Finished Modularized Autos Code

Team3128 · Nov 29, 2023 · aff9c73 · aff9c73
1 parent 5323e48
commit aff9c73
Show file tree

Hide file tree

Showing 3 changed files with 20 additions and 12 deletions.
diff --git a/src/main/java/frc/team3128/Constants.java b/src/main/java/frc/team3128/Constants.java
@@ -78,12 +78,13 @@ public static class AutoConstants {
         public static final double RAMP_THRESHOLD = 9; //8, 10
         public static final double DRIVE_SPEED = Units.inchesToMeters(30); //30, 40
 
+        // HashMap to convert auto name into a list of modularized autos
         public static final HashMap<String, ArrayList<String>> MODULARIZED_AUTOS = new HashMap<String, ArrayList<String>>();
 
-        // TODO: finish all autos
+        // Put other autos when needed
         static {
             MODULARIZED_AUTOS.put("b-cable_1Cone+1Cube", Trajectories.stringToList("b-cable_pickup-Cube1&score-Cube1"));
-            // MODULARIZED_AUTOS.put()
+            MODULARIZED_AUTOS.put("b_hp_1Cone+1.5Cube", Trajectories.stringToList("b-hp_pickup-Cube4&score-Cube4&pickup-Cube3&return-Cube3"));
         }
 
     }

diff --git a/src/main/java/frc/team3128/autonomous/AutoPrograms.java b/src/main/java/frc/team3128/autonomous/AutoPrograms.java
@@ -26,15 +26,17 @@ public AutoPrograms() {
         initAutoSelector();
     }
 
+
+    // String of auto names to be listed in Narwhal Dashboard
     private void initAutoSelector() {
         final String[] autoStrings = new String[] {
                                         //Blue Autos
                                             //Cable
-                                            "cable_1Cone+1Cube", "cable_1Cone+1.5Cube","cable_1Cone+2Cube", "cable_1Cone+1.5Cube+Climb", "cable_pickup_Cube1", "cable_score_Cube1","cable_pickup_Cube2","cable_return_Cube2",
+                                            "cable_1Cone+1Cube", "cable_1Cone+1.5Cube","cable_1Cone+2Cube", "cable_1Cone+1.5Cube+Climb",
                                             //Mid
-                                            "mid_1Cone+Climb","mid_1Cone+0.5Cube+Climb", "mid_1Cone+1Cube+Climb","mid_pickup_Cube2","mid_score_Cube2","mid_balance",
+                                            "mid_1Cone+Climb","mid_1Cone+0.5Cube+Climb", "mid_1Cone+1Cube+Climb",
                                             //Hp
-                                            "hp_1Cone+1Cube","hp_pickup_Cube4","hp_score_Cube4","hp_pickup_Cube3","hp_return_Cube3",
+                                            "hp_1Cone+1Cube",
 
                                             "scuffedClimb"
                                             };
@@ -58,7 +60,7 @@ else if (selectedAutoName == "scuffedClimb") {
 
         else {
             selectedAutoName = ((DriverStation.getAlliance() == Alliance.Red) ? "r_" : "b_") + selectedAutoName;
-            autoCommand = Trajectories.get(MODULARIZED_AUTOS.get("b-cable_1Cone+1Cube"));
+            autoCommand = Trajectories.get(MODULARIZED_AUTOS.get(selectedAutoName));
         }
 
         return autoCommand.beforeStarting(Trajectories.resetAuto());

diff --git a/src/main/java/frc/team3128/autonomous/Trajectories.java b/src/main/java/frc/team3128/autonomous/Trajectories.java
@@ -43,22 +43,24 @@ public class Trajectories {
     private static SwerveAutoBuilder builder;
 
     public static void initTrajectories() {
+        // modularized autos
         final String[] trajectoryNames = {
                                         //Blue Autos
                                             //Cable
-                                            "b_cable_1Cone+1Cube", "b_cable_1Cone+1.5Cube","b_cable_1Cone+2Cube", "b_cable_1Cone+1.5Cube+Climb", "b_cable_pickup_Cube1", "b_cable_score_Cube1","b_cable_pickup_Cube2","b_cable_return_Cube2",
+                                            "b-cable_pickup-Cube1", "b-cable_score-Cube1","b-cable_pickup-Cube2","b-cable_return-Cube2",
                                             //Mid
-                                            "b_mid_1Cone+Climb","b_mid_1Cone+0.5Cube+Climb", "b_mid_1Cone+1Cube+Climb","b_mid_pickup_Cube2","b_mid_score_Cube2","b_mid_balance",
+                                            "b-mid_pickup-Cube2","b-mid_score-Cube2","b-mid_balance",
                                             //Hp
-                                            "b_hp_1Cone+1Cube","b_hp_pickup_Cube4","b_hp_score_Cube4","b_hp_pickup_Cube3","b_hp_return_Cube3",
+                                            "b-hp_pickup-Cube4","b-hp_score-Cube4","b-hp_pickup-Cube3","b-hp_return-Cube3",
 
                                         //Red Autos
+                                        // add autos if needed
                                             //Cable
-                                            "r_cable_1Cone+1Cube", "r_cable_1Cone+1.5Cube","r_cable_1Cone+2Cube", "r_cable_1Cone+1.5Cube+Climb",
+                                            "r-cable_pickup-Cube1",
                                             //Mid
-                                            "r_mid_1Cone+Climb","r_mid_1Cone+0.5Cube+Climb","r_mid_1Cone+1Cube+Climb",
+                                            "r-mid_pickup-Cube2",
                                             //Hp
-                                            "r_hp_1Cone+1Cube", 
+                                            "r-hp_pickup-Cube4", 
                                         };
 
         CommandEventMap.put("ScoreConeHigh", sequence(score(Position.HIGH_CONE, true)));
@@ -101,6 +103,8 @@ public static CommandBase generateAuto(PathPlannerTrajectory trajectory) {
         return builder.fullAuto(trajectory);
     }
 
+    // Separates auto strings into a list of strings containing the prefix (e.g. b-hp) along with as many suffixes (e.g. pickup-Cube1)
+    // Ex: "b-cable_pickup-Cube1&score-Cube1" -> {"b-cable_pickup-Cube1", "b-cable_score-Cube1"}
     public static ArrayList<String> stringToList(String name) {
         String prefix = name.split("_")[0];
         String[] autoStrings = name.split("_")[1].split("&");
@@ -111,6 +115,7 @@ public static ArrayList<String> stringToList(String name) {
         return ret;
     }
 
+    // conjoins list of strings into one complete trajectory
     public static CommandBase get(ArrayList<String> names) {
         ArrayList<PathPlannerTrajectory> curTrajectories = new ArrayList<PathPlannerTrajectory>();
         for (String name : names) {