Package com.pathplanner.lib.auto

Class CommandUtil

java.lang.Object

com.pathplanner.lib.auto.CommandUtil

public class CommandUtil
extends Object

Utility class for building commands used in autos

Constructor Summary

Constructors

Constructor	Description
CommandUtil()

Method Summary

Modifier and Type	Method	Description
static Command	commandFromJson(org.json.simple.JSONObject commandJson, boolean loadChoreoPaths)	Builds a command from the given JSON object.
static Command	wrappedEventCommand(Command eventCommand)	Wraps a command with a functional command that calls the command's initialize, execute, end, and isFinished methods.

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Details

CommandUtil

public CommandUtil()

Method Details

wrappedEventCommand

public static Command wrappedEventCommand(Command eventCommand)

Wraps a command with a functional command that calls the command's initialize, execute, end, and isFinished methods. This allows a command in the event map to be reused multiple times in different command groups

Parameters:

eventCommand - the command to wrap

Returns:

a functional command that wraps the given command

commandFromJson

public static Command commandFromJson(org.json.simple.JSONObject commandJson,
 boolean loadChoreoPaths)
                               throws IOException,
org.json.simple.parser.ParseException

Builds a command from the given JSON object.

Parameters:

commandJson - the JSON object to build the command from

loadChoreoPaths - Load path commands using choreo trajectories

Returns:

a command built from the JSON object

Throws:

IOException - if attempting to load a path file that does not exist or cannot be read

org.json.simple.parser.ParseException - If attempting to load a path with JSON that cannot be parsed