com.pathplanner.lib.commands.PathPlannerAuto Class Reference

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

Public Member Functions
	PathPlannerAuto (String autoName)
void	hotReload (JSONObject autoJson)
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

Static Public Member Functions
static Pose2d	getStaringPoseFromAutoFile (String autoName)
static List< PathPlannerPath >	getPathGroupFromAutoFile (String autoName)

Additional Inherited Members
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

A command that loads and runs an autonomous routine built using PathPlanner.

Constructor & Destructor Documentation

PathPlannerAuto()

com.pathplanner.lib.commands.PathPlannerAuto.PathPlannerAuto

(

String

autoName

)

Constructs a new PathPlannerAuto command.

Parameters

autoName

the name of the autonomous routine to load and run

Exceptions

RuntimeException

if AutoBuilder is not configured before attempting to load the autonomous routine

Member Function Documentation

end()

void com.pathplanner.lib.commands.PathPlannerAuto.end

(

boolean

interrupted

)

The action to take when the command ends. Called when either the command finishes normally, or when it interrupted/canceled.

Do not schedule commands here that share requirements with this command. Use andThen(Command...) instead.

Parameters

interrupted

whether the command was interrupted/canceled

Reimplemented from edu.wpi.first.wpilibj2.command.Command.

execute()

void com.pathplanner.lib.commands.PathPlannerAuto.execute

(

)

The main body of a command. Called repeatedly while the command is scheduled.

Reimplemented from edu.wpi.first.wpilibj2.command.Command.

getPathGroupFromAutoFile()

static List< PathPlannerPath > com.pathplanner.lib.commands.PathPlannerAuto.getPathGroupFromAutoFile ( String autoName )

static

Get a list of every path in the given auto (depth first)

Parameters

autoName

Name of the auto to get the path group from

Returns

List of paths in the auto

getStaringPoseFromAutoFile()

static Pose2d com.pathplanner.lib.commands.PathPlannerAuto.getStaringPoseFromAutoFile ( String autoName )

static

Get the starting pose from the given auto file

Parameters

autoName

Name of the auto to get the pose from

Returns

Starting pose from the given auto

hotReload()

void com.pathplanner.lib.commands.PathPlannerAuto.hotReload

(

JSONObject

autoJson

)

Reloads the autonomous routine with the given JSON object and updates the requirements of this command.

Parameters

autoJson

the JSON object representing the updated autonomous routine

initialize()

void com.pathplanner.lib.commands.PathPlannerAuto.initialize

(

)

The initial subroutine of a command. Called once when the command is initially scheduled.

Reimplemented from edu.wpi.first.wpilibj2.command.Command.

isFinished()

boolean com.pathplanner.lib.commands.PathPlannerAuto.isFinished

(

)

Whether the command has finished. Once a command finishes, the scheduler will call its end() method and un-schedule it.

Returns

whether the command has finished.

Reimplemented from edu.wpi.first.wpilibj2.command.Command.

---

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

• D:/SDASVN/2025/RaspberryPi/VSCode/Source/com/pathplanner/lib/commands/PathPlannerAuto.java