What is lib7842?

lib7842 is a PROS library for advanced controls which is built around OkapiLib. It is designed to be a good example for advanced programming and a useful tool for competition.

I have been working of lib7842 since summer 2019, and plan on releasing it to the VEX community by summer 2020. I will use it for competition through the season, which will not only provide testing and experience, but also provide a direction and motivation for the library.

I have shared the library with some teams in the US who are part of TVA for testing and collaboration purposes.

What will lib7842 provide?

The core of lib7842 will be:

• Fluent path generation API
• Pure Pursuit path follower
• Pure Pursuit X-Drive path follower
• Odometry-based PID motion controller
• Odometry-based PID X-Drive controller
• Flexible GUI library
• Vision sensor management and filtering

There are other utilities and functionality in lib7842, but these are the main elements of it.

Programming Practices:

lib7842 is a full library that will be used by many VEX competitors. To deliver the best product possible, I am learning how to follow the best C++ coding standards and practices for lib7842.

• Git
  • Make a commit for every change made
  • Use imperative tense for commit messages
  • Use git flow for source and feature management
• Formatting
  • Format all code using clang-format
• CI and Tests
  • Tests need to be made for each public API
  • Each commit is compiled and tested by Azure Pipelines
  • CI Results
    • V5 binary and template
    • Test results
    • Valgrind memory leak detector results
    • Callgrind profiler results
    • CppCheck static analysis
    • Codacity static analysis
    • Codefactor static analysis

Commit Messages

Here is an example of lib7842 commit messages, which are intended to be as informative as possible: