org.usfirst.frc.team1736.lib.FalconPathPlanner

Class PathPlannerAutoEvent

java.lang.Object

org.usfirst.frc.team1736.lib.AutoSequencer.AutoEvent

org.usfirst.frc.team1736.lib.FalconPathPlanner.PathPlannerAutoEvent

public class PathPlannerAutoEvent
extends AutoEvent

Interface into the Casserole autonomous sequencer for a path-planned traversal. Simply wraps path-planner functionality into the AutoEvent abstract class.

Field Summary

Fields

Modifier and Type	Field and Description
MecanumPathPlanner	path

Fields inherited from class org.usfirst.frc.team1736.lib.AutoSequencer.AutoEvent

childEvents, isRunning, localUpdateCount

Constructor Summary

Constructors

Constructor and Description
PathPlannerAutoEvent(double[][] waypoints_in, double timeAllowed_in, DriveTrainWheelSpeedPI leftFrontMotor_in, DriveTrainWheelSpeedPI rightFrontMotor_in, DriveTrainWheelSpeedPI leftRearMotor_in, DriveTrainWheelSpeedPI rightRearMotor_in) Constructor.

Method Summary

Modifier and Type	Method and Description
boolean	isDone() Returns true once we've run the whole path
boolean	isTriggered() Always returns true, since the routine should run as soon as it comes up in the list.
void	userForceStop() Force both sides of the drivetrain to zero
void	userStart() perform all actions needed at the start of the event
void	userUpdate() On the first loop, calculates velocities needed to take the path specified.

Methods inherited from class org.usfirst.frc.team1736.lib.AutoSequencer.AutoEvent

addChildEvent, forceStopAllChildren

Methods inherited from class java.lang.Object

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

Field Detail

path

public MecanumPathPlanner path

Constructor Detail

PathPlannerAutoEvent

public PathPlannerAutoEvent(double[][] waypoints_in,
                            double timeAllowed_in,
                            DriveTrainWheelSpeedPI leftFrontMotor_in,
                            DriveTrainWheelSpeedPI rightFrontMotor_in,
                            DriveTrainWheelSpeedPI leftRearMotor_in,
                            DriveTrainWheelSpeedPI rightRearMotor_in)

Constructor. Set up the parameters of the planner here.

Parameters:

waypoints_in - Set of x/y points which define the path the robot should take.

timeAllowed_in - Number of seconds the path traversal should take. Must be long enough to allow the path planner to output realistic speeds.

leftFrontMotor_in - Reference to the PID which controls the left front wheel of the drivetrain. Presumes the .set() method accepts units of ft/sec.

rightFrontMotor_inReference - to the PID which controls the right front wheel of the drivetrain. Presumes the .set() method accepts units of ft/sec.

leftRearMotor_in - Reference to the PID which controls the left rear wheel of the drivetrain. Presumes the .set() method accepts units of ft/sec.

rightRearMotor_in - Reference to the PID which controls the right rear wheel of the drivetrain. Presumes the .set() method accepts units of ft/sec.

Method Detail

userUpdate

public void userUpdate()

On the first loop, calculates velocities needed to take the path specified. Later loops will assign these velocities to the drivetrain at the proper time.

Specified by:

userUpdate in class AutoEvent

userForceStop

public void userForceStop()

Force both sides of the drivetrain to zero

Specified by:

userForceStop in class AutoEvent

isTriggered

public boolean isTriggered()

Always returns true, since the routine should run as soon as it comes up in the list.

Specified by:

isTriggered in class AutoEvent

Returns:

True if the trigger condition has been hit, false otherwise

isDone

public boolean isDone()

Returns true once we've run the whole path

Specified by:

isDone in class AutoEvent

Returns:

True if the event no longer needs updating, false otherwise.

userStart

public void userStart()

Description copied from class: AutoEvent

perform all actions needed at the start of the event

Specified by:

userStart in class AutoEvent