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Important Terms to Know

Heading​

Heading refers to the direction that the robot is facing. In Roadrunner, headings are measured in radians. For example, a heading of 0 indicates the robot is facing to the right. A heading of Pi / 2 indicates the robot is facing forward.

Specifing Positions​

In order to specify positions to go to in RR trajectories, Vector2D and Pose2D are commonly used. A short guide to them is shown below.

Vector2D​

Parameters
Vector2d(Double x, Double y)​

Stores x and y coordinates.

// Create a Vector2D storing the coordinates x=10, y=10
new Vector2D(10, 10)

Pose2D​

Parameters
Pose2d(Vector2d position, Double heading)​
Pose2d(Double positionX, Double positionY, Double heading)​
Pose2d(Vector2d position, Rotation2d heading)​

Stores x and y coordinates and a heading.

// Create a Pose2D storing the coordinates x=10, y=10, heading=90degrees(pi/2 radians)
new Pose2D(10, 10, Math.toRadians(90.0))