Package lib.auton

Class PathManager

java.lang.Object
lib.auton.PathManager
public final class PathManager extends Object

  • Field Summary

    Fields
    Modifier and Type
    Field
    Description
    static final boolean
    ABSOLUTE_PATHPLANNER_POSITIONING
    When false, PathPlanner paths will be moved so that the starting position of the path lines up with the robot position when the auton starts.
    static final int
    PATHPLANNER_PREVIEW_STEPS
     
    static final double
    PATHPLANNER_SLOWDOWN_FACTOR
     

  • Method Summary

    Modifier and Type
    Method
    Description
    static edu.wpi.first.wpilibj2.command.Command
    c_path(String name)
     
    static edu.wpi.first.math.geometry.Pose2d[]
    makeTrajPreview(com.pathplanner.lib.trajectory.PathPlannerTrajectory traj, int steps)
     
    static edu.wpi.first.math.geometry.Pose2d[]
    makeTrajPreview(com.pathplanner.lib.trajectory.PathPlannerTrajectory traj, edu.wpi.first.math.geometry.Pose2d start, int steps)
     
    static edu.wpi.first.math.geometry.Pose2d
    sampleTraj(com.pathplanner.lib.trajectory.PathPlannerTrajectory traj, edu.wpi.first.math.geometry.Pose2d start, double time)
     
    static boolean
    shouldFlip()
     

    Methods inherited from class java.lang.Object

    clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

  • Field Details

    • ABSOLUTE_PATHPLANNER_POSITIONING

      public static final boolean ABSOLUTE_PATHPLANNER_POSITIONING
      When false, PathPlanner paths will be moved so that the starting position of the path lines up with the robot position when the auton starts.

      When true, paths will not be moved, and the robot will try to get to the absolute position of the path on the field.

      See Also:

    • PATHPLANNER_SLOWDOWN_FACTOR

      public static final double PATHPLANNER_SLOWDOWN_FACTOR
      See Also:

    • PATHPLANNER_PREVIEW_STEPS

      public static final int PATHPLANNER_PREVIEW_STEPS
      See Also:

  • Method Details

    • shouldFlip

      public static boolean shouldFlip()

    • c_path

      public static edu.wpi.first.wpilibj2.command.Command c_path(String name)

    • makeTrajPreview

      public static edu.wpi.first.math.geometry.Pose2d[] makeTrajPreview(com.pathplanner.lib.trajectory.PathPlannerTrajectory traj, int steps)

    • makeTrajPreview

      public static edu.wpi.first.math.geometry.Pose2d[] makeTrajPreview(com.pathplanner.lib.trajectory.PathPlannerTrajectory traj, edu.wpi.first.math.geometry.Pose2d start, int steps)

    • sampleTraj

      public static edu.wpi.first.math.geometry.Pose2d sampleTraj(com.pathplanner.lib.trajectory.PathPlannerTrajectory traj, edu.wpi.first.math.geometry.Pose2d start, double time)