path
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
Parameters
x
The target global x coordinate on the field
y
The target global y coordinate on the field
h
The target global heading
t
Max runtime in seconds before timing out
r
The centricity of the robot (assumes robot-centric unless specified)
sp
A special magnetude to travel with
Computes a direct path towards a robot-centric position
Parameters
pose
an array containing x and y coordinates