Pioneer Robotics Documentation/pioneer.helpers

Package-level declarations

Types

class Chrono(autoUpdate: Boolean = true, source: TimeSource = TimeSource.Monotonic, units: DurationUnit = DurationUnit.MILLISECONDS)

A utility class for measuring elapsed time. This class provides functionality to track time intervals and optionally updates the elapsed time automatically on each access.

DashboardPlotter

object DashboardPlotter

A utility class for plotting data on the FTC Dashboard.

Feedforward

class Feedforward(val kV: Double, val kA: Double, val kStatic: Double = 0.0)

Simple motor feedforward: v + a (+ optionally static) output = kV * velocity + kA * acceleration Units: velocity in cm/s, acceleration in cm/s^2

FileLogger

object FileLogger

A file-based logger with automatic file rotation and buffering. Logs are written to /sdcard/logs/ with automatic rotation when files exceed size limits.

MathUtils

object MathUtils

PIDController

class PIDController(val kp: Double, val ki: Double = 0.0, val kd: Double = 0.0, val kf: Double = 0.0)

A PID/PIDF controller with integral clamping and output saturation.

Polynomial

class Polynomial(coeffs: DoubleArray)

Pose

data class Pose(val x: Double = 0.0, val y: Double = 0.0, val vx: Double = 0.0, val vy: Double = 0.0, val ax: Double = 0.0, val ay: Double = 0.0, val theta: Double = 0.0, val omega: Double = 0.0, val alpha: Double = 0.0)

Minimal 2D pose with motion derivatives. All units are in centimeters and radians.

Toggle

class Toggle(startState: Boolean)

This class is a wrapper class for booleans, but it allows you to negate the boolean by pressing a button. The intended use case is that there is some boolean value used in an OpMode, and you want it to change every time you press a specific button on the gamepad. Make that boolean a Toggle and call toggle(boolean) every cycle using the desired button as the input to toggle()

Functions

inline fun <T : Enum<T>> T.next(step: Int = 1): T

Returns the next enum entry in a cyclic manner.