Index
All Classes and Interfaces|All Packages
A
- active() - Method in class choreo.auto.AutoTrajectory
-
Returns a trigger that is true while the trajectory is scheduled.
- addAutoRoutine(String, AutoChooser.AutoRoutineGenerator) - 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.
- AllianceFlipUtil - Class in choreo.util
-
A utility to standardize flipping of coordinate data based on the current alliance across different years.
- AllianceFlipUtil.Flipper - Enum Class in choreo.util
-
The flipper to use for flipping coordinates.
- alpha - Variable in class choreo.trajectory.SwerveSample
-
The angular acceleration of the sample in rad/s².
- ar - Variable in class choreo.trajectory.DifferentialSample
-
The acceleration of the right side in m/s².
- atPose(Pose2d, 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) - Method in class choreo.auto.AutoTrajectory
-
Returns a trigger that is true when the robot is within 3 inches of the given events pose.
- atPose(String, double) - Method in class choreo.auto.AutoTrajectory
-
Returns a trigger that is true when the robot is within toleranceMeters of the given events 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.
- atTimeAndPose(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 and the robot is within 3 inches of the given events pose.
- atTimeAndPose(String, double) - 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 and the robot is within toleranceMeters of the given events pose.
- AutoBindings() - Constructor for class choreo.auto.AutoFactory.AutoBindings
-
Default constructor.
- AutoChooser - Class in choreo.auto
-
An Choreo specific
SendableChooser
that allows for the selection ofAutoRoutine
s at runtime via a Dashboard. - AutoChooser(AutoFactory, String) - Constructor for class choreo.auto.AutoChooser
-
Constructs a new
AutoChooser
. - AutoChooser.AutoRoutineGenerator - Interface in choreo.auto
-
A function that generates an
AutoRoutine
from anAutoFactory
. - AutoFactory - Class in choreo.auto
-
A factory used to create
AutoRoutine
s andAutoTrajectory
s. - AutoFactory(Supplier<Pose2d>, Consumer<SampleType>, BooleanSupplier, Subsystem, AutoFactory.AutoBindings, Optional<Choreo.TrajectoryLogger<SampleType>>) - Constructor for class choreo.auto.AutoFactory
-
Its recommended to use the
Choreo.createAutoFactory(java.util.function.Supplier<edu.wpi.first.math.geometry.Pose2d>, java.util.function.Consumer<SampleType>, java.util.function.BooleanSupplier, edu.wpi.first.wpilibj2.command.Subsystem, choreo.auto.AutoFactory.AutoBindings)
to create a new instance of this class. - AutoFactory.AutoBindings - Class in choreo.auto
-
A class used to bind commands to events in all trajectories created by this factory.
- AutoRoutine - Class in choreo.auto
-
An object that represents an autonomous routine.
- AutoRoutine(String) - Constructor for class choreo.auto.AutoRoutine
-
Creates a new loop with a specific name
- AutoRoutine(String, EventLoop) - Constructor for class choreo.auto.AutoRoutine
-
A constructor to be used when inhereting this class to instantiate a custom inner loop
- 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.
- ax - Variable in class choreo.trajectory.SwerveSample
-
The acceleration of the in the X direction in m/s².
- ay - Variable in class choreo.trajectory.SwerveSample
-
The acceleration of the in the Y direction in m/s².
B
- back - Variable in class choreo.trajectory.ProjectFile.Bumpers
-
The back bumper expression.
- backLeft - Variable in class choreo.trajectory.ProjectFile.Config
-
The position of the back left module
- bind(String, Command) - Method in class choreo.auto.AutoFactory.AutoBindings
-
Binds a command to an event in all trajectories created by the factory using this bindings.
- bind(String, Command) - Method in class choreo.auto.AutoFactory
-
Binds a command to an event in all trajectories created after this point.
- bumper - Variable in class choreo.trajectory.ProjectFile.Config
-
The bumpers of the robot.
C
- cache() - Method in class choreo.auto.AutoFactory
-
The
AutoFactory
caches trajectories with aChoreo.TrajectoryCache
to avoid reloading the same trajectory multiple times. - 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<SampleType extends TrajectorySample<SampleType>> - Interface in choreo
-
This interface exists as a type alias.
- choreo.util - package choreo.util
- 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.
- cof - Variable in class choreo.trajectory.ProjectFile.Config
-
The Coefficient of Friction (CoF) of the wheels.
- 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.
- commandAsAutoRoutine(Command) - Method in class choreo.auto.AutoFactory
-
Creates an
AutoRoutine
with the name of the command. - config - Variable in class choreo.trajectory.ProjectFile
-
The configuration of the project.
