PathFollower

abstract class PathFollower (source)

Generic Path follower for time-independent pose reference tracking.

clock - clock

Generic Path follower for time-independent pose reference tracking.

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

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`

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`

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

class GVFFollower : PathFollower