Package me.wobblyyyy.pathfinder.followers

Class TrajectoryFollower

java.lang.Object
me.wobblyyyy.pathfinder.followers.TrajectoryFollower
All Implemented Interfaces:
Follower
public class TrajectoryFollower
extends java.lang.Object
implements Follower
A lovely follower designed for trajectories. Normal followers, although quite cool, aren't exactly as lovely as trajectory followers. Trajectories are at least 25% more epic than normal lines.
Since:
0.5.0
Author:
Colin Robertson

  • Field Summary

    Fields
    Modifier and Type Field Description
    private Drive drive  
    private boolean hasFinished  
    private Odometry odometry  
    private double power  
    private Trajectory trajectory  

  • Constructor Summary

    Constructors
    Constructor Description
    TrajectoryFollower​(Trajectory trajectory, Odometry odometry, Drive drive, PathfinderConfig config)  

  • Method Summary

    Modifier and Type Method Description
    void calculate()
    Calculate a list of all the instructions needed to follow the path.
    void drive()
    Drive the robot itself.
    RTransform getTransform​(Point current, Point target, Angle angle)
    Get a robot transformation based on current position, target position, and current angle.
    boolean isDone()
    Whether or not the follower has finished its execution.
    void update()
    Update the follower's drive values.

    Methods inherited from class java.lang.Object

    clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

  • Field Details

    • power

      private final double power

    • trajectory

      private final Trajectory trajectory

    • odometry

      private final Odometry odometry

    • drive

      private final Drive drive

    • hasFinished

      private boolean hasFinished

  • Constructor Details

  • Method Details

    • update

      public void update()
      Description copied from interface: Follower
      Update the follower's drive values.
      Specified by:
      update in interface Follower

    • calculate

      public void calculate()
      Description copied from interface: Follower
      Calculate a list of all the instructions needed to follow the path.

      This should (needs to, really) be run before the robot makes any sort of movement in any direction - otherwise, you're defeating the whole purpose of having a pre-planned route.

      Specified by:
      calculate in interface Follower

    • getTransform

      public RTransform getTransform​(Point current, Point target, Angle angle)
      Get a robot transformation based on current position, target position, and current angle.
      Parameters:
      current - the robot's current position.
      target - the robot's target position.
      angle - the angle the robot should face.
      Returns:
      a new transformation based on the current and target points, as well as the provided angle.

    • drive

      public void drive()
      Description copied from interface: Follower
      Drive the robot itself.

      The drive method should almost always call another drive method, a drive method that's contained in a Drive class, actually. Driving the robot within the follower is a shitty idea, and you shouldn't do it.

      Specified by:
      drive in interface Follower

    • isDone

      public boolean isDone()
      Description copied from interface: Follower
      Whether or not the follower has finished its execution.
      Specified by:
      isDone in interface Follower
      Returns:
      whether or not the follower has finished its execution.