Package frc.robot.auto

Class AutoRoutines

java.lang.Object

frc.robot.auto.AutoRoutines

public class AutoRoutines
extends Object

Constructor Summary

Constructors

Constructor	Description
AutoRoutines(DriveFSMSystem driveFSMSystem, ElevatorFSMSystem elevatorFSMSystem, FunnelFSMSystem funnelFSMSystem)	Constructs an AutoRoutines object.

Method Summary

Modifier and Type	Method	Description
edu.wpi.first.wpilibj2.command.Command	generateSequentialAutoWorkflow(Object[] autoStageSupply, boolean throwException)	Creates and returns a auto routine that start with a path.
AutoPaths	getAutoPathHandler()	Get an AutoPaths instance to return all declared paths in AutoPaths.java.
edu.wpi.first.math.geometry.Pose2d	getInitialAutoPose()	Get the initial pose of the robot for simulation purposes.

Methods inherited from class java.lang.Object

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

Constructor Details

AutoRoutines

public AutoRoutines(DriveFSMSystem driveFSMSystem,
 ElevatorFSMSystem elevatorFSMSystem,
 FunnelFSMSystem funnelFSMSystem)

Constructs an AutoRoutines object.

Parameters:

driveFSMSystem -

elevatorFSMSystem -

funnelFSMSystem -

Method Details

generateSequentialAutoWorkflow

public edu.wpi.first.wpilibj2.command.Command generateSequentialAutoWorkflow(Object[] autoStageSupply,
 boolean throwException)

Creates and returns a auto routine that start with a path.

For clarification with the throwException parameter, if you set it to FALSE, it will just not add the command request into the returned SequentialCommandGroup. This could be helpful for testing series of commands when you are working with partial systems.

If all systems are available, it should be set to TRUE - in an ideal environment, no commands should throw this issue if all systems are available. It will be more useful for debugging in this environment if you set throwException to true.

Parameters:

autoStageSupply - string of commands and trajectory names

throwException - whether to throw an exception at a missing/unknown command or not.

Returns:

the auto routine

getAutoPathHandler

public AutoPaths getAutoPathHandler()

Get an AutoPaths instance to return all declared paths in AutoPaths.java.

Returns:

AutoPaths instance

getInitialAutoPose

public edu.wpi.first.math.geometry.Pose2d getInitialAutoPose()

Get the initial pose of the robot for simulation purposes.

Returns:

Pose2d initial pose