Index (ChoreoLib API)

A B C D E F G H I K L M N O P R S T V X Y Z
All Classes and Interfaces|All Packages|Constant Field Values

A

active() - Method in class choreo.auto.AutoRoutine: Returns a Trigger that is true while this autonomous routine is being polled.
active() - Method in class choreo.auto.AutoTrajectory: Returns a trigger that is true while the trajectory is scheduled.
addCause(String) - Method in class choreo.util.ChoreoAlert.MultiAlert: Adds an error causer to this alert, and pushes the alert to NetworkTables if it is not already present.
addCmd(String, Supplier<Command>) - Method in class choreo.auto.AutoChooser: Adds a Command to the auto chooser.
addRoutine(String, Supplier<AutoRoutine>) - Method in class choreo.auto.AutoChooser: Add an AutoRoutine to the chooser.
al - Variable in class choreo.trajectory.DifferentialSample: The acceleration of the left side in m/s².
alert(String, Alert.AlertType) - Static method in class choreo.util.ChoreoAlert: Creates an alert under the "Choreo" group.
allInactive(AutoTrajectory, AutoTrajectory...) - Method in class choreo.auto.AutoRoutine: Creates a trigger that returns true when any of the trajectories given are inactive.
alpha - Variable in class choreo.trajectory.SwerveSample: The angular acceleration of the sample in rad/s².
anyActive(AutoTrajectory, AutoTrajectory...) - Method in class choreo.auto.AutoRoutine: Creates a trigger that returns true when any of the trajectories given are active.
anyDone(int, AutoTrajectory, AutoTrajectory...) - Method in class choreo.auto.AutoRoutine: Deprecated, for removal: This API element is subject to removal in a future version.
This method is deprecated and will be removed in 2025. Use AutoRoutine.anyDoneDelayed(int, choreo.auto.AutoTrajectory, choreo.auto.AutoTrajectory...)
anyDone(AutoTrajectory, AutoTrajectory...) - Method in class choreo.auto.AutoRoutine: Creates a trigger that produces a rising edge when any of the trajectories are finished.
anyDoneDelayed(int, AutoTrajectory, AutoTrajectory...) - Method in class choreo.auto.AutoRoutine: Creates a trigger that produces a rising edge when any of the trajectories are finished.
ar - Variable in class choreo.trajectory.DifferentialSample: The acceleration of the right side in m/s².
atPose(Pose2d, double, double) - Method in class choreo.auto.AutoTrajectory: Returns a trigger that is true when the robot is within toleranceMeters of the given pose.
atPose(String, double, double) - Method in class choreo.auto.AutoTrajectory: Returns a trigger that is true when the robot is within toleranceMeters and toleranceRadians of the given event's pose.
atTime(double) - Method in class choreo.auto.AutoTrajectory: Returns a trigger that will go true for 1 cycle when the desired time has elapsed
atTime(String) - Method in class choreo.auto.AutoTrajectory: Returns a trigger that is true when the event with the given name has been reached based on time.
atTimeBeforeEnd(double) - Method in class choreo.auto.AutoTrajectory: Returns a trigger that will go true for 1 cycle when the desired before the end of the trajectory time.
atTranslation(Translation2d, double) - Method in class choreo.auto.AutoTrajectory: Returns a trigger that is true when the robot is within toleranceMeters of the given translation.
atTranslation(String, double) - Method in class choreo.auto.AutoTrajectory: Returns a trigger that is true when the robot is within toleranceMeters and toleranceRadians of the given event's translation.
AutoChooser - Class in choreo.auto: An Choreo specific SendableChooser that allows for the selection of AutoRoutines at runtime via a Dashboard.
AutoChooser() - Constructor for class choreo.auto.AutoChooser: Constructs a new AutoChooser.
AutoFactory - Class in choreo.auto: A factory used to create AutoRoutines and AutoTrajectorys.
AutoFactory(Supplier<Pose2d>, Consumer<Pose2d>, Consumer<SampleType>, boolean, Subsystem, Choreo.TrajectoryLogger<SampleType>) - Constructor for class choreo.auto.AutoFactory: Create a factory that can be used to create AutoRoutine and AutoTrajectory.
AutoFactory(Supplier<Pose2d>, Consumer<Pose2d>, Consumer<ST>, boolean, Subsystem) - Constructor for class choreo.auto.AutoFactory: Create a factory that can be used to create AutoRoutine and AutoTrajectory.
AutoRoutine - Class in choreo.auto: An object that represents an autonomous routine.
AutoTrajectory - Class in choreo.auto: A class that represents a trajectory that can be used in an autonomous routine and have triggers based off of it.
availableTrajectories() - Static method in class choreo.Choreo: Fetches the names of all available trajectories in the deploy directory.
ax - Variable in class choreo.trajectory.SwerveSample: The acceleration of the sample in the X direction in m/s².
ay - Variable in class choreo.trajectory.SwerveSample: The acceleration of the sample in the Y direction in m/s².

