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Trajectories and Actions

Trajectories and Actions are used extensively when creating a Roadrunner-based autonomous but what are they?

Trajectory​

Simply put, trajectories store a series of movements to be executed by the robot. The following code demonstrates the creation of a trajectory in Roadrunner that moves forward 45 inches. The trajectory builder syntax will be explained later on.

// Create a trajectory
TrajectoryActionBuilder traj = drive.actionBuilder(new Pose2d(0, 0, 0))
  .lineTo(new Vector2d(0, 45));

Action​

Actions are used to run the trajectory drivegrain movement in combination with other movements (lift, arm, etc.). As a result, understanding actions is essential to making a good Roadrunner autonomous.