Robot drivetrain configurations.

This crate provides types for describing and modeling different mobile robot drivetrain configurations. A drivetrain in evian is the combination of hardware components (e.g. motors, wheels, and sensors) that enables a robot to both move and track its motion. This importantly means that drivetrains are a collection of both motors and sensors.

At the heart of this crate is the Drivetrain struct, which bundles together some motors and a tracking system — a system that measures something about the drivetrain as it moves around. The Drivetrain type could represent many different types of robot drivetrains depending on how the motor and tracking logic is implemented.

Supported Configurations

At the moment, this crate currently provides built-in support for differential drivetrains, however the Drivetrain struct could in theory be configured to accept any arrangement of motors with your own custom type if you require something else.