CommandParser.java 文件源码

private Command createDrivePathCommand(List<String> args)
{
    PathConfig dudePathConfig = new PathConfig(Double.parseDouble(args.get(1)), // Endpoint
            Double.parseDouble(args.get(2)), // Max Velocity
            Double.parseDouble(args.get(3)), // Max Acceleration
            sEXPECTED_DT);

    ISetpointIterator dudeSetpointIterator;

    // TODO create dynamic iterator, way to switch
    if (true)
    {
        PathGenerator dudePathGenerator = new PathGenerator();
        List<PathSetpoint> dudeList = dudePathGenerator.generate(dudePathConfig);
        dudeSetpointIterator = new StaticSetpointIterator(dudeList);
    }

    return new DriveStraightPath(mSnobot.getDriveTrain(), mSnobot.getPositioner(), dudeSetpointIterator);
}