Getting Started

Auto Factory API

Tip

This API is recommended for most teams as it provides a more user-friendly, batteries included experience.

The AutoFactory class provides a high level API that simplifies the creation of complex autonomous routines in your robot code. Read the documentation page for more information.

Raw Trajectory API

Teams that want to use their own path following structure can load trajectories directly with the following code.

JavaPythonC++

import java.util.Optional;

import choreo.Choreo;
import choreo.trajectory.ChoreoTrajectory;
import choreo.trajectory.SwerveSample;

// Loading a trajectory from a file, returns an optional if the file does not exist or is invalid
var trajectory = Choreo.loadTrajectory("myTrajectory");
if (trajectory.isPresent()) {
   // Do something with the trajectory
   drive.followTrajectory(trajectory.get()).schedule();
} else {
   // If the trajectory is not found, ChoreoLib already prints to DriverStation
}

import choreo

# Loading a trajectory from a file, throwing ValueError if the file does not exist or is invalid
try:
trajectory = choreo.load_swerve_trajectory("myTrajectory")

# Do something with the trajectory
drive.followTrajectory(trajectory).schedule()
except ValueError:
# If the trajectory is not found, ChoreoLib already prints to DriverStation
pass

#include <choreo/Choreo.h>

// Loading a trajectory from a file, returns an optional if the file does not exist or is invalid
if (auto trajectory = choreo::LoadTrajectory("myTrajectory")) {
   // Do something with the trajectory
   drive.followTrajectory(trajectory.value()).schedule();
} else {
   // If the trajectory is not found, ChoreoLib already prints to DriverStation
}