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

Example 16 with Trajectory

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

the class FourBallTerminalRight method forward.

public Command forward() {
    Trajectory trajectory = TrajectoryGenerator.generateTrajectory(List.of(new Pose2dFeet().set(-5.5, 20.5, 54.0), // shooting location
    new Pose2dFeet().set(0.0, 11.0, 50.0)), RobotTrajectory.getInstance().configForwardFast);
    // 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 17 with Trajectory

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

the class FourBallTerminalRight method pickUpNext2.

public Command pickUpNext2() {
    Trajectory trajectory = TrajectoryGenerator.generateTrajectory(List.of(new Pose2dFeet().set(-3.4, 0.0, 0.0), // ~turn in place
    new Pose2dFeet().set(-3.4, 2.0, 95.0), // 2nd cargo location
    new Pose2dFeet().set(-1.5, 8.0, 95.0), // 3rd cargo (terminal) location
    new Pose2dFeet().set(-5.5, 20.5, 54.0)), RobotTrajectory.getInstance().configReverse);
    // 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 18 with Trajectory

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

the class Mobility method reverse.

public Command reverse() {
    Trajectory trajectory = TrajectoryGenerator.generateTrajectory(List.of(new Pose2dFeet().set(0.0, 0.0, 0.0), new Pose2dFeet().set(-5.0, 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 19 with Trajectory

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

the class ThreeBallTerminalMiddle method forward.

public Command forward() {
    Trajectory trajectory = TrajectoryGenerator.generateTrajectory(List.of(new Pose2dFeet().set(-17.0, 4, 0), // shooting position
    new Pose2dFeet().set(-6.0, 2, -5)), RobotTrajectory.getInstance().configForwardFast);
    // 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 20 with Trajectory

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

the class ThreeBallTerminalMiddle 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;
}