Package frc.robot.autos

Class TrajectoryBase

java.lang.Object

edu.wpi.first.wpilibj2.command.Command

edu.wpi.first.wpilibj2.command.SequentialCommandGroup

frc.robot.autos.TrajectoryBase

All Implemented Interfaces:

Sendable

Direct Known Subclasses:

PPExample

public class TrajectoryBase
extends SequentialCommandGroup

Parent class for all autonomous commands

Nested Class Summary

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

Command.InterruptionBehavior

Field Summary

Fields

Modifier and Type	Field	Description
Swerve	swerve

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

m_requirements

Constructor Summary

Constructors

Constructor	Description
TrajectoryBase(Swerve swerve)	Autonomous that aligns limelight then executes a trajectory.

Method Summary

Modifier and Type	Method	Description
com.pathplanner.lib.commands.FollowPathHolonomic	baseSwerveCommand(com.pathplanner.lib.path.PathPlannerPath trajectory)	Creates a SwerveController Command using a Path Planner Trajectory

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

addCommands, end, execute, getInterruptionBehavior, initialize, initSendable, isFinished, runsWhenDisabled

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

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

Methods inherited from class java.lang.Object

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

Field Details

swerve

public Swerve swerve

Constructor Details

TrajectoryBase

public TrajectoryBase(Swerve swerve)

Autonomous that aligns limelight then executes a trajectory.

Parameters:

swerve - swerve subsystem

Method Details

baseSwerveCommand

public com.pathplanner.lib.commands.FollowPathHolonomic baseSwerveCommand(com.pathplanner.lib.path.PathPlannerPath trajectory)

Creates a SwerveController Command using a Path Planner Trajectory

Parameters:

trajectory - a Path Planner Trajectory

Returns:

A SwerveControllerCommand for the robot to move