antaeus 0.3.9

A Versatile Framework for Vexide
Documentation 
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//! A module for controlling the robot's drivetrain with feedback control.
//!
//! This module provides traits and implementations for controlling the robot's
//! drivetrain using feedback control, such as PID controllers.
use std::time::Duration;

use vexide::{math::Angle, prelude::InertialSensor};

use crate::utils::units::Length;

pub mod pid;

#[cfg(feature = "legacy")]
pub mod legacy_pid;

/// A trait for controlling the robot's drivetrain with feedback control.
pub trait DriveControl {
    /// Commands the robot to travel a certain distance in a straight line
    fn travel(&mut self, target: Length, timeout: Duration) -> impl Future<Output = ()> + '_;
    /// Commands the robot to rotate a certain angle on the same spot
    fn rotate(&mut self, angle: Angle, timeout: Duration) -> impl Future<Output = ()> + '_;
    /// Commands the robot to pivot on one of its sides
    fn pivot(&mut self, angle: Angle, timeout: Duration) -> impl Future<Output = ()> + '_;

    /// Commands the robot to travel a certain distance in a straight line using
    /// an IMU for heading correction
    fn imu_rotate<'a>(
        &'a mut self,
        angle: Angle,
        timeout: Duration,
        imu: &'a InertialSensor,
        angle_tolerance: Angle,
    ) -> impl Future<Output = ()> + 'a;

    /// Commands the robot to rotate a certain angle on the same spot using an
    /// IMU for heading correction
    fn imu_pivot<'a>(
        &'a mut self,
        angle: Angle,
        timeout: Duration,
        imu: &'a InertialSensor,
        angle_tolerance: Angle,
    ) -> impl Future<Output = ()> + 'a;
}