Trajectory
from a Path
:MecanumVelocityConstraint
).TrajectoryBuilder
class that replicates the API of PathBuilder
with a few additions.TrajectoryFollowers
can be used to generate the actual DriveSignals
that are sent to the Drive
class. The PIDVA followers are usually suitable, although RamseteFollower
has noticeably better performance for tank drives.TrajectoryFollower.followTrajectory()
, and repeatedly querying TrajectoryFollower.update()
: