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

Example 21 with Trajectory

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

the class ThreeBallTerminalMiddle 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));
}

Example 22 with Trajectory

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

the class ThreeBallTerminalMiddle method reverseAgainTwo.

public Command reverseAgainTwo() {
    Trajectory trajectory = TrajectoryGenerator.generateTrajectory(List.of(new Pose2dFeet().set(-6.5, 0, -10), // 2nd cargo (terminal) location
    new Pose2dFeet().set(-17.0, 4, 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 23 with Trajectory

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

the class ThreeBallTerminalRight 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(4.0, 11.0, 85.0)), 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 24 with Trajectory

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

the class TwoBallLeft method reverse.

public Command reverse() {
    Trajectory trajectory = TrajectoryGenerator.generateTrajectory(List.of(new Pose2dFeet().set(0.0, 0.0, 0.0), new Pose2dFeet().set(-4.5, 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 25 with Trajectory

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

the class TwoBallRight method reverse.

public Command reverse() {
    Trajectory trajectory = TrajectoryGenerator.generateTrajectory(List.of(new Pose2dFeet().set(0.0, 0.0, 0.0), // 4.5 original
    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));
}