valor::TrajectoryFollower Class Reference

A class responsible for following a choreo or custom trajectory. More...

#include <valkyrie/TrajectoryFollower.h>

Classes
struct	Config

Public Types
enum class	TrajectoryEndCondition { TIME , POSITION }
	Enum to represent the how the trajectory determines that it is finished: time or position.
enum class	FieldSymmetry { MIRROR , ROTATE }

Public Member Functions
	TrajectoryFollower ()=delete
	The default constructor where everything is initialized to zero.
	TrajectoryFollower (TrajectoryFollower &)=delete
	TrajectoryFollower (TrajectoryFollower &&)=delete

Static Public Member Functions
static void	Register (Config config)
	Defines the essential functions for the trajectory follower.
static frc2::CommandPtr	FollowPath (std::optional< choreo::Trajectory< choreo::SwerveSample > > traj, std::optional< TrajectoryEndCondition > end, std::optional< units::meter_t > tol, std::optional< std::function< bool()> > inter, bool isMirrored, bool resetOdom)
	Follows a choreo trajectory.
static void	SetPID (WorldAlign::TranslationalPIDF_t x, WorldAlign::TranslationalPIDF_t y, WorldAlign::RotationalPIDF_t rot)
	Sets a new PIDF config.

Detailed Description

A class responsible for following a choreo or custom trajectory.

Member Function Documentation

FollowPath()

frc2::CommandPtr valor::TrajectoryFollower::FollowPath ( std::optional< choreo::Trajectory< choreo::SwerveSample > > traj, std::optional< TrajectoryEndCondition > end, std::optional< units::meter_t > tol, std::optional< std::function< bool()> > inter, bool isMirrored, bool resetOdom )

static

Follows a choreo trajectory.

Parameters

traj	The choreo trajectory to be followed
end	The optional type of condition that ends the command. Defaults to time
tol	The position tolerance when using position end condition
inter	An optional function that describes an interrupted condition. Returns a boolean
isMirrored	A boolean to mirror paths over the middle of the field on one alliance side
resetOdom	Whether to reset the odom at the start of the path

Returns

Returns a command pointer that follows the path

Register()

void valor::TrajectoryFollower::Register ( Config config )

static

Defines the essential functions for the trajectory follower.

Parameters

reset	The resetOdom function
drive	The drive function that is FIELD RELATIVE
getter	The pose getter
sym	The type of field symmetry
fieldSizeX	The x field length
fieldSizeY	The y field length
alliance	Callback that determines whether the trajectory should be flipped. Usually this should be set to return if the current alliance is red.

SetPID()

void valor::TrajectoryFollower::SetPID ( WorldAlign::TranslationalPIDF_t x, WorldAlign::TranslationalPIDF_t y, WorldAlign::RotationalPIDF_t rot )

static

Sets a new PIDF config.

Parameters

x	The x PIDF config
y	The y PIDF config
rot	The rotation PIDF config

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The documentation for this class was generated from the following file:

• src/main/include/valkyrie/TrajectoryFollower.h