Robot drivetrain configurations.

This crate provides types for describing and modeling different mobile robot drivetrain configurations. A drivetrain in evian is the combination of hardware components (e.g. motors, wheels, and sensors) that enables a robot to both move and track its motion. This importantly means that drivetrains are a collection of both motors and sensors.

At the heart of this crate is the [Drivetrain] struct, which bundles together some motors and a tracking system — a system that measures something about the drivetrain as it moves around. The [Drivetrain] type could represent many different types of robot drivetrains depending on how the motor and tracking logic is implemented.

Supported Configurations

At the moment, this crate currently provides built-in support for differential drivetrains, however the [Drivetrain] struct could in theory be configured to accept any arrangement of motors with your own custom type if you require something else.