Package com.thunder.lib.trajectory

Class ThunderTrajectoryRunnerProperties

java.lang.Object

com.thunder.lib.trajectory.ThunderTrajectoryRunnerProperties

public class ThunderTrajectoryRunnerProperties
extends Object

A set of callback functions and properties required to run a trajectory.

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static class	ThunderTrajectoryRunnerProperties.DriveControllerInputData	Class containing

Constructor Summary

Constructors

Constructor	Description
ThunderTrajectoryRunnerProperties(Supplier<Pose2d> getPose, Consumer<Pose2d> resetPose, BiConsumer<ChassisSpeeds,ThunderTrajectoryRunnerProperties.DriveControllerInputData> setSpeedsWithDiagnostics, HolonomicDriveController holonomicDriveController)	Constructor for ThunderTrajectoryRunnerProperties.
ThunderTrajectoryRunnerProperties(Supplier<Pose2d> getPose, Consumer<Pose2d> resetPose, Consumer<ThunderTrajectoryRunnerProperties.DriveControllerInputData> control, Runnable stop)	Constructor for ThunderTrajectoryRunnerProperties, with no drive controller.
ThunderTrajectoryRunnerProperties(Supplier<Pose2d> getPose, Consumer<Pose2d> resetPose, Consumer<ChassisSpeeds> setSpeeds, HolonomicDriveController holonomicDriveController)	Constructor for ThunderTrajectoryRunnerProperties.

Method Summary

Modifier and Type	Method	Description
Optional<Consumer<ThunderTrajectoryRunnerProperties.DriveControllerInputData>>	getControlConsumer()	Gets the control consumer function with diagnostics.
Optional<HolonomicDriveController>	getHolonomicDriveController()	Gets the holonomic drive controller.
Supplier<Pose2d>	getPoseSupplier()	Gets the pose supplier function.
Consumer<Pose2d>	getResetPoseConsumer()	Gets the reset pose consumer function.
Optional<Consumer<ChassisSpeeds>>	getSpeedsConsumer()	Gets the chassis speeds consumer function.
Optional<BiConsumer<ChassisSpeeds,ThunderTrajectoryRunnerProperties.DriveControllerInputData>>	getSpeedsWithDiagnosticsConsumer()	Gets the chassis speeds consumer function with diagnostics.
Optional<Runnable>	getStopRunnable()	Gets the stop runnable.

Methods inherited from class java.lang.Object

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

Constructor Details

ThunderTrajectoryRunnerProperties

public ThunderTrajectoryRunnerProperties(Supplier<Pose2d> getPose,
 Consumer<Pose2d> resetPose,
 Consumer<ChassisSpeeds> setSpeeds,
 HolonomicDriveController holonomicDriveController)

Constructor for ThunderTrajectoryRunnerProperties.

Parameters:

getPose - Function that returns the current robot pose.

resetPose - Function that resets the robot pose (and PID controllers too!)

setSpeeds - Function that controls the robot chassis speeds (robot-centric).

holonomicDriveController - The holonomic drive controller for trajectory following. ThunderLib will NOT reset its x, y, or theta PID controllers; the user should do that in the resetPose function if desired.

ThunderTrajectoryRunnerProperties

public ThunderTrajectoryRunnerProperties(Supplier<Pose2d> getPose,
 Consumer<Pose2d> resetPose,
 BiConsumer<ChassisSpeeds,ThunderTrajectoryRunnerProperties.DriveControllerInputData> setSpeedsWithDiagnostics,
 HolonomicDriveController holonomicDriveController)

Constructor for ThunderTrajectoryRunnerProperties.

Parameters:

getPose - Function that returns the current robot pose.

resetPose - Function that resets the robot pose (and PID controllers too!)

setSpeedsWithDiagnostics - Function that controls the robot chassis speeds (robot-centric) with diagnostic data.

holonomicDriveController - The holonomic drive controller for trajectory following. ThunderLib will NOT reset its x, y, or theta PID controllers; the user should do that in the resetPose function if desired.

ThunderTrajectoryRunnerProperties

public ThunderTrajectoryRunnerProperties(Supplier<Pose2d> getPose,
 Consumer<Pose2d> resetPose,
 Consumer<ThunderTrajectoryRunnerProperties.DriveControllerInputData> control,
 Runnable stop)

Constructor for ThunderTrajectoryRunnerProperties, with no drive controller. Instead, a consumer of DriveControllerInputData must be provided instead of the typical chassis speeds consumer, and the user is responsible for calculating the appropriate speeds on their own.

Parameters:

getPose - Function that returns the current robot pose.

resetPose - Function that resets the robot pose (and PID controllers too!)

control - Function that controls the robot based on the provided DriveControllerInputData.

stop - Function that stops the robot.

Method Details

getPoseSupplier

public Supplier<Pose2d> getPoseSupplier()

Gets the pose supplier function.

Returns:

The pose supplier.

getResetPoseConsumer

public Consumer<Pose2d> getResetPoseConsumer()

Gets the reset pose consumer function.

Returns:

The reset pose consumer.

getSpeedsConsumer

public Optional<Consumer<ChassisSpeeds>> getSpeedsConsumer()

Gets the chassis speeds consumer function.

Returns:

The chassis speeds consumer.

getSpeedsWithDiagnosticsConsumer

public Optional<BiConsumer<ChassisSpeeds,ThunderTrajectoryRunnerProperties.DriveControllerInputData>> getSpeedsWithDiagnosticsConsumer()

Gets the chassis speeds consumer function with diagnostics.

Returns:

The chassis speeds consumer with diagnostics.

getHolonomicDriveController

public Optional<HolonomicDriveController> getHolonomicDriveController()

Gets the holonomic drive controller.

Returns:

The holonomic drive controller.

getControlConsumer

public Optional<Consumer<ThunderTrajectoryRunnerProperties.DriveControllerInputData>> getControlConsumer()

Gets the control consumer function with diagnostics.

Returns:

The control consumer with diagnostics.

getStopRunnable

public Optional<Runnable> getStopRunnable()

Gets the stop runnable.

Returns:

The stop runnable.