Package com.ctre.phoenix6.swerve.utility

Class LinearPath

java.lang.Object

com.ctre.phoenix6.swerve.utility.LinearPath

public class LinearPath
extends Object

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:

 final LinearPath path = new LinearPath(
     new TrapezoidProfile.Constraints(kMaxV, kMaxA),
     new TrapezoidProfile.Constraints(kMaxOmega, kMaxAlpha)
 );
 LinearPath.State current = new LinearPath.State(
     initialPose, initialFieldSpeeds
 );
 

Run on update:

 current = path.calculate(timeSincePreviousUpdate, current, targetPose);
 

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static class	LinearPath.State	Path state.

Constructor Summary

Constructors

Constructor	Description
LinearPath(TrapezoidProfile.Constraints linear, TrapezoidProfile.Constraints angular)	Constructs a linear path.

Method Summary

Modifier and Type	Method	Description
final LinearPath.State	calculate(double t, LinearPath.State current, Pose2d goal)	Calculates the pose and speeds of the path at a time t where the current state is at t = 0.
final boolean	isFinished(double t)	Returns true if the profile has reached the goal.
final double	totalTime()	Returns the total time the profile takes to reach the goal.

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Details

LinearPath

public LinearPath(TrapezoidProfile.Constraints linear,
 TrapezoidProfile.Constraints angular)

Constructs a linear path.

Parameters:

linear - The constraints on the profile linear motion

angular - The constraints on the profile angular motion

Method Details

calculate

public final LinearPath.State calculate(double t,
 LinearPath.State current,
 Pose2d goal)

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

Parameters:

t - How long to advance from the current state to the desired state

current - The current state

goal - The desired pose when the path is complete

Returns:

The pose and speeds of the profile at time t

totalTime

public final double totalTime()

Returns the total time the profile takes to reach the goal.

Returns:

The total time the profile takes to reach the goal

isFinished

public final boolean isFinished(double t)

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 - The time since the beginning of the profile

Returns:

true if the profile has reached the goal