Crate kernelvex 

kernelvex

A VEX robotics control library for the Vexide platform.

kernelvex provides high-level abstractions for building autonomous and driver-controlled robot programs. It includes odometry, motion control, trajectory following, and drivetrain management.

Features

• Odometry: Track robot position using TrackingRig with wheel encoders and IMU
• Drivetrains: DifferentialDrive with tank, arcade, and curvature control
• Motion Profiles: TrapezoidalConstraints for smooth acceleration
• Trajectory Following: PurePursuit and RamseteController for path tracking
• PID Control: Pid and AngularPid for closed-loop control
• Feedforward: FeedForward and ArmFeedForward for model-based control
• Type-Safe Units: QLength, QAngle, QTime prevent unit errors

Quick Start

use kernelvex::*;

// Create a differential drivetrain
let left_motors = MotorGroup::new(vec![left1, left2]);
let right_motors = MotorGroup::new(vec![right1, right2]);
let drivetrain = DifferentialDrive::new(left_motors, right_motors, track_width);

// Set up odometry
let rig = TrackingRig::new(
    Pose::default(),
    [horizontal_wheel],
    [left_wheel, right_wheel],
    Some(imu),
);

// Create an odometry chassis for autonomous
let chassis = OdomChassis::new(drivetrain, rig, linear_pid, angular_pid);

// Drive to a point
chassis.shoot(target_pose, constraints).await?;

Module Overview

Module	Description
control	PID controllers, feedforward, RAMSETE, pure pursuit
dt	Drivetrain models and motor groups
motion	Motion profiles and trajectories
odom	Odometry, pose estimation, tracking wheels
util	Type-safe units, logging, solenoid groups

Re-exports

pub use odom::wheel::OmniWheel;

pub use odom::wheel::TrackingWheel;

pub use odom::wheel::TrackingRig;

pub use odom::chassis::DriveError;

pub use odom::chassis::OdomChassis;

pub use control::ramsete::RamseteController;

pub use control::ramsete::RamseteReference;

pub use motion::profile::TrapezoidalConstraints;

pub use motion::trajectory::Trajectory;

pub use motion::trajectory::TrajectoryPoint;

pub use odom::pose::Pose;

pub use util::si::QAngle;

pub use util::si::QLength;

pub use util::si::QTime;

pub use util::solenoidgroup::SolenoidGroup;

pub use dt::differential::DifferentialDrive;

pub use dt::motorgroup::MotorGroup;

pub use util::logger::Logger;

pub use control::pid::AngularPid;

pub use control::pid::Pid;

pub use control::purepursuit::PurePursuit;

pub use util::controller::*;

pub use odom::wheel::*;

pub use dt::model::*;

pub use util::si::*;

pub use util::utils::*;

pub use control::feedforward::*;

pub use dt::differential::*;

Modules

control

dt

motion

odom

util

Macros

shared_motor

Creates a shared motor array wrapped in Rc<RefCell<[Motor; N]>>.