Use last movements end as start for next #171
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| start_direction: Rotation2d | ||
| end: Pose2d | ||
| interior: List[Translation2d] | ||
| config: TrajectoryConfig |
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Do we intend on having different configs for any movement?
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I think its useful to have (e.g. we might find we want to do the second leg of the five ball slower to let it rotate sooner or we might want to have a move-shoot movement👀), I can make it have a default if your worry was the movement constructor being lengthy
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I like it - unrelated, but while you are messing with auto stuff let's add a waypoint to the 5 ball to move the robot back to close to its starting position ready to pick up the ball just on the opposition side of the field. |
| start_direction=Rotation2d.fromDegrees(-45), | ||
| end=Pose2d(0.4, -2.5, Rotation2d.fromDegrees(30)), |
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| start_direction=Rotation2d.fromDegrees(-45), | |
| end=Pose2d(0.4, -2.5, Rotation2d.fromDegrees(30)), | |
| start_direction=Rotation2d.fromDegrees(0), | |
| end=Pose2d(0.4, -2.5, Rotation2d.fromDegrees(0)), |
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I made it go down to avoid any collisions with another robot that starts in our tarmac
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it also only adds 156ms to the path
This reverts commit d512193.
Now you dont have to change the pose twice if you want to move a waypoint
Also removed four ball as if our alliance partner can't do a five ball we will.