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
    autonActionOff
     
    static final com.pathplanner.lib.events.EventTrigger
    autonActionOn
     
    static final com.pathplanner.lib.events.EventTrigger
    autonAlgae
     
    static final com.pathplanner.lib.events.EventTrigger
    autonAtL4Coral
     
    static final com.pathplanner.lib.events.EventTrigger
    autonAutoScore
     
    static final com.pathplanner.lib.events.EventTrigger
    autonClearStates
     
    static final com.pathplanner.lib.events.EventTrigger
    autonCoral
     
    static final com.pathplanner.lib.events.EventTrigger
    autonGroundIntake
     
    static final com.pathplanner.lib.events.EventTrigger
    autonHighAlgae
     
    static final com.pathplanner.lib.events.EventTrigger
    autonHome
     
    static final com.pathplanner.lib.events.EventTrigger
    autonL1
     
    static final com.pathplanner.lib.events.EventTrigger
    autonL2
     
    static final com.pathplanner.lib.events.EventTrigger
    autonL3
     
    static final com.pathplanner.lib.events.EventTrigger
    autonL4
     
    static final com.pathplanner.lib.events.EventTrigger
    autonLeft
     
    static final com.pathplanner.lib.events.EventTrigger
    autonLowAlgae
     
    static final com.pathplanner.lib.events.EventTrigger
    autonNet
     
    static final com.pathplanner.lib.events.EventTrigger
    autonPoseUpdate
     
    static final com.pathplanner.lib.events.EventTrigger
    autonReverse
     
    static final com.pathplanner.lib.events.EventTrigger
    autonRight
     
    static final com.pathplanner.lib.events.EventTrigger
    autonShoulderL4
     
    static final com.pathplanner.lib.events.EventTrigger
    autonSourceIntakeOff
     
    static final com.pathplanner.lib.events.EventTrigger
    autonSourceIntakeOn
     
    static final com.pathplanner.lib.events.EventTrigger
    autonTwistL4L
     
    static final com.pathplanner.lib.events.EventTrigger
    autonTwistL4R
     

  • Constructor Summary

    Constructors
    Constructor
    Description
    Auton()
     

  • Method Summary

    Modifier and Type
    Method
    Description
    edu.wpi.first.wpilibj2.command.Command
    aimScore(double alignTime)
     
    edu.wpi.first.wpilibj2.command.Command
    aimScoreThenAlgae(double alignTime)
     
    edu.wpi.first.wpilibj2.command.Command
    autonCoralL4Stage()
     
    edu.wpi.first.wpilibj2.command.Command
    autonScore()
     
    edu.wpi.first.wpilibj2.command.Command
    autoScore()
     
    edu.wpi.first.wpilibj2.command.Command
    autoScoreThenAlgae()
     
    void
    exit()
     
    static edu.wpi.first.wpilibj2.command.Command
    followSinglePath(String pathName)
     
    edu.wpi.first.wpilibj2.command.Command
    fullSequenceAimL4Score(double alignTime)
     
    edu.wpi.first.wpilibj2.command.Command
    fullSequenceL4score()
     
    edu.wpi.first.wpilibj2.command.Command
    getAutonomousCommand()
    Retrieves the autonomous command selected on the shuffleboard.
    edu.wpi.first.wpilibj2.command.Command
    houston2coral(boolean mirrored)
     
    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)
     
    edu.wpi.first.wpilibj2.command.Command
    practiceAuto()
     
    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
    edu.wpi.first.wpilibj2.command.Command
    worlds3algae(boolean mirrored)
     
    edu.wpi.first.wpilibj2.command.Command
    worlds3coral(boolean mirrored)
     

    Methods inherited from class java.lang.Object

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

  • Field Details

    • autonGroundIntake

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

    • autonSourceIntakeOn

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

    • autonSourceIntakeOff

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

    • autonLowAlgae

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

    • autonHighAlgae

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

    • autonNet

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

    • autonClearStates

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

    • autonHome

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

    • autonActionOn

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

    • autonActionOff

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

    • autonShoulderL4

      public static final com.pathplanner.lib.events.EventTrigger autonShoulderL4

    • autonTwistL4R

      public static final com.pathplanner.lib.events.EventTrigger autonTwistL4R

    • autonTwistL4L

      public static final com.pathplanner.lib.events.EventTrigger autonTwistL4L

    • autonLeft

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

    • autonRight

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

    • autonCoral

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

    • autonAtL4Coral

      public static final com.pathplanner.lib.events.EventTrigger autonAtL4Coral

    • autonAlgae

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

    • autonL1

      public static final com.pathplanner.lib.events.EventTrigger autonL1

    • autonL2

      public static final com.pathplanner.lib.events.EventTrigger autonL2

    • autonL3

      public static final com.pathplanner.lib.events.EventTrigger autonL3

    • autonL4

      public static final com.pathplanner.lib.events.EventTrigger autonL4

    • autonReverse

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

    • autonPoseUpdate

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

    • autonAutoScore

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

  • 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()

    • houston2coral

      public edu.wpi.first.wpilibj2.command.Command houston2coral(boolean mirrored)

    • worlds3coral

      public edu.wpi.first.wpilibj2.command.Command worlds3coral(boolean mirrored)

    • worlds3algae

      public edu.wpi.first.wpilibj2.command.Command worlds3algae(boolean mirrored)

    • practiceAuto

      public edu.wpi.first.wpilibj2.command.Command practiceAuto()

    • aimScore

      public edu.wpi.first.wpilibj2.command.Command aimScore(double alignTime)

    • autoScore

      public edu.wpi.first.wpilibj2.command.Command autoScore()

    • aimScoreThenAlgae

      public edu.wpi.first.wpilibj2.command.Command aimScoreThenAlgae(double alignTime)

    • autoScoreThenAlgae

      public edu.wpi.first.wpilibj2.command.Command autoScoreThenAlgae()

    • fullSequenceAimL4Score

      public edu.wpi.first.wpilibj2.command.Command fullSequenceAimL4Score(double alignTime)

    • autonScore

      public edu.wpi.first.wpilibj2.command.Command autonScore()

    • fullSequenceL4score

      public edu.wpi.first.wpilibj2.command.Command fullSequenceL4score()

    • autonCoralL4Stage

      public edu.wpi.first.wpilibj2.command.Command autonCoralL4Stage()

    • 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)