Simple splines #268
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Simple splines #268
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NikhilSuresh24
requested changes
Feb 9, 2020
commands/chassis/SimpleSplines.java
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| /** | ||
| * Class to store autonomous constants used for Ramsete Pathing. | ||
| */ | ||
| public static class AutoConstants { | ||
| public static class SplineAutoConstants { | ||
| public double kMaxSpeedMetersPerSecond; | ||
| public double kMaxAccelerationMetersPerSecondSquared; |
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use the proper constant syntax
commands/chassis/SimpleSplines.java
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| import edu.wpi.first.wpilibj2.command.RamseteCommand; | ||
| import edu.wpi.first.wpilibj2.command.SequentialCommandGroup; | ||
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| /** | ||
| * This command creates a simple spline to follow a Trajectory using a SensorDrive. Note that while the nextCommand to run after the robot finishes driving and the initialPos are both configuraable, they will almost always be set automatically. |
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configurable doesn't have two As
Daniel-E-B
requested changes
Feb 11, 2020
| this.subsystem = subsystem; | ||
| } | ||
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| public void initialize() { |
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| import org.usfirst.frc4904.standard.LogKitten; | ||
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| import edu.wpi.first.wpilibj2.command.Command; |
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| import edu.wpi.first.wpilibj2.command.Command; | ||
| import edu.wpi.first.wpilibj2.command.CommandBase; | ||
| import edu.wpi.first.wpilibj2.command.Subsystem; |
| @@ -6,6 +6,7 @@ | |||
| import org.usfirst.frc4904.standard.humaninput.Operator; | |||
| import edu.wpi.first.wpilibj.TimedRobot; | |||
| import edu.wpi.first.wpilibj2.command.CommandBase; | |||
| import edu.wpi.first.wpilibj2.command.InstantCommand; | |||
| import edu.wpi.first.wpilibj.kinematics.DifferentialDriveOdometry; | ||
| import edu.wpi.first.wpilibj.kinematics.DifferentialDriveWheelSpeeds; | ||
| import edu.wpi.first.wpilibj.spline.Spline; |
| import edu.wpi.first.wpilibj.kinematics.DifferentialDriveOdometry; | ||
| import edu.wpi.first.wpilibj.kinematics.DifferentialDriveWheelSpeeds; | ||
| import edu.wpi.first.wpilibj.spline.Spline; | ||
| import edu.wpi.first.wpilibj.spline.SplineHelper; |
| import edu.wpi.first.wpilibj.trajectory.TrajectoryConfig; | ||
| import edu.wpi.first.wpilibj.trajectory.TrajectoryGenerator; | ||
| import edu.wpi.first.wpilibj.trajectory.TrajectoryGenerator.ControlVectorList; | ||
| import edu.wpi.first.wpilibj.trajectory.constraint.DifferentialDriveVoltageConstraint; |
| import edu.wpi.first.wpilibj.trajectory.TrajectoryGenerator; | ||
| import edu.wpi.first.wpilibj.trajectory.TrajectoryGenerator.ControlVectorList; | ||
| import edu.wpi.first.wpilibj.trajectory.constraint.DifferentialDriveVoltageConstraint; | ||
| import edu.wpi.first.wpilibj2.command.Command; |
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Adds spline capability with both cubic and quintic pathing. Although some functionality already exists in standard, the previous version contained rather large errors that made it either dysfunctional or impractical.