FollowPathTask

java.lang.Object

com.cdarobotics.cdalib.tasks.Task

com.cdarobotics.cdalib.tasks.FollowPathTask

public class FollowPathTask extends Task

A task that follows a PedroPathing Path, finishing when the follower is no longer busy.

Constructor Summary

Constructors

Constructor

Description

FollowPathTask(com.pedropathing.follower.Follower follower, com.pedropathing.paths.Path path)

Follows the path at full speed.

FollowPathTask(com.pedropathing.follower.Follower follower, com.pedropathing.paths.Path path, double speed)

Follows the path at the given speed.
Method Summary

Modifier and Type

Method

Description

void

init()

Called once before the first Task.run().

boolean

run()

Called every loop after Task.init().

String

toString()

Methods inherited from class com.cdarobotics.cdalib.tasks.Task
alongWith, andThen, raceWith, withDeadline

Methods inherited from class java.lang.Object
clone, equals, finalize, getClass, hashCode, notify, notifyAll, wait, wait, wait

Constructor Details
- FollowPathTask
  
  public FollowPathTask(com.pedropathing.follower.Follower follower, com.pedropathing.paths.Path path)
  
  Follows the path at full speed.
  
  Parameters:
  
  follower - the drivetrain follower
  
  path - the path to follow
- FollowPathTask
  
  public FollowPathTask(com.pedropathing.follower.Follower follower, com.pedropathing.paths.Path path, double speed)
  
  Follows the path at the given speed.
  
  Parameters:
  
  follower - the drivetrain follower
  
  path - the path to follow
  
  speed - the path-following speed multiplier, as a fraction of the robot's max speed (1.0 is full speed)
Method Details
- init
  
  public void init()
  
  Description copied from class: Task
  
  Called once before the first Task.run(). Set up state and issue starting commands here.
  
  Specified by:
  
  init in class Task
- run
  
  public boolean run()
  
  Description copied from class: Task
  
  Called every loop after Task.init().
  
  Specified by:
  
  run in class Task
  
  Returns:
  
  true when the task is finished, false to keep running.
- toString
  
  @NonNull public String toString()
  
  Specified by:
  
  toString in class Task