Welcome to LemLib! This open-source PROS template aims to introduce common algorithms like Pure Pursuit and Odometry for new and experienced teams alike.

LemLib only supports differential drivetrains.

The creation of this template was inspired by EZ-Template and OkapiLib. We aim to develop a library that strikes a balance between ease-of-use, akin to that of EZ-Template, and comprehensive functionality, similar to that of OkapiLib.

Want a place to chat with the devs and other users? Join our discord server.

License

This project is licensed under the MIT license. Check LICENSE for more details.

Features

• Generic PID class
• Odometry
• Angular and Lateral motion PIDs
• Pure Pursuit
• Path Generator support
• Path.Jerryio support

Tutorials

The tutorials provide a detailed walkthrough through all the features of LemLib. It covers everything from installation to pure pursuit.

• 1: Getting Started
• 2: Setting up the Chassis
• 3: Tuning and Moving
• 4: Pure Pursuit

Documentation

Check out the Doxygen documentation here

Contributing

Want to contribute? Please read CONTRIBUTING.md

Code of Conduct

See the Code of Conduct on how to behave like an adult.