- createAutoFactory(Supplier<Pose2d>, Consumer<SampleType>, BooleanSupplier, Subsystem, AutoFactory.AutoBindings) - Static method in class choreo.Choreo
-
Create a factory that can be used to create
AutoRoutine
andAutoTrajectory
. - createAutoFactory(Supplier<Pose2d>, Consumer<SampleType>, BooleanSupplier, Subsystem, AutoFactory.AutoBindings, Choreo.TrajectoryLogger<SampleType>) - Static method in class choreo.Choreo
-
Create a factory that can be used to create
AutoRoutine
andAutoTrajectory
.
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) - Constructor for class choreo.trajectory.DifferentialSample
-
Constructs a DifferentialSample with the specified parameters.
- differentialTrackWidth - Variable in class choreo.trajectory.ProjectFile.Config
-
The width between the wheels of the robot.
- done() - Method in class choreo.auto.AutoTrajectory
-
Returns a trigger that rises to true when the trajectory ends and falls when another trajectory is run.
- done(int) - Method in class choreo.auto.AutoTrajectory
-
Returns a trigger that rises to true when the trajectory ends and falls when another trajectory is run.
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.
- exp - Variable in class choreo.trajectory.ProjectFile.Expression
-
The equation.
F
- factory() - Method in class choreo.auto.AutoChooser
-
Get the
AutoFactory
used by this chooser. - fl - Variable in class choreo.trajectory.DifferentialSample
-
The force of the left side in Newtons.
- flip(Pose2d) - Static method in class choreo.util.AllianceFlipUtil
-
Flips the pose.
- flip(Pose3d) - Static method in class choreo.util.AllianceFlipUtil
-
Flips the pose.
- flip(Rotation2d) - Static method in class choreo.util.AllianceFlipUtil
-
Flips the rotation.
- flip(Rotation3d) - Static method in class choreo.util.AllianceFlipUtil
-
Flips the rotation.
- flip(Translation2d) - Static method in class choreo.util.AllianceFlipUtil
-
Flips the translation.
- flip(Translation3d) - Static method in class choreo.util.AllianceFlipUtil
-
Flips the translation.
- flipHeading(double) - Static method in class choreo.util.AllianceFlipUtil
-
Flips the heading.
- flipHeading(double) - Method in enum class choreo.util.AllianceFlipUtil.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.AllianceFlipUtil.Flipper
-
Flips the X coordinate.
- flipX(double) - Static method in class choreo.util.AllianceFlipUtil
-
Flips the X coordinate.
- flipY(double) - Method in enum class choreo.util.AllianceFlipUtil.Flipper
-
Flips the Y coordinate.
- flipY(double) - Static method in class choreo.util.AllianceFlipUtil
-
Flips the Y coordinate.
- fr - Variable in class choreo.trajectory.DifferentialSample
-
The force of the right side in Newtons.
- front - Variable in class choreo.trajectory.ProjectFile.Bumpers
-
The front bumper expression.
- frontLeft - Variable in class choreo.trajectory.ProjectFile.Config
-
The position of the front left module
G
- gearing - Variable in class choreo.trajectory.ProjectFile.Config
-
The gearing of the robot.
- generationFeatures - Variable in class choreo.trajectory.ProjectFile
-
The generation features of the project.
- 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.AllianceFlipUtil
-
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.
- getProjectFile() - Static method in class choreo.Choreo
-
Gets the project file from the deploy directory.
- getRawTrajectory() - Method in class choreo.auto.AutoTrajectory
-
Will get the underlying
Trajectory
object. - getSelectedAutoRoutine() - Method in class choreo.auto.AutoChooser
-
Get the currently selected
AutoRoutine
. - 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
- inactive() - Method in class choreo.auto.AutoTrajectory
-
Returns a trigger that is true while the command is not scheduled.
- inertia - Variable in class choreo.trajectory.ProjectFile.Config
-
The inertia of the robot.
- interpolate(DifferentialSample, double) - Method in class choreo.trajectory.DifferentialSample
- interpolate(SwerveSample, double) - Method in class choreo.trajectory.SwerveSample
- isActive - Variable in class choreo.auto.AutoRoutine
-
A boolean utilized in
AutoRoutine.running()
to resolve trueness - isKilled - Variable in class choreo.auto.AutoRoutine
-
A boolean that is true when the loop is killed
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 - Variable in class choreo.auto.AutoRoutine
-
The underlying
EventLoop
that triggers are bound to and polled - loop() - Method in class choreo.auto.AutoRoutine
-
Gets the event loop that this routine is using.
