LemLib
- Software
- Navigation and mapping
- Library
LemLib is an open-source PROS template for VEX V5 robots that provides odometry, path following, and motion algorithms for tank-drive robots.
Made by LemLib.
Source on GitHub: github.com/LemLib/LemLib (opens in a new tab). Facts read at commit 9c112b9 (opens in a new tab).
Licenses
- Code
- MIT (opens in a new tab)
Read by Robotheca from LICENSE (opens in a new tab) (MIT) at commit 9c112b9 (opens in a new tab), on 16 Oct 2026.
- Commercial use
- Yes
What it does
- Provides odometry that can use an inertial sensor and tracking wheels, or work without tracking wheels.
- Offers motion commands such as turning to face a point or heading, swinging, and moving to a pose via boomerang.
- Includes path following using pure pursuit and motion chaining.
- Gives driver control options including arcade, tank, and curvature control, with expo curves and deadzone compensation.
- Includes a generic PID class.
- Only tank or differential drivetrains are supported.
Written by Robotheca from the project's README (opens in a new tab) at commit 9c112b9.
Getting started
- Difficulty
- Intermediate
- Hardware it needs, as the project states it
- VEX V5 robot running PROS; a tank/differential drivetrain and an inertial sensor are recommended, and tracking wheels are optional.
- How to start
- The project's website (opens in a new tab)
Maintenance
- Status
- Maintained: a commit in the last 12 months
- Newest commit
- 19 May 2026 on master
- Latest release
- v0.5.6 - Hardware Float ABI (18 Jun 2025)
Checked on GitHub on 16 Oct 2026.
Links
Robots that can run it
No robot on Robotheca is linked to it yet. Links come from a robot's robot.yaml, from its dependency files read as text, or from Robotheca's editors.
Robotheca lists software as a reference: nothing is hosted or run here, and every fact links to where it was read.