ftc/com.acmerobotics.roadrunner.ftc/DisplacementFollower

DisplacementFollower

class DisplacementFollower @JvmOverloads constructor(val trajectory: DisplacementTrajectory, val drive: Drive, val endConditions: Set<EndCondition> = EndCondition.default) : Follower

Constructors

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@JvmOverloads
constructor(trajectory: Trajectory<*>, drive: Drive, endConditions: Set<EndCondition> = EndCondition.default)
@JvmOverloads
constructor(path: PosePath, drive: Drive, velConstraintOverride: VelConstraint = drive.defaultVelConstraint, accelConstraintOverride: AccelConstraint = drive.defaultAccelConstraint, endConditions: Set<EndCondition> = EndCondition.default)
@JvmOverloads
constructor(trajectory: DisplacementTrajectory, drive: Drive, endConditions: Set<EndCondition> = EndCondition.default)

Properties

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open override var currentTarget: Pose2d
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open override val drive: Drive
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val driveCommand: PoseVelocity2dDual<Time>
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open override val endConditions: Set<EndCondition>
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open override var isDone: Boolean
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open override var lastCommand: PoseVelocity2dDual<Time>
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open override val points: List<Vector2d>
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open override val timer: ElapsedTime
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open override val trajectory: DisplacementTrajectory

Functions

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open override fun follow()