While the structures provided by OkapiLib may be useful for autonomous programming, you don’t need OkapiLib to do this. FWIW we implemented the tracking system before V5 or OkapiLib existed. If your goal is to learn how the tracking system works and implement it, I’d recommend going over our document and code release, and attempting to implement the same math in PROS on V5. If you’re having any trouble understanding the math or code, I’d be happy to help clarify (I’m aware that the document has plenty of room for improvement and the code has plenty of room for more comments).