frc.team670.robot.commands.drive.purePursuit

Class PurePursuitTracker

java.lang.Object

frc.team670.robot.commands.drive.purePursuit.PurePursuitTracker

public class PurePursuitTracker
extends java.lang.Object

Given a path and a couple parameters, this class will handle much of the processing of the Pure Pursuit algorithm

Constructor Summary

Constructors

Constructor and Description
PurePursuitTracker(PoseEstimator poseEstimator, DriveBase driveBase, MustangSensors sensors) Makes a Pure Pursuit Tracker that is not reversed
PurePursuitTracker(PoseEstimator poseEstimator, DriveBase driveBase, MustangSensors sensors, boolean isReversed)

Method Summary

Modifier and Type	Method and Description
Path	getPath()
boolean	isDone() Tells PurePursuitAction when we are done, indicated by the closest point being the last point of the path
void	reset()
void	setPath(Path path, double lookaheadDistance) Sets the path to be tracked
DrivePower	update(Vector currPose, double currLeftVel, double currRightVel, double heading) Updates the tracker and returns left and right velocities

Methods inherited from class java.lang.Object

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

Constructor Detail

PurePursuitTracker

public PurePursuitTracker(PoseEstimator poseEstimator,
                          DriveBase driveBase,
                          MustangSensors sensors,
                          boolean isReversed)

PurePursuitTracker

public PurePursuitTracker(PoseEstimator poseEstimator,
                          DriveBase driveBase,
                          MustangSensors sensors)

Makes a Pure Pursuit Tracker that is not reversed

Method Detail

setPath

public void setPath(Path path,
                    double lookaheadDistance)

Sets the path to be tracked

Parameters:

path - path to be tracked

lookaheadDistance - lookahead distance (ideally between 15-24 inches)

getPath

public Path getPath()

reset

public void reset()

update

public DrivePower update(Vector currPose,
                         double currLeftVel,
                         double currRightVel,
                         double heading)

Updates the tracker and returns left and right velocities

Parameters:

currPose - current position of robot

currLeftVel - current left velocity of robot

currRightVel - current right velocity of robot

heading - current angle of robot

Returns:

left and right velocities to be sent to drivetrain

isDone

public boolean isDone()

Tells PurePursuitAction when we are done, indicated by the closest point being the last point of the path

Returns:

whether or not we should finish