePID()	Get the Drive PID object.
public void setTurnPID(pidValue pidVal)	Set the Turn PID object.
public pidValue getTurnPID()	Get the Turn PID object.
public void setHelperPID(pidValue pidVal)	Set the Helper PID object.
public pidValue getHelperPID()	Get the Helper PID object.
public void setSwingPID(pidValue pidVal)	Set the Swing PID object.
public pidValue getSwingPID()	Get the Swing PID object.
public void drivePID(double target,double limit)	Drive to a position using PID.
public void drivePID(double target,bool fixAngle)	Begins the drive PID control loop and fixes the angle to whay it was before the robot moved.
public Point getPose(bool radians,bool standardPos)	Get the current pose of the robot.
public void turnPID(double target)	Begins the turn PID control loop.
public void turnTo(double targetRotation)	Uses PID to turn to a rotation relative to the robot's starting rotation.
public void updateOdom(void)	Uses the pros::IMU sensor and the motors to calculate the change in angle.
public void DriveFront(double DriveTargetX,double DriveTargetY)	Drives forward an amount of x and y in a linear form.
public void DriveBack(double DriveTargetX,double DriveTargetY)	Drives reverse an amount of x and y in a linear form.
public void setOdomAngle(cAxis odomAxis)	Set the Odom Angle object.
public void addOdom(odom * newOdom)	Adds an additional tracking wheel, rotaion sensor, or motor to odometry.
public void helper(double driveX,double driveY)	Runs an advanced PID control loop.
public void moveTo(double x,double y,double timeOut)	A method that drives to x and y.
public void moveTo(double x,double y,double limits,moveToParams params)	A method that drives to x and y but overides the behavior of various variables.
public void moveToBoom(double x,double y,double theta,double lead,double timeOut)	A method that drives to x and y using the boomerang controller.
public void moveToBoom(double * xr,double * yr,double * thetar,double * leadr,double * timeOutr)	A method that drives to x and y using the boomerang controller.
public void addPoint(Point NewPoint)	A method that defines the path for the xVecLib::PID::moveToPath method.
public void moveToPath()	An unfinished method that runs the xVecLib::PID::moveTo method along a predefined path.
public void setMoveTo(double maxDis,double maxPower,double lowThresh)	Sets the variables of the moveTo method.
public void printCoords()	Prints the current x, y, and heading of the robot.
public void clearPath(void)	Clears the path of points used in the moveToPath method.
public void right_swing(float angle,float oppositeSpeed)	Makes the robot swing to the right.
public void left_swing(float angle,float oppositeSpeed)	Makes the robot swing to the left.
public void setPos(double x,double y,double theta)	Sets the robots position.
public void moveCursor(int x,int y)	Moves the cursor.
protected pidValue drivePIDv	The PID values for the drive.
protected pidValue turnPIDv	The PID values for the turn.
protected pidValue helperPIDv	The PID values for the helper.
protected pidValue swingPID	The PID values for the swing.
protected pidSettings lateralSettings	The settings for the lateral PID.
protected pidSettings angularSettings	The settings for the angular PID.
protected drawing drawer	The drawing object for the robot.
protected odom*additionOdom	The sensor object for the robot.
protected double deltaX	The change in X value of the robot.
protected double deltaY	The change in Y value of the robot.
protected pros::MotorGroup * rightMotors	A pointer to the right Motors.
protected pros::MotorGroup * leftMotors	A pointer to the top left Motors.
protected pros::Imu * imu	A pointer to the pros::IMU sensor on the robot.
protected pros::Mutex move	A mutex for the moveTo method.

Members

public double gearRatio

The gear ratio of the robot's drive.

This is used to calculate the robot's speed

public double wheelDiameter

The diameter of the robot's wheels.

This is used to calculate the robot's speed

public Point odomPose

The pose of the robot.

This is updated in the odometry loop

public Point odomSpeed

The speed of the robot.

This is updated in the odometry loop

public Point odomLocalSpeed

The local speed of the robot.

This is updated in the odometry loop

public robot(pros::MotorGroup * _rightMotors,pros::MotorGroup * _leftMotors,pros::Imu * _imu,pidSettings linearSetting,pidSettings angularSetting,double wheelDiameter,double gearRatio)

Constructor for the robot class.

Parameters

• _rightMotors The motors on the right side of the robot

• _leftMotors The motors on the left side of the robot

• _imu The IMU that provides information about the robot's orientation

• linearSetting The linear PID values

• angularSetting The angular PID values

• wheelDiameter The diameter of the robot's wheel

• gearRatio The gear ratio of the robot

public void driveForwardTiles(double tiles)

Drives the Robot forward tiles.

