Package choreo.auto

Class AutoFactory

java.lang.Object

choreo.auto.AutoFactory

public class AutoFactory
extends Object

A factory used to create AutoRoutines and AutoTrajectorys.

See Also:

• Auto Routine Docs

Constructor Summary

Constructors

Constructor	Description
AutoFactory(Supplier<Pose2d> poseSupplier, Consumer<Pose2d> resetOdometry, Consumer<SampleType> controller, boolean useAllianceFlipping, Subsystem driveSubsystem, Choreo.TrajectoryLogger<SampleType> trajectoryLogger)	Create a factory that can be used to create AutoRoutine and AutoTrajectory.
AutoFactory(Supplier<Pose2d> poseSupplier, Consumer<Pose2d> resetOdometry, Consumer<ST> controller, boolean useAllianceFlipping, Subsystem driveSubsystem)	Create a factory that can be used to create AutoRoutine and AutoTrajectory.

Method Summary

Modifier and Type	Method	Description
AutoFactory	bind(String name, Command cmd)	Binds a command to an event in all trajectories created after this point.
Choreo.TrajectoryCache	cache()	The AutoFactory caches trajectories with a Choreo.TrajectoryCache to avoid reloading the same trajectory multiple times.
AutoRoutine	newRoutine(String name)	Creates a new AutoRoutine.
<ST extends TrajectorySample<ST>> Command	resetOdometry(Trajectory<ST> trajectory)	Creates a command that resets the robot's odometry to the start of a trajectory.
Command	resetOdometry(String trajectoryName)	Creates a command that resets the robot's odometry to the start of a trajectory.
Command	resetOdometry(String trajectoryName, int splitIndex)	Creates a command that resets the robot's odometry to the start of a trajectory.
<ST extends TrajectorySample<ST>> Command	trajectoryCmd(Trajectory<ST> trajectory)	Creates a new AutoTrajectory command to be used in an auto routine.
Command	trajectoryCmd(String trajectoryName)	Creates a new AutoTrajectory command to be used in an auto routine.
Command	trajectoryCmd(String trajectoryName, int splitIndex)	Creates a new AutoTrajectory command to be used in an auto routine.

Methods inherited from class java.lang.Object

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

Constructor Details

AutoFactory

public AutoFactory(Supplier<Pose2d> poseSupplier,
 Consumer<Pose2d> resetOdometry,
 Consumer<SampleType> controller,
 boolean useAllianceFlipping,
 Subsystem driveSubsystem,
 Choreo.TrajectoryLogger<SampleType> trajectoryLogger)

Create a factory that can be used to create AutoRoutine and AutoTrajectory.

Type Parameters:

SampleType - The type of samples in the trajectory.

Parameters:

poseSupplier - A function that returns the current field-relative Pose2d of the robot.

resetOdometry - A function that receives a field-relative Pose2d to reset the robot's odometry to.

controller - A function that receives the current AutoFactory and controls the robot.

useAllianceFlipping - If this is true, when on the red alliance, the path will be mirrored to the opposite side, while keeping the same coordinate system origin.

driveSubsystem - The drive Subsystem to require for AutoTrajectory Commands.

trajectoryLogger - A Choreo.TrajectoryLogger to log Trajectory as they start and finish.

See Also:

• using this factory with AutoChooser to generate auto routines.

AutoFactory

public AutoFactory(Supplier<Pose2d> poseSupplier,
 Consumer<Pose2d> resetOdometry,
 Consumer<ST> controller,
 boolean useAllianceFlipping,
 Subsystem driveSubsystem)

Create a factory that can be used to create AutoRoutine and AutoTrajectory.

Type Parameters:

ST - DifferentialSample or SwerveSample

Parameters:

poseSupplier - A function that returns the current field-relative Pose2d of the robot.

resetOdometry - A function that receives a field-relative Pose2d to reset the robot's odometry to.

controller - A function that receives the current AutoFactory and controls the robot.

useAllianceFlipping - If this returns true, when on the red alliance, the path will be mirrored to the opposite side, while keeping the same coordinate system origin.

driveSubsystem - The drive Subsystem to require for AutoTrajectory Commands.

See Also:

• using this factory with AutoChooser to generate auto routines.

