choreolib::Choreo Class Reference

#include <Choreo.h>

Static Public Member Functions
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)

Detailed Description

A class that handles loading choreo trajectories and creating command factories for following trajectories

Member Function Documentation

ChoreoSwerveCommandFactory() [1/2]

frc2::CommandPtr Choreo::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

Creates a CommandPtr that commands your drivebase to follow a Choreo trajectory

Parameters

trajectory	a ChoreoTrajectory to follow
poseSupplier	a function that returns a Pose2d of the robots current position
controller	a ChoreoControllerFunction that handles the feedback of the robots position
outputChassisSpeeds	a function that consuming the calculated robot relative ChassisSpeeds
mirrorTrajectory	If this returns true, the path will be mirrored to the opposite side, while keeping the same coordinate system origin. This will be called every loop during the command.
requirements	the frc2::Requirements of the command

Returns

an frc2::CommandPtr containing the command that will command your drivebase to follow a trajectory

ChoreoSwerveCommandFactory() [2/2]

frc2::CommandPtr Choreo::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

Creates a CommandPtr that commands your drivebase to follow a Choreo trajectory

Parameters

trajectory	a ChoreoTrajectory to follow
poseSupplier	a function that returns a Pose2d of the robots current position
xController	a PIDController that controls the feedback on the global x position of the robot
yController	a PIDController that controls the feedback on the global y position of the robot
rotationController	a PIDController that controls the feedback on the global heading of the robot
outputChassisSpeeds	a function that consuming the calculated robot relative ChassisSpeeds
mirrorTrajectory	If this returns true, the path will be mirrored to the opposite side, while keeping the same coordinate system origin. This will be called every loop during the command.
requirements	the frc2::Requirements of the command

Returns

an frc2::CommandPtr containing the command that will command your drivebase to follow a trajectory

ChoreoSwerveController()

ChoreoControllerFunction Choreo::ChoreoSwerveController ( frc::PIDController xController, frc::PIDController yController, frc::PIDController rotationController )

static

Creates a ChoreoControllerFunction handles the feedback of the drivebase position

Parameters

xController	a PIDController that controls the feedback on the global x position of the robot
yController	a PIDController that controls the feedback on the global y position of the robot
rotationController	a PIDController that controls the feedback on the global heading of the robot

Returns

a ChoreoControllerFunction that handles the feedback of the drivebase position

GetTrajectory()

ChoreoTrajectory Choreo::GetTrajectory ( std::string_view trajName )

static

Load a trajectory from the deploy directory. ChoreoLib expects .traj files to be placed in src/main/deploy/choreo/[trajName].traj .

Parameters

trajName

the path name in Choreo, which matches the file name in the deploy directory. Do not include ".traj" here.

Returns

the loaded trajectory, will throw runtime error if the file doesn't exist

GetTrajectoryGroup()

std::vector< ChoreoTrajectory > Choreo::GetTrajectoryGroup ( std::string_view trajName )

static

Loads the split parts of the specified trajectory.

ChoreoLib expects split .traj files to be placed in src/main/deploy/choreo/[trajName].[segmentNumber].traj.

This method determines the number of parts to load by counting the files that match the pattern "trajName.X.traj", where X is a string of digits. Let this count be N. It then attempts to load "trajName.1.traj" through "trajName.N.traj", consecutively counting up.

Parameters

trajName

the path name in Choreo. Do not include ".traj" here.

Returns

The array of segments, in order.

Exceptions

std::runtime_error

If any files cannot be loaded.

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The documentation for this class was generated from the following files:

• src/main/native/include/choreo/lib/Choreo.h
• src/main/native/cpp/choreo/lib/Choreo.cpp