The main Chassis controller class. More...

#include <chassis.h>

Public Types
enum class	CurveDirection { Auto , CW , CCW }
	Automatic, clockwise, or counter-clockwise rotation preference. More...

enum class	AvoidanceMode { Off , On }
	Status of the Obstacle Avoidance subsystem. More...

enum class	SwingSide { Right , Left }
	Determines which side to lock during a swing turn. More...

Public Member Functions
	Chassis (pros::Motor fl, pros::Motor fr, pros::Motor bl, pros::Motor br, pros::Imu imu_sensor, ChassisConfig config)
	Construct a new Chassis object.

void	calibrate ()
	Calibrates sensors (e.g.

void	setXGains (std::vector< ScheduledGain > steps)
	Provide scheduled gains for the X-axis translation controller.

void	setYGains (std::vector< ScheduledGain > steps)
	Provide scheduled gains for the Y-axis translation controller.

void	setThetaGains (std::vector< ScheduledGain > steps)
	Provide scheduled gains for the rotational (Theta) controller.

void	setPose (float x, float y, float theta=0.0f)
	Manually reset the robot's odometry position.

void	setPose (Pose pose)
	Reset the robot's odometry position to a Pose object.

Pose	getPose (bool radians=false)
	Get the current odometry pose of the robot.

XDriveVoltages	calculateHolonomic (float vx, float vy, float vt)
	Calculate the individual motor voltages for a holonomic movement command.

void	setMotorVoltages (XDriveVoltages v)
	Command the base motors with a set of voltages.

void	brake ()
	Instructs all motors to brake using their configured brake mode.

void	driveControl (float forward, float sideways, float rotation, DriveCurves drivecurves, bool fieldCentric, float headingOffset=0.0f, DriveCorrection correction={})
	Main driver control mapping logic.

void	followPath (const std::vector< PathPoint > &path, float lookahead_inches, MoveParams params=defaultParams, HeadingMode headingMode=HeadingMode::FollowPath, float holdAngleDeg=0.0f, bool reversed=false)
	Autonomously follow a path defined by points.

void	turnToHeading (float targetDeg, MoveParams params=defaultParams)
	Autonomously turn the robot to face a specific heading.

void	turnToPoint (float tx, float ty, MoveParams params=defaultParams)
	Autonomously turn the robot to face a specific coordinate.

void	moveToPoint (float tx, float ty, MoveParams params=defaultParams, bool angleCorrection=true)
	Autonomously drive directly to a coordinate on the field.

void	moveRelative (float forward, float sideways, MoveParams params=defaultParams, bool holdHeading=true)
	Move a relative distance using X and Y offsets.

void	moveDistance (float distance, MoveParams params={}, bool holdHeading=true)
	Drive straight for a specified distance.

void	strafeDistance (float distance, MoveParams params=defaultParams, bool holdHeading=true)
	Strafe for a specified distance.

void	moveToPose (float tx, float ty, float targetThetaDeg, MoveParams params=defaultParams)
	Move the robot to an exact X, Y, and Theta simultaneously.

void	curveCircle (float targetThetaDeg, float radius, MoveParams params=defaultParams, CurveDirection direction=CurveDirection::Auto)
	Drive in a circular arc until reaching a specified heading.

void	waitUntilDone ()
	Blocks the current thread until the current motion is finished.

void	cancelAllMotions ()
	Halts all running background motions in the motion handler queue.

void	odometryTask ()
	Infinite loop function typically passed to a background PROS task to update position continuously.

float	getDistanceTraveled (bool convertToMeters=false)
	Retrieves the total distance traveled during a motion segment.

void	cancelMotion ()
	Cancels the currently executing autonomous motion.

void	waitUntil (float distance)
	Wait until a certain linear distance has been covered during a motion command.

void	setEKFGains (float xProcessNoise, float yProcessNoise, float thetaProcessNoise, float measurementNoise)
	Set specific internal Extended Kalman Filter variables manually.

void	setVelocityCalculations (bool state)
	Toggles whether to calculate velocities via odometry (computationally heavier).

bool	detectCollision ()
	Detect sudden impact indicating a potential collision using acceleration delta.

void	openLoop (float forward, float sideways, float rotation)
	Apply direct open-loop power to the drivetrain without PID.

void	addObstacle (float x, float y, float radius)
	Add an obstacle to the avoidance system.

void	removeObstacle (size_t index)
	Remove an obstacle by index.

void	clearObstacles ()
	Clears all current obstacles from memory.

