ize69/4303-vex-odometry

A small library which provides autonomous timeouts and experimental odometry utilizing Vectors.

Vex Odometry -- VODOM

REQUIREMENTS:

• Windows 10 PC (MacOS is untested but should work)
• VEXcode Pro V5 v2.0.0+

INSTALLATION:

Use the files included in "Release" which includes ALL the files you will need, NOTHING else!

1. Add include files here: [VEX Robotics directory]\VEXcode Pro V5\sdk\vexv5\include
2. Add "libvodom.a" file here: [VEX Robotics directory]\VEXcode Pro V5\sdk\vexv5\gcc\libs

After you create a project, you will need to copy the "vex" folder to your project to compile correctly.

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Alternatively, if you'd like to edit the files yourself, edit the "mkenv.mk" file and copy-paste this line where it says LIBS like so:

Original:

• LIBS = --start-group -lv5rt -lstdc++ -lc -lm -lgcc --end-group

Replaced:

• LIBS = --start-group -lv5rt -lstdc++ -lc -lm -lgcc -lvodom --end-group

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USAGE:

The three header files are to be included as needed like so:

1. #include "robot.h"
2. #include "vmath.h"
3. #include "vmap.h"

The "vmap.h" requires "robot.h" and "vmath.h" to function properly.

DOCS:

• robot.h - A subclass of vex::smartdrive which includes a timeout parameter that will stop when either the robot is done or the time has been reached, "preventing" stuck robots in auton. It includes all the functionality of vex::smartdrive and by inheritance, vex::drivetrain.

• vmath.h - A math namespace "vmath" that contains a Vector2D class for "physics" applications, including scalar and dot products. There is no plan as of now to create a Vector3D class.

• vmap.h - A math namespace "vmap" that contains a Map class to provide a virtual map for the VEX playing field, and an interface to control the robot.

LICENSE:

See "LICENSE.txt"