Package com.pathplanner.lib.commands

Class FollowPathCommand

java.lang.Object

edu.wpi.first.wpilibj2.command.Command

com.pathplanner.lib.commands.FollowPathCommand

All Implemented Interfaces:

Sendable

public class FollowPathCommand
extends Command

Base command for following a path

Nested Class Summary

Nested classes/interfaces inherited from class edu.wpi.first.wpilibj2.command.Command

Command.InterruptionBehavior

Constructor Summary

Constructors

Constructor	Description
FollowPathCommand(PathPlannerPath path, Supplier<Pose2d> poseSupplier, Supplier<ChassisSpeeds> speedsSupplier, BiConsumer<ChassisSpeeds,DriveFeedforwards> output, PathFollowingController controller, RobotConfig robotConfig, BooleanSupplier shouldFlipPath, Subsystem... requirements)	Construct a base path following command

Method Summary

Modifier and Type	Method	Description
void	end(boolean interrupted)
void	execute()
void	initialize()
boolean	isFinished()
static Command	warmupCommand()	Create a command to warmup on-the-fly generation, replanning, and the path following command

Methods inherited from class edu.wpi.first.wpilibj2.command.Command

addRequirements, addRequirements, alongWith, andThen, andThen, asProxy, beforeStarting, beforeStarting, cancel, deadlineFor, deadlineWith, finallyDo, finallyDo, getInterruptionBehavior, getName, getRequirements, getSubsystem, handleInterrupt, hasRequirement, ignoringDisable, initSendable, isScheduled, onlyIf, onlyWhile, raceWith, repeatedly, runsWhenDisabled, schedule, setName, setSubsystem, unless, until, withInterruptBehavior, withName, withTimeout, withTimeout

Methods inherited from class java.lang.Object

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

Constructor Details

FollowPathCommand

public FollowPathCommand(PathPlannerPath path,
 Supplier<Pose2d> poseSupplier,
 Supplier<ChassisSpeeds> speedsSupplier,
 BiConsumer<ChassisSpeeds,DriveFeedforwards> output,
 PathFollowingController controller,
 RobotConfig robotConfig,
 BooleanSupplier shouldFlipPath,
 Subsystem... 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

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

Method Details

initialize

public void initialize()

Overrides:

initialize in class Command

execute

public void execute()

Overrides:

execute in class Command

isFinished

public boolean isFinished()

Overrides:

isFinished in class Command

end

public void end(boolean interrupted)

Overrides:

end in class Command

warmupCommand

public static Command warmupCommand()

Create a command to warmup on-the-fly generation, replanning, and the path following command

Returns:

Path following warmup command