org.usfirst.frc.team1736.lib.PathPlanner

Class casserolePathExecutor

java.lang.Object

org.usfirst.frc.team1736.lib.PathPlanner.casserolePathExecutor

public abstract class casserolePathExecutor
extends java.lang.Object

Nested Class Summary

Nested Classes

Modifier and Type	Class and Description
class	casserolePathExecutor.PathPlanningPlayback

Method Summary

Modifier and Type	Method and Description
void	calcPath(int auto_mode) Calc Path - must be run in auto_init to calculate a path based on the selected auto mode.
boolean	isPlaybackActive() Returns true if playback is currently running, false if not.
void	plannerStep() Will be called periodically to command the pathPlanner headings.
abstract void	setAutonomousDrivetrainSpeeds(double left_motor_vel, double right_motor_vel, double pp_des_heading)
int	startPlayback() begins background thread commanding motor values through the determined path
abstract void	startPlaybackCallback()
int	stopPlayback() Forcibly stops any background playback occurring
abstract void	stopPlaybackCallback() This method gets called as soon as playback has finished.

Methods inherited from class java.lang.Object

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

Method Detail

calcPath

public void calcPath(int auto_mode)

Calc Path - must be run in auto_init to calculate a path based on the selected auto mode.

Parameters:

auto_mode -

startPlayback

public int startPlayback()

begins background thread commanding motor values through the determined path

Returns:

startPlaybackCallback

public abstract void startPlaybackCallback()

stopPlayback

public int stopPlayback()

Forcibly stops any background playback occurring

Returns:

stopPlaybackCallback

public abstract void stopPlaybackCallback()

This method gets called as soon as playback has finished. Use it to clean up any user-specific things needed for autonomous.

isPlaybackActive

public boolean isPlaybackActive()

Returns true if playback is currently running, false if not.

Returns:

state of playback.

plannerStep

public void plannerStep()

Will be called periodically to command the pathPlanner headings.

setAutonomousDrivetrainSpeeds

public abstract void setAutonomousDrivetrainSpeeds(double left_motor_vel,
                                                   double right_motor_vel,
                                                   double pp_des_heading)