Package frc.robot.subsystems

Class Auto

java.lang.Object

frc.robot.subsystems.Auto

public class Auto
extends Object

Subsystem for the robot's autonomous functionality.

Constructor Summary

Constructors

Constructor	Description
Auto()

Method Summary

Modifier and Type	Method	Description
static Command	getAutonomousCommand(String pathName)	Get the path follower with events.
static void	setupPathPlanner(Drivetrain drivetrain, DriverStation.Alliance alliance)	Setup AutoBuilder for PathPlanner.
static void	setupPathPlannerFailsafe(Drivetrain drivetrain)	Configures AutoBuilder if it hasn't already been configured.

Methods inherited from class java.lang.Object

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

Constructor Details

Auto

public Auto()

Method Details

setupPathPlanner

public static void setupPathPlanner(Drivetrain drivetrain,
 DriverStation.Alliance alliance)

Setup AutoBuilder for PathPlanner.

setupPathPlannerFailsafe

public static void setupPathPlannerFailsafe(Drivetrain drivetrain)

Configures AutoBuilder if it hasn't already been configured. This should be run on enable so things like pathfinding commands don't cause the code to crash.

Parameters:

drivetrain - The Drivetrain for PathPlanner to control.

getAutonomousCommand

public static Command getAutonomousCommand(String pathName)

Get the path follower with events.

Parameters:

pathName - PathPlanner path name.

Returns:

AutoBuilder.followPath(PathPlannerPath) path command.