BunyipsLib/org.murraybridgebunyips.bunyipslib.roadrunner.trajectorysequence/TrajectorySequenceRunner

TrajectorySequenceRunner

open class TrajectorySequenceRunner

RoadRunner trajectory sequence runner.

Since

1.0.0-pre

Constructors

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constructor(@Nullable telemetry: DualTelemetry, driveConstantsRunUsingEncoder: Boolean, follower: TrajectoryFollower, headingPIDCoefficients: PIDCoefficients, voltageSensor: VoltageSensor, lastDriveEncPositions: List<Integer>, lastDriveEncVels: List<Integer>, lastTrackingEncPositions: List<Integer>, lastTrackingEncVels: List<Integer>)
Create a new trajectory sequence runner.

Properties

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open var COLOR_ACTIVE_TRAJECTORY: String
FtcDashboard activity color for trajectory segments.
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open var COLOR_ACTIVE_TURN: String
FtcDashboard activity color for turn segments.
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open var COLOR_ACTIVE_WAIT: String
FtcDashboard activity color for wait segments.
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open var COLOR_INACTIVE_TRAJECTORY: String
FtcDashboard inactivity color for trajectory segments.
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open var COLOR_INACTIVE_TURN: String
FtcDashboard inactivity color for turn segments.
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open var COLOR_INACTIVE_WAIT: String
FtcDashboard inactivity color for wait segments.
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open val lastPoseError: Pose2d
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open var POSE_HISTORY_LIMIT: Int
The maximum number of poses to store in the history.

Functions

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open fun cancelTrajectory()
Abort the current trajectory sequence.
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open fun followTrajectorySequenceAsync(trajectorySequence: TrajectorySequence)
Follow a trajectory sequence asynchronously.
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open fun isBusy(): Boolean
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@Nullable
open fun update(poseEstimate: Pose2d, poseVelocity: Pose2d): DriveSignal
Update the trajectory sequence runner.