Reefscape2025/frc.robot.utils.pingu/PathPingu

PathPingu

public class PathPingu

Object that manages scoring positions but does not store them directly. Instead, it provides methods to retrieve the closest scoring position.

Properties

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public final static PathPingu INSTANCE

Functions

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public final Unit addCoralScoringPositions(List<Triple<Translation2d, Pose2d, Pose2d>> positions)

Adds any number of coral scoring positions to the list of potential scoring positions for L4.

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public final Unit addCoralScoringPositionsNotL4(List<Triple<Translation2d, Pose2d, Pose2d>> positions)

Adds any number of coral scoring positions to the list of potential scoring positions for not L4.

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public final static Unit clearCoralScoringPositions()

Clears the list of potential scoring positions.

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public final Pose2d findClosestScoringPosition(Pose2d position, Direction direction)

Finds the closest scoring position to the robot's current position. Starts by finding the closest april tag to the robot's current position. Based on the direction passed in, it returns the corresponding scoring position. Then it path finds to that position (hopefully).

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public final Pose2d findClosestScoringPositionNotL4(Pose2d position, Direction direction)

Finds the closest scoring position to the robot's current position. Starts by finding the closest april tag to the robot's current position. Based on the direction passed in, it returns the corresponding scoring position.