Interface Auton

All Known Implementing Classes:
BLineAuton, PathPlannerAuton
public interface Auton

Auton

Used for previewing the selected auton's paths in elastic

The selected path disappears when a different auton is selected or when the robot is enabled

Define an auton in AutonFactory and add it to the auton chooser as shown in the example auton in RobotContainer

Auton routines without paths like characterization routines can be constructed using the noPaths(Command) method

  • Method Summary

    Modifier and Type
    Method
    Description
    default void
    clearPaths()
    Clear auton path trajectories from elastic
    default void
    displayPaths()
    Display auton path trajectories on elastic
    default org.wpilib.command3.Command
    getCommand()
     
    static Auton
    noPaths(org.wpilib.command3.Command command)
    Used to construct autons with no paths such as sysid characterization routines

  • Method Details

    • displayPaths

      default void displayPaths()
      Display auton path trajectories on elastic

    • clearPaths

      default void clearPaths()
      Clear auton path trajectories from elastic

    • getCommand

      default org.wpilib.command3.Command getCommand()
      Returns:
      The auton command to be scheduled

    • noPaths

      static Auton noPaths(org.wpilib.command3.Command command)
      Used to construct autons with no paths such as sysid characterization routines
      Parameters:
      command - The command to run in the auton