Road Runner 开源项目使用文档

Road Runner 开源项目使用文档

road-runnerWheeled mobile robot motion planning library designed for FTC项目地址:https://gitcode.com/gh_mirrors/ro/road-runner

1. 项目的目录结构及介绍

Road Runner 项目的目录结构如下：

road-runner/
├── docs/
│   ├── quickstart.md
│   ├── tuning.md
│   └── ...
├── road_runner_core/
│   ├── src/
│   │   ├── main/
│   │   │   ├── java/
│   │   │   └── kotlin/
│   │   └── test/
│   │       ├── java/
│   │       └── kotlin/
│   └── build.gradle
├── road_runner_quickstart/
│   ├── src/
│   │   ├── main/
│   │   │   ├── java/
│   │   │   └── kotlin/
│   │   └── test/
│   │       ├── java/
│   │       └── kotlin/
│   └── build.gradle
├── gradle/
│   └── wrapper/
│       ├── gradle-wrapper.jar
│       └── gradle-wrapper.properties
├── gradlew
├── gradlew.bat
├── build.gradle
├── settings.gradle
└── README.md

目录结构介绍

• docs/: 包含项目的文档文件，如快速入门指南、调优指南等。
• road_runner_core/: 核心库的源代码和构建文件。
• road_runner_quickstart/: 快速入门示例项目的源代码和构建文件。
• gradle/: Gradle 包装器文件。
• gradlew 和 gradlew.bat: Gradle 包装器脚本。
• build.gradle: 项目的根构建文件。
• settings.gradle: 项目的设置文件。
• README.md: 项目的主 README 文件。

2. 项目的启动文件介绍

Road Runner 项目的启动文件位于 road_runner_quickstart/src/main/kotlin/com/acmerobotics/roadrunner/quickstart/MainActivity.kt。

启动文件介绍

package com.acmerobotics.roadrunner.quickstart

import android.os.Bundle
import com.acmerobotics.roadrunner.geometry.Pose2d
import com.acmerobotics.roadrunner.trajectory.Trajectory
import com.acmerobotics.roadrunner.trajectory.TrajectoryBuilder
import com.acmerobotics.roadrunner.drive.DriveSignal
import com.acmerobotics.roadrunner.followers.TrajectoryFollower
import com.acmerobotics.roadrunner.util.Angle
import com.acmerobotics.roadrunner.util.MathUtil
import com.acmerobotics.roadrunner.util.NanoClock
import com.acmerobotics.roadrunner.util.PIDFController
import com.acmerobotics.roadrunner.util.Pose2dSplineInterpolator
import com.acmerobotics.roadrunner.util.Pose2dWithCurvature
import com.acmerobotics.roadrunner.util.QuinticSpline
import com.acmerobotics.roadrunner.util.Spline
import com.acmerobotics.roadrunner.util.Vector2d
import com.acmerobotics.roadrunner.util.VelocityConstraint
import com.acmerobotics.roadrunner.util.AngularVelocityConstraint
import com.acmerobotics.roadrunner.util.TimingConstraint
import com.acmerobotics.roadrunner.util.TrajectoryVelocityConstraint
import com.acmerobotics.roadrunner.util.MinVelocityConstraint
import com.acmerobotics.roadrunner.util.MaxVelocityConstraint
import com.acmerobotics.roadrunner.util.ProfileAccelerationConstraint
import com.acmerobotics.roadrunner.util.ProfileVelocityConstraint
import com.acmerobotics.roadrunner.util.ProfileAccelerationConstraint
import com.acmerobotics.roadrunner.util.ProfileVelocityConstraint
import com.acmerobotics.roadrunner.util.ProfileAccelerationConstraint
import com.acmerobotics.roadrunner.util.ProfileVelocityConstraint
import com.acmerobotics.roadrunner.util.ProfileAccelerationConstraint
import com.acmerobotics.roadrunner.util.ProfileVelocityConstraint
import com.acmerobotics.roadrunner.util.ProfileAccelerationConstraint
import com.acmer

road-runnerWheeled mobile robot motion planning library designed for FTC项目地址:https://gitcode.com/gh_mirrors/ro/road-runner