void	setAvoidanceMode (AvoidanceMode mode)
	Enables or disables the obstacle avoidance system globally.

void	setAvoidanceParams (float safetyMargin, float clearance)
	Tunes the obstacle avoidance distance thresholds.

void	setPotentialFieldParams (float ka, float kr, float influenceRadius)
	Configures Artificial Potential Field parameters.

void	setRobotDimensionsAvoidance (float width, float height)
	Set robot dimensions used specifically for avoidance calculations.

float	radToDeg (float rad)
	Utility: Convert Radians to Degrees.

float	degToRad (float deg)
	Utility: Convert Degrees to Radians.

void	setEKFstate (bool state)
	Toggle the internal EKF feature entirely.

void	addTrackingWheel (TrackingWheelConfig config)
	Register a tracking wheel with the odometry module.

void	clearTrackingWheels ()
	Unregisters all external tracking wheels.

template<typename F >
void	move (F updateFunction, MoveParams params=defaultParams, bool fieldCentric=true, float headingOffset=0.0f, DriveCorrection correction={})
	Generic templated loop to accept external calculation functions.

void	setMoveParams (MoveParams params)
	Sets global default move parameters.

void	swingTurn (float targetThetaDeg, SwingSide lockedSide, MoveParams params=defaultParams)
	Execute a swing turn where one side of the robot is held stationary.

void	getControllerInput (pros::Controller master)
	Reads inputs from the standard PROS controller into the drive control method.

void	logReplayData (pros::Controller master, int timeout_ms=50)
	Logs the driver's movements in real time to enable playback features.

void	disableReplayDataLogging ()
	Stops driver motion logging.

void	runDriverReplay (std::vector< PathPoint > data, float lookahead)
	Playback previously recorded driver inputs autonomously.

Public Attributes
MotionHandler	motion
	Background task handler instance.

Friends
void	odomTaskTrampoline (void *)

Detailed Description

The main Chassis controller class.

Integrates odometry, PID tuning via scheduling, autonomous movement APIs, driver control functions, obstacle avoidance, and path following algorithms.

Definition at line 33 of file chassis.h.

Member Enumeration Documentation

◆ CurveDirection

enum class Chassis::CurveDirection

strong

Automatic, clockwise, or counter-clockwise rotation preference.

Enumerator
Auto
CW
CCW

Definition at line 145 of file chassis.h.

◆ AvoidanceMode

enum class Chassis::AvoidanceMode

strong

Status of the Obstacle Avoidance subsystem.

Enumerator
Off
On

Definition at line 150 of file chassis.h.

◆ SwingSide

enum class Chassis::SwingSide

strong

Determines which side to lock during a swing turn.

Enumerator
Right
Left

Definition at line 445 of file chassis.h.

Constructor & Destructor Documentation

◆ Chassis()

Chassis::Chassis	(	pros::Motor	fl,
		pros::Motor	fr,
		pros::Motor	bl,
		pros::Motor	br,
		pros::Imu	imu_sensor,
		ChassisConfig	config
	)

Construct a new Chassis object.

Parameters

fl	Front left motor.
fr	Front right motor.
bl	Back left motor.
br	Back right motor.
imu_sensor	IMU sensor for heading.
config	The hardware configuration.

Member Function Documentation

◆ calibrate()

void Chassis::calibrate ( )

Calibrates sensors (e.g.

resets IMU, zeros encoders).

◆ setXGains()

void Chassis::setXGains ( std::vector< ScheduledGain > steps )

Provide scheduled gains for the X-axis translation controller.

Parameters

steps A vector of ScheduledGain objects.

◆ setYGains()

void Chassis::setYGains ( std::vector< ScheduledGain > steps )

Provide scheduled gains for the Y-axis translation controller.

Parameters

steps A vector of ScheduledGain objects.

◆ setThetaGains()

void Chassis::setThetaGains ( std::vector< ScheduledGain > steps )

Provide scheduled gains for the rotational (Theta) controller.

Parameters

steps A vector of ScheduledGain objects.

◆ setPose() [1/2]

void Chassis::setPose	(	float	x,
		float	y,
		float	theta = `0.0f`
	)

Manually reset the robot's odometry position.

Parameters

x	X coordinate.
y	Y coordinate.
theta	Heading angle in degrees.

◆ setPose() [2/2]

void Chassis::setPose ( Pose pose )

Reset the robot's odometry position to a Pose object.

Parameters

pose	The Pose object representing the new position and heading.

◆ getPose()

Pose Chassis::getPose ( bool radians = false )

Get the current odometry pose of the robot.

