PurePursuit

constructor(setDrivePower: Consumer<Pose2d>, poseEstimateSupplier: Supplier<Pose2d>)

Construct a new component to run Pure Pursuit pathing with using your own odometry implementation and drive powers.

Parameters

setDrivePower

a consumer that will take in a pose the motors should be commanded to move in during a path execution

poseEstimateSupplier

a supplier that supplies the current robot pose as per your odometry


constructor(drive: Moveable)

Construct a new component to run Pure Pursuit pathing with.

Parameters

drive

the drive instance that will be used for localisation and controlling motors