B

bind(String, Command) - Method in class choreo.auto.AutoFactory: Binds a command to an event in all trajectories created after this point.

C

cache() - Method in class choreo.auto.AutoFactory: The AutoFactory caches trajectories with a Choreo.TrajectoryCache to avoid reloading the same trajectory multiple times.
chain(AutoTrajectory) - Method in class choreo.auto.AutoTrajectory: A shorthand for `.done().onTrue(otherTrajectory.cmd())`
choreo - package choreo
Choreo - Class in choreo: Utilities to load and follow Choreo Trajectories
choreo.auto - package choreo.auto
choreo.trajectory - package choreo.trajectory
Choreo.TrajectoryCache - Class in choreo: A utility for caching loaded trajectories.
Choreo.TrajectoryLogger<ST extends TrajectorySample<ST>> - Interface in choreo: This interface exists as a type alias.
choreo.util - package choreo.util
ChoreoAlert - Class in choreo.util: A utility class for creating alerts under the "Choreo Alerts" group.
ChoreoAlert.MultiAlert - Class in choreo.util: An alert that can have multiple causes.
ChoreoAllianceFlipUtil - Class in choreo.util: A utility to standardize flipping of coordinate data based on the current alliance across different years.
ChoreoAllianceFlipUtil.Flipper - Enum Class in choreo.util: The flipper to use for flipping coordinates.
ChoreoArrayUtil - Class in choreo.util: A Choreo Internal utility class for array operations.
clear() - Method in class choreo.Choreo.TrajectoryCache: Clear the cache.
cmd() - Method in class choreo.auto.AutoRoutine: Creates a command that will poll this event loop and reset it when it is cancelled.
cmd() - Method in class choreo.auto.AutoTrajectory: Creates a command that allocates the drive subsystem and follows the trajectory using the factories control function
cmd(BooleanSupplier) - Method in class choreo.auto.AutoRoutine: Creates a command that will poll this event loop and reset it when it is finished or canceled.
collectEventPoses(String) - Method in class choreo.auto.AutoTrajectory: Returns an array of all the poses of the events with the given name.
collectEventTimes(String) - Method in class choreo.auto.AutoTrajectory: Returns an array of all the timestamps of the events with the given name.

