Struct ExpoDrive 

pub struct ExpoDrive { /* private fields */ }

Exponential drive scaling for smoother joystick control.

ExpoDrive applies an exponential curve to joystick inputs, providing fine control at low speeds while maintaining full power at high inputs. This makes the robot easier to drive precisely.

Formula

The scaling uses the formula:

m = (|x|^(n+2) + |y|^(n+2))^(1/(n+2))
f = m^k / sqrt(x^2 + y^2)
output = (f*x, f*y)

Parameters

• n: Controls the curve shape (higher = more aggressive near center)
• k: Controls the overall scaling factor

Example

let expo = ExpoDrive::new(2.0, 1.0);
let (x, y) = expo.calculate(0.5, 0.5).as_tuple();

Implementations

impl ExpoDrive

pub fn new(n: f64, k: f64, eps: Option<f64>) -> Self

Creates a new exponential drive configuration.

Arguments

• n - Curve shape parameter (typically 1.0 to 3.0)
• k - Scaling factor (typically 1.0)

pub fn calculate(&self, x: f64, y: f64) -> Vector2<f64>

Applies exponential scaling to joystick inputs.

Arguments

• x - X-axis input in range [-1, 1]
• y - Y-axis input in range [-1, 1]

Returns

Scaled output as a Vector2<f64>

Panics

Panics if inputs are outside [-1, 1] range.