Package com.lightningrobotics.common.auto

Class Path

java.lang.Object

com.lightningrobotics.common.auto.Path

public class Path
extends java.lang.Object

Object class representing a path a LightningDrivetrain can follow.

Constructor Summary

Constructors

Constructor	Description
Path(java.lang.String fname, boolean reversed)	Constructor creates path object
Path(java.lang.String name, java.util.List<edu.wpi.first.math.geometry.Pose2d> waypoints)	Constructor creates path object
Path(java.lang.String name, java.util.List<edu.wpi.first.math.geometry.Pose2d> waypoints, boolean reversed)	Constructor creates path object
Path(java.util.List<edu.wpi.first.math.geometry.Pose2d> waypoints)	Constructor creates path object
Path(java.util.List<edu.wpi.first.math.geometry.Pose2d> waypoints, boolean reversed)

Method Summary

Modifier and Type	Method	Description
edu.wpi.first.wpilibj2.command.Command	getCommand(LightningDrivetrain drivetrain)	Retrieves the path represented as a command
double	getDuration(LightningDrivetrain drivetrain)	The duration of time it will take the robot to complete the path
java.lang.String	getName()	Name of path
boolean	getReversed()	Direction path should be followed
Trajectory	getTrajectory(LightningDrivetrain drivetrain)	Obtains an optimized trajectory the robot should follow so it hits all the waypoints

Methods inherited from class java.lang.Object

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

Constructor Detail

Path

public Path(java.util.List<edu.wpi.first.math.geometry.Pose2d> waypoints)

Constructor creates path object

Parameters:

waypoints - List of waypoints for the optimized path to follow

Path

public Path(java.util.List<edu.wpi.first.math.geometry.Pose2d> waypoints,
            boolean reversed)

Path

public Path(java.lang.String name,
            java.util.List<edu.wpi.first.math.geometry.Pose2d> waypoints)

Constructor creates path object

Parameters:

name - The name of the path

waypoints - List of waypoints for the optimized path to follow

Path

public Path(java.lang.String name,
            java.util.List<edu.wpi.first.math.geometry.Pose2d> waypoints,
            boolean reversed)

Constructor creates path object

Parameters:

name - The name of the path

waypoints - List of waypoints for the optimized path to follow

reversed - Direction robot should follow path

Path

public Path(java.lang.String fname,
            boolean reversed)

Constructor creates path object

Parameters:

fname - The file name of the path to load (either a path file or a json file)

reversed - Direction robot should follow path

Method Detail

getName

public java.lang.String getName()

Name of path

Returns:

The name of the path

getReversed

public boolean getReversed()

Direction path should be followed

Returns:

The direction the path should be followed

getTrajectory

public Trajectory getTrajectory(LightningDrivetrain drivetrain)

Obtains an optimized trajectory the robot should follow so it hits all the waypoints

Parameters:

drivetrain - Drivetrain object of the robot the path should be configured for

Returns:

A trajectory the robot can follow

getDuration

public double getDuration(LightningDrivetrain drivetrain)

The duration of time it will take the robot to complete the path

Parameters:

drivetrain - Drivetrain object of the robot the path should be configured for

Returns:

The number of seconds the robot will need to complete driving the path

getCommand

public edu.wpi.first.wpilibj2.command.Command getCommand(LightningDrivetrain drivetrain)
                                                  throws java.lang.Exception

Retrieves the path represented as a command

Parameters:

drivetrain - Drivetrain object of the robot the path should be configured for

Returns:

A command representing the path that can be driven by the given drivetrain

Throws:

java.lang.Exception - if given drivetrain is unsupported