D

deserialize(JsonElement, Type, JsonDeserializationContext) - Method in class choreo.trajectory.EventMarker.Deserializer
Deserializer() - Constructor for class choreo.trajectory.EventMarker.Deserializer: Default constructor.
DifferentialSample - Class in choreo.trajectory: A single differential drive robot sample in a Trajectory.
DifferentialSample(double, double, double, double, double, double, double, double, double, double, double) - Constructor for class choreo.trajectory.DifferentialSample: Constructs a DifferentialSample with the specified parameters.
done() - Method in class choreo.auto.AutoTrajectory: Returns a trigger that rises to true when the trajectory ends and falls after one pulse.
done(int) - Method in class choreo.auto.AutoTrajectory: Deprecated, for removal: This API element is subject to removal in a future version.
Use AutoTrajectory.doneDelayed(int) instead.
doneDelayed(double) - Method in class choreo.auto.AutoTrajectory: Returns a trigger that rises to true a number of cycles after the trajectory ends and falls after one pulse.
doneFor(double) - Method in class choreo.auto.AutoTrajectory: Returns a trigger that stays true for a number of cycles after the trajectory ends.

E

equals(Object) - Method in class choreo.auto.AutoTrajectory
equals(Object) - Method in class choreo.trajectory.DifferentialSample
equals(Object) - Method in class choreo.trajectory.EventMarker
equals(Object) - Method in class choreo.trajectory.SwerveSample
equals(Object) - Method in class choreo.trajectory.Trajectory
event - Variable in class choreo.trajectory.EventMarker: The event.
EventMarker - Class in choreo.trajectory: A marker for an event in a trajectory.
EventMarker(double, String) - Constructor for class choreo.trajectory.EventMarker: Constructs an EventMarker with the specified parameters.
EventMarker.Deserializer - Class in choreo.trajectory: GSON deserializer for choreolib event markers
events() - Method in class choreo.trajectory.Trajectory: Returns the events in the trajectory.

F

fl - Variable in class choreo.trajectory.DifferentialSample: The force of the left side in Newtons.
flip(Pose2d) - Static method in class choreo.util.ChoreoAllianceFlipUtil: Flips the pose.
flip(Pose3d) - Static method in class choreo.util.ChoreoAllianceFlipUtil: Flips the pose.
flip(Rotation2d) - Static method in class choreo.util.ChoreoAllianceFlipUtil: Flips the rotation.
flip(Rotation3d) - Static method in class choreo.util.ChoreoAllianceFlipUtil: Flips the rotation.
flip(Translation2d) - Static method in class choreo.util.ChoreoAllianceFlipUtil: Flips the translation.
flip(Translation3d) - Static method in class choreo.util.ChoreoAllianceFlipUtil: Flips the translation.
flipHeading(double) - Static method in class choreo.util.ChoreoAllianceFlipUtil: Flips the heading.
flipHeading(double) - Method in enum class choreo.util.ChoreoAllianceFlipUtil.Flipper: Flips the heading.
flipped() - Method in class choreo.trajectory.DifferentialSample
flipped() - Method in class choreo.trajectory.SwerveSample
flipped() - Method in class choreo.trajectory.Trajectory: Returns this trajectory, mirrored across the field midline.
flipped() - Method in interface choreo.trajectory.TrajectorySample: Returns this sample, mirrored across the field midline.
flipX(double) - Method in enum class choreo.util.ChoreoAllianceFlipUtil.Flipper: Flips the X coordinate.
flipX(double) - Static method in class choreo.util.ChoreoAllianceFlipUtil: Flips the X coordinate.
flipY(double) - Method in enum class choreo.util.ChoreoAllianceFlipUtil.Flipper: Flips the Y coordinate.
flipY(double) - Static method in class choreo.util.ChoreoAllianceFlipUtil: Flips the Y coordinate.
fr - Variable in class choreo.trajectory.DifferentialSample: The force of the right side in Newtons.