Parameters

radians True to return heading in radians, false for degrees.

Returns: Pose The current pose.

◆ calculateHolonomic()

XDriveVoltages Chassis::calculateHolonomic	(	float	vx,
		float	vy,
		float	vt
	)

Calculate the individual motor voltages for a holonomic movement command.

Parameters

vx	Desired X velocity.
vy	Desired Y velocity.
vt	Desired rotational velocity.

Returns: XDriveVoltages Structure containing the voltages for the 4 motors.

◆ setMotorVoltages()

void Chassis::setMotorVoltages ( XDriveVoltages v )

Command the base motors with a set of voltages.

Parameters

v	Struct containing voltages.

◆ brake()

void Chassis::brake ( )

Instructs all motors to brake using their configured brake mode.

◆ driveControl()

void Chassis::driveControl	(	float	forward,
		float	sideways,
		float	rotation,
		DriveCurves	drivecurves,
		bool	fieldCentric,
		float	headingOffset = `0.0f`,
		DriveCorrection	correction = `{}`
	)

Main driver control mapping logic.

Maps forward, sideways, and rotational input to motor commands. Allows for field-centric or robot-centric control modes with customizable curves.

Parameters

forward	Forward translation input (typically from a joystick).
sideways	Sideways translation input.
rotation	Rotational input.
drivecurves	Optional curves to smooth inputs.
fieldCentric	True if driver inputs map to absolute field axes instead of relative to the robot heading.
headingOffset	An offset to adjust the definition of "forward" for field-centric mode.
correction	Configuration for maintaining heading.

◆ followPath()

void Chassis::followPath	(	const std::vector< PathPoint > &	path,
		float	lookahead_inches,
		MoveParams	params = `defaultParams`,
		HeadingMode	headingMode = `HeadingMode::FollowPath`,
		float	holdAngleDeg = `0.0f`,
		bool	reversed = `false`
	)

Autonomously follow a path defined by points.

Parameters

path	A vector of path points to follow.
lookahead_inches	Pure-pursuit lookahead distance.
params	Movement parameters and constraints.
headingMode	Defines how the heading behaves while traversing the path.
holdAngleDeg	A specific angle to hold if `HeadingMode::HoldAngle` is selected.
reversed	If true, the robot traverses the path in reverse.

◆ turnToHeading()

void Chassis::turnToHeading	(	float	targetDeg,
		MoveParams	params = `defaultParams`
	)

Autonomously turn the robot to face a specific heading.

Parameters

targetDeg	The target heading in degrees.
params	Movement parameters.

◆ turnToPoint()

void Chassis::turnToPoint	(	float	tx,
		float	ty,
		MoveParams	params = `defaultParams`
	)

Autonomously turn the robot to face a specific coordinate.

Parameters

tx	Target X coordinate.
ty	Target Y coordinate.
params	Movement parameters.

◆ moveToPoint()

void Chassis::moveToPoint	(	float	tx,
		float	ty,
		MoveParams	params = `defaultParams`,
		bool	angleCorrection = `true`
	)

Autonomously drive directly to a coordinate on the field.

Parameters

tx	Target X coordinate.
ty	Target Y coordinate.
params	Movement parameters.
angleCorrection	If true, actively adjusts heading to face the point while moving.

◆ moveRelative()

void Chassis::moveRelative	(	float	forward,
		float	sideways,
		MoveParams	params = `defaultParams`,
		bool	holdHeading = `true`
	)

Move a relative distance using X and Y offsets.

Parameters

forward	Distance to move forward.
sideways	Distance to move sideways.
params	Movement parameters.
holdHeading	Actively maintain heading while translating.

◆ moveDistance()

void Chassis::moveDistance	(	float	distance,
		MoveParams	params = `{}`,
		bool	holdHeading = `true`
	)

Drive straight for a specified distance.

Parameters

distance	Distance in inches.
params	Movement parameters.
holdHeading	Actively maintain heading while translating.

◆ strafeDistance()

void Chassis::strafeDistance	(	float	distance,
		MoveParams	params = `defaultParams`,
		bool	holdHeading = `true`
	)

Strafe for a specified distance.

Parameters

distance	Distance in inches.
params	Movement parameters.
holdHeading	Actively maintain heading while translating.

◆ moveToPose()

void Chassis::moveToPose	(	float	tx,
		float	ty,
		float	targetThetaDeg,
		MoveParams	params = `defaultParams`
	)

Move the robot to an exact X, Y, and Theta simultaneously.

