Examples with SplineBuilderFactory me.wobblyyyy.pathfinder2.trajectory.spline.SplineBuilderFactory used on opensource projects

Example 1 with SplineBuilderFactory

use of me.wobblyyyy.pathfinder2.trajectory.spline.SplineBuilderFactory in project Pathfinder2 by Wobblyyyy.

the class TestSimulatedChassis method beforeEach.

@BeforeEach
public void beforeEach() {
    wrapper = new SimulatedWrapper(new SimulatedDrive(), new SimulatedOdometry());
    odometry = wrapper.getOdometry();
    robot = wrapper.getRobot();
    turnController = new ProportionalController(-0.05);
    pathfinder = new Pathfinder(robot, turnController).setSpeed(0.5).setTolerance(DEFAULT_TOLERANCE).setAngleTolerance(Angle.fromDeg(5));
    factory = new SplineBuilderFactory().setSpeed(0.5).setStep(0.1).setTolerance(DEFAULT_TOLERANCE).setAngleTolerance(Angle.fromDeg(5));
}

Example 2 with SplineBuilderFactory

use of me.wobblyyyy.pathfinder2.trajectory.spline.SplineBuilderFactory in project Pathfinder2 by Wobblyyyy.

the class GenericTrajectoryTester method beforeEach.

@BeforeEach
public void beforeEach() {
    wrapper = new SimulatedWrapper(new SimulatedDrive(), new SimulatedOdometry());
    odometry = wrapper.getOdometry();
    robot = wrapper.getRobot();
    turnController = new ProportionalController(turnCoefficient);
    pathfinder = new Pathfinder(robot, turnController).setSpeed(speed).setTolerance(tolerance).setAngleTolerance(angleTolerance);
    factory = new SplineBuilderFactory().setSpeed(speed).setStep(step).setTolerance(tolerance).setAngleTolerance(angleTolerance);
}

Example 3 with SplineBuilderFactory

use of me.wobblyyyy.pathfinder2.trajectory.spline.SplineBuilderFactory in project Pathfinder2 by Wobblyyyy.

the class ExampleSpline method run.

public void run() {
    // before anything else, we have to get some stuff set up.
    Pathfinder pathfinder = Pathfinder.newSimulatedPathfinder(0.01);
    // alright! trajectory time! let's see what's up.
    // as you can see, this is mostly pretty self-explanatory.
    // you create an AdvancedSplineTrajectoryBuilder and use the
    // add methods provided by that class to construct a trajectory.
    // this method works well, but it's a bit verbose - there's a
    // solution to that problem you'll see in just a moment.
    Trajectory trajectory1 = new AdvancedSplineTrajectoryBuilder().setSpeed(0.5).setStep(0.1).setTolerance(2).setAngleTolerance(Angle.fromDeg(5)).add(new PointXYZ(0, 0, 0)).add(new PointXYZ(4, 6, 0)).add(new PointXYZ(6, 12, 0)).add(new PointXYZ(8, 24, 0)).build();
    Trajectory trajectory2 = new AdvancedSplineTrajectoryBuilder().setSpeed(0.5).setStep(0.1).setTolerance(2).setAngleTolerance(Angle.fromDeg(5)).add(new PointXYZ(8, 24, 0)).add(new PointXYZ(6, 36, 0)).add(new PointXYZ(4, 40, 0)).add(new PointXYZ(0, 42, 0)).build();
    // thankfully, there's an easier way to create trajectories just like
    // that - we can make use of a "SplineBuilderFactory"
    SplineBuilderFactory factory = new SplineBuilderFactory().setSpeed(0.5).setStep(0.1).setTolerance(2).setAngleTolerance(Angle.fromDeg(5));
    // set the default speed, step, tolerance, and angle tolerance
    // values for the factory. all of the spline builders produced by
    // the factory will have have these values by default.
    // now we can create new trajectories, without having to repeat
    // the same 4 lines for each of the trajectories.
    Trajectory trajectory3 = factory.builder().add(0, 60, Angle.fromDeg(0)).add(new PointXYZ(20, 60, 0)).add(new PointXYZ(30, 60, 0)).add(new PointXYZ(40, 70, 0)).build();
    Trajectory trajectory4 = factory.builder().add(new PointXYZ(40, 70, 0)).add(new PointXYZ(30, 60, 0)).add(new PointXYZ(20, 60, 0)).add(0, 60, Angle.fromDeg(0)).build();
    // time to actually make the robot move now! once again, most of
    // these methods are fairly self-explanatory. basically, follow
    // the first two trajectories, come to a complete stop, and then
    // follow the next two trajectories, but each of those trajectories
    // should have an individual timeout of 10 seconds.
    pathfinder.followTrajectories(trajectory1, trajectory2).andThen(pf -> {
        // any other code you want to be executed after the
        // trajectory is finished
        pf.setTranslation(new Translation(0, 0, 0));
    }).followTrajectory(trajectory3).tickUntil(10_000).followTrajectory(trajectory4).tickUntil(10_000);
}