Choreo.h

// Copyright (c) Choreo contributors
 
#pragma once
 
#include <frc/controller/PIDController.h>
#include <frc/kinematics/ChassisSpeeds.h>
#include <frc2/command/CommandPtr.h>
#include <frc2/command/Requirements.h>
 
#include <functional>
#include <string>
#include <string_view>
#include <vector>
 
#include "ChoreoTrajectory.h"
 
namespace choreolib {
 
using ChoreoControllerFunction =
    std::function<frc::ChassisSpeeds(frc::Pose2d, ChoreoTrajectoryState)>;
 
class Choreo {
 public:
  static ChoreoTrajectory GetTrajectory(std::string_view trajName);
 
  static std::vector<ChoreoTrajectory> GetTrajectoryGroup(
      std::string_view trajName);
 
  static frc2::CommandPtr ChoreoSwerveCommandFactory(
      ChoreoTrajectory trajectory, std::function<frc::Pose2d()> poseSupplier,
      frc::PIDController xController, frc::PIDController yController,
      frc::PIDController rotationController,
      std::function<void(frc::ChassisSpeeds)> outputChassisSpeeds,
      std::function<bool(void)> mirrorTrajectory,
      frc2::Requirements requirements = {});
 
  static frc2::CommandPtr ChoreoSwerveCommandFactory(
      ChoreoTrajectory trajectory, std::function<frc::Pose2d()> poseSupplier,
      ChoreoControllerFunction controller,
      std::function<void(frc::ChassisSpeeds)> outputChassisSpeeds,
      std::function<bool(void)> mirrorTrajectory,
      frc2::Requirements requirements = {});
 
  static ChoreoControllerFunction ChoreoSwerveController(
      frc::PIDController xController, frc::PIDController yController,
      frc::PIDController rotationController);
};
}  // namespace choreolib