Sample Code

Some example projects using sylib for various basic tasks.

Controlling a Smart Motor

void initialize() {
    // Initialize sylib background processes
    sylib::initialize();
}
 
void opcontrol() {
    
    // A collection of settings for a speed controller
    //
    // These values need to be tuned by each user, the sample constants
    // provided will not be useful.
    sylib::SpeedControllerInfo motor_speed_controller (
        [](double rpm){return 5;}, // kV function
        1, // kP
        1, // kI
        1, // kD
        1, // kH
        false, // anti-windup enabled
        0, // anti-windup range
        false, // p controller bounds threshold enabled
        0, // p controller bounds cutoff enabled
        1, // kP2 for when over threshold
        0 // range to target to apply max voltage
    );
 
    // Create a motor object on port 17, with a green cart, set as reversed, and with
    // motor_speed_controller as a custom velocity controller
    auto motor = sylib::Motor(17,200, true, motor_speed_controller);
 
    sylib::delay(1000); // 1 second delay
 
    // Set the motor to spin at 150 RPM for 5 second using the motor's 
    // built-in speed controller. This is analogous to move_velocity in PROS,
    // and setVelocity in VEXcode 
    motor.set_velocity(150); 
    sylib::delay(5000);
    motor.stop();
 
    // Set the motor to spin at 150 RPM for 5 second using the 
    // speed controller built by the user and supplied in the construction
    // of the motor object.
    motor.set_velocity_custom_controller(150); 
    sylib::delay(5000);
    motor.stop();
 
    // Set the motor to maximum voltage for 5 seconds
    motor.set_voltage(12000); 
    sylib::delay(5000);
    motor.stop();
    
    // Store the time at the start of the loop
    uint32_t clock = sylib::millis();
    while (true){
        sylib::delay_until(&clock,10);
    }
}

Outputting Motor Telemetry to the PROS Terminal

void initialize() {
    // Initialize sylib background processes
    sylib::initialize();
}
 
void opcontrol() {
    
    // Create a motor object
    auto motor = sylib::Motor(4,600);
 
    // Use the motor's internal velocity controller to set a speed target
    motor.set_velocity(550);
    
    // Store the time at the start of the loop
    std::uint32_t clock = sylib::millis();
    while (true) {
 
        // Print values in CSV format to the terminal
        // Requires a tethered connnection to the brain
        printf("%d,%f,%f,%f,%d\n", sylib::millis(), motor.get_velocity(), motor.get_velocity_error(), motor.get_acceleration(), motor.get_efficiency());
 
        // 10ms delay to allow other tasks to run
        sylib::delay_until(&clock, 10);
    }
}

This output can be piped into a CSV file using the method of your choosing. With a small amount of python code, it is trivial to generate graphs from this output

Creating a Rainbow Pattern on LED Lights

void initialize() {
    // Initialize sylib background processes
    sylib::initialize();
}
 
void opcontrol() {
    
    // Create an addrled object
    auto addrled = sylib::Addrled(1,1,64);
 
    // Set the LED strip to a gradient in HSV color space
    // that displays a full range of hues
    addrled.gradient(0xFF0000, 0xFF0005, 0, 0, false, true);
 
    // Cycle the colors at speed 10
    addrled.cycle(*addrled, 10);
    
    // Store the time at the start of the loop
    std::uint32_t clock = sylib::millis();
    while (true) {
        
        // 10ms delay to allow other tasks to run
        sylib::delay_until(&clock, 10);
    }
}