[auto] Refactor the way the Auto interface is used and add docs (#83)

CurtinFRC · Jul 19, 2024 · be24647 · be24647
1 parent 1e646d3
commit be24647
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Showing 8 changed files with 23 additions and 14 deletions.
diff --git a/src/main/java/frc/robot/Auto.java → src/main/java/com/choreo/lib/Auto.java b/src/main/java/frc/robot/Auto.java → src/main/java/com/choreo/lib/Auto.java
@@ -2,12 +2,20 @@
 // Open Source Software, you can modify it according to the terms
 // of the MIT License at the root of this project
 
-package frc.robot;
+package com.choreo.lib;
 
 import edu.wpi.first.wpilibj2.command.Command;
 
 public interface Auto {
+  /** A function to setup Triggers for the Auto routine. */
   public void configureBindings();
 
+  /**
+   * The Command to follow the trajectory, should be your autonomous command.
+   *
+   * <p>Should call the {@link configureBindings} method.
+   *
+   * @return The trajectory following command.
+   */
   public Command followTrajectory();
 }
diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java
@@ -4,6 +4,7 @@
 
 package frc.robot;
 
+import com.choreo.lib.Auto;
 import com.ctre.phoenix6.SignalLogger;
 import com.ctre.phoenix6.mechanisms.swerve.SwerveModule.DriveRequestType;
 import com.ctre.phoenix6.mechanisms.swerve.SwerveRequest;
@@ -117,7 +118,7 @@ public void disabledExit() {}
   @Override
   public void autonomousInit() {
     m_drivetrain.getOrchestra().stop();
-    m_autonomousCommand = getAutonomousCommand();
+    m_autonomousCommand = m_chooser.getSelected().followTrajectory();
 
     if (m_autonomousCommand != null) {
       m_autonomousCommand.schedule();
@@ -155,10 +156,4 @@ public void testPeriodic() {}
 
   @Override
   public void testExit() {}
-
-  private Command getAutonomousCommand() {
-    Auto auto = m_chooser.getSelected();
-    auto.configureBindings();
-    return auto.followTrajectory();
-  }
 }
diff --git a/src/main/java/frc/robot/autos/Centre2541.java b/src/main/java/frc/robot/autos/Centre2541.java
@@ -4,8 +4,8 @@
 
 package frc.robot.autos;
 
+import com.choreo.lib.Auto;
 import edu.wpi.first.wpilibj2.command.Command;
-import frc.robot.Auto;
 import frc.robot.subsystems.CommandSwerveDrivetrain;
 
 public class Centre2541 implements Auto {
@@ -20,6 +20,7 @@ public void configureBindings() {}
 
   @Override
   public Command followTrajectory() {
+    configureBindings();
     return m_followerCommand;
   }
 }
diff --git a/src/main/java/frc/robot/autos/Centre26541.java b/src/main/java/frc/robot/autos/Centre26541.java
@@ -4,8 +4,8 @@
 
 package frc.robot.autos;
 
+import com.choreo.lib.Auto;
 import edu.wpi.first.wpilibj2.command.Command;
-import frc.robot.Auto;
 import frc.robot.subsystems.CommandSwerveDrivetrain;
 
 public class Centre26541 implements Auto {
@@ -20,6 +20,7 @@ public void configureBindings() {}
 
   @Override
   public Command followTrajectory() {
+    configureBindings();
     return m_follower;
   }
 }
diff --git a/src/main/java/frc/robot/autos/Flex.java b/src/main/java/frc/robot/autos/Flex.java
@@ -4,8 +4,8 @@
 
 package frc.robot.autos;
 
+import com.choreo.lib.Auto;
 import edu.wpi.first.wpilibj2.command.Command;
-import frc.robot.Auto;
 import frc.robot.subsystems.CommandSwerveDrivetrain;
 
 public class Flex implements Auto {
@@ -20,6 +20,7 @@ public void configureBindings() {}
 
   @Override
   public Command followTrajectory() {
+    configureBindings();
     return m_follower;
   }
 }
diff --git a/src/main/java/frc/robot/autos/OneNote.java b/src/main/java/frc/robot/autos/OneNote.java
@@ -4,10 +4,10 @@
 
 package frc.robot.autos;
 
+import com.choreo.lib.Auto;
 import com.choreo.lib.Choreo;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.Commands;
-import frc.robot.Auto;
 import frc.robot.subsystems.Intake;
 import frc.robot.subsystems.Shooter;
 
@@ -22,6 +22,7 @@ public OneNote(Shooter shooter, Intake intake) {
 
   @Override
   public Command followTrajectory() {
+    configureBindings();
     return Commands.print("No path to follow");
   }
 

diff --git a/src/main/java/frc/robot/autos/TwoNote.java b/src/main/java/frc/robot/autos/TwoNote.java
@@ -4,9 +4,9 @@
 
 package frc.robot.autos;
 
+import com.choreo.lib.Auto;
 import com.choreo.lib.Choreo;
 import edu.wpi.first.wpilibj2.command.Command;
-import frc.robot.Auto;
 import frc.robot.subsystems.CommandSwerveDrivetrain;
 import frc.robot.subsystems.Intake;
 import frc.robot.subsystems.Shooter;
@@ -27,6 +27,7 @@ public TwoNote(
 
   @Override
   public Command followTrajectory() {
+    configureBindings();
     return m_pathfollower;
   }
 

diff --git a/src/main/java/frc/robot/autos/WompWompKieran.java b/src/main/java/frc/robot/autos/WompWompKieran.java
@@ -4,8 +4,8 @@
 
 package frc.robot.autos;
 
+import com.choreo.lib.Auto;
 import edu.wpi.first.wpilibj2.command.Command;
-import frc.robot.Auto;
 import frc.robot.subsystems.CommandSwerveDrivetrain;
 
 public class WompWompKieran implements Auto {
@@ -20,6 +20,7 @@ public void configureBindings() {}
 
   @Override
   public Command followTrajectory() {
+    configureBindings();
     return m_follower;
   }
 }