Package com.lightningrobotics.common.auto

Class Autonomous

java.lang.Object

com.lightningrobotics.common.auto.Autonomous

public class Autonomous
extends java.lang.Object

Autonomous command configuration class. Register autonomous commands with register(String, Command), and load them to the "Autonomous" Shuffleboard tab with load().

Constructor Summary

Constructors

Constructor	Description
Autonomous()

Method Summary

Modifier and Type	Method	Description
static edu.wpi.first.wpilibj2.command.Command	getAutonomous()	Gets the command selected on Shuffleboard.
static java.util.HashMap<java.lang.String,edu.wpi.first.wpilibj2.command.Command>	getCommands()	Map of autonomous commands where the key (String) corresponds to the name of the value Command that will be displayed on Shuffleboard.
static boolean	hasDashboardWaitCommand()	Configures if register(String, Command) will group command with a WaitCommand if enabled (setHasDashboardWaitCommand(boolean)).
static void	load()	Loads all commands configured with register(String, Command) to "Autonomous" tab on Shuffleboard.
static void	register(java.lang.String name, edu.wpi.first.wpilibj2.command.Command cmd)	Add command to list of autonomous commands.
static void	setHasDashboardWaitCommand(boolean hasWait)	Configures if register(String, Command) will group command with a WaitCommand.

Methods inherited from class java.lang.Object

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

Constructor Detail

Autonomous

public Autonomous()

Method Detail

getCommands

public static java.util.HashMap<java.lang.String,edu.wpi.first.wpilibj2.command.Command> getCommands()

Map of autonomous commands where the key (String) corresponds to the name of the value Command that will be displayed on Shuffleboard.

Returns:

the map of commands registered with register(String, Command)

register

public static void register(java.lang.String name,
                            edu.wpi.first.wpilibj2.command.Command cmd)

Add command to list of autonomous commands. Will group with a WaitCommand if enabled (setHasDashboardWaitCommand(boolean)).

Parameters:

name - Identifier of autonomous command to be displayed on Shuffleboard.

cmd - Command to be registered.

hasDashboardWaitCommand

public static boolean hasDashboardWaitCommand()

Configures if register(String, Command) will group command with a WaitCommand if enabled (setHasDashboardWaitCommand(boolean)).

Returns:

true by default (setHasDashboardWaitCommand(boolean) not called), value set by setHasDashboardWaitCommand(boolean) otherwise.

setHasDashboardWaitCommand

public static void setHasDashboardWaitCommand(boolean hasWait)

Configures if register(String, Command) will group command with a WaitCommand.

Parameters:

hasWait - true if there needs to be a WaitCommand, false otherwise.

load

public static void load()

Loads all commands configured with register(String, Command) to "Autonomous" tab on Shuffleboard. Selection menu will have name "Auto Mode".

getAutonomous

public static edu.wpi.first.wpilibj2.command.Command getAutonomous()

Gets the command selected on Shuffleboard.

Returns:

Command to be run in Autonomous.