Action Builder Example

The easiest way to create a NextRunner autonomous is with actionBuilder, similarly to RoadRunner 1.0. Both TankDrive and MecanumDrive have an actionBuilder method, with an optional startPose: Pose2d parameter. If startPose is not provided, it defaults to localizer.pose.

Here is an example of how to use actionBuilder:

@Autonomous
@Disabled
class ActionBuilderExampleKt : LinearOpMode() {
    lateinit var drive: MecanumDrive
    //because the variable is not initialized upon declaration, we add the lateinit modifier
    //remember that we can't initialize it until the runOpMode method, as it relies on hardwareMap
    //which itself is not initialized until then
    lateinit var action: Action

    override fun runOpMode() {
        drive = MecanumDrive(hardwareMap, Pose2d(0.0, 0.0, 0.0))
        action = drive.actionBuilder()
            .forward(10.0)
            .splineTo(Vector2d(10.0, 10.0), Math.toRadians(90.0))
            .build()

        waitForStart()

        runBlocking(action)
    }
}