Package org.firstinspires.ftc.teamcode.fy23.roadrunner.trajectorysequence

Class TrajectorySequenceRunner

java.lang.Object

org.firstinspires.ftc.teamcode.fy23.roadrunner.trajectorysequence.TrajectorySequenceRunner

public class TrajectorySequenceRunner
extends Object

Field Summary

Fields

Modifier and Type	Field	Description
static String	COLOR_ACTIVE_TRAJECTORY
static String	COLOR_ACTIVE_TURN
static String	COLOR_ACTIVE_WAIT
static String	COLOR_INACTIVE_TRAJECTORY
static String	COLOR_INACTIVE_TURN
static String	COLOR_INACTIVE_WAIT
static int	POSE_HISTORY_LIMIT

Constructor Summary

Constructors

Constructor	Description
TrajectorySequenceRunner(com.acmerobotics.roadrunner.followers.TrajectoryFollower follower, com.acmerobotics.roadrunner.control.PIDCoefficients headingPIDCoefficients, com.qualcomm.robotcore.hardware.VoltageSensor voltageSensor, List<Integer> lastDriveEncPositions, List<Integer> lastDriveEncVels, List<Integer> lastTrackingEncPositions, List<Integer> lastTrackingEncVels)

Method Summary

Modifier and Type	Method	Description
void	followTrajectorySequenceAsync(TrajectorySequence trajectorySequence)
com.acmerobotics.roadrunner.geometry.Pose2d	getLastPoseError()
boolean	isBusy()
com.acmerobotics.roadrunner.drive.DriveSignal	update(com.acmerobotics.roadrunner.geometry.Pose2d poseEstimate, com.acmerobotics.roadrunner.geometry.Pose2d poseVelocity)

Methods inherited from class java.lang.Object

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

Field Details

COLOR_INACTIVE_TRAJECTORY

public static String COLOR_INACTIVE_TRAJECTORY

COLOR_INACTIVE_TURN

public static String COLOR_INACTIVE_TURN

COLOR_INACTIVE_WAIT

public static String COLOR_INACTIVE_WAIT

COLOR_ACTIVE_TRAJECTORY

public static String COLOR_ACTIVE_TRAJECTORY

COLOR_ACTIVE_TURN

public static String COLOR_ACTIVE_TURN

COLOR_ACTIVE_WAIT

public static String COLOR_ACTIVE_WAIT

POSE_HISTORY_LIMIT

public static int POSE_HISTORY_LIMIT

Constructor Details

TrajectorySequenceRunner

public TrajectorySequenceRunner(com.acmerobotics.roadrunner.followers.TrajectoryFollower follower,
 com.acmerobotics.roadrunner.control.PIDCoefficients headingPIDCoefficients,
 com.qualcomm.robotcore.hardware.VoltageSensor voltageSensor,
 List<Integer> lastDriveEncPositions,
 List<Integer> lastDriveEncVels,
 List<Integer> lastTrackingEncPositions,
 List<Integer> lastTrackingEncVels)

Method Details

followTrajectorySequenceAsync

public void followTrajectorySequenceAsync(TrajectorySequence trajectorySequence)

update

@Nullable
public com.acmerobotics.roadrunner.drive.DriveSignal update(com.acmerobotics.roadrunner.geometry.Pose2d poseEstimate,
 com.acmerobotics.roadrunner.geometry.Pose2d poseVelocity)

getLastPoseError

public com.acmerobotics.roadrunner.geometry.Pose2d getLastPoseError()

isBusy

public boolean isBusy()