# FollowPathCommand

This command allows you to easily follow a Path or PathChain.

If a Path is supplied, it will simply convert it to a PatchChain first, and then follow that.

It has four parameters, with the first two being mandatory:

1. Pedro Pathing's Follower (which controls the robot movement) 
2. The Path or PathChain to follow

```java
new FollowPathCommand(follower, pathChain)
```

3. An optional boolean parameter called holdEnd that decides whether or not the robot should hold its position at the end of the Path (default value is true if not supplied)

```java
new FollowPathCommand(follower, pathChain, true)
```

4. An optional double parameter called maxPower that sets the maximum power the robot will run at for the path

```java
new FollowPathCommand(follower, pathChain, true, 0.5)
```

You can use a decorater to set the globalMaxPower for the follower as follows:

```java
new FollowPathCommand(follower, pathChain).setGlobalMaxPower(0.5)
```

Setting the Global Maximum Power sets the maximum power `globalMaxPower` for all future paths (unless rewritten again). However, setting the `maxPower` as a parameter in `FollowPathCommand` overwrites `globaMaxPower` for that path only.    

To see how you can use this command in a [`CommandOpMode`](/command-base/command-system/robot-and-commandopmode.md#commandopmode), you can look at this [example](https://github.com/FTC-23511/SolversLib/blob/master/examples/src/main/java/org/firstinspires/ftc/teamcode/PedroCommandSample/PedroCommands.java). For usage in a full Autonomous Program, look at this [example](https://github.com/FTC-23511/SolversLib/blob/public-beta/examples/src/main/java/org/firstinspires/ftc/teamcode/PedroCommandSample/PedroAutoSample.java), and for a full TeleOp Program, at this [example](https://github.com/FTC-23511/SolversLib/blob/public-beta/examples/src/main/java/org/firstinspires/ftc/teamcode/PedroCommandSample/PedroTeleOpSample.java).


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