Creating a Pose

Now that we have our Autonomous class and follower setup, it's time to start pathing. To do this we need to use Poses.

A Pose represents a position and heading on the field using three values: x, y, and heading. We use the Pedro Coordinates system instead of the FTC official coordinate system.

Creating a PoseFactory

We'll use a PoseFactory to create our Poses.

First, add these imports:

import com.pedropathing.api.PoseFactory;
import com.pedropathing.math.Pose;

For this guide, we'll use degrees for our heading values. Add this line after where you inititialized your follower:

public class ExampleAuto extends OpMode {

    private Follower follower; // you added this before
    private final PoseFactory p = PoseFactory.degrees(); // add this

If you prefer radians, you can use PoseFactory.radians() instead.

Creating the Poses

We'll create two Poses specifying the startpoint and endpoint of the path we want the robot to follow. Poses should be declared outside of any method, so that they are accessible anywhere:

private final PoseFactory p = PoseFactory.degrees(); // the factory we added before, we are still at the top of the class

// our poses
private final Pose startPose = p.of(24, 24, 0);
private final Pose park = p.of(48, 48, 90);

The values are entered in this order:

p.of(x, y, heading);

So startPose is at (24, 24) facing 0 degrees, and park is at (48, 48) facing 90 degrees.

Setting the Starting Pose

The follower also needs to know where the robot starts on the field.

Add setPose() after creating the follower in your init method:

@Override
public void init() {
    follower = Constants.create(hardwareMap);
    follower.setPose(startPose);
}

The Pose given to setPose() should match where the robot is actually placed at the start of the OpMode.

For more technical information about PoseFactory, see the Pose Factory reference.

Next Step

Now that we have startPose and park, we can create a path between them.

Continue to Creating a Path.