catpath
2 error0.00s0 pts
Start pose
Xin
Yin
Headingdeg
Preload: one red / yellow pin, per
<SG5>.Inches from centre. Heading 0 is +Y, clockwise. red starts on the x + y < 0 side, per <SG1f>.
Add a step
moveToPoint coordinate. moveToPose coordinate and heading. swing pivots about one locked wheel.
Route0 steps
Click the field to add a waypoint.
Shift+click inserts, Del removes, arrows nudge, F edits the field.
Fieldat the start posex -50.0 y -56.0 h 45° · 0 in/s · load 1
0red
0blue
0 halvesno AWP
1.00×
0s
0.00s / 0.00s
Checks2 error, 0 warn
Route code
1// my_route -- red, 0 steps
2void my_route() {
3 chassis.odom_xyt_set(-50_in, -56_in, 45_deg);
4
5}
Paste into src/autons.cpp, declare it in include/autons.hpp, then add this line to autons_add in src/main.cpp:
{"my_route", my_route},