ftc/gay.zharel.hermes.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

cancel

open override fun cancel()

Cancels the follower. If trajectory is cancelable, this function will cancel smoothly, otherwise, it will simply stop the robot.

open override fun follow()