pedro-command-based.md

Pedro Pathing: Everything Command-Based

This guide shows how to run Pedro Pathing entirely through command-based workflows in ValleyLib.

New Pedro command helpers

PedroSubsystem now exposes command factories directly:

• follow(path)
• follow(path, maxPower)
• waitUntilIdle()
• setMaxPower(maxPower)

Static helpers are also available via PedroCommands:

• PedroCommands.follow(...)
• PedroCommands.waitUntilIdle(...)
• PedroCommands.followSequence(...)

Pedro auto DSL

Use PedroAutoDsl.auto(drive, builder -> ...) for path-first autos.

Builder methods:

• follow(path)
• follow(path, maxPower)
• action(runnable)
• waitSeconds(seconds)
• waitUntilDriveIdle()
• command(command)
• parallel(commands...)

Example: full command-based Pedro autonomous

Command auto = PedroAutoDsl.auto(drive, a -> a
    .action(() -> intake.close())
    .follow(pathToSpike, 0.85)
    .action(() -> intake.dropPreload())
    .parallel(
        drive.follow(pathToBackdrop, 0.9),
        lift.toHeight(LiftHeight.HIGH)
    )
    .waitUntilDriveIdle()
    .action(() -> outtake.score())
);

You can also compose with core APIs:

Command auto = PedroCommands.followSequence(drive, p1, p2, p3)
    .andThen(() -> claw.open())
    .andThen(drive.waitUntilIdle())
    .alongWith(vision.trackTag());

Recommended structure

1. Keep all pathing in commands (no direct follower calls in OpMode loop).
2. Register the PedroSubsystem once and let scheduler call periodic().
3. Combine Pedro commands with manipulator commands via parallel, deadline, and race.
4. Use trigger bindings to schedule prebuilt Pedro command chains during teleop.

This keeps autonomous and teleop behavior deterministic and testable.