`phoenix6.swerve.utility.linear_path`¶

Module Contents¶

class phoenix6.swerve.utility.linear_path.LinearPath(linear: wpimath.TrapezoidProfile.Constraints, angular: wpimath.TrapezoidProfile.Constraints)¶

A linear path for a holonomic drivetrain (i.e. swerve or mechanum). This generates profiled setpoints for the robot along a straight line based on trapezoidal velocity constraints (using TrapezoidProfile).

Initialization:

path = LinearPath(
    TrapezoidProfile.Constraints(MAX_V, MAX_A),
    TrapezoidProfile.Constraints(MAX_OMEGA, MAX_ALPHA)
)
current = LinearPath.State(initial_pose, initial_field_velocity)

Run on update:

current = path.calculate(time_since_previous_update, current, target_pose)

Constructs a linear path.

Parameters:

linear (TrapezoidProfile.Constraints) – The constraints on the profile linear motion
angular (TrapezoidProfile.Constraints) – The constraints on the profile angular motion

class State(pose: phoenix6.swerve.utility.geometry.Pose2d = Pose2d(), velocity: phoenix6.swerve.utility.kinematics.ChassisVelocities = ChassisVelocities())¶

Path state.

pose¶: The pose at this state.

velocity¶: The field-centric velocity at this state.

calculate(t: wpimath.units.seconds, current: State, goal: phoenix6.swerve.utility.geometry.Pose2d) → State¶

Calculates the pose and velocity of the path at a time t where the current state is at t = 0.

Parameters:

t (units.seconds) – How long to advance from the current state to the desired state
current (State) – The current state
goal (Pose2d) – The desired pose when the path is complete

Returns:

The pose and velocity of the profile at time t

Return type:

State

duration() → wpimath.units.seconds¶

Returns the duration oft he path.

Returns:: The duration of the path
Return type:: units.seconds

is_finished(t: wpimath.units.seconds) → bool¶

Returns true if the profile has reached the goal.

The profile has reached the goal if the time since the profile started has exceeded the profile’s total time.

Parameters:: t (units.seconds) – The time since the beginning of the profile
Returns:: True if the profile has reached the goal
Return type:: bool

phoenix6.swerve.utility.linear_path¶

Module Contents¶

`phoenix6.swerve.utility.linear_path`¶