Okapi: Odom Chassis Not Building Properly

std::shared_ptr<ChassisController> drive =
        .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})
		.withOdometry({{2_in,5_in},360}, StateMode::CARTESIAN)

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?

It looks like you are using the wrong chassis controller.


Should be the correct

There is a tutorial here :))

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!