Package frc.robot.auton

Class Auton

java.lang.Object
frc.robot.auton.Auton
public class Auton extends Object

  • Field Details

    • autonLaunching

      public static final SpectrumState autonLaunching

    • autonIntake

      public static final EventTrigger autonIntake

    • autonShotPrep

      public static final EventTrigger autonShotPrep

    • autonShoot

      public static final EventTrigger autonShoot

    • autonClearState

      public static final EventTrigger autonClearState

    • autonUnjam

      public static final EventTrigger autonUnjam

    • autonPoseUpdate

      public static final EventTrigger autonPoseUpdate

  • Constructor Details

    • Auton

      public Auton()

  • Method Details

    • setupSelectors

      public void setupSelectors()
      This method configures the available autonomous routines that can be selected from the SmartDashboard.

    • init

      public void init()

    • exit

      public void exit()

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

    • startAutonTimer

      public void startAutonTimer()
      This method is called in AutonInit

    • printAutoDuration

      public void printAutoDuration()
      Called at AutonExit and displays the duration of the auton command Based on 6328 code

    • 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)