Parameters

• tiles The amount of tiles the robot should go.

public void driveForwardInches(double inches)

Parameters

• inches The amount of inches the robot should go.

This uses the PID::DriveFront method instead of drivePID

public void driveReverseTiles(double tiles)

Drive the robot in reverse for a given number of tiles.

Parameters

• tiles - The number of tiles to drive in reverse.

public void driveReverseInches(double inches)

Drive the robot in reverse for a given number of inches.

Parameters

• inches - The number of inches to drive in reverse.

public void turnRight(double degree)

Turn the robot to the right by the specified degrees.

Parameters

• degree the degrees to turn the robot to the right

public void turnLeft(double degree)

Turn the robot to the left by the specified degrees.

Parameters

• degree the degrees to turn the robot to the left

public void moveToTile(double tileX,double tileY)

Runs the moveTo method, but converts tileX and tileY to the amount of inches they would represent.

Parameters

• tileX The x value of the tile

• tileY The y value of the tile

public void addTilePoint(Point tile)

Adds a point in the form of a point object to the moveToPath.

Parameters

• tile

public void addTilePoint(double tileX,double tileY)

Adds a point in standard (x,y) to moveToPath.

Parameters

• tileX

• tileY

public void addFieldPoint(double tileX,double tileY)

Adds a point in the (y, x) form to moveToPath.

This is used to give an alternate way to placing points.

Parameters

• tileX

• tileY

public void setDrivePID(pidValue pidVal)

Set the Drive PID object.

Sets the Drive PID object with the given values.

Parameters

• pidVal The values to set

public pidValue getDrivePID()

Get the Drive PID object.

Gets the current Drive PID object.

Returns

pidValue

public void setTurnPID(pidValue pidVal)

Set the Turn PID object.

Sets the Turn PID object with the given values.

Parameters

• pidVal

public pidValue getTurnPID()

Get the Turn PID object.

Gets the current Turn PID object.

Returns

pidValue

public void setHelperPID(pidValue pidVal)

Set the Helper PID object.

Sets the Helper PID object with the given values.

Parameters

• pidVal

public pidValue getHelperPID()

Get the Helper PID object.

Gets the current Helper PID object.

Returns

pidValue

public void setSwingPID(pidValue pidVal)

Set the Swing PID object.

Sets the Swing PID object with the given values.

Parameters

• pidVal

public pidValue getSwingPID()

Get the Swing PID object.

Gets the current Swing PID object.

Returns

pidValue

public void drivePID(double target,double limit)

Drive to a position using PID.

Drives the robot to a position using the PID control loop. The PID values set using setSwingPID() are used to control the movement. The target parameter is the position to move to. The limit parameter is the amount of time in milliseconds to allow for the movement. If the limit is set to 0, then the movement will continue until the target is reached.

Parameters

• target The position to move to

• limit The amount of time to allow for the movement in seconds

public void drivePID(double target,bool fixAngle)

Begins the drive PID control loop and fixes the angle to whay it was before the robot moved.

Parameters

• target The target value for the drive PID control loop in inches.

• fixAngle True means the robot will fix the Angle, false will not

public Point getPose(bool radians,bool standardPos)

Get the current pose of the robot.

Gets the current pose of the robot. The pose is returned as a Point object containing the X and Y coordinates of the robot. If radians is true, the angle is returned in radians, otherwise degrees. If standardPos is true, the X and Y coordinates are converted to standard coordinates.

Parameters

• radians True means return the angle in radians, false means degrees

• standardPos True means convert the coordinates to standard coordinates

Returns

Point containing the X and Y coordinates and the angle of the robot

public void turnPID(double target)

Begins the turn PID control loop.

Parameters

• target The target value for the turn PID control loop in degrees.

public void turnTo(double targetRotation)

Uses PID to turn to a rotation relative to the robot's starting rotation.

Parameters

• targetRotation The rotation to turn to

public void updateOdom(void)

Uses the pros::IMU sensor and the motors to calculate the change in angle.

This is one of the most important methods and must be executed for any method that requires drawing

public void DriveFront(double DriveTargetX,double DriveTargetY)

Drives forward an amount of x and y in a linear form.

In otherwords, It drives forward the amount of X, forward the amount of Y

Parameters

• DriveTargetX

• DriveTargetY

public void DriveBack(double DriveTargetX,double DriveTargetY)

Drives reverse an amount of x and y in a linear form.

In otherwords, It drives backward the amount of X, forward the amount of Y

Parameters

• DriveTargetX

• DriveTargetY

public void setOdomAngle(cAxis odomAxis)

Set the Odom Angle object.

