What is Roadrunner?

Roadrunner is an FTC library for planning robot paths.

These docs only cover version 1.0+ of the Roadrunner Library. If you are using an older version (0.5) of Roadrunner, please see learnroadrunner.com.

Why make this?

There are other sites (shown below) detailing some functionality of Roadrunner, however, these sites lack a lot of detail, leaving a lot up to the end user to figure out. The goal of this website is to provide a more comprehensive guide to RR 1.0+.

https://rr.brott.dev/docs https://cookbook.dairy.foundation/roadrunner_10/complete_trajectorybuilder_reference.html

Coordinate Frame

Roadrunner operates on an alliance-centric coordinate frame with coordinate (0.0, 0.0) being the center of the field and coordinate (-72.0, -72.0) being the bottom left corner from the point of view of the alliance.

Roadrunner's coordinates coorespond to inches. For example, the coordinate (20.0, 30.0) would be located here: PUT HERE

Installation

For installation instructions, please see: https://rr.brott.dev/docs/v1-0/installation/.

Sample Program

The following is a simple program showcasing some basic features of Roadrunner.

// Specify a starting pose
Pose2d beginPose = new Pose2d(-16.0, -55.0, Math.toRadians(90.0));

// Create an instance of the Mecanum Drive class
MecanumDrive drive = new MecanumDrive(hardwareMap, beginPose);

// Create variables to store the Trajectory and Action
TrajectoryActionBuilder traj;
Action trajAction;

// Create a Trajectory
traj = drive.actionBuilder(drive.pose)
  // Put your functions here
  .strafeTo(new Vector2d(30.0, 10.0))
  .splineTo(new Vector2d(-30.0, -10.0));

// Create an action that follows the created trajectory
trajAction = traj.build()

// Run the action
Actions.runBlocking(trajAction);