Package choreo.auto

Class AutoTrajectory

java.lang.Object
choreo.auto.AutoTrajectory
public class AutoTrajectory extends Object
A class that represents a trajectory that can be used in an autonomous routine and have triggers based off of it.

  • Method Summary

    Modifier and Type
    Method
    Description
    Trigger
    active()
    Returns a trigger that is true while the trajectory is scheduled.
    Trigger
    atPose(Pose2d pose, double toleranceMeters, double toleranceRadians)
    Returns a trigger that is true when the robot is within toleranceMeters of the given pose.
    Trigger
    atPose(String eventName, double toleranceMeters, double toleranceRadians)
    Returns a trigger that is true when the robot is within toleranceMeters and toleranceRadians of the given event's pose.
    Trigger
    atTime(double timeSinceStart)
    Returns a trigger that will go true for 1 cycle when the desired time has elapsed
    Trigger
    atTime(String eventName)
    Returns a trigger that is true when the event with the given name has been reached based on time.
    Trigger
    atTimeBeforeEnd(double timeBeforeEnd)
    Returns a trigger that will go true for 1 cycle when the desired before the end of the trajectory time.
    Trigger
    atTranslation(Translation2d translation, double toleranceMeters)
    Returns a trigger that is true when the robot is within toleranceMeters of the given translation.
    Trigger
    atTranslation(String eventName, double toleranceMeters)
    Returns a trigger that is true when the robot is within toleranceMeters and toleranceRadians of the given event's translation.
    void
    chain(AutoTrajectory otherTrajectory)
    A shorthand for `.done().onTrue(otherTrajectory.cmd())`
    Command
    cmd()
    Creates a command that allocates the drive subsystem and follows the trajectory using the factories control function
    Pose2d[]
    collectEventPoses(String eventName)
    Returns an array of all the poses of the events with the given name.
    double[]
    collectEventTimes(String eventName)
    Returns an array of all the timestamps of the events with the given name.
    Trigger
    done()
    Returns a trigger that rises to true when the trajectory ends and falls after one pulse.
    Trigger
    done(int cycles)
    Deprecated, for removal: This API element is subject to removal in a future version.
    Use doneDelayed(int) instead.
    Trigger
    doneDelayed(double seconds)
    Returns a trigger that rises to true a number of cycles after the trajectory ends and falls after one pulse.
    Trigger
    doneFor(double seconds)
    Returns a trigger that stays true for a number of cycles after the trajectory ends.
    boolean
    equals(Object obj)
     
    Optional<Pose2d>
    getFinalPose()
    Will get the ending pose of the trajectory.
    Optional<Pose2d>
    getInitialPose()
    Will get the starting pose of the trajectory.
    <SampleType extends TrajectorySample<SampleType>>
    Trajectory<SampleType>
    getRawTrajectory()
    Will get the underlying Trajectory object.
    Trigger
    inactive()
    Returns a trigger that is true while the command is not scheduled.
    Trigger
    recentlyDone()
    Returns a trigger that is true when the trajectory was the last one active and is done.
    Command
    resetOdometry()
    Creates a command that resets the robot's odometry to the start of this trajectory.
    Command
    spawnCmd()
    Creates a command that will schedule another command that will follow the trajectory.

    Methods inherited from class java.lang.Object

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

  • Method Details

    • cmd

      public Command cmd()
      Creates a command that allocates the drive subsystem and follows the trajectory using the factories control function
      Returns:
      The command that will follow the trajectory

    • spawnCmd

      public Command spawnCmd()
      Creates a command that will schedule another command that will follow the trajectory.

      This can be useful when putting AutoTrajectory commands in sequences that require subsystems also required by in AutoTrajectory-bound subsystems.

      Returns:
      The command that will schedule the trajectory following command.

    • resetOdometry

      public Command resetOdometry()
      Creates a command that resets the robot's odometry to the start of this trajectory.
      Returns:
      A command that resets the robot's odometry.

    • getRawTrajectory

      public <SampleType extends TrajectorySample<SampleType>> Trajectory<SampleType> getRawTrajectory()
      Will get the underlying Trajectory object.

      WARNING: This method is not type safe and should be used with caution. The sample type of the trajectory should be known before calling this method.

      Type Parameters:
      SampleType - The type of the trajectory samples.
      Returns:
      The underlying Trajectory object.