G

getChassisSpeeds() - Method in class choreo.trajectory.DifferentialSample: Returns the field-relative chassis speeds of this sample.
getChassisSpeeds() - Method in class choreo.trajectory.SwerveSample
getChassisSpeeds() - Method in interface choreo.trajectory.TrajectorySample: Returns the field-relative chassis speeds of this sample.
getEvents(String) - Method in class choreo.trajectory.Trajectory: Returns a list of all events with the given name in the trajectory.
getFinalPose() - Method in class choreo.auto.AutoTrajectory: Will get the ending pose of the trajectory.
getFinalPose(boolean) - Method in class choreo.trajectory.Trajectory: Returns the final pose of the trajectory.
getFinalSample(boolean) - Method in class choreo.trajectory.Trajectory: Returns the last Trajectory in the trajectory.
getFlipper() - Static method in class choreo.util.ChoreoAllianceFlipUtil: Get the flipper that is currently active for flipping coordinates.
getInitialPose() - Method in class choreo.auto.AutoTrajectory: Will get the starting pose of the trajectory.
getInitialPose(boolean) - Method in class choreo.trajectory.Trajectory: Returns the initial pose of the trajectory.
getInitialSample(boolean) - Method in class choreo.trajectory.Trajectory: Returns the first Trajectory in the trajectory.
getPose() - Method in class choreo.trajectory.DifferentialSample
getPose() - Method in class choreo.trajectory.SwerveSample
getPose() - Method in interface choreo.trajectory.TrajectorySample: Returns the pose at this sample.
getPoses() - Method in class choreo.trajectory.Trajectory: Returns the array of poses corresponding to the trajectory.
getRawTrajectory() - Method in class choreo.auto.AutoTrajectory: Will get the underlying Trajectory object.
getSplit(int) - Method in class choreo.trajectory.Trajectory: Returns a choreo trajectory that represents the split of the trajectory at the given index.
getTimestamp() - Method in class choreo.trajectory.DifferentialSample
getTimestamp() - Method in class choreo.trajectory.SwerveSample
getTimestamp() - Method in interface choreo.trajectory.TrajectorySample: Returns the timestamp of this sample.
getTotalTime() - Method in class choreo.trajectory.Trajectory: Returns the total time of the trajectory (the timestamp of the last sample).

H

heading - Variable in class choreo.trajectory.DifferentialSample: The heading of the sample in radians, with 0 being in the +X direction.
heading - Variable in class choreo.trajectory.SwerveSample: The heading of the sample in radians, with 0 being in the +X direction.

I

idle() - Method in class choreo.auto.AutoRoutine: Creates a trigger that is true when the routine is idle.
inactive() - Method in class choreo.auto.AutoTrajectory: Returns a trigger that is true while the command is not scheduled.
initSendable(SendableBuilder) - Method in class choreo.auto.AutoChooser
interpolate(DifferentialSample, double) - Method in class choreo.trajectory.DifferentialSample
interpolate(SwerveSample, double) - Method in class choreo.trajectory.SwerveSample

K

kill() - Method in class choreo.auto.AutoRoutine: Kills the loop and prevents it from running again.

L

loadTrajectory(String) - Static method in class choreo.Choreo: Load a trajectory from the deploy directory.
loadTrajectory(String) - Method in class choreo.Choreo.TrajectoryCache: Load a trajectory from the deploy directory.
loadTrajectory(String, int) - Method in class choreo.Choreo.TrajectoryCache: Load a section of a split trajectory from the deploy directory.
loop() - Method in class choreo.auto.AutoRoutine: Gets the event loop that this routine is using.

M

MIRRORED - Enum constant in enum class choreo.util.ChoreoAllianceFlipUtil.Flipper: X becomes fieldLength - x, leaves the y coordinate unchanged, and heading becomes PI - heading.
moduleForcesX() - Method in class choreo.trajectory.SwerveSample: A null safe getter for the module forces in the X direction.
moduleForcesY() - Method in class choreo.trajectory.SwerveSample: A null safe getter for the module forces in the Y direction.
multiAlert(Function<List<String>, String>, Alert.AlertType) - Static method in class choreo.util.ChoreoAlert: Creates a ChoreoAlert.MultiAlert under the "Choreo" group.

N

name() - Method in class choreo.trajectory.Trajectory: Returns the name of the trajectory.
newRoutine(String) - Method in class choreo.auto.AutoFactory: Creates a new AutoRoutine.

