public class PathFollower
Generic class Path follower for time-independent pose reference tracking.
class Path@NotNull protected Path path
Path being followed if isFollowing is true.
isFollowing@JvmOverloads
public PathFollower(@NotNull
Pose2d admissibleError,
@NotNull
NanoClock clock)
Generic class Path follower for time-independent pose reference tracking.
clock - clockclass Path@JvmOverloads
public PathFollower(@NotNull
Pose2d admissibleError)
Generic class Path follower for time-independent pose reference tracking.
class Path@NotNull public Path getPath()
Path being followed if isFollowing is true.
isFollowingprotected void setPath(@NotNull
Path p)
Path being followed if isFollowing is true.
isFollowing@NotNull public Pose2d getLastError()
Robot pose error computed in the last update call.
updateprotected void setLastError(@NotNull
Pose2d p)
Robot pose error computed in the last update call.
updatepublic void followPath(@NotNull
Path path)
Follow the given path.
path - pathpathpublic boolean isFollowing()
Returns true if the current path has finished executing.
@NotNull public DriveSignal update(@NotNull Pose2d currentPose)
Run a single iteration of the path follower.
currentPose - current robot pose@NotNull protected DriveSignal internalUpdate(@NotNull Pose2d currentPose)
@NotNull protected NanoClock getClock()
clock