https://rr.brott.dev/raw-docs/v1-0/guides/ Recent content on Road Runner Docs Hugo -- gohugo.io en-us https://rr.brott.dev/raw-docs/v1-0/guides/cancellation/ Mon, 01 Jan 0001 00:00:00 +0000 https://rr.brott.dev/raw-docs/v1-0/guides/cancellation/ Cancellation # Sometimes you may want to a stop a trajectory when it’s already running. For example, if you’re executing an intake trajectory in autonomous, you may want to stop once sensors detect that a game element was taken in. Cancellation comes in two forms, abrupt and smooth. The former has the advantage of speed over the latter, though rapid acceleration may cause wheel slip and impede following performance. https://rr.brott.dev/raw-docs/v1-0/guides/extra-correction/ Mon, 01 Jan 0001 00:00:00 +0000 https://rr.brott.dev/raw-docs/v1-0/guides/extra-correction/ Extra Correction # Road Runner uses feedback control while following trajectories to correct for disturbances and end up in the desired final pose. But sometimes this correction isn’t enough. If you’re using a mecanum drive, you can try to continue running the feedback controller to achieve further accuracy. (This kind of “pose stabilization” control is not possible with tank drives. Turning can help eliminate residual heading error, though correcting the position requires more elaborate strategies that are beyond the scope of this guide. https://rr.brott.dev/raw-docs/v1-0/guides/teleop-actions/ Mon, 01 Jan 0001 00:00:00 +0000 https://rr.brott.dev/raw-docs/v1-0/guides/teleop-actions/ Teleop Actions # Most sample code in the docs involving actions use Actions.runBlocking() to run them. runBlocking() is a great fit for most autonomous programs, though it’s hard to integrate into teleop where there’s already a loop monitoring the gamepads. Let’s see what’s going on inside the function and see how we can repurpose it. At its core, runBlocking() is calling run() on the specified action until it returns false. https://rr.brott.dev/raw-docs/v1-0/guides/centerstage-auto/ Mon, 01 Jan 0001 00:00:00 +0000 https://rr.brott.dev/raw-docs/v1-0/guides/centerstage-auto/ Building a CENTERSTAGE Autonomous # This is a community guide written by FTC Team 6051. Thanks for contributing to the docs! After tuning, you will be ready to build your first auto routine with Roadrunner 1.0.X. Some parts of this process will feel familiar, but just like the tuning guide, read this page very carefully to fully understand the logic behind each step/declaration. If you copy-and-paste the provided sample code, it will likely not work for your robot, as the non-chassis actions described here are generic and will need to be redefined for your specific mechanisms. https://rr.brott.dev/raw-docs/v1-0/guides/ftclib-commands/ Mon, 01 Jan 0001 00:00:00 +0000 https://rr.brott.dev/raw-docs/v1-0/guides/ftclib-commands/ FTCLib Commands # FTCLib has a commands system that is similar to Road Runner actions. Here’s a generic FTCLib command for wrapping actions. This pretty much works with some caveats. Actions have no concept of requirements, so they need to be given for each command. Actions do not know when they’re interrupted, while commands have a chance to do some final cleanup. Of course, a custom command wrapping one particular action (e.