BunyipsLib/org.murraybridgebunyips.bunyipslib/StartingConfiguration/Position

Position

data class Position(val alliance: StartingConfiguration.Alliance, val origin: StartingConfiguration.Origin, val backwardTranslation: Measure<Distance>, val horizontalTranslation: Measure<Distance>, val ccwRotation: Measure<Angle>)

Represents a position that a robot is able to start a match in.

Constructors

constructor(alliance: StartingConfiguration.Alliance, origin: StartingConfiguration.Origin, backwardTranslation: Measure<Distance>, horizontalTranslation: Measure<Distance>, ccwRotation: Measure<Angle>)

Properties

val alliance: StartingConfiguration.Alliance

The alliance this robot is starting in.

backwardTranslation

val backwardTranslation: Measure<Distance>

The translation from the center of the field tile to the robot center, in order to touch the field wall.

val ccwRotation: Measure<Angle>

Counter-clockwise rotation of the robot in the starting position.

horizontalTranslation

val horizontalTranslation: Measure<Distance>

The translation from the origin to the robot center.

val isBlue: Boolean

Whether this starting configuration is on the blue alliance.

val isLeft: Boolean

Whether this starting configuration is left-biased.

val isRed: Boolean

Whether this starting configuration is on the red alliance.

val isRight: Boolean

Whether this starting configuration is right-biased.

val origin: StartingConfiguration.Origin

The side the robot is biased or has been placed on.

Functions

fun invert(): StartingConfiguration.Position

Invert this starting configuration over the center of the field, returning a new starting configuration that is a direct mirror on the other alliance (symmetrical mirror).

fun toFieldPose(): Pose2d

Convert this starting configuration into the FTC Field Coordinate/RoadRunner coordinate system.

toStartingPosition

fun toStartingPosition(): StartingPositions

Convert this starting configuration into a face-value StartingPositions entry. Note that pose data is not accounted in this method, and interprets only based on the origin and alliance.

open override fun toString(): String

Returns a HTML string to represent this starting configuration.

toVerboseString

fun toVerboseString(): String

Return an informative string about this starting configuration.