Okapi: Odom Chassis Not Building Properly

Programming Support PROS Support
1 
std::shared_ptr<ChassisController> drive =
    ChassisControllerBuilder()
        .withMotors({11,19}, {1,9})
        // Green gearset, 4 in wheel diam, 11.5 in wheel track
        .withDimensions(AbstractMotor::gearset::green, {{4_in, 15.0_in}, imev5GreenTPR})
		.withSensors(
			RotationSensor(7),
			RotationSensor(17,true)
		)
		.withOdometry({{2_in,5_in},360}, StateMode::CARTESIAN)
        .buildOdometry();

I have the following code and from what i can tell I configured it correctly, but when I try to do drive->setState() it give the error “No member named ‘setState’ in ‘okapi::ChassisController’”, but it should be an OdomChassisController right? It should have that method, but it doesn’t?

2

It looks like you are using the wrong chassis controller.

std::shared_ptr<OdomChassisController>

Should be the correct

There is a tutorial here :))

3

Wow it’s really that simple of a fix lol

Yeah I used that tutorial but they decided to omit the variable definition and such and just went straight to building the class, but thank you nonetheless!