O

observe(BooleanSupplier) - Method in class choreo.auto.AutoRoutine: Creates a Trigger that is bound to the routine's EventLoop.
offsetBy(double) - Method in class choreo.trajectory.DifferentialSample
offsetBy(double) - Method in class choreo.trajectory.EventMarker: Returns a new EventMarker with the timestamp offset by the specified amount.
offsetBy(double) - Method in class choreo.trajectory.SwerveSample
offsetBy(double) - Method in interface choreo.trajectory.TrajectorySample: Returns this sample, offset by the given timestamp.
omega - Variable in class choreo.trajectory.DifferentialSample: The chassis angular velocity in rad/s.
omega - Variable in class choreo.trajectory.SwerveSample: The angular velocity of the sample in rad/s.
optionalFlippedPose2d(Optional<Pose2d>, Supplier<Optional<DriverStation.Alliance>>, boolean) - Static method in class choreo.util.ChoreoAllianceFlipUtil: Creates a Supplier<Optional<Pose2d>> based on a Supplier<Optional<Alliance>> and original Optional<Pose2d>
optionalFlippedTranslation2d(Optional<Translation2d>, Supplier<Optional<DriverStation.Alliance>>, boolean) - Static method in class choreo.util.ChoreoAllianceFlipUtil: Creates a Supplier<Optional<Translation2d>> that is flipped based on a Supplier<Optional<Alliance>> and original Optional<Translation2d>

P

poll() - Method in class choreo.auto.AutoRoutine: Polls the routine.

R

recentlyDone() - Method in class choreo.auto.AutoTrajectory: Returns a trigger that is true when the trajectory was the last one active and is done.
reset() - Method in class choreo.auto.AutoRoutine: Resets the routine.
resetOdometry() - Method in class choreo.auto.AutoTrajectory: Creates a command that resets the robot's odometry to the start of this trajectory.
resetOdometry(Trajectory<ST>) - Method in class choreo.auto.AutoFactory: Creates a command that resets the robot's odometry to the start of a trajectory.
resetOdometry(String) - Method in class choreo.auto.AutoFactory: Creates a command that resets the robot's odometry to the start of a trajectory.
resetOdometry(String, int) - Method in class choreo.auto.AutoFactory: Creates a command that resets the robot's odometry to the start of a trajectory.
ROTATE_AROUND - Enum constant in enum class choreo.util.ChoreoAllianceFlipUtil.Flipper: X becomes fieldLength - x, Y becomes fieldWidth - y, and heading becomes PI - heading.

S

sampleAt(double, boolean) - Method in class choreo.trajectory.Trajectory: Return an interpolated sample of the trajectory at the given timestamp.
samples() - Method in class choreo.trajectory.Trajectory: Returns the samples of the trajectory.
select(String) - Method in class choreo.auto.AutoChooser: Select a new option in the chooser.
selectedCommand() - Method in class choreo.auto.AutoChooser: Returns the currently selected command.
selectedCommandScheduler() - Method in class choreo.auto.AutoChooser: Gets a Command that schedules the selected auto routine.
setYear(int) - Static method in class choreo.util.ChoreoAllianceFlipUtil: Set the year to determine the Alliance Coordinate Flipper to use.
shouldFlip() - Static method in class choreo.util.ChoreoAllianceFlipUtil: Returns if you are on red alliance.
spawnCmd() - Method in class choreo.auto.AutoTrajectory: Creates a command that will schedule another command that will follow the trajectory.
splits() - Method in class choreo.trajectory.Trajectory: Returns the indices of the splits in the trajectory.
struct - Static variable in class choreo.trajectory.DifferentialSample: The struct for the DifferentialSample class.
struct - Static variable in class choreo.trajectory.SwerveSample: The struct for the SwerveSample class.
SwerveSample - Class in choreo.trajectory: A single swerve robot sample in a Trajectory.
SwerveSample(double, double, double, double, double, double, double, double, double, double, double[], double[]) - Constructor for class choreo.trajectory.SwerveSample: Constructs a SwerveSample with the specified parameters.