    • getInitialPose

      public Optional<Pose2d> getInitialPose()
      Will get the starting pose of the trajectory.

      This position is flipped if alliance flipping is enabled and the alliance supplier returns Red.

      This method returns an empty Optional if the trajectory is empty. This method returns an empty Optional if alliance flipping is enabled and the alliance supplier returns an empty Optional.

      Returns:
      The starting pose

    • getFinalPose

      public Optional<Pose2d> getFinalPose()
      Will get the ending pose of the trajectory.

      This position is flipped if alliance flipping is enabled and the alliance supplier returns Red.

      This method returns an empty Optional if the trajectory is empty. This method returns an empty Optional if alliance flipping is enabled and the alliance supplier returns an empty Optional.

      Returns:
      The starting pose

    • active

      public Trigger active()
      Returns a trigger that is true while the trajectory is scheduled.
      Returns:
      A trigger that is true while the trajectory is scheduled.

    • inactive

      public Trigger inactive()
      Returns a trigger that is true while the command is not scheduled.

      The same as calling active().negate().

      Returns:
      A trigger that is true while the command is not scheduled.

    • doneDelayed

      public Trigger doneDelayed(double seconds)
      Returns a trigger that rises to true a number of cycles after the trajectory ends and falls after one pulse.

      This is different from inactive() in a few ways.

      • This will never be true if the trajectory is interrupted
      • This will never be true before the trajectory is run
      • This will fall the next cycle after the trajectory ends

      Why does the trigger need to fall? 

      
 //Lets say we had this code segment
 Trigger hasGamepiece = ...;
 Trigger noGamepiece = hasGamepiece.negate();

 AutoTrajectory rushMidTraj = ...;
 AutoTrajectory goShootGamepiece = ...;
 AutoTrajectory pickupAnotherGamepiece = ...;

 routine.enabled().onTrue(rushMidTraj.cmd());

 rushMidTraj.doneDelayed(10).and(noGamepiece).onTrue(pickupAnotherGamepiece.cmd());
 rushMidTraj.doneDelayed(10).and(hasGamepiece).onTrue(goShootGamepiece.cmd());

 // If done never falls when a new trajectory is scheduled
 // then these triggers leak into the next trajectory, causing the next note pickup
 // to trigger goShootGamepiece.cmd() even if we no longer care about these checks
      Parameters:
      seconds - The seconds to delay the trigger from rising to true.
      Returns:
      A trigger that is true when the trajectory is finished.

    • done

      @Deprecated(forRemoval=true, since="2025") public Trigger done(int cycles)
      Deprecated, for removal: This API element is subject to removal in a future version.
      Use doneDelayed(int) instead.
      Returns a trigger that rises to true a number of cycles after the trajectory ends and falls after one pulse.
      Parameters:
      cycles - The number of cycles to delay the trigger from rising to true.
      Returns:
      A trigger that is true when the trajectory is finished.
      See Also:

    • done

      public Trigger done()
      Returns a trigger that rises to true when the trajectory ends and falls after one pulse.

      This is different from inactive() in a few ways.

      • This will never be true if the trajectory is interrupted
      • This will never be true before the trajectory is run
      • This will fall the next cycle after the trajectory ends

      Why does the trigger need to fall? 

      
 //Lets say we had this code segment
 Trigger hasGamepiece = ...;
 Trigger noGamepiece = hasGamepiece.negate();

 AutoTrajectory rushMidTraj = ...;
 AutoTrajectory goShootGamepiece = ...;
 AutoTrajectory pickupAnotherGamepiece = ...;

 routine.enabled().onTrue(rushMidTraj.cmd());

 rushMidTraj.done().and(noGamepiece).onTrue(pickupAnotherGamepiece.cmd());
 rushMidTraj.done().and(hasGamepiece).onTrue(goShootGamepiece.cmd());

 // If done never falls when a new trajectory is scheduled
 // then these triggers leak into the next trajectory, causing the next note pickup
 // to trigger goShootGamepiece.cmd() even if we no longer care about these checks
      Returns:
      A trigger that is true when the trajectory is finished.

    • doneFor

      public Trigger doneFor(double seconds)
      Returns a trigger that stays true for a number of cycles after the trajectory ends.
      Parameters:
      seconds - Seconds to stay true after the trajectory ends.
      Returns:
      A trigger that stays true for a number of cycles after the trajectory ends.

