Package org.wildstang.framework.auto.steps

Class SwervePathFollowerStep

java.lang.Object

org.wildstang.framework.auto.AutoStep

org.wildstang.framework.auto.steps.SwervePathFollowerStep

public class SwervePathFollowerStep
extends AutoStep

Constructor Summary

Constructors

Constructor	Description
SwervePathFollowerStep(String pathData, SwerveDriveTemplate drive)	Sets the robot to track a new path finishes after all values have been read to robot

Method Summary

Modifier and Type	Method	Description
double	getHeading()
choreo.trajectory.Trajectory<choreo.trajectory.SwerveSample>	getTraj(String fileName)
void	initialize()	This method is called once, when the step is first run.
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 org.wildstang.framework.auto.AutoStep

isFinished, setFinished, setFinished

Methods inherited from class java.lang.Object

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

Constructor Details

SwervePathFollowerStep

public SwervePathFollowerStep(String pathData,
 SwerveDriveTemplate drive)

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

Method Details

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 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.

getHeading

public double getHeading()

getTraj

public choreo.trajectory.Trajectory<choreo.trajectory.SwerveSample> getTraj(String fileName)