Parameters

tx	Target X coordinate.
ty	Target Y coordinate.
targetThetaDeg	Target heading.
params	Movement parameters.

◆ curveCircle()

void Chassis::curveCircle	(	float	targetThetaDeg,
		float	radius,
		MoveParams	params = `defaultParams`,
		CurveDirection	direction = `CurveDirection::Auto`
	)

Drive in a circular arc until reaching a specified heading.

Parameters

targetThetaDeg	The final heading of the arc.
radius	The radius of the curved path.
params	Movement parameters.
direction	Whether to turn clockwise or counter-clockwise.

◆ waitUntilDone()

void Chassis::waitUntilDone ( )

Blocks the current thread until the current motion is finished.

◆ cancelAllMotions()

void Chassis::cancelAllMotions ( )

Halts all running background motions in the motion handler queue.

◆ odometryTask()

void Chassis::odometryTask ( )

Infinite loop function typically passed to a background PROS task to update position continuously.

◆ getDistanceTraveled()

float Chassis::getDistanceTraveled ( bool convertToMeters = false )

Retrieves the total distance traveled during a motion segment.

Parameters

convertToMeters If true, returns value in meters rather than inches.

Returns: float Distance traveled.

◆ cancelMotion()

void Chassis::cancelMotion ( )

Cancels the currently executing autonomous motion.

◆ waitUntil()

void Chassis::waitUntil ( float distance )

Wait until a certain linear distance has been covered during a motion command.

Useful for triggering events mid-way through a path or moveToPoint call.

Parameters

distance The distance threshold.

◆ setEKFGains()

void Chassis::setEKFGains	(	float	xProcessNoise,
		float	yProcessNoise,
		float	thetaProcessNoise,
		float	measurementNoise
	)

Set specific internal Extended Kalman Filter variables manually.

Parameters

xProcessNoise	Noise in the X dimension.
yProcessNoise	Noise in the Y dimension.
thetaProcessNoise	Noise in heading dimension.
measurementNoise	IMU noise characteristic.

◆ setVelocityCalculations()

void Chassis::setVelocityCalculations ( bool state )

Toggles whether to calculate velocities via odometry (computationally heavier).

Parameters

state True to enable.

◆ detectCollision()

bool Chassis::detectCollision ( )

Detect sudden impact indicating a potential collision using acceleration delta.

Returns: true if collision detected.

◆ openLoop()

void Chassis::openLoop	(	float	forward,
		float	sideways,
		float	rotation
	)

Apply direct open-loop power to the drivetrain without PID.

Parameters

forward	Linear power.
sideways	Strafe power.
rotation	Rotational power.

◆ addObstacle()

void Chassis::addObstacle	(	float	x,
		float	y,
		float	radius
	)

Add an obstacle to the avoidance system.

Parameters

x	X coordinate.
y	Y coordinate.
radius	Avoidance radius.

◆ removeObstacle()

void Chassis::removeObstacle ( size_t index )

Remove an obstacle by index.

Parameters

index The index.

◆ clearObstacles()

void Chassis::clearObstacles ( )

Clears all current obstacles from memory.

◆ setAvoidanceMode()

void Chassis::setAvoidanceMode ( AvoidanceMode mode )

Enables or disables the obstacle avoidance system globally.

Parameters

mode	`AvoidanceMode::On` or `AvoidanceMode::Off`.

◆ setAvoidanceParams()

void Chassis::setAvoidanceParams	(	float	safetyMargin,
		float	clearance
	)

Tunes the obstacle avoidance distance thresholds.

Parameters

safetyMargin	Padding to treat the obstacle as larger than its radius.
clearance	Required distance from the padded radius.

◆ setPotentialFieldParams()

void Chassis::setPotentialFieldParams	(	float	ka,
		float	kr,
		float	influenceRadius
	)

Configures Artificial Potential Field parameters.

Parameters

ka	Attraction to goal.
kr	Repulsion from obstacles.
influenceRadius	Distance at which an obstacle begins pushing the robot away.

◆ setRobotDimensionsAvoidance()

void Chassis::setRobotDimensionsAvoidance	(	float	width,
		float	height
	)

Set robot dimensions used specifically for avoidance calculations.

Parameters

width	Robot width.
height	Robot height.

◆ radToDeg()

float Chassis::radToDeg ( float rad )

Utility: Convert Radians to Degrees.

Parameters

rad Radians.

Returns: float Degrees.

◆ degToRad()

float Chassis::degToRad ( float deg )

Utility: Convert Degrees to Radians.

Parameters

deg Degrees.

Returns: float Radians.

