MeepMeep

Path creation/visualization tool for Road Runner

🔨 Installing

Gradle Snippet:

repositories {
    maven { url 'https://jitpack.io' }
    maven { url = 'https://maven.brott.dev/' }
}

dependencies {
    implementation 'com.github.NoahBres:MeepMeep:2.0.0'
}

Installation Video

🚨 The code snippet and explanation within the video is currently not up-to-date with the latest MeepMeep 2.0.x API 🚨

Run Sample

package com.example.meepmeeptesting;

import com.acmerobotics.roadrunner.geometry.Pose2d;
import com.noahbres.meepmeep.MeepMeep;
import com.noahbres.meepmeep.roadrunner.DefaultBotBuilder;
import com.noahbres.meepmeep.roadrunner.entity.RoadRunnerBotEntity;

public class MeepMeepTesting {
    public static void main(String[] args) {
        MeepMeep meepMeep = new MeepMeep(800);

        RoadRunnerBotEntity myBot = new DefaultBotBuilder(meepMeep)
                // Set bot constraints: maxVel, maxAccel, maxAngVel, maxAngAccel, track width
                .setConstraints(60, 60, Math.toRadians(180), Math.toRadians(180), 15)
                .followTrajectorySequence(drive ->
                        drive.trajectorySequenceBuilder(new Pose2d(0, 0, 0))
                                .forward(30)
                                .turn(Math.toRadians(90))
                                .forward(30)
                                .turn(Math.toRadians(90))
                                .forward(30)
                                .turn(Math.toRadians(90))
                                .forward(30)
                                .turn(Math.toRadians(90))
                                .build()
                );

        meepMeep.setBackground(MeepMeep.Background.FIELD_FREIGHTFRENZY_ADI_DARK)
                .setDarkMode(true)
                .setBackgroundAlpha(0.95f)
                .addEntity(myBot)
                .start();
    }
}

Adding a second bot:

MeepMeep version 2.x introduces a new API and updated entity handling, allowing one to run and coordinate multiple trajectories. Declare a new RoadRunnerBotEntity and add it via MeepMeep#addEntity(Entity).

package com.example.meepmeeptesting;

import com.acmerobotics.roadrunner.geometry.Pose2d;
import com.noahbres.meepmeep.MeepMeep;
import com.noahbres.meepmeep.core.colorscheme.scheme.ColorSchemeBlueDark;
import com.noahbres.meepmeep.core.colorscheme.scheme.ColorSchemeRedDark;
import com.noahbres.meepmeep.roadrunner.DefaultBotBuilder;
import com.noahbres.meepmeep.roadrunner.entity.RoadRunnerBotEntity;

public class MeepMeepTesting {
    public static void main(String[] args) {
        MeepMeep meepMeep = new MeepMeep(800);

        // Declare our first bot
        RoadRunnerBotEntity myFirstBot = new DefaultBotBuilder(meepMeep)
                // We set this bot to be blue
                .setColorScheme(new ColorSchemeBlueDark())
                .setConstraints(60, 60, Math.toRadians(180), Math.toRadians(180), 15)
                .followTrajectorySequence(drive ->
                        drive.trajectorySequenceBuilder(new Pose2d(0, 0, 0))
                                .forward(30)
                                .turn(Math.toRadians(90))
                                .forward(30)
                                .turn(Math.toRadians(90))
                                .forward(30)
                                .turn(Math.toRadians(90))
                                .forward(30)
                                .turn(Math.toRadians(90))
                                .build()
                );

        // Declare out second bot
        RoadRunnerBotEntity mySecondBot = new DefaultBotBuilder(meepMeep)
                // We set this bot to be red
                .setColorScheme(new ColorSchemeRedDark())
                .setConstraints(60, 60, Math.toRadians(180), Math.toRadians(180), 15)
                .followTrajectorySequence(drive ->
                        drive.trajectorySequenceBuilder(new Pose2d(30, 30, Math.toRadians(180)))
                                .forward(30)
                                .turn(Math.toRadians(90))
                                .forward(30)
                                .turn(Math.toRadians(90))
                                .forward(30)
                                .turn(Math.toRadians(90))
                                .forward(30)
                                .turn(Math.toRadians(90))
                                .build()
                );

        meepMeep.setBackground(MeepMeep.Background.FIELD_FREIGHTFRENZY_ADI_DARK)
                .setDarkMode(true)
                .setBackgroundAlpha(0.95f)

                // Add both of our declared bot entities
                .addEntity(myFirstBot)
                .addEntity(mySecondBot)
                .start();
    }
}

Poor Performance?

On some systems, hardware acceleration may not be enabled by default. To enable hardware acceleration use the cli flag: -Dsun.java2d.opengl=true.

Or, enable it before initializing your MeepMeep instance with the following snippet: System.setProperty("sun.java2d.opengl", "true");

Notes:

Default Bot Settings:

Constraints
Max Vel: 30in/s
Max Accel: 30in/s/s
Max Ang Vel: 60deg/s
Max Ang Accel: 60deg/s/s
Track Width: 15in
Bot Width: 18in
Bot Width: 18in
Start Pose: (x: 0in, y: 0in, heading: 0rad)
Color Scheme: Inherited from MeepMeep.colorManager unless overriden
Drive Train Type: Mecanum

abidingabi/MeepMeep