frc.team670.robot.commands.drive.purePursuit

Class PathGenerator

java.lang.Object

frc.team670.robot.commands.drive.purePursuit.PathGenerator

public class PathGenerator
extends java.lang.Object

Constructor Summary

Constructors

Constructor and Description
PathGenerator(double spacing)

Method Summary

Modifier and Type	Method and Description
void	addPoint(Vector point)
void	addPoints(Vector... points)
Path	generatePath() Generates a not-reversed path
Path	generatePath(boolean reverse)
void	setSmoothingParameters(double a, double b, double tolerance) Smooths the path using gradient descent
void	setVelocities(double maxVel, double maxAccel, double maxVelk) Initializes the path

Methods inherited from class java.lang.Object

equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Detail

PathGenerator

public PathGenerator(double spacing)

Method Detail

setSmoothingParameters

public void setSmoothingParameters(double a,
                                   double b,
                                   double tolerance)

Smooths the path using gradient descent

Parameters:

a - 1-b

b - smoothing factor (higher = more smooth)

tolerance - convergence tolerance amount (higher = less smoothing)

setVelocities

public void setVelocities(double maxVel,
                          double maxAccel,
                          double maxVelk)

Initializes the path

Parameters:

maxVel - maximum robot velocity

maxAccel - maximum robot acceleration

maxVelk - maximum turning velocity (between 1-5)

addPoint

public void addPoint(Vector point)

addPoints

public void addPoints(Vector... points)

generatePath

public Path generatePath()

Generates a not-reversed path

generatePath

public Path generatePath(boolean reverse)