Classes
interface	QuadFunction

interface	TriFunction

Static Public Member Functions
static void	configureHolonomic (Supplier< Pose2d > poseSupplier, Consumer< Pose2d > resetPose, Supplier< ChassisSpeeds > robotRelativeSpeedsSupplier, Consumer< ChassisSpeeds > robotRelativeOutput, HolonomicPathFollowerConfig config, BooleanSupplier shouldFlipPath, Subsystem driveSubsystem)

static void	configureRamsete (Supplier< Pose2d > poseSupplier, Consumer< Pose2d > resetPose, Supplier< ChassisSpeeds > speedsSupplier, Consumer< ChassisSpeeds > output, ReplanningConfig replanningConfig, BooleanSupplier shouldFlipPath, Subsystem driveSubsystem)

static void	configureRamsete (Supplier< Pose2d > poseSupplier, Consumer< Pose2d > resetPose, Supplier< ChassisSpeeds > speedsSupplier, Consumer< ChassisSpeeds > output, double b, double zeta, ReplanningConfig replanningConfig, BooleanSupplier shouldFlipPath, Subsystem driveSubsystem)

static void	configureLTV (Supplier< Pose2d > poseSupplier, Consumer< Pose2d > resetPose, Supplier< ChassisSpeeds > speedsSupplier, Consumer< ChassisSpeeds > output, double dt, ReplanningConfig replanningConfig, BooleanSupplier shouldFlipPath, Subsystem driveSubsystem)

static void	configureLTV (Supplier< Pose2d > poseSupplier, Consumer< Pose2d > resetPose, Supplier< ChassisSpeeds > speedsSupplier, Consumer< ChassisSpeeds > output, Vector< N3 > qelems, Vector< N2 > relems, double dt, ReplanningConfig replanningConfig, BooleanSupplier shouldFlipPath, Subsystem driveSubsystem)

static void	configureCustom (Function< PathPlannerPath, Command > pathFollowingCommandBuilder, Supplier< Pose2d > poseSupplier, Consumer< Pose2d > resetPose, BooleanSupplier shouldFlipPose)

static void	configureCustom (Function< PathPlannerPath, Command > pathFollowingCommandBuilder, Supplier< Pose2d > poseSupplier, Consumer< Pose2d > resetPose)

static boolean	isConfigured ()

static boolean	isPathfindingConfigured ()

static Command	followPathWithEvents (PathPlannerPath path)

static Command	followPath (PathPlannerPath path)

static Command	pathfindToPose (Pose2d pose, PathConstraints constraints, double goalEndVelocity, double rotationDelayDistance)

static Command	pathfindToPose (Pose2d pose, PathConstraints constraints, double goalEndVelocity)

static Command	pathfindToPose (Pose2d pose, PathConstraints constraints)

static Command	pathfindToPoseFlipped (Pose2d pose, PathConstraints constraints, double goalEndVelocity, double rotationDelayDistance)

static Command	pathfindToPoseFlipped (Pose2d pose, PathConstraints constraints, double goalEndVelocity)

static Command	pathfindToPoseFlipped (Pose2d pose, PathConstraints constraints)

static Command	pathfindThenFollowPath (PathPlannerPath goalPath, PathConstraints pathfindingConstraints, double rotationDelayDistance)

static Command	pathfindThenFollowPath (PathPlannerPath goalPath, PathConstraints pathfindingConstraints)

static SendableChooser< Command >	buildAutoChooser ()

static SendableChooser< Command >	buildAutoChooser (String defaultAutoName)

static SendableChooser< Command >	buildAutoChooserWithOptionsModifier (Function< Stream< PathPlannerAuto >, Stream< PathPlannerAuto > > optionsModifier)

static SendableChooser< Command >	buildAutoChooserWithOptionsModifier (String defaultAutoName, Function< Stream< PathPlannerAuto >, Stream< PathPlannerAuto > > optionsModifier)

static List< String >	getAllAutoNames ()

static Pose2d	getStartingPoseFromJson (JSONObject startingPoseJson)

static Command	buildAuto (String autoName)

static Command	getAutoCommandFromJson (JSONObject autoJson)

Detailed Description

Utility class used to build auto routines

Member Function Documentation

◆ buildAuto()

static Command com.pathplanner.lib.auto.AutoBuilder.buildAuto ( String autoName )

static

Builds an auto command for the given auto name.

