Auto (2026Robot API)

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(CommandSwerveDrivetrain commandSwerveDrivetrain, DriverStation.Alliance alliance)

Setup AutoBuilder for PathPlanner.

static void

setupPathPlannerFailsafe(CommandSwerveDrivetrain commandSwerveDrivetrain)

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(CommandSwerveDrivetrain commandSwerveDrivetrain, DriverStation.Alliance alliance)
  
  Setup AutoBuilder for PathPlanner.
- setupPathPlannerFailsafe
  
  public static void setupPathPlannerFailsafe(CommandSwerveDrivetrain commandSwerveDrivetrain)
  
  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:
  
  commandSwerveDrivetrain - 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.