Parameters

• odomAxis

public void addOdom(odom * newOdom)

Adds an additional tracking wheel, rotaion sensor, or motor to odometry.

Parameters

• newOdom

public void helper(double driveX,double driveY)

Runs an advanced PID control loop.

Parameters

• driveX

• driveY

public void moveTo(double x,double y,double timeOut)

A method that drives to x and y.

Of all the methods so far created, this is both the most tested and accurate

x and y are in inches

Parameters

• x

• y

• timeOut Defaults to 0

public void moveTo(double x,double y,double limits,moveToParams params)

A method that drives to x and y but overides the behavior of various variables.

Of all the methods so far created, this is both the most tested and accurate

x and y are in inches

Parameters

• x

• y

• limits

• params

public void moveToBoom(double x,double y,double theta,double lead,double timeOut)

A method that drives to x and y using the boomerang controller.

Parameters

• x The x coordinate of the target

• y The y coordinate of the target

• theta The angle of the target

• lead The lead of the boomerang controller

• timeOut The time to wait for the robot to reach the target

public void moveToBoom(double * xr,double * yr,double * thetar,double * leadr,double * timeOutr)

A method that drives to x and y using the boomerang controller.

Parameters

• x A pointer to the x coordinate of the target

• y A pointer to the y coordinate of the target

• theta A pointer to the angle of the target

• lead A pointer to the lead of the boomerang controller

• timeOutr A pointer to the time to wait for the robot to reach the target

public void addPoint(Point NewPoint)

A method that defines the path for the xVecLib::PID::moveToPath method.

Parameters

• [Point](#classx_vec_lib_1_1_point) NewPoint

public void moveToPath()

An unfinished method that runs the xVecLib::PID::moveTo method along a predefined path.

The path is defined by points inserted using the xVecLib::PID::addPoint method

public void setMoveTo(double maxDis,double maxPower,double lowThresh)

Sets the variables of the moveTo method.

Parameters

• maxDis The distance that the robot will start fixing turns

The maxDis variable is poorly coded in general and WILL be redone in a future release

Parameters

• maxPower The maxPower of the robot

• lowThresh The smallest distance that it can stop, defaults to 12

public void printCoords()

Prints the current x, y, and heading of the robot.

public void clearPath(void)

Clears the path of points used in the moveToPath method.

public void right_swing(float angle,float oppositeSpeed)

Makes the robot swing to the right.

Parameters

• angle The angle to swing

• oppositeSpeed The speed of the opposite side of the robot

public void left_swing(float angle,float oppositeSpeed)

Makes the robot swing to the left.

Parameters

• angle The angle to swing

• oppositeSpeed The speed of the opposite side of the robot

public void setPos(double x,double y,double theta)

Sets the robots position.

Parameters

• x

• y

• theta

public void moveCursor(int x,int y)

Moves the cursor.

Parameters

• x

• y

protected pidValue drivePIDv

The PID values for the drive.

These values are set with xVecLib::PID::setDrivePID

protected pidValue turnPIDv

The PID values for the turn.

These values are set with xVecLib::PID::setTurnPID

protected pidValue helperPIDv

The PID values for the helper.

These values are set with xVecLib::PID::setHelperPID

protected pidValue swingPID

The PID values for the swing.

This value is not currently used in the code

protected pidSettings lateralSettings

The settings for the lateral PID.

These values are set with xVecLib::PID::setLateralSettings

protected pidSettings angularSettings

The settings for the angular PID.

These values are set with xVecLib::PID::setAngularSettings

protected drawing drawer

The drawing object for the robot.

This is used to draw lines on the Field object

protected odom*additionOdom

The sensor object for the robot.

This is used to read the sensors on the robot

protected double deltaX

The change in X value of the robot.

This is updated in the odometry loop

protected double deltaY

The change in Y value of the robot.

This is updated in the odometry loop

protected pros::MotorGroup * rightMotors

A pointer to the right Motors.

protected pros::MotorGroup * leftMotors

A pointer to the top left Motors.

protected pros::Imu * imu

A pointer to the pros::IMU sensor on the robot.

This is required for odometry

protected pros::Mutex move

A mutex for the moveTo method.

This is used to prevent multiple threads from running the moveTo method simultaneously

struct xVecLib::odom

A struct for odom devices This includes encoders, rotaion sensors, motor groups, and motors.

