com.acmerobotics.roadrunner.profile

Class MotionProfileBuilder

com.acmerobotics.roadrunner.profile.MotionProfileBuilder

public class MotionProfileBuilder

Easy-to-use builder for creating motion profiles.

Constructor Summary

Constructors

Constructor and Description
MotionProfileBuilder(MotionState start) Easy-to-use builder for creating motion profiles.

Method Summary

Modifier and Type	Method and Description
MotionProfileBuilder	appendAccelerationControl(double accel, double dt) Appends a constant-acceleration control for the provided duration.
MotionProfileBuilder	appendJerkControl(double jerk, double dt) Appends a constant-jerk control for the provided duration.
MotionProfileBuilder	appendProfile(MotionProfile profile) Appends a class MotionProfile to the current queue of control actions.
MotionProfile	build() Constructs and returns the class MotionProfile instance.

Constructor Detail

MotionProfileBuilder

public MotionProfileBuilder(@NotNull
                            MotionState start)

Easy-to-use builder for creating motion profiles.

Parameters:

start - start motion state

Method Detail

appendJerkControl

@NotNull
public MotionProfileBuilder appendJerkControl(double jerk,
                                                       double dt)

Appends a constant-jerk control for the provided duration.

appendAccelerationControl

@NotNull
public MotionProfileBuilder appendAccelerationControl(double accel,
                                                               double dt)

Appends a constant-acceleration control for the provided duration.

appendProfile

@NotNull
public MotionProfileBuilder appendProfile(@NotNull
                                                   MotionProfile profile)

Appends a class MotionProfile to the current queue of control actions.

See Also:

class MotionProfile

build

@NotNull
public MotionProfile build()

Constructs and returns the class MotionProfile instance.

See Also:

class MotionProfile