Package frc.alotobots.library.subsystems.swervedrive.util

Class MagnetPathfindThenFollowPath

java.lang.Object

edu.wpi.first.wpilibj2.command.Command

frc.alotobots.library.subsystems.swervedrive.util.MagnetPathfindThenFollowPath

All Implemented Interfaces:

Sendable

public class MagnetPathfindThenFollowPath
extends Command

Nested Class Summary

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

Command.InterruptionBehavior

Constructor Summary

Constructors

Constructor

Description

MagnetPathfindThenFollowPath(com.pathplanner.lib.path.PathPlannerPath goalPath, com.pathplanner.lib.path.PathConstraints constraints, Supplier<Pose2d> poseSupplier, Supplier<ChassisSpeeds> speedsSupplier, BiConsumer<ChassisSpeeds,com.pathplanner.lib.util.DriveFeedforwards> output, com.pathplanner.lib.controllers.PathFollowingController controller, com.pathplanner.lib.config.RobotConfig robotConfig, BooleanSupplier shouldFlipPath, Supplier<ChassisSpeeds> driverInput, double inputDeadband, Subsystem... requirements)

Method Summary

Modifier and Type	Method	Description
void	end(boolean interrupted)
void	execute()
void	initialize()
boolean	isFinished()
boolean	isPathfinding()

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, withDeadline, withInterruptBehavior, withName, withTimeout, withTimeout

Methods inherited from class java.lang.Object

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

Constructor Details

MagnetPathfindThenFollowPath

public MagnetPathfindThenFollowPath(com.pathplanner.lib.path.PathPlannerPath goalPath,
 com.pathplanner.lib.path.PathConstraints constraints,
 Supplier<Pose2d> poseSupplier,
 Supplier<ChassisSpeeds> speedsSupplier,
 BiConsumer<ChassisSpeeds,com.pathplanner.lib.util.DriveFeedforwards> output,
 com.pathplanner.lib.controllers.PathFollowingController controller,
 com.pathplanner.lib.config.RobotConfig robotConfig,
 BooleanSupplier shouldFlipPath,
 Supplier<ChassisSpeeds> driverInput,
 double inputDeadband,
 Subsystem... requirements)

Method Details

initialize

public void initialize()

Overrides:

initialize in class Command

execute

public void execute()

Overrides:

execute in class Command

end

public void end(boolean interrupted)

Overrides:

end in class Command

isFinished

public boolean isFinished()

Overrides:

isFinished in class Command

isPathfinding

public boolean isPathfinding()