org.team5419.fault.path

Class PathFollower

org.team5419.fault.path.PathFollower

public class PathFollower

class that contains methods to follow a list of coordinates used during autonomous

Nested Class Summary

Nested Classes

Modifier and Type	Class and Description
static class	PathFollower.PathFollowerOutput

Constructor Summary

Constructors

Constructor and Description
PathFollower(Path path, double trackWidth, double initLookaheadDistance) class that contains methods to follow a list of coordinates used during autonomous

Method Summary

Modifier and Type	Method and Description
boolean	doneWithPath(Pose2d robotPose)
double	getLookaheadDistance()
void	reset() resets follower to first point
void	setLookaheadDistance(double p)
PathFollower.PathFollowerOutput	update(Pose2d currentRobotPose) Function used by path follower to be run in every periodic tick to calculate velocities based on current path, robot location, robot angle, and target velocities

Constructor Detail

PathFollower

public PathFollower(Path path,
                    double trackWidth,
                    double initLookaheadDistance)

class that contains methods to follow a list of coordinates used during autonomous

Method Detail

getLookaheadDistance

public double getLookaheadDistance()

setLookaheadDistance

public void setLookaheadDistance(double p)

update

public PathFollower.PathFollowerOutput update(Pose2d currentRobotPose)

Function used by path follower to be run in every periodic tick to calculate velocities based on current path, robot location, robot angle, and target velocities

Parameters:

currentRobotPose - the current position and rotation of the drivetrain

Returns:

velocities for the left and right sides of the drivetrain

doneWithPath

public boolean doneWithPath(Pose2d robotPose)

Returns:

whether the robot is done with the the designated path based on robot location

reset

public void reset()

resets follower to first point