frc.team670.robot.utils

Class TrajectoryBuilder

java.lang.Object

frc.team670.robot.utils.TrajectoryBuilder

public class TrajectoryBuilder
extends java.lang.Object

Receives a stream of Double Arrays over NetworkTables containing calculated Segments and creates a Trajectory out of them.

Author:

shaylandias

Constructor Summary

Constructors

Constructor and Description
TrajectoryBuilder()
TrajectoryBuilder(java.lang.String tableName, java.lang.String entryKey, java.lang.String confirmationEntryKey)

Method Summary

Modifier and Type	Method and Description
Trajectory	getTrajectory() Gets the Trajectory built
boolean	isFinishedBuilding()

Methods inherited from class java.lang.Object

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

Constructor Detail

TrajectoryBuilder

public TrajectoryBuilder()

TrajectoryBuilder

public TrajectoryBuilder(java.lang.String tableName,
                         java.lang.String entryKey,
                         java.lang.String confirmationEntryKey)

Parameters:

tableName - Name of the table to get the entry from

entryKey - The key for the NetworkTableEntry where the Segments will be streamed to as Double Arrays of 8 values in order: dt, x, y, position, velocity, acceleration, jerk, heading.

confirmationEntryKey - The key for the NetworkTableEntry where the boolean of whether or not the Segments have been fully streamed will be stored.

Method Detail

isFinishedBuilding

public boolean isFinishedBuilding()

Returns:

True if finished building

getTrajectory

public Trajectory getTrajectory()

Gets the Trajectory built