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Motion Algorithms

Vortex features advanced pathing algorithms that go beyond simple point-to-point movements.

1. Boomerang (MoveToPose)

The Boomerang controller is designed to move to a point while arriving at a specific angle. It works by projecting a "carrot point" that leads the robot into the target.

chassis.moveToPose(24, 24, 90, 2000);

Parameters

  • Lead Factor: Controls how much "curvature" the path has. A higher value leads to more drastic turns.
  • Velocity Profiling: Boomerang automatically uses Trapezoidal Profiling to start and stop smoothly.

2. Pure Pursuit

Pure Pursuit is the industry standard for following complex, pre-generated paths.

Using Assets

Vortex treats paths as "Assets" (binary data linked to your project).

ASSET(example_path_txt); // Define the path asset
chassis.follow(example_path_txt, 15, 3000); // 15" lookahead

Lookahead Distance

  • Small Lookahead: Robot follows the path very tightly but may oscillate.
  • Large Lookahead: Robot follows the path more loosely and "cuts corners" for more speed.

3. Shortest-Path Turning

Vortex turn algorithms automatically calculate the shortest distance to a target angle.

// Will turn CCW if target is -90 but CW if target is 270
chassis.turnToHeading(90, 1000, {.direction = vortex::AngularDirection::AUTO});

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