core / com.acmerobotics.roadrunner.followers / PathFollower

PathFollower

abstract class PathFollower (source)

Generic Path follower for time-independent pose reference tracking.

Parameters

clock - clock

Constructors

<init>

Generic Path follower for time-independent pose reference tracking.

PathFollower(admissibleError: Pose2d, clock: NanoClock = NanoClock.system())

Properties

clock

clock

val clock: NanoClock

lastError

Robot pose error computed in the last update call.

abstract var lastError: Pose2d

path

Path being followed if isFollowing is true.

lateinit var path: Path

Functions

followPath

Follow the given path.

open fun followPath(path: Path): Unit

internalUpdate

abstract fun internalUpdate(currentPose: Pose2d): DriveSignal

isFollowing

Returns true if the current path has finished executing.

fun isFollowing(): Boolean

update

Run a single iteration of the path follower.

fun update(currentPose: Pose2d): DriveSignal

Inheritors

GVFFollower

State-of-the-art path follower based on the GuidingVectorField.

class GVFFollower : PathFollower