T

t - Variable in class choreo.trajectory.DifferentialSample: The timestamp of this sample relative to the beginning of the trajectory.
t - Variable in class choreo.trajectory.SwerveSample: The timestamp of this sample, relative to the beginning of the trajectory.
timestamp - Variable in class choreo.trajectory.EventMarker: The timestamp of the event.
TRAJ_SCHEMA_VERSION - Static variable in class choreo.util.TrajSchemaVersion: The current trajectory schema version.
trajectory(Trajectory<SampleType>) - Method in class choreo.auto.AutoRoutine: Creates a new AutoTrajectory to be used in an auto routine.
trajectory(String) - Method in class choreo.auto.AutoRoutine: Creates a new AutoTrajectory to be used in an auto routine.
trajectory(String, int) - Method in class choreo.auto.AutoRoutine: Creates a new AutoTrajectory to be used in an auto routine.
Trajectory<SampleType extends TrajectorySample<SampleType>> - Class in choreo.trajectory: A trajectory loaded from Choreo.
Trajectory(String, List<SampleType>, List<Integer>, List<EventMarker>) - Constructor for class choreo.trajectory.Trajectory: Constructs a Trajectory with the specified parameters.
TrajectoryCache() - Constructor for class choreo.Choreo.TrajectoryCache: Creates a new TrajectoryCache with a normal HashMap as the cache.
TrajectoryCache(Map<String, Trajectory<?>>) - Constructor for class choreo.Choreo.TrajectoryCache: Creates a new TrajectoryCache with a custom cache.
trajectoryCmd(Trajectory<ST>) - Method in class choreo.auto.AutoFactory: Creates a new AutoTrajectory command to be used in an auto routine.
trajectoryCmd(String) - Method in class choreo.auto.AutoFactory: Creates a new AutoTrajectory command to be used in an auto routine.
trajectoryCmd(String, int) - Method in class choreo.auto.AutoFactory: Creates a new AutoTrajectory command to be used in an auto routine.
TrajectorySample<Self extends TrajectorySample<Self>> - Interface in choreo.trajectory: The generic interface for a sample in a trajectory.
TrajSchemaVersion - Class in choreo.util: Internal autogenerated class for storing the current trajectory schema version.

V

valueOf(String) - Static method in enum class choreo.util.ChoreoAllianceFlipUtil.Flipper: Returns the enum constant of this class with the specified name.
values() - Static method in enum class choreo.util.ChoreoAllianceFlipUtil.Flipper: Returns an array containing the constants of this enum class, in the order they are declared.
vl - Variable in class choreo.trajectory.DifferentialSample: The velocity of the left side in m/s.
vr - Variable in class choreo.trajectory.DifferentialSample: The velocity of the right side in m/s.
vx - Variable in class choreo.trajectory.SwerveSample: The velocity of the sample in the X direction in m/s.
vy - Variable in class choreo.trajectory.SwerveSample: The velocity of the sample in the Y direction in m/s.

X

x - Variable in class choreo.trajectory.DifferentialSample: The X position of the sample relative to the blue alliance wall origin in meters.
x - Variable in class choreo.trajectory.SwerveSample: The X position of the sample relative to the blue alliance wall origin in meters.

Y

y - Variable in class choreo.trajectory.DifferentialSample: The Y position of the sample relative to the blue alliance wall origin in meters.
y - Variable in class choreo.trajectory.SwerveSample: The Y position of the sample relative to the blue alliance wall origin in meters.

Z

zipEquals(double[], double[], BiFunction<Double, Double, Boolean>) - Static method in class choreo.util.ChoreoArrayUtil: Checks two double arrays for equality with the given function.

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