Configuration

All configuration happens at the top of src/main.cpp as global objects. This page walks through each piece. The full example lives in src/main.cpp.

1. Motors and sensors

#include "main.h"
#include "odyssey/api.hpp"

// negative port = reversed. Reverse one side so positive = forward on both
pros::MotorGroup leftMotors({-1, -2, -3}, pros::MotorGearset::blue);
pros::MotorGroup rightMotors({4, 5, 6}, pros::MotorGearset::blue);

pros::Imu imu(10);

pros::Rotation verticalEncoder(11);
pros::Rotation horizontalEncoder(12);

2. Tracking wheels

// TrackingWheel(encoder, wheelDiameter, offset, gearRatio = 1)
odyssey::TrackingWheel verticalWheel(&verticalEncoder, odyssey::Omniwheel::NEW_2, -1.25);
odyssey::TrackingWheel horizontalWheel(&horizontalEncoder, odyssey::Omniwheel::NEW_2, -2.5);

• wheelDiameter — inches. Use the odyssey::Omniwheel constants.
• offset — signed distance from the tracking center, inches. Vertical: negative = left. Horizontal: negative = behind. See Hardware Setup.
• gearRatio — wheel revolutions per sensor revolution. 1 when the sensor is on the wheel axle.

3. Drivetrain

odyssey::Drivetrain drivetrain{
    &leftMotors,
    &rightMotors,
    11.5,                        // track width, inches
    odyssey::Omniwheel::NEW_325, // drive wheel diameter, inches
    450,                         // drive rpm after external gearing
    2                            // horizontal drift
};

horizontalDrift controls how hard moveToPose may corner: 2 for an all-omni drive, 8 if you have center traction wheels. Higher = faster through arcs.

4. PID settings

Two controllers: lateral (driving, error in inches) and angular (turning, error in degrees). These starting values work for most robots — you will tune them in Tuning the PIDs.

odyssey::ControllerSettings lateralSettings{
    10,  // kP
    0,   // kI
    3,   // kD
    3,   // anti-windup range, inches
    1,   // small error range, inches
    100, // small error timeout, ms
    3,   // large error range, inches
    500, // large error timeout, ms
    20   // slew: max output change per 10 ms
};

odyssey::ControllerSettings angularSettings{
    2,   // kP
    0,   // kI
    10,  // kD
    3,   // anti-windup range, degrees
    1,   // small error range, degrees
    100, // small error timeout, ms
    3,   // large error range, degrees
    500, // large error timeout, ms
    0    // slew (usually 0 for turns)
};

How exit conditions work

A motion ends when its error stays inside the small range for the small timeout (clean finish), or inside the large range for the large timeout (the "good enough, stop wasting time" exit), or when the motion's overall timeout expires (the safety net).

5. Odometry sensors

Any sensor you don't have is nullptr:

odyssey::OdomSensors sensors{
    &verticalWheel,   // vertical tracking wheel 1
    nullptr,          // vertical tracking wheel 2
    &horizontalWheel, // horizontal tracking wheel 1
    nullptr,          // horizontal tracking wheel 2
    &imu              // inertial sensor
};

No tracking wheels? No problem

OdomSensors sensors{nullptr, nullptr, nullptr, nullptr, &imu}; is valid — calibrate() substitutes the drive motor encoders for the vertical wheels automatically.

6. The chassis

// optional driver-control input shaping
odyssey::ExpoDriveCurve throttleCurve(3, 10, 1.019);
odyssey::ExpoDriveCurve steerCurve(3, 10, 1.019);

odyssey::Chassis chassis(drivetrain, lateralSettings, angularSettings, sensors,
                         &throttleCurve, &steerCurve);

The drive curves are optional — omit the last two arguments for linear control. See Driver Control.

7. Calibrate in initialize()

void initialize() {
    pros::lcd::initialize();
    chassis.calibrate(); // ~3 s: calibrates the IMU, starts odometry

    // optional: live pose readout on the brain screen
    pros::Task screenTask([&]() {
        while (true) {
            odyssey::Pose pose = chassis.getPose();
            pros::lcd::print(0, "X: %.2f in", pose.x);
            pros::lcd::print(1, "Y: %.2f in", pose.y);
            pros::lcd::print(2, "Heading: %.2f deg", pose.theta);
            pros::delay(50);
        }
    });
}

Warning

Do not move the robot while calibrate() is running — the IMU is measuring its gyro bias. Place the robot on the field, then turn it on.