com.arcrobotics.ftclib.command

Class PurePursuitCommand

java.lang.Object

com.arcrobotics.ftclib.command.CommandBase

com.arcrobotics.ftclib.command.PurePursuitCommand

All Implemented Interfaces:

Command

public class PurePursuitCommand
extends CommandBase

See Also:

Path

Field Summary

Fields inherited from class com.arcrobotics.ftclib.command.CommandBase

m_name, m_requirements, m_subsystem

Constructor Summary

Constructors

Constructor and Description
PurePursuitCommand(MecanumDrive drive, OdometrySubsystem odometry, Waypoint... waypoints)

Method Summary

Modifier and Type	Method and Description
void	addWaypoint(Waypoint waypoint)
void	addWaypoints(Waypoint... waypoints)
void	end(boolean interrupted) The action to take when the command ends.
void	execute() Call this in a loop
void	initialize() The initial subroutine of a command.
boolean	isFinished() Whether the command has finished.
void	removeWaypointAtIndex(int index)

Methods inherited from class com.arcrobotics.ftclib.command.CommandBase

addRequirements, getName, getRequirements, getSubsystem, setName, setSubsystem

Methods inherited from class java.lang.Object

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

Methods inherited from interface com.arcrobotics.ftclib.command.Command

alongWith, andThen, asProxy, beforeStarting, cancel, deadlineWith, hasRequirement, interruptOn, isScheduled, perpetually, raceWith, runsWhenDisabled, schedule, schedule, whenFinished, withTimeout

Constructor Detail

PurePursuitCommand

public PurePursuitCommand(MecanumDrive drive,
                          OdometrySubsystem odometry,
                          Waypoint... waypoints)

Method Detail

initialize

public void initialize()

Description copied from interface: Command

The initial subroutine of a command. Called once when the command is initially scheduled.

addWaypoint

public void addWaypoint(Waypoint waypoint)

addWaypoints

public void addWaypoints(Waypoint... waypoints)

removeWaypointAtIndex

public void removeWaypointAtIndex(int index)

execute

public void execute()

Call this in a loop

end

public void end(boolean interrupted)

Description copied from interface: Command

The action to take when the command ends. Called when either the command finishes normally, or when it interrupted/canceled.

Parameters:

interrupted - whether the command was interrupted/canceled

isFinished

public boolean isFinished()

Description copied from interface: Command

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.