> For the complete documentation index, see [llms.txt](https://eashan-vytla.gitbook.io/mybotsdk/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://eashan-vytla.gitbook.io/mybotsdk/start-moving/gotopoint.md).

# goToPoint()

This function can make the robot go to a certain point on the x, y plane and can snap to a certain heading using a PID Controller.

## goToPoint(...)

Use this method if you want to use doubles instead of Pose2d for the target position, and also if you are fine with using the in-built localizer to get your current position.

| Parameter Type | Parameter                        |
| -------------- | -------------------------------- |
| double         | Target X Position                |
| double         | Target Y Position                |
| double         | Target Heading in Radians        |
| double         | Maximum Translation Power(0 - 1) |
| double         | Maximum Rotational Power(0 - 1)  |

## goToPoint(...)

Use this method if you already have a Pose2d for target position, and also if you are fine with using the in-built localizer to get your current position.

| Parameter Type | Parameter                        |
| -------------- | -------------------------------- |
| Pose2d         | Target Position                  |
| double         | Maximum Translation Power(0 - 1) |
| double         | Maximum Rotational Power(0 - 1)  |

## goToPoint(...)

Use this method if you already have a Pose2d for target position, and if you are testing a custom localizer which gives you your current position.

| Parameter Type | Parameter                        |
| -------------- | -------------------------------- |
| Pose2d         | Target Position                  |
| Pose2d         | Current Position                 |
| double         | Maximum Translation Power(0 - 1) |
| double         | Maximum Rotational Power(0 - 1)  |

## goToPoint(...)

Use this method if you want to use doubles instead of Pose2d, and also if you are testing a custom localizer which gives you your current position.

| Parameter Type | Parameter                        |
| -------------- | -------------------------------- |
| double         | Target X Position                |
| double         | Target Y Position                |
| double         | Target Heading in Radians        |
| double         | Current X Position               |
| double         | Current Y Position               |
| double         | Current  Heading in Radians      |
| double         | Maximum Translation Power(0 - 1) |
| double         | Maximum Rotational Power(0 - 1)  |

This function can be called inside the OpMode using the syntax below:

```csharp
//Method 1:
Robot.goToPoint(new Pose2d(30.0, 30.0, Math.PI/2), 1.0, 1.0);

//Method 2:
Robot.goToPoint(30.0, 30.0, Math.PI/2, 1.0, 1.0);

//Method 3:
Robot.goToPoint(new Pose2d(30.0, 30.0, Math.PI/2), new Pose2d(Robot.getPose().x, RObot.getPose().y, Robot.getHeading()), 1.0, 1.0);

//Method 4:
Robot.goToPoint(30.0, 30.0, Math.PI/2, Robot.getPose().x, Robot.getPose().y, Robot.getHeading(), 1.0, 1.0);
```