Package choreo

Class Choreo

java.lang.Object

choreo.Choreo

public final class Choreo
extends Object

Utilities to load and follow Choreo Trajectories

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static class	Choreo.TrajectoryCache	A utility for caching loaded trajectories.
static interface	Choreo.TrajectoryLogger<SampleType extends TrajectorySample<SampleType>>	This interface exists as a type alias.

Method Summary

Modifier and Type	Method	Description
static <SampleType extends TrajectorySample<SampleType>> AutoFactory	createAutoFactory(Supplier<Pose2d> poseSupplier, BiConsumer<Pose2d,SampleType> controller, BooleanSupplier mirrorTrajectory, Subsystem driveSubsystem, AutoFactory.AutoBindings bindings)	Create a factory that can be used to create AutoRoutine and AutoTrajectory.
static <SampleType extends TrajectorySample<SampleType>> AutoFactory	createAutoFactory(Supplier<Pose2d> poseSupplier, BiConsumer<Pose2d,SampleType> controller, BooleanSupplier mirrorTrajectory, Subsystem driveSubsystem, AutoFactory.AutoBindings bindings, Choreo.TrajectoryLogger<SampleType> trajectoryLogger)	Create a factory that can be used to create AutoRoutine and AutoTrajectory.
static ProjectFile	getProjectFile()	Gets the project file from the deploy directory.
static <SampleType extends TrajectorySample<SampleType>> Optional<Trajectory<SampleType>>	loadTrajectory(String trajectoryName)	Load a trajectory from the deploy directory.

Methods inherited from class java.lang.Object

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

Method Details

getProjectFile

public static ProjectFile getProjectFile()

Gets the project file from the deploy directory. Choreolib expects a .chor file to be placed in src/main/deploy/choreo.

The result is cached after the first call.

Returns:

the project file

loadTrajectory

public static <SampleType extends TrajectorySample<SampleType>>
Optional<Trajectory<SampleType>> loadTrajectory(String trajectoryName)

Load a trajectory from the deploy directory. Choreolib expects .traj files to be placed in src/main/deploy/choreo/[trajectoryName].traj.

Type Parameters:

SampleType - The type of samples in the trajectory.

Parameters:

trajectoryName - The path name in Choreo, which matches the file name in the deploy directory, file extension is optional.

Returns:

The loaded trajectory, or `Optional.empty()` if the trajectory could not be loaded.

createAutoFactory

public static <SampleType extends TrajectorySample<SampleType>>
AutoFactory createAutoFactory(Supplier<Pose2d> poseSupplier,
 BiConsumer<Pose2d,SampleType> controller,
 BooleanSupplier mirrorTrajectory,
 Subsystem driveSubsystem,
 AutoFactory.AutoBindings bindings)

Create a factory that can be used to create AutoRoutine and AutoTrajectory.

Type Parameters:

SampleType - The type of samples in the trajectory.

Parameters:

poseSupplier - A function that returns the current field-relative Pose2d of the robot.

controller - A BiConsumer to follow the current Trajectory<Choreo>.

mirrorTrajectory - If this returns true, the path will be mirrored to the opposite side, while keeping the same coordinate system origin. This will be called every loop during the command.

driveSubsystem - The drive Subsystem to require for AutoTrajectory Commands.

bindings - Universal trajectory event bindings.

Returns:

An AutoFactory that can be used to create AutoRoutine and AutoTrajectory.

See Also:

• using this factory with AutoChooser to generate auto routines.

createAutoFactory

public static <SampleType extends TrajectorySample<SampleType>>
AutoFactory createAutoFactory(Supplier<Pose2d> poseSupplier,
 BiConsumer<Pose2d,SampleType> controller,
 BooleanSupplier mirrorTrajectory,
 Subsystem driveSubsystem,
 AutoFactory.AutoBindings bindings,
 Choreo.TrajectoryLogger<SampleType> trajectoryLogger)

Create a factory that can be used to create AutoRoutine and AutoTrajectory.

Type Parameters:

SampleType - The type of samples in the trajectory.

Parameters:

poseSupplier - A function that returns the current field-relative Pose2d of the robot.

controller - A BiConsumer to follow the current Trajectory<Choreo>.

mirrorTrajectory - If this returns true, the path will be mirrored to the opposite side, while keeping the same coordinate system origin. This will be called every loop during the command.

driveSubsystem - The drive Subsystem to require for AutoTrajectory Commands.

bindings - Universal trajectory event bindings.

trajectoryLogger - A Choreo.TrajectoryLogger to log Trajectory as they start and finish.

Returns:

An AutoFactory that can be used to create AutoRoutine and AutoTrajectory.

See Also:

• using this factory with AutoChooser to generate auto routines.