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Driver Control

Vortex provides professional tools for customizing how your robot feels to the driver.

Drive Curves

Linear joystick mapping often makes fine adjustments difficult. Vortex includes Exponential Curves to solve this.

Why use a Curve?

A curve scales the joystick input so that moving the stick 50% only applies maybe 25% power, but moving it to 100% still applies 100% power. This gives you high precision at low speeds.

void opcontrol() {
    while (true) {
        // Apply arcade drive with an expo curve of 2.0
        chassis.arcade(master.get_analog(ANALOG_LEFT_Y), 
                       master.get_analog(ANALOG_RIGHT_X), 
                       2.0);
        pros::delay(10);
    }
}

Steering Desaturation

In standard arcade drive, if you are driving forward at 100% and try to turn at 100%, one motor would need to be 200% power (impossible). Usually, the code just clips the output, causing you to lose your turn.

Vortex uses Desaturation to prioritize your steering. If the motors are saturated, it scales down the forward speed to ensure the side-to-side difference (the turn) is preserved.

Brake Modes

Set how the robot behaves when joysticks are released:

chassis.setBrakeMode(pros::E_MOTOR_BRAKE_BRAKE); // Locks wheels
chassis.setBrakeMode(pros::E_MOTOR_BRAKE_COAST); // Rolls to stop

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