# PathSequenceFollower - Following Sequences of Paths

# Deprecated - Coming Soon™

# Class Summary

PathSequenceFollower(PathFollower pathFollower);

Neat, huh?

DO NOT USE - THIS FILE DESCRIBES FEATURES NOT YET WORKING

# Usage

This class strings together a mix of paths and "markers". These two things are consdered "segments". Think of markers as a point where an action should occur. Currently they are synchronous only, meaning the robot will wait until the previous segment has completed before running the next segment. If you can't understand that, then you shuoldn't be using this class.

When initialized your sequence follower, you will need to give it a sequence to follow, these can be added onto at any time. To add segments to your sequence any of these methods can be used:

PathSequenceFollower.addPath(Path path);
PathSequenceFollower.addDisplacementMarker(Runnable action);
PathSequenceFollower.addLocalTemporalMarker(double delay, Runnable action) // delay in seconds

It is important to understand what these do.

Using .addPath() will add the specified path to the sequence.
Using .addDisplacementMarker() run the specified action when the marker is reached.
Using .addLocalTemporalMarker() will run the specified action after the specified time has passed since the start of THIS segment (since the end of the previous segment).

You should string these methods together, eg:

PathSequenceFollower.addPath(path1).addDisplacementMarker(action1).addPath(path2).addLocalTemporalMarker(1.0, action2).addPath(path3);

Don't forget about lambda expressions (if you don't know what they are, google it) for runnables, they make your life so much easier.

# DO NOT RUN BLOCKING METHODS IN MARKERS.

# When using markers, it is super important to not use `sleep()` or any other blocking methods, it will pause everything under the sun.

You should use .addLocalTemporalMarker() to wait. An example use could be when you want to instruct a servo to go to a position, but wait 1 second before moving to the next segment after commanding the servo (grabbing something). You don't have to do this per say, but if you want a working autonomous, you should.

To run this follower, you should probably call followPathSequence() in your loop and feed the robotMovement it returns into your drivetrain. You can also use isFinished() to check if the sequence is finished. Again, all of this is optional, I just think it's a good idea to use it.