Static Public Member Functions
static void	configure (std::function< frc::Pose2d()> poseSupplier, std::function< void(const frc::Pose2d &)> resetPose, std::function< frc::ChassisSpeeds()> robotRelativeSpeedsSupplier, std::function< void(const frc::ChassisSpeeds &, const DriveFeedforwards &)> output, std::shared_ptr< PathFollowingController > controller, RobotConfig robotConfig, std::function< bool()> shouldFlipPath, frc2::Subsystem *driveSubsystem)

static void	configure (std::function< frc::Pose2d()> poseSupplier, std::function< void(const frc::Pose2d &)> resetPose, std::function< frc::ChassisSpeeds()> robotRelativeSpeedsSupplier, std::function< void(const frc::ChassisSpeeds &)> output, std::shared_ptr< PathFollowingController > controller, RobotConfig robotConfig, std::function< bool()> shouldFlipPath, frc2::Subsystem *driveSubsystem)

static void	configureCustom (std::function< frc::Pose2d()> poseSupplier, std::function< frc2::CommandPtr(std::shared_ptr< PathPlannerPath >)> pathFollowingCommandBuilder, std::function< void(const frc::Pose2d &)> resetPose, bool isHolonomic, std::function< bool()> shouldFlipPose=[]() { return false;})

static bool	isConfigured ()

static bool	isHolonomic ()

static frc::Pose2d	getCurrentPose ()

static bool	shouldFlip ()

static frc2::CommandPtr	followPath (std::shared_ptr< PathPlannerPath > path)

static frc2::CommandPtr	buildAuto (std::string autoName)

static frc2::CommandPtr	resetOdom (frc::Pose2d bluePose)

static frc2::CommandPtr	pathfindToPose (frc::Pose2d pose, PathConstraints constraints, units::meters_per_second_t goalEndVel=0_mps)

static frc2::CommandPtr	pathfindToPoseFlipped (frc::Pose2d pose, PathConstraints constraints, units::meters_per_second_t goalEndVel=0_mps)

static frc2::CommandPtr	pathfindThenFollowPath (std::shared_ptr< PathPlannerPath > goalPath, PathConstraints pathfindingConstraints)

static void	regenerateSendableReferences ()

static frc::SendableChooser< frc2::Command * >	buildAutoChooser (std::string defaultAutoName="")

static frc::SendableChooser< frc2::Command * >	buildAutoChooserFilter (std::function< bool(const PathPlannerAuto &)> filter, std::string defaultAutoName="")

static frc::SendableChooser< frc2::Command * >	buildAutoChooserFilterPath (std::function< bool(const PathPlannerAuto &, std::filesystem::path)> filter, std::string defaultAutoName="")

static std::vector< std::string >	getAllAutoNames ()

static std::vector< std::filesystem::path >	getAllAutoPaths ()

Member Function Documentation

◆ buildAuto()

frc2::CommandPtr AutoBuilder::buildAuto ( std::string autoName )

inlinestatic

Builds an auto command for the given auto name.

Parameters

autoName the name of the auto to build

Returns: an auto command for the given auto name

◆ buildAutoChooser()

frc::SendableChooser< frc2::Command * > AutoBuilder::buildAutoChooser ( std::string defaultAutoName = "" )

static

Populate a sendable chooser with all loaded PathPlannerAutos in the project in pathplanner/auto deploy directory (recursively) Loads PathPlannerAutos from deploy/pathplanner/auto directory (recursively) on first call

Parameters

defaultAutoName The name of the auto that should be the default option. If this is an empty string, or if an auto with the given name does not exist, the default option will be frc2::cmd::None()

Returns: SendableChooser populated with all autos

◆ buildAutoChooserFilter()

frc::SendableChooser< frc2::Command * > AutoBuilder::buildAutoChooserFilter	(	std::function< bool(const PathPlannerAuto &)>	filter,
		std::string	defaultAutoName = `""`
	)

static

Populate a sendable chooser with all loaded PathPlannerAutos in the project in pathplanner/auto deploy directory (recursively) Loads PathPlannerAutos from deploy/pathplanner/auto directory (recursively) on first call Filters certain PathPlannerAuto bases on their properties

Parameters

filter	Function which filters the auto commands out, returning true allows the command to be uploaded to sendable chooser while returning false prevents it from being added. autoCommand, const reference to PathPlannerAuto command which was generated
defaultAutoName	The name of the auto that should be the default option. If this is an empty string, or if an auto with the given name does not exist, the default option will be frc2::cmd::None(), defaultAutoName doesn't get filter out and always is in final sendable chooser (if found)

