Added a triggers api for auto routines #469
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oh-yes-0-fps
changed the title
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This will have to wait for a stabilization of the frontend/app on how it emits event markers in the trajectory json |
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This will remain unmerged until we (hopefully) release a final 2024 version of Choreo before the UI rewrite, since this is such a breaking change. |
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That makes complete sense, i still have to test it on a robot irl. I have made a python script to change old .traj files to the new format so devs can beta test stuff until ui catches up. The changes to the traj spec include the name of the trajectory in the json and an alternate event type thats simpler than pp event triggers. |
| private static final Gson gson = new Gson(); | ||
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| /** Default constructor. */ | ||
| public Choreo() {} | ||
| public Choreo() { |
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Why not just make the constructor private?
| * | ||
| * @return A {@link Trigger} that is true while this autonomous loop is being polled. | ||
| */ | ||
| public Trigger enabled() { |
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So what happens if you want to stop and restart the autonomous routine without restarting code? The loop.enabled().onTrue() triggers won't fire the second time?
| double nowTimestamp = timer.get(); | ||
| return lastTimestamp < nowTimestamp && nowTimestamp >= timeSinceStart; | ||
| } | ||
| }); |
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I don't think this works as intended. lastTimestamp < nowTimestamp will always be true because getAsBoolean always happens after the creation of the BooleanSupplier.
| * Returns the event with the given name. | ||
| * | ||
| * @param eventName The name of the event. | ||
| * @return The event with the given name, or an empty optional if the event does not exist. |
| Subsystem driveSubsystem, | ||
| EventLoop loop) { | ||
| this.name = "Group " + name; | ||
| this.trajectories = trajectories; |
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Should probably be an immutable copy of the list
| currentSpeeds = table.getStructTopic("CurrentSpeeds", ChassisSpeeds.struct).getEntry(new ChassisSpeeds()); | ||
| timestamp = table.getDoubleTopic("Timestamp").getEntry(0); | ||
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| desiredPoseEntry.set(desiredPoseEntry.get()); |
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What's the point of this section?
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That was just some debug stuff trying to find a bug I made (I did timer reset instead of restart in the auto traj :/)
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The robot project files add a lot of bloat I'd like to avoid. The WPILib VS Code plugin supports vendordeps adding custom examples, so we should look into that. |
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I removed the example project for now as it should either be in its own repo or inside the vendor dep, my offseason code can be used as a preliminary example of the trigger features |
Removed old choreo command api