#include <PathPlannerAuto.h>

Inheritance diagram for pathplanner::PathPlannerAuto:

Public Member Functions
	PathPlannerAuto (std::string autoName)

	PathPlannerAuto (std::string autoName, bool mirror)

	PathPlannerAuto (frc2::CommandPtr &&autoCommand, frc::Pose2d startingPose=frc::Pose2d())

constexpr frc::Pose2d	getStartingPose () const

frc2::Trigger	condition (std::function< bool()> condition)

frc2::Trigger	isRunning ()

frc2::Trigger	timeElapsed (units::second_t time)

frc2::Trigger	timeRange (units::second_t startTime, units::second_t endTime)

EventTrigger	event (std::string eventName)

PointTowardsZoneTrigger	pointTowardsZone (std::string zoneName)

frc2::Trigger	activePath (std::string pathName)

frc2::Trigger	nearFieldPosition (frc::Translation2d fieldPosition, units::meter_t tolerance)

frc2::Trigger	nearFieldPositionAutoFlipped (frc::Translation2d blueFieldPosition, units::meter_t tolerance)

frc2::Trigger	inFieldArea (frc::Translation2d boundingBoxMin, frc::Translation2d boundingBoxMax)

frc2::Trigger	inFieldAreaAutoFlipped (frc::Translation2d blueBoundingBoxMin, frc::Translation2d blueBoundingBoxMax)

void	Initialize () override

void	Execute () override

bool	IsFinished () override

void	End (bool interrupted) override

Static Public Member Functions
static std::vector< std::shared_ptr< PathPlannerPath > >	getPathGroupFromAutoFile (std::string autoName)

Static Public Attributes
static std::string	currentPathName = ""

Detailed Description

A command that loads and runs an autonomous routine built using PathPlanner.

Constructor & Destructor Documentation

◆ PathPlannerAuto() [1/3]

PathPlannerAuto::PathPlannerAuto ( std::string autoName )

Constructs a new PathPlannerAuto command.

Parameters

autoName the name of the autonomous routine to load and run

◆ PathPlannerAuto() [2/3]

PathPlannerAuto::PathPlannerAuto	(	std::string	autoName,
		bool	mirror
	)

Constructs a new PathPlannerAuto command.

Parameters

autoName	the name of the autonomous routine to load and run
mirror	Mirror all paths to the other side of the current alliance. For example, if a path is on the right of the blue alliance side of the field, it will be mirrored to the left of the blue alliance side of the field.

◆ PathPlannerAuto() [3/3]

PathPlannerAuto::PathPlannerAuto	(	frc2::CommandPtr &&	autoCommand,
		frc::Pose2d	startingPose = `frc::Pose2d()`
	)

Create a PathPlannerAuto from a custom command

Parameters

autoCommand	The command this auto should run
startingPose	The starting pose of the auto. Only used for the getStartingPose method

Member Function Documentation

◆ activePath()

frc2::Trigger pathplanner::PathPlannerAuto::activePath ( std::string pathName )

inline

Create a trigger that is high when a certain path is being followed

Parameters

pathName The name of the path to check for

Returns: activePath trigger

◆ condition()

frc2::Trigger pathplanner::PathPlannerAuto::condition ( std::function< bool()> condition )

inline

Create a trigger with a custom condition. This will be polled by this auto's event loop so that its condition is only polled when this auto is running.

Parameters

condition The condition represented by this trigger

Returns: Custom condition trigger

◆ event()

EventTrigger pathplanner::PathPlannerAuto::event ( std::string eventName )

inline

Create an EventTrigger that will be polled by this auto instead of globally across all path following commands

Parameters

eventName The event name that controls this trigger

Returns: EventTrigger for this auto

◆ getPathGroupFromAutoFile()

std::vector< std::shared_ptr< PathPlannerPath > > PathPlannerAuto::getPathGroupFromAutoFile ( std::string autoName )

static

Get a vector of every path in the given auto (depth first)

Parameters

autoName Name of the auto to get the path group from

Returns: Vector of paths in the auto

◆ getStartingPose()

constexpr frc::Pose2d pathplanner::PathPlannerAuto::getStartingPose ( ) const

inlineconstexpr

Get the starting pose of this auto, relative to a blue alliance origin. If there are no paths in this auto, the starting pose will be (0, 0, 0).

