An advanced motion control library for VEX robots
GPL-3.0 License
lib7842 is a collection of powerful utilities and motion algorithms for VEX V5 robots. Designed to be used with the PROS framework, it builds on top of the OkapiLib library.
lib7842 was in development during my time on the 7842F/B robotics team between 2018-2021.
This is released as-is, with little documentation (other than the source code) and no support. It is made public to add to my portfolio and to help inspire other teams on what is possible. It is not recommended trying to directly use, as there is no support but also no learning benefit from copy/pasting the code.
All source code is located in /include/lib7842/
and /src/lib7842/
.
Some parts of the library, especially the odometry and trajectory generation, are documented in my journal.
Example usage of the library, and what is possible using an autonomous routine, is available in my change up competition code.
Demonstration of open-loop trajectory generator:
api/trajectory/profile
)trajectory/skidGenerator
),trajectory/xGenerator
),api/async
Async/Trigger
)TaskWrapper
api/gui
GUI
)
api/vision
Container/Vision
| Writeup)CustomOdometry
)OdomController
OdomXController
api/positioning/spline
)
api/purePursuit
PathFollower
)PathFollowerX
)doctest
debug
deployments on the V5