Package com.pathplanner.lib.controllers

Interface PathFollowingController

All Known Implementing Classes:
PPHolonomicDriveController, PPLTVController
public interface PathFollowingController
Interface used by path following controllers

  • Method Details

    • calculateRobotRelativeSpeeds

      ChassisSpeeds calculateRobotRelativeSpeeds(Pose2d currentPose, PathPlannerTrajectoryState targetState)
      Calculates the next output of the path following controller
      Parameters:
      currentPose - The current robot pose
      targetState - The desired trajectory state
      Returns:
      The next robot relative output of the path following controller

    • reset

      void reset(Pose2d currentPose, ChassisSpeeds currentSpeeds)
      Resets the controller based on the current state of the robot
      Parameters:
      currentPose - Current robot pose
      currentSpeeds - Current robot relative chassis speeds

    • isHolonomic

      boolean isHolonomic()
      Is this controller for holonomic drivetrains? Used to handle some differences in functionality in the path following command.
      Returns:
      True if this controller is for a holonomic drive train