Package com.marswars.auto

Class Auto

java.lang.Object

edu.wpi.first.wpilibj2.command.Command

edu.wpi.first.wpilibj2.command.SequentialCommandGroup

com.marswars.auto.Auto

All Implemented Interfaces:

Sendable

public class Auto
extends SequentialCommandGroup

Base class for autonomous routines that load Choreo trajectories and expose common path utilities.

Nested Class Summary

Nested classes/interfaces inherited from class edu.wpi.first.wpilibj2.command.Command

Command.InterruptionBehavior

Field Summary

Fields

Modifier and Type	Field	Description
protected final Map<String,ChoreoTrajectory>	trajectories_

Constructor Summary

Constructors

Constructor	Description
Auto()	Creates a new autonomous routine container with a default name.

Method Summary

Modifier and Type	Method	Description
void	cacheTrajetories(boolean is_red_alliance)	Loads all registered trajectories from Choreo and processes them for use in the auto.
Pose2d[]	getPath()	Get the full path as an array of Pose2d
Pose2d	getStartPose()	Gets the starting pose for the first loaded trajectory.
protected Supplier<ChoreoTrajectory>	getTrajectory(String name)	Get a loaded trajectory by name.
protected void	loadTrajectory(String name)	Registers a trajectory to be part of the auto.

Methods inherited from class edu.wpi.first.wpilibj2.command.SequentialCommandGroup

addCommands, end, execute, getInterruptionBehavior, initialize, initSendable, isFinished, runsWhenDisabled

Methods inherited from class edu.wpi.first.wpilibj2.command.Command

addRequirements, addRequirements, alongWith, andThen, andThen, asProxy, beforeStarting, beforeStarting, cancel, deadlineFor, deadlineWith, finallyDo, finallyDo, getName, getRequirements, getSubsystem, handleInterrupt, hasRequirement, ignoringDisable, isScheduled, onlyIf, onlyWhile, raceWith, repeatedly, schedule, setName, setSubsystem, unless, until, withDeadline, withInterruptBehavior, withName, withTimeout, withTimeout

Methods inherited from class java.lang.Object

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

Field Details

trajectories_

protected final Map<String,ChoreoTrajectory> trajectories_

Constructor Details

Auto

public Auto()

Creates a new autonomous routine container with a default name.

Method Details

loadTrajectory

protected void loadTrajectory(String name)

Registers a trajectory to be part of the auto. The actual trajectory will be loaded once the auto is selected, allowing for pre-caching of trajectories without loading them all at once during initialization.

Parameters:

name - The name of the trajectory to load

cacheTrajetories

public void cacheTrajetories(boolean is_red_alliance)

Loads all registered trajectories from Choreo and processes them for use in the auto. This should be called once after the auto is selected to ensure all paths are ready before execution

Parameters:

is_red_alliance - true if the robot is on the red alliance, false for blue (used for flipping trajectories)

getTrajectory

protected Supplier<ChoreoTrajectory> getTrajectory(String name)

Get a loaded trajectory by name.

Parameters:

name - The name of the trajectory

Returns:

The typed Choreo trajectory

Throws:

IllegalStateException - if the trajectory has not been loaded yet (i.e. cacheTrajectories() has not been called)

getStartPose

public Pose2d getStartPose()

Gets the starting pose for the first loaded trajectory.

Returns:

The first pose in the first trajectory, or Pose2d.kZero if none

getPath

public Pose2d[] getPath()

Get the full path as an array of Pose2d

Returns:

Array of Pose2d representing the path