Autonomous

Autonomous

Autos are Commands that run during the first 15 seconds of a match. They consist of multiple commands run in a specific order, to tell the robot what to do exactly.

Creating an Autonomous

1. Navigate to RobotContainer.java

2. Create a new, private final variable of type Command. This will store our autonomous.

   private final Command lowBalance

3. Set the command to a new instance of a pre-existing command.

   private final Command lowBalance = 
       new SetElevatorTargetCommand(Constants.bottomElevatorTargetPosition, 
   			true, elevator);

4. Now you have a complete autonomous

Putting autonomous choices into shuffleboard for match selection

See Shuffleboard Logging for more information regarding Shuffleboard and how we log data

1. Create a new variable of type SendableChooser, and set it equal to a new sendable chooser. This allows us to select different options in shuffleboard

   SendableChooser<Command> autoChooser = new SendableChooser<>()

2. Create a method inside RobotContainer.java called addAutoChoicesToGui, like so:

   private void addAutoChoicesToGui()

3. For the default autonomous option, inside addAutoChoicesToGui, do:

   autoChooser.setDefaultOption("Default Name", defaultAutonomous);

4. For each other autonomous option, do the following:

   autoChooser.addOption("Autonomous Name", autonomousCommand);

5. Then, at the end of addAutoChoicesToGui, do:

   shuffleboard.add(autoChooser);

   This does assume that shuffleboard is a ShuffleboardTab. ShuffleboardTab is the class that represents a tab on Shuffleboard.

6. Lastly, add the following method to RobotContainer.java:

   public Command getAutonomousCommand() {
   	return autoChooser.getSelected();
   }