Method Details

newRoutine

public AutoRoutine newRoutine(String name)

Creates a new AutoRoutine.

Parameters:

name - The name of the AutoRoutine.

Returns:

A new AutoRoutine.

trajectoryCmd

public Command trajectoryCmd(String trajectoryName)

Creates a new AutoTrajectory command to be used in an auto routine.

Important

trajectoryCmd(java.lang.String) and trajectory(java.lang.String, choreo.auto.AutoRoutine, boolean) methods should not be mixed in the same auto routine. trajectoryCmd(java.lang.String) is used as an escape hatch for teams that don't need the benefits of the trajectory(java.lang.String, choreo.auto.AutoRoutine, boolean) method and its Trigger API. trajectoryCmd(java.lang.String) does not invoke bindings added via calling bind(java.lang.String, edu.wpi.first.wpilibj2.command.Command) or AutoFactory.AutoBindings passed into the factory constructor.

Parameters:

trajectoryName - The name of the trajectory to use.

Returns:

A new AutoTrajectory.

trajectoryCmd

public Command trajectoryCmd(String trajectoryName,
 int splitIndex)

Creates a new AutoTrajectory command to be used in an auto routine.

Important

trajectoryCmd(java.lang.String) and trajectory(java.lang.String, choreo.auto.AutoRoutine, boolean) methods should not be mixed in the same auto routine. trajectoryCmd(java.lang.String) is used as an escape hatch for teams that don't need the benefits of the trajectory(java.lang.String, choreo.auto.AutoRoutine, boolean) method and its Trigger API. trajectoryCmd(java.lang.String) does not invoke bindings added via calling bind(java.lang.String, edu.wpi.first.wpilibj2.command.Command) or AutoFactory.AutoBindings passed into the factory constructor.

Parameters:

trajectoryName - The name of the trajectory to use.

splitIndex - The index of the split trajectory to use.

Returns:

A new AutoTrajectory.

trajectoryCmd

public <ST extends TrajectorySample<ST>> Command trajectoryCmd(Trajectory<ST> trajectory)

Creates a new AutoTrajectory command to be used in an auto routine.

Important

trajectoryCmd(java.lang.String) and trajectory(java.lang.String, choreo.auto.AutoRoutine, boolean) methods should not be mixed in the same auto routine. trajectoryCmd(java.lang.String) is used as an escape hatch for teams that don't need the benefits of the trajectory(java.lang.String, choreo.auto.AutoRoutine, boolean) method and its Trigger API. trajectoryCmd(java.lang.String) does not invoke bindings added via calling bind(java.lang.String, edu.wpi.first.wpilibj2.command.Command) or AutoFactory.AutoBindings passed into the factory constructor.

Type Parameters:

ST - DifferentialSample or SwerveSample

Parameters:

trajectory - The trajectory to use.

Returns:

A new AutoTrajectory.

resetOdometry

public Command resetOdometry(String trajectoryName)

Creates a command that resets the robot's odometry to the start of a trajectory.

Parameters:

trajectoryName - The name of the trajectory to use.

Returns:

A command that resets the robot's odometry.

resetOdometry

public Command resetOdometry(String trajectoryName,
 int splitIndex)

Creates a command that resets the robot's odometry to the start of a trajectory.

Parameters:

trajectoryName - The name of the trajectory to use.

splitIndex - The index of the split trajectory to use.

Returns:

A command that resets the robot's odometry.

resetOdometry

public <ST extends TrajectorySample<ST>> Command resetOdometry(Trajectory<ST> trajectory)

Creates a command that resets the robot's odometry to the start of a trajectory.

Type Parameters:

ST - DifferentialSample or SwerveSample

Parameters:

trajectory - The trajectory to use.

Returns:

A command that resets the robot's odometry.

bind

public AutoFactory bind(String name,
 Command cmd)

Binds a command to an event in all trajectories created after this point.

Parameters:

name - The name of the trajectory to bind the command to.

cmd - The command to bind to the trajectory.

Returns:

The AutoFactory the method was called from.

cache

public Choreo.TrajectoryCache cache()

The AutoFactory caches trajectories with a Choreo.TrajectoryCache to avoid reloading the same trajectory multiple times.

Returns:

The trajectory cache.