RR Kotlin Playground


import com.acmerobotics.roadrunner.*
import kotlin.math.PI

@JvmOverloads
fun actionBuilder(beginPose: Pose2d) =
    TrajectoryActionBuilder(
        ::TurnAction,
        ::TrajectoryAction,
        beginPose,
        eps = 1e-6,
        beginEndVel = 0.0,
        TurnConstraints(PI / 2, -PI / 2, PI / 2),
        MinVelConstraint(
            listOf(
                TranslationalVelConstraint(40.0),
                AngularVelConstraint(PI / 2),
            )
        ),
        ProfileAccelConstraint(-30.0, 50.0),
        dispResolution = 0.25,
        angResolution = 0.1,
    )

fun main() {
    val a = actionBuilder(Pose2d(0.0, 0.0, 0.0))
        .lineToX(-12.0)
        .afterDisp(5.0, LabelAction("first"))
        .splineTo(Vector2d(-24.0, -12.0), -PI / 2)
        .turn(PI / 2)
        .afterTime(0.5, LabelAction("second"))
        .turn(PI / 2)
        .setReversed(true)
        .splineTo(Vector2d(-36.0, 0.0), PI)
        .build()
        
    showActionVideo(a, fps=30)
}