Add Roadrunner

TeamCode/drive/opmode/SplineTest.java

@@ -0,0 +1,38 @@
+package org.firstinspires.ftc.teamcode.drive.opmode;
+
+import com.acmerobotics.roadrunner.geometry.Pose2d;
+import com.acmerobotics.roadrunner.geometry.Vector2d;
+import com.acmerobotics.roadrunner.trajectory.Trajectory;
+import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
+import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
+
+import org.firstinspires.ftc.teamcode.drive.SampleMecanumDrive;
+
+/*
+ * This is an example of a more complex path to really test the tuning.
+ */
+@Autonomous(group = "drive")
+public class SplineTest extends LinearOpMode {
+    @Override
+    public void runOpMode() throws InterruptedException {
+        SampleMecanumDrive drive = new SampleMecanumDrive(hardwareMap);
+
+        waitForStart();
+
+        if (isStopRequested()) return;
+
+        Trajectory traj = drive.trajectoryBuilder(new Pose2d())
+                .splineTo(new Vector2d(30, 30), 0)
+                .build();
+
+        drive.followTrajectory(traj);
+
+        sleep(2000);
+
+        drive.followTrajectory(
+                drive.trajectoryBuilder(traj.end(), true)
+                        .splineTo(new Vector2d(0, 0), Math.toRadians(180))
+                        .build()
+        );
+    }
+}