Package frc.robot.auton

Class AutonCommands

java.lang.Object

edu.wpi.first.wpilibj2.command.SubsystemBase

frc.robot.auton.AutonCommands

All Implemented Interfaces:

edu.wpi.first.util.sendable.Sendable, edu.wpi.first.wpilibj2.command.Subsystem

public class AutonCommands
extends edu.wpi.first.wpilibj2.command.SubsystemBase

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static enum	AutonCommands.AutoState

Constructor Summary

Constructors

Constructor	Description
AutonCommands(Drive pRobotDrive)

Method Summary

Modifier and Type	Method	Description
edu.wpi.first.wpilibj2.command.FunctionalCommand	autoPlaceholder()
edu.wpi.first.wpilibj2.command.Command	backUpAuton()
edu.wpi.first.wpilibj2.command.Command	clawEjectCommand()
edu.wpi.first.wpilibj2.command.Command	clawHoldCommand()
edu.wpi.first.wpilibj2.command.Command	clawIntakeCommand()
edu.wpi.first.wpilibj2.command.Command	clawToPreScoreCommand()
edu.wpi.first.wpilibj2.command.Command	elevatorToIntakeCommand()
edu.wpi.first.wpilibj2.command.Command	elevatorToPreIntakeCommand()
edu.wpi.first.wpilibj2.command.Command	elevatorToPreScoreCommand()
com.pathplanner.lib.commands.PathPlannerAuto	firstPath(String pName, edu.wpi.first.math.geometry.Rotation2d pStartingRotation, BooleanSupplier pConditionSupplier, edu.wpi.first.wpilibj2.command.Command pNextCommand, edu.wpi.first.wpilibj2.command.Command pNextAuto)
edu.wpi.first.wpilibj2.command.Command	followChoreoPath(String pathName)
edu.wpi.first.wpilibj2.command.Command	followChoreoPath(String pathName, com.pathplanner.lib.controllers.PPHolonomicDriveController PID)
edu.wpi.first.wpilibj2.command.Command	followFirstChoreoPath(String pathName, edu.wpi.first.math.geometry.Rotation2d startingRotation)
BooleanSupplier	getClawIR3HasPiece()
BooleanSupplier	getElevatorAtGoal()
BooleanSupplier	getIntakeIR1HasPiece()
BooleanSupplier	getIntakeIR2HasPiece()
BooleanSupplier	getIntakePivotAtGoal()
edu.wpi.first.wpilibj.smartdashboard.SendableChooser<edu.wpi.first.wpilibj2.command.Command>	getmAutoChooser()
GameGoalPoseChooser.SIDE	getSide(String name)
Optional<com.pathplanner.lib.path.PathPlannerPath>	getTraj(String pathName)
BooleanSupplier	getWristAtGoal()
edu.wpi.first.wpilibj2.command.Command	indexCoralCommand()
edu.wpi.first.wpilibj2.command.Command	indexerToPreScoreCommand()
edu.wpi.first.wpilibj2.command.Command	intakeAlgaeCommand()
edu.wpi.first.wpilibj2.command.Command	intakeCoralCommand()
edu.wpi.first.wpilibj2.command.Command	intakePivotCoralCommand()
edu.wpi.first.wpilibj2.command.Command	intakePivotToPreScoreCommand()
edu.wpi.first.wpilibj2.command.Command	intakeToPreScoreCommand()
edu.wpi.first.wpilibj2.command.Command	nextAutoChecker(edu.wpi.first.wpilibj2.command.Command pAuto)
com.pathplanner.lib.commands.PathPlannerAuto	nextIntakeCoralPath(String pName)
com.pathplanner.lib.commands.PathPlannerAuto	nextPath(String pName, BooleanSupplier pConditionSupplier, edu.wpi.first.wpilibj2.command.Command pNextCommand, edu.wpi.first.wpilibj2.command.Command pNextAuto)
com.pathplanner.lib.commands.PathPlannerAuto	nextPath(String pName, BooleanSupplier pConditionSupplier, edu.wpi.first.wpilibj2.command.Command pNextCommand, edu.wpi.first.wpilibj2.command.Command pNextAuto, com.pathplanner.lib.controllers.PPHolonomicDriveController pPID)
com.pathplanner.lib.commands.PathPlannerAuto	nextScoreCoralPath(String pName)
edu.wpi.first.wpilibj2.command.Command	scoreAlgaeCommand()
edu.wpi.first.wpilibj2.command.Command	setIndexVoltCommand(double volts)
edu.wpi.first.wpilibj2.command.Command	setIntakeVoltCommand(double volts)
void	tryToAddPathToChooser(String pPathName, edu.wpi.first.wpilibj2.command.Command... pCommands)
void	tryToAddPathToChooser(String pPathName, Runnable pPathAdding)
edu.wpi.first.wpilibj2.command.Command	wristToPreIntakeCommand()
edu.wpi.first.wpilibj2.command.Command	wristToPreScoreCommand()
edu.wpi.first.wpilibj2.command.Command	wristToScoreCommand()

Methods inherited from class edu.wpi.first.wpilibj2.command.SubsystemBase

addChild, getName, getSubsystem, initSendable, setName, setSubsystem

Methods inherited from class java.lang.Object

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

Methods inherited from interface edu.wpi.first.wpilibj2.command.Subsystem

defer, getCurrentCommand, getDefaultCommand, idle, periodic, register, removeDefaultCommand, run, runEnd, runOnce, setDefaultCommand, simulationPeriodic, startEnd, startRun

Constructor Details

AutonCommands

public AutonCommands(Drive pRobotDrive)

