Loops Video Explanation:
Range Based For-Loop
// Resets the Odometry's Position and Tracking Wheels.void reset() override{ // Lock the update mutex to stop race conditions std::lock_guard<pros::Mutex> lock(updateMutex); // Reset Current Position and Last Position. currentPose = Pose::zero(); lastPose = Pose::zero(); // Reset Current Velocity (local space and global) currentVelocity = {0, Angle<Radians>::fromRadians(0.0f)}; globalVelocity = Pose{0, 0, 0}; // Update last time lastUpdateTime = pros::micros(); // linearWheels is a vector of AbstractTrackingWheel // Go through each wheel in the vector. Grab an instance (wheel) // and call AbstractTrackingWheel::reset() for (auto& wheel : linearWheels) { wheel->reset(); } for (auto& wheel : lateralWheels) { wheel->reset(); }};Continue, Break, Return:
Example Control Flow:
void update_() override{ // Lock a mutex to stop potential data race std::lock_guard<pros::Mutex> lock(updateMutex); // If you didn't add any wheels or inertial sensors this will not work // Return to avoid code problems! if (linearWheels.size() == 0 || inertialSensors.size() == 0) return; // Calculate average heading from all the IMU Sensors Angle<Radians> heading = 0.0f; // Range Based For-Loop for (auto& sensor : inertialSensors) { // * -sensor->get_heading() to convert from clockwise positive to // counterclockwise positive heading = heading + Angle<Radians>::toRadians(Angle<Degrees>( 360.0f - sensor->get_heading())); } // If the heading is infinite or Not a Number it's probably bad data 
if (std::isinf(heading.getValue()) || std::isnan(heading.getValue())) return; heading = Angle<Radians>( heading.getValue() / static_cast<float>(inertialSensors.size())); // Calculate change in heading Angle<Radians> deltaHeading = heading - lastPose.getAngle<Radians>(); // Average heading during the last 10ms (in radians) float averageHeading = lastPose.getAngle<Radians>().getValue() + (deltaHeading.getValue() / 2.0f); // Calculate the delta time since last update auto currentTime = pros::micros(); float deltaTime = static_cast<float>(currentTime - lastUpdateTime) / 1000000.0f; // in seconds // If the change of in time is zero (or less than zero???) then return to avoid div! by 0. if (deltaTime <= 0.0f) return; // Prevent division by zero or negative time /* Rest Ommited to Shorten Codeblock */Not an AD: Want to add examples of using a while loop? Contribute today! 