com.pathplanner.lib.commands.PathfindingCommand Class Reference

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

Public Member Functions
	PathfindingCommand (PathPlannerPath targetPath, PathConstraints constraints, Supplier< Pose2d > poseSupplier, Supplier< ChassisSpeeds > speedsSupplier, Consumer< ChassisSpeeds > outputRobotRelative, PathFollowingController controller, double rotationDelayDistance, ReplanningConfig replanningConfig, BooleanSupplier shouldFlipPath, Subsystem... requirements)
	PathfindingCommand (Pose2d targetPose, PathConstraints constraints, double goalEndVel, Supplier< Pose2d > poseSupplier, Supplier< ChassisSpeeds > speedsSupplier, Consumer< ChassisSpeeds > outputRobotRelative, PathFollowingController controller, double rotationDelayDistance, ReplanningConfig replanningConfig, 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
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

Base pathfinding command

Constructor & Destructor Documentation

PathfindingCommand() [1/2]

com.pathplanner.lib.commands.PathfindingCommand.PathfindingCommand	(	PathPlannerPath	targetPath,
		PathConstraints	constraints,
		Supplier< Pose2d >	poseSupplier,
		Supplier< ChassisSpeeds >	speedsSupplier,
		Consumer< ChassisSpeeds >	outputRobotRelative,
		PathFollowingController	controller,
		double	rotationDelayDistance,
		ReplanningConfig	replanningConfig,
		BooleanSupplier	shouldFlipPath,
		Subsystem...	requirements )

Constructs a new base pathfinding command that will generate a path towards the given path.

Parameters

targetPath	the path to pathfind to
constraints	the path constraints to use while pathfinding
poseSupplier	a supplier for the robot's current pose
speedsSupplier	a supplier for the robot's current robot relative speeds
outputRobotRelative	a consumer for the output speeds (robot relative)
controller	Path following controller that will be used to follow the path
rotationDelayDistance	How far the robot should travel before attempting to rotate to the final rotation
replanningConfig	Path replanning configuration
shouldFlipPath	Should the target path be flipped to the other side of the field? This will maintain a global blue alliance origin.
requirements	the subsystems required by this command

PathfindingCommand() [2/2]

com.pathplanner.lib.commands.PathfindingCommand.PathfindingCommand	(	Pose2d	targetPose,
		PathConstraints	constraints,
		double	goalEndVel,
		Supplier< Pose2d >	poseSupplier,
		Supplier< ChassisSpeeds >	speedsSupplier,
		Consumer< ChassisSpeeds >	outputRobotRelative,
		PathFollowingController	controller,
		double	rotationDelayDistance,
		ReplanningConfig	replanningConfig,
		Subsystem...	requirements )

Constructs a new base pathfinding command that will generate a path towards the given pose.

Parameters

targetPose	the pose to pathfind to, the rotation component is only relevant for holonomic drive trains
constraints	the path constraints to use while pathfinding
goalEndVel	The goal end velocity when reaching the target pose
poseSupplier	a supplier for the robot's current pose
speedsSupplier	a supplier for the robot's current robot relative speeds
outputRobotRelative	a consumer for the output speeds (robot relative)
controller	Path following controller that will be used to follow the path
rotationDelayDistance	How far the robot should travel before attempting to rotate to the final rotation
replanningConfig	Path replanning configuration
requirements	the subsystems required by this command

Member Function Documentation

end()

void com.pathplanner.lib.commands.PathfindingCommand.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.PathfindingCommand.execute

(

)

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

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

initialize()

void com.pathplanner.lib.commands.PathfindingCommand.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.PathfindingCommand.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.

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

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