SpecterDrive

An API for our Autonomous Pathing, initializes auto RobotTracking

Properties

Configures all APIs that must be initialized in order to use this API.

Returns true if init has been called for this opmode.

open override val isLinear: Boolean = true

Defines whether this API requires features from LinearOpMode.

lateinit var otos: SparkFunOTOS

Follows a PurePursuit path

open override fun init(opMode: OpMode)

Initializes this API.

fun path(pose: DoubleArray, h: Double, t: Double = 999.99999, rC: Boolean = true)

fun path(x: Double, y: Double, h: Double, t: Double = 999.99999, rC: Boolean = true, spMag: Double = 0.0)

Computes a direct path towards a robot-centric position

fun rotateToHeading(targetAngle: Double, power: Double = 0.3, timeout: Double = 3.0)

Rotates to a specific global heading on the field.

Updates the OTOS internal position to match field coordinates.