Action Builder and Trajectories

Build paths with the 1.0 builder model.

Module 13: Road Runner 1.0 Actions and AutonomousRoad Runner

In this lesson, you will:

01Use actionBuilder.
02Choose simple path primitives.
03Explain start and end poses.

Concept narrative

Road Runner action builders create drive actions from a start pose and a sequence of movement commands. The path should represent field strategy, not just cool-looking motion.

Robot mental model

A trajectory action is a field plan in code. The robot must start where the code thinks it starts, avoid obstacles, and end ready for the next mechanism action.

Implementation walkthrough

Start with line and strafe commands, then turns, then splines. Keep path complexity proportional to localization confidence.

ActionBuilder.javaJava

Action path = drive.actionBuilder(startPose)
    .lineToY(-36)
    .turn(Math.toRadians(-90))
    .strafeTo(new Vector2d(48, -36))
    .build();

Common mistakes and debugging

If a path starts wrong, check start pose first. If it clips field elements, simplify geometry before increasing constraints.

Checkpoint

Start pose is explicit.
Path shape matches strategy.
Simple version is tested first.
The test record includes the setup, prediction, and observed result.
A teammate can repeat the check from the saved evidence without guessing.

Reflection check

Check your understanding before moving on.

Which result best demonstrates completion of “Action Builder and Trajectories”?

Why record the test setup, prediction, and observed result?

0 of 2 answered

References

Road Runner 1.0 Builder ReferenceTrajectory/action builder method reference.Road Runner 1.0 ActionsAction composition, custom actions, and autonomous structure.