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

Class PathPlannerManager

java.lang.Object

frc.alotobots.library.subsystems.swervedrive.util.PathPlannerManager

public class PathPlannerManager
extends Object

Manages PathPlanner integration for autonomous path following and path finding. Abstracts path planning functionality from the SwerveDriveSubsystem.

Constructor Summary

Constructors

Constructor	Description
PathPlannerManager(SwerveDriveSubsystem driveSubsystem)	Creates a new PathPlannerManager.

Method Summary

Modifier and Type	Method	Description
double	getMaxAngularSpeedRadPerSec()	Gets maximum angular speed capability.
double	getMaxLinearSpeedMetersPerSec()	Gets maximum linear speed capability.
Command	getPathFinderCommand(Pose2d target, edu.wpi.first.units.measure.LinearVelocity velocity)	Creates a pathfinding command to the specified pose.

Methods inherited from class java.lang.Object

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

Constructor Details

PathPlannerManager

public PathPlannerManager(SwerveDriveSubsystem driveSubsystem)

Creates a new PathPlannerManager.

Parameters:

driveSubsystem - The swerve drive subsystem to control

Method Details

getPathFinderCommand

public Command getPathFinderCommand(Pose2d target,
 edu.wpi.first.units.measure.LinearVelocity velocity)

Creates a pathfinding command to the specified pose.

Parameters:

target - Target pose

velocity - Target velocity

Returns:

Pathfinding command

getMaxLinearSpeedMetersPerSec

public double getMaxLinearSpeedMetersPerSec()

Gets maximum linear speed capability.

Returns:

Maximum speed in meters per second

getMaxAngularSpeedRadPerSec

public double getMaxAngularSpeedRadPerSec()

Gets maximum angular speed capability.

Returns:

Maximum angular speed in radians per second