Package frclib.archive

Class FrcSwervePathFollower

java.lang.Object

frclib.archive.FrcSwervePathFollower

public class FrcSwervePathFollower
extends Object

Constructor Summary

Constructors

Constructor	Description
FrcSwervePathFollower(String instanceName, TrcSwerveDriveBase driveBase, TrcPidController.PidCoefficients posPidCoeff, TrcPidController.PidCoefficients headingPidCoeff, double maxRotVel, double maxRotAccel, double maxWheelSpeed)
FrcSwervePathFollower(String instanceName, TrcSwerveDriveBase driveBase, TrcPidController.PidCoefficients posPidCoeff, TrcPidController.PidCoefficients headingPidCoeff, double maxRotVel, double maxRotAccel, double maxWheelSpeed, double unitsPerMeter)

Method Summary

Modifier and Type	Method	Description
void	cancel()
boolean	isActive()
void	start(edu.wpi.first.math.trajectory.Trajectory... trajectories)
void	start(TrcEvent event, double timeout, edu.wpi.first.math.trajectory.Trajectory... trajectories)	Start following the supplied trajectories back to back.
String	toString()

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, wait, wait, wait

Constructor Details

FrcSwervePathFollower

public FrcSwervePathFollower(String instanceName,
 TrcSwerveDriveBase driveBase,
 TrcPidController.PidCoefficients posPidCoeff,
 TrcPidController.PidCoefficients headingPidCoeff,
 double maxRotVel,
 double maxRotAccel,
 double maxWheelSpeed)

FrcSwervePathFollower

public FrcSwervePathFollower(String instanceName,
 TrcSwerveDriveBase driveBase,
 TrcPidController.PidCoefficients posPidCoeff,
 TrcPidController.PidCoefficients headingPidCoeff,
 double maxRotVel,
 double maxRotAccel,
 double maxWheelSpeed,
 double unitsPerMeter)

Method Details

start

public void start(edu.wpi.first.math.trajectory.Trajectory... trajectories)

start

public void start(TrcEvent event,
 double timeout,
 edu.wpi.first.math.trajectory.Trajectory... trajectories)

Start following the supplied trajectories back to back. If only one trajectory to follow, then just pass one. The event will be signalled after all trajectories have been followed. If the operation times out, it will be stopped and the event will be cancelled. Use FrcPath.createTrajectory(trclib.pathdrive.TrcPath, edu.wpi.first.math.trajectory.TrajectoryConfig, frclib.archive.FrcPath.SplineType) to create a trajectory.

Parameters:

event - The event to signal when done. Set to null if unneeded.

timeout - Time in seconds to wait for the operation to finish. Set to 0 for no timeout.

trajectories - The supplied trajectories to follow, in the absolute field reference frame. The first point should be the robot's current pose.

isActive

public boolean isActive()

cancel

public void cancel()

toString

public String toString()

Overrides:

toString in class Object