TrajectoryFollower

abstract class TrajectoryFollower @JvmOverloads constructor(admissibleError: Pose2d = Pose2d(), timeout: Double = 0.0, val clock: NanoClock = NanoClock.system)

Generic Trajectory follower for time-based pose reference tracking.

admissibleError

admissible/satisfactory pose error at the end of each move

timeout

max time to wait for the error to be admissible

clock

Constructors

constructor(admissibleError: Pose2d = Pose2d(), timeout: Double = 0.0, clock: NanoClock = NanoClock.system)

protected val clock: NanoClock

Robot pose error computed in the last update call.

Trajectory being followed if isFollowing is true.

Returns the elapsed time since the last followTrajectory call.

Follow the given trajectory.

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

Returns true if the current trajectory is currently executing.

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

Run a single iteration of the trajectory follower.