FollowPathCommand

import com.seattlesolvers.solverslib.pedroCommand.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

new FollowPathCommand(follower, pathChain)

1. 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)

new FollowPathCommand(follower, pathChain, true)

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

new FollowPathCommand(follower, pathChain, true, 0.5)

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

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, you can look at this example. For usage in a full Autonomous Program, look at this example, and for a full TeleOp Program, at this example.