Package xbot.common.trajectory

Class SwerveSimpleTrajectoryLogic

java.lang.Object
xbot.common.trajectory.SwerveSimpleTrajectoryLogic
public class SwerveSimpleTrajectoryLogic extends Object

  • Constructor Details

    • SwerveSimpleTrajectoryLogic

      public SwerveSimpleTrajectoryLogic(RobotAssertionManager assertionManager)

  • Method Details

    • setEnableSpecialAimTarget

      public void setEnableSpecialAimTarget(boolean enableSpecialAimTarget)

    • setRotationPrioritizationScaleback

      public SwerveSimpleTrajectoryLogic setRotationPrioritizationScaleback(double rotationPrioritizationScaleback)

    • setEnableSpecialAimDuringFinalLeg

      public void setEnableSpecialAimDuringFinalLeg(boolean enableSpecialAimDuringFinalLeg)

    • setSpecialAimTarget

      public void setSpecialAimTarget(Pose2d specialAimTarget)

    • setAimAtGoalDuringFinalLeg

      public void setAimAtGoalDuringFinalLeg(boolean aimAtGoalDuringFinalLeg)

    • setAimAtIntermediateNonFinalLegs

      public void setAimAtIntermediateNonFinalLegs(boolean aimAtIntermediateNonFinalLegs)

    • setDriveBackwards

      public void setDriveBackwards(boolean driveBackwards)

    • setWaypointRouter

      public void setWaypointRouter(ProvidesWaypoints waypointRouter)

    • setKeyPoints

      public void setKeyPoints(List<XbotSwervePoint> keyPoints)

    • setKeyPointsProvider

      public void setKeyPointsProvider(Supplier<List<XbotSwervePoint>> keyPointsProvider)

    • setMaxPower

      public void setMaxPower(double maxPower)

    • setMaxTurningPower

      public void setMaxTurningPower(double maxTurningPower)

    • getKeyPoints

      public List<XbotSwervePoint> getKeyPoints()

    • getResolvedKeyPoints

      public List<XbotSwervePoint> getResolvedKeyPoints()

    • setStopWhenFinished

      public void setStopWhenFinished(boolean newValue)

    • setPrioritizeRotationIfCloseToGoal

      public void setPrioritizeRotationIfCloseToGoal(boolean prioritizeRotationIfCloseToGoal)

    • setDistanceThresholdToPrioritizeRotation

      public void setDistanceThresholdToPrioritizeRotation(double distanceThresholdToPrioritizeRotation)

    • setVelocityMode

      public void setVelocityMode(SwerveSimpleTrajectoryMode mode)

    • setConstantVelocity

      public void setConstantVelocity(double constantVelocity)

    • setGlobalKinematicValues

      public void setGlobalKinematicValues(SwervePointKinematics globalKinematics)

    • reset

      public void reset(Pose2d currentPose)

    • getGoalVector

      public XYPair getGoalVector(Pose2d currentPose)

    • calculatePowers

      public Twist2d calculatePowers(Pose2d currentPose, PIDManager positionalPid, HeadingModule headingModule)

    • calculatePowers

      public Twist2d calculatePowers(Pose2d currentPose, PIDManager positionalPid, HeadingModule headingModule, double maximumVelocity)

    • recommendIsFinished

      public boolean recommendIsFinished(Pose2d currentPose, PIDManager positionalPid, HeadingModule headingModule)

    • getLastResult

      public SimpleTimeInterpolator.InterpolationResult getLastResult()