Creating a Path

Now that we have created two Poses, we can create a path between them.

If you need help creating Poses, see Creating a Pose.

Importing Path Methods

The methods in the Paths class can be statically imported:

import static com.pedropathing.api.Paths.*;

import com.pedropathing.paths.Path;

This allows us to use line() and curve() directly instead of writing Paths.line() and Paths.curve().

Creating a Line

Create a method to return your path just under your poses:

//poses from before

private Path park() {
    return line(startPose, park).linear(startPose, park);
}

Let's break down the parts of the path quickly:

line() creates a straight path from startPose to park.

The .linear() part is our Interpolation. It changes the robot's heading from the heading of startPose to the heading of park while it moves along the path. You can play around with this on the visualizer.

Creating a Curve

You can also create curved paths with curve().

First, create a control Pose with your other poses:

// other poses...
private final Pose controlPose = p.of(36, 60, 45);

Then we can create a curve by adding the controlPose in the middle of our other two poses:

private Path park() {
    return curve(startPose, controlPose, park).linear(startPose, park);
}

The first and last Poses are the start and end of the curve. Any Poses between them are control points that change the shape of the curve.

For our first autonomous, we'll continue using the straight path:

line(startPose, park).linear(startPose, park);

For more path options, see Path Creation. For more information about curves, see Bezier Curves.

Next Step

Our path is ready. Next, we'll tell the follower to follow it.

Continue to Following a Path.