ftc

0.3.0

ftc/gay.zharel.hermes.ftc/Follower

Follower

interface Follower

Inheritors

DisplacementFollower

Properties

abstract val currentTarget: Pose2d

abstract val drive: Drive

abstract val endConditions: Set<EndCondition>

abstract val isDone: Boolean

abstract val lastCommand: PoseVelocity2dDual<Time>

open val points: List<Vector2d>

abstract val timer: ElapsedTime

abstract val trajectory: TrajectoryWithMarkers<*>

triggeredMarkers

abstract val triggeredMarkers: MutableSet<Marker>

Tracks which markers have been triggered.

Functions

abstract fun cancel()

Cancels the follower. If trajectory is cancelable, this function will cancel smoothly, otherwise, it will simply stop the robot.

abstract fun follow()