Parameters

autoName the name of the auto to build

Returns: an auto command for the given auto name

◆ buildAutoChooser() [1/2]

static SendableChooser< Command > com.pathplanner.lib.auto.AutoBuilder.buildAutoChooser ( )

static

Create and populate a sendable chooser with all PathPlannerAutos in the project. The default option will be Commands.none()

Returns: SendableChooser populated with all autos

◆ buildAutoChooser() [2/2]

static SendableChooser< Command > com.pathplanner.lib.auto.AutoBuilder.buildAutoChooser ( String defaultAutoName )

static

Create and populate a sendable chooser with all PathPlannerAutos in the project

Parameters

defaultAutoName The name of the auto that should be the default option. If this is an empty string, or if an auto with the given name does not exist, the default option will be Commands.none()

Returns: SendableChooser populated with all autos

◆ buildAutoChooserWithOptionsModifier() [1/2]

static SendableChooser< Command > com.pathplanner.lib.auto.AutoBuilder.buildAutoChooserWithOptionsModifier ( Function< Stream< PathPlannerAuto >, Stream< PathPlannerAuto > > optionsModifier )

static

Create and populate a sendable chooser with all PathPlannerAutos in the project. The default option will be Commands.none()

Parameters

optionsModifier A lambda function that can be used to modify the options before they go into the AutoChooser

Returns: SendableChooser populated with all autos

◆ buildAutoChooserWithOptionsModifier() [2/2]

static SendableChooser< Command > com.pathplanner.lib.auto.AutoBuilder.buildAutoChooserWithOptionsModifier	(	String	defaultAutoName,
		Function< Stream< PathPlannerAuto >, Stream< PathPlannerAuto > >	optionsModifier )

static

Create and populate a sendable chooser with all PathPlannerAutos in the project

Parameters

defaultAutoName	The name of the auto that should be the default option. If this is an empty string, or if an auto with the given name does not exist, the default option will be Commands.none()
optionsModifier	A lambda function that can be used to modify the options before they go into the AutoChooser

Returns: SendableChooser populated with all autos

◆ configureCustom() [1/2]

static void com.pathplanner.lib.auto.AutoBuilder.configureCustom	(	Function< PathPlannerPath, Command >	pathFollowingCommandBuilder,
		Supplier< Pose2d >	poseSupplier,
		Consumer< Pose2d >	resetPose )

static

Configures the AutoBuilder with custom path following command builder. Building pathfinding commands is not supported if using a custom command builder. Custom path following commands will not have the path flipped for them, and event markers will not be triggered automatically.

Parameters

pathFollowingCommandBuilder	a function that builds a command to follow a given path
poseSupplier	a supplier for the robot's current pose
resetPose	a consumer for resetting the robot's pose

◆ configureCustom() [2/2]

static void com.pathplanner.lib.auto.AutoBuilder.configureCustom	(	Function< PathPlannerPath, Command >	pathFollowingCommandBuilder,
		Supplier< Pose2d >	poseSupplier,
		Consumer< Pose2d >	resetPose,
		BooleanSupplier	shouldFlipPose )

static

Configures the AutoBuilder with custom path following command builder. Building pathfinding commands is not supported if using a custom command builder. Custom path following commands will not have the path flipped for them, and event markers will not be triggered automatically.

Parameters

pathFollowingCommandBuilder	a function that builds a command to follow a given path
poseSupplier	a supplier for the robot's current pose
resetPose	a consumer for resetting the robot's pose
shouldFlipPose	Supplier that determines if the starting pose should be flipped to the other side of the field. This will maintain a global blue alliance origin. NOTE: paths will not be flipped when configured with a custom path following command. Flipping the paths must be handled in your command.

◆ configureHolonomic()

static void com.pathplanner.lib.auto.AutoBuilder.configureHolonomic	(	Supplier< Pose2d >	poseSupplier,
		Consumer< Pose2d >	resetPose,
		Supplier< ChassisSpeeds >	robotRelativeSpeedsSupplier,
		Consumer< ChassisSpeeds >	robotRelativeOutput,
		HolonomicPathFollowerConfig	config,
		BooleanSupplier	shouldFlipPath,
		Subsystem	driveSubsystem )

static

Configures the AutoBuilder for a holonomic drivetrain.

