VectorLibSimulator and tests
Run autonomous routines on your laptop with the sim feature.
The sim feature swaps vexide's runtime for a deterministic virtual clock and a simulated drivetrain, with simulated motors, tracking wheels, IMU, distance sensors and controller. A whole autonomous runs in milliseconds, so you can test routines on your laptop.
[dev-dependencies]
vectorlib = { git = "https://github.com/sathvikloke/VectorLib", features = ["sim"] }use vectorlib::sim::{self, RobotConfig, World};
sim::run(async {
World::install(RobotConfig::default()); // LemLib's example robot
// build the chassis from sim::devices (SimMotor, SimRotation, SimImu),
// as tests/behaviour.rs does
let chassis = example_chassis();
chassis.calibrate(true).await;
chassis.move_to_pose(20.0, 15.0, 90.0, 4000).run_async(false).await;
println!("{}", chassis.get_pose());
});| Simulated device | Stands in for |
|---|---|
SimMotor::new(side, reversed) | A drive motor |
SimRotation::new(mount, diameter) / SimAdiEncoder | A tracking wheel's sensor |
SimImu::new() | The inertial sensor (can be made to fail calibration) |
SimDistance::field(facing, x, y, wall) | A distance sensor measuring the field walls |
SimController::new() | The controller: press buttons and read back the screen |
Running the tests
cargo test --features sim # unit, behaviour and parity tests
cargo test --features sim -- --nocapture # also print how many values were comparedThe parity tests need clang++ to compile the original C++. Set VECTORLIB_REQUIRE_PARITY=1 to make a missing compiler a failure instead of a printed warning.