Package xbot.common.subsystems.drive

Class ConfigurablePurePursuitCommand

java.lang.Object

edu.wpi.first.wpilibj2.command.Command

xbot.common.command.BaseCommand

xbot.common.subsystems.drive.PurePursuitCommand

xbot.common.subsystems.drive.ConfigurablePurePursuitCommand

All Implemented Interfaces:

Sendable, IPropertySupport

Direct Known Subclasses:

SimulatedPurePursuitCommand

public class ConfigurablePurePursuitCommand
extends PurePursuitCommand

Nested Class Summary

Nested classes/interfaces inherited from class xbot.common.subsystems.drive.PurePursuitCommand

PurePursuitCommand.PointLoadingMode, PurePursuitCommand.RabbitChaseInfo

Nested classes/interfaces inherited from class edu.wpi.first.wpilibj2.command.Command

Command.InterruptionBehavior

Field Summary

Fields inherited from class xbot.common.subsystems.drive.PurePursuitCommand

chaseData, drive, headingModule, perpindicularRatioProp, pointIndex, poseSystem, positionalPid, rabbitLookAhead

Fields inherited from class xbot.common.command.BaseCommand

aKitLog, log, monitor

Constructor Summary

Constructors

Constructor	Description
ConfigurablePurePursuitCommand(HeadingModule.HeadingModuleFactory headingModuleFactory, BasePoseSubsystem pose, BaseDriveSubsystem drive, PropertyFactory propMan)

Method Summary

Modifier and Type	Method	Description
void	addPoint(FieldPose point)
void	addPoint(RabbitPoint point)
protected List<RabbitPoint>	getOriginalPoints()
protected PurePursuitCommand.PointLoadingMode	getPursuitMode()
void	setMode(PurePursuitCommand.PointLoadingMode mode)
void	setPoints(List<RabbitPoint> points)
void	setPointSupplier(Supplier<List<RabbitPoint>> externalPointSource)

Methods inherited from class xbot.common.subsystems.drive.PurePursuitCommand

end, evaluateCurrentPoint, evaluateCurrentPoint, execute, getMotionBudget, getPlannedPointsToVisit, initialize, isFinished, setDotProductDrivingEnabled, setPIDs, setPIDsToDefault

Methods inherited from class xbot.common.command.BaseCommand

getPrefix, includeOnSmartDashboard, includeOnSmartDashboard, requires, runsWhenDisabled, setRunsWhenDisabled

Methods inherited from class edu.wpi.first.wpilibj2.command.Command

addRequirements, addRequirements, alongWith, andThen, andThen, asProxy, beforeStarting, beforeStarting, cancel, deadlineFor, deadlineWith, finallyDo, finallyDo, getInterruptionBehavior, getName, getRequirements, getSubsystem, handleInterrupt, hasRequirement, ignoringDisable, initSendable, isScheduled, onlyIf, onlyWhile, raceWith, repeatedly, schedule, setName, setSubsystem, unless, until, withDeadline, withInterruptBehavior, withName, withTimeout, withTimeout

Methods inherited from class java.lang.Object

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

Constructor Details

ConfigurablePurePursuitCommand

@Inject
public ConfigurablePurePursuitCommand(HeadingModule.HeadingModuleFactory headingModuleFactory,
 BasePoseSubsystem pose,
 BaseDriveSubsystem drive,
 PropertyFactory propMan)

Method Details

addPoint

public void addPoint(RabbitPoint point)

addPoint

public void addPoint(FieldPose point)

setMode

public void setMode(PurePursuitCommand.PointLoadingMode mode)

setPoints

public void setPoints(List<RabbitPoint> points)

setPointSupplier

public void setPointSupplier(Supplier<List<RabbitPoint>> externalPointSource)

getOriginalPoints

protected List<RabbitPoint> getOriginalPoints()

Specified by:

getOriginalPoints in class PurePursuitCommand

getPursuitMode

protected PurePursuitCommand.PointLoadingMode getPursuitMode()

Specified by:

getPursuitMode in class PurePursuitCommand