M
- mass - Variable in class choreo.trajectory.ProjectFile.Config
-
The mass of the robot.
- MIRRORED - Enum constant in enum class choreo.util.AllianceFlipUtil.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.
N
- name - Variable in class choreo.auto.AutoRoutine
-
The name of the auto routine this loop is associated with
- name - Variable in class choreo.trajectory.ProjectFile
-
The name of the project.
- 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
. - NONE - Static variable in interface choreo.auto.AutoChooser.AutoRoutineGenerator
-
A generator that returns an auto routine that does nothing
O
- 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.SwerveSample
-
The angular velocity of the sample in rad/s.
P
- poll() - Method in class choreo.auto.AutoRoutine
-
Polls the routine.
- pollCount - Variable in class choreo.auto.AutoRoutine
-
The amount of times the routine has been polled
- ProjectFile - Class in choreo.trajectory
-
A representation of a project file aka a .chor.
- ProjectFile.Bumpers - Class in choreo.trajectory
-
A collection of expressions representing the distance of the bumpers from the center of the robot.
- ProjectFile.Config - Class in choreo.trajectory
-
The user configuration of the project.
- ProjectFile.Expression - Class in choreo.trajectory
-
A representation of an expression.
- ProjectFile.XYExpression - Class in choreo.trajectory
-
An xy pair of expressions.
R
- reset() - Method in class choreo.auto.AutoRoutine
-
Resets the routine.
- ROTATE_AROUND - Enum constant in enum class choreo.util.AllianceFlipUtil.Flipper
-
X becomes fieldLength - x, Y becomes fieldWidth - y, and heading becomes PI - heading.
- running() - Method in class choreo.auto.AutoRoutine
-
Returns a
Trigger
that is true while this autonomous routine is being polled.
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.
- setYear(int) - Static method in class choreo.util.AllianceFlipUtil
-
Set the year to determine the Alliance Coordinate Flipper to use.
- shouldFlip() - Static method in class choreo.util.AllianceFlipUtil
-
Returns if you are on red alliance.
- side - Variable in class choreo.trajectory.ProjectFile.Bumpers
-
The side bumper expression.
- 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.
- tmax - Variable in class choreo.trajectory.ProjectFile.Config
-
The maximum torque of the robot.
- trajectory(Trajectory<SampleType>, AutoRoutine) - Method in class choreo.auto.AutoFactory
-
Creates a new
AutoTrajectory
to be used in an auto routine. - trajectory(String, int, AutoRoutine) - Method in class choreo.auto.AutoFactory
-
Creates a new
AutoTrajectory
to be used in an auto routine. - trajectory(String, AutoRoutine) - Method in class choreo.auto.AutoFactory
-
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.
- trajectoryCommand(Trajectory<SampleType>) - Method in class choreo.auto.AutoFactory
-
Creates a new
AutoTrajectory
command to be used in an auto routine. - trajectoryCommand(String) - Method in class choreo.auto.AutoFactory
-
Creates a new
AutoTrajectory
command to be used in an auto routine. - trajectoryCommand(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.
- type - Variable in class choreo.trajectory.ProjectFile
-
The sample type for the project
U
- update() - Method in class choreo.auto.AutoChooser
-
Update the auto chooser.
V
- val - Variable in class choreo.trajectory.ProjectFile.Expression
-
The value.
- valueOf(String) - Static method in enum class choreo.util.AllianceFlipUtil.Flipper
-
Returns the enum constant of this class with the specified name.
- values() - Static method in enum class choreo.util.AllianceFlipUtil.Flipper
-
Returns an array containing the constants of this enum class, in the order they are declared.
- version - Variable in class choreo.trajectory.ProjectFile
-
The version of the project.
- vl - Variable in class choreo.trajectory.DifferentialSample
-
The velocity of the left side in m/s.
- vmax - Variable in class choreo.trajectory.ProjectFile.Config
-
The maximum velocity of the robot.
- voidRoutine() - Method in class choreo.auto.AutoFactory
-
An
AutoRoutine
that cannot have any side-effects, it stores no state and does nothing when polled. - 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.
W
- wheelRadius - Variable in class choreo.trajectory.ProjectFile.Config
-
The radius of the wheel.
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.ProjectFile.XYExpression
-
The x expression.
- 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.ProjectFile.XYExpression
-
The y expression.
- y - Variable in class choreo.trajectory.SwerveSample
-
The Y position of the sample relative to the blue alliance wall origin in meters.
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