BunyipsLib/org.murraybridgebunyips.bunyipslib.tasks/DriveToPoseTask/DriveToPoseTask

DriveToPoseTask

constructor(@NonNull timeout: Measure<Time>, @NonNull driveSubsystem: BunyipsSubsystem, targetPose: Pose2d, forwardController: SystemController, strafeController: SystemController, headingController: SystemController)

Run the Drive To Pose Task on a drive subsystem.

Parameters

timeout

The maximum time the task can run for.

driveSubsystem

The drive subsystem to run the task on.

targetPose

The target pose to drive to.

forwardController

The system/PID controller for x.

strafeController

The system/PID controller for y.

headingController

The system/PID controller for heading.