Chassis API

The vortex::Chassis class is the primary interface for controlling the robot's movement. It handles everything from driver control to advanced Boomerang and Pure Pursuit motions.

Class Definition

Constructor

Chassis(ChassisConfig config);

Initializes the chassis. After construction, call initialize() to start background tasks.

Driver Control

Method	Description
`void tank(int left, int right, double curve = 0.0)`	Tank drive with optional exponential curve scaling.
`void arcade(int forward, int turn, double curve = 0.0)`	Arcade drive with Steering Desaturation (prioritizes turns at full speed).

Autonomous Motions

All autonomous motions can be called synchronously (blocks until done) or asynchronously by setting .async = true in the parameter struct.

moveToPoint

Moves the robot to a coordinate $(x, y)$.

void moveToPoint(double x, double y, int timeout, MoveToPointParams params = {});

moveToPose (Boomerang)

Moves to a target $(x, y)$ while arriving at a specific heading $\theta$. Uses the Boomerang carrot-point algorithm and Trapezoidal Velocity Profiling.

void moveToPose(double x, double y, double theta, int timeout, MoveToPoseParams params = {});

turnToHeading

Turns to an absolute heading.

void turnToHeading(double theta, int timeout, TurnParams params = {});

follow (Pure Pursuit)

Follows a path generated as an Asset.

void follow(Asset path, double lookahead, int timeout, bool forwards = true, bool async = true);

Parameter Structs

MoveToPointParams

Field	Default	Description
`forwards`	`true`	Whether to drive forward or backward.
`max_speed`	`127`	Maximum motor power.
`accel`	`5.0`	Slew rate / Acceleration limit.
`decel`	`5.0`	Deceleration limit for profile.
`early_exit_range`	`0`	Exit distance if chained.

MoveToPoseParams

Field	Default	Description
`lead`	`0.6`	How far the carrot point leads (0.0 to 1.0).
`max_speed`	`127`	Maximum motor power.
`accel`	`5.0`	Profile acceleration.
`decel`	`5.0`	Profile deceleration.

Wait Helpers

Use these to coordinate mechanism actions during or after movements.

Method	Description
`void waitUntilDist(double inches)`	Pause code until within X inches of target.
`void waitUntilAngle(double degrees)`	Pause code until within X degrees of target.
`void waitUntilDone()`	Pause code until movement is fully finished.