Parameters

poseSupplier	a supplier for the robot's current pose
resetPose	a consumer for resetting the robot's pose
robotRelativeSpeedsSupplier	a supplier for the robot's current robot relative chassis speeds
robotRelativeOutput	a consumer for setting the robot's robot-relative chassis speeds
config	`com.pathplanner.lib.util.HolonomicPathFollowerConfig` for configuring the path following commands
shouldFlipPath	Supplier that determines if paths should be flipped to the other side of the field. This will maintain a global blue alliance origin.
driveSubsystem	the subsystem for the robot's drive

◆ configureLTV() [1/2]

static void com.pathplanner.lib.auto.AutoBuilder.configureLTV	(	Supplier< Pose2d >	poseSupplier,
		Consumer< Pose2d >	resetPose,
		Supplier< ChassisSpeeds >	speedsSupplier,
		Consumer< ChassisSpeeds >	output,
		double	dt,
		ReplanningConfig	replanningConfig,
		BooleanSupplier	shouldFlipPath,
		Subsystem	driveSubsystem )

static

Configures the AutoBuilder for a differential drivetrain using a LTVUnicycleController path follower.

Parameters

poseSupplier	a supplier for the robot's current pose
resetPose	a consumer for resetting the robot's pose
speedsSupplier	a supplier for the robot's current chassis speeds
output	a consumer for setting the robot's chassis speeds
dt	Period of the robot control loop in seconds (default 0.02)
replanningConfig	Path replanning configuration
shouldFlipPath	Supplier that determines if paths should be flipped to the other side of the field. This will maintain a global blue alliance origin.
driveSubsystem	the subsystem for the robot's drive

◆ configureLTV() [2/2]

static void com.pathplanner.lib.auto.AutoBuilder.configureLTV	(	Supplier< Pose2d >	poseSupplier,
		Consumer< Pose2d >	resetPose,
		Supplier< ChassisSpeeds >	speedsSupplier,
		Consumer< ChassisSpeeds >	output,
		Vector< N3 >	qelems,
		Vector< N2 >	relems,
		double	dt,
		ReplanningConfig	replanningConfig,
		BooleanSupplier	shouldFlipPath,
		Subsystem	driveSubsystem )

static

Configures the AutoBuilder for a differential drivetrain using a LTVUnicycleController path follower.

Parameters

poseSupplier	a supplier for the robot's current pose
resetPose	a consumer for resetting the robot's pose
speedsSupplier	a supplier for the robot's current chassis speeds
output	a consumer for setting the robot's chassis speeds
qelems	The maximum desired error tolerance for each state.
relems	The maximum desired control effort for each input.
dt	Period of the robot control loop in seconds (default 0.02)
replanningConfig	Path replanning configuration
shouldFlipPath	Supplier that determines if paths should be flipped to the other side of the field. This will maintain a global blue alliance origin.
driveSubsystem	the subsystem for the robot's drive

◆ configureRamsete() [1/2]

static void com.pathplanner.lib.auto.AutoBuilder.configureRamsete	(	Supplier< Pose2d >	poseSupplier,
		Consumer< Pose2d >	resetPose,
		Supplier< ChassisSpeeds >	speedsSupplier,
		Consumer< ChassisSpeeds >	output,
		double	b,
		double	zeta,
		ReplanningConfig	replanningConfig,
		BooleanSupplier	shouldFlipPath,
		Subsystem	driveSubsystem )

static

Configures the AutoBuilder for a differential drivetrain using a RAMSETE path follower.

Parameters

poseSupplier	a supplier for the robot's current pose
resetPose	a consumer for resetting the robot's pose
speedsSupplier	a supplier for the robot's current chassis speeds
output	a consumer for setting the robot's chassis speeds
b	Tuning parameter (b > 0 rad^2/m^2) for which larger values make convergence more aggressive like a proportional term.
zeta	Tuning parameter (0 rad^-1 < zeta < 1 rad^-1) for which larger values provide more damping in response.
replanningConfig	Path replanning configuration
shouldFlipPath	Supplier that determines if paths should be flipped to the other side of the field. This will maintain a global blue alliance origin.
driveSubsystem	the subsystem for the robot's drive

◆ configureRamsete() [2/2]

static void com.pathplanner.lib.auto.AutoBuilder.configureRamsete	(	Supplier< Pose2d >	poseSupplier,
		Consumer< Pose2d >	resetPose,
		Supplier< ChassisSpeeds >	speedsSupplier,
		Consumer< ChassisSpeeds >	output,
		ReplanningConfig	replanningConfig,
		BooleanSupplier	shouldFlipPath,
		Subsystem	driveSubsystem )

static

Configures the AutoBuilder for a differential drivetrain using a RAMSETE path follower.

Parameters

poseSupplier	a supplier for the robot's current pose
resetPose	a consumer for resetting the robot's pose
speedsSupplier	a supplier for the robot's current chassis speeds
output	a consumer for setting the robot's chassis speeds
replanningConfig	Path replanning configuration
shouldFlipPath	Supplier that determines if paths should be flipped to the other side of the field. This will maintain a global blue alliance origin.
driveSubsystem	the subsystem for the robot's drive

◆ followPath()

static Command com.pathplanner.lib.auto.AutoBuilder.followPath ( PathPlannerPath path )

static

Builds a command to follow a path. PathPlannerLib commands will also trigger event markers along the way.

Parameters

path	the path to follow

Returns: a path following command with for the given path

Exceptions

AutoBuilderException if the AutoBuilder has not been configured

◆ followPathWithEvents()

static Command com.pathplanner.lib.auto.AutoBuilder.followPathWithEvents ( PathPlannerPath path )

static

Builds a command to follow a path with event markers.

Parameters

path	the path to follow

Returns: a path following command with events for the given path

Exceptions

AutoBuilderException if the AutoBuilder has not been configured

Deprecated: Renamed to "followPath"

◆ getAllAutoNames()

static List< String > com.pathplanner.lib.auto.AutoBuilder.getAllAutoNames ( )

static

Get a list of all auto names in the project

Returns: List of all auto names

◆ getAutoCommandFromJson()

static Command com.pathplanner.lib.auto.AutoBuilder.getAutoCommandFromJson ( JSONObject autoJson )

static

Builds an auto command from the given JSON object.

Parameters

autoJson the JSON object to build the command from

Returns: an auto command built from the JSON object

◆ getStartingPoseFromJson()

static Pose2d com.pathplanner.lib.auto.AutoBuilder.getStartingPoseFromJson ( JSONObject startingPoseJson )

static

Get the starting pose from its JSON representation. This is only used internally.

Parameters

startingPoseJson JSON object representing a starting pose.

Returns: The Pose2d starting pose

◆ isConfigured()

static boolean com.pathplanner.lib.auto.AutoBuilder.isConfigured ( )

static

Returns whether the AutoBuilder has been configured.

Returns: true if the AutoBuilder has been configured, false otherwise

◆ isPathfindingConfigured()

static boolean com.pathplanner.lib.auto.AutoBuilder.isPathfindingConfigured ( )

static

Returns whether the AutoBuilder has been configured for pathfinding.

Returns: true if the AutoBuilder has been configured for pathfinding, false otherwise

◆ pathfindThenFollowPath() [1/2]

static Command com.pathplanner.lib.auto.AutoBuilder.pathfindThenFollowPath	(	PathPlannerPath	goalPath,
		PathConstraints	pathfindingConstraints )

static

Build a command to pathfind to a given path, then follow that path.

Parameters

goalPath	The path to pathfind to, then follow
pathfindingConstraints	The constraints to use while pathfinding

Returns: A command to pathfind to a given path, then follow the path

◆ pathfindThenFollowPath() [2/2]

static Command com.pathplanner.lib.auto.AutoBuilder.pathfindThenFollowPath	(	PathPlannerPath	goalPath,
		PathConstraints	pathfindingConstraints,
		double	rotationDelayDistance )

static

Build a command to pathfind to a given path, then follow that path. If not using a holonomic drivetrain, the pose rotation delay distance will have no effect.

Parameters

goalPath	The path to pathfind to, then follow
pathfindingConstraints	The constraints to use while pathfinding
rotationDelayDistance	The distance the robot should move from the start position before attempting to rotate to the final rotation

Returns: A command to pathfind to a given path, then follow the path

◆ pathfindToPose() [1/3]

static Command com.pathplanner.lib.auto.AutoBuilder.pathfindToPose	(	Pose2d	pose,
		PathConstraints	constraints )

static

Build a command to pathfind to a given pose. If not using a holonomic drivetrain, the pose rotation will have no effect.

Parameters

pose	The pose to pathfind to
constraints	The constraints to use while pathfinding

Returns: A command to pathfind to a given pose

◆ pathfindToPose() [2/3]

static Command com.pathplanner.lib.auto.AutoBuilder.pathfindToPose	(	Pose2d	pose,
		PathConstraints	constraints,
		double	goalEndVelocity )

static

Build a command to pathfind to a given pose. If not using a holonomic drivetrain, the pose rotation will have no effect.

Parameters

pose	The pose to pathfind to
constraints	The constraints to use while pathfinding
goalEndVelocity	The goal end velocity of the robot when reaching the target pose

Returns: A command to pathfind to a given pose

◆ pathfindToPose() [3/3]

static Command com.pathplanner.lib.auto.AutoBuilder.pathfindToPose	(	Pose2d	pose,
		PathConstraints	constraints,
		double	goalEndVelocity,
		double	rotationDelayDistance )

static

Build a command to pathfind to a given pose. If not using a holonomic drivetrain, the pose rotation and rotation delay distance will have no effect.

Parameters

pose	The pose to pathfind to
constraints	The constraints to use while pathfinding
goalEndVelocity	The goal end velocity of the robot when reaching the target pose
rotationDelayDistance	The distance the robot should move from the start position before attempting to rotate to the final rotation

Returns: A command to pathfind to a given pose

◆ pathfindToPoseFlipped() [1/3]

static Command com.pathplanner.lib.auto.AutoBuilder.pathfindToPoseFlipped	(	Pose2d	pose,
		PathConstraints	constraints )

static

Build a command to pathfind to a given pose that will be flipped based on the value of the path flipping supplier when this command is run. If not using a holonomic drivetrain, the pose rotation and rotation delay distance will have no effect.

Parameters

pose	The pose to pathfind to. This will be flipped if the path flipping supplier returns true
constraints	The constraints to use while pathfinding

Returns: A command to pathfind to a given pose

◆ pathfindToPoseFlipped() [2/3]

static Command com.pathplanner.lib.auto.AutoBuilder.pathfindToPoseFlipped	(	Pose2d	pose,
		PathConstraints	constraints,
		double	goalEndVelocity )

static

Build a command to pathfind to a given pose that will be flipped based on the value of the path flipping supplier when this command is run. If not using a holonomic drivetrain, the pose rotation and rotation delay distance will have no effect.

Parameters

pose	The pose to pathfind to. This will be flipped if the path flipping supplier returns true
constraints	The constraints to use while pathfinding
goalEndVelocity	The goal end velocity of the robot when reaching the target pose

Returns: A command to pathfind to a given pose

◆ pathfindToPoseFlipped() [3/3]

static Command com.pathplanner.lib.auto.AutoBuilder.pathfindToPoseFlipped	(	Pose2d	pose,
		PathConstraints	constraints,
		double	goalEndVelocity,
		double	rotationDelayDistance )

static

Build a command to pathfind to a given pose that will be flipped based on the value of the path flipping supplier when this command is run. If not using a holonomic drivetrain, the pose rotation and rotation delay distance will have no effect.

Parameters

pose	The pose to pathfind to. This will be flipped if the path flipping supplier returns true
constraints	The constraints to use while pathfinding
goalEndVelocity	The goal end velocity of the robot when reaching the target pose
rotationDelayDistance	The distance the robot should move from the start position before attempting to rotate to the final rotation

Returns: A command to pathfind to a given pose

The documentation for this class was generated from the following file:

D:/SDASVN/2024/RaspberryPi/VSCode/Source/com/pathplanner/lib/auto/AutoBuilder.java

Classes

Static Public Member Functions

Detailed Description

Member Function Documentation

◆ buildAuto()

◆ buildAutoChooser() [1/2]

◆ buildAutoChooser() [2/2]

◆ buildAutoChooserWithOptionsModifier() [1/2]

◆ buildAutoChooserWithOptionsModifier() [2/2]

◆ configureCustom() [1/2]

◆ configureCustom() [2/2]

◆ configureHolonomic()

◆ configureLTV() [1/2]

◆ configureLTV() [2/2]

◆ configureRamsete() [1/2]

◆ configureRamsete() [2/2]

◆ followPath()

◆ followPathWithEvents()

◆ getAllAutoNames()

◆ getAutoCommandFromJson()

◆ getStartingPoseFromJson()

◆ isConfigured()

◆ isPathfindingConfigured()

◆ pathfindThenFollowPath() [1/2]

◆ pathfindThenFollowPath() [2/2]

◆ pathfindToPose() [1/3]

◆ pathfindToPose() [2/3]

◆ pathfindToPose() [3/3]

◆ pathfindToPoseFlipped() [1/3]

◆ pathfindToPoseFlipped() [2/3]

◆ pathfindToPoseFlipped() [3/3]