Class PathPlannerAuton

java.lang.Object

com.stuypulse.robot.commands.auton.PathPlannerAuton

All Implemented Interfaces:

Auton

public class PathPlannerAuton
extends Object
implements Auton

Implementation of Auton using PathPlanner paths

Field Summary

Fields

Modifier and Type	Field	Description
private final org.wpilib.command3.Command	command
private final List<com.pathplanner.lib.path.PathPlannerPath>	paths

Constructor Summary

Constructors

Constructor	Description
PathPlannerAuton(com.pathplanner.lib.path.PathPlannerPath[] paths, String name, org.wpilib.command3.Command... commands)	Creates an auton that previews the given paths and runs the given commands

Method Summary

Modifier and Type	Method	Description
void	clearPaths()	Clear auton path trajectories from elastic
void	displayPaths()	Display auton path trajectories on elastic
org.wpilib.command3.Command	getCommand()

Methods inherited from class Object

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

Field Details

paths

private final List<com.pathplanner.lib.path.PathPlannerPath> paths

command

private final org.wpilib.command3.Command command

Constructor Details

PathPlannerAuton

public PathPlannerAuton(com.pathplanner.lib.path.PathPlannerPath[] paths,
 String name,
 org.wpilib.command3.Command... commands)

Creates an auton that previews the given paths and runs the given commands

Parameters:

paths - Paths to preview

name - Name of auton command given to scheduler

commands - Auton command seqeunce

Method Details

displayPaths

public void displayPaths()

Description copied from interface: Auton

Display auton path trajectories on elastic

Specified by:

displayPaths in interface Auton

clearPaths

public void clearPaths()

Description copied from interface: Auton

Clear auton path trajectories from elastic

Specified by:

clearPaths in interface Auton

getCommand

public org.wpilib.command3.Command getCommand()

Specified by:

getCommand in interface Auton

Returns:

The auton command to be scheduled