How to Use and Cancel Trajectory

[PranavDharanipathy]

Hello,

So I'm using new Trajectory() as an input for TimeTrajectory() but I don't know what parameters to give to the Trajectory() or even how to create a trajectory just as variable. Could anyone please help me with this.

How do I please the condition:

public constructor Trajectory( path: MappedPosePath, profile: CancelableProfile, offsets: List<Double> )

What path, profile, and offsets?

[rbrott]

There are higher-level APIs for creating trajectories like TrajectoryActionBuilder that I recommend you use. Check out this auto tutorial for some examples: https://rr.brott.dev/docs/v1-0/guides/centerstage-auto/.

[PranavDharanipathy]

But the CancelableTrajectoryAction you guys have in the Cancellation doc needs an input of TimeTrajectory() which accepts new Trajectory(), not TrajectoryActionBuilder.

[rbrott]

The TAB constructor takes a TrajectoryActionFactory that turns a TimeTrajectory into an Action. You just need to replace the factory that returns a FollowTrajectoryAction with one that returns a CancelableFollowTrajectoryAction. In essence just replace this line:

road-runner-quickstart/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/MecanumDrive.java

Line 485 in 53a7111

FollowTrajectoryAction::new,

The annoying bit is then retrieving the right action object when you actually want to cancel. The required operations will depend on what methods you call on the builder.