Package com.pathplanner.lib.commands

Class PathfindThenFollowPath

java.lang.Object

edu.wpi.first.wpilibj2.command.Command

edu.wpi.first.wpilibj2.command.SequentialCommandGroup

com.pathplanner.lib.commands.PathfindThenFollowPath

All Implemented Interfaces:

Sendable

public class PathfindThenFollowPath
extends SequentialCommandGroup

Command group that will pathfind to the start of a path, then follow that path

Nested Class Summary

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

Command.InterruptionBehavior

Constructor Summary

Constructors

Constructor	Description
PathfindThenFollowPath(PathPlannerPath goalPath, PathConstraints pathfindingConstraints, Supplier<Pose2d> poseSupplier, Supplier<ChassisSpeeds> currentRobotRelativeSpeeds, BiConsumer<ChassisSpeeds,DriveFeedforwards> output, PathFollowingController controller, RobotConfig robotConfig, BooleanSupplier shouldFlipPath, Subsystem... requirements)	Constructs a new PathfindThenFollowPath command group.

Method Summary

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

addCommands, end, execute, getInterruptionBehavior, initialize, initSendable, isFinished, runsWhenDisabled

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

addRequirements, addRequirements, alongWith, andThen, andThen, asProxy, beforeStarting, beforeStarting, cancel, deadlineFor, deadlineWith, finallyDo, finallyDo, getName, getRequirements, getSubsystem, handleInterrupt, hasRequirement, ignoringDisable, isScheduled, onlyIf, onlyWhile, raceWith, repeatedly, 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

PathfindThenFollowPath

public PathfindThenFollowPath(PathPlannerPath goalPath,
 PathConstraints pathfindingConstraints,
 Supplier<Pose2d> poseSupplier,
 Supplier<ChassisSpeeds> currentRobotRelativeSpeeds,
 BiConsumer<ChassisSpeeds,DriveFeedforwards> output,
 PathFollowingController controller,
 RobotConfig robotConfig,
 BooleanSupplier shouldFlipPath,
 Subsystem... requirements)

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

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)