antaeus 0.3.8

A Versatile Framework for Vexide
Documentation 
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use antaeus::{
    motion::{
        localization::{self},
        pursuit::control,
        *,
    },
    utils::{geo, units::Length},
};

use crate::hardware::Robot;
pub async fn main_auton(robot: &mut Robot) {
    let mut path = geo::Path::origin();
    path.add(geo::Point::new(Length::from_inches(20.0), Length::from_inches(20.0)));
    path.add(geo::Point::new(Length::from_inches(-20.0), Length::from_inches(20.0)));
    path.add(geo::Point::origin());

    let basic_ctrl = control::basic::BasicControl {
        track_width: Length::from_inches(13.9),
        tolerance:   Length::from_inches(0.5),
    };

    let vertical = localization::tracker::devices::TrackerPod {
        sensor:         localization::tracker::devices::TrackingSensor::RotationSensor(
            robot.v_tracker.clone(),
        ),
        offset:         Length::zero(),
        wheel_diameter: Length::from_inches(3.25),
        driven_gear:    1.0,
        driving_gear:   1.0,
    };

    let horizontal = localization::tracker::devices::TrackerPod {
        sensor:         localization::tracker::devices::TrackingSensor::RotationSensor(
            robot.h_tracker.clone(),
        ),
        offset:         Length::zero(),
        wheel_diameter: Length::from_inches(3.25),
        driven_gear:    1.0,
        driving_gear:   1.0,
    };

    let trackers =
        localization::tracker::devices::TrackerMech::new(vertical, horizontal, robot.imu.clone());

    let mut odomtrack = localization::tracker::Tracker::new(trackers);
    let pursuit = pursuit::Pursuit {
        lookahead: Length::from_inches(10.0),
    };
    let _ = pursuit.follow(&mut odomtrack, &robot.dt, &basic_ctrl, path.clone());
}