Command/com.amarcolini.joos.hardware.drive/DriveTrajectoryFollower

DriveTrajectoryFollower

public interface DriveTrajectoryFollower implements DriveComponent

Functions

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public Command followTrajectory(Trajectory trajectory)

Returns a Command that follows the provided trajectory.

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public Trajectory getCurrentTrajectory()

Returns the trajectory currently being followed by this drive, if any.

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public TrajectoryBuilder trajectoryBuilder()
public TrajectoryBuilder trajectoryBuilder(Pose2d startPose)
public TrajectoryBuilder trajectoryBuilder(Pose2d startPose, Angle startTangent)
public TrajectoryBuilder trajectoryBuilder(Pose2d startPose, Boolean reversed)

Returns a TrajectoryBuilder with the constraints of this drive.