feat: 🛞 tracking wheel robot localisation #18
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This reverts commit d0aa966.
LycoKodo
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LycoKodo
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Notes
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outsidermm
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outsidermm
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need think controller component structure with superclass controller
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| [dependencies] | ||
| vexide = "0.7.0" | ||
| vexide = { version = "0.7.0" } |
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can version control be less explicit. idk if you can do it in rust where u specify only the big version numbers
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not sure i fully understand your comment, cargo.toml is read by rust compiler to include proper libraries
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| use vexide::devices::math::Point2; | |||
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change file name for relevance
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generally how you structure a library for robots is weird. Shouldnt there be a controller module and a componenet module and the logics are seperate
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| use vexide::{devices::adi::motor, prelude::*}; | ||
| use alloc::{sync::Arc, vec::Vec}; | ||
| use alloc::vec; |
src/main.rs
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| let display = Arc::new(Mutex::new(peripherals.display)); | ||
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| vexide::task::spawn(async move { | ||
| vexide::time::sleep(Duration::from_millis(10)).await; |
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what is the purpose of adding a async sleep.then ending the task
| } | ||
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| /// Returns the offset of the tracking wheel. | ||
| pub fn get_offset(&self) -> f64 { |
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where are ur other getters and setters
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| fn brake(&mut self, mode: BrakeMode) { | ||
| for motor in self.motors.iter_mut() { | ||
| let _ = motor.brake(mode); |
Summary:
Implementing a classic tracking wheel robot localisation algorithm first developed by 5225A Pilons. (Specific algorithm here: https://www.vexforum.com/t/team-5225-introduction-to-position-tracking-document/49640)
And also a relevant telemetry system for debugging purposes.
Motivation:
Robot localisation is a key part of a good VEX auton, and critical for any feedback-loop based self correcting algorithm involved in a good auton.
Test Plan: