com.pathplanner.lib.commands.FollowPathLTV Class Reference

Inheritance diagram for com.pathplanner.lib.commands.FollowPathLTV:

Public Member Functions
	FollowPathLTV (PathPlannerPath path, Supplier< Pose2d > poseSupplier, Supplier< ChassisSpeeds > speedsSupplier, Consumer< ChassisSpeeds > output, double dt, ReplanningConfig replanningConfig, BooleanSupplier shouldFlipPath, Subsystem... requirements)
	FollowPathLTV (PathPlannerPath path, Supplier< Pose2d > poseSupplier, Supplier< ChassisSpeeds > speedsSupplier, Consumer< ChassisSpeeds > output, Vector< N3 > qelems, Vector< N2 > relems, double dt, ReplanningConfig replanningConfig, BooleanSupplier shouldFlipPath, Subsystem... requirements)
Public Member Functions inherited from com.pathplanner.lib.commands.FollowPathCommand
	FollowPathCommand (PathPlannerPath path, Supplier< Pose2d > poseSupplier, Supplier< ChassisSpeeds > speedsSupplier, Consumer< ChassisSpeeds > outputRobotRelative, PathFollowingController controller, ReplanningConfig replanningConfig, BooleanSupplier shouldFlipPath, Subsystem... requirements)
void	initialize ()
void	execute ()
boolean	isFinished ()
void	end (boolean interrupted)
Public Member Functions inherited from edu.wpi.first.wpilibj2.command.Command
Set< Subsystem >	getRequirements ()
final void	addRequirements (Subsystem... requirements)
String	getName ()
void	setName (String name)
String	getSubsystem ()
void	setSubsystem (String subsystem)
ParallelRaceGroup	withTimeout (double seconds)
ParallelRaceGroup	until (BooleanSupplier condition)
ParallelRaceGroup	onlyWhile (BooleanSupplier condition)
SequentialCommandGroup	beforeStarting (Runnable toRun, Subsystem... requirements)
SequentialCommandGroup	beforeStarting (Command before)
SequentialCommandGroup	andThen (Runnable toRun, Subsystem... requirements)
SequentialCommandGroup	andThen (Command... next)
ParallelDeadlineGroup	deadlineWith (Command... parallel)
ParallelCommandGroup	alongWith (Command... parallel)
ParallelRaceGroup	raceWith (Command... parallel)
RepeatCommand	repeatedly ()
ProxyCommand	asProxy ()
ConditionalCommand	unless (BooleanSupplier condition)
ConditionalCommand	onlyIf (BooleanSupplier condition)
WrapperCommand	ignoringDisable (boolean doesRunWhenDisabled)
WrapperCommand	withInterruptBehavior (InterruptionBehavior interruptBehavior)
WrapperCommand	finallyDo (BooleanConsumer end)
WrapperCommand	finallyDo (Runnable end)
WrapperCommand	handleInterrupt (Runnable handler)
void	schedule ()
void	cancel ()
boolean	isScheduled ()
boolean	hasRequirement (Subsystem requirement)
InterruptionBehavior	getInterruptionBehavior ()
boolean	runsWhenDisabled ()
WrapperCommand	withName (String name)
void	initSendable (SendableBuilder builder)
Public Member Functions inherited from edu.wpi.first.util.sendable.Sendable

Additional Inherited Members
Static Public Member Functions inherited from com.pathplanner.lib.commands.FollowPathCommand
Protected Member Functions inherited from edu.wpi.first.wpilibj2.command.Command
	Command ()
Protected Attributes inherited from edu.wpi.first.wpilibj2.command.Command
Set< Subsystem >	m_requirements = new HashSet<>()

Detailed Description

Follow a path using a PPLTVController

Constructor & Destructor Documentation

FollowPathLTV() [1/2]

com.pathplanner.lib.commands.FollowPathLTV.FollowPathLTV	(	PathPlannerPath	path,
		Supplier< Pose2d >	poseSupplier,
		Supplier< ChassisSpeeds >	speedsSupplier,
		Consumer< ChassisSpeeds >	output,
		double	dt,
		ReplanningConfig	replanningConfig,
		BooleanSupplier	shouldFlipPath,
		Subsystem...	requirements )

Create a path following command that will use an LTV unicycle controller for differential drive trains

Parameters

path	The path to follow
poseSupplier	Function that supplies the current field-relative pose of the robot
speedsSupplier	Function that supplies the current robot-relative chassis speeds
output	Function that will apply the robot-relative output speeds of this command
dt	The amount of time between each robot control loop, default is 0.02s
replanningConfig	Path replanning configuration
shouldFlipPath	Should the path be flipped to the other side of the field? This will maintain a global blue alliance origin.
requirements	Subsystems required by this command, usually just the drive subsystem

FollowPathLTV() [2/2]

com.pathplanner.lib.commands.FollowPathLTV.FollowPathLTV	(	PathPlannerPath	path,
		Supplier< Pose2d >	poseSupplier,
		Supplier< ChassisSpeeds >	speedsSupplier,
		Consumer< ChassisSpeeds >	output,
		Vector< N3 >	qelems,
		Vector< N2 >	relems,
		double	dt,
		ReplanningConfig	replanningConfig,
		BooleanSupplier	shouldFlipPath,
		Subsystem...	requirements )

Create a path following command that will use an LTV unicycle controller for differential drive trains

Parameters

path	The path to follow
poseSupplier	Function that supplies the current field-relative pose of the robot
speedsSupplier	Function that supplies the current robot-relative chassis speeds
output	Function that will apply the robot-relative output speeds of this command
qelems	The maximum desired error tolerance for each state.
relems	The maximum desired control effort for each input.
dt	The amount of time between each robot control loop, default is 0.02s
replanningConfig	Path replanning configuration
shouldFlipPath	Should the path be flipped to the other side of the field? This will maintain a global blue alliance origin.
requirements	Subsystems required by this command, usually just the drive subsystem

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

• D:/SDASVN/2024/RaspberryPi/VSCode/Source/com/pathplanner/lib/commands/FollowPathLTV.java