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VectorLib

Before your first match

What to check on the real robot that the simulator can't.

Everything in these docs is proven on the simulator and against the original C++. The simulator can't check your wiring and mounting, so check these on the real robot first:

  • Each rotation sensor counts up when its wheel rolls forward; flip Direction if not.
  • The IMU heading increases when the robot turns clockwise.
  • IMU calibration finishes before autonomous starts.
  • The robot holds still with BrakeMode::Hold after a swing.
  • DSR returns true at your starting tile and the pose matches a tape measure.
  • Don't rely on calculate_odom_offsets yet (see TitanTron additions).

Found something that moves differently from your PROS program? Open an issue with both programs' constants.

How parity is proven

The original C++ and VectorLib run on the same simulated robot, compared bit for bit.