BunyipsLib/org.murraybridgebunyips.bunyipslib/StartingConfiguration/Builder/PrebuiltPosition

PrebuiltPosition

A position that can hold extra attributes including rotation and forward translation. The build method is automatically called if forgotten via AutonomousBunyipsOpMode setOpModes(), ensure other implementations are aware of this potential runtime error (attempting to parse a prebuilt position).

Constructors

PrebuiltPosition

constructor()

Functions

backward

fun backward(translationBack: Measure<Distance>): StartingConfiguration.Builder.PrebuiltPosition

Translate backward from the center of the field tile to your robot center as defined by your translate step. This is to align your robot to touching the field wall.

build

fun build(): StartingConfiguration.Position

Construct this position.

rotate

fun rotate(ccwRotation: Measure<Angle>): StartingConfiguration.Builder.PrebuiltPosition

Rotate the starting position in-place to represent what angle your robot is facing relative to facing forward on the chosen alliance side.