Examples with Trajectory edu.wpi.first.math.trajectory.Trajectory used on opensource projects

Example 46 with Trajectory

use of edu.wpi.first.math.trajectory.Trajectory in project FRC2022 by Team2338.

the class ThreeBallTerminalRight method reverse.

public Command reverse() {
    Trajectory trajectory = TrajectoryGenerator.generateTrajectory(List.of(new Pose2dFeet().set(0.0, 0.0, 0.0), // 1st cargo location
    new Pose2dFeet().set(-3.4, 0.0, 0.0)), RobotTrajectory.getInstance().configReverseSlow);
    // create the command using the trajectory
    RamseteCommand rc = RobotTrajectory.getInstance().createRamseteCommand(trajectory);
    // Run path following command, then stop at the end.
    return rc.andThen(() -> Robot.drivetrain.tankDriveVolts(0, 0));
}

Example 47 with Trajectory

use of edu.wpi.first.math.trajectory.Trajectory in project FRC2022 by Team2338.

the class TwoBallMiddle method reverse.

public Command reverse() {
    Trajectory trajectory = TrajectoryGenerator.generateTrajectory(List.of(new Pose2dFeet().set(0.0, 0.0, 0.0), // 1st cargo location
    new Pose2dFeet().set(-4.5, 0, 0.0)), RobotTrajectory.getInstance().configReverseSlow);
    // create the command using the trajectory
    RamseteCommand rc = RobotTrajectory.getInstance().createRamseteCommand(trajectory);
    // return rc.andThen(() -> Robot.drivetrain.tankDriveVolts(0, 0));
    return rc;
}

Example 48 with Trajectory

use of edu.wpi.first.math.trajectory.Trajectory in project FRC2022 by Team2338.

the class TwoBallMiddle method reverseAgain.

public Command reverseAgain() {
    Trajectory trajectory = TrajectoryGenerator.generateTrajectory(List.of(new Pose2dFeet().set(-4.5, 0, 0), // shooting position
    new Pose2dFeet().set(-6.5, 0, -10)), RobotTrajectory.getInstance().configReverseSlow);
    // create the command using the trajectory
    RamseteCommand rc = RobotTrajectory.getInstance().createRamseteCommand(trajectory);
    // Run path following command, then stop at the end.
    return rc.andThen(() -> Robot.drivetrain.tankDriveVolts(0, 0));
}