Navigation/com.amarcolini.joos.followers/PathFollower

PathFollower

abstract class PathFollower @JvmOverloads constructor(val admissibleError: Pose2d, val clock: NanoClock = NanoClock.system)

Generic Path follower for time-independent pose reference tracking.

Parameters

clock

clock

Inheritors

HolonomicGVFFollower

Constructors

constructor(admissibleError: Pose2d, clock: NanoClock = NanoClock.system)

Properties

admissibleError

protected val admissibleError: Pose2d

protected val clock: NanoClock

abstract var lastError: Pose2d

Robot pose error computed in the last update call.

lateinit var path: Path

Path being followed if isFollowing is true.

Functions

open fun followPath(path: Path)

Follow the given path.

protected abstract fun internalUpdate(currentPose: Pose2d, currentRobotVel: Pose2d?): DriveSignal

fun isFollowing(): Boolean

Returns false if the current path has finished executing.

fun update(currentPose: Pose2d, currentRobotVel: Pose2d? = null): DriveSignal

Run a single iteration of the path follower.