ftc/com.acmerobotics.roadrunner.ftc/DisplacementFollower

DisplacementFollower

class DisplacementFollower @JvmOverloads constructor(val trajectory: TrajectoryWithMarkers<Arclength>, val drive: Drive, val endConditions: Set<EndCondition> = EndCondition.default) : Follower

Constructors

@JvmOverloads

constructor(trajectory: Trajectory<*>, drive: Drive, endConditions: Set<EndCondition> = EndCondition.default)

@JvmOverloads

constructor(path: PosePath, drive: Drive, velConstraintOverride: VelConstraint = drive.defaultVelConstraint, accelConstraintOverride: AccelConstraint = drive.defaultAccelConstraint, endConditions: Set<EndCondition> = EndCondition.default)

@JvmOverloads

constructor(trajectory: TrajectoryWithMarkers<Arclength>, drive: Drive, endConditions: Set<EndCondition> = EndCondition.default)

Properties

currentTarget

open override var currentTarget: Pose2d

drive

open override val drive: Drive

driveCommand

val driveCommand: PoseVelocity2dDual<Time>

endConditions

open override val endConditions: Set<EndCondition>

isDone

open override var isDone: Boolean

lastCommand

open override var lastCommand: PoseVelocity2dDual<Time>

points

open override val points: List<Vector2d>

timer

open override val timer: ElapsedTime

trajectory

open override val trajectory: TrajectoryWithMarkers<Arclength>

triggeredMarkers

open override val triggeredMarkers: MutableSet<Marker>

Tracks which markers have been triggered.

Functions

open override fun follow()