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pathplanner::PathfindThenFollowPath Class Reference
Inheritance diagram for pathplanner::PathfindThenFollowPath:
Public Member Functions | |
| PathfindThenFollowPath (std::shared_ptr< PathPlannerPath > goalPath, PathConstraints pathfindingConstraints, std::function< frc::Pose2d()> poseSupplier, std::function< frc::ChassisSpeeds()> currentRobotRelativeSpeeds, std::function< void(const frc::ChassisSpeeds &, const DriveFeedforwards &)> output, std::shared_ptr< PathFollowingController > controller, RobotConfig robotConfig, std::function< bool()> shouldFlipPath, frc2::Requirements requirements) | |
Constructor & Destructor Documentation
◆ PathfindThenFollowPath()
|
inline |
Constructs a new PathfindThenFollowPath command group.
- Parameters
-
goalPath the goal path to follow pathfindingConstraints the path constraints for pathfinding poseSupplier a supplier for the robot's current pose currentRobotRelativeSpeeds a supplier for the robot's current robot relative 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 target path be flipped to the other side of the field? This will maintain a global blue alliance origin. requirements the subsystems required by this command (drive subsystem)
The documentation for this class was generated from the following file:
- src/main/native/include/pathplanner/lib/commands/PathfindThenFollowPath.h
