Lightning 
Lightning is an easy and powerful PROS template that users can use to program more advanced autonomous routines using PID controllers, multitasking, drive train functions, odometry, motion profiles, pure pursuit, etc.
The template was initially created for ITESM Teams and was inspired by other incredible templates such as:
With this project, I had the opportunity to learn different topics related to programming and software development.
This project could not exist without the support of the VEX community. I hope this library can help many programmers around! 
Features
- TankDrive support.
- Odometry class
- Generic PID class.
- Generic FeedForward class.
- Pure pursuit.
- Path planning and Motion profile.
- Multitasking.
- Different Math functions.
Python utilities 
Lightning has different python utilities to maximize the user experience.
- LightningPlanner: Plan your autonomous routes without the necessity of physical measurements.
More information about Python utilities can be found here.
Lightning Demostration
In the following YouTube videos, you can appreciate the results of using Lightning in both testing and competition scenarios.
- Pure Pursuit testing
- Trapezoidal Profile
- ITESM1 OVER UNDER Worlds Autonomous Routine
- ITESM1 OVER UNDER Worlds Q-F autonomous
- ITESM1 OVER UNDER Worlds QUAL autonomous
Installation
How to install Lightning can be found here.
Upgrading
How to upgrade Lightning can be found here.
Tutorials
Lightning tutorials can be found here.
Documentation
The Lightning Documentation can be found here.
Future work
We working to introduce more features to lightning! and also creating the documentation page where you could see all the documentation that you need to use lightning.
Do you found a bug 
or a problem?
Feel free to ask questions or report issues by posting below in this thread
License
This Source Code Form is subject to the terms of the Mozilla Public License, v. 2.0. If a copy of the MPL was not distributed with this file, you can obtain one at Mozilla Public License, version 2.0.