Changes From RoadRunner

NextRunner has a few major differences from RoadRunner 1.0.

1. Package Layout

RoadRunner 1.0 places all classes in the com.acmerobotics.roadrunner package. NextRunner places classes in subpackages of com.acmerobotics.roadrunner, such as com.acmerobotics.roadrunner.paths. This is similar to, but not the same as, the RoadRunner 0.5 package layout.

Unfortunately, due to this change, NextRunner is not backwards compatible with RoadRunner 1.0. However, IntelliJ IDEA and Android Studio will automatically import classes, so you do not need to worry about the package locations.

2. Trajectory Creation

The Drive interface has a trajectoryBuilder method, allowing you to create trajectories without Actions. The API of the TrajectoryBuilder class is very similar to that of TrajectoryActionBuilder, but its build method returns a List<Trajectory> instead of an Action. Alternatively, the buildToComposite method returns a CompositeTrajectory object, which may be easier to use.