Package frc.robot.subsystems.drivebase.commands

Class PathPlannerCommandFactory

java.lang.Object
frc.robot.subsystems.drivebase.commands.PathPlannerCommandFactory
public class PathPlannerCommandFactory extends Object
Builds autonomous command sequences for each driver-station position.

Before autonomous starts the robot may not be sitting where the pre-planned PathPlanner auto expects. This factory creates a short alignment path on the fly that drives the robot from its current pose to the auto's expected start, then sequences the planned auto after it. All autos are pre-loaded at construction time so there is no file-parsing delay when the match starts.

See Also:

  • Constructor Details

    • PathPlannerCommandFactory

      public PathPlannerCommandFactory()
      Creates a new factory and pre-loads all known autos.

      Call this once during robot initialization in RobotContainer and reuse the instance every time an autonomous command is needed.

  • Method Details

    • createAutoCommand

      public edu.wpi.first.wpilibj2.command.Command createAutoCommand(edu.wpi.first.wpilibj.DriverStation.Alliance alliance, String autoName)
      Builds the full autonomous command for the given alliance using the auto name selected on the dashboard.

      The returned command sequences an alignment path (current pose to expected start) followed by the pre-loaded PathPlanner auto. If the auto has no recorded starting pose the alignment step is skipped.

      Parameters:
      alliance - alliance color used to mirror the starting pose to the correct side of the field
      autoName - name of the auto to run, matching a key in the cache
      Returns:
      composite command that first aligns then runs the auto

    • getSelectedAutoName

      public String getSelectedAutoName()
      Returns the auto name currently selected on the dashboard chooser.

      Falls back to "b1" if the chooser has not been initialized or returns null.

      Returns:
      selected auto name