Your first robot

use vectorlib::prelude::*;
use vexide::prelude::*;

// left motor group: ports 5 and 3 reversed, port 4 forward
let left_motors = MotorGroup::new([
    Motor::new(peripherals.port_5, Gearset::Blue, Direction::Reverse),
    Motor::new(peripherals.port_4, Gearset::Blue, Direction::Forward),
    Motor::new(peripherals.port_3, Gearset::Blue, Direction::Reverse),
]);
let right_motors = MotorGroup::new([
    Motor::new(peripherals.port_6, Gearset::Blue, Direction::Forward),
    Motor::new(peripherals.port_9, Gearset::Blue, Direction::Reverse),
    Motor::new(peripherals.port_7, Gearset::Blue, Direction::Forward),
]);

let drivetrain = Drivetrain::new(
    left_motors,
    right_motors,
    10.0,             // track width, inches
    Omniwheel::NEW_4, // wheel diameter
    360.0,            // drivetrain rpm
    2.0,              // horizontal drift: 2 for omnis, 8 with traction wheels
);

let imu = InertialSensor::new(peripherals.port_10);
let horizontal_enc = RotationSensor::new(peripherals.port_20, Direction::Forward);
let vertical_enc = RotationSensor::new(peripherals.port_11, Direction::Reverse);

// 2.75" wheels; offsets are from the tracking centre, negative = left / behind
let horizontal = TrackingWheel::new(horizontal_enc, Omniwheel::NEW_275, -5.75, 1.0);
let vertical = TrackingWheel::new(vertical_enc, Omniwheel::NEW_275, -2.5, 1.0);

let sensors = OdomSensors::new(
    Some(vertical),   // vertical tracking wheel 1
    None,             // vertical tracking wheel 2
    Some(horizontal), // horizontal tracking wheel 1
    None,             // horizontal tracking wheel 2
    Some(imu),
);

let lateral = ControllerSettings::new(
    10.0,  // kP
    0.0,   // kI
    3.0,   // kD
    3.0,   // anti windup
    1.0,   // small error range, inches
    100.0, // small error range timeout, ms
    3.0,   // large error range, inches
    500.0, // large error range timeout, ms
    20.0,  // maximum acceleration (slew)
);
let angular = ControllerSettings::new(2.0, 0.0, 10.0, 3.0, 1.0, 100.0, 3.0, 500.0, 0.0);

// deadband, minimum output, expo gain
let throttle_curve = ExpoDriveCurve::new(3.0, 10.0, 1.019);
let steer_curve = ExpoDriveCurve::new(3.0, 10.0, 1.019);

let chassis = Chassis::new(drivetrain, lateral, angular, sensors, throttle_curve, steer_curve);
chassis.calibrate(true).await; // calibrates the IMU and starts odometry