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

DriveTrajectoryFollower

interface DriveTrajectoryFollower : DriveComponent

Properties

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Functions

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open fun followTrajectory(trajectory: Trajectory): Command

Returns a Command that follows the provided trajectory.

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open fun getCurrentTrajectory(): Trajectory?

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

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open fun trajectoryBuilder(): TrajectoryBuilder
open fun trajectoryBuilder(startPose: Pose2d): TrajectoryBuilder
open fun trajectoryBuilder(startPose: Pose2d = poseEstimate, startTangent: Angle = startPose.heading): TrajectoryBuilder
open fun trajectoryBuilder(startPose: Pose2d = poseEstimate, reversed: Boolean): TrajectoryBuilder

Returns a TrajectoryBuilder with the constraints of this drive.