Package org.wildstang.framework.auto.steps

Class SwervePathFollowerStep

  • public class SwervePathFollowerStep
extends AutoStep

    • Constructor Summary

      Constructors 
      Constructor Description
      SwervePathFollowerStep​(com.pathplanner.lib.PathPlannerTrajectory pathData, SwerveDriveTemplate drive, boolean isBlue)
      Sets the robot to track a new path finishes after all values have been read to robot

    • Method Summary

      All Methods Instance Methods Concrete Methods 
      Modifier and Type Method Description
      double getHeading()  
      double getVelocity()  
      void initialize()
      This method is called once, when the step is first run.
      java.lang.String toString()
      Returns the name of the AutoStep, used to uniquely identify the step.
      void update()
      This method is called on the active step, once per call to RobotTemplate.autonomousPeriodic().

      • Methods inherited from class java.lang.Object

        clone, equals, finalize, getClass, hashCode, notify, notifyAll, wait, wait, wait

    • Constructor Detail

      • SwervePathFollowerStep

        public SwervePathFollowerStep​(com.pathplanner.lib.PathPlannerTrajectory pathData,
                              SwerveDriveTemplate drive,
                              boolean isBlue)
        Sets the robot to track a new path finishes after all values have been read to robot
        Parameters:
        pathData - double[][] that contains path, should be from \frc\paths
        drive - the swerveDrive subsystem
        isBlue - whether the robot is on the blue alliance

    • Method Detail

      • initialize

        public void initialize()
        Description copied from class: AutoStep
        This method is called once, when the step is first run. Use this method to set up anything that is necessary for the step.
        Specified by:
        initialize in class AutoStep

      • update

        public void update()
        Description copied from class: AutoStep
        This method is called on the active step, once per call to RobotTemplate.autonomousPeriodic(). Steps will continue to have this method called until they set finished to true. Note: this method is first called right after initialize(), with no delay in between.
        Specified by:
        update in class AutoStep

      • toString

        public java.lang.String toString()
        Description copied from class: AutoStep
        Returns the name of the AutoStep, used to uniquely identify the step.
        Specified by:
        toString in class AutoStep
        Returns:
        Name of the AutoStep.

      • getVelocity

        public double getVelocity()

      • getHeading

        public double getHeading()