Package xbot.common.subsystems.drive

Class SimulatedPurePursuitCommand

java.lang.Object

edu.wpi.first.wpilibj2.command.Command

xbot.common.command.BaseCommand

xbot.common.subsystems.drive.PurePursuitCommand

xbot.common.subsystems.drive.ConfigurablePurePursuitCommand

xbot.common.subsystems.drive.SimulatedPurePursuitCommand

All Implemented Interfaces:

Sendable, IPropertySupport

public class SimulatedPurePursuitCommand
extends ConfigurablePurePursuitCommand

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
SimulatedPurePursuitCommand(HeadingModule.HeadingModuleFactory headingModuleFactory, BasePoseSubsystem pose, BaseDriveSubsystem drive, PropertyFactory propMan, WebotsClient webots)

Method Summary

Modifier and Type	Method	Description
void	end(boolean interrupted)
void	execute()

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

addPoint, addPoint, getOriginalPoints, getPursuitMode, setMode, setPoints, setPointSupplier

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

evaluateCurrentPoint, evaluateCurrentPoint, 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

SimulatedPurePursuitCommand

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

Method Details

execute

public void execute()

Overrides:

execute in class PurePursuitCommand

end

public void end(boolean interrupted)

Overrides:

end in class PurePursuitCommand