Profile System
One template, two modes: beginner and advanced.
Profile Switch
// include/clasi_template/robot_config.hpp
constexpr Profile kProfile = Profile::kBeginner; // or Profile::kAdvanced
Feature Matrix
Beginner
Easy API only
Input filtering
Simple drive control
Safe defaults
Advanced
Full clasi API
Pure Pursuit + Boomerang
MotionChain + Async motion
Tuner UI enabled
Always On
Drive system
PID controllers
Auton selector
Diagnostics