com.acmerobotics.roadrunner.followers

Class PathFollower

com.acmerobotics.roadrunner.followers.PathFollower

Direct Known Subclasses:

GVFFollower

public class PathFollower

Generic class Path follower for time-independent pose reference tracking.

See Also:

class Path

Constructor Summary

Constructors

Constructor and Description
PathFollower(NanoClock clock) Generic class Path follower for time-independent pose reference tracking.
PathFollower() Generic class Path follower for time-independent pose reference tracking.

Method Summary

Modifier and Type	Method and Description
void	followPath(Path path) Follow the given path.
NanoClock	getClock() clock
Pose2d	getLastError() Robot pose error computed in the last PathFollower.update call.
Path	getPath()
boolean	isFollowing() Returns true if the current path has finished executing.
void	setLastError(Pose2d p) Robot pose error computed in the last PathFollower.update call.
void	setPath(Path p)
void	update(Pose2d currentPose) Run a single iteration of the path follower.

Constructor Detail

PathFollower

public PathFollower(NanoClock clock)

Generic class Path follower for time-independent pose reference tracking.

Parameters:

clock - clock

clock - clock

See Also:

class Path

PathFollower

public PathFollower()

Generic class Path follower for time-independent pose reference tracking.

See Also:

class Path

Method Detail

getPath

public Path getPath()

setPath

public void setPath(Path p)

getLastError

public Pose2d getLastError()

Robot pose error computed in the last PathFollower.update call.

See Also:

PathFollower.update

setLastError

public void setLastError(Pose2d p)

Robot pose error computed in the last PathFollower.update call.

See Also:

PathFollower.update

followPath

public void followPath(Path path)

Follow the given path.

isFollowing

public boolean isFollowing()

Returns true if the current path has finished executing.

update

public void update(Pose2d currentPose)

Run a single iteration of the path follower.

Parameters:

currentPose - current robot pose

getClock

public NanoClock getClock()

clock