Avoidance

Overview

AvoidanceController manages a set of VectorField objects to provide drive power corrections for obstacle avoidance or field-based behaviors.

Creating an AvoidanceController

// Create VectorFields
VectorField field1 = new VectorField(0, 0, 10);
VectorField field2 = new VectorField(20, 10, 8);

// Initialize AvoidanceController with fields
AvoidanceController avoidanceController = new AvoidanceController(field1, field2);

Adding and Removing Fields

avoidanceController.addField(new VectorField(30, 15,5));
        avoidanceController.

removeField(field1);

Using in Your OpMode

// Get drive coefficients for the robot's current position
Point robotPosition = new Point(5, 7);
DrivePowerCoefficients coefs = avoidanceController.update(robotPosition);
// Use coefs to set wheel power

Drawing Fields (Dashboard Visualization)

avoidanceController.drawFields();

Checking if a Point is in a Field

boolean isInField = avoidanceController.inField(robotPosition) != null;

Note:

update(point) returns DrivePowerCoefficients for the current field, or zeros if not in any field.
Each VectorField can be configured for X, Y, BOTH, or OFF avoidance using the avoidanceVectorType parameter.

Example: Minimal OpMode

import org.firstinspires.ftc.teamcode.ggutil.AvoidanceController;
import org.firstinspires.ftc.teamcode.ggutil.VectorField;
import org.gentrifiedApps.gentrifiedAppsUtil.classes.drive.DrivePowerCoefficients;
import org.gentrifiedApps.gentrifiedAppsUtil.classes.generics.pointClasses.Point;


public class AvoidanceExample {
    public void run() {
        AvoidanceController avoidanceController = new AvoidanceController(new VectorField(0, 0, 10));
        Point robotPosition = new Point(0, 5);
        DrivePowerCoefficients coefs1 = // your coefs
        DrivePowerCoefficients coefs2 = avoidanceController.update(robotPosition);
        // Use coefs for driving logic
        // set power to coefs1.applyAvoidance(coefs2);
    }
}

Last modified: 22 May 2025