Returns: SendableChooser populated with all autos

◆ buildAutoChooserFilterPath()

frc::SendableChooser< frc2::Command * > AutoBuilder::buildAutoChooserFilterPath	(	std::function< bool(const PathPlannerAuto &, std::filesystem::path)>	filter,
		std::string	defaultAutoName = `""`
	)

static

Populate a sendable chooser with all loaded PathPlannerAutos in the project in pathplanner/auto deploy directory (recursively) Loads PathPlannerAutos from deploy/pathplanner/auto directory (recursively) on first call Filters certain PathPlannerAuto bases on their properties and their filepath

Parameters

filter	Function which filters the auto commands out, returning true allows the command to be uploaded to sendable chooser while returning false prevents it from being added. autoCommand, const reference to PathPlannerAuto command which was generated autoPath, path to the autoCommand relative to pathplanner/auto deploy directory with extension ".auto"
defaultAutoName	The name of the auto that should be the default option. If this is an empty string, or if an auto with the given name does not exist, the default option will be frc2::cmd::None(), defaultAutoName doesn't get filter out and always is in final sendable chooser (if found)

Returns: SendableChooser populated with all autos

◆ configure() [1/2]

static void pathplanner::AutoBuilder::configure	(	std::function< frc::Pose2d()>	poseSupplier,
		std::function< void(const frc::Pose2d &)>	resetPose,
		std::function< frc::ChassisSpeeds()>	robotRelativeSpeedsSupplier,
		std::function< void(const frc::ChassisSpeeds &)>	output,
		std::shared_ptr< PathFollowingController >	controller,
		RobotConfig	robotConfig,
		std::function< bool()>	shouldFlipPath,
		frc2::Subsystem *	driveSubsystem
	)

inlinestatic

Configures the AutoBuilder for using PathPlanner's built-in commands.

Parameters

poseSupplier	a function that returns the robot's current pose
resetPose	a function used for resetting the robot's pose
robotRelativeSpeedsSupplier	a function that returns the robot's current robot relative chassis speeds
output	Output function that accepts robot-relative ChassisSpeeds.
controller	Path following controller that will be used to follow the path
robotConfig	The robot configuration
shouldFlipPath	Supplier that determines if paths should be flipped to the other side of the field. This will maintain a global blue alliance origin.
driveSubsystem	a pointer to the subsystem for the robot's drive

◆ configure() [2/2]

void AutoBuilder::configure	(	std::function< frc::Pose2d()>	poseSupplier,
		std::function< void(const frc::Pose2d &)>	resetPose,
		std::function< frc::ChassisSpeeds()>	robotRelativeSpeedsSupplier,
		std::function< void(const frc::ChassisSpeeds &, const DriveFeedforwards &)>	output,
		std::shared_ptr< PathFollowingController >	controller,
		RobotConfig	robotConfig,
		std::function< bool()>	shouldFlipPath,
		frc2::Subsystem *	driveSubsystem
	)

static

Configures the AutoBuilder for using PathPlanner's built-in commands.

Parameters

poseSupplier	a function that returns the robot's current pose
resetPose	a function used for resetting the robot's pose
robotRelativeSpeedsSupplier	a function that returns the robot's current robot relative chassis speeds
output	Output function that accepts robot-relative ChassisSpeeds and feedforwards for each drive motor. If using swerve, these feedforwards will be in FL, FR, BL, BR order. If using a differential drive, they will be in L, R order.

NOTE: These feedforwards are assuming unoptimized module states. When you optimize your module states, you will need to reverse the feedforwards for modules that have been flipped

Parameters

controller	Path following controller that will be used to follow the path
robotConfig	The robot configuration
shouldFlipPath	Supplier that determines if paths should be flipped to the other side of the field. This will maintain a global blue alliance origin.
driveSubsystem	a pointer to the subsystem for the robot's drive

◆ configureCustom()

void AutoBuilder::configureCustom	(	std::function< frc::Pose2d()>	poseSupplier,
		std::function< frc2::CommandPtr(std::shared_ptr< PathPlannerPath >)>	pathFollowingCommandBuilder,
		std::function< void(const frc::Pose2d &)>	resetPose,
		bool	isHolonomic,
		std::function< bool()>	shouldFlipPose = `[]() { return false; }`
	)

static

Configures the AutoBuilder with custom path following command builder. Building pathfinding commands is not supported if using a custom command builder. Custom path following commands will not have the path flipped for them, and event markers will not be triggered automatically.

Parameters

poseSupplier	a function that returns the robot's current pose
pathFollowingCommandBuilder	a function that builds a command to follow a given path
resetPose	a function for resetting the robot's pose
isHolonomic	Does the robot have a holonomic drivetrain
shouldFlipPose	Supplier that determines if the starting pose should be flipped to the other side of the field. This will maintain a global blue alliance origin. NOTE: paths will not be flipped when configured with a custom path following command. Flipping the paths must be handled in your command.

◆ followPath()

frc2::CommandPtr AutoBuilder::followPath ( std::shared_ptr< PathPlannerPath > path )

static

Builds a command to follow a path with event markers.

