This is a beta release of evian with preliminary support for vexide 0.5.0. It also further reorganizes modules compared to beta.1.

This release includes a few new key features:

• 2D distance-parameterized trapezoidal trajectory generation for Differential-configuration drivetrains.
• Ramsete unicycle controller command (trajectory follower) for Differential-configuration drivetrains.
• Rough implementation of a boomerang controller in the Seeking motions struct (completely untested and unoptimized).
• Cubic bezier splines in evian::math.
• 1D distance-parameterized trapezoidal motion profiling for general-purpose use in evian::math.

API docs for this release (still largely incomplete): https://docs.rs/evian/0.3.0-beta.2/evian/index.html An example of evian’s trajectory following capabilities can be seen here: https://github.com/vexide/evian/blob/master/examples/trajectory.rs

Please keep in mind that these APIs are unstable not thoroughly tested, so competition use of evian is not recommended at this point in time (unless you are working with your own motion algorithms and localization on top of it).

This is a beta release of evian, with a rewritten architecture. You can view an example of it in use here: https://github.com/vexide/evian/blob/master/examples/testing.rs

This version depends on the latest vexide release candidate, so you will also have to use that to test it. At this point in time, the general architecture (how things are structured and passed around) is nearly finalized, but the implementations of things (specifically the stuff in tracking and the commands) are not hardware tested and incomplete (some may even panic with todo!). It’s highly discouraged from using those for competition purposes in this release.

Added

• Added support for the move-to-point algorithm through the MoveToPoint command.
• Partial support for angular/linear velocity tracking.

Changed

• Updated to vexide 0.4.2
• Moved Settler out of evian::control.
• Improved handling of motor disconnects.

Initial release of Evian, an experimental controls library for vexide.