Package com.pathplanner.lib.commands

Class PathfindingCommand

java.lang.Object

edu.wpi.first.wpilibj2.command.Command

com.pathplanner.lib.commands.PathfindingCommand

All Implemented Interfaces:

Sendable

public class PathfindingCommand
extends Command

Base pathfinding command

Nested Class Summary

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

Command.InterruptionBehavior

Constructor Summary

Constructors

Constructor	Description
PathfindingCommand(PathPlannerPath targetPath, PathConstraints constraints, Supplier<Pose2d> poseSupplier, Supplier<ChassisSpeeds> speedsSupplier, BiConsumer<ChassisSpeeds,DriveFeedforwards> output, PathFollowingController controller, RobotConfig robotConfig, BooleanSupplier shouldFlipPath, Subsystem... requirements)	Constructs a new base pathfinding command that will generate a path towards the given path.
PathfindingCommand(Pose2d targetPose, PathConstraints constraints, double goalEndVel, Supplier<Pose2d> poseSupplier, Supplier<ChassisSpeeds> speedsSupplier, BiConsumer<ChassisSpeeds,DriveFeedforwards> output, PathFollowingController controller, RobotConfig robotConfig, Subsystem... requirements)	Constructs a new base pathfinding command that will generate a path towards the given pose.
PathfindingCommand(Pose2d targetPose, PathConstraints constraints, edu.wpi.first.units.measure.LinearVelocity goalEndVel, Supplier<Pose2d> poseSupplier, Supplier<ChassisSpeeds> speedsSupplier, BiConsumer<ChassisSpeeds,DriveFeedforwards> output, PathFollowingController controller, RobotConfig robotConfig, Subsystem... requirements)	Constructs a new base pathfinding command that will generate a path towards the given pose.
PathfindingCommand(Pose2d targetPose, PathConstraints constraints, Supplier<Pose2d> poseSupplier, Supplier<ChassisSpeeds> speedsSupplier, BiConsumer<ChassisSpeeds,DriveFeedforwards> output, PathFollowingController controller, RobotConfig robotConfig, Subsystem... requirements)	Constructs a new base pathfinding command that will generate a path towards the given pose.

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 the pathfinder and pathfinding 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

PathfindingCommand

public PathfindingCommand(PathPlannerPath targetPath,
 PathConstraints constraints,
 Supplier<Pose2d> poseSupplier,
 Supplier<ChassisSpeeds> speedsSupplier,
 BiConsumer<ChassisSpeeds,DriveFeedforwards> output,
 PathFollowingController controller,
 RobotConfig robotConfig,
 BooleanSupplier shouldFlipPath,
 Subsystem... requirements)

Constructs a new base pathfinding command that will generate a path towards the given path.

Parameters:

targetPath - the path to pathfind to

constraints - the path constraints to use while pathfinding

poseSupplier - a supplier for the robot's current pose

speedsSupplier - 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

PathfindingCommand

public PathfindingCommand(Pose2d targetPose,
 PathConstraints constraints,
 double goalEndVel,
 Supplier<Pose2d> poseSupplier,
 Supplier<ChassisSpeeds> speedsSupplier,
 BiConsumer<ChassisSpeeds,DriveFeedforwards> output,
 PathFollowingController controller,
 RobotConfig robotConfig,
 Subsystem... requirements)

Constructs a new base pathfinding command that will generate a path towards the given pose.

Parameters:

targetPose - the pose to pathfind to, the rotation component is only relevant for holonomic drive trains

constraints - the path constraints to use while pathfinding

goalEndVel - The goal end velocity when reaching the target pose

poseSupplier - a supplier for the robot's current pose

speedsSupplier - 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

requirements - the subsystems required by this command

PathfindingCommand

public PathfindingCommand(Pose2d targetPose,
 PathConstraints constraints,
 edu.wpi.first.units.measure.LinearVelocity goalEndVel,
 Supplier<Pose2d> poseSupplier,
 Supplier<ChassisSpeeds> speedsSupplier,
 BiConsumer<ChassisSpeeds,DriveFeedforwards> output,
 PathFollowingController controller,
 RobotConfig robotConfig,
 Subsystem... requirements)

Constructs a new base pathfinding command that will generate a path towards the given pose.

Parameters:

targetPose - the pose to pathfind to, the rotation component is only relevant for holonomic drive trains

constraints - the path constraints to use while pathfinding

goalEndVel - The goal end velocity when reaching the target pose

poseSupplier - a supplier for the robot's current pose

speedsSupplier - 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

requirements - the subsystems required by this command

PathfindingCommand

public PathfindingCommand(Pose2d targetPose,
 PathConstraints constraints,
 Supplier<Pose2d> poseSupplier,
 Supplier<ChassisSpeeds> speedsSupplier,
 BiConsumer<ChassisSpeeds,DriveFeedforwards> output,
 PathFollowingController controller,
 RobotConfig robotConfig,
 Subsystem... requirements)

Constructs a new base pathfinding command that will generate a path towards the given pose.

Parameters:

targetPose - the pose to pathfind to, the rotation component is only relevant for holonomic drive trains

constraints - the path constraints to use while pathfinding

poseSupplier - a supplier for the robot's current pose

speedsSupplier - 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

requirements - the subsystems required by this command

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 the pathfinder and pathfinding command

Returns:

Pathfinding warmup command