SwoLib/cshcyberhawks.swolib.autonomous

Package-level declarations

Types

Field

class Field(val swerveAuto: SwerveAuto, var elements: ArrayList<FieldElement>, val deadzone: Double)

FieldElement

class FieldElement(val name: String, val position: Vector2)

FinishCondition

enum FinishCondition : Enum<FinishCondition>

SwerveAuto

class SwerveAuto(xPID: ProfiledPIDController, yPID: ProfiledPIDController, twistPID: PIDController, twistTrapConstraints: TrapezoidProfile.Constraints, angleDeadzone: Double, positionDeadzone: Double, val swo: SwerveOdometry, val swerveSystem: SwerveDriveTrain, val gyro: GenericGyro, debugLogging: Boolean = false, field2d: Optional<Field2d> = Optional.empty())

A class that handles autonomous driving for swerve drive robots. This includes motion profiling and active PID correction.