Crate antaeus 

Antaeus

Antaeus is a versatile robotics framework built on top of Vexide. It provides a comprehensive set of tools for VEX V5 robot programming, including:

• Drivetrain Control: Support for differential drivetrains with tank, arcade, and reverse control schemes.
• Motion Control: PID-based movement systems, localization, and path following using the Candidate-Based Pursuit algorithm.
• Display Graphics: An embedded-graphics compatible driver for the V5 Brain display, with TUI rendering support
• Operator Control: Utilities for mapping controller buttons to motors and ADI devices.
• Logging: A file-based logger for debugging and telemetry.

Structure

• peripherals: Peripheral Access and Enhancements
• motion: Autonomous motion algorithms including PID, localization, and pursuit.
• graphics: V5 Brain display graphics using embedded-graphics and ratatui.
• logger: File-based logging.
• utils: Error-handling, units, geometry, etc.

Example

// Most minimalist Antaeus usage example
use antaeus::{
    peripherals::drivetrain::{Drivable, differential::StandardDifferential},
    prelude::{Length, differential::DifferentialConfig},
};
use vexide::prelude::*;

#[vexide::main]
async fn main(peripherals: Peripherals) {
    let mut drivetrain = StandardDifferential::new(
        [
            Motor::new(peripherals.port_1, Gearset::Green, Direction::Forward),
            Motor::new(peripherals.port_2, Gearset::Green, Direction::Forward),
        ],
        [
            Motor::new(peripherals.port_3, Gearset::Green, Direction::Reverse),
            Motor::new(peripherals.port_4, Gearset::Green, Direction::Reverse),
        ],
        DifferentialConfig::new(
            Length::from_inches(12.0),
            Length::from_inches(3.25),
            1.0, // Direct Drive
            1.0,
        ),
    );

    let controller = peripherals.primary_controller;
    loop {
        let _ = drivetrain.tank(&controller);
    }
}

Modules

graphics

Graphics and Display Related Modules

logger

File-based logger implementation for the V5 Brain.

motion

Autonomous motion control algorithms.

peripherals

Peripheral Control

prelude

Prelude for Wildcard Imports

utils

Utility functions and types.

Functions

make_cloneable

Makes an object cloneable by wrapping it in Rc and RefCell

to_mutex

Turns an object into a mutex (only use for actual threads, not async)