frc.team670.robot.commands.drive.vision

Class VisionPurePursuitV2

java.lang.Object

Command

frc.team670.robot.commands.drive.vision.VisionPurePursuitV2

public class VisionPurePursuitV2
extends Command

Essentially a combination of VisionPurePursuit and PurePursuit where everything that needs to be done by VisionPurePursuit for setup is done in the initialize method so this will work properly within a CommandGroup.

Constructor Summary

Constructors

Constructor and Description
VisionPurePursuitV2(DriveBase driveBase, MustangSensors sensors, boolean isReversed, MutableDouble finalAngle, double offset, MustangCoprocessor coprocessor)

Method Summary

Methods inherited from class java.lang.Object

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

Constructor Detail

VisionPurePursuitV2

public VisionPurePursuitV2(DriveBase driveBase,
                           MustangSensors sensors,
                           boolean isReversed,
                           MutableDouble finalAngle,
                           double offset,
                           MustangCoprocessor coprocessor)

Parameters:

finalAngle - a MutableDouble object reference to the angle (using zeroed yaw) this PurePursuit command should end up at compared to the zeroed yaw.