doxa-selector-rs

A simple autonomous selector written for the vexide platform. Its usage is simple and aligns with the Compete trait provided by vexide-core, except with a little twist.

This library has not been updated to use the autons crate but probably will be eventually once I find time.

Note

The branding of the crate is currently set to our team's branding. However, switching the assets is simple -- just fork the repo and replace the assets folder. (We don't have configurable branding because Slint isn't flexible enough for that in terms of static image inclusion.)

Slint may have not been the right choice for this project as it's a little bit too bloated for this use case. vexide support for patch uploads has fixed this!

struct TestRobot {
    // ...
}

impl CompeteWithSelector for TestRobot {
    type Category = Category;
    type Return = Result<(), Box<dyn Error>>;

    async fn driver(&mut self) {
        println!("Driver control");
    }

    fn autonomous_routes<'a, 'b>(
        &'b self,
    ) -> BTreeMap<Category, &'a [&'a dyn AutonRoutine<TestRobot, Return = Self::Return>]>
    where
        Self: 'a,
    {
        let mut map = BTreeMap::<Category, &[&dyn AutonRoutine<_, Return = _>]>::new();
        map.insert(Category::RouteA, &[&RouteA]);
        map.insert(Category::RouteB, &[&RouteB]);
        map
    }
}

#[vexide::main]
async fn main(peripherals: Peripherals) {
    let robot = TestRobot {
    };
    robot.compete_with_selector(peripherals.display).await;
}

You provide a map of autonomous routes, and this library handles rendering the rest.