Modifying Constants

Pedro constants can be modified both locally and globally. For more information about the different options, see Foresight Options and Path Constraints. Here's how to change your constants:

Global Values

The values in your Constants.java are the global values. Consider the following example:

public static ForesightConfig foresightConfig = new ForesightConfig(
    c -> {
        c.brakeAggression.set(1.0);
        c.maxBrakingPower.set(0.2);
        c.maxAccelerationConstraint.set(ForesightConfig.Constraint.NONE);
        c.maxVelocityConstraint.set(ForesightConfig.Constraint.NONE);
        c.maxDecelerationConstraint.set(ForesightConfig.Constraint.NONE);
        c.coastDownToVelocity.set(0.0);

        // Other Foresight constants...
    }
);

The values in this excerpt are the global values that will be used for all paths by default. Unless the constants for a specific path are modified locally, these are the values that will be used.

Local Values

Local values take precedence over global values, meaning they will overwrite the global ones for the Path object they are associated with.

To change the local constants for a specific path, you can reference the following example, using the with() method of the Path class:

forwards = curve(Pose.zero(), new Pose(72,72))
                .constant(0)
                .with(
                        Constants.foresightConfig.maxPathSpeed.at(0.8),
                        Constants.foresightConfig.maxDecelerationScale.at(0.75),
                        Constants.foresightConfig.headingDriveRatio.at(0.7)
                );

Essentially, you call at() on a specific constant, represented as a ConfigVar object in Pedro, and pass that into the with() function. This can be done when initializing the Path or later. You may pass in any number of modifiers into the with() function.

These local constants will only alter this specific path, and will not affect any other paths.