This returns the velocity the robot needs to be at to make it to the end of the Path at some specified deceleration (well technically just some negative acceleration).

getHeadingOffset

public double getHeadingOffset()

This returns the heading offset.

getHeadingVector

public Vector getHeadingVector()

This returns a Vector in the direction of the robot that contains the heading correction as its magnitude.

getPointFromPath

public Point getPointFromPath(double t)

This gets a Point from the current Path from a specified t-value.

getPose

public Pose getPose()

This returns the current pose from the PoseUpdater.

getTotalHeading

public double getTotalHeading()

This returns the total number of radians the robot has turned.

getTranslationalCorrection

public Vector getTranslationalCorrection()

This returns a Vector in the direction the robot must go to account for only translational error.

getTranslationalError

public Vector getTranslationalError()

This returns the raw translational error, or how far off the closest point the robot is.

getVelocity

public Vector getVelocity()

This returns the current velocity of the robot as a Vector.

getVelocityMagnitude

public double getVelocityMagnitude()

This returns the magnitude of the current velocity.

getVoltage

public double getVoltage()

getVoltageNormalized

public double getVoltageNormalized()

getXOffset

public double getXOffset()

This returns the x offset.

getYOffset

public double getYOffset()

This returns the y offset.

holdPoint

public void holdPoint(Pose pose)

public void holdPoint(BezierPoint point, double heading)

public void holdPoint(Point point, double heading)

This holds a Point.

initialize

public void initialize()

public void initialize(Localizer localizer)

This initializes the follower.

isBusy

public boolean isBusy()

This returns if the Follower is currently following a Path or a PathChain.

isLocalizationNAN

public boolean isLocalizationNAN()

isRobotStuck

public boolean isRobotStuck()

pathBuilder

public PathBuilder pathBuilder()

This returns a new PathBuilder object for easily building PathChains.

refreshVoltage

public void refreshVoltage()

Overrides the voltage cooldown.

resetOffset

public void resetOffset()

This resets all offsets set to the PoseUpdater.

resumePathFollowing

public void resumePathFollowing()

Resumes pathing

setCentripetalScaling

public void setCentripetalScaling(double set)

setCurrentPoseWithOffset

public void setCurrentPoseWithOffset(Pose set)

This sets the current pose, using offsets so no reset time delay.

setHeadingOffset

public void setHeadingOffset(double headingOffset)

This sets the offset for only the heading.

setMaxPower

public void setMaxPower(double set)

This sets the maximum power the motors are allowed to use.

setPose

public void setPose(Pose pose)

This sets the current pose in the PoseUpdater without using offsets.

setStartingPose

public void setStartingPose(Pose pose)

This sets the starting pose.

setTeleOpMovementVectors

public void setTeleOpMovementVectors(double forwardDrive, double lateralDrive, double heading)

public void setTeleOpMovementVectors(double forwardDrive, double lateralDrive, double heading, boolean robotCentric)

This sets the teleop drive vectors.

setXOffset

public void setXOffset(double xOffset)

This sets the offset for only the x position.

setYOffset

public void setYOffset(double yOffset)

This sets the offset for only the y position.

startTeleopDrive

public void startTeleopDrive()

This starts teleop drive control.

telemetryDebug

public void telemetryDebug(MultipleTelemetry telemetry)

public void telemetryDebug(Telemetry telemetry)

This writes out information about the various motion Vectors to the Telemetry specified.

turn

public void turn(double radians, boolean isLeft)

Turns a certain amount of degrees left

turnDegrees

public void turnDegrees(double degrees, boolean isLeft)

Turns a certain amount of degrees left

turnTo

public void turnTo(double radians)

Turns to a specific heading

turnToDegrees

public void turnToDegrees(double degrees)

Turns to a specific heading in degrees

update

public void update()

This calls an update to the PoseUpdater, which updates the robot's current position estimate.

updateCallbacks

public void updateCallbacks()

This checks if any PathCallbacks should be run right now, and runs them if applicable.

updatePose

public void updatePose()

Calls an update to the PoseUpdater, which updates the robot's current position estimate.