Summary

Members	Descriptions
public pros::MotorGroup * motors
public pros::adi::Encoder * encoder
public pros::Rotation * rotation
public pros::Motor * motor
public inline odom(double _gearRatio,double _wheelDiameter,pros::Motor * _motor)
public inline odom(pros::adi::Encoder * encoder,float wheelDiameter,float distance,float gearRatio)
public inline odom()
public inline odom(pros::Rotation * rotation,float wheelDiameter,float distance,float gearRatio)	Create a new tracking wheel.
public inline odom(pros::MotorGroup * motors,float wheelDiameter,float gearRatios)	Create a new tracking wheel.
public inline void reset()
public inline double getDistanceTraveled()
public inline float getOffset()	Get the offset of the tracking wheel from the center of rotation.
public inline int getType()	Get the type of tracking wheel.

Members

public pros::MotorGroup * motors

public pros::adi::Encoder * encoder

public pros::Rotation * rotation

public pros::Motor * motor

public inline odom(double _gearRatio,double _wheelDiameter,pros::Motor * _motor)

public inline odom(pros::adi::Encoder * encoder,float wheelDiameter,float distance,float gearRatio)

public inline odom()

public inline odom(pros::Rotation * rotation,float wheelDiameter,float distance,float gearRatio)

Create a new tracking wheel.

Parameters

• encoder the v5 rotation sensor to use

• wheelDiameter the diameter of the wheel

• distance distance between the tracking wheel and the center of rotation in inches

• gearRatio gear ratio of the tracking wheel, defaults to 1

public inline odom(pros::MotorGroup * motors,float wheelDiameter,float gearRatios)

Create a new tracking wheel.

Parameters

• motors the motor group to use

• wheelDiameter the diameter of the wheel

• gearRatio the gear ratio of the drivetrain, defaults to 1

public inline void reset()

public inline double getDistanceTraveled()

public inline float getOffset()

Get the offset of the tracking wheel from the center of rotation.

Returns

float offset in inches

public inline int getType()

Get the type of tracking wheel.

Returns

int - 1 if motor group, 0 otherwise

struct xVecLib::moveToParams

struct containing the moveTo params

Summary

Members	Descriptions
public bool noSlowApproach	Boolean representing if the robot should slow down as approachig the target, as apposed of a sudden stop.
public bool doEndAngle	Enables the endAngle fix, if enabled the endAngle parameter must also be set.
public bool noInitialFIx	Disables the initial turn fix. This speeds up the method but may not be as accurate.
public bool backwards	Drives and turns reverse from what It would. In otherwords, it goes backwards to the point.
public double maxSpeed	Represents the max speed of the robot.
public double minSpeed	Represents the min speed of the robot.
public double endAngle	Paired with the doEndAngle, represents the endAngle in degrees.
public bool useNewSlowApproach	A boolean representing if the robo-t should use the new slow approach.

Members

public bool noSlowApproach

Boolean representing if the robot should slow down as approachig the target, as apposed of a sudden stop.

public bool doEndAngle

Enables the endAngle fix, if enabled the endAngle parameter must also be set.

public bool noInitialFIx

Disables the initial turn fix. This speeds up the method but may not be as accurate.

public bool backwards

Drives and turns reverse from what It would. In otherwords, it goes backwards to the point.

public double maxSpeed

Represents the max speed of the robot.

public double minSpeed

Represents the min speed of the robot.

public double endAngle

Paired with the doEndAngle, represents the endAngle in degrees.

public bool useNewSlowApproach

A boolean representing if the robo-t should use the new slow approach.

struct xVecLib::pidSettings

Summary

Members	Descriptions
public float kP	Proportional.
public float kI
public float kD
public float windupRange
public float smallError
public float smallErrorTimeout
public float largeError
public float largeErrorTimeout
public float slew
public inline pidSettings(float kP,float kI,float kD,float windupRange,float smallError,float largeError,float slew)	The constants are stored in a struct so that they can be easily passed to the control/robot classes

Members

public float kP

Proportional.

public float kI

public float kD

public float windupRange

public float smallError

public float smallErrorTimeout

public float largeError

public float largeErrorTimeout

public float slew

public inline pidSettings(float kP,float kI,float kD,float windupRange,float smallError,float largeError,float slew)

The constants are stored in a struct so that they can be easily passed to the control/robot classes

Parameters

• kP Proportional

• kI Integral

• kD Derivative

• windupRange the range of the windup, used as max I

• smallError the error at which the robot begins to stop

• largeError the error at which the robot begins to slow

• slew the slew rate of the robot's drive

struct robotAccess::coordinate

A simple struct to represent a coordinate.

This is just a simple struct, and is not part of the library

Summary

Members	Descriptions
public double x	The X coordinate
public double y	The Y coordinate

Members

public double x

The X coordinate

public double y

The Y coordinate

struct pidValue

Struct to hold PID values.

