Path tangent orthogonal to the y-axis

[RyanGOttignon]

RR FTC Version

0.1.13

Observed Behavior

When using lineToY statements split by a turn, an exception is thrown: Path tangent orthogonal to the y-axis, try using lineToX() instead

The expected behavior is a forward movement, a turn, and then another forward movement.

Full code:

// QTR_FIELD and STG_Y_IN are constants that define the starting position of the robot; they can be any value
MecanumDrive drive = new MecanumDrive(hardwareMap, new Pose2d(QTR_FLD, STG_Y_IN, Math.toRadians(90.0)));

Action forwardMove;
forwardMove = drive.actionBuilder(drive.pose)
                           .lineToY(STG_Y_IN + 30)
                           .turn(Math.toRadians(90))
                           .lineToY(STG_Y_IN + 49.5)
                           .build();

#325 advises to use setTangent, but results are odd. An argument of 0.0 obviously continues to throw the error; 90.0 causes the second movement to go 45 degrees to the left of the expected movement forward; 180.0 causes the second movement to go 45 degrees to the right of the expected movement forward; 135.0 (trying to average to two) goes straight left of the expected movement forward.

I have a suspicion that setTangent is the solution here, but I am struggling to find a value that simply goes straight. Perhaps elaborating on what it does would be handy.

Tuning Files

No response

Robot Logs

No response

[rbrott]

turn() moves the tangent of the path with it, so it sounds like you want to set the tangent to 90deg again right after it completes: https://rr.brott.dev/playground/?b8c6d36f4f8b9b14. Not sure why your earlier attempt with 90deg went wrong.

[RyanGOttignon]

Welp, there's a lesson. (Thank you!)

Note to future programmers who stumble across this: turn() takes an angle in radians, per the docs. Make sure you're in radians. :p

[RyanGOttignon]

Closing.