Returns: The blue alliance starting pose

◆ inFieldArea()

frc2::Trigger PathPlannerAuto::inFieldArea	(	frc::Translation2d	boundingBoxMin,
		frc::Translation2d	boundingBoxMax
	)

Create a trigger that will be high when the robot is within a given area on the field. These positions will not be automatically flipped

Parameters

boundingBoxMin	The minimum position of the bounding box for the target field area. The X & Y coordinates of this position should be less than the max position.
boundingBoxMax	The maximum position of the bounding box for the target field area. The X & Y coordinates of this position should be greater than the min position.

Returns: inFieldArea trigger

◆ inFieldAreaAutoFlipped()

frc2::Trigger PathPlannerAuto::inFieldAreaAutoFlipped	(	frc::Translation2d	blueBoundingBoxMin,
		frc::Translation2d	blueBoundingBoxMax
	)

Create a trigger that will be high when the robot is within a given area on the field. These positions will be automatically flipped

Parameters

blueBoundingBoxMin	The minimum position of the bounding box for the target field area if on the blue alliance. The X & Y coordinates of this position should be less than the max position.
blueBoundingBoxMax	The maximum position of the bounding box for the target field area if on the blue alliance. The X & Y coordinates of this position should be greater than the min position.

Returns: inFieldAreaAutoFlipped trigger

◆ isRunning()

frc2::Trigger pathplanner::PathPlannerAuto::isRunning ( )

inline

Create a trigger that is high when this auto is running, and low when it is not running

Returns: isRunning trigger

◆ nearFieldPosition()

frc2::Trigger pathplanner::PathPlannerAuto::nearFieldPosition	(	frc::Translation2d	fieldPosition,
		units::meter_t	tolerance
	)

inline

Create a trigger that is high when near a given field position. This field position is not automatically flipped

Parameters

fieldPosition	The target field position
tolerance	The position tolerance, in meters. The trigger will be high when within this distance from the target position

Returns: nearFieldPosition trigger

◆ nearFieldPositionAutoFlipped()

frc2::Trigger PathPlannerAuto::nearFieldPositionAutoFlipped	(	frc::Translation2d	blueFieldPosition,
		units::meter_t	tolerance
	)

Create a trigger that is high when near a given field position. This field position will be automatically flipped

Parameters

blueFieldPosition	The target field position if on the blue alliance
tolerance	The position tolerance, in meters. The trigger will be high when within this distance from the target position

Returns: nearFieldPositionAutoFlipped trigger

◆ pointTowardsZone()

PointTowardsZoneTrigger pathplanner::PathPlannerAuto::pointTowardsZone ( std::string zoneName )

inline

Create a PointTowardsZoneTrigger that will be polled by this auto instead of globally across all path following commands

Parameters

zoneName The point towards zone name that controls this trigger

Returns: PointTowardsZoneTrigger for this auto

◆ timeElapsed()

frc2::Trigger pathplanner::PathPlannerAuto::timeElapsed ( units::second_t time )

inline

Trigger that is high when the given time has elapsed

Parameters

time	The amount of time this auto should run before the trigger is activated

Returns: timeElapsed trigger

◆ timeRange()

frc2::Trigger pathplanner::PathPlannerAuto::timeRange	(	units::second_t	startTime,
		units::second_t	endTime
	)

inline

Trigger that is high when within a range of time since the start of this auto

Parameters

startTime	The starting time of the range
endTime	The ending time of the range

Returns: timeRange trigger

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

src/main/native/include/pathplanner/lib/commands/PathPlannerAuto.h
src/main/native/cpp/pathplanner/lib/commands/PathPlannerAuto.cpp

Public Member Functions

Static Public Member Functions

Static Public Attributes

Detailed Description

Constructor & Destructor Documentation

◆ PathPlannerAuto() [1/3]

◆ PathPlannerAuto() [2/3]

◆ PathPlannerAuto() [3/3]

Member Function Documentation

◆ activePath()

◆ condition()

◆ event()

◆ getPathGroupFromAutoFile()

◆ getStartingPose()

◆ inFieldArea()

◆ inFieldAreaAutoFlipped()

◆ isRunning()

◆ nearFieldPosition()

◆ nearFieldPositionAutoFlipped()

◆ pointTowardsZone()

◆ timeElapsed()

◆ timeRange()