MeepMeep/org.rowlandhall.meepmeep.roadrunner.entity/RoadRunnerBotEntity

RoadRunnerBotEntity

class RoadRunnerBotEntity(val meepMeep: MeepMeep, constraints: Constraints, width: Double, height: Double, var pose: Pose2d, val colorScheme: ColorScheme, opacity: Double, driveTrainType: DriveTrainType = DriveTrainType.MECANUM, listenToSwitchThemeRequest: Boolean = false) : BotEntity, EntityEventListener

Represents a RoadRunner bot entity in the MeepMeep simulation.

Parameters

meepMeep

The MeepMeep instance.

constraints

The motion constraints for the bot.

width

The width of the bot.

height

The height of the bot.

pose

The initial pose of the bot.

colorScheme

The color scheme for the bot.

opacity

The opacity of the bot.

driveTrainType

The type of drivetrain used by the bot.

listenToSwitchThemeRequest

Flag to listen to theme switch requests.

Constructors

RoadRunnerBotEntity

constructor(meepMeep: MeepMeep, constraints: Constraints, width: Double, height: Double, pose: Pose2d, colorScheme: ColorScheme, opacity: Double, driveTrainType: DriveTrainType = DriveTrainType.MECANUM, listenToSwitchThemeRequest: Boolean = false)

Types

object Companion

Properties

val colorScheme: ColorScheme

currentTrajectorySequence

var currentTrajectorySequence: TrajectorySequence?

The current trajectory sequence the bot is following.

var drive: DriveShim

Drive shim for the bot, initialized with the drivetrain type, constraints, and initial pose.

isTrajectoryPaused

var isTrajectoryPaused: Boolean

Flag indicating if the trajectory sequence is paused.

var looping: Boolean

Flag indicating if the bot should loop the trajectory sequence.

open override val meepMeep: MeepMeep

The MeepMeep instance.

var pose: Pose2d

The pose of the bot.

open override val tag: String

Tag for the bot entity.

open override var zIndex: Int

Z-index for rendering order.

Functions

followTrajectorySequence

fun followTrajectorySequence(sequence: TrajectorySequence)

Follows the given trajectory sequence.

onAddToEntityList

open override fun onAddToEntityList()

Called when the bot is added to the entity list.

onRemoveFromEntityList

open override fun onRemoveFromEntityList()

Called when the bot is removed from the entity list.

fun pause()

Pauses the trajectory sequence.

open override fun render(gfx: Graphics2D, canvasWidth: Int, canvasHeight: Int)

Renders the bot on the given graphics context.

fun resume()

Resumes the trajectory sequence.

setCanvasDimensions

open override fun setCanvasDimensions(canvasWidth: Double, canvasHeight: Double)

Sets the dimensions of the canvas.

fun setConstraints(constraints: Constraints)

Sets the motion constraints for the bot.

fun setDimensions(width: Double, height: Double): BotEntity

Sets the dimensions of the bot.

setDriveTrainType

fun setDriveTrainType(driveTrainType: DriveTrainType)

Sets the drivetrain type for the bot.

setTrajectoryProgressSeconds

fun setTrajectoryProgressSeconds(seconds: Double)

Sets the trajectory progress in seconds.

setTrajectoryProgressSliderMaster

fun setTrajectoryProgressSliderMaster(master: TrajectoryProgressSliderMaster, index: Int)

Sets the trajectory progress slider master.

fun start()

Starts the trajectory sequence.

open override fun switchScheme(scheme: ColorScheme)

Switches the color scheme of the bot.

Unpauses the trajectory sequence.

open override fun update(deltaTime: Long)

Updates the bot entity.