Package frc.robot.lib.BLine

Class Path.PathConstraints

java.lang.Object
frc.robot.lib.BLine.Path.PathConstraints
Enclosing class:
Path
public static final class Path.PathConstraints extends Object
Path-specific constraints that override global defaults.

This class allows setting velocity and acceleration limits that apply only to a specific path. Constraints can be set as single values (applying to the entire path) or as ranged constraints (applying to specific sections).

Uses a fluent API for easy configuration: 


 PathConstraints constraints = new PathConstraints()
     .setMaxVelocityMetersPerSec(3.0)
     .setMaxAccelerationMetersPerSec2(2.0)
     .setEndTranslationToleranceMeters(0.05);

  • Constructor Details

    • PathConstraints

      public PathConstraints()
      Creates an empty PathConstraints with no overrides set.

  • Method Details

    • setMaxVelocityMetersPerSec

      public Path.PathConstraints setMaxVelocityMetersPerSec(double value)
      Sets a global maximum translational velocity for the entire path.
      Parameters:
      value - The maximum velocity in meters per second
      Returns:
      This PathConstraints for chaining

    • setMaxVelocityMetersPerSec

      public Path.PathConstraints setMaxVelocityMetersPerSec(Path.RangedConstraint... constraints)
      Sets ranged maximum translational velocity constraints.
      Parameters:
      constraints - The ranged constraints to apply
      Returns:
      This PathConstraints for chaining

    • setMaxAccelerationMetersPerSec2

      public Path.PathConstraints setMaxAccelerationMetersPerSec2(double value)
      Sets a global maximum translational acceleration for the entire path.
      Parameters:
      value - The maximum acceleration in meters per second squared
      Returns:
      This PathConstraints for chaining

    • setMaxAccelerationMetersPerSec2

      public Path.PathConstraints setMaxAccelerationMetersPerSec2(Path.RangedConstraint... constraints)
      Sets ranged maximum translational acceleration constraints.
      Parameters:
      constraints - The ranged constraints to apply
      Returns:
      This PathConstraints for chaining

    • setMaxVelocityDegPerSec

      public Path.PathConstraints setMaxVelocityDegPerSec(double value)
      Sets a global maximum rotational velocity for the entire path.
      Parameters:
      value - The maximum angular velocity in degrees per second
      Returns:
      This PathConstraints for chaining

    • setMaxVelocityDegPerSec

      public Path.PathConstraints setMaxVelocityDegPerSec(Path.RangedConstraint... constraints)
      Sets ranged maximum rotational velocity constraints.
      Parameters:
      constraints - The ranged constraints to apply
      Returns:
      This PathConstraints for chaining

    • setMaxAccelerationDegPerSec2

      public Path.PathConstraints setMaxAccelerationDegPerSec2(double value)
      Sets a global maximum rotational acceleration for the entire path.
      Parameters:
      value - The maximum angular acceleration in degrees per second squared
      Returns:
      This PathConstraints for chaining

    • setMaxAccelerationDegPerSec2

      public Path.PathConstraints setMaxAccelerationDegPerSec2(Path.RangedConstraint... constraints)
      Sets ranged maximum rotational acceleration constraints.
      Parameters:
      constraints - The ranged constraints to apply
      Returns:
      This PathConstraints for chaining

    • setMinVelocityMetersPerSec

      public Path.PathConstraints setMinVelocityMetersPerSec(double value)
      Sets a global minimum translational velocity baseline for the entire path.

      This is an advanced feature. Minimum output baselines can help overcome static friction, but values that are too high may cause overshoot or controller oscillation near targets.

      Parameters:
      value - The minimum velocity in meters per second
      Returns:
      This PathConstraints for chaining

    • setMinVelocityMetersPerSec

      public Path.PathConstraints setMinVelocityMetersPerSec(Path.RangedConstraint... constraints)
      Sets ranged minimum translational velocity baseline constraints.

      This is an advanced feature. Minimum output baselines can help overcome static friction, but values that are too high may cause overshoot or controller oscillation near targets.

      Parameters:
      constraints - The ranged constraints to apply
      Returns:
      This PathConstraints for chaining

    • setMinVelocityDegPerSec

      public Path.PathConstraints setMinVelocityDegPerSec(double value)
      Sets a global minimum rotational velocity baseline for the entire path.

      This is an advanced feature. Minimum output baselines can help overcome static friction, but values that are too high may cause overshoot or controller oscillation near targets.

      Parameters:
      value - The minimum angular velocity in degrees per second
      Returns:
      This PathConstraints for chaining

    • setMinVelocityDegPerSec

      public Path.PathConstraints setMinVelocityDegPerSec(Path.RangedConstraint... constraints)
      Sets ranged minimum rotational velocity baseline constraints.

      This is an advanced feature. Minimum output baselines can help overcome static friction, but values that are too high may cause overshoot or controller oscillation near targets.

      Parameters:
      constraints - The ranged constraints to apply
      Returns:
      This PathConstraints for chaining

    • setEndTranslationToleranceMeters

      public Path.PathConstraints setEndTranslationToleranceMeters(double value)
      Sets the translation tolerance for path completion.
      Parameters:
      value - The tolerance in meters
      Returns:
      This PathConstraints for chaining

    • setEndRotationToleranceDeg

      public Path.PathConstraints setEndRotationToleranceDeg(double value)
      Sets the rotation tolerance for path completion.
      Parameters:
      value - The tolerance in degrees
      Returns:
      This PathConstraints for chaining

    • getMaxVelocityMetersPerSec

      public Optional<ArrayList<Path.RangedConstraint>> getMaxVelocityMetersPerSec()
      Returns:
      Optional ranged constraints for maximum translational velocity

    • getMaxAccelerationMetersPerSec2

      public Optional<ArrayList<Path.RangedConstraint>> getMaxAccelerationMetersPerSec2()
      Returns:
      Optional ranged constraints for maximum translational acceleration

    • getMaxVelocityDegPerSec

      public Optional<ArrayList<Path.RangedConstraint>> getMaxVelocityDegPerSec()
      Returns:
      Optional ranged constraints for maximum rotational velocity

    • getMaxAccelerationDegPerSec2

      public Optional<ArrayList<Path.RangedConstraint>> getMaxAccelerationDegPerSec2()
      Returns:
      Optional ranged constraints for maximum rotational acceleration

    • getMinVelocityMetersPerSec

      public Optional<ArrayList<Path.RangedConstraint>> getMinVelocityMetersPerSec()
      Returns:
      Optional ranged constraints for minimum translational velocity

    • getMinVelocityDegPerSec

      public Optional<ArrayList<Path.RangedConstraint>> getMinVelocityDegPerSec()
      Returns:
      Optional ranged constraints for minimum rotational velocity

    • getEndTranslationToleranceMeters

      public Optional<Double> getEndTranslationToleranceMeters()
      Returns:
      Optional end translation tolerance override

    • getEndRotationToleranceDeg

      public Optional<Double> getEndRotationToleranceDeg()
      Returns:
      Optional end rotation tolerance override

    • copy

      public Path.PathConstraints copy()
      Creates a deep copy of these constraints.
      Returns:
      A new PathConstraints with the same values