Package frc.alotobots.library.subsystems.vision.photonvision.objectdetection.commands

Class PathfindToBestObject

java.lang.Object

edu.wpi.first.wpilibj2.command.Command

frc.alotobots.library.subsystems.vision.photonvision.objectdetection.commands.PathfindToBestObject

All Implemented Interfaces:

Sendable

public class PathfindToBestObject
extends Command

A command that automatically navigates the robot to the best detected game object. The robot will pathfind to an offset position near the highest priority detected game element, accounting for robot bumper dimensions when calculating the final position.

Nested Class Summary

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

Command.InterruptionBehavior

Constructor Summary

Constructors

Constructor	Description
PathfindToBestObject(ObjectDetectionSubsystem objectDetectionSubsystem, SwerveDriveSubsystem swerveDriveSubsystem, PathPlannerManager pathPlannerManager, GameElement... targetGameElementNames)	Creates a new PathfindToBestObject command.

Method Summary

Modifier and Type	Method	Description
void	execute()	Executes the command logic.
boolean	isFinished()	Determines if the command should end.

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

addRequirements, addRequirements, alongWith, andThen, andThen, asProxy, beforeStarting, beforeStarting, cancel, deadlineFor, deadlineWith, end, finallyDo, finallyDo, getInterruptionBehavior, getName, getRequirements, getSubsystem, handleInterrupt, hasRequirement, ignoringDisable, initialize, 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

PathfindToBestObject

public PathfindToBestObject(ObjectDetectionSubsystem objectDetectionSubsystem,
 SwerveDriveSubsystem swerveDriveSubsystem,
 PathPlannerManager pathPlannerManager,
 GameElement... targetGameElementNames)

Creates a new PathfindToBestObject command.

Parameters:

objectDetectionSubsystem - Subsystem used for detecting game objects

swerveDriveSubsystem - Subsystem used for robot movement

targetGameElementNames - Array of game elements to target, in priority order

Method Details

execute

public void execute()

Executes the command logic. Gets the latest object detections and generates path: - Finds highest priority detected object - Calculates offset position accounting for robot bumper dimensions - Generates and executes pathfinding command to target position

Overrides:

execute in class Command

isFinished

public boolean isFinished()

Determines if the command should end.

Overrides:

isFinished in class Command

Returns:

true if timeout has elapsed