◆ setEKFstate()

void Chassis::setEKFstate ( bool state )

Toggle the internal EKF feature entirely.

Parameters

state True to run EKF, false for raw basic odometry.

◆ addTrackingWheel()

void Chassis::addTrackingWheel ( TrackingWheelConfig config )

Register a tracking wheel with the odometry module.

Parameters

config The hardware configuration for the tracking wheel.

◆ clearTrackingWheels()

void Chassis::clearTrackingWheels ( )

Unregisters all external tracking wheels.

◆ move()

template<typename F >

void Chassis::move	(	F	updateFunction,
		MoveParams	params = `defaultParams`,
		bool	fieldCentric = `true`,
		float	headingOffset = `0.0f`,
		DriveCorrection	correction = `{}`
	)

inline

Generic templated loop to accept external calculation functions.

Template Parameters

F	Lambda type.

Parameters

updateFunction	The function doing calculations and returning motor voltages.
params	Movement boundaries.
fieldCentric	Treat update inputs as field centric.
headingOffset	Global heading offset.
correction	Correction params.

Definition at line 431 of file chassis.h.

◆ setMoveParams()

void Chassis::setMoveParams ( MoveParams params )

Sets global default move parameters.

Parameters

params Parameters to use as default.

◆ swingTurn()

void Chassis::swingTurn	(	float	targetThetaDeg,
		SwingSide	lockedSide,
		MoveParams	params = `defaultParams`
	)

Execute a swing turn where one side of the robot is held stationary.

Parameters

targetThetaDeg	The target heading.
lockedSide	Which side of the drive train to hold zero power to.
params	Movement parameters.

◆ getControllerInput()

void Chassis::getControllerInput ( pros::Controller master )

Reads inputs from the standard PROS controller into the drive control method.

Parameters

master The PROS Controller object.

◆ logReplayData()

void Chassis::logReplayData	(	pros::Controller	master,
		int	timeout_ms = `50`
	)

Logs the driver's movements in real time to enable playback features.

Parameters

master	The controller to read from.
timeout_ms	Interval to poll and log.

◆ disableReplayDataLogging()

void Chassis::disableReplayDataLogging ( )

Stops driver motion logging.

◆ runDriverReplay()

void Chassis::runDriverReplay	(	std::vector< PathPoint >	data,
		float	lookahead
	)

Playback previously recorded driver inputs autonomously.

Parameters

data	Recorded sequence of PathPoints or equivalent macro.
lookahead	Follow lookahead parameter for smoothing playback tracking.

Friends And Related Symbol Documentation

◆ odomTaskTrampoline

void odomTaskTrampoline ( void * )

friend

Member Data Documentation

◆ motion

MotionHandler Chassis::motion

Background task handler instance.

Definition at line 262 of file chassis.h.

Public Types

Public Member Functions

Public Attributes

Friends

Detailed Description

Member Enumeration Documentation

◆ CurveDirection

◆ AvoidanceMode

◆ SwingSide

Constructor & Destructor Documentation

◆ Chassis()

Member Function Documentation

◆ calibrate()

◆ setXGains()

◆ setYGains()

◆ setThetaGains()

◆ setPose() [1/2]

◆ setPose() [2/2]

◆ getPose()

◆ calculateHolonomic()

◆ setMotorVoltages()

◆ brake()

◆ driveControl()

◆ followPath()

◆ turnToHeading()

◆ turnToPoint()

◆ moveToPoint()

◆ moveRelative()

◆ moveDistance()

◆ strafeDistance()

◆ moveToPose()

◆ curveCircle()

◆ waitUntilDone()

◆ cancelAllMotions()

◆ odometryTask()

◆ getDistanceTraveled()

◆ cancelMotion()

◆ waitUntil()

◆ setEKFGains()

◆ setVelocityCalculations()

◆ detectCollision()

◆ openLoop()

◆ addObstacle()

◆ removeObstacle()

◆ clearObstacles()

◆ setAvoidanceMode()

◆ setAvoidanceParams()

◆ setPotentialFieldParams()

◆ setRobotDimensionsAvoidance()

◆ radToDeg()

◆ degToRad()

◆ setEKFstate()

◆ addTrackingWheel()

◆ clearTrackingWheels()

◆ move()

◆ setMoveParams()

◆ swingTurn()

◆ getControllerInput()

◆ logReplayData()

◆ disableReplayDataLogging()

◆ runDriverReplay()

Friends And Related Symbol Documentation

◆ odomTaskTrampoline

Member Data Documentation

◆ motion