Pedro Commands

Ivy includes built-in commands for controlling the robot's movement using Pedro Pathing. To use them, add the following static import:

import static com.pedropathing.ivy.pedro.PedroCommands.*;

All Pedro commands take a Follower as their first argument. Usually, your Follower is one created using the create() method in your Constants file. Pedro commands return regular Ivy Commands, so they work just like any other Ivy command.

Follow

Makes the robot follow a Path. The command finishes as soon as the follower stops actively tracking the path (follower.following() becomes false).

Command goToBasket = follow(follower, basketPath);

Hold

Makes the robot go to a position and then hold it. The robot will hold the position until it is tasked to do something else. If no position is sent the robot will hold its current position.

To hold the current position:

Command holdAtPosition = hold(follower);

To hold a specific position:

Command holdAtGoal = hold(follower, p.of(120, 80, 0));

Composing Pedro Commands

Since Pedro commands are regular Ivy commands, you can compose them with everything else. For example:

Command auto = sequential(
    follow(follower, shootPreloads),
    Shooter.shoot(), // Call the shoot Command.
    instant(() -> claw.open()),
    parallel( // Follow the path while running the intake.
        follow(follower, pickupCloseSpikemark),
        instant(() -> intake.activate())
    )
);