Class Auton

java.lang.Object

frc.robot.auton.Auton

public class Auton
extends Object

Field Summary

Fields

Modifier and Type	Field	Description
static final com.pathplanner.lib.events.EventTrigger	autonClearState
static final com.pathplanner.lib.events.EventTrigger	autonIntake
static final SpectrumState	autonLaunching
static final com.pathplanner.lib.events.EventTrigger	autonPoseUpdate
static final com.pathplanner.lib.events.EventTrigger	autonShoot
static final com.pathplanner.lib.events.EventTrigger	autonShotPrep
static final com.pathplanner.lib.events.EventTrigger	autonUnjam

Constructor Summary

Constructors

Constructor	Description
Auton(SuperStructure robotSuperStructure)

Method Summary

Modifier and Type	Method	Description
Command	BBBB(boolean mirrored)
Command	doNothing()
static Command	followSinglePath(String pathName)
Command	getAutonomousCommand()	Retrieves the autonomous command selected on the dashboard.
void	init()
Command	launch()
protected static Command	log(Command cmd)
void	onAutoEnded(Consumer<AutoEnd.Ended> listener)	Tells the listener why each auto ended, after it is logged (the match summary).
Command	optional_BBB(boolean mirrored)
Command	optional_TBT(boolean mirrored)
static Command	pathfindingCommandToPose(double xPos, double yPos, double rotation, double vel, double accel)
Command	secondMan_BBD(boolean mirrored)
Command	secondMan_TBTB(boolean mirrored)
void	setupSelectors()	This method configures the available autonomous routines that can be selected from the SmartDashboard.
Command	SpectrumAuton(String autoName, boolean mirrored)	Creates a SpectrumAuton command sequence.
Command	SpectrumAuton(String autoName, boolean mirrored, double duration)
Command	TBTB(boolean mirrored)
Command	TBTT(boolean mirrored)
Command	TTTT(boolean mirrored)

Methods inherited from class Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Details

autonLaunching

public static final SpectrumState autonLaunching

autonIntake

public static final com.pathplanner.lib.events.EventTrigger autonIntake

autonShotPrep

public static final com.pathplanner.lib.events.EventTrigger autonShotPrep

autonShoot

public static final com.pathplanner.lib.events.EventTrigger autonShoot

autonClearState

public static final com.pathplanner.lib.events.EventTrigger autonClearState

autonUnjam

public static final com.pathplanner.lib.events.EventTrigger autonUnjam

autonPoseUpdate

public static final com.pathplanner.lib.events.EventTrigger autonPoseUpdate

Constructor Details

Auton

public Auton(SuperStructure robotSuperStructure)

Method Details

setupSelectors

public void setupSelectors()

This method configures the available autonomous routines that can be selected from the SmartDashboard.

init

public void init()

onAutoEnded

public void onAutoEnded(Consumer<AutoEnd.Ended> listener)

Tells the listener why each auto ended, after it is logged (the match summary).

doNothing

public Command doNothing()

launch

public Command launch()

secondMan_TBTB

public Command secondMan_TBTB(boolean mirrored)

secondMan_BBD

public Command secondMan_BBD(boolean mirrored)

optional_TBT

public Command optional_TBT(boolean mirrored)

optional_BBB

public Command optional_BBB(boolean mirrored)

TBTB

public Command TBTB(boolean mirrored)

TBTT

public Command TBTT(boolean mirrored)

TTTT

public Command TTTT(boolean mirrored)

BBBB

public Command BBBB(boolean mirrored)

SpectrumAuton

public Command SpectrumAuton(String autoName,
 boolean mirrored)

Creates a SpectrumAuton command sequence.

This method generates a command sequence that first waits for 0.01 seconds and then executes a PathPlannerAuto command with the specified autonomous routine name.

Parameters:

autoName - the name of the autonomous routine to execute

mirrored - whether the autonomous routine should be mirrored

Returns:

a Command that represents the SpectrumAuton sequence

SpectrumAuton

public Command SpectrumAuton(String autoName,
 boolean mirrored,
 double duration)

getAutonomousCommand

public Command getAutonomousCommand()

Retrieves the autonomous command selected on the dashboard.

Returns:

the selected autonomous command if one is chosen; otherwise, returns a PrintCommand indicating that the autonomous command is null.

followSinglePath

public static Command followSinglePath(String pathName)

pathfindingCommandToPose

public static Command pathfindingCommandToPose(double xPos,
 double yPos,
 double rotation,
 double vel,
 double accel)

log

protected static Command log(Command cmd)