What is taolib?

taolib is an easy-to-use C++ library for creating accurate autonomous routines on VEX V5 robots. It’s compatible with VEXcode (although PROS support is planned). The library implements PID controllers for motion control, position tracking, and path following using Pure Pursuit.

Setting Things Up

Prerequisites

• Basic knowledge of the filesystem.
• Web browser of your choice (well, you’re here, aren’t you?)
• VEXcode Pro V5 or the VEX Visual Studio Code extension.

Downloading the library

1. Head to the releases page on GitHub
2. Download the latest version of the library as a zip file
3. Extract the contents of the zip file to a directory of your choice

Installing the library

1. Copy the src/taolib directory from the extracted folder to your project’s src folder.
2. Copy the include/taolib directory from the extracted folder to your project’s include folder.
3. That’s it! You should now be able to include the library in your project’s main.cpp file:

   #include "taolib/taolib.h"

Next Steps

• If you’re not sure what to do next, check out the Basic DifferentialDrivetrain Movement tutorial, which covers all the movement methods in taolib.
• If you’ve already done this sort of thing before, you can take a look at the API documentation, which provides some more in-depth and technical information on what’s available to you in the library.
• Want to learn more about how the library works? There are writeups on that too.