TurtleCompiler

The TurtleCompiler class helps turn your .turt files from the Turtle Tracer Visualizer into PedroPathing PathChains. It does this by reading the .turt file in JSON format and converting it into something usable.

---

Class Architecture

Property	Value
Package Path	org.firstinspires.ftc.teamcode.Paths
Type	Utility / Compiler / Autonomous

---

Methods Reference

1. readAssetFile()

public static String readAssetFile(InputStream is)

This method is used to convert an InputStream containing data from a .turt file into a String so that it can be used later in the compiler.

Parameters

Parameter	Type	Description
is	InputStream	Data extracted from a .turt file.

Return Value

Type	Description
String	Returns a String containing the information extracted from the .turt file.

2. compileLine()

private static PathChain compileLine(Line line, Pose startPose, Follower follower)

This method is used to compile a custom Line into a format usable my PedroPathing

Parameters

Parameter	Type	Description
line	Line	A singular line from a .turt file
startPose	Pose	The start position for the line, either comes from a previous line or start of the .turt file
follower	Follower	Follower instance, should come straight from the Auto as to prevent having several instances of the same thing

Return Value

Type	Description
PathChain	Returns the singular line as a pathChain so it can be appended to a list of them

3. compile()

public static PathProgram compile(TurtleFile file, Follower follower, AutoConfiguration config)

This method is used to compile your Turt file data into a singular PathProgram which a follower can run.

Parameters

Parameter	Type	Description
file	TurtleFile	Contains the startPoint, lines to follow, and sequence of them.
follower	Follower	Needed so that it can call compileLine as to not copy and paste the same code
config	AutoConfiguration	Tells the method how many rows, and shots it needs.

Return Value

Type	Description
PathProgram	Contains a list of the paths, and their names so that it can be used in TurtleRunner to be converted into a PathChain