Parameters

path	the path to follow

Returns: a path following command with events for the given path

◆ getAllAutoNames()

std::vector< std::string > AutoBuilder::getAllAutoNames ( )

static

Get a vector of all auto names in the pathplanner/auto deploy directory (recursively)

Returns: Vector of strings containing all auto names

◆ getAllAutoPaths()

std::vector< std::filesystem::path > AutoBuilder::getAllAutoPaths ( )

static

Get a vector of all auto paths in the pathplanner/auto deploy directory (recursively)

Returns: Vector of paths relative to autos deploy directory

◆ getCurrentPose()

static frc::Pose2d pathplanner::AutoBuilder::getCurrentPose ( )

inlinestatic

Get the current robot pose

Returns: Current robot pose

◆ isConfigured()

static bool pathplanner::AutoBuilder::isConfigured ( )

inlinestatic

Returns whether the AutoBuilder has been configured.

Returns: true if the AutoBuilder has been configured, false otherwise

◆ isHolonomic()

static bool pathplanner::AutoBuilder::isHolonomic ( )

inlinestatic

Returns whether the AutoBuilder has been configured for a holonomic drivetrain.

Returns: true if the AutoBuilder has been configured for a holonomic drivetrain, false otherwise

◆ pathfindThenFollowPath()

frc2::CommandPtr AutoBuilder::pathfindThenFollowPath	(	std::shared_ptr< PathPlannerPath >	goalPath,
		PathConstraints	pathfindingConstraints
	)

static

Build a command to pathfind to a given path, then follow that path. If not using a holonomic drivetrain, the pose rotation delay distance will have no effect.

Parameters

goalPath	The path to pathfind to, then follow
pathfindingConstraints	The constraints to use while pathfinding

Returns: A command to pathfind to a given path, then follow the path

◆ pathfindToPose()

frc2::CommandPtr AutoBuilder::pathfindToPose	(	frc::Pose2d	pose,
		PathConstraints	constraints,
		units::meters_per_second_t	goalEndVel = `0_mps`
	)

static

Build a command to pathfind to a given pose. If not using a holonomic drivetrain, the pose rotation and rotation delay distance will have no effect.

Parameters

pose	The pose to pathfind to
constraints	The constraints to use while pathfinding
goalEndVelocity	The goal end velocity of the robot when reaching the target pose

Returns: A command to pathfind to a given pose

◆ pathfindToPoseFlipped()

static frc2::CommandPtr pathplanner::AutoBuilder::pathfindToPoseFlipped	(	frc::Pose2d	pose,
		PathConstraints	constraints,
		units::meters_per_second_t	goalEndVel = `0_mps`
	)

inlinestatic

Build a command to pathfind to a given pose that will be flipped based on the value of the path flipping supplier when this command is run. If not using a holonomic drivetrain, the pose rotation and rotation delay distance will have no effect.

Parameters

pose	The pose to pathfind to. This will be flipped if the path flipping supplier returns true
constraints	The constraints to use while pathfinding
goalEndVelocity	The goal end velocity of the robot when reaching the target pose

Returns: A command to pathfind to a given pose

◆ regenerateSendableReferences()

void AutoBuilder::regenerateSendableReferences ( )

static

Modifies the existing references that buildAutoChooser returns in SendableChooser to the most recent in the pathplanner/auto deploy directory

Loads PathPlannerAutos from deploy/pathplanner/auto directory (recursively) on every call Adds new auto paths from the pathplanner/auto deploy directory however doesn't remove autos already previously loaded

◆ resetOdom()

frc2::CommandPtr AutoBuilder::resetOdom ( frc::Pose2d bluePose )

static

Create a command to reset the robot's odometry to a given blue alliance pose

Parameters

bluePose The pose to reset to, relative to blue alliance origin

Returns: Command to reset the robot's odometry

◆ shouldFlip()

static bool pathplanner::AutoBuilder::shouldFlip ( )

inlinestatic

Get if a path or field position should currently be flipped

Returns: True if path/positions should be flipped

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

src/main/native/include/pathplanner/lib/auto/AutoBuilder.h
src/main/native/cpp/pathplanner/lib/auto/AutoBuilder.cpp

Static Public Member Functions

Member Function Documentation

◆ buildAuto()

◆ buildAutoChooser()

◆ buildAutoChooserFilter()

◆ buildAutoChooserFilterPath()

◆ configure() [1/2]

◆ configure() [2/2]

◆ configureCustom()

◆ followPath()

◆ getAllAutoNames()

◆ getAllAutoPaths()

◆ getCurrentPose()

◆ isConfigured()

◆ isHolonomic()

◆ pathfindThenFollowPath()

◆ pathfindToPose()

◆ pathfindToPoseFlipped()

◆ regenerateSendableReferences()

◆ resetOdom()

◆ shouldFlip()