    • recentlyDone

      public Trigger recentlyDone()
      Returns a trigger that is true when the trajectory was the last one active and is done.
      Returns:
      A trigger that is true when the trajectory was the last one active and is done.

    • chain

      public void chain(AutoTrajectory otherTrajectory)
      A shorthand for `.done().onTrue(otherTrajectory.cmd())`
      Parameters:
      otherTrajectory - The other trajectory to run when this one is done.

    • atTime

      public Trigger atTime(double timeSinceStart)
      Returns a trigger that will go true for 1 cycle when the desired time has elapsed
      Parameters:
      timeSinceStart - The time since the command started in seconds.
      Returns:
      A trigger that is true when timeSinceStart has elapsed.

    • atTimeBeforeEnd

      public Trigger atTimeBeforeEnd(double timeBeforeEnd)
      Returns a trigger that will go true for 1 cycle when the desired before the end of the trajectory time.
      Parameters:
      timeBeforeEnd - The time before the end of the trajectory.
      Returns:
      A trigger that is true when timeBeforeEnd has elapsed.

    • atTime

      public Trigger atTime(String eventName)
      Returns a trigger that is true when the event with the given name has been reached based on time.

      A warning will be printed to the DriverStation if the event is not found and the trigger will always be false.

      Parameters:
      eventName - The name of the event.
      Returns:
      A trigger that is true when the event with the given name has been reached based on time.
      See Also:

    • atPose

      public Trigger atPose(Pose2d pose, double toleranceMeters, double toleranceRadians)
      Returns a trigger that is true when the robot is within toleranceMeters of the given pose.

      The pose is flipped if alliance flipping is enabled and the alliance supplier returns Red.

      While alliance flipping is enabled and the alliance supplier returns empty, the trigger will return false.

      Parameters:
      pose - The pose to check against, unflipped.
      toleranceMeters - The tolerance in meters.
      toleranceRadians - The heading tolerance in radians.
      Returns:
      A trigger that is true when the robot is within toleranceMeters of the given pose.

    • atPose

      public Trigger atPose(String eventName, double toleranceMeters, double toleranceRadians)
      Returns a trigger that is true when the robot is within toleranceMeters and toleranceRadians of the given event's pose.

      A warning will be printed to the DriverStation if the event is not found and the trigger will always be false.

      Parameters:
      eventName - The name of the event.
      toleranceMeters - The tolerance in meters.
      toleranceRadians - The heading tolerance in radians.
      Returns:
      A trigger that is true when the robot is within toleranceMeters of the given events pose.
      See Also:

    • atTranslation

      public Trigger atTranslation(Translation2d translation, double toleranceMeters)
      Returns a trigger that is true when the robot is within toleranceMeters of the given translation.

      The translation is flipped if alliance flipping is enabled and the alliance supplier returns Red.

      While alliance flipping is enabled and the alliance supplier returns empty, the trigger will return false.

      Parameters:
      translation - The translation to check against, unflipped.
      toleranceMeters - The tolerance in meters.
      Returns:
      A trigger that is true when the robot is within toleranceMeters of the given translation.

    • atTranslation

      public Trigger atTranslation(String eventName, double toleranceMeters)
      Returns a trigger that is true when the robot is within toleranceMeters and toleranceRadians of the given event's translation.

      A warning will be printed to the DriverStation if the event is not found and the trigger will always be false.

      Parameters:
      eventName - The name of the event.
      toleranceMeters - The tolerance in meters.
      Returns:
      A trigger that is true when the robot is within toleranceMeters of the given events translation.
      See Also:

    • collectEventTimes

      public double[] collectEventTimes(String eventName)
      Returns an array of all the timestamps of the events with the given name.
      Parameters:
      eventName - The name of the event.
      Returns:
      An array of all the timestamps of the events with the given name.
      See Also:

    • collectEventPoses

      public Pose2d[] collectEventPoses(String eventName)
      Returns an array of all the poses of the events with the given name.

      The returned poses are always unflipped. If you use them in a trigger like `atPose` or `atTranslation`, the library will automatically flip them if necessary. If you intend using them in a different context, you can use ChoreoAllianceFlipUtil.flip(edu.wpi.first.math.geometry.Translation2d) to flip them.

      Parameters:
      eventName - The name of the event.
      Returns:
      An array of all the poses of the events with the given name.
      See Also:

    • equals

      public boolean equals(Object obj)
      Overrides:
      equals in class Object