Package io.github.frc5024.common_drive.commands

Class PathFollowCommand

java.lang.Object

edu.wpi.first.wpilibj2.command.CommandBase

io.github.frc5024.common_drive.commands.PathFollowCommand

All Implemented Interfaces:

Sendable, Command

@Deprecated(since="October 2020",
            forRemoval=true)
public class PathFollowCommand
extends CommandBase

Deprecated, for removal: This API element is subject to removal in a future version.

PathFollowCommand is a CommandBase object generated by DriveTrainBase, and can be used to follow paths with the drivetrain. In the background, it also logs the robot's current position vs the goal position for match analysis.

Field Summary

Fields inherited from class edu.wpi.first.wpilibj2.command.CommandBase

m_requirements

Constructor Summary

Constructors

Constructor	Description
PathFollowCommand(DriveTrainBase driveTrain, Path path, double epsRadius)	Deprecated, for removal: This API element is subject to removal in a future version. Create a PathFollowCommand.

Method Summary

Modifier and Type	Method	Description
void	end(boolean interrupted)	Deprecated, for removal: This API element is subject to removal in a future version.
void	execute()	Deprecated, for removal: This API element is subject to removal in a future version.
void	initialize()	Deprecated, for removal: This API element is subject to removal in a future version.
PathFollowCommand	inReverse(boolean reverse)	Deprecated, for removal: This API element is subject to removal in a future version. Configure reverse path following
boolean	isFinished()	Deprecated, for removal: This API element is subject to removal in a future version.
PathFollowCommand	withLookahead(double lookaheadMeters)	Deprecated, for removal: This API element is subject to removal in a future version. A builder-style method for setting the lookahead.
PathFollowCommand	withMaxSpeed(double speedPercent)	Deprecated, for removal: This API element is subject to removal in a future version. A builder-style method for setting the max speed

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

addRequirements, getName, getRequirements, getSubsystem, initSendable, setName, setSubsystem, withName

Methods inherited from class java.lang.Object

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

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

alongWith, andThen, andThen, asProxy, beforeStarting, cancel, deadlineWith, hasRequirement, isScheduled, perpetually, raceWith, runsWhenDisabled, schedule, schedule, withInterrupt, withTimeout

Methods inherited from interface edu.wpi.first.wpilibj.Sendable

addChild, setName, setName, setName

Constructor Detail

PathFollowCommand

public PathFollowCommand(DriveTrainBase driveTrain,
                         Path path,
                         double epsRadius)

Deprecated, for removal: This API element is subject to removal in a future version.

Create a PathFollowCommand. This should not be called from user code. To create one of these, call DriveTrainBase.createPathingCommand() instead.

Parameters:

driveTrain - DriveTrain to control

path - Path to follow

epsRadius - Radius around the final pose for trigger isFinished()

Method Detail

inReverse

public PathFollowCommand inReverse(boolean reverse)

Deprecated, for removal: This API element is subject to removal in a future version.

Configure reverse path following

Parameters:

reverse - Should the path be followed in reverse?

Returns:

This Object

withLookahead

public PathFollowCommand withLookahead(double lookaheadMeters)

Deprecated, for removal: This API element is subject to removal in a future version.

A builder-style method for setting the lookahead. Lookahead is the radius in front of the robot that is searched for a new point in the path. The bigger this is, the more shortcuts will be taken while path following.

Parameters:

lookaheadMeters - How far to look ahead for new goal poses

Returns:

This Object

withMaxSpeed

public PathFollowCommand withMaxSpeed(double speedPercent)

Deprecated, for removal: This API element is subject to removal in a future version.

A builder-style method for setting the max speed

Parameters:

speedPercent - Percent speed to cap at

Returns:

This Object

initialize

public void initialize()

Deprecated, for removal: This API element is subject to removal in a future version.

execute

public void execute()

Deprecated, for removal: This API element is subject to removal in a future version.

end

public void end(boolean interrupted)

Deprecated, for removal: This API element is subject to removal in a future version.

isFinished

public boolean isFinished()

Deprecated, for removal: This API element is subject to removal in a future version.