/ˈeɪviɒn/

a controls library for vexide

02.

evian is a library for controlling mobile robots using the vexide robotics runtime autonomously. It is designed to be both easy to use and easy to extend.

evian comes with many useful features out-of-the-box, such as wheeled odometry, PID control, and path following, but also makes it easy to adapt your own motion control and localization.

learn more source code

// The drivetrain.
let mut drivetrain = Drivetrain::new(
	Differential::new(left_motors, right_motors),
	WheeledTracking::new(
		(0.0, 0.0),
		90.0.deg(),
		[forward_tracker],
		[sideways_tracker],
		Some(imu),
	),
);

// Pass this reference to motion controllers.
let dt = &mut drivetrain;

// Basic motion controller (driving and turning).
let mut basic = Basic {
	linear_controller: LINEAR_PID,
	angular_controller: ANGULAR_PID,
	linear_tolerances: LINEAR_TOLERANCES,
	angular_tolerances: ANGULAR_TOLERANCES,
	timeout: Some(Duration::from_secs(10)),
};

// Turn to 0 degrees.
basic.turn_to_heading(&mut dt, 0.0.deg()).await;

// Drive forwards at 50% speed.
basic.drive_distance(&mut dt, 24.0)
    .with_linear_output_limit(6.0)
    .await;