Method Details

tryToAddPathToChooser

public void tryToAddPathToChooser(String pPathName,
 edu.wpi.first.wpilibj2.command.Command... pCommands)

tryToAddPathToChooser

public void tryToAddPathToChooser(String pPathName,
 Runnable pPathAdding)

getmAutoChooser

public edu.wpi.first.wpilibj.smartdashboard.SendableChooser<edu.wpi.first.wpilibj2.command.Command> getmAutoChooser()

firstPath

public com.pathplanner.lib.commands.PathPlannerAuto firstPath(String pName,
 edu.wpi.first.math.geometry.Rotation2d pStartingRotation,
 BooleanSupplier pConditionSupplier,
 edu.wpi.first.wpilibj2.command.Command pNextCommand,
 edu.wpi.first.wpilibj2.command.Command pNextAuto)

nextPath

public com.pathplanner.lib.commands.PathPlannerAuto nextPath(String pName,
 BooleanSupplier pConditionSupplier,
 edu.wpi.first.wpilibj2.command.Command pNextCommand,
 edu.wpi.first.wpilibj2.command.Command pNextAuto)

nextPath

public com.pathplanner.lib.commands.PathPlannerAuto nextPath(String pName,
 BooleanSupplier pConditionSupplier,
 edu.wpi.first.wpilibj2.command.Command pNextCommand,
 edu.wpi.first.wpilibj2.command.Command pNextAuto,
 com.pathplanner.lib.controllers.PPHolonomicDriveController pPID)

nextAutoChecker

public edu.wpi.first.wpilibj2.command.Command nextAutoChecker(edu.wpi.first.wpilibj2.command.Command pAuto)

backUpAuton

public edu.wpi.first.wpilibj2.command.Command backUpAuton()

nextScoreCoralPath

public com.pathplanner.lib.commands.PathPlannerAuto nextScoreCoralPath(String pName)

nextIntakeCoralPath

public com.pathplanner.lib.commands.PathPlannerAuto nextIntakeCoralPath(String pName)

clawHoldCommand

public edu.wpi.first.wpilibj2.command.Command clawHoldCommand()

clawEjectCommand

public edu.wpi.first.wpilibj2.command.Command clawEjectCommand()

clawIntakeCommand

public edu.wpi.first.wpilibj2.command.Command clawIntakeCommand()

elevatorToPreScoreCommand

public edu.wpi.first.wpilibj2.command.Command elevatorToPreScoreCommand()

wristToPreScoreCommand

public edu.wpi.first.wpilibj2.command.Command wristToPreScoreCommand()

intakeToPreScoreCommand

public edu.wpi.first.wpilibj2.command.Command intakeToPreScoreCommand()

intakePivotToPreScoreCommand

public edu.wpi.first.wpilibj2.command.Command intakePivotToPreScoreCommand()

indexerToPreScoreCommand

public edu.wpi.first.wpilibj2.command.Command indexerToPreScoreCommand()

clawToPreScoreCommand

public edu.wpi.first.wpilibj2.command.Command clawToPreScoreCommand()

wristToScoreCommand

public edu.wpi.first.wpilibj2.command.Command wristToScoreCommand()

elevatorToPreIntakeCommand

public edu.wpi.first.wpilibj2.command.Command elevatorToPreIntakeCommand()

wristToPreIntakeCommand

public edu.wpi.first.wpilibj2.command.Command wristToPreIntakeCommand()

intakeCoralCommand

public edu.wpi.first.wpilibj2.command.Command intakeCoralCommand()

setIntakeVoltCommand

public edu.wpi.first.wpilibj2.command.Command setIntakeVoltCommand(double volts)

intakePivotCoralCommand

public edu.wpi.first.wpilibj2.command.Command intakePivotCoralCommand()

indexCoralCommand

public edu.wpi.first.wpilibj2.command.Command indexCoralCommand()

setIndexVoltCommand

public edu.wpi.first.wpilibj2.command.Command setIndexVoltCommand(double volts)

elevatorToIntakeCommand

public edu.wpi.first.wpilibj2.command.Command elevatorToIntakeCommand()

scoreAlgaeCommand

public edu.wpi.first.wpilibj2.command.Command scoreAlgaeCommand()

intakeAlgaeCommand

public edu.wpi.first.wpilibj2.command.Command intakeAlgaeCommand()

getIntakeIR1HasPiece

public BooleanSupplier getIntakeIR1HasPiece()

getIntakeIR2HasPiece

public BooleanSupplier getIntakeIR2HasPiece()

getClawIR3HasPiece

public BooleanSupplier getClawIR3HasPiece()

getIntakePivotAtGoal

public BooleanSupplier getIntakePivotAtGoal()

getElevatorAtGoal

public BooleanSupplier getElevatorAtGoal()

getWristAtGoal

public BooleanSupplier getWristAtGoal()

followFirstChoreoPath

public edu.wpi.first.wpilibj2.command.Command followFirstChoreoPath(String pathName,
 edu.wpi.first.math.geometry.Rotation2d startingRotation)

followChoreoPath

public edu.wpi.first.wpilibj2.command.Command followChoreoPath(String pathName)

followChoreoPath

public edu.wpi.first.wpilibj2.command.Command followChoreoPath(String pathName,
 com.pathplanner.lib.controllers.PPHolonomicDriveController PID)

getTraj

public Optional<com.pathplanner.lib.path.PathPlannerPath> getTraj(String pathName)

getSide

public GameGoalPoseChooser.SIDE getSide(String name)

autoPlaceholder

public edu.wpi.first.wpilibj2.command.FunctionalCommand autoPlaceholder()