Utilities

double dlib::linear_error(double target, double reading)

Calculate linear error.

Parameters:

• target – setpoint; where you want to end up

• reading – current displacement of your robot

Returns:

error

double dlib::sanitize_angle(double angle)

Make a clean angle that is more accurate.

Parameters:

angle – unsanitized angle

Returns:

sanitized angle

double dlib::angular_error(double target, double reading)

Calculate angular error.

Parameters:

• target – target heading

• reading – current heading of your robot

Returns:

error

double dlib::relative_target(double start, double target)

Set a relative target.

Parameters:

• start – start displacement of your robot

• target – target displacement of your robot

Returns:

error

double dlib::gearset_rpm(pros::MotorGearset gearset)

Get the RPM of the robot.

Parameters:

gearset – the gearset of the robot

Returns:

RPM