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 EventTrigger	autonClearState
static final EventTrigger	autonIntake
static final SpectrumState	autonLaunching
static final EventTrigger	autonPoseUpdate
static final EventTrigger	autonShoot
static final EventTrigger	autonShotPrep
static final EventTrigger	autonUnjam

Constructor Summary

Constructors

Constructor	Description
Auton()

Method Summary

Modifier and Type	Method	Description
void	exit()
static Command	followSinglePath(String pathName)
Command	getAutonomousCommand()	Retrieves the autonomous command selected on the shuffleboard.
void	init()
protected static Command	log(Command cmd)
static Command	pathfindingCommandToPose(double xPos, double yPos, double rotation, double vel, double accel)
Command	prepThanLaunch()
Command	prepThanLaunch2()
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.
Command	SpectrumAuton(String autoName, boolean mirrored)	Creates a SpectrumAuton command sequence.
Command	SpectrumAuton(String autoName, boolean mirrored, double duration)
void	startAutonTimer()	This method is called in AutonInit
Command	trenchStart(boolean mirrored)

Methods inherited from class java.lang.Object

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

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()

prepThanLaunch

public Command prepThanLaunch()

prepThanLaunch2

public Command prepThanLaunch2()

trenchStart

public Command trenchStart(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)