Package frc.robot.auton

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

  • Constructor Summary

    Constructors
    Constructor
    Description
    Auton()
     

  • Method Summary

    Modifier and Type
    Method
    Description
    void
    exit()
     
    static edu.wpi.first.wpilibj2.command.Command
    followSinglePath(String pathName)
     
    edu.wpi.first.wpilibj2.command.Command
    getAutonomousCommand()
    Retrieves the autonomous command selected on the shuffleboard.
    void
    init()
     
    protected static edu.wpi.first.wpilibj2.command.Command
    log(edu.wpi.first.wpilibj2.command.Command cmd)
     
    static edu.wpi.first.wpilibj2.command.Command
    pathfindingCommandToPose(double xPos, double yPos, double rotation, double vel, double accel)
     
    void
    printAutoDuration()
    Called at AutonExit and displays the duration of the auton command Based on 6328 code
    void
    setupSelectors()
    This method configures the available autonomous routines that can be selected from the SmartDashboard.
    edu.wpi.first.wpilibj2.command.Command
    SpectrumAuton(String autoName, boolean mirrored)
    Creates a SpectrumAuton command sequence.
    edu.wpi.first.wpilibj2.command.Command
    SpectrumAuton(String autoName, boolean mirrored, double duration)
     
    void
    startAutonTimer()
    This method is called in AutonInit

    Methods inherited from class java.lang.Object

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

  • Field Details

    • 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

  • 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()

    • SpectrumAuton

      public edu.wpi.first.wpilibj2.command.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 edu.wpi.first.wpilibj2.command.Command SpectrumAuton(String autoName, boolean mirrored, double duration)

    • getAutonomousCommand

      public edu.wpi.first.wpilibj2.command.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 edu.wpi.first.wpilibj2.command.Command followSinglePath(String pathName)

    • pathfindingCommandToPose

      public static edu.wpi.first.wpilibj2.command.Command pathfindingCommandToPose(double xPos, double yPos, double rotation, double vel, double accel)

    • log

      protected static edu.wpi.first.wpilibj2.command.Command log(edu.wpi.first.wpilibj2.command.Command cmd)