pathplanner::FollowPathCommand Class Reference

Inheritance diagram for pathplanner::FollowPathCommand:

Public Member Functions
	FollowPathCommand (std::shared_ptr< PathPlannerPath > path, std::function< frc::Pose2d()> poseSupplier, std::function< frc::ChassisSpeeds()> speedsSupplier, std::function< void(const frc::ChassisSpeeds &, const DriveFeedforwards &)> output, std::shared_ptr< PathFollowingController > controller, RobotConfig robotConfig, std::function< bool()> shouldFlipPath, frc2::Requirements requirements)
void	Initialize () override
void	Execute () override
bool	IsFinished () override
void	End (bool interrupted) override

Constructor & Destructor Documentation

FollowPathCommand()

FollowPathCommand::FollowPathCommand	(	std::shared_ptr< PathPlannerPath >	path,
		std::function< frc::Pose2d()>	poseSupplier,
		std::function< frc::ChassisSpeeds()>	speedsSupplier,
		std::function< void(const frc::ChassisSpeeds &, const DriveFeedforwards &)>	output,
		std::shared_ptr< PathFollowingController >	controller,
		RobotConfig	robotConfig,
		std::function< bool()>	shouldFlipPath,
		frc2::Requirements	requirements
	)

Construct a base path following command

Parameters

path	The path to follow
poseSupplier	Function that supplies the current field-relative pose of the robot
speedsSupplier	Function that supplies the 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	Should the path be flipped to the other side of the field? This will maintain a global blue alliance origin.
requirements	Subsystems required by this command, usually just the drive subsystem

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

• src/main/native/include/pathplanner/lib/commands/FollowPathCommand.h
• src/main/native/cpp/pathplanner/lib/commands/FollowPathCommand.cpp