Package choreo.auto

Class AutoChooser

java.lang.Object

choreo.auto.AutoChooser

public class AutoChooser
extends Object

An auto chooser that allows for the selection of auto routines at runtime.

This chooser takes a lazy loading approach to auto routines, only generating the auto routine when it is selected. This approach has the benefit of not loading all autos on startup, but also not loading the auto during auto start causing a delay.

Once the AutoChooser is made you can add auto routines to it using the addAutoRoutine(String, AutoRoutineGenerator) method. Unlike SendableChooser this chooser has to be updated every cycle by calling the update() method in your IterativeRobotBase.robotPeriodic().

You can retrieve the AutoRoutine that is currently selected by calling the getSelectedAutoRoutine() method.

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static interface	AutoChooser.AutoRoutineGenerator	A function that generates an AutoRoutine from an AutoFactory.

Constructor Summary

Constructors

Constructor	Description
AutoChooser(AutoFactory factory, String tableName)	Create a new auto chooser.

Method Summary

Modifier and Type	Method	Description
void	addAutoRoutine(String name, AutoChooser.AutoRoutineGenerator generator)	Add an auto routine to the chooser.
AutoRoutine	getSelectedAutoRoutine()	Get the currently selected auto routine.
void	update()	Update the auto chooser.

Methods inherited from class java.lang.Object

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

Constructor Details

AutoChooser

public AutoChooser(AutoFactory factory,
 String tableName)

Create a new auto chooser.

Parameters:

factory - The auto factory to use for auto routine generation.

tableName - The name of the network table to use for the chooser, passing in an empty string will put this chooser at the root of the network tables.

Method Details

update

public void update()

Update the auto chooser.

This method should be called every cycle in the IterativeRobotBase.robotPeriodic(). It will check if the selected auto routine has changed and update the active auto routine.

addAutoRoutine

public void addAutoRoutine(String name,
 AutoChooser.AutoRoutineGenerator generator)

Add an auto routine to the chooser.

An auto routine is a function that takes an AutoFactory and returns a Command. These functions can be static, a lambda or belong to a local variable.

A good paradigm is making an `AutoRoutines` class that has a reference to all your subsystems and has helper methods for auto commands inside it. Then you crate methods inside that class that take an `AutoFactory` and return a `Command`.

Parameters:

name - The name of the auto routine.

generator - The function that generates the auto routine.

getSelectedAutoRoutine

public AutoRoutine getSelectedAutoRoutine()

Get the currently selected auto routine.

Returns:

The currently selected auto routine.