HoloLib — Holonomic X-Drive control for VEX V5

What it is

Five systems.
One precise X-Drive.

HoloLib runs on top of PROS and uses Eigen for the math. It handles the hard parts of driving an X-Drive well: knowing where the robot is, getting it where you want it, and keeping it from running into things.

3

sensors fused by the EKF

5

systems working together

360°

field-centric motion

1

practice run → an auton

The library

Built for competition.

How the Pose EKF fuses sensors each cycle

01

Pose EKF Odometry

Knowing where the robot is, even when wheels slip. An Extended Kalman Filter blends the IMU gyro, tracking wheels and motor encoders, weighting each by how reliable it is.

Attractive and repulsive forces steering around an obstacle

02

Obstacle Avoidance

Getting around things in the way — either planned recursive waypoints that reroute before you move, or reactive Artificial Potential Fields that steer in real time.

Different PID gains take over as the robot nears the target

03

Gain Scheduling

One PID tune can't do everything. Define several gain sets tied to ranges of error: aggressive far out, gentle as it settles — a single move that never overshoots.

Field-centric driving keeps forward pointed the same way

04

Holonomic Motion

Drive and follow paths in any direction. Field-centric control means "forward" always points the same way on the field, no matter which way the robot faces.

05

Driver Replay

A good practice run is itself an autonomous routine — you just have to capture it. HoloLib logs position and velocity while you drive, then reconstructs the movement in auton.

record → replay

Quick start

Autonomous that reads like instructions.

Create a Chassis with your motors, IMU and dimensions — then moves are one line each.

chassis.setPose(0.0, 0.0, 0.0);
chassis.moveToPose(24.0, 24.0, 90.0);
chassis.turnToPoint(0.0, 0.0);
chassis.curveCircle(180.0, 10.0);

Ready to drive straight.

Full API reference, tuning guides and the visual auton simulator.

Open the documentation → Star on GitHub

Five systems.One precise X-Drive.