This struct holds PID values for a single PID controller. It also has some other values that are used in the PID loop, such as the output of the previous iteration and the integral of the error.

Summary

Members	Descriptions
public double P	The proportional value.
public double I	The integral value.
public double D	The derivative value.
public float goal	The goal value.
public float timeOut	The time out.
public double windupRange	The maximum integral value.
public bool signFlipReset	Reset integral if sign of error changes.
public double integral	The integral of the error.
public double prevError	The error of the previous iteration.
public double itError	The integral of the error divided by the goal.
public double traveled	The traveled distance.
public inline pidValue()	Constructor.
public inline pidValue(double vgoal,double vtimeOut,double vP,double vI,double vD)	Constructor with all values.
public inline pidValue(double kP,double kI,double kD,double windupRange,bool signFlipReset)	Constructor with windup range and sign flip reset.
public inline double update(const double error)	Update the PID loop.
public inline void reset()	Reset the integral to zero.
public inline bool is_settled()	Check if the PID loop is settled.

Members

public double P

The proportional value.

public double I

The integral value.

public double D

The derivative value.

public float goal

The goal value.

public float timeOut

The time out.

public double windupRange

The maximum integral value.

public bool signFlipReset

Reset integral if sign of error changes.

public double integral

The integral of the error.

public double prevError

The error of the previous iteration.

public double itError

The integral of the error divided by the goal.

public double traveled

The traveled distance.

public inline pidValue()

Constructor.

public inline pidValue(double vgoal,double vtimeOut,double vP,double vI,double vD)

Constructor with all values.

Parameters

• vgoal The goal value

• vtimeOut The time out

• vP The proportional value

• vI The integral value

• vD The derivative value

public inline pidValue(double kP,double kI,double kD,double windupRange,bool signFlipReset)

Constructor with windup range and sign flip reset.

Parameters

• kP The proportional value

• kI The integral value

• kD The derivative value

• windupRange The maximum integral value

• signFlipReset Reset integral if sign of error changes

public inline double update(const double error)

Update the PID loop.

Parameters

• error The error value

Returns

The output of the PID loop

public inline void reset()

Reset the integral to zero.

public inline bool is_settled()

Check if the PID loop is settled.

Returns

True if the loop is settled

struct robotAccess

The robotAccess struct allows PID and other code in xVecLib to gain access to the robot variables.

Summary

Members	Descriptions
public double robotX	Represents the current robot X
public double robotY	Represents the current robot Y
public double robotAngle	Represents the current robot Angle in degrees
public double Theta	Represents the current robot Angle in radians
public roboColor robotColor	Represents the Robot Color. Only used in the drawing class and will be combined with the robot class
public xVecLib::cAxis robotAxis	Represents the starting axis of the robot. Only set it to Y as X isn't finished yet. See xVecLib::PID::setOdomAngle
public inline robotAccess()	Constructor that sets the position to 0,0.
public inline robotAccess(double posX,double posY)	Constructor that sets the position to the given coordinates.
public inline robotAccess(coordinate coord)	Constructor that sets the position to the given coordinates.
public inline void set(double posX,double posY)	Sets the position to the given coordinates.
public inline void set(coordinate coord)	Sets the position to the given coordinates.
public inline coordinate get()	Gets the position as a coordinate.
public inline xVecLib::Point getPoint()

Members

public double robotX

Represents the current robot X

public double robotY

Represents the current robot Y

public double robotAngle

Represents the current robot Angle in degrees

public double Theta

Represents the current robot Angle in radians

public roboColor robotColor

Represents the Robot Color. Only used in the drawing class and will be combined with the robot class

public xVecLib::cAxis robotAxis

Represents the starting axis of the robot. Only set it to Y as X isn't finished yet. See xVecLib::PID::setOdomAngle

public inline robotAccess()

Constructor that sets the position to 0,0.

public inline robotAccess(double posX,double posY)

Constructor that sets the position to the given coordinates.

Parameters

• posX The X coordinate

• posY The Y coordinate

public inline robotAccess(coordinate coord)

Constructor that sets the position to the given coordinates.

Parameters

• coord The coordinate

public inline void set(double posX,double posY)

Sets the position to the given coordinates.

Parameters

• posX The X coordinate

• posY The Y coordinate

public inline void set(coordinate coord)

Sets the position to the given coordinates.

Parameters

• coord The coordinate

public inline coordinate get()

Gets the position as a coordinate.

Returns

The coordinate

public inline xVecLib::Point getPoint()

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