Robot Core Documentation
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com.pathplanner.lib.commands.FollowPathCommand Class Reference
Inheritance diagram for com.pathplanner.lib.commands.FollowPathCommand:
edu.wpi.first.wpilibj2.command.Command edu.wpi.first.util.sendable.Sendable com.pathplanner.lib.commands.FollowPathHolonomic com.pathplanner.lib.commands.FollowPathLTV com.pathplanner.lib.commands.FollowPathRamsete

Public Member Functions

 FollowPathCommand (PathPlannerPath path, Supplier< Pose2d > poseSupplier, Supplier< ChassisSpeeds > speedsSupplier, Consumer< ChassisSpeeds > outputRobotRelative, PathFollowingController controller, ReplanningConfig replanningConfig, BooleanSupplier shouldFlipPath, Subsystem... requirements)
 
void initialize ()
 
void execute ()
 
boolean isFinished ()
 
void end (boolean interrupted)
 
- Public Member Functions inherited from edu.wpi.first.wpilibj2.command.Command
Set< SubsystemgetRequirements ()
 
final void addRequirements (Subsystem... requirements)
 
String getName ()
 
void setName (String name)
 
String getSubsystem ()
 
void setSubsystem (String subsystem)
 
ParallelRaceGroup withTimeout (double seconds)
 
ParallelRaceGroup until (BooleanSupplier condition)
 
ParallelRaceGroup onlyWhile (BooleanSupplier condition)
 
SequentialCommandGroup beforeStarting (Runnable toRun, Subsystem... requirements)
 
SequentialCommandGroup beforeStarting (Command before)
 
SequentialCommandGroup andThen (Runnable toRun, Subsystem... requirements)
 
SequentialCommandGroup andThen (Command... next)
 
ParallelDeadlineGroup deadlineWith (Command... parallel)
 
ParallelCommandGroup alongWith (Command... parallel)
 
ParallelRaceGroup raceWith (Command... parallel)
 
RepeatCommand repeatedly ()
 
ProxyCommand asProxy ()
 
ConditionalCommand unless (BooleanSupplier condition)
 
ConditionalCommand onlyIf (BooleanSupplier condition)
 
WrapperCommand ignoringDisable (boolean doesRunWhenDisabled)
 
WrapperCommand withInterruptBehavior (InterruptionBehavior interruptBehavior)
 
WrapperCommand finallyDo (BooleanConsumer end)
 
WrapperCommand finallyDo (Runnable end)
 
WrapperCommand handleInterrupt (Runnable handler)
 
void schedule ()
 
void cancel ()
 
boolean isScheduled ()
 
boolean hasRequirement (Subsystem requirement)
 
InterruptionBehavior getInterruptionBehavior ()
 
boolean runsWhenDisabled ()
 
WrapperCommand withName (String name)
 
void initSendable (SendableBuilder builder)
 
- Public Member Functions inherited from edu.wpi.first.util.sendable.Sendable

Additional Inherited Members

- Protected Member Functions inherited from edu.wpi.first.wpilibj2.command.Command
 Command ()
 
- Protected Attributes inherited from edu.wpi.first.wpilibj2.command.Command
Set< Subsystemm_requirements = new HashSet<>()
 

Detailed Description

Base command for following a path

Constructor & Destructor Documentation

◆ FollowPathCommand()

com.pathplanner.lib.commands.FollowPathCommand.FollowPathCommand ( PathPlannerPath path,
Supplier< Pose2d > poseSupplier,
Supplier< ChassisSpeeds > speedsSupplier,
Consumer< ChassisSpeeds > outputRobotRelative,
PathFollowingController controller,
ReplanningConfig replanningConfig,
BooleanSupplier shouldFlipPath,
Subsystem... requirements )

Construct a base path following command

Parameters
pathThe path to follow
poseSupplierFunction that supplies the current field-relative pose of the robot
speedsSupplierFunction that supplies the current robot-relative chassis speeds
outputRobotRelativeFunction that will apply the robot-relative output speeds of this command
controllerPath following controller that will be used to follow the path
replanningConfigPath replanning configuration
shouldFlipPathShould the path be flipped to the other side of the field? This will maintain a global blue alliance origin.
requirementsSubsystems required by this command, usually just the drive subsystem

Member Function Documentation

◆ end()

void com.pathplanner.lib.commands.FollowPathCommand.end ( boolean interrupted)

The action to take when the command ends. Called when either the command finishes normally, or when it interrupted/canceled.

Do not schedule commands here that share requirements with this command. Use andThen(Command...) instead.

Parameters
interruptedwhether the command was interrupted/canceled

Reimplemented from edu.wpi.first.wpilibj2.command.Command.

◆ execute()

void com.pathplanner.lib.commands.FollowPathCommand.execute ( )

The main body of a command. Called repeatedly while the command is scheduled.

Reimplemented from edu.wpi.first.wpilibj2.command.Command.

◆ initialize()

void com.pathplanner.lib.commands.FollowPathCommand.initialize ( )

The initial subroutine of a command. Called once when the command is initially scheduled.

Reimplemented from edu.wpi.first.wpilibj2.command.Command.

◆ isFinished()

boolean com.pathplanner.lib.commands.FollowPathCommand.isFinished ( )

Whether the command has finished. Once a command finishes, the scheduler will call its end() method and un-schedule it.

Returns
whether the command has finished.

Reimplemented from edu.wpi.first.wpilibj2.command.Command.


The documentation for this class was generated from the following file: